CN207699125U - Fork truck robot - Google Patents
Fork truck robot Download PDFInfo
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- CN207699125U CN207699125U CN201721662656.5U CN201721662656U CN207699125U CN 207699125 U CN207699125 U CN 207699125U CN 201721662656 U CN201721662656 U CN 201721662656U CN 207699125 U CN207699125 U CN 207699125U
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Abstract
The utility model discloses a kind of fork truck robots, including vehicle frame, pallet fork, elevating mechanism, height sensor, laser radar 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 driving the pallet fork to move up and down；The height sensor is connected with the pallet fork, the adjustable height for detecting the pallet fork；The laser radar is set to the top of the frame, for providing navigation information；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 utility model 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 utility model is related 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 high risk in specific post in production operation or highly difficult, has directly influenced production effect
Rate, while production cost is also increasing.The especially 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, improves production efficiency well, and realizes industrial automation.
Since robot is born, machine man-based development has spread 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, be transformed, during the knowledge of natural environment, the machine that manufacture can substitute people's labour is always the dream of the mankind.Existing machine
People navigates to it by GPS positioning system, so that robot is moved towards scheduled direction, and controls institute by control centre
Loading or unloading is carried out after stating robot to target location.However, GPS positioning system is easy to be influenced by environment, the machine
Device people is easy to bump against on barrier, and error is larger when picking and placeing cargo, it is not easy in place.
Utility model content
It is relatively accurate and pick and place the fork truck machine of cargo in place that the technical issues of the utility model solves is to provide a kind of positioning
People.
In order to solve the above technical problems, the utility model provides a kind of fork truck robot, including vehicle frame, pallet fork, lifting
Mechanism, height sensor, laser radar and control device；The pallet fork is connected with the elevating mechanism, for picking and placeing cargo；Institute
It states elevating mechanism to be flexibly connected with the vehicle frame, for driving the pallet fork to move up and down；The height sensor and the goods
Fork is connected, the adjustable height for detecting the pallet fork；The laser radar is set to the top of the frame, for providing navigation
Information；The control device is electrically connected with the height sensor and the laser radar, for controlling the fork truck robot
Move and pick and place cargo.
Preferably, the fork truck robot further includes the first cargo sensors and the second cargo sensors, first goods
Object sensor is set 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 set 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 further includes approaching switch；The pallet fork include shelf and with the shelf activity
The trigger member of connection, the shelf are formed with cargo accommodation space；The trigger member extends 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 incude barrier and when the first anticollision component away from the barrier away from
From for pre-determined distance when, send out 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 out.
Preferably, the first anticollision component includes the first obstacle sensor and the second obstacle sensor, and described the
One obstacle sensor is used to incude the barrier of first direction, and second obstacle sensor is for incuding 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 set 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 induction window.
Preferably, the second anticollision component includes third obstacle sensor, induction baffle and elastic component, the elasticity
Part is connected with the induction baffle, so that the induction baffle can reset after by outer force effect；The third barrier sensing
Device is oppositely arranged with the induction baffle, for when the induction baffle position changes, sending out the second pre-warning signal.
Preferably, the second anticollision component further includes fixed column, and the fixed column is fixed on the induction baffle, institute
It states and is provided with screw thread on the peripheral surface of fixed column；The elastic component is spring, and institute's spring is set in the peripheral surface of the fixed column
On, and connect 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 induction baffle；The first anticollision component with it is described
Second anticollision parts space pre-determined distance is arranged；The connecting plate is provided with wire casing, and one end of the wire casing extends to the company
The other end of the junction of fishplate bar and the first anticollision component, the wire casing extends 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 utility model include vehicle frame, pallet fork, elevating mechanism, height sensor,
Laser radar and control device；The pallet fork is connected with the elevating mechanism, for picking and placeing cargo；The elevating mechanism with it is described
Vehicle frame is flexibly connected, for driving the pallet fork to move up and down；The height sensor is connected with the pallet fork, for detecting
State the adjustable height of pallet fork；The laser radar is set to the top of the frame, for providing navigation information；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.By
It navigates in by laser radar, thus navigation accuracy is high, accurate positioning, can avoid passing through GPS positioning system in the prior art
The problem of being easy to be influenced by environment when system is navigated.In addition, by the height sensor directly with the pallet fork phase
Even, to detect the adjustable height of the pallet fork, thus cargo is picked and placeed 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 the utility model fork truck robot.
Fig. 2 is the structural schematic diagram of the part-structure of the preferred embodiment of the utility model fork truck robot.
Fig. 3 is the exploded view of the utility model fork truck robot part structure.
