CN215516523U - Omnidirectional movement forklift capable of being intelligently aligned and positioned - Google Patents
Omnidirectional movement forklift capable of being intelligently aligned and positioned Download PDFInfo
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- CN215516523U CN215516523U CN202121420555.3U CN202121420555U CN215516523U CN 215516523 U CN215516523 U CN 215516523U CN 202121420555 U CN202121420555 U CN 202121420555U CN 215516523 U CN215516523 U CN 215516523U
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Abstract
The utility model discloses an omnidirectional moving forklift capable of being intelligently aligned and positioned, which comprises a forklift body, a portal frame, a pair of forks and power universal wheels, wherein the power universal wheels are arranged at the bottom of the forklift body, and can respectively roll along a horizontal axis and rotate along a vertical axis. A lifting frame is arranged between the portal frame and the fork in a lifting mode, a guide rod is arranged on the lifting frame, the top end of the fork is connected with the guide rod in a sliding mode, and a driving mechanism used for driving the fork to horizontally move along the guide rod is arranged on the lifting frame. Wherein set up laser radar on two forks respectively, equal altitude setting such as two laser radar, laser radar and actuating mechanism control connection. According to the utility model, the distances between the edges of the two sides of the tray and the forks are detected through the laser radar, and the distances between the two forks and the edges of the two sides of the tray are automatically adjusted.
Description
Technical Field
The utility model relates to the technical field of forklifts, in particular to an omnidirectional moving forklift capable of being intelligently aligned and positioned.
Background
Fork trucks are industrial handling vehicles, and refer to various wheeled handling vehicles that perform handling, stacking, and short-distance transport operations on piece pallet goods.
Along with the progress of the technology, the logistics carrying technology tends to be intelligent day by day, the traditional manual carrying is replaced gradually, the labor cost is saved, and the carrying efficiency is improved. The movable forklift AGV is an important core part of the whole intelligent material handling system, and the operation of the part directly influences the benefit of the handling system.
Referring to the attached figure 4 of the specification, the movable forklift commonly used in the prior art comprises a forklift body, a portal frame, a fork and a lifting frame, wherein the top of the fork is hung and buckled on the lifting frame, and the fork and the lifting frame are inserted and positioned through a safety pin.
This portable fork truck needs the staff to park before loading the goods, gets off the visual inspection observation after to take off the insurance bolt, the position of manual adjustment fork, make the distance of two forks be less than the width of cargo pallet, and the interval of two forks and cargo pallet both sides edge is equal basically, whole process is wasted time and energy, work efficiency is lower, and the risk that the existence heeled because of fork and cargo pallet butt joint are inaccurate and lead to goods in the handling.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide an omnidirectional moving forklift capable of intelligently aligning and positioning, which can replace manual work to automatically finish aligning and positioning work before loading goods, improve the working efficiency and reduce the risk of goods heeling caused by inaccurate butt joint.
In order to achieve the purpose, the utility model adopts the following technical scheme:
an omnidirectional moving forklift capable of being intelligently aligned and positioned comprises a forklift body, a portal frame, a pair of forks and power universal wheels, wherein the power universal wheels are mounted at the bottom of the forklift body and can respectively roll along a horizontal axis and rotate along a vertical axis; laser radars are arranged on the two forks respectively, the two laser radars are arranged at the same height, and the laser radars are in control connection with the driving mechanism.
Through adopting above-mentioned technical scheme, before the staff drives fork truck and removes to finished pallet goods, the control automobile body parallels with the goods, two laser radar detect the distance of tray both sides edge and fork respectively, when the distance is inconsistent, control actuating mechanism drive fork and remove along the guide bar, adjust the distance at two forks and tray both sides edge, it equals to the distance at two forks and goods tray both sides edge, thereby accomplish the alignment positioning work before loading the goods, and the work efficiency is improved, the risk that leads to the goods to heeling because of the butt joint is inaccurate has been reduced.
Further setting the following steps: the top of fork is provided with the boss towards the fixed boss that is provided with in one side of lift frame, set up the guiding hole that supplies the guide bar to wear to establish on the boss.
Through adopting above-mentioned technical scheme, guide bar and fork looks sliding fit, the guiding hole has improved the straightness accuracy and the stability that the fork removed.
