CN212712600U - Automatic guided vehicle and fork protection device thereof - Google Patents

Abstract

The utility model discloses an automatic guided vehicle and fork protector thereof, fork protector include the installing support that is used for being connected with the fork, the installing support is equipped with travel switch, still include with travel switch connects, is used for stretching out the collision head of fork, the inside of collision head is equipped with the photoelectric sensor who is used for detecting the barrier, works as when the collision head touches the barrier, the collision head can trigger travel switch. The fork protection device can realize the functions of detecting far, near and multi-directional obstacles and can effectively protect the photoelectric sensor.

Description

Automatic guided vehicle and fork protection device thereof

Technical Field

The utility model relates to an engineering machine tool technical field, in particular to fork protector. The utility model discloses still relate to an automated guided vehicle who has this fork protector.

Background

When the fork type AGV is applied, a fork taking path needs to be detected so as to prevent a fork from colliding with goods or a pallet due to errors in the fork taking process, under the normal condition, a travel switch, a photoelectric sensor and the like are generally directly used for detecting whether an object blocks the fork taking path, the sensors are usually arranged at the front end or two sides of a fork tooth and can only detect obstacles or goods in a single direction range, and meanwhile, the photoelectric sensor and the like are easily influenced by environmental factors so as to cause the function limitation of the sensors; after the technology of the AGV industry is continuously developed, some combined type detection devices combined by a spring, a guide post, a proximity switch, a photoelectric sensor and the like also appear, however, the combined type detection devices need a large impact force to overcome the compression force of the spring to trigger, and the combined type detection devices cannot detect obstacles in the up-down and left-right directions, for example, the spring is matched with the guide post to detect the obstacle just in front, and cannot detect the obstacles in the up-down and left-right directions; in addition, such devices are prone to guide post jamming and false detection problems due to structural or manufacturing problems.

Therefore, how to avoid the problem that obstacles in multiple directions cannot be detected due to the single use of a travel switch or a photoelectric sensor is a technical problem that needs to be solved by those skilled in the art at present.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a fork protector, this fork protector can solve photoelectric sensor and receive the easy problem of damaging of external force influence to can realize the barrier detection of a plurality of directions. Another object of the present invention is to provide an automatic guided vehicle including the above fork guard.

In order to realize the above-mentioned purpose, the utility model provides a fork protector, include the installing support that is used for being connected with the fork, the installing support is equipped with travel switch, still include with travel switch connects, is used for stretching out the collision head of fork, the inside of collision head is equipped with the photoelectric sensor who is used for detecting the barrier, works as when the collision head touches the barrier, the collision head can trigger travel switch.

Optionally, the travel switch comprises:

the base is fixedly connected with the mounting bracket;

the guide mounting column is fixedly connected with the base;

the rocker is movably connected with the guide mounting column and connected with the collision head;

the microswitch is arranged in the base;

and the buffer device is arranged between the rocker and the microswitch and used for transmitting the power of the rocker to trigger the microswitch.

Optionally, the buffer device comprises:

a thin-walled circular tube;

the elastic piece is arranged in the thin-wall round pipe and used for providing elastic force which can move along the direction far away from the microswitch for the rocker;

and the triggering column is connected with the elastic piece.

Optionally, an adjusting rod is detachably connected to an end of the triggering post, and the compression amount of the elastic member is preset by adjusting the extension length of the adjusting rod relative to the triggering post.

Optionally, the triggering post includes a cylinder coaxially disposed with the elastic member, and further includes:

the two bulges are respectively arranged on the two sides of the column body and are used for being contacted and propped against the elastic piece;

and the threaded hole is formed in the bottom of the column body and used for connecting the adjusting rod.

Optionally, a guide hole for allowing the rocker to move relative to the guide mounting column is formed in the guide mounting column, one end, close to the buffer device, of the rocker is specifically a trapezoidal limiting end, the trapezoidal limiting end is arranged in the guide hole, and a step surface which is in contact with the trapezoidal limiting end and abuts against the trapezoidal limiting end and is used for limiting the rocker is formed in the inner wall of the guide hole.

Optionally, the collision head specifically is indent formula sheet metal component, photoelectric sensor is fixed in through dismantling the connecting piece indent formula sheet metal component.

Optionally, the mounting bracket includes a connection frame and two connection lugs respectively disposed on two sides of the connection frame and used for being fixedly connected with the fork, and the connection frame has a receiving groove for receiving the travel switch.