Fig. 4 is the dimensional structure diagram of the preferred embodiment of the anticollision device, collision-prevention device of the utility model fork truck robot.
Fig. 5 is the decomposition texture schematic diagram of the preferred embodiment of the anticollision device, collision-prevention device of the utility model fork truck robot.
Fig. 6 is the structural representation of the part-structure of the preferred embodiment of the anticollision device, collision-prevention device of the utility model fork truck robot
Figure.
Fig. 7 is the decomposition texture schematic diagram of the part-structure of the second anticollision component of the utility model fork truck robot.
Fig. 8 is the structural schematic diagram of the first mounting bracket of the utility model fork truck robot.
Specific implementation mode
The utility model is described in detail with reference to the accompanying drawings and examples.It should be noted that if do not conflicted,
Each feature in the utility model embodiment and embodiment can be combined with each other, the scope of protection of the utility model it
It is interior.
Please refer to Fig.1 to Fig. 8, the utility model provides a kind of fork truck robot, including anticollision device, collision-prevention device 10, vehicle frame 20,
Wheel 30, pallet fork 40, elevating mechanism 50, height sensor 60, laser radar 70, power plant 80 and control device 90.It is described
Anticollision device, collision-prevention device 10 is fixed on the end of 40 one end of the pallet fork comprising the first anticollision component 1 and the second anticollision component 2, institute
State the first anticollision component 1 for incude barrier and when 1 distance away from the barrier of the first anticollision component be it is default away from
From when, send out the first pre-warning signal；The second anticollision component 2 is set to described in 1 side of the first anticollision component and deviation
The induction direction of first anticollision component 1, the second anticollision component 2 are used to bump against the obstacle when the second anticollision component 2
When object, the second pre-warning signal is sent out.It is understood that the first anticollision component 1 and the second anticollision component 2 can be fixed on
Together, it can also be spaced pre-determined distance, as long as the second anticollision component 2 is not located at the induction side of the first anticollision component 1
To.
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 incuding the barrier of first direction, second obstacle sensor 12 is for incuding the
The barrier in two directions.The barrier of different directions is incuded by first obstacle sensor, 11 and second obstacle sensor 12
Hinder object, thus can preferably avoid collision barrier.In practice, first obstacle sensor 11 is commonly used in
Incude the barrier in front, second obstacle sensor 12 improves commonly used in incuding the barrier in upper direction
Safety.
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 set 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 induction 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 specifically limited herein.
Specifically, in the present embodiment, first mounting bracket 13 is an integral molding structure comprising the first side wall 131,
Second sidewall 132, third 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 with the second sidewall 132 and the third side wall 133 respectively,
The second sidewall 132 is respectively positioned on the same side of the first side wall 131, the second sidewall 132 with the third side wall 133
Distinguish the first side wall 131 with the third side wall 133 and forms first angle and second angle, first fixation wall 134
Positioned at the same side of the second sidewall 132 and the third side wall 133 and with the second sidewall 132 and the third side wall
133 be connected, second fixation wall 135 be located at the same side of the second sidewall 132 and the third 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 third side wall 133, first connection wall 136 and second connection wall
137 are respectively positioned between the second sidewall 132 and the third side wall 133.
Since the first angle and second angle are acute angle, thus when the second sidewall 132 and the third side
When wall 133 is hit backwards to the end of the first side wall 131, the second sidewall 132 and the third 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 third obstacle sensor 21, induction baffle 22, elastic component 23, consolidates
Fixed pole 25 and fixed block 26, the elastic component 23 are connected with the induction baffle 22, so that the induction 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..The third obstacle sensor 21 and institute
It states induction baffle 22 to be oppositely arranged, for when 22 position of induction baffle changes, sending out 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 induction 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 third obstacle
Object sensor 21 is fixed on the fixed block 26.In order to more accurately detect, it is highly preferred that the third obstacle sensor
21 quantity is two, and two third obstacle sensors 21 are separately fixed at opposite two in 26 position of the fixed block
Side, and it is corresponding with the induction end positions of baffle 22 respectively.