Further setting the following steps: actuating mechanism is including being fixed in the servo motor of lifting frame one side, the threaded rod is worn to be equipped with by the screw thread on the boss, the threaded rod is located the below of guide bar, the fixed brace table of being connected with the threaded rod both ends rotation that is provided with on the lifting frame, the one end and the output shaft transmission of servo motor of threaded rod are connected, are located the laser radar and the servo motor control connection of fork homonymy.
Through adopting above-mentioned technical scheme, servo motor drive threaded rod rotates, and the fork removes along the guide bar under the screw-thread fit of boss and threaded rod to the distance of two forks of adjustment and tray both sides edge.
Further setting the following steps: the automobile body is internally provided with a console, the console is provided with a monitoring display screen, and the laser radar is electrically connected with the monitoring display screen.
By adopting the technical scheme, the distance measured by the laser radar can be displayed on the monitoring display screen, so that the monitoring of workers is facilitated.
Further setting the following steps: the top middle part of lift frame is provided with image recognition module, image recognition module and control display screen electric connection.
By adopting the technical scheme, the image recognition module can collect the video of the butt joint positioning process and feed back the video to the monitoring display screen.
Further setting the following steps: the image recognition module is a high-definition camera.
Further setting the following steps: and the rear part of the vehicle body is provided with an anti-collision beam.
By adopting the technical scheme, under the condition of misoperation, when other objects are collided, the damage caused by collision can be reduced, and the protection effect is achieved.
Further setting the following steps: the both sides of anticollision roof beam are provided with ultrasonic sensor, control and be provided with the alarm with ultrasonic sensor electric connection on the platform.
By adopting the technical scheme, when the ultrasonic sensor detects that the barrier enters the preset range, the alarm gives out a buzzer sound to give an alarm.
Further setting the following steps: the control platform is also provided with a control module, and the control module is in transmission connection with the power universal wheel so as to control the power universal wheel to roll or rotate or roll and steer simultaneously.
Through adopting above-mentioned technical scheme, can make fork truck realize straight line, the side is walked, the slant and the motion of pivot indicator, finally realize fork truck's omnidirectional movement, fork truck's removal in warehouse, mill with turn to more nimble, need not additionally to reserve the turning radius that surpasss the automobile body, space utilization is higher.
Further setting the following steps: the laser radar is a laser range radar.
In conclusion, the beneficial technical effects of the utility model are as follows:
(1) the two laser radars respectively detect the distance between the edges of the two sides of the pallet and the pallet fork, when the distances are inconsistent, the driving mechanism is controlled to drive the pallet fork to move along the guide rod, the distances between the two pallet forks and the edges of the two sides of the pallet are adjusted until the distances between the two pallet forks and the edges of the two sides of the pallet are equal, and the alignment positioning work before loading the goods is completed. Compared with the prior art, the utility model can replace manual work to automatically finish the alignment and positioning work before loading the goods, improve the working efficiency and reduce the risk of goods heeling caused by inaccurate butt joint.
(2) Through setting up control module and power universal wheel, can make fork truck realize straight line, the side is walked, the diagonal and the motion of pivot indicator, finally realizes fork truck's omnidirectional movement, and fork truck's removal in warehouse, mill is more nimble with turning to, need not additionally to reserve the turning radius that surpasss the automobile body, and space utilization is higher.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is an enlarged view of portion A of FIG. 1;
FIG. 3 is a side view of the present invention;
fig. 4 is a schematic structural diagram of a mobile forklift in the background art.
Reference numerals:
1. vehicle body 2, portal frame 3 and fork
4. Power universal wheel 5, lifting frame 6, guide bar
7. Boss 8, laser radar 9, servo motor
10. Threaded rod 11, supporting table 12 and control table
13. Monitoring display screen 14, image recognition module 15 and control module
16. An impact beam 17, an ultrasonic sensor 18 and a safety pin.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Example 1
Referring to fig. 1, the omnidirectional moving forklift capable of being intelligently aligned and positioned disclosed by the utility model comprises a forklift body 1, a portal frame 2, a pair of forks 3 and power universal wheels 4, wherein the power universal wheels 4 are installed at the bottom of the forklift body 1, and the power universal wheels 4 can respectively roll along a horizontal axis and rotate along a vertical axis.
