CN208037952U - A kind of electronic unpiloted fork truck - Google Patents

A kind of electronic unpiloted fork truck Download PDF

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Publication number
CN208037952U
CN208037952U CN201721839294.2U CN201721839294U CN208037952U CN 208037952 U CN208037952 U CN 208037952U CN 201721839294 U CN201721839294 U CN 201721839294U CN 208037952 U CN208037952 U CN 208037952U
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China
Prior art keywords
fork truck
unit
safe
yoke
unpiloted
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CN201721839294.2U
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叶兵
周建
王伟
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Hunan Kezhong Intelligent Technology Co.,Ltd.
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Hunan Thought And Control Intelligent Technology Co Ltd
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Abstract

A kind of electronic unpiloted fork truck, belong to logistics transportation apparatus field, including fork truck ontology and the unmanned operation assembly being detachably mounted on fork truck ontology, the unmanned operation assembly includes main control unit, positioning unit and safe unit, wherein, main control unit is removably arranged on fork truck ontology, and keeps the connection communicated with positioning unit and safe unit;Positioning unit is removably arranged on fork truck ontology, is used for the transmitting and reception of vehicle coordinate position signal;Safe unit is removably distributed in the peripheral side of fork truck ontology;By the safe unit, positioning unit and main control unit of the connection of keeping in communication being arranged on fork truck ontology, the signal that sensor is detected to transmitting and feedback feeds back to main control unit, to realize the acquisition, analysis and judgement of data;To ensure that cargo can reach the suitable position of yoke, it is ensured that the safety in operation process so that the overlapping stacking of cargo automatic is possibly realized.

Description

A kind of electronic unpiloted fork truck
Technical field
The utility model is related to a kind of fork trucks for realizing navigation by laser, are to be related to a kind of achievable nothing specifically The laser navigation formula stacking fork truck that people drives, belongs to logistics transportation apparatus field.
Background technology
AGV is the abbreviation of (Automated Guided Vehicle), also commonly referred to as automated guided vehicle, refers to equipment There is electricity magnetically or optically to wait homing guidances device, can be travelled along defined guide path, there is safeguard protection and various transfers The transport vehicle of function is not required to the carrier of driver in commercial Application, with chargeable accumulator for its power resources.AGV belongs to In the scope of wheeled mobile robot (WMR-- Wheeled Mobile Robot).AGV characterized by wheel type mobile, compared with Walking is creeped or other non-wheeled mobile robots have that action is quick, work efficiency is high, simple in structure, controllability is strong, peace The advantages such as good perfection.Compared with common other equipment in material conveying, the zone of action of AGV is without being laid with track, support saddle frame Etc. fixing devices, do not limited by place, road and space.Therefore, in automatic Material Handling System, it most can fully be embodied Automaticity and flexibility realize efficient, economic, flexible manless production.
Although quick, automatic movement relatively may be implemented in the industrial mobile device based on AGV, can not be in cargo Its advantage is played during finishing and stacking, currently, cargo and handling and the main manually-operated electronic stacking fork truck of stacking, Or traditional stacking machine is used, to complete handling and the stacking of cargo.And fork truck is manually operated and carries out stacking, people is easy production Raw fatigue, when being easy dispersion attention, the especially cargo of stacking eminence, limited view, it is easy to which stacking is unsuccessful, causes goods Object is fallen, and there are prodigious security risks;At the same time, traditional stacking machine, takes up a large area, and construction is complicated, cost pole Height, and cannot arbitrarily change stacked location.
Of the existing technology in order to solve the problems, such as, people have carried out long-term exploration, it is proposed that miscellaneous solution Scheme.For example, Chinese patent literature is entitled:(application No. is 201410648533.0) discloses a kind of unmanned electronic Trackless three-dimensional stacking fork truck is equipped with equipment and equipment by increasing power source and car body front end on the outside of car body It is equipped with three-dimensional stacking head, the vehicle control device PLC of control separate unit automatic driving vehicle operation is equipped in car body driver's cabin, On car body top, plane left end is equipped with vehicle Ethernet wireless signal receiver, passes through the number between vehicle control device PLC and vehicle According to communication, on car body monitoring, detection, display, driving and control the mechanism assembly of car body operating status and connect realization The automated handling of car body.Using the trackless three-dimensional stacking fork truck of the structure, can only be realized on the basis of automatic Pilot controls The information collection of cargo stacking and handling, and can not really realize the automatic loading and unloading and stacking of cargo, and need to existing fork Bassinet structure carries out upgrading, and cost is relatively high, in the operation process of fork truck stacking, lacks corresponding security protection monitoring and sets Standby, needing artificial auxiliary to control can just fulfil assignment.