Optionally, the number of the travel switches and the number of the photoelectric sensors are two, and any one of the photoelectric sensors is arranged on the outer side of the travel switch on the same side of the photoelectric sensor.

The utility model also provides an automatic guided vehicle, including above-mentioned arbitrary fork protector.

Compared with the prior art, the utility model discloses to the different requirements of fork point protection, a fork protector has been designed, particularly, above-mentioned fork protector includes installing support, travel switch, collision head and photoelectric sensor, and wherein, the installing support is connected with the fork, and travel switch installs in the installing support, and the collision head is connected with travel switch, and the collision head stretches out in the fork, and photoelectric sensor locates the inside of collision head to detect the barrier. The fork protector that so sets up, its beneficial effect mainly includes:

firstly, when an object is in the measuring range of the photoelectric sensor, the photoelectric sensor can be triggered without touching the collision head, when the mounting bracket is connected to the fork, the collision head extends out of the fork, and when the collision head touches an obstacle, the collision head can trigger the travel switch; therefore, the photoelectric sensor and the travel switch can be combined to realize the dual detection functions of the remote detection of the photoelectric sensor and the close detection of the touch collision head triggering the travel switch, and meanwhile, the problems that the photoelectric sensor or the travel switch is damaged and the whole device cannot be used are solved.

Secondly, when the obstacle touches the collision head, no matter which direction the collision head touches reversely from the upper, lower, left, right and forward directions of the fork, the travel switch can be triggered, thus realizing the function of detecting obstacles in a plurality of directions.

Thirdly, photoelectric sensor locates the inside of colliding the head, when the fork met the barrier, can avoid photoelectric sensor to lead to damaging the inefficacy because of contacting the barrier through colliding the head direct contact barrier.

The embodiment of the utility model provides an including above-mentioned fork protector's automated guided vehicle, beneficial effect is as follows, and the here will not be repeated.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

Fig. 1 is a schematic view of an overall structure of a fork protection device according to an embodiment of the present invention;

FIG. 2 is a top view of FIG. 1;

FIG. 3 is a side view of FIG. 1;

FIG. 4 is a rear view of FIG. 1;

FIG. 5 is a schematic diagram of the travel switch of FIG. 1;

FIG. 6 is a schematic cross-sectional view of FIG. 5;

FIG. 7 is a schematic view of the rocker of FIG. 6 shown displaced;

fig. 8 is a schematic view of an assembly structure of a fork protection device and a fork according to an embodiment of the present invention;

fig. 9 is a schematic cross-sectional view taken along line a-a in fig. 8.

Wherein:

01-pallet fork, 1-mounting bracket, 11-connecting frame, 12-connecting lug, 2-travel switch, 21-rocker, 22-guiding mounting column, 23-buffer device, 231-thin-wall circular tube, 232-elastic element, 233-triggering column, 24-adjusting rod, 25-microswitch, 26-base, 3-collision head and 4-photoelectric sensor.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

The core of the utility model is to provide a fork protector, this fork protector can solve photoelectric sensor and receive the easy problem of damaging of external force influence to can realize that the barrier of a plurality of directions detects. The other core of the utility model is to provide an automatic guided vehicle including above-mentioned fork protector.

In order to make the technical field of the present invention better understand, the present invention will be described in detail with reference to the accompanying drawings and the detailed description.

It should be noted that the following directional terms such as "upper end, lower end, left side, right side" and the like are defined based on the drawings of the specification.

Referring to fig. 1 to 9, fig. 1 is a schematic view of an overall structure of a fork protection device according to an embodiment of the present invention; FIG. 2 is a top view of FIG. 1; FIG. 3 is a side view of FIG. 1; FIG. 4 is a rear view of FIG. 1; FIG. 5 is a schematic diagram of the travel switch of FIG. 1; FIG. 6 is a schematic cross-sectional view of FIG. 5; FIG. 7 is a schematic view of the rocker of FIG. 6 shown displaced; fig. 8 is a schematic view of an assembly structure of a fork protection device and a fork according to an embodiment of the present invention; fig. 9 is a schematic cross-sectional view taken along line a-a in fig. 8.

The embodiment of the utility model provides a fork protector, including installing support 1, travel switch 2, collision head 3 and photoelectric sensor 4, wherein, installing support 1 is connected with fork 01, and travel switch 2 installs in installing support 1, and collision head 3 is connected with travel switch 2, and collision head 3 stretches out in fork 01, and photoelectric sensor 4 locates collision head 3's inside.

