CN214456566U

CN214456566U - Robot forklift for intelligent logistics

Info

Publication number: CN214456566U
Application number: CN202120389390.1U
Authority: CN
Inventors: 曹燕杰; 邹高明; 聂志华
Original assignee: Jiangxi Intelligent Industry Technology Innovation Research Institute
Current assignee: Jiangxi Intelligent Industry Technology Innovation Research Institute
Priority date: 2021-02-22
Filing date: 2021-02-22
Publication date: 2021-10-22
Anticipated expiration: 2031-02-22

Abstract

The utility model relates to a commodity circulation transport technical field, concretely relates to robot fork truck towards wisdom commodity circulation, including automobile body, lift module and controlling means, the automobile body includes locomotive, supporting component, power drive device and navigation head, it includes jacking device, fork subassembly, weighing device to lift the module, the fork subassembly sets up in the supporting component top, the jacking device sets up between supporting component and fork subassembly for drive fork subassembly goes up and down, weighing device sets up on the fork subassembly, is used for weighing to the object on the fork subassembly. The utility model discloses a robot forklift, the module of lifting adopts the geometric centre design of lifting the bearing, does not have eccentric structure, needn't set up bulky counter weight, can guarantee the stable transportation of robot forklift to the commodity circulation that adapts to in the narrow passage is transported; be provided with weighing device in fork subassembly department, can realize inserting the goods weight of getting when real-time supervision inserts the goods of getting.

Description

Robot forklift for intelligent logistics

Technical Field

The utility model relates to a commodity circulation transport technical field, concretely relates to robot fork truck towards wisdom commodity circulation.

Background

A robot forklift belongs to a robot in the field of logistics transportation, the technical route of the robot is an intelligent logistics robot based on the instant positioning and map building technology, the robot does not need to lay any mark on the ground, the robot can automatically sense the environment and surrounding obstacles, can automatically perform path planning, realize an object transportation task in a specific environment and represent the future technical development trend of the logistics robot.

The utility model provides a robot fork truck towards wisdom commodity circulation under complicated scene, is different from conventional magnetic stripe navigation, laser reflector navigation or two-dimensional code navigation mode, adopts unmanned autonomous intelligent navigation technique, and the robot utilizes self sensor, independently carries out the environmental modeling perception, realizes autonomic location and removal route planning for static and dynamic barrier can be dodged automatically to the robot, realizes autonomic removal under the condition of no artificial intervention and external sign guide. The robot can realize high automation, informatization and intellectualization of an intelligent manufacturing and storage logistics system through the butt joint with an informatization management system.

The intelligent logistics robot based on the autonomous technology establishes a map of the surrounding environment by adopting a multi-sensor fusion algorithm, and determines the positioning of the robot in the global environment by scanning the real-time matched environment information and the position information on the scanned map by a vehicle-mounted laser radar in the moving process.

Disclose an automatic fork truck of laser navigation if application number is CN201721177268.8, the utility model provides an automatic fork truck of laser navigation, including fork truck body, portal, electric cabinet, laser radar, the portal is installed on the fork truck body, the electric cabinet with the portal links to each other, the portal is installed laser radar, install the master controller in the electric cabinet, laser radar with the master controller links to each other. The utility model has the advantages that: the utility model simultaneously ensures the personal safety of field workers through the safety sensor, the warning lamp and the emergency stop button; the selectable laser radar meets different cost and function requirements to realize the high cost performance of the utility model, and the complete existence detection sensor ensures the intelligence and high efficiency of task execution; automatic function of charging has guaranteed automatic fork truck's unmanned work function, just the utility model discloses a laser navigation automatic fork truck is reliable and stable more.

The patent discloses an automatic forklift. Although the automatic navigation function can be realized, the functions of obstacle avoidance, path planning and the like can also be effectively realized, the stacking function generally required by the forklift cannot be realized; and the rear configuration weight is larger, resulting in larger volume.

