CN218025270U

CN218025270U - Automatic guide fork truck

Info

Publication number: CN218025270U
Application number: CN202122967081.0U
Authority: CN
Inventors: 刘胜明; 张业成
Original assignee: Suzhou Agv Robot Co ltd
Current assignee: Suzhou Agv Robot Co ltd
Priority date: 2021-11-30
Filing date: 2021-11-30
Publication date: 2022-12-13
Anticipated expiration: 2031-11-30

Abstract

The utility model discloses an automatic guide forklift, which comprises a forklift body, wherein the forklift body is vertically arranged; the walking assembly comprises a walking driving assembly arranged in the vehicle body and walking wheels arranged at the bottom of the vehicle body; the carrying assembly comprises a power assembly arranged in the vehicle body, a fork assembly arranged below one side of the vehicle body and a photoelectric assembly used for detecting whether goods are in place, wherein the power assembly drives the fork assembly to lift when the photoelectric assembly detects the goods; the control system comprises a navigation positioning module, the navigation positioning module comprises a first laser sensor which is arranged in the front upper part of the vehicle body and used for building a map for positioning and a secondary positioning sensor which is arranged behind the vehicle body, and the walking assembly and the carrying assembly are electrically connected with the control system and controlled by the control system. The positioning precision is higher, and any mark does not need to be laid in the navigation process.

Description

Automatic guide fork truck

Technical Field

The utility model belongs to the technical field of automated guided transporting vehicle, concretely relates to automated guided forklift.

Background

The automatic guided vehicle belongs to a mobile robot, and is an unmanned automatic carrying vehicle which takes a battery as power and is provided with a non-contact guiding device and an independent addressing system. The automatic parking system is mainly characterized by having functions of trolley programming, parking selection device, safety protection and various shifting functions, and can be autonomously driven according to instructions under the monitoring of a computer, automatically travel along a specified guide path, arrive at a specified place and complete a series of operation tasks. The system technology and products thereof become important equipment and technology of flexible production lines, flexible assembly lines and warehouse logistics automation systems.

At present, the AGV of the forklift on the market is mainly used for intelligently transforming the original manual forklift, the size is large, the whole body is heavy, the requirements on certain bearing are low, the flexibility ratio requires high carrying scenes, the AGV is not suitable, and the light and flexible AGV is required to meet the requirements.

At present, most of automatic guide forklifts in the market have the problem of low navigation and positioning accuracy, and marks need to be laid in the navigation process. Therefore, an automatic navigation forklift with higher navigation and positioning precision is urgently needed.

SUMMERY OF THE UTILITY MODEL

To the technical problem who exists above-mentioned, the utility model discloses the purpose is: the utility model provides an automatic guide fork truck, through setting up navigation positioning module, this navigation positioning module is including the laser sensor who is used for building the picture location and the positioning sensor of secondary location to make this automatic guide fork truck's navigation positioning accuracy higher, need not to lay any sign at the navigation in-process.

The technical scheme of the utility model is that:

an object of the utility model is to provide an automatic guide fork truck, include:

the vehicle body is vertically arranged;

the walking assembly comprises a walking driving assembly arranged in the vehicle body and walking wheels arranged at the bottom of the vehicle body;

the carrying assembly comprises a power assembly arranged in the vehicle body, a fork assembly arranged below one side of the vehicle body and a photoelectric assembly used for detecting whether goods are in place, wherein the power assembly drives the fork assembly to lift when the photoelectric assembly detects the goods;

the control system comprises a navigation positioning module, the navigation positioning module comprises a first laser sensor which is arranged above the front of the vehicle body and used for establishing a map for positioning and a secondary positioning sensor arranged behind the vehicle body, and the walking assembly and the carrying assembly are electrically connected with the control system and controlled by the control system.

