CN216336423U - Fork truck control structure based on laser SLAM - Google Patents
Fork truck control structure based on laser SLAM Download PDFInfo
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- CN216336423U CN216336423U CN202123047338.7U CN202123047338U CN216336423U CN 216336423 U CN216336423 U CN 216336423U CN 202123047338 U CN202123047338 U CN 202123047338U CN 216336423 U CN216336423 U CN 216336423U
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Abstract
The utility model discloses a forklift control structure based on laser SLAM, which comprises an installation mechanism, a lifting mechanism and a control mechanism, wherein the installation mechanism comprises an upper installation plate, a lower installation plate and a fixed block, the top of the fixed block is fixedly connected with the upper installation plate, the bottom of the fixed block is fixedly connected with the lower installation plate, the lifting mechanism comprises a lifting rod, a connecting block and a shovel plate, the lifting rod is slidably connected onto the fixed block, the connecting block is sleeved on the lifting rod, the shovel plate is fixedly connected onto the connecting block, the control mechanism comprises a hydraulic cylinder, a signal transmitter, a signal receiver and a laser sensor, the hydraulic cylinder is fixedly installed on the lower installation plate, and the upper end of the hydraulic cylinder is fixedly connected with the lifting rod. According to the scheme, relevant conditions of a working area are collected through the laser sensor, a map is constructed based on a laser SLAM algorithm, the accuracy is high, the navigation error is small, and the shovel plate is controlled to lift through the control mechanism to carry out transportation work of the forklift, so that manual operation is reduced, time and labor are saved, and the working efficiency is improved.
Description
Technical Field
The utility model relates to the technical field of forklifts, in particular to a forklift control structure based on laser SLAM.
Background
SLAM (synchronous positioning and mapping) refers to a process of calculating the position of a moving object and constructing an environment map while calculating the position of the moving object according to information of a sensor, and solves the problems of positioning and map construction when a robot and the like move in an unknown environment; at present, SLAM is mainly applied to the fields of robots, unmanned aerial vehicles, unmanned driving and the like, and the applications of SLAM include positioning of sensors, subsequent path planning, motion performance and scene understanding.
The forklift is an industrial transportation vehicle, which is a wheel type transportation vehicle for loading, unloading, stacking and short-distance transportation of finished pallet goods, is commonly used for transportation of large storage objects, is generally driven by an oil-fired machine or a battery, is widely applied to ports, stations, airports, cargo yards, factory workshops, warehouses, distribution centers and the like, is used for loading, unloading and transporting pallet goods in cabins, carriages and containers, and is an essential device for pallet transportation and container transportation.
In the actual transportation, generally the lift of controlling the shovel board through the manual work, it is hard to waste time, and the step is more moreover, has influenced work efficiency.
SUMMERY OF THE UTILITY MODEL
The utility model mainly aims to provide a forklift control structure based on a laser SLAM, so as to solve the problems that in the related art, the lifting of a control shovel plate is manually operated, the number of steps is large, and the working efficiency is low.
In order to achieve the aim, the utility model provides a forklift control structure based on laser SLAM, which comprises a mounting mechanism, a lifting mechanism and a control mechanism;
the mounting mechanism comprises an upper mounting plate, a lower mounting plate and a fixed block, the top of the fixed block is fixedly connected with the upper mounting plate, and the bottom of the fixed block is fixedly connected with the lower mounting plate;
the lifting mechanism comprises a lifting rod, a connecting block and a shovel plate, the lifting rod is connected to the fixing block in a sliding mode, the connecting block is sleeved on the lifting rod, and the shovel plate is fixedly connected to the connecting block;
control the mechanism and include pneumatic cylinder, signal transmitter, signal receiver and laser sensor, the pneumatic cylinder fixed mounting be in down on the mounting panel, the upper end of pneumatic cylinder with lifter fixed connection, signal receiver fixed mounting be in on the pneumatic cylinder, signal receiver with pneumatic cylinder signal connection, signal transmitter fixed mounting be in on the last mounting panel, signal transmitter with signal receiver signal connection, laser sensor fixed mounting be in on the last mounting panel, laser sensor with signal transmitter signal connection.
