CN208037952U - A kind of electronic unpiloted fork truck - Google Patents
A kind of electronic unpiloted fork truck Download PDFInfo
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- 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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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
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).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721839294.2U CN208037952U (en) | 2017-12-25 | 2017-12-25 | A kind of electronic unpiloted fork truck |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721839294.2U CN208037952U (en) | 2017-12-25 | 2017-12-25 | A kind of electronic unpiloted fork truck |
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| CN208037952U true CN208037952U (en) | 2018-11-02 |
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Cited By (4)
| 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 |
| CN112875578A (en) * | 2020-12-28 | 2021-06-01 | 深圳市易艾得尔智慧科技有限公司 | Unmanned forklift control system |
| CN113147394A (en) * | 2021-02-23 | 2021-07-23 | 张建松 | Fork truck driving operation safety assists warning system |
-
2017
- 2017-12-25 CN CN201721839294.2U patent/CN208037952U/en active Active
Cited By (4)
| 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 |
| CN112875578A (en) * | 2020-12-28 | 2021-06-01 | 深圳市易艾得尔智慧科技有限公司 | Unmanned forklift control system |
| CN113147394A (en) * | 2021-02-23 | 2021-07-23 | 张建松 | Fork truck driving operation safety assists warning system |
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Effective date of registration: 20210621 Address after: No. 2505, building B6, Baoli West Coast Community, 228 yinpenling Road, yinpenling street, Yuelu District, Changsha City, Hunan Province, 410000 Patentee after: Hunan Kezhong Intelligent Technology Co.,Ltd. Address before: Room a211, 2 / F, building 9, phase I, Changsha Zhongdian Software Park, 39 Jianshan Road, Changsha hi tech Development Zone, Changsha City, Hunan Province 410000 Patentee before: HUNAN CICO INTELLIGENT TECHNOLOGY Co.,Ltd. |
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