CN215249380U - Tray stacking type unmanned forklift - Google Patents
Tray stacking type unmanned forklift Download PDFInfo
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- CN215249380U CN215249380U CN202120617817.9U CN202120617817U CN215249380U CN 215249380 U CN215249380 U CN 215249380U CN 202120617817 U CN202120617817 U CN 202120617817U CN 215249380 U CN215249380 U CN 215249380U
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
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- Forklifts And Lifting Vehicles (AREA)
Abstract
The utility model relates to a tray is piled unmanned fork truck of high formula, including fork truck body and the fork of setting on the fork truck body, still include: the main control module is arranged on the forklift body; the height measuring module is arranged on the forklift body, is connected with the main control module and is used for measuring the lifting height of the pallet fork; the pallet in-place detection module is arranged at the root of the fork and connected with the main control module for detecting the position of the pallet fork taken by the fork. The above-mentioned scheme that this application provided, but the lifting height of accurate control fork through the height measurement module to the goods is got to the accurate fork, through with the tray detection module that targets in place install the root at the fork, when the tray was got to the fork, then think the tray when the tray triggered the tray detection module that targets in place and targets in place, at this moment, the fork just can rise and mention the tray and get goods, thereby has effectively improved whole fork truck's degree of automation, has made things convenient for people's use.
Description
Technical Field
The utility model relates to a fork truck technical field especially relates to a unmanned fork truck of tray formula of piling up.
Background
Fiber optic forklifts are the name given to various wheeled haulage vehicles for handling, stacking and short-distance transportation of piece pallet goods. The unmanned forklift is a forklift which stacks goods on a shelf of a warehouse under the guidance of a computer or takes the goods off the shelf and conveys the goods to a specified position.
Along with the continuous expansion of market to and the continuous promotion of technique, the gradual follow internal combustion of balanced heavy heap high car turns to electronic, also begins to be operated to the lithium iron phosphate electrokinetic transformation of more environmental protection by lead acid electricity, also slowly simultaneously by someone operation to unmanned autopilot conversion, have characteristics such as the operation is nimble, efficient, energy-concerving and environment-protective. However, the existing stacking type unmanned forklift is low in automation degree and inconvenient for people to use.
SUMMERY OF THE UTILITY MODEL
Therefore, the tray stacking type unmanned forklift needs to be provided for solving the problem that the existing high type unmanned forklift is low in automation degree.
The utility model provides a tray is piled high formula unmanned fork truck, including fork truck body and the fork of setting on the fork truck body, still include:
the main control module is arranged on the forklift body;
the height measuring module is arranged on the forklift body, is connected with the main control module and is used for measuring the lifting height of the pallet fork;
the pallet detection module that targets in place, the pallet detection module that targets in place sets up the root of fork, just the pallet detection module that targets in place with main control module connects for detect the position of the pallet of fork get on the fork.
Above-mentioned unmanned fork truck of high formula is piled to tray, but the lifting height of accurate control fork through the height measurement module to the goods is got to the accurate fork, through with the tray detection module that targets in place install the root at the fork, when the tray is got to the fork, then think the tray targets in place when the tray triggers the tray detection module that targets in place at the tray, at this moment, the fork just can rise to mention the tray and get goods, thereby whole fork truck's degree of automation has effectively been improved, people's use has been made things convenient for.
In one embodiment, the forklift further comprises a first obstacle avoidance module, the first obstacle avoidance module is connected with the main control module, and the first obstacle avoidance module is arranged on one side, away from the pallet fork, of the forklift body.
In one embodiment, the forklift further comprises a second obstacle avoidance module, the second obstacle avoidance module is connected with the main control module, the second obstacle avoidance module is arranged on the forklift body, and the second obstacle avoidance module and the height measurement module are located on the same side.
In one embodiment, the forklift further comprises a switching module and a handle, wherein the switching module is connected with the main control module, and the handle is arranged on the forklift body.
In one embodiment, the forklift further comprises a positioning module, the positioning module is connected with the main control module, and the positioning module is arranged at the top of the forklift body.
In one embodiment, the system further comprises a power cut-off module, and the power cut-off module is connected with the main control module.
In one embodiment, the system further comprises a safety control module, and the safety control module is connected with the main control module.
In one embodiment, the forklift further comprises a forklift body information module, wherein the forklift body information module is connected with the main control module and used for storing the current pose information and the current electric quantity information of the forklift.
