CN219194408U

CN219194408U - Intelligent forklift

Info

Publication number: CN219194408U
Application number: CN202320025550.3U
Authority: CN
Inventors: 路威; 李陆洋; 方牧; 鲁豫杰; 李治龙; 杨建辉
Original assignee: Visionnav Robotics Shenzhen Co Ltd
Current assignee: Visionnav Robotics Shenzhen Co Ltd
Priority date: 2023-01-03
Filing date: 2023-01-03
Publication date: 2023-06-16
Anticipated expiration: 2033-01-03

Abstract

The application discloses intelligent forklift, include: a vehicle body and a wheel mechanism; the wheel mechanism is arranged at the bottom of the vehicle body and comprises a driven wheel assembly and a driving wheel assembly, and the driving wheel assembly and the driven wheel assembly are arranged at the bottom of the vehicle body at intervals; the driven wheel assembly comprises a driven wheel mechanism and a driven stroke measuring unit arranged on the driven wheel mechanism, wherein the driven stroke measuring unit is used for measuring a first rotating stroke of the driven wheel mechanism; the driving wheel assembly comprises a driving wheel mechanism and an active stroke measuring unit arranged on the driving wheel mechanism, and the active stroke measuring unit is used for measuring a second rotation stroke of the driving wheel mechanism; the first rotational stroke and the second rotational stroke are used to verify each other for calculating a moving distance of the vehicle body. Through the mode, the accuracy and the reliability of stroke measurement can be improved.

Description

Intelligent forklift

Technical Field

The application relates to the technical field of intelligent equipment, in particular to an intelligent forklift.

Background

Some intelligent forklifts have a stroke measurement function. Through measuring intelligent fork truck's travel distance, can be favorable to carrying out the location to intelligent fork truck, and then can be favorable to intelligent fork truck to get accurately and put and shift the goods.

However, the current intelligent forklift cannot determine whether the acquired moving distance is accurate. If the measured moving distance is inaccurate, and the intelligent forklift is positioned through the moving distance, the intelligent forklift can not accurately pick and place and transfer goods.

Disclosure of Invention

The technical problem that this application mainly solves is to provide intelligent fork truck, can improve among the prior art calculate intelligent fork truck's travel distance reliability not enough problem.

In order to solve the technical problems, one technical scheme adopted by the application is as follows: providing an intelligent forklift, comprising: a vehicle body and a wheel mechanism; the wheel mechanism is arranged at the bottom of the vehicle body and comprises a driven wheel assembly and a driving wheel assembly, and the driving wheel assembly and the driven wheel assembly are arranged at the bottom of the vehicle body at intervals; the driven wheel assembly comprises a driven wheel mechanism and a driven stroke measuring unit arranged on the driven wheel mechanism, wherein the driven stroke measuring unit is used for measuring a first rotating stroke of the driven wheel mechanism; the driving wheel assembly comprises a driving wheel mechanism and an active stroke measuring unit arranged on the driving wheel mechanism, and the active stroke measuring unit is used for measuring a second rotation stroke of the driving wheel mechanism; the first rotational stroke and the second rotational stroke are used to verify each other for calculating a moving distance of the vehicle body.

The beneficial effects of this application are: by verifying the first rotational stroke measured by the driven stroke measuring unit and the second rotational stroke measured by the driving stroke measuring unit against each other and calculating the moving distance of the vehicle body, it is possible to improve the accuracy and reliability of the stroke measurement, unlike the case of the related art.

Drawings

FIG. 1 is a schematic diagram of an embodiment of a smart forklift of the present application;

FIG. 2 is a schematic view of a partial structure of an embodiment of the smart forklift of the present application;

FIG. 3 is a partial plan schematic view of an embodiment of the smart forklift of the present application;

fig. 4 is a schematic structural diagram of a driving wheel assembly according to an embodiment of the intelligent forklift of the present application;

fig. 5 is a schematic structural view of an elastic connection assembly according to an embodiment of the smart forklift of the present application.

Detailed Description

The following description of the technical solutions in the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.

The following embodiments of the smart forklift of the present application exemplarily describe the smart forklift 1.