Combine fig. 2, it is provided with lift frame 5 to go up and down between portal 2 and the fork 3, the fixed guide bar 6 that is provided with along the horizontal direction on the lift frame 5, the top and the 6 sliding connection of guide bar of fork 3, the top of fork 3 is provided with boss 7 towards one side of lift frame 5 is fixed, set up the guiding hole that supplies guide bar 6 to wear to establish on the boss 7, be provided with on the lift frame 5 and be used for driving fork 3 along the actuating mechanism of 6 horizontal migration of guide bar. Wherein, be provided with laser radar 8 on two forks 3 respectively, laser radar 8 wait high setting, laser radar 8 is laser range radar.
Actuating mechanism wears to be equipped with threaded rod 10 including being fixed in the servo motor 9 of 5 one sides of elevator frame, boss 7 along the horizontal direction screw thread, and threaded rod 10 is located the below of guide bar 6, and elevator frame 5 is last to be fixed be provided with the threaded rod 10 both ends rotate the brace table 11 of being connected, and the one end of threaded rod 10 is connected with servo motor 9's output shaft transmission, is located the laser radar 8 and the servo motor 9 control connection of 3 homonymies of fork.
Two laser radar 8 detect the distance of tray both sides edge and fork 3 respectively, and when the distance was inconsistent, control servo motor 9 drive threaded rod 10 rotated, and fork 3 moves along guide bar 6 under the screw-thread fit of boss 7 and threaded rod 10 to the distance of two forks 3 and tray both sides edge is adjusted, and until two forks 3 and the distance of goods tray both sides edge equal, the completion aligns the positioning work before loading the goods.
Referring to fig. 1, a console 12 is arranged in the vehicle body 1, and a monitoring display screen 13, a laser radar 8 and the monitoring display screen 13 are electrically connected to the console 12.
The top middle part of lifting frame 5 is provided with image recognition module 14, and image recognition module 14 is high definition digtal camera, image recognition module 14 and monitoring display screen 13 electric connection. The distance measured by the laser radar 8 can be displayed on the monitoring display screen 13, so that the monitoring of workers is facilitated.
The console 12 is provided with a control module 15, and the control module 15 is in transmission connection with the power universal wheel 4 to control the power universal wheel 4 to roll or turn or roll and turn simultaneously. The image recognition module 14 can collect the video of the docking positioning process and feed back to the monitoring display 13.
Through setting up control module 15 and power universal wheel 4, can make fork truck realize straight going, the side is walked, the diagonal and the motion of pivot indicator, finally realizes fork truck's omnidirectional movement, and fork truck's removal in warehouse, mill and turn to more nimble, need not additionally to reserve the turning radius who surpasss the automobile body, and space utilization is higher.
Referring to fig. 3, the rear portion of the vehicle body 1 is provided with an anti-collision beam 16, so that when a forklift collides with another object in the case of misoperation of a worker, damage caused by collision can be reduced, and a protection effect is achieved.
The two sides of the anti-collision beam 16 are respectively provided with an ultrasonic sensor 17, and the console 12 is provided with an alarm electrically connected with the ultrasonic sensors 17. When the ultrasonic sensor 17 detects that the obstacle enters the preset range, the alarm gives out a buzzer sound to give an alarm, and the worker is reminded that the obstacle appears behind the forklift.
The working principle and the beneficial effects of the utility model are as follows:
two laser radar 8 detect the distance of tray both sides edge and fork 3 respectively, and when the distance was inconsistent, control servo motor 9 drive threaded rod 10 rotated, and fork 3 moves along guide bar 6 under the screw-thread fit of boss 7 and threaded rod 10 to the distance of two forks 3 and tray both sides edge is adjusted, and until two forks 3 and the distance of goods tray both sides edge equal, the completion aligns the positioning work before loading the goods. Meanwhile, the image recognition module 14 can collect the video of the docking positioning process and feed the video back to the monitoring display screen 13, so that the monitoring by the staff is facilitated.