Optionally, the travelling wheels comprise driving wheels and universal wheels, the driving wheels are mounted in the middle of the bottom of the vehicle body, and the universal wheels are mounted on two sides of the driving wheels;

the walking driving assembly comprises a walking motor and a steering motor;

the walking motor and the steering motor are respectively and fixedly connected with the driving wheel flange and respectively control the walking and the steering of the driving wheel through gears.

Optionally, the walking assembly further comprises a suspension device, and the suspension device comprises a mounting bracket, a guide bearing and a spring;

the mounting bracket is suspended in the vehicle body;

the guide bearing is vertically arranged on the driving wheel flange;

the vertical cover of spring is established guide bearing is last and one end butt is in on the drive wheel flange, the other end is fixed on the installing support, the spring is right the drive wheel applys the holding down force.

Optionally, the fork assembly comprises:

the photoelectric assembly is arranged at one end of the pallet fork, which is connected with the truck body;

the bearing wheel assembly is arranged at the bottom of one end, far away from the truck body, of the pallet fork and comprises a bearing wheel bracket and a bearing wheel which is arranged on the bearing wheel bracket in a rolling manner;

the pull rod structure assembly comprises a crankshaft part, a pull rod and a pull rod ring, the crankshaft part is rotatably arranged at the bottom of one end, connected with the vehicle body, of the pallet fork, the pull rod is arranged at the bottom of the pallet fork, one end of the pallet fork is connected with the crankshaft part, the other end of the pallet fork faces the direction of the other end of the pallet fork, one end of the vehicle body extends and is connected with the pull rod ring, and the pull rod ring is connected with the bearing wheel support in a rolling mode through a shaft.

Optionally, an obstacle detection sensor for detecting whether the fork touches an obstacle is further mounted at one end of the fork, which is far away from the vehicle body.

Optionally, the navigation positioning module further includes:

the positioning obstacle avoidance sensor is arranged at the bottom of the vehicle body and close to the universal wheel; and/or

And a second laser sensor disposed above a rear side of the vehicle body.

Optionally, the control system further comprises a walking driver for controlling the walking assembly and a lifting controller for controlling the lifting of the fork.

Optionally, the control system further comprises an industrial personal computer, a communication V module and a driving execution module;

the industrial personal computer is arranged in the vehicle body and used for controlling the navigation positioning module, the communication V module and the driving execution module;

the communication V module is connected with the navigation positioning module through a serial port, and the communication V module is connected with the industrial personal computer through an Ethernet.

Optionally, the charging assembly comprises a battery and a charging port.

Optionally, the auxiliary device further comprises an auxiliary device, wherein the auxiliary device comprises a power switch, an emergency stop button, a starting switch and a reset switch.

Compared with the prior art, the utility model has the advantages that:

the automatic guide forklift is provided with the first laser sensor at the front upper part of the forklift body and is used for establishing a drawing and positioning; and through set up secondary positioning sensor at the automobile body rear, positioning accuracy is higher, need not to lay any sign at the navigation in-process.

Drawings

The invention will be further described with reference to the following drawings and examples:

fig. 1 is a schematic front-side structural view of an automatic guided forklift according to an embodiment of the present invention (a part of a housing of a forklift body is omitted);

fig. 2 is a structural schematic diagram of the automatic guided forklift according to the embodiment of the present invention with its back facing forward (a part of the casing of the forklift body is omitted);

fig. 3 is a schematic structural view of another angle of the back surface of the automatic guided forklift forward according to the embodiment of the present invention;

fig. 4 is a frame diagram illustrating connection of modules of a control system of an automated guided forklift according to an embodiment of the present invention.