In one embodiment of the present invention, two fixing blocks are provided, and the two fixing blocks are symmetrical to each other.
In one embodiment of the present invention, the fixing block is hollow, and a lifting member is slidably connected inside the fixing block, and the lifting member is fixedly connected to two ends of the lifting rod.
In one embodiment of the present invention, the lifting member includes a slider and a pulley, the slider is fixedly connected to the lifting rod, the pulley is mounted on the slider, and the pulley slides along an inner sidewall of the fixed block.
In an embodiment of the utility model, the two connecting blocks are sleeved on the lifting rod in a sliding manner, and the two connecting blocks are fixedly connected with the lifting rod through fixing pieces.
In an embodiment of the utility model, the fixing member includes a hollow plate, an insertion plate and a fixing bolt, the hollow plate is fixedly connected with one of the connecting blocks, the insertion plate is fixedly connected with the other connecting block, one side of the insertion plate is slidably inserted into the hollow plate, the fixing bolt penetrates through the hollow plate and the insertion plate in a threaded manner, and the lower end of the fixing bolt is connected to the lifting rod in a threaded manner.
In an embodiment of the present invention, the hollow plate and the insert plate are both provided with a plurality of through holes matching with the fixing bolts, and the plurality of through holes are distributed at equal intervals.
In one embodiment of the utility model, an emergency stop button is fixedly mounted on the upper mounting plate, and the emergency stop button is in signal connection with the signal receiver.
Compared with the prior art, the utility model has the beneficial effects that: through the fork truck control structure based on laser SLAM of above-mentioned design, in use, at first, gather the relevant condition in work area through laser sensor, establish the map based on laser SLAM algorithm, the accuracy is high, the navigation error is little, then, send signal for signal transmitter, signal transmitter sends signal again and gives signal receiver, the control pneumatic cylinder is flexible, drive the lifter lift, and finally, the lifter passes through the connecting block and drives the shovel board lift and carry out fork truck's transportation work, thereby manual operation has been reduced, time saving and labor saving, and the work efficiency is improved.
Drawings
Fig. 1 is a schematic front view of a forklift control structure based on a laser SLAM according to an embodiment of the present invention;
fig. 2 is a schematic side cross-sectional structural view of a fixing block of a forklift control structure based on a laser SLAM according to an embodiment of the present invention;
fig. 3 is a schematic top view of a lifting mechanism of a forklift control structure based on a laser SLAM according to an embodiment of the present invention;
fig. 4 is a schematic side view of a shovel plate of a forklift control structure based on a laser SLAM according to an embodiment of the present invention.
In the figure: 1. an installation mechanism; 2. a lifting mechanism; 3. an operating mechanism; 11. an upper mounting plate; 12. a lower mounting plate; 13. a fixed block; 21. a lifting rod; 22. connecting blocks; 23. a shovel plate; 24. a lifting member; 25. a fixing member; 31. a hydraulic cylinder; 32. a signal transmitter; 33. a signal receiver; 34. a laser sensor; 35. an emergency stop button; 241. a slider; 242. a pulley; 251. a hollow plate; 252. inserting plates; 253. fixing the bolt; 254. and a through hole.
Detailed Description
In order to make the technical solutions of the present invention better understood, 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.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged under appropriate circumstances in order to facilitate the description of the embodiments of the utility model herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In the present invention, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "center", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate an orientation or positional relationship based on the orientation or positional relationship shown in the drawings. These terms are used primarily to better describe the utility model and its embodiments and are not intended to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.
Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meanings of these terms in the present invention can be understood by those skilled in the art as appropriate.
In addition, the term "plurality" shall mean two as well as more than two.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
Example 1
Referring to fig. 1-4, the present invention provides a forklift control structure based on laser SLAM, which includes a mounting mechanism 1, a lifting mechanism 2 and a control mechanism 3, wherein the mounting mechanism 1 is mounted on the working end of the forklift and is used for mounting the lifting mechanism 2 and the control mechanism 3, the lifting mechanism 2 is used for lifting and transporting goods, and the control mechanism 3 is used for operating and controlling the operation of the lifting mechanism 2.
