CN208648650U - Fork truck and its velocity measurement mechanisms - Google Patents

Abstract

The utility model relates to a kind of fork truck and its velocity measurement mechanisms, which is set to fork truck and the movement velocity for measuring fork truck, and velocity measurement mechanisms include the measurement wheel and encoder of coaxial arrangement；During the driving of the forklift, measurement wheel can be rolled with fork truck along driving direction, and encoder is used to monitor the revolving speed of measurement wheel, to obtain the travel speed or displacement of fork truck.In the velocity measurement mechanisms of the utility model, measurement wheel itself does not have driving force, and only in the driving process of fork truck, it is rolled with fork truck along driving direction, so that fork truck travel speed or displacement that the encoder being coaxially disposed with measurement wheel measures are not influenced by skidding in fork truck driving process, the accuracy to fork truck travel speed or displacement measurement is improved.

Description

Fork truck and its velocity measurement mechanisms

Technical field

The utility model relates to fork truck and mobile robot technology fields, more particularly to a kind of fork truck and its tachometer Structure.

Background technique

With the commonly used equipment that the continuous development of Industrial Robot Technology, fork truck are shifted as material, answered extensively In automated production, operating efficiency is high, mitigates the burden of operating personnel.However, current fork truck is when being tested the speed, It would generally be influenced by phenomena such as skidding, lead to the travel speed measured or displacement inaccuracy, influence to shift material accurate Property.

Utility model content

Based on this, it is necessary to provide a kind of velocity measurement mechanisms that accuracy is high and the fork truck including the velocity measurement mechanisms.

A kind of velocity measurement mechanisms, are set to fork truck and the movement velocity for measuring the fork truck, the velocity measurement mechanisms include The measurement wheel and encoder of coaxial arrangement；In the fork truck driving process, the measurement wheel can be with the fork truck along traveling side To rolling, the encoder is used to monitor the revolving speed of the measurement wheel, to obtain the travel speed or displacement of the fork truck.

The velocity measurement mechanisms further include elastic element and swing arm in one of the embodiments, and the swing arm is rotationally Set on the fork truck, the measurement wheel is rotatably disposed within the swing arm, and the rotation axis of the measurement wheel deviates the pendulum The center of rotation of the relatively described fork truck of arm, the elastic element is to drive the swing arm relative to the fork truck in the rotation The heart is deflected to the side far from the fork truck, so that measurement wheel presses on working face where the fork truck.

The elastic element includes that torsional spring, extension spring and compressed spring are one such in one of the embodiments,.

When the elastic element is extension spring in one of the embodiments, the swing arm includes being arranged in angle First support arm and second support arm；The extension spring is set to the one end of the first support arm far from the second support arm, the survey Amount wheel is set to the one end of the second support arm far from the first support arm.

Correspondingly, the utility model additionally provides a kind of fork truck, including truck main body, steering driving mechanism, steering shaft, drive Driving wheel and above-mentioned velocity measurement mechanisms, the steering shaft are rotatably mounted in the truck main body, the steering driving mechanism For driving the steering shaft rotary motion, the driving wheel is set to the steering shaft and can be with steering shaft around the steering shaft Longitudinal axis rotary motion, to adjust the driving direction of the fork truck.

The steering driving mechanism includes steering motor and transmission gear, the steering shaft in one of the embodiments, Circumferential direction be equipped with the tooth engagement portion that is meshed with the transmission gear, to drive the driving cog to rotate in the steering motor When dynamic, the transmission gear engaged transmission steering shaft rotary motion.

The steering shaft passes through the frame in mounting base and the truck main body rotatably in one of the embodiments, Be connected, offer mounting hole in the mounting base, the steering motor be set at the mounting hole and the steering motor it is defeated Shaft passes through the mounting hole and is connected with the transmission gear.

The driving wheel is installed on the steering shaft by wheel carrier in one of the embodiments,；The side of the wheel carrier Equipped with installation detent, the velocity measurement mechanisms are set to the installation detent by support frame, and measurement wheel and the driving wheel are simultaneously The setting of row interval.

One end of support frame as described above is equipped with connection snap-gauge in one of the embodiments, and the connection snap-gauge has engaging Slot, the engaging slot are matched with the installation detent, and support frame as described above is connected with the wheel carrier；The measurement wheel is set to institute State the one end of support frame far from the connection snap-gauge.

The diameter of the measurement wheel is less than the diameter of the driving wheel in one of the embodiments,.

Fork truck and its velocity measurement mechanisms provided by the utility model, in the velocity measurement mechanisms, measurement wheel itself does not have driving force, and It only in the driving process of fork truck, is rolled with fork truck along driving direction, so that being surveyed with the encoder of measurement wheel coaxial arrangement The fork truck travel speed or displacement obtained is not influenced by skidding in fork truck driving process, is improved to fork truck travel speed or displacement The accuracy of measurement.