Referring to fig. 1, in some examples, a smart forklift 1 may include a body 100 and a wheel mechanism 200. The vehicle body 100 may include, among other things, a chassis, a mast assembly, a power assembly, and a vehicle control system. The whole vehicle control system is a control center of the intelligent forklift 1 and has a data processing function. The portal device is mainly used for bearing and lifting goods. The power plant provides power for the operation (e.g., movement, lifting of cargo, etc.) of the intelligent forklift 1, typically fuel-fired or battery-powered.

Referring to fig. 2 and 3, the chassis may include a frame 101. Wherein the frame 101 can be used as an assembly foundation of the whole vehicle. For example, a power plant, a normal control system may be mounted on the frame 101. In addition, the frame 101 can also be used for bearing the total weight of the forklift, buffering the impact of the uneven road on the car body 100, attenuating the vibration of the forklift in running, and improving the running smoothness of the intelligent forklift 1.

The mast assembly may include an inner mast, a middle mast, an outer mast, a fork carriage, and a fork. Wherein the outer mast may be mounted to the carriage 101. The middle door frame is arranged on the outer door frame in a lifting manner. The inner door frame is arranged on the middle door frame in a lifting manner. The fork is fixed to be set up on the fork frame to the fork frame liftable sets up in interior portal. The goods placed on the fork can be lifted or put down through the relative lifting movement among any two of the inner door frame, the middle door frame, the outer door frame and the fork frame.

In some examples, the wheel mechanism 200 may be disposed at the bottom of the vehicle body 100. Specifically, the wheel mechanism 200 may be provided to the frame 101 and contact a drivable area (e.g., a road surface). The wheel mechanism 200 further may include a driven wheel assembly 210 and a driving wheel assembly 220. The driving wheel assembly 220 and the driven wheel assembly 210 may be disposed at a bottom of the vehicle body 100 at intervals.

In some examples, the drive wheel assembly 220 can include a steering wheel 2210. The steering wheel 2210 can actively rotate. Driven wheel assembly 210 may include a driven wheel 2110. When the steering wheel 2210 actively rotates, the intelligent forklift 1 can be driven to move, and then the driven wheel 2110 can be driven to rotate. In some examples, the number of steering wheels 2210 may be 1-2. The number of driven wheels 2110 may be 1-8.

The present inventors have long studied and found that in the related art, most of the travel measurement schemes calculate the moving distance (i.e., travel) of the intelligent forklift 1 by measuring the active rotation number of the steering wheel 2210 or the passive rotation number of the driven wheel 2110. However, if the travelable region bumps, the driven wheel 2110 may separate from the travelable region during movement, in which case the number of passive rotations of the driven wheel 2110 is generally not able to accurately characterize the movement distance of the intelligent forklift 1. In addition, if the steering wheel 2210 slips, the number of active turns of the steering wheel 2210 is also generally not capable of accurately characterizing the moving distance of the intelligent forklift 1. That is, the calculation of the stroke of the intelligent forklift 1 by the above two methods has a problem of insufficient reliability. In order to solve the above technical problems, the present application proposes the following embodiments.

In some examples, driven wheel assembly 210 may include a driven wheel mechanism 211 and a driven travel measurement unit 212 disposed on driven wheel mechanism 211. The driven stroke measurement unit 212 may be used to measure a first rotational stroke of the driven wheel mechanism 211. The driving wheel assembly 220 may include a driving wheel mechanism 221 and a driving stroke measuring unit 222 disposed at the driving wheel mechanism 221. The driving stroke measuring unit 222 may be used to measure the second rotational stroke of the driving wheel mechanism 221. The first and second rotational strokes are used to verify each other for calculating the moving distance of the vehicle body 100. By verifying the first rotational stroke measured by the driven stroke measuring unit 212 and the second rotational stroke measured by the driving stroke measuring unit 222 against each other and calculating the moving distance of the vehicle body 100, it is possible to improve the accuracy and reliability of the stroke measurement, unlike the case of the related art.

In some examples, driven wheel mechanism 211 may include a driven wheel 2110 and a measurement wheel 2111. Driven wheel 2110 and measuring wheel 2111 are provided at a distance from the bottom of vehicle body 100 and can contact the travelable region together. The drivable area may be a road surface. The driven stroke measuring unit 212 is provided to the measuring wheel 2111 to measure the number of rotations of the measuring wheel 2111 as the first rotation stroke. That is, the first rotational stroke can be obtained by multiplying the number of turns of the measuring wheel 2111 by the circumference of the measuring wheel 2111. Specifically, the driven stroke measurement unit 212 may be an encoder.