Compared with the prior art, the utility model can replace manual work to automatically finish the alignment and positioning work before loading the goods, improves the working efficiency, reduces the risk of goods heeling caused by inaccurate butt joint, and has the advantage of process visualization.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; while the utility model has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. The utility model provides a can intelligent aim at omnidirectional movement fork truck of location, includes automobile body (1), portal (2), a pair of fork (3) and power universal wheel (4), install in automobile body (1) bottom power universal wheel (4), and power universal wheel (4) can roll along horizontal axis, rotate its characterized in that along vertical axis respectively: a lifting frame (5) is arranged between the portal frame (2) and the fork (3) in a lifting mode, a guide rod (6) is arranged on the lifting frame (5), the top end of the fork (3) is connected with the guide rod (6) in a sliding mode, and a driving mechanism used for driving the fork (3) to move horizontally along the guide rod (6) is arranged on the lifting frame (5); wherein, two forks (3) are respectively provided with a laser radar (8), two laser radars (8) are arranged at equal height, and the laser radars (8) are in control connection with a driving mechanism.
2. The omni-directional mobile forklift capable of being intelligently aligned and positioned according to claim 1, wherein: the fork is characterized in that a boss (7) is fixedly arranged at the top end of the fork (3) towards one side of the lifting frame (5), and a guide hole for the guide rod (6) to penetrate is formed in the boss (7).
3. An intelligently alignable and positionable omni-directional mobile lift truck according to claim 2 and further comprising: actuating mechanism is including being fixed in servo motor (9) of lifting frame (5) one side, threaded rod (10) are worn to be equipped with by the screw thread on boss (7), threaded rod (10) are located the below of guide bar (6), fixed brace table (11) of being connected with threaded rod (10) both ends rotation that are provided with on lifting frame (5), the one end of threaded rod (10) is connected with the output shaft transmission of servo motor (9), is located laser radar (8) and servo motor (9) the control connection of fork (3) homonymy.
4. An intelligently alignable and positionable omni-directional mobile lift truck according to claim 3 and wherein: the automobile body (1) is internally provided with a control platform (12), the control platform (12) is provided with a monitoring display screen (13), and the laser radar (8) is electrically connected with the monitoring display screen (13).
5. An intelligently alignable and positionable omni-directional mobile lift truck according to claim 4 and wherein: the top middle part of lifting frame (5) is provided with image recognition module (14), image recognition module (14) and control display screen (13) electric connection.
6. An intelligently alignable and positionable omni-directional mobile lift truck according to claim 5 and wherein: the image recognition module (14) is a high-definition camera.
7. The omni-directional mobile forklift capable of being intelligently aligned and positioned according to claim 1, wherein: and the rear part of the vehicle body (1) is provided with an anti-collision beam (16).
8. An intelligently alignable and positionable omni-directional mobile lift truck according to claim 7 and wherein: the anti-collision device is characterized in that ultrasonic sensors (17) are respectively arranged on two sides of the anti-collision beam (16), and an alarm electrically connected with the ultrasonic sensors (17) is arranged on the console (12).
9. An intelligently alignable and positionable omni-directional mobile lift truck according to claim 4 and wherein: the control platform (12) is further provided with a control module (15), and the control module (15) is in transmission connection with the power universal wheel (4) to control the power universal wheel (4) to roll or rotate or roll and steer simultaneously.
10. The omni-directional mobile forklift capable of being intelligently aligned and positioned according to claim 1, wherein: the laser radar (8) is a laser range radar.
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| CN202121420555.3U CN215516523U (en) | 2021-06-24 | 2021-06-24 | Omnidirectional movement forklift capable of being intelligently aligned and positioned |
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| CN202121420555.3U CN215516523U (en) | 2021-06-24 | 2021-06-24 | Omnidirectional movement forklift capable of being intelligently aligned and positioned |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116040533A (en) * | 2023-03-30 | 2023-05-02 | 山东力达智能车辆产业技术研究院有限公司 | Lifting device for expanding car window body side |
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2021
- 2021-06-24 CN CN202121420555.3U patent/CN215516523U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116040533A (en) * | 2023-03-30 | 2023-05-02 | 山东力达智能车辆产业技术研究院有限公司 | Lifting device for expanding car window body side |
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