CN104442452A - Unmanned electric trackless three-direction stacking forklift truck - Google Patents
Unmanned electric trackless three-direction stacking forklift truck Download PDFInfo
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- CN104442452A CN104442452A CN201410648533.0A CN201410648533A CN104442452A CN 104442452 A CN104442452 A CN 104442452A CN 201410648533 A CN201410648533 A CN 201410648533A CN 104442452 A CN104442452 A CN 104442452A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
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- Forklifts And Lifting Vehicles (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides an unmanned electric trackless three-direction stacking forklift truck which is provided with a truck body and a power source arranged on the outer side of the truck body. The front end of the truck body is provided with a working device, and the working device is provided with a three-direction stacking truck head. A vehicle controller PLC controlling a single unmanned vehicle to run is arranged in a truck body cab, and a vehicle Ethernet wireless signal receiver is arranged at the left end of the top plane of the truck body. The vehicle controller PLC is connected with the vehicle Ethernet wireless signal receiver and is in data communication with the vehicle Ethernet wireless signal receiver, and the vehicle controller PLC is connected with a mechanism assembly which is arranged on the truck body and used for monitoring, detecting, displaying, driving and controlling the running state of the truck body to achieve automatic assembling and disassembling of the truck body. The unmanned electric trackless three-direction stacking forklift truck is simple and compact in structural design and convenient to manufacture, install and debug, and the safety protection function can be taken into full consideration. Full-automatic unmanned driving control and information collection are achieved on the forklift truck, electrical design is reliable, object overload characteristics are good, an automatic navigation system is high in precision, tracks do not need to be laid, and operation is stable.
Description
Technical field
The invention belongs to automatic driving vehicle technical field, be specifically related to a kind of driverless operation electric railless three-dimensional stacking fork truck for pallet or article automatic transporting, warehouse-in and outbound.
Background technology
The proposition of the concept such as Intelligent logistics, intelligent repository, has very large test to logistics haulage equipment, and its alerting ability, comformability, automation and information-based requirement are progressively improved.The existing traditional AGV in market just realizes the point-to-point carrying of logistics carrying intermediate link, and cannot carry out pallet fork and lift operation, and carrying fork truck is substantially all manual operation pattern, therefore, above technology can not meet the high speed of Developing Logistics, efficient requirement; At present, Forklift Industry is rapid rising, and driverless operation fork truck not only achieves material flows automation technology, and greatly reduce cost of human resources, but be not applied in now the unmanned fork lift technology of logistics carrying terminal link (warehouse-in and outbound), therefore, necessary fork truck to be improved.
Summary of the invention
The technical matters that the present invention solves: a kind of full automaticity and M/C convertible driverless operation electric railless three-dimensional stacking fork truck are provided, the automation of logistics has been controlled by vehicle control device PLC, guiding controls accurately, data message is perfect, is particularly suitable for pallet carrying and pallet and automatically puts in storage and operate with outbound.
The technical solution used in the present invention: driverless operation electric railless three-dimensional stacking fork truck, there is car body and be located at the propulsion source outside car body, described car body front end is provided with equipment and equipment is provided with three-dimensional stacking head, the vehicle control device PLC controlling separate unit automatic driving vehicle and run is provided with in described car body operator's compartment, described car body top plane left end is provided with vehicle ethernet wireless signal receiver, described vehicle control device PLC is connected with vehicle ethernet wireless signal receiver row data communication of going forward side by side, described vehicle control device PLC and the monitoring be located on car body, detect, display, drive and be connected with the mechanism assembly controlling car body running state the automated handling realizing car body.
Wherein, described mechanism assembly comprises automatic navigation system, three-dimensional stacking head steer-drive, man machine communication touch-screen, emergency brake system, travel condition of vehicle monitoring device, action limit protection detecting device, Multi Loading and Unloading Functions motion control device, steer motor, drive motor and rfid interrogator, described three-dimensional stacking head steer-drive is located at car body lower end and is positioned at the left side of propulsion source, described man machine communication touch-screen is located at car body operator's compartment upper end and is disposed adjacent with the automatic operation be located in car body operator's compartment/manual operation mode conversion device, described emergency brake system, travel condition of vehicle monitoring device, action limit protection detecting device and Multi Loading and Unloading Functions motion control device are all located in car body operator's compartment, described steer motor and drive motor are all located at car body lower end and are distributed in car body operator's compartment both sides, described rfid interrogator is located at three-dimensional stacking head upper end.
