CN220265178U - Laser single-differential forklift AGV capable of identifying obstacle - Google Patents
Laser single-differential forklift AGV capable of identifying obstacle Download PDFInfo
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- CN220265178U CN220265178U CN202321893626.0U CN202321893626U CN220265178U CN 220265178 U CN220265178 U CN 220265178U CN 202321893626 U CN202321893626 U CN 202321893626U CN 220265178 U CN220265178 U CN 220265178U
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- 238000005859 coupling reaction Methods 0.000 claims description 2
- 239000000853 adhesive Substances 0.000 claims 1
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- 230000005540 biological transmission Effects 0.000 abstract description 8
- 238000013461 design Methods 0.000 abstract description 4
- 230000009916 joint effect Effects 0.000 abstract description 4
- 238000000034 method Methods 0.000 description 12
- 230000004044 response Effects 0.000 description 9
- 230000008569 process Effects 0.000 description 8
- 238000005259 measurement Methods 0.000 description 6
- 125000006850 spacer group Chemical group 0.000 description 5
- 230000007613 environmental effect Effects 0.000 description 3
- 230000000087 stabilizing effect Effects 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
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- 230000009286 beneficial effect Effects 0.000 description 1
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- Forklifts And Lifting Vehicles (AREA)
Abstract
The utility model belongs to the technical field of intelligent forklifts, in particular to a laser single-differential forklift AGV capable of identifying obstacles, safety obstacle sensors on two sides of a vehicle body and a pressing plate can meet various complex use requirements in real time, when the AGV runs, the AGV suddenly encounters obstacles, the AGV is sensed to be lowered to a low speed at the outermost layer, the AGV is sensed to be lowered to an ultra-low speed at the middle layer, and the AGV is sensed to be stopped at the innermost layer, so that the device can identify the obstacles and reduce the speed in time; because the thread face of threaded rod and the thread groove looks adaptation of locating rack, under screw transmission for the locating rack can drive the clamp plate and move downwards in the trompil direction of through-hole, according to the setting value of pushing down the sensor in place, under the joint effect of clamp plate and fork plate, accomplish the lift firm operation to the goods, through light design, accomplish the intelligent fork goods of automatic guided vehicle.
Description
Technical Field
The utility model belongs to the technical field of intelligent forklifts, and particularly relates to a laser single-differential forklift AGV capable of identifying obstacles.
Background
With the development of logistics and warehousing industries, electric forklifts for carrying goods in warehouses are increasingly widely used. The automatic guiding module is arranged on the electric forklift, so that the automatic guiding module can become an AGV forklift.
The obstacle avoidance system of the AGV forklift circumferentially identifies the AGV forklift to have a blind area, the obstacle between the side surface of the main body of the forklift and the fork baffle can not be identified in the travelling process of the forklift, the rotation radius of the AGV forklift is increased, and a large turning space is required in a turning place; and the transmission structures in the prior art have the defects of complex structure, low transmission efficiency and high energy consumption.
Therefore, the laser single-differential forklift AGV capable of identifying the obstacle is designed to solve the problems.
Disclosure of Invention
To solve the problems set forth in the background art. The utility model provides a laser single-differential forklift AGV capable of identifying obstacles, in the using process of the device, a vehicle recorder can record the whole process video, images and sound of the vehicle body running, and a 2D laser scanner with 360-degree full-range scanning capability becomes powerful measuring equipment by virtue of extremely accurate straight line, angle resolution and high scanning rate; the central car system of operating panel carries out synchronous positioning and builds the picture according to SLAM laser navigation, promptly carries out measurement study to the scene environment, and draw the navigation environment, revise the map and then realize SLAM laser navigation function, thereby carry out free range finding navigation and update the position according to the environmental measurement result, and the safety barrier sensor of automobile body and clamp plate both sides can deal with various complicated operation requirements in real time, when AGV operation in-process, meet the barrier suddenly, its outermost response AGV drops to the low-speed, intermediate level response AGV drops to the ultra-low speed, innermost response AGV parks, thereby accomplish the discernment obstacle of this device and in time slow down. In the process of fork goods, the hydraulic cylinder on the supporting seat is intelligently started, and the piston end of the hydraulic cylinder pushes the push rod and the fork plate to fork goods to move upwards; meanwhile, the servo motor at the top drives the threaded rod to rotate, and the limiting column is fixed in the vehicle body, so that the rotation of the positioning frame is hindered; and because the thread face of the threaded rod is matched with the thread groove of the locating rack, under the transmission of the screw rod, the locating rack can drive the pressing plate to move downwards in the opening direction of the through hole, and according to the set value of the in-place pressing sensor, the lifting and stabilizing operation of cargoes is completed under the joint action of the pressing plate and the fork plate, and the intelligent fork cargo of the automatic guide vehicle is completed through the light design.