In addition, the number of measurement wheels 2111 may be the same as the number of driven wheels 2110, for example, 2 driven wheels 2110, and the number of measurement wheels 2111 may be 2. Of course, the number of measurement wheels 2111 may be different from the number of driven wheels 2110, for example, the number of driven wheels 2110 may be 2 and the number of measurement wheels 2111 may be 1.

Referring to fig. 4, in some examples, the drive wheel mechanism 221 may include a stationary seat 2211, a steering wheel 2210, and a travel drive motor 2212. The fixed seat 2211 is fixedly connected with the vehicle body 100. The steering wheel 2210 is rotatably disposed on one side of the fixed seat 2211, and the traveling driving motor 2212 is disposed on the other side of the fixed seat 2211 and is in transmission connection with the steering wheel 2210, so as to drive the steering wheel 2210 to rotate. The active travel measurement unit 222 may be provided to the travel drive motor 2212. Specifically, the active trip measurement unit 222 may be an encoder. In this case, the active stroke measurement unit 222 may measure the number of rotations of the output shaft of the walk driving motor 2212 or the number of active rotations of the steering wheel 2210 to calculate the second rotation stroke. Specifically, the second rotational stroke can be obtained by multiplying the number of turns of the steering wheel 2210 by the circumference of the steering wheel 2210.

In some examples, the drive wheel mechanism 221 may also include a yaw drive motor. The yaw driving motor may be disposed on the other side of the fixed seat 2211, and is disposed at intervals with the walking driving motor 2212, and is in transmission connection with the steering wheel 2210, for driving the steering wheel 2210 to yaw and steer. This enables the steering to be performed by controlling the capstan mechanism 221, and further enables the steering to be performed by controlling the intelligent forklift 1.

In some examples, driven wheel mechanism 211 may also include a resilient connection assembly 2112 (see fig. 2 or 3) disposed in spaced relation to driven wheel 2110. The elastic connection assembly 2112 connects the vehicle body 100. The measuring wheel 2111 is coupled to a resilient coupling assembly 2112. The elastic connection assembly 2112 is for elastically supporting the measuring wheel 2111 toward the bottom of the vehicle body 100 so that the measuring wheel 2111 can elastically contact the travelable region.

Referring to fig. 5, in some examples, the elastic connection assembly 2112 may include a support plate 2113, a movable plate 2114, and an elastic member 2115. The support plate 2113 may be fixedly provided to the vehicle body 100, and may be provided at a distance from the driven wheel 2110. The movable plate 2114 is rotatably coupled to the support plate 2113 so as to be rotatable relative to the support plate 2113. The measuring wheel 2111 is rotatably provided to the movable plate 2114. The elastic member 2115 elastically connects the support plate 2113 and the movable plate 2114.

In some examples, the support plate 2113 may be provided with a support shaft 2116. The support shaft 2116 may be provided extending along the rotational axis of the movable plate 2114. That is, the central axis of the support shaft 2116 may serve as the rotation axis of the movable plate 2114. The movable plate 2114 is rotatably sleeved on the support shaft 2116. The connection position of the elastic member 2115 and the movable plate 2114 is farther from the measuring wheel 2111 than the support shaft 2116, and the elastic member 2115 is used to pull the movable plate 2114 toward the top of the vehicle body 100, so that the movable plate 2114 presses the measuring wheel 2111 toward the bottom of the vehicle body 100 by rotating the measuring wheel 2111. Wherein the elastic member 2115 may be a spring.

In some examples, the measurement wheel 2111 is rotatably disposed at one end of the movable plate 2114. Support holes are formed between the two ends of the movable plate 2114. The support shaft 2116 is provided through the support hole. One end of the elastic member 2115 is connected to the support plate 2113, and the other end is connected to the other end of the movable plate 2114 away from the measuring wheel 2111. The elastic member 2115 is for elastically pulling the movable plate 2114 away from the other end of the measuring wheel 2111.

In some examples, the support plate 2113 may be provided with first connection posts 2117. The movable plate 2114 is provided with a second connection post 2118. The first connection column 2117 and the second connection column 2118 are provided at intervals in the height direction of the vehicle body 100. One end of the elastic member 2115 is connected to the first connection post 2117, and the other end is connected to the second connection post 2118. In this case, when the height of the first connection post 2117 is higher than the height of the second connection post 2118, the elastic member 2115 may exert an upward pulling action on the second connection post 2118 and the movable plate 2114.

