CN111807269A - Forklift robot with pattern recognition device - Google Patents
Forklift robot with pattern recognition device Download PDFInfo
- Publication number
- CN111807269A CN111807269A CN202010658166.8A CN202010658166A CN111807269A CN 111807269 A CN111807269 A CN 111807269A CN 202010658166 A CN202010658166 A CN 202010658166A CN 111807269 A CN111807269 A CN 111807269A
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- Prior art keywords
- lifting
- fork
- pattern recognition
- box body
- lifting plate
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- 238000003909 pattern recognition Methods 0.000 title claims abstract description 25
- 239000003381 stabilizer Substances 0.000 claims description 13
- 239000011521 glass Substances 0.000 claims description 7
- 230000003014 reinforcing effect Effects 0.000 claims description 6
- 230000001681 protective effect Effects 0.000 claims description 4
- 238000007790 scraping Methods 0.000 claims description 3
- 238000004458 analytical method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 238000010191 image analysis Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07504—Accessories, e.g. for towing, charging, locking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/22—Hydraulic devices or systems
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention discloses a forklift robot with a pattern recognition device, and belongs to the technical field of logistics equipment. Comprises the following steps: the device comprises a vehicle body, a pallet fork, a lifting assembly and a pattern recognition assembly; the front end of the vehicle body is fixedly provided with a vertically arranged portal, the bottom of the portal is detachably fixed with two horizontally arranged support legs, and the pattern recognition component comprises a box body, a pattern acquisition camera, a rotary table, a motor, a storage battery pack and a controller; the lifting assembly comprises a lifting cylinder, a chain wheel, a chain and a lifting plate, the top of the rear end of the fork is hinged to the lifting plate, the outer end of the lifting plate is provided with a sliding block and a sliding groove in sliding fit, the lifting cylinder is vertically arranged at the front end of the vehicle body, a telescopic shaft of the lifting cylinder is fixed with the chain wheel through a support, and the telescopic shaft of the lifting cylinder is lifted up and down through a driving chain wheel, so that the lifting plate drives the fork and the box body to lift up and down. The invention has the advantages of folding, stable movement and pattern recognition function of up-down lifting.
Description
Technical Field
The invention relates to the technical field of logistics equipment, in particular to a forklift robot with a pattern recognition device.
Background
Fork trucks are industrial handling vehicles, and refer to various wheeled handling vehicles that perform handling, stacking, and short-distance transport operations on piece pallet goods. During the carrying process of the containers, workers operate the forklift to fork the goods from the container stack to carry the goods, and during the forklift process, the whole process is controlled by manpower, so that the overall allocation efficiency of the manual forklift is lower and the movement is not stable enough when a plurality of forklifts operate intensively; in addition, whether the shape of goods is suitable needs to be checked when carrying, and the traditional forklift lacks an identification device, so that the operation is complicated.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to solve the technical problem of providing a forklift robot with a pattern recognition device.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides a forklift robot with a pattern recognition device, which comprises: the device comprises a vehicle body, a pallet fork, a lifting assembly and a pattern recognition assembly;
a vertically arranged portal frame is fixed at the front end of the trolley body, two horizontally arranged support legs are detachably fixed at the bottom of the portal frame, the fork is positioned in front of the portal frame, a vertically arranged sliding groove is formed in the inner edge of the portal frame, and travelling wheels are arranged at the bottoms of the support legs and the bottom of the trolley body;
the pattern recognition component comprises a box body, a pattern acquisition camera, a rotary table, a motor, a storage battery pack and a controller; the image acquisition camera, the rotary table, the motor, the storage battery pack and the controller are all positioned in the box body, the box body is positioned on the inner side of the door frame, transparent glass is embedded in the front end face of the box body, the motor is fixed on the inner bottom wall of the box body, and the power output end of the motor is fixedly connected with the image acquisition camera through the rotary table; the storage battery is electrically connected with the image acquisition camera, the controller and the motor respectively;
the lifting assembly comprises a lifting cylinder, a chain wheel, a chain and a lifting plate, the top of the rear end of the fork is hinged to the lifting plate, a sliding block is arranged at the outer end of the lifting plate and is in sliding fit with the sliding groove, the lifting plate is vertically arranged between the fork and the portal frame, and the fork is positioned on the inner sides of the two support legs; the lifting cylinder, the chain wheel and the chain are all located on the inner side of the door frame, the lifting cylinder is vertically arranged at the front end of the trolley body, a telescopic shaft of the lifting cylinder is fixed with the chain wheel through a support, the box body is fixed on the front end face of the support, two ends of the chain are respectively fixedly connected with the front end of the trolley body and the rear end of the lifting plate, and the chain is sleeved on the chain wheel; the telescopic shaft of the lifting cylinder drives the chain wheel to lift up and down, so that the lifting plate drives the fork and the box body to lift up and down.