In order to achieve the above purpose, the present utility model provides the following technical solutions: the utility model provides a laser list differential fork truck AGV of identifiable barrier, automatic guided vehicle includes automobile body, operating panel, laser scanner, vehicle event data recorder, pushes down portion and lifting portion, one side and the control module electric connection of operating panel of automobile body, laser scanner fixed connection is in top one side of automobile body, vehicle event data recorder's output and operating panel electric connection, lifting portion sets up in the top outside of automobile body, pushing down portion sets up the upper end at lifting portion.
Preferably, the lifting part comprises a supporting seat, a hydraulic cylinder, a push rod and a fork plate, wherein the supporting seat is fixedly connected to the bottom of the vehicle body, the piston end of the hydraulic cylinder is fixedly connected with one end of the push rod, the top of the push rod is fixedly connected with the bottom of the fork plate, and the inner side of the fork plate is in sliding connection with the inner wall surface of the vehicle body.
Preferably, the pushing part comprises a servo motor, a threaded rod, a limiting column, a positioning frame and a pressing plate, wherein the servo motor is in threaded connection with the top of a vehicle body, the top of the threaded rod is fixedly connected with a motor shaft of the servo motor through a coupler, two sides of the limiting column are fixedly connected with the inner surface of the vehicle body, the positioning frame is in sliding sleeve connection with the outer part of the limiting column, and one side of the pressing plate is fixedly connected with the surface of the positioning frame.
Preferably, the inside of locating rack has offered thread groove and through-hole with threaded rod and spacing post size looks adaptation respectively.
Preferably, one side of the vehicle body and the pressing plate is also electrically connected with a safety barrier sensor.
Preferably, the bottom end of the pressing plate is also provided with a pressing-down in-place sensor.
Preferably, the bottom surface of the vehicle body is also adhesively attached with a mechanical bumper strip.
Compared with the prior art, the utility model has the beneficial effects that:
1. in the utility model, the automobile data recorder can record the whole process video, image and sound of the automobile body running, and the 2D laser scanner with 360-degree full-range scanning capability becomes powerful measuring equipment by virtue of extremely accurate straight line and angle resolution and high scanning rate; the central car system of operating panel carries out synchronous positioning and builds the picture according to SLAM laser navigation, promptly carries out measurement study to the scene environment, and draw the navigation environment, revise the map and then realize SLAM laser navigation function, thereby carry out free range finding navigation and update the position according to the environmental measurement result, and the safety barrier sensor of automobile body and clamp plate both sides can deal with various complicated operation requirements in real time, when AGV operation in-process, meet the barrier suddenly, its outermost response AGV drops to the low-speed, intermediate level response AGV drops to the ultra-low speed, innermost response AGV parks, thereby accomplish the discernment obstacle of this device and in time slow down.
2. In the utility model, in the process of fork goods, a hydraulic cylinder on a supporting seat is intelligently started, and the piston end of the hydraulic cylinder pushes a push rod and a fork plate to fork goods to move upwards; meanwhile, the servo motor at the top drives the threaded rod to rotate, and the limiting column is fixed in the vehicle body, so that the rotation of the positioning frame is hindered; and because the thread face of the threaded rod is matched with the thread groove of the locating rack, under the transmission of the screw rod, the locating rack can drive the pressing plate to move downwards in the opening direction of the through hole, and according to the set value of the in-place pressing sensor, the lifting and stabilizing operation of cargoes is completed under the joint action of the pressing plate and the fork plate, and the intelligent fork cargo of the automatic guide vehicle is completed through the light design.
