CN207418194U - Laser guiding anticollision AGV fork trucks - Google Patents
Laser guiding anticollision AGV fork trucks Download PDFInfo
- Publication number
- CN207418194U CN207418194U CN201721273593.4U CN201721273593U CN207418194U CN 207418194 U CN207418194 U CN 207418194U CN 201721273593 U CN201721273593 U CN 201721273593U CN 207418194 U CN207418194 U CN 207418194U
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- fork trucks
- obstacle avoidance
- agv fork
- plate
- avoidance sensor
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Abstract
The utility model discloses laser guiding anticollision AGV fork trucks, portal frame system including forklift frame and positioned at forklift frame rear end, the front end of forklift frame and lower section centre position is provided with the first obstacle avoidance sensor, first obstacle avoidance sensor connects vehicle control syetem, vehicle control syetem and at least two second obstacle avoidance sensor connection communications, second obstacle avoidance sensor is arranged at the both sides of the support platform at the top of forklift frame, and their projections with forklift frame in the horizontal plane are non-intersect, second obstacle avoidance sensor forms the cuboid detection area of coverage in the both sides of forklift frame.This patent deft design, it is simple in structure, it can effectively sense whether AGV fork trucks front has barrier by the first obstacle avoidance sensor, the detection area of coverage formed in combination with the second obstacle avoidance sensor of both sides, it can effectively realize the detection of obstacles of higher position, the collision of AGV fork trucks and hanging barrier is avoided, ensure that the security of AGV fork trucks operation.
Description
Technical field
The utility model relates to AGV fork trucks field, especially laser guiding anticollision AGV fork trucks.
Background technology
AGV is also commonly referred to as AGV trolleies, refers to magnetically or optically wait homing guidances device equipped with electricity, can be along defined
Guide path travels, and has the transport vehicle of safeguard protection and various transfer functions, the carrying of driver is not required in commercial Application
Vehicle, using chargeable accumulator as its power resources.
Wherein, laser aiming formula AGV is several positioning being arranged on using laser scanner identification in its scope of activities
Mark determines its coordinate position, and so as to which AGV be guided to run, AGV fork trucks are the increase homing guidance devices on the basis of fork truck
To carry out the equipment of material automatic transporting, existing AGV fork trucks operationally, are generally felt by installing obstacle avoidance sensor
Whether there are obstacles is answered on AGV traffic directions to realize security protection, but existing AGV obstacle avoidance sensors are often installed on
The relatively low position in AGV car bodies front end, since the whole height of AGV fork trucks is higher, the induction zone of the obstacle avoidance sensor of lower position
Between it is limited, therefore the barrier that higher position is suspended on for some can not sense, and corresponding, vehicle control syetem just can not yet
Corresponding safety prevention measure is taken, easily leads to and crashes, influences AGV fork truck self-securities.
Also, existing las er-guidance AGV fork trucks, laser scanner are fixed on forklift frame by stent or strut etc.
Top, the height of laser scanner can not be adjusted, and the flexibility of installation is poor, also, due to the AGV fork trucks height of itself
Degree is higher, and after installing laser scanner by stent or strut at the top of fork truck, the height of vehicle further increases, and limits
The application environment of AGV fork trucks, and requirement also is proposed to the setting height(from bottom) of laser reflection plate.
Utility model content
The purpose of this utility model is exactly to solve the above-mentioned problems in the prior art, provides laser guiding and prevents
Hit AGV fork trucks.
The purpose of this utility model is achieved through the following technical solutions：
Laser guiding anticollision AGV fork trucks, the portal frame system including forklift frame and positioned at forklift frame rear end, the fork
The front end of vehicle carriage and lower section centre position is provided with the first obstacle avoidance sensor, the first obstacle avoidance sensor connection is vehicle-mounted
Control system, the vehicle control syetem and at least two second obstacle avoidance sensor connection communications, second obstacle avoidance sensor
The both sides of the support platform at the top of the forklift frame are arranged at, and they and the projection of the forklift frame in the horizontal plane are not
Intersecting, second obstacle avoidance sensor forms the cuboid detection area of coverage in the both sides of forklift frame.
Preferably, the laser guiding anticollision AGV fork trucks, wherein：Second obstacle avoidance sensor is by installing branch
The side wall of frame and the support platform keeps gap, and its induction end is towards ground.
Preferably, the laser guiding anticollision AGV fork trucks, wherein：The mounting bracket includes and support platform
The diagonally-installed plate of side wall connection, is provided with one group of connecting hole on the diagonally-installed plate, and the diagonally-installed backboard is to described
It is connected on the end face of support platform and cooperatively forms the supporting item of cavity with it, connection is provided on the top surface of the supporting item
Plate, the connecting plate are connected with for installing the protective stent of the second obstacle avoidance sensor, and the protective stent takes the shape of the letter U, and it is opened
Mouth down.