In one embodiment, the system further comprises an external interface module, which is used for connecting with an external upper computer system to acquire corresponding control and scheduling information.
In one embodiment, the forklift truck further comprises an interface display module, wherein the interface display module is connected with the main control module and used for displaying the current task, the execution state and the running path information of the forklift truck in real time.
Drawings
Fig. 1 is a schematic structural view of a pallet stacking type unmanned forklift according to an embodiment of the present invention;
fig. 2 is yet another schematic view of fig. 1.
The figures are labeled as follows:
1. a forklift body; 2. a main control module; 3. a switching module; 4. a handle; 5. a first obstacle avoidance module; 6. a pallet fork; 7. a tray in-place detection module; 8. a height measurement module; 9. a second obstacle avoidance module; 10. a safety control module; 11. a power cutoff module; 12. and a positioning module.
Detailed Description
In order to make the above objects, features and advantages of the present invention more comprehensible, embodiments of the present invention are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, as those skilled in the art will be able to make similar modifications without departing from the spirit and scope of the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.
An Automated Guided Vehicle (AGV) is a transportation Vehicle equipped with an electromagnetic or optical automatic guiding device, which can travel along a predetermined guiding path, and has safety protection and various transfer functions. Generally, the traveling route and behavior can be controlled by a computer, or the traveling route is set up by using an electromagnetic track (electromagnetic path-following system), the electromagnetic track is adhered to the floor, and the unmanned transport vehicle moves and acts according to the information brought by the electromagnetic track.
The AGV has the advantages that (1) the automation degree is high; the device is controlled by a computer, an electric control device, a magnetic induction SENSOR, a laser reflecting plate and the like. When auxiliary materials are needed in a certain link of a workshop, relevant information is input to the computer terminal by a worker, the computer terminal sends the information to the central control room, a professional technician sends an instruction to the computer, and the instruction is finally received and executed by the AGV under the cooperation of the electric control equipment, namely the auxiliary materials are sent to a corresponding place. (2) Charging automation; when the AGV is running out of charge, it will send a request to the system to request charging (a value is set by the technician in advance), and automatically "queue" the charge to the place where it is allowed by the system. In addition, the AGV has a long battery life (more than 2 years) and can operate for about 4 hours every 15 minutes of charging. (3) Beautiful appearance and high enjoyment and thus high enterprise image. (4) The convenience is realized, and the occupied area is reduced; the AGV trolleys of the production workshop can shuttle among various workshops.
As shown in fig. 1 and with reference to fig. 2, in an embodiment of the present invention, a pallet stacking type unmanned forklift is provided, including a forklift body 1 and a pallet fork 6 disposed on the forklift body 1, further including: the main control module 2, height measurement module 8 and tray detection module 7 that targets in place, wherein, main control module 2 sets up on fork truck body 1, height measurement module 8 sets up on fork truck body 1, and height measurement module 8 is connected with main control module 2, be used for measuring the lift height of fork 6, tray detection module 7 that targets in place sets up the root at fork 6, and the tray detection module 7 that targets in place is connected with main control module 2, be used for detecting the position of the tray that the fork got on fork 6.
Adopt above-mentioned technical scheme, but the lifting height of accurate control fork through the height measurement module to the goods is got to the accurate fork, through with the tray detection module installation that targets in place at the root of fork, when the tray was got to the fork, then think the tray targets in place when the tray triggered the tray detection module that targets in place, at this moment, the fork just can rise and mention the tray and get goods, thereby has effectively improved whole fork truck's degree of automation, has made things convenient for people's use.
In some embodiments, as shown in fig. 1, the pallet stacking type unmanned forklift further includes a first obstacle avoidance module 5, the first obstacle avoidance module 5 is connected with the main control module 2, and the first obstacle avoidance module 5 is disposed on a side of the forklift body 1 away from the pallet fork 6.
The first obstacle avoidance module in this application chooses for use and keeps away obstacle laser sensor, should keep away obstacle laser sensor and main control module and be connected for export different traveling speed to the traveling system on the fork truck body according to the barrier distance in real-time scanning automobile body the place ahead and according to the barrier under the different distances. The main control module outputs a speed control signal and a steering control signal to a traveling system on the forklift body according to the detected distance between the obstacles, and the traveling system is used for coordinately controlling the operation of the forklift.