When the mounting bracket 1 is connected to the fork 01, the collision head 3 extends out of the fork 01, and the collision head 3 is connected with the travel switch 2, so that the travel switch 2 can be triggered when the touch head touches an obstacle; when an object is in the measuring range of the photoelectric sensor 4, the photoelectric sensor 4 can be triggered without touching the collision head 3, so that the function of detecting the near and far-distance obstacles can be realized. Of course, the detection functions of the travel switch 2 and the photoelectric sensor 4 can be referred to in the prior art.

That is, by the combination of the photoelectric sensor 4 and the stroke switch 2, a dual detection function of the long-distance detection by the photoelectric sensor 4 and the short-distance detection by the touch impact head 3 triggering the stroke switch 2 can be realized.

Of course, according to actual need, collision head 3 specifically can set up to the high strength working of plastics of indent formula sheet metal component or indent formula, and this text is preferred the former, and photoelectric sensor 4 can be fixed on the inside wall of indent formula sheet metal component through dismantling connecting piece (bolt or screw), and so, through photoelectric sensor 4's embedded connection to protect photoelectric sensor 4 in collision head 3's inside, thereby guarantee that photoelectric sensor 4 can not lead to the damage because of external force striking when the collision.

Meanwhile, in order to ensure the normal detection function of the photoelectric sensor 4, the front end and the top of the collision head 3 can be provided with notches so as to ensure that the detection light of the photoelectric sensor 4 passes through, and of course, the positions of the notches can be adjusted according to the installation position of the photoelectric sensor 4, and the method is not particularly limited.

In addition, the mounting bracket 1 may be configured to include a connection frame 11 and two connection lugs 12 respectively disposed on two sides of the connection frame 11, the connection lugs 12 are configured to be fixedly connected to the fork 01, and the connection frame 11 has a receiving groove configured to receive the travel switch 2. Correspondingly, a mounting plate can be welded at the bottom of the fork 01, the mounting plate is of a rectangular structure, threaded holes can be formed in the four corners of the mounting plate, two connecting grooves can be formed in any connecting lug 12 respectively, and the connecting grooves and the threaded holes are arranged in a one-to-one correspondence mode to enable the mounting support 1 to be fixedly connected to the bottom of the fork 01 through screws. Of course, a blind hole can be directly drilled on the basis that the pallet fork surface is thicker, so that the mounting bracket 1 can be fixedly mounted.

Specifically, the connecting frame 11 may be a U-shaped frame, the U-shaped frame has a U-shaped receiving groove, and the travel switch 2 is disposed in the U-shaped receiving groove; two engaging lugs 12 can set up to outwards protruding along the both sides of U type carriage 11 respectively, and the degree of depth in U type groove can be adjusted according to travel switch 2's model, and generally speaking, the degree of depth of U type holding tank should more than or equal to travel switch 2's height to guarantee when two engaging lugs 12 connect in fork 01, can not cause interference to travel switch 2.

Of course, photoelectric sensor 4 and travel switch 2's number all can set up to two, and two photoelectric sensor 4 respectively the rigid coupling in two inside walls of collision head 3, two travel switch 2 respectively the rigid couplings in the inside wall of linking frame 11, simultaneously, arbitrary photoelectric sensor 4 is located rather than the outside of the travel switch 2 of homonymy, so, protector's detection range can obtain the expansion to a certain extent to improve the protective effect to fork 01.

Further, the travel switches 2 may be specifically configured as rocker-type touch switches, which are fixed in the mounting bracket 1, and preferably two travel switches 2 are provided herein, and the two travel switches 2 may implement the function of detecting obstacles in the up-down, left-right, and forward directions in synchronization, and meanwhile, the combination of the two travel switches 2 may implement that the front impact force is greater than 20N, the side impact trigger force is greater than 35N, and the up-down impact trigger force is greater than 10N to trigger the protection.