Therefore, there is an urgent need for a kind of adjustment that need not be not necessarily to structure to existing fork truck, pass through simple refit, you can realize nobody Drive, ensure traveling precision, can Flexible Production, and can realize the fork truck of automatic transporting, handling and stacking, it is simple in structure, Convenient for manufacture, installation and debugging, the characteristics of later stage maintenance and easy to maintain;Without manually participating in can be realized the stacking of cargo, Automatic operation mode and manual operation pattern double-mode can any switching laws, entire stability of control system is good, it is highly reliable, make With long lifespan, safety is strong the features such as.
Utility model content
In view of the above problems existing in the prior art, the purpose of the utility model is to provide a kind of electronic unpiloted forks Vehicle does big adjustment, by simply installing additional without the structure to existing common electric stacking fork truck, you can and realization is unmanned, Ensure traveling precision, can Flexible Production, and can realize the fork truck of automatic transporting, handling and stacking, it is simple in structure, convenient for system It makes, install and debugs, later stage maintenance and the characteristics of easy to maintain;It is automatic to grasp without manually participating in can be realized the stacking of cargo Operation mode and manual operation pattern double-mode can any switching laws, entire stability of control system is good, highly reliable, service life Long, the features such as safety is strong.
To realize that above-mentioned purpose of utility model, the technical solution adopted in the utility model are as follows:
A kind of electronic unpiloted fork truck, including fork truck body and the unmanned work that is detachably mounted on fork truck body Industry assembly, the unmanned operation assembly include main control unit, positioning unit and safe unit, wherein main control unit is dismountable It is arranged on fork truck body, and the connection communicated is kept with positioning unit and safe unit;Removably setting exists positioning unit On fork truck body;Safe unit is removably distributed in the peripheral side of fork truck body;With this, pass through what is be arranged on fork truck body It keeps in communication safe unit, positioning unit and the main control unit of connection, the signal that sensor is detected to transmitting and feedback is fed back to Main control unit, to realize the acquisition, analysis and judgement of data;By the positioning unit of installation, the data feedback of acquisition is arrived Vehicle Controller, Vehicle Controller calculate the elements of a fix according to data, determine position and the posture of vehicle, provided for walking navigation It may;The detection and judgement to cargo location are realized by safe unit, to ensure that cargo can reach the suitable position of yoke, Ensure the safety in operation process so that the overlapping stacking of cargo automatic is possibly realized.
Preferably, fork truck body includes fixed yoke on the car body, lifting device, walking mechanism, accumulator, fork truck control Unit and Manual operation handle processed, wherein yoke and accumulator set up separately in the both sides of car body bottom end;What lifting device can lift consolidates Fixed walking mechanism is arranged in the bottom of car body on the car body, and fork truck control unit is arranged in the inside of car body, electrical with accumulator Connection, and the connection driven respectively with lifting device and walking mechanism;Manual operation handle fix on the car body, respectively with lifting The connection of device, walking mechanism and the driving of fork truck control unit.
Preferably, lifting device includes inner upright mounting, outer mast and yoke lifting gear, wherein outer mast bottom end is fixed on On car body, setting that top extends upward;Inner upright mounting is telescopic to be arranged on the car body, and the cloth of overlapping parallel with outer mast It sets;Yoke lifting gear one end is fixed on outer mast, the connection of the other end being oppositely arranged and inner upright mounting driving;Pass through fork Arm elevator apparatus can easily drive the movement that inner upright mounting can misplace relative to outer mast, drive yoke mutually super upper movement, to It is overlapped stacking after cargo lifting on yoke is raised.
Preferably, walking mechanism includes servo driving unit and the spaced driven wheel of at least two groups, servo driving list Member is fixed on the bottom of rack, and driven wheel sets up two end sides in the bottom of yoke and servo driving unit separately;With this, it is ensured that Vehicle smoothly can advance and turn to.
Preferably, main control unit includes the power control cabinet by mounting bracket fixation on the car body, is arranged in power control cabinet Control panel, key switch, buzzer and indicator light, and it is fixed on reseting module inside power control cabinet, stopping modular, emergency stop Module and Vehicle Controller;The key switch and control panel are electrically connected;The control panel and reseting module, stopping mould Block, emergency stop module and Vehicle Controller keep being electrically connected;The lock to entire fork truck is realized by the key switch in power control cabinet It is fixed, and extremely easily read and change reseting module, stopping modular, emergency stop module by control panel and turn to encoder Data, so that efficiently electronic unpiloted fork truck parameters are debugged and be corrected.
Preferably, for the ease of accurately obtaining the track of forklift-walking, the driving list of encoder and walking mechanism is turned to Member is integrally fixed, and the setting moved altogether;Further, steering encoder is fixed on the steering motor of servo driving unit Top, the setting moved altogether with the shaft of steering motor;It, can by the steering encoder being arranged in driving unit steering motor Accurately to obtain vehicle distance information under steam and direction information, consequently facilitating the travel route to vehicle is adopted Collection, to realize the control for carrying out closed loop to the driving trace of operation process.