The laser navigation type forklift comprises a forklift body and a detachable unmanned operation assembly fixed on the forklift body, wherein the unmanned operation assembly comprises a main control unit, a positioning unit and a safety unit, wherein the main control unit is detachably arranged on the forklift body and is in communication connection with the positioning unit and the safety unit; the positioning unit is detachably arranged on the forklift body and used for transmitting and receiving coordinate position signals of the whole forklift; the safety units are detachably distributed on the outer periphery of the forklift body; the safety unit, the positioning unit and the main control unit which are arranged on the forklift body and are in communication connection are used for feeding back signals detected, emitted and fed back by the sensor to the main control unit, so that data acquisition, analysis and judgment are realized; the goods can reach the proper position of the fork arm, the safety in the operation process is ensured, and the automatic overlapping stacking of the goods becomes possible.

The laser navigation forklift can only realize the basic functions of the laser navigation forklift, and although the stacking height can be higher than that of the pallet forklift, the stack is eccentrically lifted, so that the counterweight position is large in size and the turning operation in a narrow passage cannot be realized; and the lifting module is integrated with the vehicle body, which causes inconvenience for replacement, maintenance and the like.

Through the analysis of the prior art, the laser navigation robot forklift in the market is generally found to have the following defects: firstly, most forklift structures lift heavy objects eccentrically, and for the requirement of counterweight, the front end of the robot is large in size and is not suitable for logistics transportation in narrow channels; secondly, the inserted goods are not monitored by weight, so that overload is often caused, and potential logistics potential safety hazards are caused; then, in addition, the modular design is not considered in the structural design, and the lifting height can not be adjusted generally, so that the expensive laser navigation robot can not exert the maximum efficiency and can not meet the requirement of the current digital factory logistics.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to solve one of the technical problem that exists among the prior art at least, provide a robot fork truck towards wisdom commodity circulation.

In order to achieve the above object, the utility model adopts the following technical scheme: a robot forklift for smart logistics comprises a forklift body, a lifting module and a control device, wherein the forklift body comprises a forklift head, a supporting assembly, a power driving device and a navigation device, the supporting assembly is arranged at the back of the forklift head and used for supporting the lifting module, the power driving device comprises a driving wheel and a universal wheel, the universal wheel is arranged at the bottom of the forklift head, the driving wheel is arranged at the bottom of the supporting assembly and used for driving the forklift body to move, the navigation device is arranged on the forklift head and used for carrying out moving navigation on the power driving device, the lifting module comprises a jacking device, a fork assembly and a weighing device, the fork assembly is arranged above the supporting assembly, the jacking device is arranged between the supporting assembly and the fork assembly and used for driving the fork assembly to lift, the weighing device is arranged on the fork assembly and used for weighing objects on the fork assembly, the control device is respectively connected with the power driving device, the navigation device, the jacking device and the weighing device and controls the power driving device, the navigation device, the jacking device and the weighing device.

Furthermore, the navigation device comprises a laser navigation radar and an ultrasonic sensor, and the laser navigation radar and the ultrasonic sensor are connected with the control device.

Furthermore, the support assembly comprises two frames, and the two frames are arranged behind the vehicle head in parallel.

Furthermore, the number of the driving wheels is two, and the two driving wheels are respectively arranged at the bottoms of the two frames.

Further, the driving wheel is connected with a driver, and the driver is used for driving the driving wheel to rotate.

Further, the jacking device includes two sets of jacking subassemblies and lifting drive ware, and is two sets of the jacking subassembly sets up respectively on two frames and the top and the fork subassembly of jacking subassembly are connected, and are two sets of be provided with connecting rod, hinge joint between the jacking subassembly and connect through connecting rod, hinge joint, the lifting drive ware is used for driving the connecting rod activity to drive two sets of jacking subassembly synchronous lifting.