Further, be provided with the limiting plate in the box, the limiting plate level is fixed in the box, the power take off end of motor is vertical to run through the limiting plate, the revolving stage the storage battery group the controller the figure is gathered the camera and all is located the top of limiting plate.
Furthermore, a reinforcing plate is arranged between two ends of the fork and is located under the lifting plate.
Further, the rear end of the door frame is provided with a handle, and the handle is located above the vehicle body.
Further, two the stabilizer blade all is the L type, stabilizer blade one end is inserted the bottom outer wall of portal and through a plurality of bolt fixed connection, walking wheel on the stabilizer blade set up in the corner department of scraping of stabilizer blade and keep away from the one end of automobile body.
Further, the bottom of portal is provided with the main gyro wheel, swing joint has the handle that is used for controlling the main gyro wheel direction on the portal, the passageway has been seted up to the front end of automobile body, the handle runs through the passageway extends to the top of automobile body.
Further, a protective net is arranged on the rear end face of the door frame.
Compared with the prior art, the invention has the beneficial effects that:
the foldable forklift truck can be folded, the top of the rear end of the fork is hinged to the lifting plate, when the forklift truck does not need to work, the fork swings vertically upwards along the top of the rear end, the box body is just positioned at the inner side of the fork, and the two support legs with the travelling wheels are arranged in parallel, so that the forklift truck can stably move under the condition that the front end and the rear end of the forklift truck move goods, and can avoid front and rear toppling; in addition, fork and box army can be along with the lifter plate, and the telescopic shaft of lift cylinder passes through chain drive and drives the lifter plate and rise the decline, and the analysis is gathered to the figure to the accessible motor drive swing of figure collection camera sees through transparent glass and carries out the figure to the external world to judge through the controller, reduced artificial judgement, improve handling efficiency.
Drawings
Fig. 1 is a schematic structural diagram of a forklift robot with a pattern recognition device according to an embodiment of the present invention;
fig. 2 is another partial structural schematic diagram of a forklift robot with a pattern recognition device according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a forklift robot with a pattern recognition device in a rear view with a partial cross section according to an embodiment of the present invention;
fig. 4 is a schematic diagram of an internal structure of a box body according to an embodiment of the present invention.
In the figure:
1. a vehicle body; 2. a pallet fork; 3. a support leg; 4. a traveling wheel; 5. a box body; 51. a graphic acquisition camera; 52. a turntable; 53. a motor; 54. a battery pack; 55. a controller; 6. a gantry; 61. a chute; 7. a lifting cylinder; 71. a lifting plate; 711. a slider; 72. a sprocket; 73. a chain; 74. a support; 8. a limiting plate; 9. a main roller; 10. a handle; 11. a reinforcing plate; 12. a protective net; 13. a handle.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and the detailed description, and it should be noted that any combination of the embodiments or technical features described below can be used to form a new embodiment without conflict.