Preferably, for the ease of vehicle traveling, operation, the communication of control signal, main control unit further includes by installing branch Frame fixes wireless communication module on the car body, and further, wireless communication module is fixed on by mounting bracket on outer mast, To ensure the good wireless telecommunications of vehicle.
Preferably, for the ease of quickly controlling vehicle, reset module includes setting up separately in power control cabinet, keeps electrical The first reset button and the second reset button of connection;Stopping modular includes setting up separately in power control cabinet, keeps be electrically connected the One stop button and the second stop button;Emergency stop module includes setting up separately in power control cabinet, and the first emergency stop being electrically connected is kept to press Button and the second scram button;Wherein, the first reset button, the first stop button and the first scram button are fixed on a left side for power control cabinet On the side of side, the second reset button, the second stop button and the second scram button are fixed on the right side side of power control cabinet.
Preferably, positioning unit includes the alignment sensor being detachably mounted to by mounting bracket on fork truck body.
Preferably, in order to ensure vehicle is in traveling and operation are crossed into, the reliability of position data, alignment sensor passes through Mounting bracket is detachably mounted to the top of outer mast;So as to by collected data feedback to Vehicle Controller, vehicle-mounted control Device processed calculates the elements of a fix according to data, so that it is determined that the position of vehicle and posture, are the walking navigation of vehicle;
Further, alignment sensor is laser positioning sensor.
Preferably, positioning unit further includes laser navigation beacon of the arranged for interval in workplace, for reflecting from laser The laser beam of alignment sensor transmitting.
Preferably, safe unit includes the obstacle sensor, attention device and safe touch side being electrically connected with main control unit Device, wherein obstacle sensor is detachably mounted to by mounting bracket on fork truck body;Attention device is fixed on master control list In member;The bottom in fork truck body side is removably arranged in safe touch side device;
Further, obstacle sensor is detachably mounted to bottom of the fork truck far from yoke end by mounting bracket; Further, obstacle sensor is that the laser avoidance sensor of Parameter adjustable section may make fork by the amendment of different parameters Vehicle can meet the needs of different operating environment.
Preferably, safe touch side device includes the first safe touch side and the second safe touch side, wherein the first safe touch side is Two, it is fixed on the bottom of fork truck body side, the length direction along yoke extends;Second safe touch side is fixed on fork truck body Bottom away from yoke distal side;When the safe touch side device being arranged on fork truck body collides barrier, vehicle will be certainly It is dynamic to stop, to ensure safety of fork truck during traveling.
Preferably, in order to ensure the patency of forklift-walking, safe unit further include for detect yoke and barrier it Between safe distance distance detection device, the end far from fork truck body in yoke is arranged in the distance detection device.
Preferably, in order to ensure fork truck is in operation process, cargo can be limited in the suitable position of yoke, with to avoid work The security risk brought during industry since cargo location is improper, safe unit further includes cargo detection module in place, the goods The object setting that detection module is detachably mounted to proximal end of the yoke close to car body, and moves altogether therewith in place.
Preferably, detection module includes mounting bracket, pressing plate, hinge and travel switch to cargo in place, wherein mounting bracket is removable That unloads is fixed on yoke;Pressing plate is arranged by the way that hinge is turnover on mounting bracket;Travel switch one end is fixed on mounting bracket On, the other end being oppositely arranged is fixed on pressing plate;When cargo reaches yoke suitable position, pressing plate is under the action of cargo Travel switch is pressed onto position, the signal of cargo in place is transmitted to main control unit.
Preferably, in order to ensure acquiring the accurate distance and position that yoke moves up and down, safe unit further includes that setting exists Stroke Control module on lifting device.
Preferably, Stroke Control module is folded between inner upright mounting and outer mast.
Preferably, Stroke Control module includes the first fixed frame, the second fixed frame and run-length encoding device, wherein first is solid The setting determined frame to be fixed on inner upright mounting, and moved altogether therewith;Second fixed frame is fixed on outer mast;The meter of run-length encoding device Number end is connected and fixed with the first fixed frame, is counted body end and is connected and fixed with the second fixed frame;Between inner upright mounting and outer mast Relative motion directly drives the counting end of run-length encoding device relative to body end relative motion, with this for calculating yoke or more Distance when mobile relative to ground realizes the accurate stroke positioning that yoke moves up and down.
Preferably, obstacle sensor is detachably mounted to the bottom of fork truck by mounting bracket, is located remotely from yoke One end.