Preferably, the laser guiding anticollision AGV fork trucks, wherein：The mounting bracket is located at the support platform
One end away from the portal frame system.
Preferably, the laser guiding anticollision AGV fork trucks, wherein：Pass through adjusting bracket height in the support platform
Degree is adjustably provided with laser scanner.
Preferably, the laser guiding anticollision AGV fork trucks, wherein：The adjusting bracket includes gate supporting rack, institute
It states and the first installing plate is provided on the top surface of gate supporting rack, it is not straight at one that at least three are provided on first installing plate
The second screw hole on line, is provided with the second coaxial installing plate above first installing plate, on two installing plate
It is provided with the 3rd screw hole matched with the second screw hole and passes through one group and heighten bolt through the 3rd screw hole and the second screw hole
Adjust the gap between first installing plate, be provided on second installing plate one group for by fastening bolt with it is sharp
The connecting hole of photoscanner connection.
Preferably, the laser guiding anticollision AGV fork trucks, wherein：The gate supporting rack includes mirror symmetry
First door frame, the second door frame and integrated molding bearing plate, first door frame and the second door frame include riser, institute
The bottom for stating riser is formed with flange, and at least two kidney-shaped connecting holes are offered on the flange；The top of the riser is formed
There is an inclined plate, for the angle of the inclined plate and riser not less than 90 ° and no more than 150 °, the upper end of two inclined plates connects the bearing plate
Opposite both sides.
Preferably, the laser guiding anticollision AGV fork trucks, wherein：Second screw hole is distributed in first peace
Loading board extends to the region outside the bearing plate, and the 3rd screw hole is counterbore.
Preferably, the laser guiding anticollision AGV fork trucks, wherein：Air-bubble is provided on second installing plate
Level.
The advantages of technical solutions of the utility model, is mainly reflected in：
This patent deft design, simple in structure, can effectively sense AGV fork trucks front by the first obstacle avoidance sensor is
It is no to have barrier, in combination with the detection area of coverage that the second obstacle avoidance sensor of both sides is formed, it can effectively realize high bit
The detection of obstacles put avoids the collision of AGV fork trucks and hanging barrier, ensure that the security of AGV fork trucks operation.
By setting height-adjustable second installing plate for carrying laser scanner, bolt is heightened by least three
The height before the second installing plate and the first installing plate is adjusted, can adjust the height of laser scanner within the specific limits,
So as to adapt to requirement of the different occasions to the setting height(from bottom) of laser scanner, application flexibility is more preferable, also, on the second installing plate
Screw hole can with laser scanner and bolt cooperation realize laser scanner leveling, ensure laser scanner installation it is accurate
Property.
The side wall of gate supporting rack is provided with several mounting holes with difference in height, can be adjusted when mounting condition allows
The high and low position of whole stent and then come the height that adjusts laser scanner.
Air-bubble level is provided on second installing plate can ensure that the second installing plate keeps smooth after height is adjusted, from
And be conducive to the leveling of laser scanner.
Description of the drawings
Fig. 1 is the side view of the utility model；
Fig. 2 is the top view of the utility model；
Fig. 3 is the front view of the utility model；
Fig. 4 is the stereogram of the mounting bracket of the utility model；
Fig. 5 is laser scanner and adjusting bracket stereogram in the utility model；
Fig. 6 is laser scanner and adjusting bracket side view in the utility model；
Fig. 7 is the top view of adjusting bracket in the utility model.
Specific embodiment
The purpose of this utility model, advantage and feature will carry out figure by the non-limitative illustration of preferred embodiment below
Show and explain.These embodiments are only the prominent examples using technical solutions of the utility model, all to take equivalent substitution or wait
Effect conversion and formed technical solution, all fall within the requires of the utility model protection within the scope of.
The utility model discloses laser guiding anticollision AGV fork trucks, as shown in Figure 1, including forklift frame 1 and is located at
The portal frame system 2 of 1 rear end 11 of forklift frame, the front end 12 of the forklift frame 1 and is provided with first positioned at lower section centre position
Obstacle avoidance sensor 3, first obstacle avoidance sensor 3 connects vehicle control syetem, so as to 1 front low level of forklift frame
Barrier is detected, and is signaled to vehicle control syetem when detecting barrier and taken the measures such as braking or steering.
4 connection communication of the vehicle control syetem and at least two second obstacle avoidance sensors, as shown in attached drawing 2, attached drawing 3,
It is preferred that the second obstacle avoidance sensor 4 is two, the support that second obstacle avoidance sensor 4 is arranged at 1 top of forklift frame is put down
The both sides of platform 13, and their projections with the forklift frame 1 in the horizontal plane are non-intersect, second obstacle avoidance sensor 4 exists
The both sides of forklift frame 1 form the cuboid detection area of coverage 5.