Drawings
The accompanying drawings are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate the utility model and together with the embodiments of the utility model, serve to explain the utility model. In the drawings:
FIG. 1 is a schematic diagram of the structure of the present utility model;
FIG. 2 is a schematic view of the back of the vehicle body according to the present utility model;
FIG. 3 is a schematic view of a lifting part according to the present utility model;
FIG. 4 is a schematic view of a cross-section of a vehicle body according to the present utility model;
FIG. 5 is a schematic view of the structure of the present utility model with the pressing portion disassembled;
in the figure:
1. an automatic guiding vehicle; 11. a vehicle body; 12. an operation panel; 13. a laser scanner; 14. a vehicle event data recorder; 15. a pressing part; 151. a servo motor; 152. a threaded rod; 153. a limit column; 154. a positioning frame; 155. a pressing plate; 16. a lifting part; 161. a support base; 162. a hydraulic cylinder; 163. a push rod; 164. a fork plate; 2. a thread groove; 3. a through hole; 4. a safety barrier sensor; 5. pressing down the in-place sensor; 6. a mechanical bumper strip.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
As shown in fig. 1:
the utility model provides a laser single differential fork truck AGV of identifiable obstacle, AGV fork truck's obstacle avoidance system is to the AGV fork truck circumference discernment existence blind area, can't discern the obstacle between car owner side and the fork baffle in the fork truck marcing to obstacle avoidance system has increased AGV fork truck's radius of rotation, needs great turning space at the turning place; the transmission structures in the prior art have the defects of complex structure, low transmission efficiency and high energy consumption, and on the basis, the automatic guiding vehicle 1 is added, so that the automatic guiding vehicle 1 can finish obstacle recognition, speed reduction in time and stable fork goods.
As shown in fig. 1 and 2:
in an alternative embodiment: the automatic guiding vehicle 1 comprises a vehicle body 11, an operation panel 12, a laser scanner 13, a vehicle recorder 14, a pressing part 15 and a lifting part 16, wherein one side of the vehicle body 11 is electrically connected with a control module of the operation panel 12, the laser scanner 13 is fixedly connected to one side of the top of the vehicle body 11, the output end of the vehicle recorder 14 is electrically connected with the operation panel 12, the lifting part 16 is arranged on the outer side of the top of the vehicle body 11, the pressing part 15 is arranged at the upper end of the lifting part 16, one side of the vehicle body 11 and a pressing plate 155 is electrically connected with a safety barrier sensor 4, and the bottom end of the pressing plate 155 is further provided with a pressing in-place sensor 5.
In this embodiment: the automobile data recorder 14 can record the whole process video, image and sound of the automobile body 11 running, and the 2D laser scanner 13 with 360-degree full-range scanning capability becomes powerful measuring equipment by virtue of extremely accurate straight line and angle resolution and high scanning rate; the central car system of operating panel 12 carries out synchronous positioning and builds the picture according to SLAM laser navigation, promptly carries out measurement study to the scene environment, and draw the navigation environment, revise the map and then realize SLAM laser navigation function, thereby carry out free range finding navigation and update the position according to the environmental measurement result, and the safety barrier sensor 4 of automobile body 11 and clamp plate 155 both sides can deal with various complicated operation requirements in real time, when the AGV operation in-process, meet the barrier suddenly, its outermost response AGV drops to the low velocity, intermediate level response AGV drops to the ultra-low velocity, the innermost response AGV parks, thereby accomplish the discernment obstacle of this device and in time slow down.
It should be noted that: the SLAM laser AGV management system inside the operation panel 12 can support the scheduling and deployment of hundreds of automatic guided vehicles 1.
Further, the method comprises the following steps:
as shown in fig. 1, 4 and 5:
in an alternative embodiment: lifting part 16 includes supporting seat 161, pneumatic cylinder 162, push rod 163 and fork plate 164, supporting seat 161 fixed connection is in the bottom of automobile body 11, the piston end of pneumatic cylinder 162 and the one end fixed connection of push rod 163, the top of push rod 163 and the bottom fixed connection of fork plate 164, the inboard and the inner wall sliding connection of automobile body 11 of fork plate 164, push down the portion 15 and include servo motor 151, threaded rod 152, spacing post 153, spacer 154 and clamp plate 155, servo motor 151 threaded connection is at the top of automobile body 11, the motor shaft fixed connection of shaft coupling and servo motor 151 is passed through at the top of threaded rod 152, the both sides of spacing post 153 and the internal surface fixed connection of automobile body 11, the spacer 154 sliding sleeve is in the outside of spacing post 153, one side of clamp plate 155 and the fixed connection of spacer 154, the inside of spacer 154 has seted up thread groove 2 and through-hole 3 with threaded rod 152 and spacer 153 size looks adaptation respectively.