Further, described automatic navigation system comprises laser reflection plate, laser scanner and vehicle safety monitoring alarm, described laser reflection plate is located in fork truck running environment, its constantly receives and laser of launching of reflects laser scanner, and described vehicle safety monitoring alarm is located in car body operator's compartment and vehicle safety monitoring alarm is connected with vehicle control device PLC with laser scanner.
Further, each mouth of described vehicle control device PLC respectively with three-dimensional stacking head steer-drive, man machine communication touch-screen, emergency brake system, vehicle safety monitoring alarm, vehicle ethernet wireless signal receiver, action limit protection detecting device, Multi Loading and Unloading Functions motion control device, steer motor is connected with the input end of drive motor, described man machine communication touch-screen, vehicle safety monitoring alarm, travel condition of vehicle monitoring device, vehicle ethernet wireless signal receiver, action limit protection detecting device, laser scanner, Multi Loading and Unloading Functions motion control device is connected with the input end corresponding to vehicle control device PLC respectively with the mouth of rfid interrogator.
The present invention's advantage compared with prior art:
1, fork truck realizes full-automatic unmanned driving's control and information acquisition;
2, vehicle adopts wireless local area network technology to realize car and car, car and computerized information transmission over radio;
3, fork truck realizes driverless operation and has people's driving model handoff-security at any time, can realize the have people of fork truck after departing from photoelectric monitoring region and drive, can realize long-distance large-range work; Simultaneously fork truck can realize someone when driverless operation control system et out of order and drives, and do not affect normal production under the premise that security is guaranteed and carry out and depart from as early as possible Production Regional and carry out repairing, maintenance period fork truck does not take warehouse space and runs passage;
4, fork truck working device is provided with three-dimensional stacking head steer-drive, fork truck can realize pallet fork forward direction on three-dimensional stacking head, left-hand, the operation of dextrad three directions access goods when car body does not turn to, pallet fork can left/right 90 ° turn to, pallet fork can move in parallel the operation of realization access goods in left and right when left/right 90 °, this operation is Automated condtrol, fork truck takes up room little, and warehouse space efficiency is high;
5, this structure design is simply compact, is convenient to manufacture, installment and debugging, takes into full account function of safety protection; Electrical design is reliable, and object overlond characteristic is good; Automatic navigation system precision is high, without the need to laying track, stable;
6, fork truck self possesses information collection function and data and sends and receiving function, can conveniently dock floor control system; Effectively improve traditional point-to-point mode of transport, pallet or article can be realized and automatically go out warehouse-in; Automatic operation/manual operation transfer device realizes dual operation pattern, effectively expands forklift workability scope, makes reliability higher.
Accompanying drawing explanation
Fig. 1 is structural front view of the present invention;
Fig. 2 is structure birds-eye view of the present invention;
Fig. 3 is structure right elevation of the present invention;
Fig. 4 is principle of the invention structural representation.
Detailed description of the invention
Below in conjunction with accompanying drawing 1-4, a kind of embodiment of the present invention is described.