Wherein: 111. a traveling motor; 112. a steering motor; 113. an encoder; 114. an encoder; 115. a drive wheel flange; 116. a gear; 117. a gear; 118. a drive wheel; 1191. mounting a bracket; 1192. a guide bearing; 1193. a guide bearing; 1194. a spring; 1195. a spring; 121. a universal wheel; 122. a universal wheel; 211. a power motor; 212. a starter; 213. an oil tank; 222. an oil cylinder; 223. an oil cylinder; 231. a crankshaft part; 232. a crankshaft part; 233. a pull rod; 234. a pull rod; 235. a pull rod ring; 236. a pull rod ring; 241. a shaft; 242. a shaft; 251. a bearing wheel support; 252. a bearing wheel support; 261. a pallet fork; 262. a pallet fork; 263. a slouch floor; 264. a slouch plate floor; 265. a butt strap; 266. a butt strap; 27. an optoelectronic component; 281. an obstacle detection sensor; 282. an obstacle detection sensor; 311. a charging port; 312. a 24V lithium battery; 4. an industrial personal computer; 411. a first laser sensor; 412. a secondary positioning sensor; 413. a positioning obstacle avoidance sensor; 414. a positioning obstacle avoidance sensor; 415. a second laser sensor; 421. an antenna; 422. an antenna.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings. It should be understood that the description is intended for purposes of illustration only and is not intended to limit the scope of the present disclosure. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.

The embodiment is as follows:

referring to fig. 1 to 4, the automated guided forklift of the present embodiment includes a vehicle body, a traveling assembly, a carrying assembly, a charging assembly, a control system, and an auxiliary. Wherein, the automobile body vertical setting. The walking assembly comprises a walking driving assembly arranged inside the vehicle body and walking wheels arranged at the bottom of the vehicle body. The carrying assembly comprises a power assembly arranged in the vehicle body, a fork assembly arranged below one side of the vehicle body and a photoelectric assembly 27 used for detecting whether goods are in place or not. The power assembly is used for driving the fork assembly to lift so as to lift the goods and then move the goods through the traveling assembly to achieve goods transportation, when the goods are transported, the fork enters the bottom of the goods, if the photoelectric assembly 27 detects that the goods are in place, the power assembly lifts the fork assembly to a certain height to lift the goods, and after the goods are separated from the bottom surface, the traveling assembly drives the vehicle body to drive the goods to move to a specified place together to complete automatic transportation of the goods. The control system comprises a navigation positioning module, the navigation positioning module comprises a first laser sensor 411 which is arranged above the front of the vehicle body and used for mapping and positioning and a secondary positioning sensor 412 which is arranged behind the vehicle body, the first laser sensor 411 is used for scanning to obtain images for positioning the goods, the control system sends coordinate instructions to control the forklift to move to the position of the goods, the secondary positioning sensor 412 is used for performing secondary positioning when the vehicle body moves to the front of the goods and controlling the forklift to perform corresponding adjustment, the coordinate error between the forklift and the real position of the goods is reduced, and therefore the navigation positioning accuracy is improved. Compare current general automatic guide fork truck on the market, the utility model discloses a top sets up first laser sensor 411 before the automobile body, scans the formation of image so that control system establishes space image and fixes a position, and first laser sensor sets up top before the automobile body, and scanning range is wide. The secondary positioning sensor 412 can be used for secondary positioning of the vehicle body, the coordinate position of the goods is determined again, the error existing in primary positioning is reduced, and accurate navigation positioning is realized. The problem that scanning positioning data are not accurate enough only through scanning positioning of the first laser sensor 411 under the condition that the field environment is not good can be solved by adding the secondary positioning sensor 412.

Specifically, as shown in fig. 1, the traveling wheels include one driving wheel 118 and two universal wheels, one driving wheel 118 is rotatably mounted at the middle position of the bottom of the vehicle body, the two universal wheels are respectively a universal wheel 121 and a universal wheel 122, and the two universal wheels are respectively disposed at two sides of the bottom of the vehicle body in the width direction, that is, two sides of the driving wheel 118. The walking drive assembly includes a walking motor 111 and a steering motor 112. A rotary encoder 113 and an encoder 114 are respectively installed above the traveling motor 111 and the steering motor 112. A driving wheel flange 115 is arranged above the driving wheel 118, the walking motor 111 and the steering motor 112 are respectively and fixedly connected with the driving wheel flange 115, and the walking motor 111 and the steering motor 112 respectively pass through a gear 116 and a gear 117. In the present embodiment, the driving wheel 118 is preferably a steering wheel. According to some preferred embodiments of the present invention, the traveling assembly further includes a suspension device, which is provided to prevent the driving wheel 118 from idle slipping and simultaneously to absorb shock. Specifically, as shown in fig. 1, the suspension device includes a mounting bracket 1191, a guide bearing 1192, a guide bearing 1193, and springs 1194 and 1195. The mounting bracket 1191 is suspended inside the vehicle body.

