CN216512676U - Unmanned forklift navigation framework - Google Patents
Unmanned forklift navigation framework Download PDFInfo
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- CN216512676U CN216512676U CN202123129144.1U CN202123129144U CN216512676U CN 216512676 U CN216512676 U CN 216512676U CN 202123129144 U CN202123129144 U CN 202123129144U CN 216512676 U CN216512676 U CN 216512676U
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- forklift
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- laser radar
- control cabinet
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Abstract
The utility model relates to the field of household daily necessities, in particular to a navigation framework of an unmanned forklift. The unmanned forklift navigation framework provided by the utility model is characterized in that the scanning laser radar is added on the forklift and is used as a sending and receiving end for map scanning and positioning matching; a pull rope encoder and a material scanner are additionally arranged to be used as signals for controlling accurate lifting height of the fork arm and deaf sending in-place of materials; an obstacle avoidance laser radar outside the forklift is added for the automatic operation and safe obstacle avoidance of the forklift; the control cabinet of the forklift is added and serves as a signal integration end, a data processing end, a task receiving end and a task executing end, so that the forklift does not need to be driven by personnel, can automatically run according to a task command, reduces personnel participation, improves automation efficiency and reduces personnel cost.
Description
Technical Field
The utility model relates to the technical field of material conveying and transferring, in particular to a navigation framework of an unmanned forklift.
Background
Forklifts are highly efficient devices for automated handling, stacking and handling. The multifunctional forklift is a good tool for achieving multiple purposes of the forklift. Perfects and compensates the performance of the forklift, and meets the requirement of complex and diversified loading and unloading of modern logistics storage and transportation. The forklift attachment comprises: high efficiency, low loss, safety and the like.
However, the existing forklift is manually driven by manpower to transfer and stack goods, and the intelligent degree is low.
Therefore, a new navigation architecture for unmanned forklift is needed to solve the above technical problems.
SUMMERY OF THE UTILITY MODEL
In order to solve the technical problem, the utility model provides a navigation framework of an unmanned forklift.
The unmanned forklift navigation framework provided by the utility model comprises: the device comprises a machine body, a fixed frame, a control cabinet, a scanning laser radar, an anti-collision mechanism, a supporting frame, a stay cord encoder, a material scanner and a top compacting mechanism, wherein the lower surface of the machine body is fixedly connected with a base, rollers are installed at the bottom end of the base, the upper ends of two sides of the machine body are fixedly connected with the fixed frame, the outer side surface of the fixed frame is fixedly provided with the control cabinet, the upper surface of the fixed frame is fixedly provided with the scanning laser radar for scanning surrounding maps, the scanning laser radar is electrically connected with the control cabinet, the rear end surface of the machine body is connected with the anti-collision mechanism, the inner end surface of the base is fixedly provided with the vertically arranged supporting frame, the inner wall of the bottom end of the supporting frame is slidably connected with a lifting plate, the outer end surface of the lifting plate is fixedly provided with a forklift arm, and the top end of the supporting frame is fixedly provided with the stay cord encoder for controlling the lifting plate to lift, and the pull rope encoder is electrically connected with the control cabinet, a material scanner for detecting materials is installed on the outer end face of the lifting plate and is electrically connected with the control cabinet, and the upper surface of the supporting frame is connected with a top compacting mechanism.
Preferably, the anticollision institution includes the anticollision board and keeps away barrier laser radar, anticollision board fixed connection is at the outer terminal surface of base to the last fixed surface of anticollision board installs the obstacle laser radar that keeps away of two symmetric distributions, and keeps away barrier laser radar and be connected with the switch board electricity.
Preferably, the lower surface of the front end of the forklift arm is provided with an inclined groove.
Preferably, the top compacting mechanism comprises an upper baffle, a movable plate, a threaded rod and a sliding rod, the upper surface of the supporting frame is fixedly connected with a driving motor, the output end of the driving motor is fixedly connected with the threaded rod through a coupler, the top end of the threaded rod penetrates through the movable plate and is in threaded connection with the movable plate, the upper surface of the supporting frame is fixedly connected with the sliding rod, the top end of the sliding rod penetrates through the movable plate and is in sliding connection with the movable plate, and the outer side of the movable plate is fixedly connected with the upper baffle.
Preferably, the lower surface of the upper baffle is connected with a pressure plate through a plurality of uniformly distributed springs.
Preferably, the top ends of the threaded rod and the sliding rod are fixedly connected with limiting blocks.
Compared with the prior art, the unmanned forklift navigation framework provided by the utility model has the following beneficial effects:
the utility model provides a navigation framework of an unmanned forklift, wherein a scanning laser radar is added on the forklift and used as a sending and receiving end for map scanning and positioning matching; a pull rope encoder and a material scanner are additionally arranged to be used as signals for controlling accurate lifting height of the fork arm and deaf sending in-place of materials; an obstacle avoidance laser radar outside the forklift is added for the automatic operation and safe obstacle avoidance of the forklift; increase fork truck's switch board, as signal integration, data processing, task accept and execution end for fork truck does not need personnel to drive, can reduce personnel's participation according to task order automatic operation, has improved automatic efficiency, has reduced personnel's cost, thereby can carry out compaction operation to the goods top that fork truck transported through top compacting mechanism, avoided the goods because of the collapse that leads to too high, promoted the security performance of device.