Furthermore, the jacking assembly comprises an underframe and a fork-shaped hinged rod piece, the underframe is detachably arranged on the frame, the bottom of the fork-shaped hinged rod piece is connected with the underframe, the top of the fork-shaped hinged rod piece is connected with the fork assembly, and the lifting driver is used for driving the fork-shaped hinged rod piece to open to enable the jacking assembly to ascend or driving the fork-shaped hinged rod piece to close to enable the jacking assembly to descend.

Furthermore, a first sliding groove is formed in the bottom frame, and a first pulley capable of rolling in the first sliding groove is arranged at the upper end of the fork-shaped hinged rod piece.

Furthermore, a second sliding groove is formed in the pallet fork assembly, and a second pulley capable of rolling in the second sliding groove is arranged at the lower end of the fork-shaped hinged rod piece.

Further, the weighing device comprises a weighing plate and a weighing sensor, the weighing plate is arranged above the fork assembly, and the weighing sensor is arranged between the weighing plate and the fork assembly.

From the above description of the present invention, compared with the prior art, the present invention at least includes one of the following beneficial effects:

1. the utility model discloses a robot forklift, the module of lifting adopts the geometric centre design of lifting the bearing, does not have eccentric structure, needn't set up bulky counter weight, can guarantee the stable transportation of robot forklift to the commodity circulation that adapts to in the narrow passage is transported;

2. the robot forklift of the utility model is provided with the weighing device at the fork assembly, so that the weight of inserted goods can be monitored in real time while the goods are inserted, the numerical value is fed back to the control device for weight statistics, the weight of transported goods on the fork assembly can be monitored in real time, overload is avoided, and the transportation safety of valuables is ensured;

3. the robot forklift of the utility model realizes the split type modular design of the forklift body and the lifting module, can realize that the lifting module is used on a universal robot forklift, and has wider application range;

4. the utility model discloses a robot fork truck under navigation head's guide, realizes robot fork truck and independently builds the picture, independently keeps away the barrier, and intelligent operation functions such as independent path planning realize intellectuality, and automatic transportation transports more intelligence, steady safety.

Drawings

Fig. 1 is a schematic perspective view of a robot forklift for smart logistics according to a preferred embodiment of the present invention;

fig. 2 is a second schematic perspective view of a robot forklift for smart logistics according to a preferred embodiment of the present invention;

FIG. 3 is a schematic perspective view of a lifting module according to a preferred embodiment of the present invention;

fig. 4 is a schematic front view of a lifting module according to a preferred embodiment of the present invention;

reference numerals: 1. a vehicle body; 2. a lifting module; 11. a headstock; 12. a support assembly; 13. a power drive device; 14. a navigation device; 21. a jacking device; 22. a fork assembly; 23. a weighing device; 121. a frame; 131. a drive wheel; 132. a universal wheel; 141. a laser navigation radar; 142. an ultrasonic sensor; 211. a jacking assembly; 212. a lift drive; 213. a connecting rod; 214. a hinge joint; 231. a weighing plate; 232. a weighing sensor; 2111. a chassis; 2112. a forked hinged rod member; 2113. a first chute; 2114. a first pulley; 2115. a second chute; 2116. a second pulley.

Detailed Description

The technical solution 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.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "connected" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Referring to fig. 1-4, in a preferred embodiment of the present invention, a robot forklift for smart logistics includes a forklift body 1, a lifting module 2 and a control device, the forklift body 1 includes a forklift head 11, a supporting component 12, a power driving device 13 and a navigation device 14, the supporting component 12 is disposed behind the forklift head 11 for supporting the lifting module 2, the power driving device 13 includes a driving wheel 131 and a universal wheel 132, the universal wheel 132 is disposed at the bottom of the forklift head 11, the driving wheel 131 is disposed at the bottom of the supporting component 12 for driving the forklift body 1 to move, the navigation device 14 is disposed on the forklift head 11 for performing mobile navigation on the power driving device 13, the lifting module 2 includes a jacking device 21, a fork component 22 and a weighing device 23, the fork component 22 is disposed above the supporting component 12, the jacking device 21 is disposed between the supporting component 12 and the fork component 22, the lifting device is used for driving the fork assembly 22 to lift, the weighing device 23 is arranged on the fork assembly 22 and used for weighing objects on the fork assembly 22, and the control device is connected with the power driving device 13, the navigation device 14, the jacking device 21 and the weighing device 23 respectively and controls the power driving device 13, the navigation device 14, the jacking device 21 and the weighing device 23.