Compared with prior art, electronic unpiloted fork truck provided by the utility model, in original common electric stacking It is reequiped on fork truck, can be directly realized by from someone's operation and be driven to unmanned automatic driving;Pass through the holding being arranged on fork truck body Safe unit, positioning unit and the main control unit for communicating connection, the signal that sensor is detected to transmitting and feedback feed back to master control Unit, to realize the acquisition, analysis and judgement of data;By the positioning unit of installation by the data feedback of laser navigation beacon To Vehicle Controller, Vehicle Controller calculates the elements of a fix according to data, so that it is determined that the position of vehicle and posture, are vehicle Walking navigation;The detection and judgement to cargo location are realized by safe unit, to ensure that cargo can reach the suitable of yoke Position, it is ensured that the safety in operation process so that the overlapping stacking of cargo automatic is possibly realized;Using laser navigation skill Art, path can be flexible and changeable, provide a kind of carrier of more flexibility;Cargo is tied to level detecting apparatus using mechanical overturning Structure, it is simple and safe;It is protected using obstacle sensor plus safe touch side dual safety, improves peace when fork truck traveling and stacking Quan Xing;Without manually participating in can be realized the stacking of cargo, have automatic operation mode can with manual operation pattern double-mode The features such as any switching laws, entire stability of control system is good, highly reliable, service life is long, safety is strong.
Description of the drawings
Fig. 1 is the structural schematic diagram of fork truck body provided by the utility model;
Fig. 2 is the schematic diagram of cargo provided by the utility model and pallet;
Fig. 3 is the structural schematic diagram of electronic unpiloted fork truck provided by the utility model;
Fig. 4 is another schematic diagram of electronic unpiloted fork lift truck structure provided by the utility model;
Fig. 5 is another schematic diagram of electronic unpiloted fork lift truck structure provided by the utility model;
Fig. 6 is another schematic diagram of electronic unpiloted fork lift truck structure provided by the utility model;
Fig. 7 is the working scene schematic diagram of electronic unpiloted fork truck provided by the utility model.
Specific implementation mode
The utility model is made further in detail, completely to illustrate with reference to embodiment and attached drawing.
For ease of description, herein can with use space relative terms, as " ... on ", " in ... top ", " ... upper surface ", " above " etc., for describing such as a device shown in the figure or feature and other devices or spy The spatial relation of sign.It should be understood that spatially relative term is intended to comprising the orientation in addition to device described in figure Except different direction in use or operation.For example, if the device in attached drawing is squeezed, it is described as " in other devices It will be positioned as " under other devices or construction after part or construction top " or the device of " on other devices or construction " Side " or " under other devices or construction ".Thus, exemplary term " ... top " may include " ... top " and " in ... lower section " two kinds of orientation.The device can also other different modes positioning (be rotated by 90 ° or be in other orientation), and And respective explanations are made to the opposite description in space used herein above.
As shown in Figures 1 to 6, it is a kind of preferred embodiment of electronic unpiloted fork truck provided by the utility model Structural schematic diagram, the electronic unpiloted fork truck need not do big adjustment to the structure of existing common electric stacking fork truck, By simply installing additional, you can realize it is unmanned, ensure traveling precision, can Flexible Production, and can realize automatic transporting, handling It is simple in structure with the fork truck of stacking, convenient for manufacture, installation and debugging, later stage maintenance and the characteristics of easy to maintain;Without artificial Participate in can be realized the stacking of cargo, automatic operation mode and manual operation pattern double-mode can any switching laws, it is entire to control The features such as system stability is good, highly reliable, service life is long, safety is strong.
One kind is preferably carried out in mode, and as shown in Figure 1, Figure 2 and shown in Fig. 5, the electronic unpiloted fork truck is without artificial In the case of participation, it is used for 300 automatic transporting of cargo, handling and the stacking on pallet 400, specifically, including:Fork truck body 100 and the unmanned operation assembly 200 that is detachably mounted on fork truck body 100, which includes main control unit 210, positioning unit 220 and safe unit 230, wherein main control unit 210 is removably arranged on fork truck body 100, and The connection communicated is kept with positioning unit 220 and safe unit 230;Positioning unit 220 is removably arranged in fork truck body 100 On, it is used for the transmitting and reception of vehicle coordinate position signal;Safe unit 230 is removably distributed in the outer of fork truck body 100 Side, for detecting the safe distance between fork truck and barrier, and judge cargo whether safety in place;With this, by Safe unit, positioning unit and the main control unit for the connection of keeping in communication being arranged on fork truck body, by sensor detection transmitting and The signal of feedback feeds back to main control unit, to realize the acquisition, analysis and judgement of data;It will be swashed by the positioning unit of installation For the data feedback of light guide beacon to Vehicle Controller, Vehicle Controller calculates the elements of a fix according to data, determines the position of vehicle It sets and posture, is the walking navigation of vehicle;The detection and judgement to cargo location are realized by safe unit, to ensure cargo energy Enough reach the suitable position of yoke, it is ensured that the safety in operation process so that the overlapping stacking of cargo automatic is possibly realized.