Guide bearings

1192 and 1193 are vertically disposed above drive wheel flange 115. The

springs

1194 and 1195 are respectively sleeved on the guide bearing 1192 and the guide bearing 1193, and one end of the spring, namely the bottom end of the spring shown in fig. 1, is abutted and fixed on the driving wheel flange 115, and the other end of the spring, namely the upper end of the spring shown in fig. 1, is fixedly connected on the mounting bracket 1191. Thereby spring 1194 and spring 1195 all are in compression state and exert the holding down force to drive wheel flange 115 and drive wheel 118 for drive wheel 118 can follow the ground laminating, prevent that drive wheel 118 from taking place the idle running skid with the ground contact force is little in the walking in-process, and the setting of spring can also play absorbing effect simultaneously, makes this automatic guidance fork truck can walk and shake less under rugged road conditions, guarantees freight's stable safety.

As shown in fig. 2, the handling assembly includes a power assembly, a cylinder, a fork assembly, an opto-electronic assembly, and an obstacle detection sensor. Wherein the power component is a hydraulic power system and is arranged inside the vehicle body. More specifically, the power assembly comprises a power motor 211, a starter 212 is mounted on the power motor 211, and an oil tank 213 is mounted below the power motor 211. One oil cylinder (an oil cylinder 222 and an oil cylinder 223) is arranged on the left and the right in the vehicle body. The power assembly is connected with the oil cylinder. The fork assembly comprises two forks, a bearing wheel assembly and a pull rod structure assembly, wherein one fork is arranged at the left side and the other fork is arranged at the right side of the bottom of the vehicle body (the fork 261 and the fork 262 respectively). The bearing wheel assembly is arranged at the bottom of one end, far away from the truck body, of the pallet fork, the bearing wheel assembly comprises a bearing wheel support (a bearing wheel support 251 and a bearing wheel support 252) and bearing wheels (a bearing wheel 253 and a bearing wheel 254) which are arranged on the bearing wheel support in a rolling mode, it needs to be noted that the number of the bearing wheels of each pallet fork is two, and the two bearing wheels are arranged side by side along the length direction of the pallet fork. The tie rod structure assembly includes crankshaft parts (crankshaft part 231 and crankshaft part 232), tie rods (tie rod 233 and tie rod 234), and tie rod rings (tie rod ring 235 and tie rod ring 236). The rotary forklift is characterized in that a crankshaft part is rotatably arranged at the bottom of one end of the pallet fork connected with the forklift body, one end of the crankshaft part is connected with an oil cylinder through a power assembly, the other end of the crankshaft part is connected with a pull rod, the pull rod is arranged at the bottom end of the pallet fork and extends towards one end far away from the forklift body and is connected with a pull rod ring, and the pull rod ring is rotatably arranged at the bottom end of the pallet fork through a shaft horizontally arranged and is in rolling connection with a bearing wheel support. A slouching plate component is also arranged above one end of the fork connected with the vehicle body, the slouching plate component comprises a slouching plate bottom plate (a slouching plate bottom plate 263 and a slouching plate bottom plate 264) fixed on the side surface of the vehicle body and an attachment plate (an attachment plate 265 and an attachment plate 266) with one end movably connected with the slouching plate bottom plate through a bias spring and the other end freely movable, and an optoelectronic component 27 is arranged between the slouching plate bottom plate and the attachment plate, more specifically, the optoelectronic component 27 is arranged on the slouching plate bottom plate. If the opto-electronic unit 27 detects that the load is not in place, the attachment plate will not completely cover the floor of the slouch plate, and the opto-electronic unit 27 can detect light and signal that the body has continued to move against the biasing force of the biasing spring so that the attachment plate completely covers the floor of the slouch plate until the load is in place. Similarly, if it is detected that the goods are in place, the attachment plate completely covers the bottom plate of the slouch plate, light is blocked, and the photoelectric component 27 cannot detect light. A group of obstacle detection assemblies used for detecting whether the pallet fork can touch an obstacle or not are arranged at the tail part of the pallet fork, namely the bottom of one end far away from the bottom connected with the vehicle body. The bottom plate of the drooping plate and the attachment plate are both of inverted Y-shaped structures, namely, the bottoms of the bottom plate of the drooping plate and the attachment plate are provided with avoidance grooves corresponding to the positions of the forks when the fork supplies goods.