Detailed description of the invention

Fig. 1 is the fork truck overall structure diagram of one embodiment of the utility model；

Fig. 2 is the overall structure diagram at another visual angle of fork truck shown in Fig. 1；

Fig. 3 is the schematic diagram of internal structure of fork truck shown in Figure 2；

Fig. 4 is the side view of the internal structure of fork truck shown in Fig. 3；

Fig. 5 is the assembly of outer corner measurement structure, steering driving mechanism and pivotable drive structure shown in Fig. 3 and Fig. 4 Structural schematic diagram；

Fig. 6 is the structural schematic diagram of the outer corner measurement structure shown in Fig. 5；

Fig. 7 is the partial structural diagram of the outer corner measurement structure shown in Fig. 6；

Fig. 8 is the assembling structure schematic diagram of velocity measurement mechanisms and pivotable drive structure shown in Fig. 3 and Fig. 4；

Fig. 9 is the scheme of installation of velocity measurement mechanisms and pivotable drive structure shown in Fig. 8；

Figure 10 is the partial enlarged view of circle part A structure in Fig. 9；

Figure 11 is another viewing angle constructions schematic diagram of velocity measurement mechanisms and pivotable drive structure shown in Fig. 9；

Figure 12 is the fork of fork truck and the structural schematic diagram of detection device shown in Fig. 1；

Figure 13 is the bottom substance schematic diagram of fork shown in Figure 12；

Figure 14 is the decomposition texture schematic diagram of fork shown in Figure 13；

Figure 15 is the partial structural diagram at another visual angle of fork shown in Figure 14；

Figure 16 is the partial enlarged view of circle part B structure in Figure 15；

Figure 17 is the partial structurtes decomposition diagram of fork shown in Figure 15；

Figure 18 is the structural schematic diagram that structure is suppressed shown in Figure 14-Figure 17；

Figure 19 is the schematic cross-sectional view that structure is suppressed shown in Figure 18；

Figure 20 is the structural schematic diagram of detection device shown in Fig. 1；

Figure 21 is the partial enlarged view of circle C portion structure in Figure 20.

Specific embodiment

The utility model is more fully retouched below with reference to relevant drawings for the ease of understanding the utility model, It states.The better embodiment of the utility model is given in attached drawing.But the utility model can come in many different forms It realizes, however it is not limited to embodiments described herein.On the contrary, the purpose of providing these embodiments is that making practical new to this The disclosure of type understands more thorough and comprehensive.

It should be noted that it can directly on the other element when element is referred to as " being fixed on " another element Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it, which can be, is directly connected to To another element or it may be simultaneously present centering elements.Term as used herein " vertical ", " horizontal ", " left side ", " right side " and similar statement for illustrative purposes only, are not meant to be the only embodiment.

Unless otherwise defined, all technical and scientific terms used herein are led with the technology for belonging to the utility model The normally understood meaning of the technical staff in domain is identical.Terminology used in the description of the utility model herein only be The purpose of description specific embodiment, it is not intended that in limitation the utility model.Term " and or " used herein packet Include any and all combinations of one or more related listed items.

Referring to figs. 1 and 2, a kind of fork truck of one embodiment of the utility model, including truck main body 100, fork 200, fork 200 is connected with truck main body 100 and is picked object for support, it should be noted that being picked object can be with It is material, is also possible to carry the mounting structures of material, for example, is held up the charging tray for carrying material using fork 200, to pitch Material transfer is carried out when vehicle main body 100 is mobile.

In conjunction with shown in Fig. 3 and Fig. 4, the frame 100a in truck main body 100 is equipped with pivotable drive structure 110, corner Measurement structure 120, velocity measurement mechanisms 130 and steering driving mechanism 140.

As shown in figure 5, pivotable drive structure 110 includes driving wheel 111 and rotary body, rotary body can be steering shaft 113, steering shaft 113 is rotatably mounted in truck main body 100；Driving wheel 111 is set to steering shaft 113 and can be with steering shaft 113 Around the longitudinal axis rotary motion of steering shaft 113.In this way, steering shaft 113 is with respect to fork truck under the driving of steering driving mechanism 140 100 rotary motion of main body, and then steering shaft 113 turns to driving wheel 111 together at any time, adjusts the driving direction of fork truck.Corner is surveyed The corner that amount structure 120 is used for steering shaft 113 with respect to 100 rotary motion of truck main body is monitored, and velocity measurement mechanisms 130 are used In the speed of detection fork truck traveling, it should be noted that outer corner measurement structure 120 and velocity measurement mechanisms 130 in present embodiment It can be applied in other vehicles other than fork truck, equally may be implemented to be monitored corner and travel speed；For convenience Structure description to outer corner measurement structure 120 and velocity measurement mechanisms 130, in this application, only to outer corner measurement knot by taking fork truck as an example Fruit and velocity measurement mechanisms 130 are illustrated.