In the utility model preferred embodiment, as shown in Figure 1, fork truck body 100 includes fixing on the car body Yoke 110, lifting device 120, walking mechanism 130, accumulator 140, fork truck control unit 150 and Manual operation handle 160, In, yoke 110 and accumulator 140 set up separately in the both sides of car body bottom end;The fixation that lifting device 120 can lift on the car body, is gone It walks mechanism 130 to be arranged in the bottom of car body, fork truck control unit 150 is arranged in the inside of car body, with accumulator 140 electrically connects The connection for connecing, and being driven respectively with lifting device 120 and walking mechanism 130;Manual operation handle 160 is fixed on the car body, point The connection not driven with lifting device 120, walking mechanism 130 and fork truck control unit 150.
Preferably, lifting device 120 includes inner upright mounting 121, outer mast 122 and yoke lifting gear 123, wherein external door 122 bottom end of frame is fixed on the car body, the setting that top extends upward;Inner upright mounting 121 is telescopic to be arranged on the car body, and with it is outer The arrangement of 122 parallel overlapping of door frame;123 one end of yoke lifting gear is fixed on outer mast 122, the other end being oppositely arranged The connection driven with inner upright mounting 121;With this, it can easily drive inner upright mounting can be wrong relative to outer mast by yoke lifting gear The movement of position drives yoke mutually super upper movement, to be overlapped stacking after the cargo lifting on yoke is raised.
Walking mechanism 130 can be various structures appropriate, it is preferable that walking mechanism 130 includes servo driving unit 131 With the spaced driven wheel of at least two groups 132;Specifically, the pairs of arrangement of the wheel of driven wheel 132;Further, steering engine Driving unit 131 is fixed on the bottom of rack, and driven wheel 132 sets up separately in the bottom of yoke 110 and servo driving unit 131 Two end sides;With this, it is ensured that vehicle smoothly can advance and turn to.
On the basis of the above embodiments, in a kind of specific embodiment, as shown in Figure 3 and Figure 4, main control unit 210 wraps Include power control cabinet 211 on the car body, control panel 212, the key switch being arranged in power control cabinet 211 by mounting bracket fixation 213, buzzer 214 and indicator light (not indicated in attached drawing), and be fixed on reseting module 216 inside power control cabinet 211, stop Module 217, emergency stop module 218 and Vehicle Controller 219;The key switch 213 and control panel 212 are electrically connected;It is described Control panel 212 keeps being electrically connected with reseting module 216, stopping modular 217, emergency stop module 218 and Vehicle Controller 219. With this, the locking to entire fork truck is realized by the key switch in power control cabinet, and extremely easily read by control panel Reseting module, stopping modular, emergency stop module and the data for turning to encoder are taken and change, to efficiently to electronic unmanned Fork truck parameters debugged and corrected.
Preferably, for the ease of accurately obtaining the track of forklift-walking, encoder (not indicated in attached drawing) and row are turned to The driving unit for walking mechanism 130 is integrally fixed, and the setting moved altogether.It is preferably carried out in mode, turns in the utility model It is fixed on the top of the steering motor of servo driving unit 131 to encoder 219, is set with what the shaft of steering motor moved altogether It sets;With this, by the steering encoder being arranged in driving unit steering motor, vehicle can be accurately obtained under steam Distance information and direction information, consequently facilitating the travel route to vehicle is acquired, to realize the traveling to operation process Track carries out the control of closed loop.
Further, further include being fixed by mounting bracket for the ease of vehicle traveling, operation, the communication of control signal Wireless communication module 215 on the car body, is preferably carried out in the utility model in mode, and wireless communication module 215 passes through peace Dress holder is fixed on outer mast 121.
Optionally, for the ease of quickly controlling vehicle, reseting module 216 includes setting up separately in power control cabinet 211, is kept The the first reset button 216a and the second reset button 216b being electrically connected;Stopping modular 217 includes setting up separately in power control cabinet 211 On, keep the first stop button 217a and the second stop button 217b that are electrically connected;Emergency stop module 218 includes setting up separately automatically controlled On cabinet 211, the first scram button 218a and the second scram button 218b that are electrically connected are kept;Wherein, the first reset button 216a, the first stop button 217a and the first scram button 218a are fixed in the left lateral sides of power control cabinet 211, and the second reset is pressed Button 216b, the second stop button 217b and the second scram button 218b are fixed on the right side side of power control cabinet 211.