Specifically, the travel switch 2 comprises a rocker 21, a guide mounting column 22, a buffer device 23, a micro switch 25 and a base 26, wherein the base 26 is fixedly connected with the mounting bracket 1, the guide mounting column 22 is fixedly connected with the base 26, the bottom of the guide mounting column 22 is provided with an external thread, and the guide mounting column 22 and the base 26 are screwed with a threaded hole on the upper part of the base 26 to realize fixation of the rocker 21 and the guide mounting column 22, the rocker 21 and the guide mounting column 22 are coaxially arranged, one end of the rocker 21 can be sleeved in the guide mounting column 22, the rocker 21 can move in a single direction along the axis of the guide mounting column 22, and the other end of the rocker; the microswitch 25 is arranged in the base 26, the buffer device 23 is arranged between the rocker 21 and the microswitch 25, when an obstacle touches the collision head 3, one end of the rocker 21 far away from the collision head 3 moves along the direction close to the microswitch 25, and the buffer device 23 transmits the power of the rocker 21 to the microswitch 25 to trigger the microswitch 25.

As a specific embodiment, the rocker 21 may be cylindrical, a threaded mounting hole may be formed at one end of the rocker 21 away from the guide mounting post 22, and the rocker 21 and the collision head 3 may be fixed by screwing a screw into the threaded hole of the collision head 3 and the threaded mounting hole of the rocker 21; the other end of rocker 21 can design for trapezoidal spacing end, and is corresponding, the inside guiding hole that has the step face that is equipped with of direction erection column 22, the guiding hole is cylindrical, the guiding hole is used for supplying rocker 21 to move relative to direction erection column 22, trapezoidal spacing end is located in the guiding hole, the step face offsets with trapezoidal spacing end contact, so that trapezoidal spacing end can only unidirectional movement in direction erection column 22, thereby prevent that rocker 21 from breaking away from direction erection column 22, and the aperture of guiding hole slightly is greater than the external diameter of trapezoidal spacing end.

Of course, the micro switch 25 can be provided according to the prior art, such as a model of delaxi LX19-K or zhengtai LXK3-K micro switch 25, the micro switch 25 is installed inside the base 26 by screws, and the base 26 has 4M 5 threaded holes around and is installed on the inner side wall of the connection frame 11 by screws.

More specifically, the buffer device 23 may be specifically configured to include: the buffer device 23 is integrally cylindrical, one end of the thin-wall circular tube 231 is sealed, the other end of the thin-wall circular tube is provided with an opening through which one end, far away from the rocker 21, of the trigger column 233 extends out of the tube body, a preset distance is arranged between the top of the thin-wall circular tube 231 and the end of the rocker 21 to form a height difference, the height difference is adjustable, the elastic member 232 is arranged in the thin-wall circular tube 231, the elastic member 232 is used for providing elastic force capable of moving in the direction far away from the microswitch 25 to the rocker 21, and the trigger column 233 is connected with the elastic member 232; preferably, the elastic member 232 may be a spring, the spring is sleeved on the trigger post 233, the trigger post 233 includes a cylinder coaxially disposed with the elastic member 232, meanwhile, the trigger post 233 further includes two protrusions respectively disposed on two sides of the cylinder, and two ends of the spring respectively abut against an inner sidewall of the thin-walled circular tube 231 and upper end surfaces of the two protrusions.

In addition, the triggering column 233 is further connected with an adjusting rod 24, specifically, the bottom of the triggering column 233 is provided with a threaded hole for the adjusting rod 24 to connect, the adjusting rod 24 can be set as a hexagon head bolt, the length of the hexagon head bolt extending out of the threaded hole is adjusted through the threaded connection of the hexagon head bolt and the triggering column 233, the compression amount of the spring is preset, and the trapezoidal limit end of the rocker 21 can be tightly attached to the step surface in the guide mounting column 22 through reverse action. It is preferable to adjust the hex head bolt to a state just in contact with the trigger point of the micro switch 25 but not triggered.

Thus, when an object touches the collision head 3 from four directions of up, down, left and right, the collision head 3 is displaced to generate linkage of the rocker 21, as shown in fig. 7 (displacement of the switch structure of the rocker 21), when an object touches the collision head 3 from left, the rocker 21 is deflected to right, because of the limitation of the internal space, the rocker 21 can only do circular arc motion by taking the tip of the step surface at one side of the trapezoidal limit end as the center of a circle, thereby driving the other side of the trapezoidal limit end to do circular arc motion, generating displacement difference, compressing the thin-wall circular tube 231 and the spring, when the spring is compressed and generating elastic force greater than the trigger force of the microswitch 25, the microswitch 25 is triggered, when the external force of the collision head is removed, all parts are restored to the non-triggered state due to the action of the compression force of the spring, and meanwhile, because the rocker 21, the guide hole in the guide mounting column 22 and the buffer device 23 are all cylindrical, therefore, the triggering principle of the collision head 3 is the same when the collision head swings from the four directions of up, down, left and right; when the collision head 3 collides in the forward direction, it can directly move backward to compress the thin-walled circular tube 231 and the spring, when the spring is compressed to generate an elastic force greater than the trigger force of the micro switch 25, the micro switch 25 is triggered, and when the external force of the collision head is removed, the spring is restored to the non-triggered state due to the action of the compression force of the spring. Therefore, the function of detecting the obstacles in multiple directions without dead angles can be realized.