In conjunction with shown in Fig. 5 and Fig. 8, driving wheel 111 is installed on steering shaft 113 by wheel carrier 112；Correspondingly, steering shaft 113 It is rotatably coupled to by mounting base 110a and the frame 100a in truck main body 100, in the driving of steering driving mechanism 140 Change the driving direction of fork truck with respect to 100 rotary motion of truck main body down.

In some embodiments, steering driving mechanism 140 includes transmission gear 141 and steering motor 142.Steering shaft 113 circumferential direction is equipped with the tooth engagement portion 113a being meshed with transmission gear 141, in this way, steering motor 142 drives transmission gear When 141 rotation, 141 engaged transmission 113 rotary motion of steering shaft of transmission gear.In the embodiment, steering motor 142 and transmission Gear 141 is installed on the side of steering shaft 113, specifically, mounting hole 140a is offered on mounting base 110a, steering motor 142 At mounting hole 140a and the output shaft of steering motor 142 passes through mounting hole 140a and is connected with transmission gear 141.Certainly, turn The revolving speed of output can also be controlled between motor 142 and transmission gear 141 in suitable driving wheel 111 by retarder 143 The needs of steering avoid turning to the too fast stability for influencing fork truck and being easy to appear rollover.

In conjunction with shown in Fig. 5 to Fig. 7, outer corner measurement structure 120 is used to measure the corner of rotary body, in the present embodiment, Outer corner measurement structure 120 will be described further by taking the corner for measuring steering shaft 113 as an example.

Outer corner measurement structure 120 includes driven member, elastic component and rotation angle measurement element, and steering shaft 113 is using engagement The mode of transmission is matched with driven member, and elastic component is used to push against the engaging tooth between driven member and steering shaft 113, so as to turn to When 113 positive and negative rotary motion of axis, it is always consistent that the engaging tooth between driven member and steering shaft 113 supports direction；Rotation angle Spend measuring cell and be set to driven member, in the engaged transmission driven member movement of steering shaft 113, rotation angle measurement element according to The change in location of driven member is monitored the rotation angle of steering shaft 113.In present embodiment, since elastic component will be driven Part supports steering shaft 113 to a direction engagement, so that eliminating steering shaft 113 is rotating in the forward direction and reversely rotating engaged transmission Backhaul when driven member rotates is poor, and then ensures corner and steering shaft measured by driven member linkage rotation angle measurement element 113 actual rotational angle is consistent, improves the precision of outer corner measurement, so that the driving direction of fork truck is closer expected.

Driven member includes the gear 121 with shaft 121a, and gear 121 is set to the side of steering shaft 113 by mounting rack And it is meshed with steering shaft 113.

Elastic component includes wind spring 122 or torsional spring, wind spring 122 or torsion spring set be set to the shaft 121a of gear 121 and have around The elastic force of the longitudinal axis torsion gear 121 of shaft 121a, so that the engaging tooth between gear 121 and steering shaft 113 be made to offset And it is reversed in one direction always under the action of wind spring 122 or torsional spring.

Rotation angle measurement element be set to shaft 121a end, with gear 121 around the shaft 121a longitudinal axis rotate Movement.It should be noted that rotation angle measurement element include in encoder 123, angular transducer or potentiometer 124 at least One kind just can know the corner for the steering shaft 113 being meshed with gear 121 by the monitoring to 121 corner of gear.In some realities It applies in mode, encoder 123 and potentiometer 124 is respectively set at the both ends of the shaft 121a of gear 121, to shaft 121a's Rotational angle monitors direction of rotation while monitoring.

In above embodiment, mounting rack includes mounting plate 120a, linking arm 120b, pinion stand 126 and support chip 127, Pinion stand 126 offers the slot position 126a for assembling gear 121, and linking arm 120b and support chip 127 are respectively along gear 121 The longitudinal axis of shaft 121a is set to the two sides of pinion stand 126, to be formed in the two sides of pinion stand 126 for encoder 123, electricity The position device 124 and isostructural installation space of wind spring 122, it should be noted that potentiometer 124 with gear 121 shaft 121a it Between can be connected by intermediate connection structures such as shaft couplings 125, in addition, linking arm 120b passes through mounting plate 120a and fork truck master Frame 100a in body 100 is connected, so that outer corner measurement structure 120 to be arranged in the side of steering shaft 113.