In some embodiments, as shown in fig. 2, the tray stacking type unmanned forklift further includes a second obstacle avoidance module 9, the second obstacle avoidance module 9 is connected with the main control module 2, the second obstacle avoidance module 9 is disposed on the forklift body 1, and the second obstacle avoidance module 9 and the height measurement module 8 are located on the same side.
The second obstacle avoidance module 9 and the first obstacle avoidance module 5 are respectively located at different positions of the forklift body 1, so that obstacles around the forklift body 1 can be conveniently detected by 360 degrees. The second obstacle avoidance module is also used for avoiding an obstacle laser sensor and is used for outputting different running speeds to a running system on the forklift body according to the obstacle distance in front of the forklift body and the obstacles at different distances in real time. The main control module outputs a speed control signal and a steering control signal to a traveling system on the forklift body according to the detected distance between the obstacles, and the traveling system is used for coordinately controlling the operation of the forklift.
In some embodiments, as shown in fig. 1, the pallet stacking type unmanned forklift further includes a switching module 3 and a handle 4, the switching module 3 is connected with the main control module 2, and the handle 4 is disposed on the forklift body 1.
When the automatic forklift is used, when the automatic forklift is switched to the manual forklift from the automatic mode through the switching module, the whole forklift is changed into the manual forklift mode, an operator can operate the forklift through the operating handle, and when the automatic forklift is switched to the automatic mode, the forklift can only move under the control of the AGV control system.
In some embodiments, as shown in fig. 1, the pallet stacking type unmanned forklift further includes a positioning module 12, the positioning module 12 is connected with the main control module 2, and the positioning module 12 is disposed on the top of the forklift body 1.
The positioning module can select a laser radar positioner, the laser radar positioner outputs self pose in real time according to a triangulation location method after scanning reflectors around the environment according to the laser radar, the main control module acquires the position of the corresponding forklift according to the laser radar positioner and sends the position to the traveling system on the forklift body, and the traveling system controls the forklift to run along the planned path according to the pre-planned path and the real-time position.
In some embodiments, as shown in fig. 2, the pallet stacking type unmanned forklift in the present application further includes a power cut-off module 11, and the power cut-off module 11 is connected with the main control module 2.
The power cut-off module can be a switch, the switch is connected with a storage battery on the forklift, and when the forklift is suddenly abnormal in work, the switch can be disconnected, so that the whole forklift is powered off.
In some embodiments, as shown in fig. 2, the pallet stacking type unmanned forklift further includes a safety control module 10, and the safety control module 10 is connected with the main control module 2.
The safety control module is mainly used for failure safety control of vehicles, the idea is to ensure the failure safety of products through system redundancy and a safety loop, when the safety control module is used, after a certain safety function is triggered, the industrial personal computer is used for actively controlling the vehicles to decelerate and stop, and the safety control module monitors the running states of the vehicles in real time. If the industrial personal computer end fails to stop the vehicle in time, the safety control module captures the control right and ensures that the vehicle can stop running immediately.
In some embodiments, the tray stacking type unmanned forklift further comprises a forklift body information module, wherein the forklift body information module is connected with the main control module 2 and used for storing the current pose information and the current electric quantity information of the forklift.
In some embodiments, the unmanned forklift with the stacked pallets further includes an external interface module, which is used for being connected with an external upper computer system to acquire corresponding control and scheduling information.
In some embodiments, the pallet stacking type unmanned forklift further comprises an interface display module, wherein the interface display module is connected with the main control module 2 and is used for displaying the current task, the execution state and the running path information of the forklift in real time.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.
Claims (10)
1. The utility model provides a tray is piled unmanned fork truck of high formula, includes fork truck body (1) and fork (6) of setting on fork truck body (1), its characterized in that still includes:
the main control module (2), the main control module (2) is arranged on the forklift body (1);
the height measuring module (8) is arranged on the forklift body (1), and the height measuring module (8) is connected with the main control module (2) and used for measuring the lifting height of the pallet fork (6);
the tray detection module (7) that targets in place, the tray detection module (7) that targets in place sets up the root of fork (6), just the tray detection module (7) that targets in place with main control module (2) are connected for detect the position of the tray of fork get on fork (6).