The control system comprises a navigation positioning module, an industrial personal computer 4, a communication V module and a driving execution module. As shown in fig. 4, the industrial personal computer 4 is installed inside the vehicle body and used for controlling the navigation positioning module, the communication V module and the driving execution module. More specifically, the industrial personal computer 4 is connected to the switch via an ethernet. The industrial personal computer 4 is connected with the communication V module through the Ethernet. The communication V module comprises a wireless AP client and an antenna. The switch is connected with the wireless Ap client through the ethernet. The communication V module is connected with the wireless AP client through the Ethernet. The communication V module is connected with the navigation positioning module through a serial port. The navigation positioning module includes a plurality of sensors, and specifically, the navigation positioning module includes a first laser sensor 411, a secondary positioning sensor 412, a second laser sensor 415, and a positioning obstacle avoidance sensor (a positioning obstacle avoidance sensor 413 and a positioning obstacle avoidance sensor 414). Wherein the first laser sensor 411 is used for mapping and positioning to form a navigation map. The secondary positioning sensor 412 may be selected as a laser sensor or a vision sensor. The second laser sensor 415 is installed above the rear side of the vehicle body, and plays a role in three-dimensional protection so as to prevent obstacles or people from suddenly appearing behind and prevent the forklift from colliding. The positioning obstacle avoidance sensor 413 and the positioning obstacle avoidance sensor 414 are installed at the bottom of the vehicle body, specifically, at positions close to the two universal wheels 121 and the universal wheels 122 on the left and right sides of the vehicle body, and are arranged close to the ground, so that the functions of navigation positioning and low-altitude obstacle identification are achieved. The scanning angle problem of the forklift can be enlarged due to the arrangement of the second laser sensor 415 and the positioning obstacle avoidance sensor. The driving execution module comprises a walking driver (not shown) and a lifting driver (not shown), and the walking driver is used for controlling the walking assembly. The lifting driver is used for controlling the lifting of the pallet fork. The auxiliary parts comprise a power switch, an emergency stop button, a starting switch and a reset switch. The power switch is arranged on the front surface of the vehicle body and used for controlling a main power supply of the automatic guide forklift. The emergency stop buttons are arranged in front of the automatic guide forklift, on the left side and on the right side respectively and used for controlling the emergency stop of the trolley in case of emergency. The starting switch is used for controlling the starting of the internal program of the automatic guide forklift, and the reset switch is used for controlling the resetting of the internal program of the automatic guide forklift.

According to some embodiments of the utility model, the automated guided forklift still includes the subassembly that charges, and the subassembly that charges includes charging mouth and battery. Specifically, the subassembly that charges is installed in automobile body the place ahead or the positive intermediate position in rear, and the mouth that charges is installed in the side of automobile body for fill electric pile contact with the external world and charge for automatic guide fork truck. The battery is a 24V lithium battery and is arranged inside the vehicle body. Optionally, a 24V to 5V switching power supply can be optionally provided.