Drawings
Fig. 1 is a schematic structural diagram of a navigation architecture of an unmanned forklift according to a preferred embodiment of the present invention;
FIG. 2 is an enlarged schematic view of area A in FIG. 1;
fig. 3 is a schematic diagram of a control module according to the present invention.
Reference numbers in the figures: 1. a body; 2. obstacle avoidance laser radar; 3. an anti-collision plate; 4. a base; 5. a roller; 6. a forklift arm; 7. a chute; 8. a material scanner; 9. a lifting plate; 10. a pull rope encoder; 11. an upper baffle plate; 12. a limiting block; 13. a threaded rod; 14. moving the plate; 15. a slide bar; 16. a support frame; 17. scanning a laser radar; 18. a control cabinet; 19. a fixing frame; 20. a spring; 21. and (7) pressing a plate.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the utility model and are not intended to limit the utility model.
Specific implementations of the present invention are described in detail below with reference to specific embodiments.
Referring to fig. 1 to fig. 3, an unmanned forklift navigation architecture according to an embodiment of the present invention includes: the device comprises a machine body 1, a fixed frame 19, a control cabinet 18, a scanning laser radar 17, an anti-collision mechanism, a supporting frame 16, a stay cord encoder 10, a material scanner 8 and a top compaction mechanism, wherein the lower surface of the machine body 1 is fixedly connected with a base 4, rollers 5 are installed at the bottom end of the base 4, the fixed frame 19 is fixedly connected with the upper ends of the two sides of the machine body 1, the control cabinet 18 is fixedly installed on the outer side surface of the fixed frame 19, the scanning laser radar 17 for scanning surrounding maps is fixedly installed on the upper surface of the fixed frame 19, the scanning laser radar 17 is electrically connected with the control cabinet 18, the rear end surface of the machine body 1 is connected with the anti-collision mechanism, the supporting frame 16 which is vertically arranged is fixedly installed on the inner end surface of the base 4, a lifting plate 9 is slidably connected with the inner wall of the bottom end of the supporting frame 16, a forklift arm 6 is fixedly installed on the outer end surface of the lifting plate 9, and a chute 7 is formed in the lower surface of the front end of the forklift arm 6, thereby conveniently transport the goods, the top fixed mounting of carriage 16 has a stay cord encoder 10 that is used for controlling lifter plate 9 to go up and down, and stay cord encoder 10 is connected with switch board 18 electricity, the outer end-face mounting of lifter plate 9 has the material scanner 8 that detects the material, and material scanner 8 is connected with switch board 18 electricity, anticollision institution includes anticollision board 3 and keeps away barrier laser radar 2, 3 fixed connection of anticollision board is at the outer terminal surface of base 4 to anticollision board 3's last fixed surface installs the obstacle laser radar 2 of keeping away of two symmetric distributions, and keeps away barrier laser radar 2 and be connected with switch board 18 electricity.
It should be noted that, a scanning laser radar 17 is added on the forklift truck as a sending and receiving end for map scanning and positioning matching; a pull rope encoder 10 and a material scanner 8 are added to control the fork arm to accurately lift the height and send deaf signals when the materials are in place; an obstacle avoidance laser radar 2 outside the forklift is added for safe obstacle avoidance during automatic operation of the forklift; the control cabinet 18 of the forklift is added and serves as a signal integration end, a data processing end, a task receiving end and a task executing end, so that the forklift does not need to be driven by personnel, can automatically run according to a task command, personnel participation is reduced, the automation efficiency is improved, and the personnel cost is reduced.
The upper surface of the supporting frame 16 is connected with a top end compacting mechanism, the top end compacting mechanism comprises an upper baffle plate 11, a moving plate 14, a threaded rod 13 and a sliding rod 15, the upper surface of the supporting frame 16 is fixedly connected with a driving motor, the output end of the driving motor is fixedly connected with a threaded rod 13 through a coupler, and the top end of the threaded rod 13 penetrates through the moving plate 14 and is in threaded connection with the moving plate, the upper surface of the supporting frame 16 is fixedly connected with a sliding rod 15, and the top end of the slide bar 15 penetrates through the moving plate 14 and is connected with the moving plate in a sliding way, the outer side of the moving plate 14 is fixedly connected with an upper baffle plate 11, the lower surface of the upper baffle 11 is connected with a pressure plate 21 through a plurality of uniformly distributed springs 20, the top ends of the threaded rod 13 and the sliding rod 15 are fixedly connected with a limiting block 12, the moving track of the moving plate 14 is limited through the limiting block 12, and the safety performance of the device is improved.
It should be noted that: thereby can carry out the compaction operation to the goods top that fork truck transported through top compaction mechanism, the collapse of goods because of too high and leading to has been avoided, the security performance of device has been promoted, when transporting the goods, thereby driving motor carries out work and can drive threaded rod 13 and take place to rotate, and because threaded rod 13 and 14 threaded connection of movable plate, and then can make 14 overhead gage of movable plate 11 move on vertical direction, thereby reach the effect of compaction goods, and because the existence of spring 20 resilience force, thereby impact pressure to the goods when can reducing clamp plate 21 downstream, the safety of goods has been protected.