Driverless operation electric railless three-dimensional stacking fork truck, the propulsion source 2 that there is car body 1 and be located at outside car body 1, described car body 1 front end is provided with equipment 3 and equipment 3 is provided with three-dimensional stacking head 4, the vehicle control device PLC5 controlling separate unit automatic driving vehicle and run is provided with in described car body 1 operator's compartment, described car body 1 pushes up plane left end and is provided with vehicle ethernet wireless signal receiver 6, described vehicle control device PLC5 is connected with vehicle ethernet wireless signal receiver 6 row data communication of going forward side by side, described vehicle control device PLC5 and the monitoring be located on car body 1, detect, display, drive and be connected with the mechanism assembly controlling car body 1 running state the automated handling realizing car body 1, concrete, described mechanism assembly comprises automatic navigation system, three-dimensional stacking head steer-drive 7, man machine communication touch-screen 8, emergency brake system 9, travel condition of vehicle monitoring device 10, action limit protection detecting device 11, Multi Loading and Unloading Functions motion control device 12, steer motor 13, drive motor 14 and rfid interrogator 15, described three-dimensional stacking head steer-drive 7 is located at car body 1 lower end and is positioned at the left side of propulsion source 2, described man machine communication touch-screen 8 is located at car body 1 operator's compartment upper end and is disposed adjacent with the automatic operation be located in car body 1 operator's compartment/manual operation mode conversion device 18, described emergency brake system 9, travel condition of vehicle monitoring device 10, action limit protection detecting device 11 and Multi Loading and Unloading Functions motion control device 12 are all located in car body 1 operator's compartment, described steer motor 13 and drive motor 14 are all located at car body 1 lower end and are distributed in car body 1 operator's compartment both sides, described rfid interrogator 15 is located at three-dimensional stacking head 4 upper end, described automatic navigation system comprises laser reflection plate, laser scanner 17 and vehicle safety monitoring alarm 16, described laser reflection plate is located in fork truck running environment, the laser that continuous reception reflects laser scanner 17 are launched, described vehicle safety monitoring alarm 16 is located in car body 1 operator's compartment and vehicle safety monitoring alarm 16 is connected with vehicle control device PLC5 with laser scanner 17, each mouth of described vehicle control device PLC5 respectively with three-dimensional stacking head steer-drive 7, man machine communication touch-screen 8, emergency brake system 9, vehicle safety monitoring alarm 16, vehicle ethernet wireless signal receiver 6, action limit protection detecting device 11, Multi Loading and Unloading Functions motion control device 12, steer motor 13 is connected with the input end of drive motor 14, described man machine communication touch-screen 8, vehicle safety monitoring alarm 16, travel condition of vehicle monitoring device 10, vehicle ethernet wireless signal receiver 6, action limit protection detecting device 11, laser scanner 17, Multi Loading and Unloading Functions motion control device 12 is connected with the input end corresponding to vehicle control device PLC5 respectively with the mouth of rfid interrogator 15.
Vehicle control device PLC5 is connected with vehicle ethernet wireless signal receiver 6, realize the radio communication of computing machine and vehicle control device PLC5, thus the communication realized between many driverless operation electric railless three stacking fork trucks, build intelligent traffic network, controller PLC5 with move being connected with laser scanner 17 in navigationsystem from car, the laser signal that laser scanner 17 sends fixed frequency is swept reflecting plate by laser and is received and reflect away, the laser signal be reflected back receives and sends vehicle control device PLC5 to by laser scanner 17, simultaneously by vehicle control device PLC5 periodic receipt automatic navigation system parameter, vehicle location and running state is revised after carrying out algorithm process according to the information gathered, and contrast the operand coordinate information of driverless operation electric railless three-dimensional stacking fork truck, the fork movement of the information and executing unmanned fork lift coordinating rfid interrogator 15 to obtain is done, rfid interrogator 15 can identify the radio-frequency (RF) tag on pallet or goods automatically, obtain the numbering of object, the information such as title, and send information to vehicle control device PLC5, moving object is determined whether after judging, vehicle safety monitoring alarm 16 has the function of detection of obstacles and the detection of fork truck inherent parameters, vehicle safety monitoring alarm 16 sends to vehicle control device PLC5 by the information that each sensor gathers, to be judged according to parameter by vehicle control device PLC5 and control fork truck state, mainly comprise: alarm buzzer is reported to the police, fault-indicating lamp state shows and emergency brake system 9 action, available protecting vehicle safety, is down to minimum by accident rate, the feedback information of action limit protection detecting device 11 comprises velocity limit, steering lock, the lifting altitude limit of door frame and the rotation limit of three-dimensional stacking head 4, the output information that travel condition of vehicle monitoring device 10 sends vehicle control device PLC5 to comprises halted state, forward travel state and fallback state, and automatic operation/manual operation mode conversion device 18 handoff procedure ensures that data message is complete, three-dimensional stacking head steer-drive 7 can 360 ° turn to turn to, vehicle control device PLC5 controls three-dimensional stacking head steer-drive 7 and the left and right BOGEY WHEEL be located on the right side of car body 1 lower end completes the walking of car body 1 on ground and turns to work, realize driverless operation function, by automatic operation/manual operation mode conversion device 18, realize fork truck driverless operation and manned conversion, this structure design is simply compact, be convenient to manufacture, installment and debugging, take into full account the function of safety protection of fork truck, make fork truck reliability higher.