The utility model discloses a robot forklift, lifting module 2 adopts the geometric center design of lifting the bearing, does not have eccentric structure, needn't set up bulky counter weight, can guarantee the stable transportation of robot forklift to the commodity circulation that adapts to in the narrow passage is transported; the weighing device 23 is arranged at the fork assembly 22, so that the weight of inserted goods can be monitored in real time while the goods are inserted, the numerical value is fed back to the control device for weight statistics, the weight of the transported goods on the fork assembly 22 can be monitored in real time, overload is avoided, and the transportation safety of the valuable goods is ensured; the split modular design of the vehicle body 1 and the lifting module 2 is realized, the lifting module 2 can be used on a universal robot forklift, and the application range is wider; under the guidance of the navigation device 14, intelligent operation functions such as autonomous drawing construction, autonomous obstacle avoidance and autonomous path planning of the robot forklift are realized, and intelligentization, automatic transportation and more intelligent, stable and safe transportation are realized.

As a preferred embodiment of the present invention, it may also have the following additional technical features:

in the present embodiment, the navigation device 14 includes a laser navigation radar 141 and an ultrasonic sensor 142, and the laser navigation radar 141 and the ultrasonic sensor 142 are connected to the control device. The navigation device 14 performs movement navigation on the power driving device 13 through the laser navigation radar 141 so that the power driving device 13 automatically drives the vehicle body 1 to move, and detects an obstacle in front of the vehicle body 1 through the ultrasonic sensor 142 to prevent the vehicle body 1 from colliding with the obstacle during movement.

In the present embodiment, the supporting assembly 12 includes two vehicle frames 121, and the two vehicle frames 121 are disposed in parallel behind the vehicle head 11. The support assembly 12 employs two carriages 121 arranged in parallel behind the vehicle head 11 to provide a more stable support for the lifting module 2 and the items.

In this embodiment, there are two driving wheels 131, the two driving wheels 131 are respectively disposed at the bottom of the two vehicle frames 121, and a driver is connected to the driving wheels 131 and is used for driving the driving wheels 131 to rotate. The driving wheels 131 are arranged at the bottom of the vehicle frame 121 to drive the two vehicle frames 121 to move through the two driving wheels 131 respectively, the two driving wheels 131 are connected with a driver respectively, the driving wheels 131 are driven to rotate through the drivers, the automatic transportation is completed, and the turning activity can be performed by adjusting the difference of the rotating speeds of the two drivers.

In this embodiment, jacking device 21 includes two sets of jacking subassemblies 211 and lifts driver 212, and is two sets of jacking subassembly 211 sets up respectively on two frames 121 and the top of jacking subassembly 211 is connected with fork subassembly 22, and is two sets of be provided with connecting rod 213, hinge joint 214 between the jacking subassembly 211 and connect through connecting rod 213, hinge joint 214, it is used for driving the activity of connecting rod 213 to lift driver 212 to drive two sets of jacking subassemblies 211 and go up and down in step. The jacking device 21 comprises two sets of jacking components 211 respectively arranged on the two frames 121, the two jacking components 211 are connected through a connecting rod 213 and a hinge joint 214, the two jacking components 211 are connected through the connecting rod 213 and the hinge joint 214, so that the two jacking components 211 can move synchronously, the connecting rod 213 is driven to move through the lifting driver 212, so that the two sets of jacking components 211 can lift synchronously on the two frames 121, the lifting of transported articles can be stably realized, the synchronous lifting of the two sets of jacking components 211 can be completed through one lifting driver 212, the energy is saved, and the lifting driver can adopt an air cylinder, but is not limited to the structure.