As shown in fig. 1, 2, 3, and 4, the present invention provides a forklift robot with a pattern recognition device, including: the device comprises a vehicle body 1, a pallet fork 2, a lifting assembly and a pattern recognition assembly; a vertically arranged portal frame 6 is fixed at the front end of the vehicle body 1, two horizontally arranged support legs 3 are detachably fixed at the bottom of the portal frame 6, the fork 2 is positioned in front of the portal frame 6, a vertically arranged sliding groove 61 is formed in the inner edge of the portal frame 6, and travelling wheels 4 are arranged at the bottoms of the support legs 3 and the bottom of the vehicle body 1; the pattern recognition component comprises a box body 5, a pattern acquisition camera 51, a rotary table 52, a motor 53, a storage battery pack 54 and a controller 55; the image acquisition camera 51, the rotary table 52, the motor 53, the storage battery pack 54 and the controller 55 are all positioned in the box body 5, the box body 5 is positioned on the inner side of the door frame 6, transparent glass is embedded in the front end face of the box body 5, the motor 53 is fixed on the inner bottom wall of the box body 5, and the power output end of the motor 53 is fixedly connected with the image acquisition camera 51 through the rotary table 52; the storage battery is respectively electrically connected with the image acquisition camera 51, the controller 55 and the motor 53; the lifting assembly comprises a lifting cylinder 7, a chain wheel 72, a chain 73 and a lifting plate 71, the top of the rear end of the fork 2 is hinged to the lifting plate 71, a sliding block 711 is arranged at the outer end of the lifting plate 71 and is in sliding fit with the sliding groove 61, the lifting plate 71 is vertically arranged between the fork 2 and the door frame 6, and the fork 2 is positioned on the inner sides of the two support legs 3; the lifting cylinder 7, the chain wheel 72 and the chain 73 are positioned on the inner side of the door frame 6, the lifting cylinder 7 is vertically arranged at the front end of the vehicle body 1, a telescopic shaft of the lifting cylinder 7 is fixed with the chain wheel 72 through a support 74, the box body 5 is fixed on the front end surface of the support 74, two ends of the chain 73 are respectively fixedly connected with the front end of the vehicle body 1 and the rear end of the lifting plate 71, and the chain 73 is sleeved on the chain wheel 72; the telescopic shaft of the lifting cylinder 7 is lifted up and down by driving the chain wheel 72, so that the lifting plate 71 drives the fork 2 and the box body 5 to lift up and down.
Fig. 3 is a rear view of a partial section of this embodiment, the vehicle body 1 can control the overall movement of the automated vehicle body 1, the present invention is foldable, the top of the rear end of the fork 2 is hinged to the lifting plate 71, when the operation is not required, the front end of the fork 2 swings vertically upwards along the top of the rear end thereof, the box body 5 is just located inside the fork 2 at this time, and does not block the transparent glass at the front end of the box body 5, the image acquisition camera 51 can perform image acquisition and analysis on the outside through the transparent glass, and perform image analysis on the goods in real time, so as to determine whether the shape of the goods meets the requirements and the target, and two support legs 3 with traveling wheels 4 are arranged in parallel, so that the fork 2 at the front end and the rear end can move stably under the condition that the goods are moved; in addition, the fork 2 and the box body 5 can be driven by the telescopic shaft of the lifting cylinder 7 to drive the lifting plate 71 to ascend and descend along with the lifting plate 71 through the transmission of the chain 73, when the telescopic shaft of the lifting cylinder 7 ascends, the bracket 74, the box body 5 on the bracket 74 and the chain wheel 72 are driven to ascend, the chain 73 on the chain wheel 72 drives the lifting plate 71 to ascend, the fork 2 is driven to ascend, and the descending is similar, so that the fork 2 and the box body 5 ascend and descend simultaneously, and the collision between the fork 2 and the box body 5 is avoided; the pattern acquisition camera 51 accessible motor 53 drives revolving stage 52 swing and sees through clear glass and carry out the pattern acquisition analysis to the external world, and revolving stage 52 has been seted up and has been placed the recess of pattern acquisition camera 51, and the lateral wall of box 5 has been offered and has been used for maintenance and detachable door, as shown in fig. 1 to judge through controller 55, reduced artificial judgement, improve handling efficiency. The walking wheels 4 at the front ends of the support legs 3 are provided with wheel covers which effectively protect the walking wheels 4, the walking wheels 4 of the support legs 3 are covered by the wheel covers in the drawing, the image acquisition camera 51 can be selected as a CCD camera, the chip model of the CCD camera is DGT-004, an A/D converter and an ARM series single chip microcomputer are arranged in the controller 55, and the chip model of the A/D converter is ML14433 to convert the data of the image acquisition camera 51, so that remote automatic analysis and judgment are realized; the diameter of the road wheels 4 on the vehicle body 1 is larger than that of the road wheels 4 on the support legs 3.