Above-described embodiment, just preferred embodiment of the present invention, is not used for limiting the scope of the present invention, therefore all equivalence changes done with content described in the claims in the present invention, all should be included within the claims in the present invention scope.
Claims (4)
1. driverless operation electric railless three-dimensional stacking fork truck, there is car body (1) and be located at the propulsion source (2) outside car body (1), described car body (1) front end is provided with equipment (3) and equipment (3) is provided with three-dimensional stacking head (4), it is characterized in that: in described car body (1) operator's compartment, be provided with the vehicle control device PLC (5) controlling separate unit automatic driving vehicle and run, described car body (1) top plane left end is provided with vehicle ethernet wireless signal receiver (6), described vehicle control device PLC (5) is connected with vehicle ethernet wireless signal receiver (6) row data communication of going forward side by side, described vehicle control device PLC (5) and the monitoring be located on car body (1), detect, display, drive and be connected with the mechanism assembly controlling car body (1) running state the automated handling realizing car body (1).
2. driverless operation electric railless three-dimensional stacking fork truck according to claim 1, it is characterized in that: described mechanism assembly comprises automatic navigation system, three-dimensional stacking head steer-drive (7), man machine communication touch-screen (8), emergency brake system (9), travel condition of vehicle monitoring device (10), action limit protection detecting device (11), Multi Loading and Unloading Functions motion control device (12), steer motor (13), drive motor (14) and rfid interrogator (15), described three-dimensional stacking head steer-drive (7) can 360 ° turn to and be located at car body (1) lower end and be positioned at the left side of propulsion source (2), described man machine communication touch-screen (8) is located at car body (1) operator's compartment upper end and is disposed adjacent with the automatic operation be located in car body (1) operator's compartment/manual operation mode conversion device (18), described emergency brake system (9), travel condition of vehicle monitoring device (10), action limit protection detecting device (11) and Multi Loading and Unloading Functions motion control device (12) are all located in car body (1) operator's compartment, described steer motor (13) and drive motor (14) are all located at car body (1) lower end and are distributed in car body (1) operator's compartment both sides, described rfid interrogator (15) is located at three-dimensional stacking head (4) upper end.
3. driverless operation electric railless three-dimensional stacking fork truck according to claim 2, it is characterized in that: described automatic navigation system comprises laser reflection plate, laser scanner (17) and vehicle safety monitoring alarm (16), described laser reflection plate is located in the surrounding environment of fork truck running environment, in order to receive the laser that also reflects laser scanner (17) is launched, described vehicle safety monitoring alarm (16) is located in car body (1) operator's compartment and vehicle safety monitoring alarm (16) is connected with vehicle control device PLC (5) with laser scanner (17).