In some embodiments, arc-shaped slot 128 is offered on mounting plate 120a, to be passed through the arc-shaped slot 128 Bolt 129 or screw gear 121 can be fixed on the position being meshed with steering shaft 113, to be made using this structure Different size of gear 121 can be used by obtaining outer corner measurement structure 120, while convenient for gear 121 to be assembled to and steering shaft 113 The state being meshed.

In some embodiments, driven member and transmission gear 141 are nibbled in the tooth engagement portion 113a phase with steering shaft 113 When closing transmission, there is equal back lash.In other words, driven member using gear 121 engagement by the way of with steering shaft 113 When being meshed, the gear 121 of outer corner measurement structure 120 and 141 model of transmission gear of steering driving mechanism 140 are identical, that is, The tooth engagement of backlash and driven member and steering shaft 113 between transmission gear 141 and the tooth engagement portion 113a of steering shaft 113 Backlash between portion 113a is equal.Since the gear 121 of outer corner measurement structure 120 eliminates under the action of the elastic member and turns Backhaul when to the engaged transmission of axis 113 is poor, thus should be exported under the driving of steering motor 142 according to transmission gear 141 121 corner of gear measured by corner and outer corner measurement structure 120 can obtain transmission gear 141 and turn in engaged transmission Backhaul when rotating and reverse to axis 113 is poor, that is to say, that can use the outer corner measurement structure 120 can obtain steering drive Motivation structure 140 due to the backhaul of engaged transmission between transmission gear 141 and steering shaft 113 is poor caused by angular deviation, Jin Erke The angular deviation is modified in a manner of through loop compensation, exports steering driving mechanism 140 accurately default Corner.Specifically, can be turned to while carrying out corner monitoring to steering shaft 113 using outer corner measurement structure 120 Corner in motor 142 actual transmission to steering shaft 113, thus the output corner that can obtain steering motor 142 is being transferred to The angular deviation occurred during steering shaft 113, as a result, can be by the control to steering motor 142, so that turning to electricity 142 actual transmission of machine is consistent to the corner of steering shaft 113 and the default steering angle of driving wheel 111.

In conjunction with shown in Fig. 8 to Figure 11, velocity measurement mechanisms 130 include the measurement wheel 131 and encoder 132 of coaxial arrangement, are being pitched In vehicle driving process, measurement wheel 131 can be rolled with fork truck along driving direction, so that the encoder with 131 coaxial arrangement of measurement wheel 132 can obtain the travel speed or displacement of fork truck in such a way that monitoring measures 131 revolving speeds of wheel.In the embodiment, due to Measurement wheel 131 itself makes to roll in the driving process of fork truck along driving direction without driving force, from without skidding Phenomenon, so that fork truck travel speed or displacement that encoder 132 measures are more acurrate.

Velocity measurement mechanisms 130 further include elastic element and swing arm 134, and swing arm 134 is rotatably arranged in fork truck, measurement wheel 131 The rotary shaft 121a line for being rotatably disposed within swing arm 134, and measuring wheel 131 deviates center of rotation of the swing arm 134 with respect to fork truck, Elastic element is to drive swing arm 134 to deflect around center of rotation to the side far from fork truck with respect to fork truck, so that measurement wheel 131 press on working face where fork truck, and during the driving of the forklift, measurement wheel 131 is remained to offset with working face, so as to With stable, accurately measurement fork truck travel speed or displacement.

Elastic element includes torsional spring or extension spring 135.When elastic element is extension spring 135, swing arm 134 includes being in The first support arm 134a and second support arm 134b of angle setting；Extension spring 135 is set to first support arm 134a far from second support arm One end of 134b, measurement wheel 131 are set to the one end of second support arm 134b far from first support arm 134a.And then extension spring 135 mentions When drawing first support arm 134a, it will linkage second support arm 134b pushes the measurement wheel 131 being set on second support arm 134b, so that Measurement wheel 131 is supported in the working face where fork truck.Certainly, in other embodiments, elastic element can also be compression Spring can equally reach and swing arm 134 is driven to deflect with respect to fork truck around center of rotation and measurement wheel 131 is made to support the work of fork truck place The effect in face.

In some embodiments, the side of wheel carrier 112 is equipped with installation detent 112a, and velocity measurement mechanisms 130 pass through support frame 130a is set to installation detent 112a, and measures wheel 131 and be arranged with 111 spacing side by side of driving wheel, so that measurement wheel 131 and driving It is not interfere with each other between wheel 111, even if measurement wheel 131 still can be with so that driving wheel 111 skids during travelling with electrical forklift Accurately measure the travel speed or displacement of fork truck.