In this embodiment, the jacking assembly 211 comprises a bottom frame 2111 and a fork-shaped hinge rod 2112, the bottom frame 2111 is detachably arranged on the frame 121, the bottom of the fork-shaped hinge rod 2112 is connected with the bottom frame 2111, the top of the fork-shaped hinge rod 2112 is connected with the fork assembly 22, and the lifting driver 212 is used for driving the fork-shaped hinge rod 2112 to open so as to lift the jacking assembly 211 or driving the fork-shaped hinge rod 2112 to close so as to lower the jacking assembly 211. The jacking assembly 211 comprises an underframe 2111 and a fork-shaped hinged rod 2112, the underframe 2111 is detachably mounted on the frame 121, so that the split modular design of the vehicle body 1 and the lifting module 2 is realized, the lifting module 2 is convenient to disassemble, assemble and replace, the fork-shaped hinged rod 2112 is driven to open or close by the lifting driver 212 to achieve the purpose of lifting the pallet fork assembly 22, the fork-shaped hinged rod 2112 and the lifting driver 212 adopt the geometric center design of lifting and bearing, no eccentric structure exists, and the transportation is more stable.

In this embodiment, the chassis 2111 is provided with a first sliding slot 2113, and the upper end portion of the forked link 2112 is provided with a first pulley 2114 capable of rolling in the first sliding slot 2113. The first sliding slot 2113 is arranged on the bottom frame 2111, the first pulley 2114 matched with the first sliding slot 2113 is arranged at the lower end part of the fork-shaped hinged rod piece 2112, when the fork-shaped hinged rod piece 2112 is opened or closed, the two end parts at the bottom of the fork-shaped hinged rod piece 2112 can move relatively, and the lower end part of the fork-shaped hinged rod piece 2112 can move stably by arranging the first sliding slot 2113 and the first pulley 2114.

In this embodiment, the fork assembly 22 is provided with a second sliding slot 2115, and the lower end of the fork-shaped hinge rod 2112 is provided with a second pulley 2116 capable of rolling in the second sliding slot 2115. The second sliding slot 2115 is arranged on the jacking assembly 211, the second pulley 2116 matched with the second sliding slot 2115 is arranged at the upper end part of the fork-shaped hinge rod 2112, when the fork-shaped hinge rod 2112 is opened or closed, the two end parts at the top of the fork-shaped hinge rod 2112 move relatively, and the upper end part of the fork-shaped hinge rod 2112 moves smoothly by the arrangement of the second sliding slot 2115 and the second pulley 2116.

In this embodiment, the weighing device 23 includes a weigh plate 231 and a load cell 232, the weigh plate 231 is disposed above the fork assembly 22, and the load cell 232 is disposed between the weigh plate 231 and the fork assembly 22. The weighing apparatus 23 is provided with a weigh plate 231 on the fork assembly 22, and the item on the weigh plate 231 is weighed by providing a load cell 232 between the weigh plate 231 and the fork assembly 22.

The above additional technical features can be freely combined and used in superposition by those skilled in the art without conflict.

It is to be understood that the present invention has been described with reference to certain embodiments, and that various changes or equivalents may be substituted for elements thereof by those skilled in the art without departing from the spirit and scope of the invention. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the invention without departing from the essential scope thereof. Therefore, the present invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of the present application are intended to be covered by the present invention.