The utility model discloses an automatic guide fork truck, during the transport goods, build the picture location through laser sensor scanning and form the navigation image, main control computer control drive fork truck walks to the goods spot according to the navigation image, the fork enters into the goods bottom, after photoelectric assembly detected the goods and targets in place, power component drives the certain height of bent axle part lifting, thereby it rises certain height to drive the pull rod, lift the goods and break away from ground until the goods, later main control computer control running assembly drives fork truck and removes, thereby realize the automatic transportation of goods. In the carrying process, the laser sensor scans, builds and positions the image again to form a return navigation image, and the main control computer controls and drives the forklift to move to the goods placing point according to the return navigation image.

It is to be understood that the above-described embodiments of the present invention are merely illustrative of or explaining the principles of the invention and are not to be construed as limiting the invention. Therefore, any modifications, equivalents, improvements and the like which are made without departing from the spirit and scope of the present invention should be considered within the protection scope of the present invention. Further, it is intended that the appended claims cover all such variations and modifications as fall within the scope and boundaries of the appended claims or the equivalents of such scope and boundaries.

Claims

1. An automated guided forklift, comprising:

the vehicle body is vertically arranged;

the control system comprises a navigation positioning module, the navigation positioning module comprises a first laser sensor which is arranged in the front upper part of the vehicle body and used for establishing a map for positioning and a secondary positioning sensor which is arranged in the rear of the vehicle body, and the walking assembly and the carrying assembly are both electrically connected with the control system and controlled by the control system;

the fork assembly includes:

the pull rod structure assembly comprises a crankshaft part, a pull rod and a pull rod ring, the crankshaft part is rotatably arranged at the bottom of one end, connected with the truck body, of the pallet fork and is connected with the power assembly, the pull rod is arranged at the bottom end of the pallet fork, one end of the pull rod is connected with the crankshaft part, the other end of the pull rod extends towards one end, far away from the truck body, of the pallet fork and is connected with the pull rod ring, and the pull rod ring is in rolling connection with the bearing wheel support through a shaft;

a drooping plate assembly is further arranged above one end, connected with the truck body, of the fork, the drooping plate assembly comprises a drooping plate bottom plate fixed on the side face of the truck body and a butt strap, one end of the butt strap is movably connected to the drooping plate bottom plate, the other end of the butt strap can freely move, a photoelectric assembly is arranged between the drooping plate bottom plate and the butt strap, and the photoelectric assembly is arranged on the drooping plate bottom plate.

2. The automated guided vehicle of claim 1, wherein the road wheels comprise drive wheels mounted at a bottom middle position of the vehicle body and universal wheels mounted at both sides of the drive wheels;

the walking driving assembly comprises a walking motor and a steering motor;

the walking motor and the steering motor are respectively and fixedly connected with the driving wheel flange and respectively control the walking and the steering of the driving wheel through the gear.

3. The automated guided forklift of claim 2, wherein the travel assembly further comprises a suspension device comprising a mounting bracket, a guide bearing, and a spring;

the mounting bracket is suspended in the vehicle body;

the guide bearing is vertically arranged on the driving wheel flange;

4. The automated guided vehicle of claim 1, wherein the end of the forks remote from the vehicle body is further fitted with an obstacle detection sensor for detecting whether the forks will hit an obstacle.

5. The automated guided forklift of claim 2, wherein the navigation positioning module further comprises:

the positioning obstacle avoidance sensor is arranged at the bottom of the vehicle body and close to the position of the universal wheel; and/or

And a second laser sensor disposed above a rear side of the vehicle body.

6. The automated guided forklift of claim 1, wherein the control system further comprises a travel drive for controlling the travel assembly and a lift controller for controlling the lifting of the forks.

7. The automated guided forklift of claim 1, wherein the control system further comprises an industrial personal computer, a communication V module and a drive execution module;

8. The automated guided forklift of claim 1, further comprising a charging assembly comprising a battery and a charging port.

9. The automated guided forklift of claim 1, further comprising auxiliaries including a power switch, an emergency stop button, a start switch, and a reset switch.