One end of support frame 130a is equipped with connection snap-gauge 130b, and connection snap-gauge 130b has engaging slot 130c, engaging slot 130c is matched with installation detent 112a, and support frame 130a is connected with wheel carrier 112；It is remote that measurement wheel 131 is set to support frame 130a One end from connection snap-gauge 130b.Specifically, swing arm 134 is rotatably installed in support frame 130a by pin arrangement 133 On, while measurement wheel 131 and encoder 132 being arranged on the second support arm 134b of swing arm 134 by wheel shaft 131a, thus real While now 131 opposed swing arms 134 of measurement wheel rotation, extension spring 135 can also drive swing arm 134 around 133 phase of pin arrangement Support frame 130a is rotated, to supporting measurement wheel 131 in the working face where fork truck, is rolled with fork truck along driving direction, So that the travel speed or displacement of the available fork truck of encoder 132.

In some embodiments, locating part 136 is also provided on the motion profile of pin arrangement 133 in swing arm 134, Locating part 136 can be the screw or bolt being locked on support frame 130a, be not limited thereto.In the embodiment, limit Part 136 is pre-stretched the extension spring 135 pulled on and stated by way of limiting swing arm 134, so that measurement wheel 131 is supported at the beginning When working face where fork truck, extension spring 135 just has sufficiently large elastic force that measurement wheel 131 is pushed against working face, so that Measurement wheel 131 has suitable frictional force with working face and rolls with fork truck along driving direction, it is ensured that measurement accuracy.In addition, Pre-stretching of the locating part 136 to extension spring 135, so that pre- tensioned state is between each component of velocity measurement mechanisms 130, and It is unlikely to lead to be easy to appear opposite shaking because loose between components, influences structural compactness.

It should be noted that in some embodiments, the diameter of measurement wheel 131 is less than the diameter of driving wheel 111.This Sample, when driving wheel 111 rotates lesser angle or fork truck traveling lesser displacement, measurement wheel 131 has enough corners, so as to Encoder 132 can know the variation of this corner, so that it is guaranteed that measurement accuracy.

In conjunction with shown in Figure 12 to Figure 16, fork 200 includes two yokes 210 arranged side by side, two yokes 210 all have with The connected connecting pin 210a of truck main body 100, and the insertion end 210b far from connecting pin 210a.It is wrapped respectively on two yokes 210 It is covered with yoke shell 220a, anticollision detection is equipped in the insertion end 210b of yoke 210 by the yoke shell 220a 220, the anticollision detection 220 can be used to prevent yoke 210 move to be picked object during with to be picked object hard Property collision, and damage fork truck or material；Meanwhile the anticollision detection 220 can also measure yoke 210 and be picked object Relative position, the reference frame to be placed into predeterminated position as adjustment fork truck driving direction or by material.

Specifically, anticollision detection 220 includes detection block 221 and sensing element.Detection block 221 is movably inserted in Yoke shell 220a and yoke shell 220a is exposed to from insertion end 210b, for detecting, detection block 221 is opposite to be pitched sensing element The motion state of arm shell 220a, when detection block 221, which collides, is picked object, detection block 221 is with respect to yoke shell 220a It moves and triggers sensing element and change state, control signal can be generated in the state change of sensing element, and fork truck is made to change traveling Track or braking are picked object to prevent yoke 210 from hitting energetically, to avoid fork truck or material impaired.

It should be noted that sensing element includes touch-switch 225, touch-switch 225 is set to yoke 210 and detection block Between 221.Detect block 221 close to the side of connecting pin 210a be equipped with plectrum 224, touch-switch 225 be set to yoke 210, and with Plectrum 224 abuts against.When detecting block 221 with respect to the movement of yoke 210, plectrum 224 stirs touch-switch 225, and then triggers light It touches switch 225 and changes state.

In the embodiment, detects and offer the mounting hole passed through for screw or bolt on block 221, pacified with being passed through Plectrum 224 is fastened on detection block 221 by the screw or bolt for filling hole.In addition, for the ease of plectrum 224 is quickly mounted on The position to offset with touch-switch 225, mounting hole 140a can be waist-shaped hole or elongate aperture etc. with certain installation region Hole location.For example, when being installed using two mounting hole 221a, 221b to plectrum 224, wherein a hole location 221a is regular circle Screw hole, another 221b are the arc hole location formed by the center of circle of the center of the circle screw hole, in this way, by plectrum 224 it is pre-locked detect block 221 on when, can around the pivot plectrum 224 of the screw hole so that plectrum 224 with touch out 225 are closed to offset and by being locked on detection block 221 across the screw of the arc hole location or bolt.