Further, be provided with limiting plate 8 in the box 5, in limiting plate 8 level was fixed in box 5, the vertical limiting plate 8 that runs through of power take off end of motor 53, revolving stage 52, storage battery 54, controller 55, figure acquisition camera 51 all were located the top of limiting plate 8. The limiting plate 8 is arranged for limiting the power output end of the motor 53 so as to avoid the deflection of the rotary table 52, the storage battery pack 54 is arranged in front of the rotary table 52, the controller 55 is arranged behind the rotary table 52, and the limiting plate 8 can effectively support the storage battery pack 54 and the controller 55;
further, a reinforcing plate 11 is provided between both ends of the fork 2, and the reinforcing plate 11 is located directly below the elevating plate 71. A reinforcing plate 11 is arranged to improve the connection between the forks 2;
further, a handle 13 is provided at the rear end of the mast 6, and the handle 13 is located above the vehicle body 1. The handle 13 is provided to allow a user to hold the vehicle body 1 tightly or pull the vehicle body 1.
Further, two stabilizer blades 3 all are the L type, and 3 one ends of stabilizer blade are inserted the bottom outer wall of portal 6 and are connected through a plurality of bolt fixed, and the walking wheel 4 on the stabilizer blade 3 sets up in the corner department of scraping of stabilizer blade 3 and the one end of keeping away from automobile body 1. Set up two stabilizer blade 3 demountable installation, set up in the outside of fork 2 and in the below of door frame, guarantee holistic stationarity, avoid empting.
Further, the bottom of the door frame 6 is provided with a main roller 9, the door frame 6 is movably connected with a handle 10 used for controlling the direction of the main roller 9, the front end of the vehicle body 1 is provided with a channel, and the handle 10 penetrates through the channel and extends to the upper side of the vehicle body 1. A handle 10 is arranged for controlling the main roller 9, so that the direction can be conveniently controlled manually by an operator.
Further, a protective net 12 is arranged on the rear end face of the gantry 6. The arrangement of the protection net 12 can prevent goods and the like from slipping out from the back, thereby effectively protecting operators.
The above embodiments are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited thereby, and any insubstantial changes and substitutions made by those skilled in the art based on the present invention are within the protection scope of the present invention.
Claims (7)
1. The utility model provides a take figure recognition device's fork truck robot which characterized in that, including: the device comprises a vehicle body, a pallet fork, a lifting assembly and a pattern recognition assembly;
a vertically arranged portal frame is fixed at the front end of the trolley body, two horizontally arranged support legs are detachably fixed at the bottom of the portal frame, the fork is positioned in front of the portal frame, a vertically arranged sliding groove is formed in the inner edge of the portal frame, and travelling wheels are arranged at the bottoms of the support legs and the bottom of the trolley body;
the pattern recognition component comprises a box body, a pattern acquisition camera, a rotary table, a motor, a storage battery pack and a controller; the image acquisition camera, the rotary table, the motor, the storage battery pack and the controller are all positioned in the box body, the box body is positioned on the inner side of the door frame, transparent glass is embedded in the front end face of the box body, the motor is fixed on the inner bottom wall of the box body, and the power output end of the motor is fixedly connected with the image acquisition camera through the rotary table; the storage battery is electrically connected with the image acquisition camera, the controller and the motor respectively;
the lifting assembly comprises a lifting cylinder, a chain wheel, a chain and a lifting plate, the top of the rear end of the fork is hinged to the lifting plate, a sliding block is arranged at the outer end of the lifting plate and is in sliding fit with the sliding groove, the lifting plate is vertically arranged between the fork and the portal frame, and the fork is positioned on the inner sides of the two support legs; the lifting cylinder, the chain wheel and the chain are all located on the inner side of the door frame, the lifting cylinder is vertically arranged at the front end of the trolley body, a telescopic shaft of the lifting cylinder is fixed with the chain wheel through a support, the box body is fixed on the front end face of the support, two ends of the chain are respectively fixedly connected with the front end of the trolley body and the rear end of the lifting plate, and the chain is sleeved on the chain wheel; the telescopic shaft of the lifting cylinder drives the chain wheel to lift up and down, so that the lifting plate drives the fork and the box body to lift up and down.
2. The forklift robot with the pattern recognition device according to claim 1, wherein:
the storage battery box is characterized in that a limiting plate is arranged in the box body, the limiting plate is horizontally fixed in the box body, the power output end of the motor vertically penetrates through the limiting plate, and the rotary table, the storage battery pack, the controller and the image acquisition camera are all located above the limiting plate.