The utility model provides an automatic guided vehicle, which comprises a fork protection device described in the above embodiment; other parts of the automated guided vehicle can be referred to in the prior art and are not expanded herein.

It is noted that, in this specification, relational terms such as first and second, and the like are used solely to distinguish one entity from another entity without necessarily requiring or implying any actual such relationship or order between such entities.

The above details are provided for the automatic guided vehicle and the fork protection device thereof. The principles and embodiments of the present invention have been explained herein using specific examples, and the above descriptions of the embodiments are only used to help understand the solution and its core idea of the present invention. It should be noted that, for those skilled in the art, without departing from the principle of the present invention, the present invention can be further modified and modified, and such modifications and modifications also fall within the protection scope of the appended claims.

Claims (10)

1. The utility model provides a fork protector, its characterized in that includes installing support (1) for being connected with fork (01), installing support (1) is equipped with travel switch (2), still include with travel switch (2) are connected, are used for stretching out collision head (3) of fork, the inside of collision head (3) is equipped with photoelectric sensor (4) for detecting the barrier, works as when collision head (3) touch the barrier, collision head (3) can trigger travel switch (2).

2. The fork guard as claimed in claim 1, wherein the travel switch (2) comprises:

a base (26) fixedly connected with the mounting bracket (1);

a guide mounting column (22) fixedly connected with the base (26);

a rocker (21) movably connected to the guide mounting post (22) and connected to the collision head (3);

a microswitch (25) provided inside the base (26);

and the buffer device (23) is arranged between the rocker (21) and the microswitch (25) and is used for transmitting the power of the rocker (21) to trigger the microswitch (25).

3. The fork guard as claimed in claim 2, wherein the damping device (23) comprises:

a thin-walled circular tube (231);

the elastic piece (232) is arranged in the thin-wall circular tube (231) and used for providing elastic force which can move in the direction away from the microswitch (25) for the rocker (21);

a trigger post (233) coupled to the resilient member (232).

4. The fork guard as claimed in claim 3, wherein an adjusting lever (24) is detachably connected to an end of the triggering post (233), and the amount of compression of the elastic member (232) is preset by adjusting the protruding length of the adjusting lever (24) with respect to the triggering post (233).

5. The fork guard of claim 4, wherein the trigger post (233) comprises a cylinder disposed coaxially with the resilient member (232), further comprising:

the two bulges are respectively arranged at the two sides of the column body and are used for being contacted and propped against the elastic piece (232);

and the threaded hole is formed in the bottom of the column body and used for connecting the adjusting rod (24).

6. The fork protection device of claim 2, wherein a guide hole for allowing the rocker (21) to move relative to the guide mounting post (22) is formed in the guide mounting post (22), one end of the rocker (21) close to the buffer device (23) is specifically a trapezoidal limiting end, the trapezoidal limiting end is arranged in the guide hole, and the inner wall of the guide hole is provided with a step surface which is in contact with and abutted against the trapezoidal limiting end and is used for limiting the rocker (21).

7. The fork guard as claimed in claim 1, characterized in that the impact head (3) is embodied as a concave sheet metal part, to which the photoelectric sensor (4) is fixed by means of a detachable connection.

8. The fork guard as claimed in claim 1, wherein the mounting bracket (1) comprises a connecting frame (11) and two lugs (12) respectively arranged on both sides of the connecting frame (11) for fixedly connecting with the fork (01), and the connecting frame (11) has a receiving groove for receiving the travel switch (2).

9. The fork guard according to any of claims 1 to 8, characterized in that the number of travel switches (2) and photoelectric sensors (4) is two, and any one photoelectric sensor (4) is arranged outside the travel switch (2) on the same side thereof.

10. Automated guided vehicle, characterized in that it comprises a fork guard according to any of claims 1 to 9.

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