Above-mentioned anticollision detection 220 further includes distance measuring sensor 223, and distance measuring sensor 223 is corresponding for detecting The opposite distance for being picked object of insertion end 210b, with the relative position for determining fork 200 Yu being picked object.It needs to illustrate It is that the distance measuring sensor 223 on two yokes 210 measures the opposite distance for being picked object of insertion end 210b respectively, in turn The opposite orientation for being picked object of fork 200 can be obtained according to the opposite distance for being picked object of two yokes 210, That is, fork 200 is picked object with which kind of posture immigration, picked up so as to make fork 200 accurately move on to predeterminated position support Take object.

It should be noted that in some embodiments, fork truck further includes controller (figure is not marked), distance measuring sensor 223 It is electrical connected with controller with steering driving mechanism 140, the fork 200 measured by the distance measuring sensor 223 and is picked object When predeterminated position is deviateed in the relative position of body, controller controls the driving direction that steering driving mechanism 140 adjusts fork truck, makes fork 200 is consistent with predeterminated position with the relative position for being picked object.

Light hole 221a is reserved at distance measuring sensor 223 on detection block 221, so that distance measuring sensor 223 is through logical Unthreaded hole 221a detection is picked object.

In conjunction with shown in Figure 17, the junction of yoke shell 220a and detection block 221 is equipped with position limiting structure, and position limiting structure includes Slideably connected spacer pin 226 and limit sliding chutes 2212, spacer pin 226 be set to yoke shell 220a and detection block 221 its One of on, limit sliding chutes 2212 be set to yoke shell 220a and detection block 221 it is wherein another on, and 2212 edge of limit sliding chutes Detect block 221 with respect to yoke shell 220a movement direction extend, with detect block 221 with respect to yoke shell 220a move when, Spacer pin 226 moves back and forth in limit sliding chutes 2212, to limiting detection block 221 on yoke shell 220a, prevents from visiting It surveys block 221 to slip from yoke shell 220a, influences anti-collision effect.

Yoke shell 220a is equipped with and suppresses structure 222, suppresses structure 222 for that will detect block 221 far from yoke 210 Pop up yoke shell 220a in one end of connecting pin 210a.So that detection block 221 can opposite fork under the action of suppressing structure 222 Arm shell 220a does return motion.

In the embodiment, good buffer function can be played by suppressing 222 one side of structure, effectively buffering detection block 221 touchings are picked the active force of object；On the other hand, it suppresses return motion provided by structure 222 and makes the detection block 221 Ejection outward under normal conditions, and in the contact with object is picked and opposite yoke shell 220a movement certain amplitude, triggering Touch-switch 225, to avoid that touch-switch 225 is caused to be detected the accidentally touching of block 221 because of slight mechanical oscillation.

In conjunction with shown in Figure 18 and Figure 19, suppressing structure 222 includes casing 2221, mandril 2222 and compressed spring 2224.Pressure Contracting spring 2224 is sheathed on mandril 2222 and is inserted in casing 2221 together with mandril 2222, and both ends respectively with mandril 2222 and Casing 2221 offsets.In some embodiments, mandril 2222, which is equipped with, supports step 2222a, separate on casing 2221 to be equipped with The stopper section 2221a opposite with step 2222a is supported, and then compressed spring 2224 is set in mandril 2222 and is packed into casing 2221 Afterwards, both ends 2224a, 2224b of compressed spring 2224 respectively with stopper section 2221a and support step 2222a and offset, in casing Elastic-restoring force is provided between 2221 and mandril 2222, mandril 2222 is pushed up along casing 2221 to detection block 221, mandril is made 2222 offset with detection block 221.

It should be noted that limiter is connected in one end that mandril 2222 is pierced by the stopper section 2221a of casing 2221, from And mandril 2222 is limited in casing 2221 using limited part, to prevent mandril 2222 under the elastic force of compressed spring 2224 It is bounced off from casing 2221.In the embodiment, limited part can be the threaded one end for being pierced by casing 2221 with mandril 2222 and be connected Nut 2223, it is possible to understand that, the outer diameter of nut 2223 is greater than casing 2221 in the aperture of stopper section 2221a, so as to Prevent mandril 2222 from removing from casing 2221.

In the present embodiment, casing 2221 is fixed on the inner sidewall of yoke shell 220a, detection block 221 be equipped with The opposite abutting part 2211 of mandril 2222.Installation angle bar 222a, set are equipped on the side wall of yoke 210 in yoke shell 220a Pipe 2221 is arranged in installation angle bar 222a and two sides pass through locking nut 2221a and locked, furthermore, it is possible in installation angle bar Elastomeric pad 2221b is set between 222a and locking nut 2221a, improves structural stability, prevents in fork truck operational process It shakes and leads to casing 2221 and install to occur loosening and influencing to compress the elasticity of detection block 221 between angle bar 222a.