Claims

1. The utility model provides a robot fork truck towards wisdom commodity circulation which characterized in that: the lifting device comprises a vehicle body (1), a lifting module (2) and a control device, wherein the vehicle body (1) comprises a vehicle head (11), a supporting component (12), a power driving device (13) and a navigation device (14), the supporting component (12) is arranged behind the vehicle head (11) and is used for supporting the lifting module (2), the power driving device (13) comprises a driving wheel (131) and a universal wheel (132), the universal wheel (132) is arranged at the bottom of the vehicle head (11), the driving wheel (131) is arranged at the bottom of the supporting component (12) and is used for driving the vehicle body (1) to move, the navigation device (14) is arranged on the vehicle head (11) and is used for moving and navigating the power driving device (13), the lifting module (2) comprises a jacking device (21), a fork assembly (22) and a weighing device (23), the fork assembly (22) is arranged above the supporting component (12), jacking device (21) set up between supporting component (12) and fork subassembly (22) for drive fork subassembly (22) goes up and down, weighing device (23) set up on fork subassembly (22) for weigh the object on fork subassembly (22), controlling means is connected and is controlled power drive (13), navigation head (14), jacking device (21), weighing device (23) respectively with power drive (13), navigation head (14), jacking device (21), weighing device (23).

2. The intelligent logistics-oriented robotic forklift as recited in claim 1, wherein: the navigation device (14) comprises a laser navigation radar (141) and an ultrasonic sensor (142), and the laser navigation radar (141) and the ultrasonic sensor (142) are connected with the control device.

3. The intelligent logistics-oriented robotic forklift as recited in claim 1, wherein: the support assembly (12) comprises two vehicle frames (121), and the two vehicle frames (121) are arranged behind the vehicle head (11) in parallel.

4. The intelligent logistics-oriented robotic forklift as recited in claim 3, wherein: the number of the driving wheels (131) is two, and the two driving wheels (131) are respectively arranged at the bottoms of the two frames (121).

5. The intelligent logistics-oriented robotic forklift as recited in claim 4, wherein: the driving wheel (131) is connected with a driver, and the driver is used for driving the driving wheel (131) to rotate.

6. The intelligent logistics-oriented robotic forklift as recited in claim 3, wherein: jacking device (21) are including two sets of jacking subassemblies (211) and lift driver (212), and are two sets of jacking subassembly (211) set up respectively on two frames (121) and the top and the fork subassembly (22) of jacking subassembly (211) are connected, and are two sets of be provided with connecting rod (213), hinge joint (214) between jacking subassembly (211) and connect through connecting rod (213), hinge joint (214), lift driver (212) and be used for driving connecting rod (213) activity to drive two sets of jacking subassemblies (211) and go up and down in step.

7. The intelligent logistics-oriented robotic forklift of claim 6, wherein: the jacking assembly (211) comprises an underframe (2111) and a fork-shaped hinged rod piece (2112), the underframe (2111) is detachably arranged on the frame (121), the bottom of the fork-shaped hinged rod piece (2112) is connected with the underframe (2111), the top of the fork-shaped hinged rod piece is connected with the fork assembly (22), and the lifting driver (212) is used for driving the fork-shaped hinged rod piece (2112) to be opened to enable the jacking assembly (211) to ascend or driving the fork-shaped hinged rod piece (2112) to be closed to enable the jacking assembly (211) to descend.

8. The intelligent logistics-oriented robotic forklift of claim 7, wherein: a first sliding groove (2113) is formed in the underframe (2111), and a first pulley (2114) capable of rolling in the first sliding groove (2113) is arranged at the upper end of the forked hinge rod piece (2112).

9. The intelligent logistics-oriented robotic forklift of claim 7, wherein: a second sliding groove (2115) is arranged on the fork assembly (22), and a second pulley (2116) capable of rolling in the second sliding groove (2115) is arranged at the lower end part of the fork-shaped hinged rod piece (2112).

10. The intelligent logistics-oriented robotic forklift as recited in claim 1, wherein: the weighing device (23) comprises a weighing plate (231) and a weighing sensor (232), the weighing plate (231) is arranged above the fork assembly (22), and the weighing sensor (232) is arranged between the weighing plate (231) and the fork assembly (22).