In this case, since the elastic member 2115 and the measuring wheel 2111 are respectively located at both ends of the movable plate 2114 and the center of the movable plate 2114 is sleeved on the support shaft 2116, the elastic member 2115 can exert an upward pulling action on one end of the movable plate 2114, so that the movable plate 2114 rotates around the support shaft 2116, thereby exerting a downward action on the measuring wheel 2111. When the measuring wheel 2111 contacts the drivable region, the measuring wheel 2111 can be balanced against the drivable region by the combined action of the downward action and the upward reaction force applied to the measuring wheel 2111 by the drivable region, thereby enabling driven rotation. When the travelable region jolt causes the measuring wheel 2111 to separate from the travelable region, the measuring wheel 2111 is no longer subjected to the reaction force exerted by the travelable region, and thus continues to move downward under the above-described downward action until equilibrium can be maintained again after contacting the travelable region again. Thus, the elastic connection assembly 2112 allows the measuring wheel 2111 to be always in contact with the travelable region, reducing the likelihood that the measuring wheel 2111 will separate from the travelable region such that the number of turns of the measuring wheel 2111 will not accurately characterize the first rotational stroke.

In some examples, the first rotational travel and the second rotational travel may be verified in the following manner. Taking the movement path of the intelligent forklift 1 as a straight line as an example, if the first rotation stroke is equal to the second rotation stroke, it means that the first rotation stroke and/or the second rotation stroke acquired by the intelligent forklift 1 is reliable with a high probability, and the movement distance of the vehicle body 100 can be calculated by using the first rotation stroke or the second rotation stroke.

If the first rotational travel is smaller than the second rotational travel, this means that a large probability of one of the first rotational travel and the second rotational travel is unreliable. Considering that the measuring wheel 2111 can always contact the travelable region with a high probability under the action of the elastic connection assembly 2112, it means that the second rotational stroke may not be reliable enough. For example, the smart forklift 1 may slip during movement, resulting in a second rotational stroke that is too large. In this case, the moving distance of the vehicle body 100 can be calculated by the first rotation stroke.

If the first rotational travel is greater than the second rotational travel, this means that a large probability of one of the first rotational travel and the second rotational travel is unreliable. Since the measuring wheel 2111 is driven to rotate, the first stroke should not be larger than the second rotational stroke, and thus it may be that the first rotational stroke is idling due to inertia or otherwise causes the driven stroke measuring unit 212 to malfunction, in which case the moving distance of the vehicle body 100 can be calculated by the second rotational stroke.

In other examples, the number of measurement wheels 2111 may be multiple. For example, the number of the measuring wheels 2111 may be two, in which case if the first rotational stroke is not equal to the second rotational stroke, verification may be performed by the first rotational strokes calculated by the two driven stroke measuring units 212, respectively.

Specifically, if the first rotational stroke X1 calculated by the first driven stroke measuring unit 212 is not equal to the second rotational stroke X0, the auxiliary verification may be performed using the first rotational stroke X2 calculated by the second driven stroke measuring unit 212. If the first rotational stroke X1 is equal to the first rotational stroke X2, this means that the second rotational stroke X0 may not be reliable enough, whereas the first rotational stroke X1 or the first rotational stroke X2 is relatively reliable. Also, if the first rotational stroke X2 is equal to the second rotational stroke X0, this means that the second rotational stroke X0 is relatively reliable, and the first rotational stroke X1 may not be reliable enough.

In addition, in other examples, if the first rotational travel and the second rotational travel are not equal, meaning that at least one of the first rotational travel and the second rotational travel is unreliable, the two sets of data may be discarded and the travel calculated using other positioning methods or ranging methods may be used for positioning.

In summary, the present application can improve accuracy and reliability of the stroke measurement by verifying the first rotational stroke measured by the driven stroke measuring unit 212 and the second rotational stroke measured by the driving stroke measuring unit 222 with each other and calculating the moving distance of the vehicle body 100.

The foregoing description is only exemplary embodiments of the present application and is not intended to limit the scope of the present application, and all equivalent structures or equivalent processes using the descriptions and the drawings of the present application, or direct or indirect application in other related technical fields are included in the scope of the present application.