In above embodiment, yoke shell 220a can be fixed on yoke 210 by screw or screw, yoke shell The inner sidewall of 220a is equipped with cabling channel 220b, and the wire arrangements for connecting sensing element and distance measuring sensor 223 exist to facilitate In cabling channel 220b, prevent the pick-and-place of yoke 210 from damaging route when being picked object, it is ensured that anticollision detection 220 is effective Work.

In some embodiments, truck main body 100 is equipped with detection device 300 close to the side of fork 200, utilizes detection Device 300 is detected to object is picked, and determines whether fork 200 is completely moved to be picked below object, in order to stabilize Support is picked object.It should be noted that the setting position of detection device 300 is unrestricted, as long as fork 200 is completely moved to When being picked below object, being picked object can be with detection trigger device 300.For example, detection device 300 is arranged in fork Between 200 two yokes 210, when yoke 210 is gradually moved into and is picked below object and contradicts to the detection device 300, Illustrate that two yokes 210 move to substantially to be picked below object.

In conjunction with shown in Figure 20 and Figure 21, detection device 300 includes press part 310, fixed frame 320, elastic component and inductor, Fixed frame 320 is set to truck main body 100, and press part 310 is rotationally connected with fixed frame 320, and press part 310 is relatively solid To determine to can trigger inductor change state during frame 320 rotates, elastic component is used to provide elastic-restoring force for press part 310, So that the relatively fixed frame 320 of press part 310 does return motion towards the side far from truck main body 100.

Press part 310 has the pressure section 310a and limiting section 310b in angle setting.When pressing pressure section 310a overcomes When the elastic-restoring force of elastic component, press part 310 can be rotated relative to fixed frame 320 towards the side close to truck main body 100, and When the pressing force of pressure section 310a, relatively fixed frame 320 rotates up to press part 310 under the action of the elastic member for release action Limiting section 310b offsets with fixed frame 320, and limiting section 310b, which limits press part 310, to be continued to rotate relative to fixed frame 320.

Elastic component can be torsional spring (figure is not marked), and being provided between press part 310 and fixed frame 320 by torsional spring makes to compress The torsion that the relatively fixed frame 320 of part 310 is turned out, can also be using extension spring 330 shown in Figure 20, extension spring 330 both ends 330a, 330b passes through connector respectively and is connected with press part 310 and fixed frame 320, and extension spring 330 acts on Pulling force on to press part 310 deviates the rotation axis of the relatively fixed frame 320 of press part 310.So that in the extension spring 330 Pulling force under, press part 310 is rotated relative to fixed frame 320 to the direction of the insertion end 210b of yoke 210.In the embodiment, When fork truck is close and when making press part 310 and being picked object and offset to object is picked, extension spring 330 is overcome to act on Elastic force on press part 310 and make press part 310 close to fixed frame 320, and in the process, the triggering induction of press part 310 Device changes state, shows that yoke 210 has been moved fully into and is picked below object.

Inductor includes microswitch 340, and press part 310 is equipped with trigger unit 311, and trigger unit 311 has one and fine motion The supporting surface 311a that switch 340 offsets, when press part 310 is rotated relative to fixed frame 320, supporting surface 311a is different degrees of to be supported Microswitch 340 is pressed, to trigger 340 change state of microswitch.It should be noted that microswitch 340 can pass through installation Plate 340a is installed on fixed frame 320, in addition, fixed frame 320 can be the shell integrated molding with truck main body 100, herein It repeats no more.

Supporting surface 311a is curved surface, and with the pivot center distance of press part 310 far from 100 direction of truck main body It is gradually increased.Microswitch 340 is abutted against by idler wheel 341 and supporting surface 311a, in trigger unit 311 with 310 phase of press part When rotating to fixed frame 320 towards the side close to truck main body 100, idler wheel 341 rolls along supporting surface 311a and acts on fine motion The movement travel of switch 340 is gradually increased, and then is triggered when the movement travel that microswitch 340 is subject to is sufficiently large, fine motion The state of switch 340 changes, and shows that being picked object contradicts to the detection device 300, that is, fork 200 has been completely moved to Be picked below object, so that it is guaranteed that fork 200 can stable support be picked object.

Again as depicted in figs. 1 and 2, on the basis of the above embodiment, the application also provide a kind of vision guided navigation nobody Fork truck is provided with video identification device 400 in truck main body 100, and video identification device 400 is electrical connected with controller, with The posture information of identification is exported to controller, the posture information control that controller is identified according to video identification device 400 turns It is operated to driving mechanism 140, makes fork truck along the route planned in advance to adjust the driving direction of fork truck, need to illustrate It is that the posture information includes position and posture of the fork truck in working space.In the embodiment, video identification device 400 can To be mounted in truck main body 100 by support frame 400a, the video identification device 400 is using camera module (figure is not marked) With image processing unit (figure is not marked), identified with the posture information to fork truck, so that controller is according to the pose of the identification The operation of information control fork truck.