In this embodiment: in the process of fork goods, a hydraulic cylinder 162 on a supporting seat 161 is intelligently started, and the piston end of the hydraulic cylinder pushes a push rod 163 and a fork plate 164 to fork goods to move upwards; meanwhile, the servo motor 151 at the top drives the threaded rod 152 to rotate, and the limiting column 153 is fixed in the vehicle body 11, so that the rotation of the positioning frame 154 is blocked; because the thread surface of the threaded rod 152 is matched with the thread groove 2 of the positioning frame 154, under the transmission of the screw rod, the positioning frame 154 can drive the pressing plate 155 to move downwards in the direction of the opening of the through hole 3, and the lifting and stabilizing operation of the goods is completed under the joint action of the pressing plate 155 and the fork plate 164 according to the set value of the in-place pressing sensor 5, so that the intelligent fork of the automatic guided vehicle 1 is completed through the light design.
It should be noted that: the bottom surface of the car body 11 is also adhesively connected with a mechanical anti-collision strip 6, and the mechanical anti-collision strip 6 can contact an obstacle in advance before the car body 11 collides with the obstacle, so that the car body 11 is protected and the contact surface is prevented from being damaged.
Finally, it should be noted that: the foregoing description is only a preferred embodiment of the present utility model, and the present utility model is not limited thereto, but it is to be understood that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art, although the present utility model has been described in detail with reference to the foregoing embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.
Claims (7)
1. Laser single differential fork truck AGV of identifiable barrier, its characterized in that: automatic guided vehicle (1) includes automobile body (11), operating panel (12), laser scanner (13), vehicle event data recorder (14), pushes down portion (15) and lifting portion (16), one side of automobile body (11) is in with the control module electric connection of operating panel (12), laser scanner (13) fixed connection is in top one side of automobile body (11), the output of vehicle event data recorder (14) with operating panel (12) electric connection, lifting portion (16) set up the top outside of automobile body (11), push down portion (15) set up the upper end of lifting portion (16).
2. The obstacle identifiable laser single differential forklift AGV of claim 1, wherein: lifting part (16) are including supporting seat (161), pneumatic cylinder (162), push rod (163) and fork board (164), supporting seat (161) fixed connection is in the bottom of automobile body (11), the piston end of pneumatic cylinder (162) with one end fixed connection of push rod (163), the top of push rod (163) with the bottom fixed connection of fork board (164), the inboard of fork board (164) with the internal face sliding connection of automobile body (11).
3. The obstacle identifiable laser single differential forklift AGV of claim 1, wherein: the utility model discloses a car body, including push-down part (15), push-down part (15) are in including servo motor (151), threaded rod (152), spacing post (153), locating rack (154) and clamp plate (155), servo motor (151) threaded connection is in the top of automobile body (11), the top of threaded rod (152) pass through the shaft coupling with the motor shaft fixed connection of servo motor (151), the both sides of spacing post (153) with the internal surface fixed connection of automobile body (11), locating rack (154) slip cup joint the outside of spacing post (153), one side of clamp plate (155) with the fixed surface of locating rack (154) is connected.
4. The obstacle identifiable laser single differential forklift AGV of claim 3, wherein: the inside of locating rack (154) respectively set up with threaded rod (152) with spacing post (153) size looks adaptation screw thread groove (2) and through-hole (3).
5. The obstacle identifiable laser single differential forklift AGV of claim 3, wherein: one side of the car body (11) and one side of the pressing plate (155) are also electrically connected with a safety barrier sensor (4).
6. The obstacle identifiable laser single differential forklift AGV of claim 5, wherein: the bottom end of the pressing plate (155) is also provided with a pressing-down in-place sensor (5).
7. The obstacle identifiable laser single differential forklift AGV of claim 5, wherein: the bottom surface of the car body (11) is also connected with a mechanical anti-collision strip (6) in an adhesive mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321893626.0U CN220265178U (en) | 2023-07-18 | 2023-07-18 | Laser single-differential forklift AGV capable of identifying obstacle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321893626.0U CN220265178U (en) | 2023-07-18 | 2023-07-18 | Laser single-differential forklift AGV capable of identifying obstacle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220265178U true CN220265178U (en) | 2023-12-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321893626.0U Active CN220265178U (en) | 2023-07-18 | 2023-07-18 | Laser single-differential forklift AGV capable of identifying obstacle |
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| Country | Link |
|---|---|
| CN (1) | CN220265178U (en) |
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2023
- 2023-07-18 CN CN202321893626.0U patent/CN220265178U/en active Active
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