Claims

1. An intelligent forklift, which is characterized by comprising:

a vehicle body;

the wheel mechanism is arranged at the bottom of the vehicle body and comprises a driven wheel assembly and a driving wheel assembly, and the driving wheel assembly and the driven wheel assembly are arranged at the bottom of the vehicle body at intervals;

the driven wheel assembly comprises a driven wheel mechanism and a driven stroke measuring unit arranged on the driven wheel mechanism, wherein the driven stroke measuring unit is used for measuring a first rotating stroke of the driven wheel mechanism; the driving wheel assembly comprises a driving wheel mechanism and an active stroke measuring unit arranged on the driving wheel mechanism, and the active stroke measuring unit is used for measuring a second rotation stroke of the driving wheel mechanism; the first rotational stroke and the second rotational stroke are used to verify each other for calculating a movement distance of the vehicle body.

2. The intelligent forklift of claim 1, wherein,

the driven wheel mechanism comprises a driven wheel and a measuring wheel; the driven wheel and the measuring wheel are arranged at the bottom of the vehicle body at intervals and can be contacted with a driving area together; the driven stroke measuring unit is arranged on the measuring wheel to measure the rotation circle number of the measuring wheel as the first rotation stroke.

3. The intelligent forklift of claim 2, wherein,

the driven wheel mechanism further comprises an elastic connecting component which is arranged at intervals with the driven wheel, the elastic connecting component is connected with the vehicle body, and the measuring wheel is connected with the elastic connecting component; the elastic connection assembly is used for elastically supporting the measuring wheel towards the bottom of the vehicle body so that the measuring wheel can elastically contact a travelable area.

4. The intelligent forklift as claimed in claim 3, wherein,

the elastic connecting component comprises a supporting plate, a movable plate and an elastic piece; the supporting plate is fixedly arranged on the vehicle body and is arranged at intervals with the driven wheel; the movable plate is rotatably connected with the supporting plate so as to be capable of rotating relative to the supporting plate; the measuring wheel is rotatably arranged on the movable plate; the elastic piece is elastically connected with the supporting plate and the movable plate.

5. The intelligent forklift of claim 4, wherein,

the support plate is provided with a support shaft extending along the rotation axis of the movable plate; the movable plate is rotatably sleeved on the supporting shaft; the connecting position of the elastic piece and the movable plate is far away from the measuring wheel compared with the supporting shaft, the elastic piece is used for lifting the movable plate towards the top of the vehicle body, so that the movable plate can press the measuring wheel towards the bottom of the vehicle body through rotation.

6. The intelligent forklift of claim 5, wherein,

the measuring wheel is rotatably arranged at one end of the movable plate; a supporting hole is formed between the two ends of the movable plate, and the supporting shaft penetrates through the supporting hole; one end of the elastic piece is connected with the supporting plate, and the other end of the elastic piece is connected with the other end of the movable plate far away from the measuring wheel; the elastic piece is used for elastically lifting the movable plate away from the other end of the measuring wheel.

7. The intelligent forklift of claim 6, wherein,

the supporting plate is convexly provided with a first connecting column; the movable plate is convexly provided with a second connecting column; the first connecting column and the second connecting column are arranged at intervals in the height direction of the vehicle body; one end of the elastic piece is connected with the first connecting column, and the other end of the elastic piece is connected with the second connecting column.

8. The intelligent forklift of claim 1, wherein,

the driving wheel mechanism comprises a fixed seat, a steering wheel and a traveling driving motor; the fixed seat is fixedly connected with the vehicle body, and the steering wheel is rotatably arranged on one side of the fixed seat; the walking driving motor is arranged on the other side of the fixed seat, is in transmission connection with the steering wheel and is used for driving the steering wheel to rotate; the active travel measuring unit is arranged on the walking driving motor.

9. The intelligent forklift of claim 8, wherein,

the driving wheel mechanism further comprises a yaw driving motor, wherein the yaw driving motor is arranged on the other side of the fixed seat, is arranged at intervals with the walking driving motor, is in transmission connection with the steering wheel and is used for driving the steering wheel to yaw and steer.

10. The intelligent forklift of any one of claims 1 to 9, wherein,

the driven stroke measuring unit and the driving stroke measuring unit are both encoders.