In conclusion main control unit provided by the utility model, collection power module, warning lamp, reset button, scram button With power control cabinet, function is become one, it is simple in structure, convenient for subsequent maintenance and safeguard;It, can be flexible by reset button Realize the free switching of the different function and pattern such as reset, automatic insertion path, auxiliary mode switching;It, can by scram button It realizes and quickly stops under the state of emergency;By indicator light, can comprehensively, quickly obtain vehicle-state, including vehicle positions shape The relevant informations such as state, manually or automatically state, battery electric quantity state.
In the utility model preferred embodiment, as shown in Fig. 3, Fig. 4 and Fig. 7, positioning unit 220 includes passing through peace Dress holder is detachably mounted to the alignment sensor 221 on fork truck body 100;Preferably, in order to ensure vehicle traveling and During operation is crossed into, the reliability of position data, alignment sensor 221 is detachably mounted to outer mast 121 by mounting bracket Top, with this, by the way that alignment sensor is fixed on outer mast, so as to by collected data feedback to Vehicle Controller, Vehicle Controller calculates the elements of a fix according to data, so that it is determined that the position of vehicle and posture, are the walking navigation of vehicle;Preferably Ground, alignment sensor 221 are laser positioning sensor.
Preferably, in order to confirm the accurate location coordinate of vehicle, as shown in fig. 7, positioning unit 220 further includes arranged for interval Laser navigation beacon 222 in workplace, for reflecting the laser beam emitted from laser positioning sensor.
In conclusion positioning unit provided by the utility model, by the way that alignment sensor is fixed on outer mast, in order to By the collected data feedback of alignment sensor to Vehicle Controller, Vehicle Controller calculates the elements of a fix according to data, to It determines position and the posture of vehicle, is the walking navigation of vehicle;Laser navigation beacon by arranged for interval in workplace, can Realize the precise positioning of vehicle.
Safe unit 230 can be various structures appropriate, be preferably carried out in mode in the utility model, such as Fig. 3, figure Shown in 5 and Fig. 6, safe unit 230 includes the obstacle sensor 236 being electrically connected with main control unit 210, attention device 231 With safe touch side device 232, wherein obstacle sensor 236 is detachably mounted to fork truck body 100 by mounting bracket On;Attention device 231 is fixed on main control unit 210;Safe touch side device 232 is removably arranged in 100 side of fork truck body Bottom;With this, specifically, attention device 231 is two, sets up separately and is fixed in the side of power control cabinet 211.Preferably, safe touch side Device 232 includes the first safe touch side 232a and the second safe touch side 232b, wherein and the first safe touch side 232a is two, Gu It is scheduled on the bottom of 100 side of fork truck body, the length direction along yoke 110 extends;Second safe touch side 232b is fixed on fork truck Bottom of the car body away from 110 distal side of yoke;It is whole when the safe touch side device being arranged on fork truck body collides barrier Vehicle will stop automatically, to ensure safety of fork truck during traveling.
Preferably, in order to promoted fork truck be expert at into operation process passability and safety, obstacle sensor 236 it is logical The bottom that mounting bracket is detachably mounted to fork truck is crossed, one end of yoke 110 is located remotely from;When sensor sensing to barrier When, vehicle stops automatically, when barrier releases, vehicle automatically walk.Further, obstacle sensor 236 is Parameter adjustable The laser avoidance sensor of section may make fork truck that can meet the needs of different operating environment by the amendment of different parameters.
Preferably, in order to ensure the patency of forklift-walking, safe unit 230 further includes for detecting yoke 110 and barrier The distance detection device 233 of safe distance between object, the distance detection device 233 is hindered to be arranged in yoke 110 far from fork truck body 100 end.
Preferably, in order to ensure fork truck is in operation process, cargo can be limited in the suitable position of yoke, with to avoid work The security risk (for example rollover, cargo are fallen) brought during industry since cargo location is improper, safe unit 230 further includes goods Object detection module 234 in place, detection module 234 is detachably mounted to yoke 110 close to the proximal end of car body to the cargo in place, and The setting moved altogether therewith.
Further, cargo in place including mounting bracket 234a, pressing plate 234b, hinge 234c and stroke open by detection module 234 Close 234d, wherein mounting bracket 234a is detachably mounted on yoke 110;Pressing plate 234b is set by the way that hinge 234c is turnover It sets on mounting bracket 234a;The one end travel switch 234d is fixed on mounting bracket 234a, and the other end being oppositely arranged is fixed on On pressing plate 234b;With this, when cargo reaches yoke suitable position, travel switch is pressed onto position by pressing plate under the action of cargo, The signal of cargo in place is transmitted to main control unit.