In one embodiment, one end of the elastic component 23 is connected with the induction baffle 22, the elastic component 23
The other end is connected with the third obstacle sensor 21.The third obstacle sensor 21 can be the switches such as inductive switch
Component.It can also be electronic switch that the second anticollision component 2, which can also be mechanical switch,.In the present embodiment, the third
Obstacle sensor 21 includes Hall sensor, and the induction baffle 22 includes magnetic part, the magnetic part can for iron plate or
Other plate of magnetic material of person etc..When the position of the magnetic part changes, the Hall sensor just sends out 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 induction baffle
On 22, screw thread is provided on the peripheral surface of the fixed column 24；Institute's spring is set on the peripheral surface of the fixed column 24, and with
The screw thread close-fitting of the fixed column 24 connects, and the peripheral surface that the fixed link 25 is connect with the spring is also equipped with screw thread.By
In being provided with screw thread on the peripheral 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 first anticollision portion
Part 1 is connected, and the second end of the connecting plate 3 is connected with the induction baffle 22, first connection wall 136 and second company
Wall 137 is connect to be connected with the connecting plate 3.It is when the connecting plate 3 is hit, then described to state connecting plate 3 and trigger the sense
Baffle 22 is answered, so that 22 position of induction baffle changes, to make the Hall sensor send out the second pre-warning signal.
The first anticollision component 1 is spaced the setting of the first pre-determined distance with the second anticollision component 2.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 to 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
State flush of the slot cover plate 4 backwards to the surface and the connecting plate 3 of the wire casing 31；The first anticollision component 1 connects
It is useful for the conducting wire (not shown) of transmission signal, the conducting wire is pierced by from the wire casing 31, thus, so that overall structure is connected
It is more solid and reliable and simple and compact for structure.
When 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 out the first pre-warning signal to the control device 90, stops to controlling the fork truck robot
Movement.If the first anticollision component 1 breaks down, when the second anticollision component 2 bumps against the barrier, is sent out
Two pre-warning signals give the control device 90, to control the robot stop motion, thus can protect robot well.
It significantly reduces and hits to which reliability is preferable by the cooperation of the first anticollision component 1 and the second anticollision component 2
To the probability of barrier, and structure is simpler, convenient for manufacture and uses.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.As long as the object it is understood that the pallet fork 40 can freight, shape and structure do not limit specifically herein
It is fixed.
Preferably, the fork truck robot further includes 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 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 for detecting the cargo accommodation space 43 close to the cooperation of switch 91.
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, to make the nearly switch 91 send trigger signal to the control
Device 90, the control device 90 according to the trigger signal to can determine whether that cargo has been in place, the fork truck robot
The cargo can be transported.Therefore, it is not in place to can avoid cargo placement, so that cargo is easy to collapse or that is collided asks
Topic, improves safety.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 being cooperated with the trigger member 42 whether in place to detect cargo,
Type is not specifically limited herein.
The elevating mechanism 50 is flexibly connected with the vehicle frame 20, for driving the pallet fork 40 to move up and down.The liter
Descending mechanism 50 includes belt pulley 51 and belt 52, and the belt pulley 51 is flexibly connected with the vehicle frame 20, and the belt 52 is arranged
It is connected on the belt pulley 51 and with the pallet fork 40 and the power plant 80, to drive institute by the power plant 80
State the up and down motion of pallet fork 40.It is understood that the power plant 80 can also be cylinder.The height sensor 60 and institute
It states pallet fork 40 to be connected, the adjustable height for detecting the pallet fork 40, can relatively accurately pick and place material.In the present embodiment,
The height sensor 60 includes drawstring encoder, and the drawstring encoder is fixed on the vehicle frame 20, and with the pallet fork
40 are connected.That is, the main body of the drawstring encoder is fixed on the vehicle frame 20, the bracing wire of the drawstring encoder with
The pallet fork 40 is connected, relatively accurately to measure the height of 40 raising and lowering of pallet fork.
The laser radar 70 is set to 20 top of the 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 plant 80 is 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 set 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 set 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, first cargo sensors, 92 and second cargo sensors 93 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
State control device 90, the control device 90 controls the pallet fork 40 and rises to be detected with first cargo sensors 92
Then the position that the height of cargo matches first is taken off the cargo.It thus can avoid first taking and the second cargo sensors
When 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 utility model includes vehicle frame 20, pallet fork 30, elevating mechanism 50, height
Sensor 60, laser radar 70 and control device 90；The pallet fork 30 is connected with the elevating mechanism 50, for picking and placeing cargo；
The elevating mechanism 50 is flexibly connected with the vehicle frame 20, for driving the pallet fork 30 to move up and down；The height sensor
60 are connected with the pallet fork 30, the adjustable height for detecting the pallet fork 30；The laser radar 70 is set to the vehicle frame
20 tops, for providing navigation information；The control device 90 is electrically connected with the height sensor 60 and the laser radar 70
It connects, for controlling the fork truck robot motion and picking and placeing cargo.Due to being navigated by laser radar 70, thus essence of navigating
Degree is high, accurate positioning, and the easy influence by environment asks when can avoid being navigated by GPS positioning system in the prior art
Topic.In addition, be directly connected with the pallet fork 30 by the height sensor 60, to detect the adjustable height of the pallet fork 30,
Thus pick and place cargo in place, it is not easy to collision and damage goods.