Specifically, as shown in attached drawing 1- attached drawings 3, second obstacle avoidance sensor 4 is installed on described by mounting bracket 6
Gap is kept in support platform 13 and with the side wall of the support platform 13, is located at the support platform 13 away from the door frame
One end of system 2 and its induction end are towards ground, so as to realize from its setting height(from bottom) to the detection in the gamut of ground,
And the investigative range in 1 front of forklift frame is added by the setting of installation site, is conducive to find barrier ahead of time.
Wherein, as shown in Figure 4, the mounting bracket 6 includes the diagonally-installed plate being connected with the side wall of support platform 13
61, one group of connecting hole 62 is provided on the diagonally-installed plate 61, the diagonally-installed plate 61 is backwards to the end of the support platform
It is connected on face and cooperatively forms the supporting item 63 of cavity with it, connecting plate 64 is provided on the top surface of the supporting item 63, it is described
Connecting plate 64 is connected with for installing the protective stent 65 of the second obstacle avoidance sensor 4, and the protective stent 65 takes the shape of the letter U, and it is opened
Mouth down, second obstacle avoidance sensor 4 are installed in the U-lag of the protective stent 65.
Further, as shown in attached drawing 1- attached drawings 3, adjustably set by 7 height of adjusting bracket in the support platform 13
There is laser scanner 8.
Specifically, the adjusting bracket 7 includes gate supporting rack 71, and as shown in Figure 5, the gate supporting rack 71 wraps
Include the first door frame 711, the second door frame 712 and integrated molding bearing plate 713 of mirror symmetry, first door frame
711 and second door frame 712 include riser 714, one group of mounting hole with difference in height is provided on each riser 714
718, the mounting hole 718 on two risers 714 corresponds, so as to by adjusting the peace for AGV forklift frames
The position in hole 718 is filled to adjust the height of gate supporting rack.
As shown in Figure 5, the bottom of the riser 714 is formed with flange 715, and at least two are offered on the flange 715
Entire gate supporting rack 1 can be connected on other component by a kidney-shaped connecting hole 716 by the waist-shaped hole 716；It is described perpendicular
The top of plate 714 is formed with inclined plate 717, and the angle of the inclined plate 717 and riser 714 is not less than 90 ° and no more than 150 °, two
The upper end of inclined plate 717 connects the opposite both sides of the bearing plate 713, also, the inclined plate 717 is preferably isosceles trapezoid, and its
The one end being connected with the bearing plate 713 is less than its one end being connected with the riser 14, and the bearing plate 713 is preferably rectangular
Shape can so reduce inclined plate, 713 the space occupied of bearing plate, avoid interfering with other component.
As shown in attached drawing 5, attached drawing 6, the top of the bearing plate 713 is provided with the first installing plate 72, they pass through bolt
Fixed, first installing plate 72 is preferably circular, and has a diameter larger than the length of the bearing plate 713, first installation
At least three the second screw holes not point-blank is provided on plate 72, is preferably three, and they divide in isosceles triangle
It is distributed in first installing plate 72 and extends to the region outside the bearing plate 13, so as to reduce the perforate on bearing plate 713.
As shown in attached drawing 5- attached drawings 7, the height of first installing plate 72 is adjustably provided with coaxial
Two installing plates 73, second installing plate 73 is preferably circular, and is provided with and matched 3rd spiral shell of second screw hole
Hole 77, the 3rd screw hole 77 is preferably counterbore, thus when going here and there bolt from the top down, the head of bolt will not protrude from described
The upper surface of second installing plate, avoids the influence to laser scanner installation, and second installing plate 73 runs through institute by one group
The bolt 78 of heightening for stating the 3rd screw hole 77 and the second screw hole adjusts gap between first installing plate 72, described to heighten spiral shell
The length of bolt 78 is more than following leveling bolts（It is not shown in figure）Length.
During specific adjusting, it both can upwards be installed from the bottom of first installing plate 72 and heighten bolt, it can also be from institute
Bolt is heightened in the top down installation for stating the second installing plate 73, and the screw rod of bolt is heightened in the first installing plate 72 and the by control
Length between two installing plates 73 controls the spacing between them.
As shown in Figure 7, one group is provided on second installing plate 73 for by leveling bolt and laser scanner 8
It connects and makes the first screw hole 76 of laser scanner leveling and for passing through the connection that fastening bolt is connected with laser scanner
Hole 74, first screw hole 76 and connecting hole are one group, and preferably they are three groups, the connecting hole 74 can be through hole or
Screw hole is preferably through hole, also, is provided with to observe whether it is in the bubble of horizontality on second installing plate 73
Level meter（It is not shown in figure）.
Still there are many embodiment, all technologies formed using equivalents or equivalent transformation for the utility model
Scheme is all fallen within the scope of protection of the utility model.