3. The forklift robot with the pattern recognition device according to claim 1, wherein:
and a reinforcing plate is arranged between the two ends of the fork and is positioned under the lifting plate.
4. The forklift robot with the pattern recognition device according to claim 1, wherein:
the rear end of the door frame is provided with a handle, and the handle is located above the vehicle body.
5. The forklift robot with the pattern recognition device according to claim 1, wherein:
two the stabilizer blade all is the L type, stabilizer blade one end is inserted the bottom outer wall of portal and through a plurality of bolt fixed connection, walking wheel on the stabilizer blade set up in the corner department of scraping of stabilizer blade and keep away from the one end of automobile body.
6. The forklift robot with the pattern recognition device according to claim 1, wherein:
the bottom of portal is provided with the main gyro wheel, swing joint has the handle that is used for controlling the main gyro wheel direction on the portal, the passageway has been seted up to the front end of automobile body, the handle runs through the passageway extends to the top of automobile body.
7. The forklift robot with the pattern recognition device according to claim 1, wherein:
and a protective net is arranged on the rear end face of the portal frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010658166.8A CN111807269A (en) | 2020-07-09 | 2020-07-09 | Forklift robot with pattern recognition device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010658166.8A CN111807269A (en) | 2020-07-09 | 2020-07-09 | Forklift robot with pattern recognition device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111807269A true CN111807269A (en) | 2020-10-23 |
Family
ID=72842072
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010658166.8A Pending CN111807269A (en) | 2020-07-09 | 2020-07-09 | Forklift robot with pattern recognition device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111807269A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112758583A (en) * | 2021-02-18 | 2021-05-07 | 张倩 | Vertical conveying device for logistics storage |
| CN113845039A (en) * | 2021-09-22 | 2021-12-28 | 四川长虹智能制造技术有限公司 | Transfer equipment |
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| CN105036003A (en) * | 2015-06-17 | 2015-11-11 | 米亚斯物流设备（昆山）有限公司 | Efficient stacking device for carrying goods |
| CN105174136A (en) * | 2015-06-17 | 2015-12-23 | 米亚斯物流设备（昆山）有限公司 | Transporting and stacking device for objects |
| CN106056846A (en) * | 2016-07-24 | 2016-10-26 | 南昌大学 | Intelligent service box suitable for outdoor tent |
| CN109081272A (en) * | 2018-10-23 | 2018-12-25 | 西安中科光电精密工程有限公司 | It is a kind of to mix the unmanned transhipment fork truck guided and method with vision based on laser |
| CN109131491A (en) * | 2018-10-29 | 2019-01-04 | 王健 | A kind of fruit storage vehicle for automatically tracking and occupied area being adjusted |
| CN208774670U (en) * | 2018-06-24 | 2019-04-23 | 蒋朝萍 | A kind of pilotless automobile camera monitoring device |
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2020
- 2020-07-09 CN CN202010658166.8A patent/CN111807269A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204508709U (en) * | 2015-03-06 | 2015-07-29 | 意欧斯仓储设备股份有限公司 | A kind of sight line is without dead angle forklift |
| CN105036003A (en) * | 2015-06-17 | 2015-11-11 | 米亚斯物流设备（昆山）有限公司 | Efficient stacking device for carrying goods |
| CN105174136A (en) * | 2015-06-17 | 2015-12-23 | 米亚斯物流设备（昆山）有限公司 | Transporting and stacking device for objects |
| CN106056846A (en) * | 2016-07-24 | 2016-10-26 | 南昌大学 | Intelligent service box suitable for outdoor tent |
| CN208774670U (en) * | 2018-06-24 | 2019-04-23 | 蒋朝萍 | A kind of pilotless automobile camera monitoring device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112758583A (en) * | 2021-02-18 | 2021-05-07 | 张倩 | Vertical conveying device for logistics storage |
| CN112758583B (en) * | 2021-02-18 | 2023-10-20 | 山东知柚信息科技有限公司 | Vertical conveying device for logistics storage |
| CN113845039A (en) * | 2021-09-22 | 2021-12-28 | 四川长虹智能制造技术有限公司 | Transfer equipment |
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