Preferably, in order to ensure acquiring the accurate distance and position that yoke moves up and down, safe unit 230 further includes setting Stroke Control module 235 on lifting device 120, is preferably carried out in the utility model in mode, Stroke Control module 235 It is folded between inner upright mounting 121 and outer mast 122.Specifically, Stroke Control module 235 includes the first fixed frame 235a, second Fixed frame 235b and run-length encoding device 235c, wherein the first fixed frame 235a is fixed on inner upright mounting 121, and is moved altogether therewith Setting;Second fixed frame 235b is fixed on outer mast 122;The counting end of run-length encoding device 235c and the first fixed frame 235a It is connected and fixed, body end is connected and fixed with the second fixed frame 235b;With this, the relative motion between inner upright mounting and outer mast, directly Tape splicing moves the counting end of run-length encoding device relative to body end relative motion, with this for calculate when yoke moves up and down relative to The distance on ground realizes the accurate stroke positioning that yoke moves up and down.Preferably, run-length encoding device 235b is draw wire encoder.
In conclusion safe unit provided by the utility model can be real by the way that attention device and main control unit to be electrically connected When show the state of vehicle, when vehicle turns left, turn right, detects barrier in fallback procedures, or need artificial assistance, occur When mistake, can be timely, eye-catching send out alarm;Safe touch side device is arranged in the bottom of fork truck body side, setting is worked as When the safe touch side device on fork truck body collides barrier, vehicle will stop automatically, to ensure fork truck in traveling process In safety;By the distance detection device being arranged on yoke, the patency of forklift-walking can ensure that;By dismountable It is fixed on cargo on yoke detection module in place, cargo can be limited in the suitable position of yoke, with to avoid operation process In the security risk brought since cargo location is improper;By the Stroke Control module being arranged on lifting device, yoke is calculated Relative to the distance on ground when moving up and down, the accurate stroke positioning that yoke moves up and down is realized;By being arranged in fork truck body The obstacle sensor of bottom front can judge whether the road in front of when vehicle walking is unobstructed and makes corresponding judgement, works as sense Barrier should be arrived, vehicle stops automatically, and barrier releases, vehicle automatically walk;The laser avoidance sensor of Parameter adjustable section leads to The amendment for crossing different parameters may make fork truck that can meet the needs of different operating environment.
Just the operation principle of electronic unpiloted fork truck provided by the utility model does brief description below:
Secure the laser navigation beacon with certain intervals distance in advance in the place of laser fork truck AGV work, AGV into After entering guidance field, it is first determined its initial position, vehicle at this time is slack, laser positioning sensor rotation sweep one In week, by radiating laser beams to laser navigation beacon, laser beam is reflected to laser positioning sensor by laser navigation beacon, swashs Light-seeking sensor acquires the laser beam reflected back, and laser positioning sensor sends this information to Vehicle Controller and carries out essence It really calculates, obtains position and the direction of motion of AGV, and by carrying out comparison school with preset parameter in AGV control systems Just, to according to the path of planning by goods handling to specified point.
In conclusion electronic unpiloted fork truck provided by the utility model, on original common electric stacking fork truck Repacking can be directly realized by from someone's operation and be driven to unmanned automatic driving;Pass through the company of keeping in communication being arranged on fork truck body Safe unit, positioning unit and the main control unit connect, the signal that sensor is detected to transmitting and feedback feed back to main control unit, from And realize the acquisition, analysis and judgement of data;By the positioning unit of installation by the data feedback of laser navigation beacon to vehicle-mounted Controller, Vehicle Controller calculates the elements of a fix according to data, so that it is determined that the position of vehicle and posture, lead for the walking of vehicle Boat;The detection and judgement to cargo location are realized by safe unit, to ensure that cargo can reach the suitable position of yoke, really Protect the safety in operation process so that the overlapping stacking of cargo automatic is possibly realized;Using laser navigation technology, path can It is flexible and changeable, provide a kind of carrier of more flexibility;Cargo is to level detecting apparatus using mechanical overturning structure, simple peace It is complete reliable;It is protected using obstacle sensor plus safe touch side dual safety, improves safety when fork truck traveling and stacking;Nothing It manually need to participate in can be realized the stacking of cargo, there is automatic operation mode can arbitrarily be cut with manual operation pattern double-mode It changes, the features such as entire stability of control system is good, highly reliable, service life is long, safety is strong.
It is it is necessary to described herein finally:Above example is served only for making the technical solution of the utility model further It explains in detail, should not be understood as the limitation to scope of protection of the utility model, those skilled in the art is new according to this practicality Some nonessential modifications and adaptations that the above of type is made belong to the scope of protection of the utility model.

Claims (10)

1. a kind of electronic unpiloted fork truck, which is characterized in that including fork truck body (100) and be detachably mounted to fork truck Unmanned operation assembly (200) on car body (100), the unmanned operation assembly include main control unit (210), positioning unit (220) and safe unit (230), wherein main control unit (210) is removably arranged on fork truck body (100), and with positioning Unit (220) and safe unit (230) keep the connection of communication;Positioning unit (220) is removably arranged in fork truck body (100) on;Safe unit (230) is removably distributed in the peripheral side of fork truck body (100);The positioning unit (220) is also Include laser navigation beacon (222) of the arranged for interval in workplace.