In some embodiments, scanning laser sensor is additionally provided with far from the side of fork 200 in truck main body 100 101 and the equal safety protection structures of safe touch side switch 102, it, can be with avoiding obstacles, thus anti-so as in fork truck driving process Only break fork truck or material that damage is carried.It should be noted that the quantity and installation site of scanning laser sensor 101 can To be configured according to actual needs, for example, can be arranged in the medium position of side of the truck main body 100 far from fork 200 One scanning laser sensor 101, scanning laser sensor 101 are also possible to 2, and 2 scanning laser sensors 101 are set respectively Set the both sides position in side of the truck main body 100 far from fork 200.

Each technical characteristic of above embodiments can be combined arbitrarily, for simplicity of description, not to above-described embodiment In each technical characteristic it is all possible combination be all described, as long as however, the combination of these technical characteristics be not present lance Shield all should be considered as described in this specification.

Above embodiments only express the several embodiments of the utility model, and the description thereof is more specific and detailed, but simultaneously The limitation to utility model patent range therefore cannot be interpreted as.It should be pointed out that for the ordinary skill people of this field For member, without departing from the concept of the premise utility, various modifications and improvements can be made, these belong to this reality With novel protection scope.Therefore, the scope of protection shall be subject to the appended claims for the utility model patent.

Claims (10)

1. a kind of velocity measurement mechanisms are set to fork truck and the movement velocity for measuring the fork truck, which is characterized in that described to test the speed Mechanism includes the measurement wheel and encoder of coaxial arrangement；In the fork truck driving process, the measurement wheel can be with the fork truck Along driving direction roll, the encoder be used for monitor it is described measurement wheel revolving speed, with obtain the fork truck travel speed or Displacement.

2. velocity measurement mechanisms according to claim 1, which is characterized in that the velocity measurement mechanisms further include elastic element and pendulum Arm, the swing arm are rotatably arranged in the fork truck, and the measurement, which is taken turns, is rotatably disposed within the swing arm, and the measurement wheel Rotation axis deviates the center of rotation of the relatively described fork truck of the swing arm, and the elastic element is to drive the swing arm with respect to institute It states fork truck and is deflected around the center of rotation to the side far from the fork truck, so that measurement wheel presses on where the fork truck Working face.

3. velocity measurement mechanisms according to claim 2, which is characterized in that the elastic element include torsional spring, extension spring and Compressed spring is one such.

4. velocity measurement mechanisms according to claim 2, which is characterized in that when the elastic element is extension spring, the pendulum Arm includes the first support arm and second support arm in angle setting；The extension spring is set to the first support arm far from described second One end of support arm, the measurement wheel are set to the one end of the second support arm far from the first support arm.

5. a kind of fork truck, which is characterized in that including truck main body, steering driving mechanism, steering shaft, driving wheel and as right is wanted The described in any item velocity measurement mechanisms of 1-4 are sought, the steering shaft is rotatably mounted in the truck main body, the steering driving machine For driving the steering shaft rotary motion, the driving wheel is set to the steering shaft and can be with steering shaft around the steering shaft structure Longitudinal axis rotary motion, to adjust the driving direction of the fork truck.

6. fork truck according to claim 5, which is characterized in that the steering driving mechanism includes steering motor and driving cog Wheel, the circumferential direction of the steering shaft is equipped with the tooth engagement portion being meshed with the transmission gear, to drive in the steering motor When the transmission gear rotates, the transmission gear engaged transmission steering shaft rotary motion.

7. fork truck according to claim 6, which is characterized in that the steering shaft passes through in mounting base and the truck main body Frame be rotatably coupled to, offer mounting hole in the mounting base, the steering motor is set at the mounting hole and institute The output shaft for stating steering motor passes through the mounting hole and is connected with the transmission gear.

8. according to the described in any item fork trucks of claim 5-7, which is characterized in that the driving wheel is installed on described by wheel carrier Steering shaft；The side of the wheel carrier is equipped with installation detent, and the velocity measurement mechanisms are set to the installation detent by support frame, and described Measurement wheel is arranged with the driving wheel spacing side by side.

9. fork truck according to claim 8, which is characterized in that one end of support frame as described above is equipped with connection snap-gauge, the company Snap-gauge is connect with engaging slot, the engaging slot matches with the installation detent, support frame as described above is connected with the wheel carrier；Institute It states measurement wheel and is set to the one end of support frame as described above far from the connection snap-gauge.

10. fork truck according to claim 8, which is characterized in that the diameter of the measurement wheel is less than the straight of the driving wheel Diameter.