Referring to fig. 1, the mounting mechanism 1 includes an upper mounting plate 11, a lower mounting plate 12 and a fixing block 13;
the fixed blocks 13 are arranged in two, the two fixed blocks 13 are symmetrical to each other, the top of each fixed block 13 is fixedly connected with the upper mounting plate 11, and the bottom of each fixed block 13 is fixedly connected with the lower mounting plate 12 and used for mounting the lifting mechanism 2 and the control mechanism 3.
Referring to fig. 1, 2, 3 and 4, the lifting mechanism 2 includes a lifting rod 21, a connecting block 22 and a shovel plate 23;
the lifting rod 21 is connected to the fixed block 13 in a sliding mode, the fixed block 13 is arranged in a hollow mode, the lifting piece 24 is connected to the inside of the fixed block 13 in a sliding mode, and the lifting piece 24 is fixedly connected to the two ends of the lifting rod 21;
the lifting piece 24 comprises a slider 241 and a pulley 242, the slider 241 is fixedly connected with the lifting rod 21, the pulley 242 is installed on the slider 241, and the pulley 242 slides along the inner side wall of the fixed block 13;
the two connecting blocks 22 are fixedly connected with the lifting rod 21 through the fixing piece 25;
the fixing part 25 comprises a hollow plate 251, an inserting plate 252 and a fixing bolt 253, the hollow plate 251 is fixedly connected with one connecting block 22, the inserting plate 252 is fixedly connected with the other connecting block 22, one side of the inserting plate 252 is inserted in the hollow plate 251 in a sliding mode, the fixing bolt 253 penetrates through the hollow plate 251 and the inserting plate 252 in a threaded mode, and the lower end of the fixing bolt 253 is connected to the lifting rod 21 in a threaded mode;
the hollow plate 251 and the inserting plate 252 are respectively provided with a plurality of through holes 254 matched with the fixing bolts 253, and the through holes 254 are distributed at equal intervals, so that the distance between the two connecting blocks 22 can be adjusted and controlled, and the distance between the two shovel plates 23 can be adjusted and controlled;
the shovel plate 23 is fixedly connected to the connecting block 22.
Referring to fig. 1, the control mechanism 3 includes a hydraulic cylinder 31, a signal transmitter 32, a signal receiver 33, and a laser sensor 34;
the hydraulic cylinder 31 is fixedly arranged on the lower mounting plate 12, and the upper end of the hydraulic cylinder 31 is fixedly connected with the lifting rod 21 and used for driving the lifting rod 21 to lift;
the signal receiver 33 is fixedly arranged on the hydraulic cylinder 31, and the signal receiver 33 is in signal connection with the hydraulic cylinder 31 and is used for sending a control signal to the hydraulic cylinder 31;
the signal emitter 32 is fixedly arranged on the upper mounting plate 11, and the signal emitter 32 is in signal connection with the signal receiver 33 and is used for sending command signals to the signal receiver 33;
the laser sensor 34 is fixedly installed on the upper installation plate 11, the laser sensor 34 is in signal connection with the signal emitter 32 and used for collecting relevant conditions of a working area, a map is constructed based on a laser SLAM algorithm, and then a control signal is sent to the signal emitter 32;
an emergency stop button 35 is fixedly arranged on the upper mounting plate 11, and the emergency stop button 35 is in signal connection with the signal receiver 33 and used for emergency stop.
Specifically, the working principle of the forklift control structure based on the laser SLAM is as follows: when the forklift is used, firstly, relevant conditions of a working area are collected through the laser sensor 34, a map is constructed based on a laser SLAM algorithm, then, a signal is sent to the signal transmitter 32, the signal transmitter 32 sends a signal to the signal receiver 33 again, the hydraulic cylinder 31 is controlled to stretch and retract, the lifting rod 21 is driven to lift, and finally, the lifting rod 21 drives the shovel plate 23 to lift through the connecting block 22 to carry out transportation work of the forklift.
It should be noted that: the model specifications of the hydraulic cylinder 31, the signal emitter 32, the signal receiver 33 and the laser sensor 34 need to be determined by model selection according to the actual specification of the device, and the specific model selection calculation method adopts the prior art, so detailed description is omitted.