2. electronic unpiloted fork truck according to claim 1, which is characterized in that fork truck body (100) includes fixing Yoke (110) on the car body, lifting device (120), walking mechanism (130), accumulator (140), fork truck control unit (150) With Manual operation handle (160), wherein yoke (110) and accumulator (140) set up separately in the both sides of car body bottom end;Lifting device (120) on the car body, walking mechanism (130) is arranged in the bottom of car body, fork truck control unit (150) setting for the fixation that can be lifted In the inside of car body, it is electrically connected with accumulator (140), and driven respectively with lifting device (120) and walking mechanism (130) Connection;Manual operation handle (160) is fixed on the car body, respectively with lifting device (120), walking mechanism (130) and fork truck control The connection of unit (150) driving processed.
3. electronic unpiloted fork truck according to claim 1 or 2, which is characterized in that lifting device (120) includes interior Door frame (121), outer mast (122) and yoke lifting gear (123), wherein outer mast (122) bottom end is fixed on the car body, top Hold the setting extended upward;Inner upright mounting (121) is telescopic to be arranged on the car body, and the cloth of overlapping parallel with outer mast (122) It sets;Yoke lifting gear (123) one end is fixed on outer mast (122), and the other end being oppositely arranged is driven with inner upright mounting (121) Dynamic connection.
4. electronic unpiloted fork truck according to claim 1, which is characterized in that main control unit (210) includes passing through Mounting bracket fixes power control cabinet (211) on the car body, control panel (212), the key switch being arranged in power control cabinet (211) (213), buzzer (214) and indicator light, and it is fixed on the internal reseting module (216) of power control cabinet (211), stopping modular (217), emergency stop module (218) and Vehicle Controller (219);The key switch (213) and control panel (212) electrically connect It connects;The control panel (212) and reseting module (216), stopping modular (217), emergency stop module (218) and Vehicle Controller (219) it keeps being electrically connected.
5. electronic unpiloted fork truck according to claim 3, which is characterized in that positioning unit (220) includes passing through Mounting bracket is detachably mounted to the alignment sensor (221) on fork truck body (100).
6. electronic unpiloted fork truck according to claim 3, which is characterized in that safe unit (230) includes and master Control obstacle sensor (236), attention device (231) and safe touch side device (232) that unit (210) is electrically connected, wherein barrier Object sensor (236) is hindered to be detachably mounted on fork truck body (100) by mounting bracket;Attention device (231) is fixed on master It controls on unit (210);Safe touch side device (232) is removably arranged in the bottom of fork truck body (100) side.
7. electronic unpiloted fork truck according to claim 6, which is characterized in that safe touch side device (232) includes First safe touch side (232a) and the second safe touch side (232b), wherein the first safe touch side (232a) is two, is fixed on fork The bottom of vehicle vehicle body side, the length direction along yoke (110) extend;Second safe touch side (232b) is fixed on fork truck body (100) bottom away from yoke (110) distal side.
8. electronic unpiloted fork truck according to claim 6, which is characterized in that safe unit (230) further includes using To detect the distance detection device (233) of yoke (110) safe distance between barrier, the distance detection device (233) The end far from fork truck body (100) in yoke (110) is set.
9. electronic unpiloted fork truck according to claim 6, which is characterized in that safe unit (230) further includes goods Object detection module (234) in place, detection module (234) is detachably mounted to yoke (110) close to car body to the cargo in place Proximal end, and the setting moved altogether therewith.
10. according to the electronic unpiloted fork truck of claim 6 to 9 any one of them, which is characterized in that safe unit (230) further include the Stroke Control module (235) being arranged on lifting device (120).
CN201721839294.2U 2017-12-25 2017-12-25 A kind of electronic unpiloted fork truck Active CN208037952U (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111170210A (en) * 2020-03-05 2020-05-19 安徽宇锋仓储设备有限公司 Cargo detection device system for fork of forklift
CN111717844A (en) * 2020-06-09 2020-09-29 安徽意欧斯物流机器人有限公司 Industrial safety type laser SLAM navigation tray stack AGV
CN113147394A (en) * 2021-02-23 2021-07-23 张建松 Fork truck driving operation safety assists warning system

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111170210A (en) * 2020-03-05 2020-05-19 安徽宇锋仓储设备有限公司 Cargo detection device system for fork of forklift
CN111717844A (en) * 2020-06-09 2020-09-29 安徽意欧斯物流机器人有限公司 Industrial safety type laser SLAM navigation tray stack AGV
CN113147394A (en) * 2021-02-23 2021-07-23 张建松 Fork truck driving operation safety assists warning system

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