Claims (9)
1. laser guiding anticollision AGV fork trucks, including forklift frame（1）And positioned at forklift frame（1）Rear end（11）Door frame system
System（2）, it is characterised in that：The forklift frame（1）Front end（12）And lower section centre position is provided with the first anticollision and passes
Sensor（3）, first obstacle avoidance sensor（3）Connect vehicle control syetem, the vehicle control syetem and at least two second
Obstacle avoidance sensor（4）Connection communication, second obstacle avoidance sensor（4）It is arranged at the forklift frame（1）The support at top is put down
Platform（13）Both sides, and they are with the forklift frame（1）Projection in the horizontal plane is non-intersect, second obstacle avoidance sensor
（4）In forklift frame（1）Both sides formed cuboid detection the area of coverage（5）.
2. laser guiding anticollision AGV fork trucks according to claim 1, it is characterised in that：Second obstacle avoidance sensor
（4）Pass through mounting bracket（6）With the support platform（13）Side wall keep gap, and its induction end is towards ground.
3. laser guiding anticollision AGV fork trucks according to claim 2, it is characterised in that：The mounting bracket（6）Including
With support platform（13）Side wall connection diagonally-installed plate（61）, the diagonally-installed plate（61）On be provided with one group of connecting hole
（62）, the diagonally-installed plate（61）It is connected on the end face of the support platform and cooperatively forms the supporting item of cavity with it
（63）, the supporting item（63）Top surface on be provided with connecting plate（64）, the connecting plate（64）With for installing the second anticollision
Sensor（4）Protective stent（65）Connection, the protective stent（65）It takes the shape of the letter U, and its is opening down.
4. laser guiding anticollision AGV fork trucks according to claim 2, it is characterised in that：The mounting bracket（6）It is located at
The support platform（13）Away from the portal frame system（2）One end.
5. according to any laser guiding anticollision AGV fork trucks of claim 1-4, it is characterised in that：The support platform
（13）On pass through adjusting bracket（7）Height is adjustably provided with laser scanner（8）.
6. laser guiding anticollision AGV fork trucks according to claim 5, it is characterised in that：The adjusting bracket（7）Including
Gate supporting rack（71）, the gate supporting rack（71）Top surface on be provided with the first installing plate（72）, first installing plate
（72）On be provided at least three the second screw holes not point-blank, first installing plate（72）Top be provided with
Its second coaxial installing plate（73）, second installing plate（73）On be provided with and matched 3rd screw hole of the second screw hole（77）
And pass through one group through the 3rd screw hole（77）And second screw hole heighten bolt（78）It adjusts and first installing plate
（72）Between gap, second installing plate（73）On be provided with one group for being connected by fastening bolt with laser scanner
Connecting hole（74）.
7. laser guiding anticollision AGV fork trucks according to claim 6, it is characterised in that：The gate supporting rack（71）
The first door frame including mirror symmetry（711）, the second door frame（712）And integrated molding bearing plate（713）, described
One door frame（711）And second door frame（712）Include riser（714）, the riser（714）Bottom be formed with flange（715）,
The flange（715）On offer at least two kidney-shaped connecting holes（716）；The riser（714）Top be formed with inclined plate
（717）, the inclined plate（717）And riser（714）Angle not less than 90 ° and no more than 150 °, two inclined plates（717）Upper end
Connect the bearing plate（713）Opposite both sides.
8. laser guiding anticollision AGV fork trucks according to claim 7, it is characterised in that：Second screw hole is distributed in
First installing plate（72）Extend to the bearing plate（713）Outer region, the 3rd screw hole（77）For counterbore.
9. laser guiding anticollision AGV fork trucks according to claim 6, it is characterised in that：Second installing plate（73）
On be provided with air-bubble level.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721273593.4U CN207418194U (en) | 2017-09-29 | 2017-09-29 | Laser guiding anticollision AGV fork trucks |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721273593.4U CN207418194U (en) | 2017-09-29 | 2017-09-29 | Laser guiding anticollision AGV fork trucks |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207418194U true CN207418194U (en) | 2018-05-29 |
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ID=62314424
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721273593.4U Active CN207418194U (en) | 2017-09-29 | 2017-09-29 | Laser guiding anticollision AGV fork trucks |
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| CN (1) | CN207418194U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114364630A (en) * | 2019-08-26 | 2022-04-15 | 北越工业株式会社 | Collision prevention method and collision prevention device for upper obstacle of overhead working truck |
-
2017
- 2017-09-29 CN CN201721273593.4U patent/CN207418194U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114364630A (en) * | 2019-08-26 | 2022-04-15 | 北越工业株式会社 | Collision prevention method and collision prevention device for upper obstacle of overhead working truck |
| CN114364630B (en) * | 2019-08-26 | 2023-03-21 | 北越工业株式会社 | Collision prevention method and device for upper obstacle of high-altitude operation vehicle |
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