The power supply and the principle of the hydraulic cylinder 31, the signal transmitter 32, the signal receiver 33 and the laser sensor 34 will be clear to a person skilled in the art and will not be described in detail here.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. Fork truck control structure based on laser SLAM, characterized in that includes
The mounting mechanism comprises a mounting mechanism (1), wherein the mounting mechanism (1) comprises an upper mounting plate (11), a lower mounting plate (12) and a fixing block (13), the top of the fixing block (13) is fixedly connected with the upper mounting plate (11), and the bottom of the fixing block (13) is fixedly connected with the lower mounting plate (12);
the lifting mechanism (2) comprises a lifting rod (21), a connecting block (22) and a shovel plate (23), the lifting rod (21) is connected to the fixing block (13) in a sliding mode, the connecting block (22) is sleeved on the lifting rod (21), and the shovel plate (23) is fixedly connected to the connecting block (22);
control mechanism (3), control mechanism (3) includes pneumatic cylinder (31), signal transmitter (32), signal receiver (33) and laser sensor (34), pneumatic cylinder (31) fixed mounting be in down on mounting panel (12), the upper end of pneumatic cylinder (31) with lifter (21) fixed connection, signal receiver (33) fixed mounting be in on pneumatic cylinder (31), signal receiver (33) with pneumatic cylinder (31) signal connection, signal transmitter (32) fixed mounting be in on last mounting panel (11), signal transmitter (32) with signal receiver (33) signal connection, laser sensor (34) fixed mounting be in on last mounting panel (11), laser sensor (34) with signal transmitter (32) signal connection.
2. The laser SLAM-based forklift control structure as claimed in claim 1, wherein said fixed blocks (13) are provided in two, and said two fixed blocks (13) are symmetrical to each other.
3. The laser SLAM-based forklift control structure as claimed in claim 1, wherein said fixed block (13) is hollow, said fixed block (13) is slidably connected with a lifting member (24), said lifting member (24) is fixedly connected with two ends of said lifting rod (21).
4. A laser SLAM based forklift control structure as claimed in claim 3, characterized in that said lifter (24) comprises a slider (241) and a pulley (242), said slider (241) is fixedly connected with said lifter bar (21), said pulley (242) is mounted on said slider (241), said pulley (242) slides along the inner side wall of said fixed block (13).
5. The laser SLAM-based forklift control structure as set forth in claim 1, wherein the connecting blocks (22) are slidably sleeved on the lifting rods (21), two connecting blocks (22) are provided, and the two connecting blocks (22) are fixedly connected with the lifting rods (21) through fixing members (25).
6. The laser SLAM-based forklift control structure as set forth in claim 5, wherein said fixing member (25) comprises a hollow plate (251), an insert plate (252) and a fixing bolt (253), said hollow plate (251) is fixedly connected with one of said connecting blocks (22), said insert plate (252) is fixedly connected with the other of said connecting blocks (22), one side of said insert plate (252) is slidably inserted into said hollow plate (251), said fixing bolt (253) is threaded through said hollow plate (251) and said insert plate (252), and a lower end of said fixing bolt (253) is threaded onto said lifting rod (21).
7. The laser SLAM-based forklift control structure as claimed in claim 6, wherein said hollow plate (251) and said insert plate (252) are both provided with a plurality of through holes (254) matching with said fixing bolts (253), and a plurality of said through holes (254) are distributed at equal intervals.
8. The laser SLAM-based forklift control structure as recited in claim 1, wherein said upper mounting plate (11) is fixedly mounted with an emergency stop button (35), said emergency stop button (35) is in signal connection with said signal receiver (33).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123047338.7U CN216336423U (en) | 2021-12-06 | 2021-12-06 | Fork truck control structure based on laser SLAM |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123047338.7U CN216336423U (en) | 2021-12-06 | 2021-12-06 | Fork truck control structure based on laser SLAM |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216336423U true CN216336423U (en) | 2022-04-19 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202123047338.7U Active CN216336423U (en) | 2021-12-06 | 2021-12-06 | Fork truck control structure based on laser SLAM |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216336423U (en) |
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2021
- 2021-12-06 CN CN202123047338.7U patent/CN216336423U/en active Active
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