The working principle of the unmanned forklift navigation framework provided by the utility model is as follows:
a scanning laser radar 17 is added on a forklift and serves as a sending and receiving end for map scanning and positioning matching; a pull rope encoder 10 and a material scanner 8 are added to control the fork arm to accurately lift the height and send deaf signals when the materials are in place; an obstacle avoidance laser radar 2 outside the forklift is added for the automatic operation and safe obstacle avoidance of the forklift; the control cabinet 18 of the forklift is added to be used as a signal integration, data processing, task receiving and executing end, so that the forklift does not need to be driven by personnel, can automatically run according to task commands, reduces personnel participation, improves automation efficiency, reduces personnel cost, the top end compaction mechanism can compact the top end of the goods transported by the forklift, so that collapse of the goods due to overhigh goods is avoided, the safety performance of the device is improved, when the goods are transported, the driving motor works to drive the threaded rod 13 to rotate, and because the threaded rod 13 is in threaded connection with the moving plate 14, which in turn causes the vertical movement of the shutter 11 of the mobile plate 14, with a consequent compacting effect of the load, and thanks to the resilient force of the spring 20, therefore, the impact pressure to the goods when the pressing plate 21 moves downwards can be reduced, and the safety of the goods is protected.
The circuits and controls involved in the present invention are prior art and will not be described in detail herein.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (6)
1. An unmanned forklift navigation architecture, comprising:
the device comprises a machine body (1), wherein a base (4) is fixedly connected to the lower surface of the machine body (1), and a roller (5) is installed at the bottom end of the base (4);
the upper ends of two sides of the machine body (1) are fixedly connected with fixed frames (19);
the outer side surface of the fixed frame (19) is fixedly provided with the control cabinet (18);
the scanning laser radar (17) is fixedly arranged on the upper surface of the fixed frame (19) and used for scanning a surrounding map, and the scanning laser radar (17) is electrically connected with the control cabinet (18);
the rear end face of the machine body (1) is connected with the anti-collision mechanism;
the inner end face of the base (4) is fixedly provided with a vertically arranged support frame (16), the inner wall of the bottom end of the support frame (16) is connected with a lifting plate (9) in a sliding manner, and the outer end face of the lifting plate (9) is fixedly provided with a forklift arm (6);
the top end of the supporting frame (16) is fixedly provided with a pull rope encoder (10) used for controlling the lifting plate (9) to lift, and the pull rope encoder (10) is electrically connected with the control cabinet (18);
the outer end face of the lifting plate (9) is provided with a material scanner (8) for detecting materials, and the material scanner (8) is electrically connected with the control cabinet (18);
the top end compaction mechanism is connected to the upper surface of the supporting frame (16).
2. The unmanned forklift navigation architecture of claim 1, wherein the collision avoidance mechanism comprises a collision avoidance plate (3) and an obstacle avoidance laser radar (2), the collision avoidance plate (3) is fixedly connected to the outer end face of the base (4), two symmetrically distributed obstacle avoidance laser radars (2) are fixedly mounted on the upper surface of the collision avoidance plate (3), and the obstacle avoidance laser radars (2) are electrically connected with the control cabinet (18).
3. The pilotless forklift navigation architecture of claim 1, characterized in that the front lower surface of the forklift arm (6) is equipped with a chute (7).
4. The pilotless forklift navigation architecture of claim 1, wherein the top compacting mechanism comprises an upper baffle (11), a moving plate (14), a threaded rod (13) and a sliding rod (15), a driving motor is fixedly connected to the upper surface of the support frame (16), the output end of the driving motor is fixedly connected with the threaded rod (13) through a coupler, the top end of the threaded rod (13) penetrates through the moving plate (14) and is in threaded connection with the moving plate, a sliding rod (15) is fixedly connected to the upper surface of the support frame (16), the top end of the sliding rod (15) penetrates through the moving plate (14) and is in sliding connection with the moving plate, and the upper baffle (11) is fixedly connected to the outer side of the moving plate (14).
5. Pilotless forklift navigation architecture according to claim 4, characterized in that the lower surface of the upper blind (11) is connected with a pressure plate (21) by means of a plurality of evenly distributed springs (20).
6. The piloted forklift navigation architecture of claim 4, characterized in that the threaded rod (13) and the top end of the sliding rod (15) are both fixedly connected with a stop block (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123129144.1U CN216512676U (en) | 2021-12-13 | 2021-12-13 | Unmanned forklift navigation framework |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123129144.1U CN216512676U (en) | 2021-12-13 | 2021-12-13 | Unmanned forklift navigation framework |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216512676U true CN216512676U (en) | 2022-05-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202123129144.1U Active CN216512676U (en) | 2021-12-13 | 2021-12-13 | Unmanned forklift navigation framework |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216512676U (en) |
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2021
- 2021-12-13 CN CN202123129144.1U patent/CN216512676U/en active Active
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