2. The tray stacking type unmanned forklift as claimed in claim 1, further comprising a first obstacle avoidance module (5), wherein the first obstacle avoidance module (5) is connected with the main control module (2), and the first obstacle avoidance module (5) is arranged on one side of the forklift body (1) departing from the fork (6).
3. The tray stacking type unmanned forklift as claimed in claim 1, further comprising a second obstacle avoidance module (9), wherein the second obstacle avoidance module (9) is connected with the main control module (2), the second obstacle avoidance module (9) is arranged on the forklift body (1), and the second obstacle avoidance module (9) and the height measurement module (8) are located on the same side.
4. The tray stacking type unmanned forklift according to claim 1, further comprising a switching module (3) and a handle (4), wherein the switching module (3) is connected with the main control module (2), and the handle (4) is arranged on the forklift body (1).
5. The pallet stacking type unmanned forklift according to claim 1, further comprising a positioning module (12), wherein the positioning module (12) is connected with the main control module (2), and the positioning module (12) is arranged on the top of the forklift body (1).
6. The pallet stacking type unmanned forklift according to claim 1, further comprising a power cut-off module (11), wherein the power cut-off module (11) is connected with the main control module (2).
7. The pallet stacking type unmanned forklift according to claim 1, further comprising a safety control module (10), wherein the safety control module (10) is connected with the main control module (2).
8. The tray stacking type unmanned forklift as claimed in claim 1, further comprising a forklift body information module, wherein the forklift body information module is connected with the main control module (2) and used for storing current pose information and electric quantity information of the forklift.
9. The tray stacking type unmanned forklift as claimed in claim 1, further comprising an external interface module for connecting with an external upper computer system to obtain corresponding control and scheduling information.
10. The tray stacking type unmanned forklift as claimed in claim 1, further comprising an interface display module, wherein the interface display module is connected with the main control module (2) and is used for displaying current tasks, execution states and traveling path information of the forklift in real time.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120617817.9U CN215249380U (en) | 2021-03-26 | 2021-03-26 | Tray stacking type unmanned forklift |
| PCT/CN2022/082638 WO2022199645A1 (en) | 2021-03-26 | 2022-03-24 | Pallet stacking type unmanned forklift |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120617817.9U CN215249380U (en) | 2021-03-26 | 2021-03-26 | Tray stacking type unmanned forklift |
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| CN215249380U true CN215249380U (en) | 2021-12-21 |
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| CN202120617817.9U Active CN215249380U (en) | 2021-03-26 | 2021-03-26 | Tray stacking type unmanned forklift |
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| WO (1) | WO2022199645A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022199645A1 (en) * | 2021-03-26 | 2022-09-29 | 未来机器人（深圳）有限公司 | Pallet stacking type unmanned forklift |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0761840B2 (en) * | 1989-03-20 | 1995-07-05 | 株式会社豊田自動織機製作所 | Lift control device for unmanned forklift |
| CN203065111U (en) * | 2013-01-08 | 2013-07-17 | 浙江诺力机械股份有限公司 | Fork height measuring and control device of stacking forklift |
| CN207158711U (en) * | 2017-09-14 | 2018-03-30 | 斯坦德机器人（深圳）有限公司 | A kind of laser navigation is from electrical forklift |
| CN207689916U (en) * | 2017-12-31 | 2018-08-03 | 天津阿备默机器人科技有限公司 | A kind of AGV fork trucks that nobody automatically controls |
| CN209081354U (en) * | 2018-11-09 | 2019-07-09 | 林德（中国）叉车有限公司 | A kind of automatic illuminating apparatus of fork truck |
| CN209974245U (en) * | 2019-05-14 | 2020-01-21 | 杭州昱透实业有限公司 | Tray detection device that targets in place |
| CN111153353A (en) * | 2019-11-29 | 2020-05-15 | 广西现代职业技术学院 | Laser navigation unmanned forklift and control system thereof |
| CN215249380U (en) * | 2021-03-26 | 2021-12-21 | 未来机器人（深圳）有限公司 | Tray stacking type unmanned forklift |
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2021
- 2021-03-26 CN CN202120617817.9U patent/CN215249380U/en active Active
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- 2022-03-24 WO PCT/CN2022/082638 patent/WO2022199645A1/en active Application Filing
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022199645A1 (en) * | 2021-03-26 | 2022-09-29 | 未来机器人（深圳）有限公司 | Pallet stacking type unmanned forklift |
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