4. driverless operation electric railless three-dimensional stacking fork truck according to claim 3, is characterized in that: each mouth of described vehicle control device PLC (5) respectively with three-dimensional stacking head steer-drive (7), man machine communication touch-screen (8), emergency brake system (9), vehicle safety monitoring alarm (16), vehicle ethernet wireless signal receiver (6), action limit protection detecting device (11), Multi Loading and Unloading Functions motion control device (12), steer motor (13) is connected with the input end of drive motor (14), described man machine communication touch-screen (8), vehicle safety monitoring alarm (16), travel condition of vehicle monitoring device (10), vehicle ethernet wireless signal receiver (6), action limit protection detecting device (11), laser scanner (17), Multi Loading and Unloading Functions motion control device (12) is connected with the input end corresponding to vehicle control device PLC (5) respectively with the mouth of rfid interrogator (15).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410648533.0A CN104442452B (en) | 2014-11-14 | 2014-11-14 | Unmanned electric railless three-dimensional stacking fork truck |
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| CN201410648533.0A CN104442452B (en) | 2014-11-14 | 2014-11-14 | Unmanned electric railless three-dimensional stacking fork truck |
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| CN104442452A true CN104442452A (en) | 2015-03-25 |
| CN104442452B CN104442452B (en) | 2017-04-05 |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105303136A (en) * | 2015-10-29 | 2016-02-03 | 江苏丰东热技术股份有限公司 | Method for positioning mobile trolley |
| CN105883317A (en) * | 2016-01-27 | 2016-08-24 | 滕华 | Intelligent three-axis robot |
| CN107673283A (en) * | 2017-11-17 | 2018-02-09 | 芜湖金智王机械设备有限公司 | The control system of unmanned fork truck |
| CN108657312A (en) * | 2018-05-04 | 2018-10-16 | 重庆中烟工业有限责任公司重庆卷烟厂 | A kind of RFID security identifying system for AGV trolleies |
| CN109343527A (en) * | 2018-10-17 | 2019-02-15 | 广东嘉腾机器人自动化有限公司 | A kind of control method of AGV adjust automatically laser scanner lifting |
| CN109533049A (en) * | 2017-09-21 | 2019-03-29 | 常熟市奥斯维车辆科技有限公司 | A kind of heavy duty electric drive transfer car(buggy) |
| JP2019105995A (en) * | 2017-12-12 | 2019-06-27 | 株式会社豊田自動織機 | Automatic operation forklift |
| CN111153353A (en) * | 2019-11-29 | 2020-05-15 | 广西现代职业技术学院 | Laser navigation unmanned forklift and control system thereof |
| CN112723254A (en) * | 2020-12-29 | 2021-04-30 | 安徽宇锋智能科技有限公司 | Three-way forklift with high-lift forward moving type small pallet |
| CN113419511A (en) * | 2021-05-31 | 2021-09-21 | 深圳市易艾得尔智慧科技有限公司 | Control signal seamless connection forklift control system |
| CN113683022A (en) * | 2020-05-19 | 2021-11-23 | 苏州先锋物流装备科技有限公司 | Semi-automatic forklift system |
| US11479368B2 (en) * | 2019-01-09 | 2022-10-25 | Ford Global Technologies, Llc | Systems, methods, and devices for vehicle integration of unmanned aircraft systems |
| WO2024041036A1 (en) * | 2022-08-22 | 2024-02-29 | 劢微机器人(深圳)有限公司 | Control method, apparatus and device for trilateral forklift, and storage medium |
| CN113419511B (en) * | 2021-05-31 | 2024-04-26 | 深圳鹏鲲智科技术有限公司 | Control signal seamless link forklift control system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105303136A (en) * | 2015-10-29 | 2016-02-03 | 江苏丰东热技术股份有限公司 | Method for positioning mobile trolley |
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| CN109533049A (en) * | 2017-09-21 | 2019-03-29 | 常熟市奥斯维车辆科技有限公司 | A kind of heavy duty electric drive transfer car(buggy) |
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| CN109343527A (en) * | 2018-10-17 | 2019-02-15 | 广东嘉腾机器人自动化有限公司 | A kind of control method of AGV adjust automatically laser scanner lifting |
| US11479368B2 (en) * | 2019-01-09 | 2022-10-25 | Ford Global Technologies, Llc | Systems, methods, and devices for vehicle integration of unmanned aircraft systems |
| CN111153353A (en) * | 2019-11-29 | 2020-05-15 | 广西现代职业技术学院 | Laser navigation unmanned forklift and control system thereof |
| CN113683022A (en) * | 2020-05-19 | 2021-11-23 | 苏州先锋物流装备科技有限公司 | Semi-automatic forklift system |
| CN112723254A (en) * | 2020-12-29 | 2021-04-30 | 安徽宇锋智能科技有限公司 | Three-way forklift with high-lift forward moving type small pallet |
| CN113419511A (en) * | 2021-05-31 | 2021-09-21 | 深圳市易艾得尔智慧科技有限公司 | Control signal seamless connection forklift control system |
| CN113419511B (en) * | 2021-05-31 | 2024-04-26 | 深圳鹏鲲智科技术有限公司 | Control signal seamless link forklift control system |
| WO2024041036A1 (en) * | 2022-08-22 | 2024-02-29 | 劢微机器人(深圳)有限公司 | Control method, apparatus and device for trilateral forklift, and storage medium |
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