The robot to anticollision device, collision-prevention device provided by the utility model and with the anticollision device, collision-prevention device has carried out detailed Jie above
It continues, specific case used herein is expounded the principles of the present invention and embodiment, and above example is said
The bright method and its core concept for being merely used to help understand the utility model；Meanwhile for those of ordinary skill in the art,
According to the thought of the utility model, there will be changes in the specific implementation manner and application range, in conclusion this explanation
Book content is only the embodiment of the utility model, and it does not limit the scope of the patent of the present invention, every to utilize this reality
The equivalent structure or equivalent flow shift made by novel specification and accompanying drawing content is applied directly or indirectly in other correlations
Technical field, be equally included in the patent within the scope of the utility model.It should not be construed as the limit to the utility model
System.
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 and
Control device；The pallet fork is connected with the elevating mechanism, for picking and placeing cargo；The elevating mechanism connects with the vehicle frame activity
It connects, for driving the pallet fork to move up and down；The height sensor is connected with the pallet fork, the liter for detecting the pallet fork
Drop height；The laser radar is set to the top of the frame, for providing navigation information；The control device and the height
Sensor and laser radar electrical connection, 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 that the first cargo passes
Sensor and the second cargo sensors, first cargo sensors are set 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 set to 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 opens
It closes；The pallet fork includes shelf and the trigger member that is flexibly connected with the shelf, and the shelf are formed with cargo accommodation space；Institute
It states trigger member to extend in the accommodation space, for whether coordinating the cargo for detecting the accommodation space with close switch
It is placed into predeterminated position.
4. fork truck robot according to claim 1 or 2, it is characterised in that：The height sensor includes drawstring coding
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 sets, the anticollision device, collision-prevention device includes the first anticollision component and the second anticollision component, and the first anticollision component is for incuding barrier
And when the distance of the first anticollision component away from the barrier is pre-determined distance, send out the first pre-warning signal；Described second
Anticollision component is used for when the second anticollision component bumps against the barrier, sends out 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 incude the barrier of first direction, and described the
Two obstacle sensors are used to incude 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 set to 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 incude window correspondingly.
8. fork truck robot according to claim 5, it is characterised in that：The second anticollision component includes third barrier
Sensor, induction baffle and elastic component, the elastic component is connected with the induction baffle, so that the induction baffle is by outer masterpiece
It can be resetted after；The third obstacle sensor is oppositely arranged with the induction baffle, for working as the induction baffle position
It sets when changing, sends out 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 induction baffle, and screw thread is provided on the peripheral surface of the fixed column；The elastic component is bullet
Spring, institute's spring are set on the peripheral surface of the fixed column, and are connect with the screw thread close-fitting of the fixed column.
10. fork truck robot according to claim 8, 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 arranged with the second anticollision parts space pre-determined distance；The connecting plate setting
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,
Flush of the slot cover plate backwards to the surface of the wire casing and the connecting plate；The first anticollision component connection is useful
In the conducting wire of transmission signal to the control device, the conducting wire is pierced by from the wire casing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721662656.5U CN207699125U (en) | 2017-12-04 | 2017-12-04 | Fork truck robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721662656.5U CN207699125U (en) | 2017-12-04 | 2017-12-04 | Fork truck robot |
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| CN207699125U true CN207699125U (en) | 2018-08-07 |
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| CN201721662656.5U Active CN207699125U (en) | 2017-12-04 | 2017-12-04 | Fork truck robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108803629A (en) * | 2018-08-27 | 2018-11-13 | 浙江华嘉驰智能科技有限公司 | Carrier and its control method are followed based on millimetre-wave radar |
| CN109607425A (en) * | 2018-12-24 | 2019-04-12 | 诺力智能装备股份有限公司 | A kind of novel pallet frame mechanism |
| CN109878961A (en) * | 2019-04-01 | 2019-06-14 | 深圳普智联科机器人技术有限公司 | A kind of the initialization automatic calibration device and method of multi-layered storage rack profile |
| CN111120827A (en) * | 2019-12-18 | 2020-05-08 | 北京海益同展信息科技有限公司 | Control device of lifting platform of detection device and detection device |
| 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 |
| EP4239430A1 (en) | 2019-10-09 | 2023-09-06 | MetraLabs GmbH Neue Technologien und Systeme | Autonomous industrial truck |
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