CN217756753U

CN217756753U - Keep away barrier structure and unmanned fork truck

Info

Publication number: CN217756753U
Application number: CN202221452773.XU
Authority: CN
Inventors: 杨帆; 叶思掀; 何玉哲; 林上俊; 奚鑫
Original assignee: Suzhou Shenku Robot Co ltd
Current assignee: Suzhou Shenku Robot Co ltd
Priority date: 2022-06-12
Filing date: 2022-06-12
Publication date: 2022-11-08
Anticipated expiration: 2032-06-12

Abstract

The utility model discloses a keep away barrier structure and unmanned fork truck, including the fork truck body, a the control unit for giving the power supply unit of fork truck body power supply and being used for controlling the fork truck body and remove, a serial communication port, still including keeping away the barrier unit and installing the car casing that is used for holding power supply unit and control unit in fork truck body front side, keep away the barrier unit including installing the first obstacle-avoiding radar on the lower mount table of car casing, install the second at fork truck body top and keep away the barrier radar, install the third on fork truck body left side wall board and keep away the barrier radar with the fourth of installing on fork truck body right side wall board, every obstacle-avoiding radar all installs towards the front side and the first obstacle-avoiding radar, the second keeps away the barrier radar, the third keeps away the barrier radar and the sweep area of fourth obstacle-avoiding radar encloses into a three-dimensional obstacle-avoiding space. The utility model discloses at least, include following advantage: cost can be effectively saved.

Description

Keep away barrier structure and unmanned fork truck

Technical Field

The utility model relates to a fork truck keeps away barrier technical field, more specifically says, relates to a keep away barrier structure and unmanned fork truck.

Background

The statements in this section merely provide background information related to the present disclosure and may not constitute prior art.

In some automatic traveling mechanisms, an obstacle avoidance structure is usually required to be configured to ensure that the traveling mechanism can normally travel and cannot be damaged by collision, and the traveling mechanism such as a forklift is an industrial transport vehicle, which refers to various wheel type transport vehicles for loading, unloading, stacking and short-distance transport of finished pallet goods. Industrial transportation vehicles are widely used in ports, stations, airports, cargo yards, factory workshops, warehouses, distribution centers, and the like, and are equipments essential for carrying out operations of loading, unloading, and transporting pallet goods in cabins, carriages, and containers. Forklifts play a very important role in logistics systems of enterprises, being the prime force among materials handling equipment. The method is widely applied to various departments in national economy such as stations, ports, airports, factories, warehouses and the like.

Because fork truck is higher, so in the motion process, touch the barrier on each altitude position easily, so fork truck keeps away the barrier and is a big direction of fork truck field research. At present, four modes are mainly adopted in the market for obstacle avoidance of the forklift, namely a 3D laser radar, and the 3D laser radar arranged above the front part of the unmanned forklift is utilized to detect obstacles in a certain three-dimensional space range in collected laser point cloud data; the second method is 2D laser radar, and the 2D laser radar arranged at different positions of the forklift body is used for detecting obstacles in different planes, such as Chinese patent application with the application number of 201922497909.3; the third method is an ultrasonic sensor, and the ultrasonic sensors arranged at different positions of the vehicle body are utilized to detect the obstacles in the front of the vehicle body, such as Chinese patent application with the application number of 201721156865.2; the fourth method is a 3D vision sensor, and the 3D depth camera, such as ToF, structured light, binocular camera, etc., is used for analyzing the visual point cloud by using a machine vision method, and detecting the obstacle, such as Chinese patent application with application number 202023219190.6. The first method utilizes a 3D laser radar, and has the main problems of high cost and possibility of forming a detection blind area at the front part of the forklift due to the limitation of the visual angle of the laser radar; the second method utilizes a 2D laser radar method, and has the main problems that only obstacles in a radar scanning plane can be detected, and the scanning of the obstacles in the whole 3D space cannot be completed; the method III utilizes an ultrasonic sensor, and has the main problems that the ultrasonic detection sensitivity is low, the detection blind area is large, and the interference of ground echo is easy to generate obstacle false detection; the method IV utilizes a 3D vision method, mainly has low detection sensitivity and higher algorithm requirement, and the sensor is easily interfered by external light and ambient conditions and has higher cost.

It should be noted that the above background description is provided for clarity and completeness of description of the present invention and for understanding by those skilled in the art. These solutions are not considered to be known to the person skilled in the art merely because they have been set forth in the background section of the present invention.

Disclosure of Invention

The to-be-solved technical problem of the utility model is to provide a keep away barrier structure and unmanned fork truck, it can save the cost effectively.

In order to solve the technical problem, the utility model provides an obstacle-avoiding structure installs on a running gear, including installing the first obstacle-avoiding radar of running gear lower extreme, install the second at running gear top keeps away the obstacle radar, installs obstacle-avoiding radar of third on the running gear left side wallboard and installing obstacle-avoiding radar of fourth on the running gear right side wallboard, every keep away the obstacle radar all towards the front side-mounting and the first obstacle-avoiding radar, second keep away the obstacle radar, the third keeps away the obstacle radar and the fourth keeps away sweeping of obstacle radar and penetrates the region and enclose into a three-dimensional obstacle-avoiding space, keep away the obstacle structure and be connected with a power supply unit through the power supply wire, and, keep away the obstacle structure and pass through signal line and a control unit electric connection.

Furthermore, each obstacle avoidance radar is a 2D laser radar.

Further, the installation angle of the first obstacle avoidance radar is inclined upwards by 30-60 degrees, the installation angle of the second obstacle avoidance radar is inclined downwards by 30-60 degrees, the installation angle of the third obstacle avoidance radar is inclined leftwards by 0-10 degrees, and the installation angle of the fourth obstacle avoidance radar is inclined rightwards by 0-10 degrees.

Further, the type of the obstacle avoidance radar is as follows: RPLIDAR-A3.

An unmanned forklift comprises the obstacle avoidance structure, and the unmanned forklift serves as the traveling mechanism.

Further, unmanned fork truck include the fork truck body, be used for the power supply of fork truck body the power supply unit, be used for control the fork truck body remove the control unit and install being used for the holding of fork truck body front side the power supply unit with the control unit's car casing, first keep away the barrier radar and install on the lower mount table of car casing, the second keep away the barrier radar and install the top of fork truck body, the third keep away the barrier radar and install on the left wallboard of fork truck body, the fourth keep away the barrier radar and install on the right wallboard of fork truck body.

Further, the fork truck body includes the base and installs on the base and along longitudinal extension's door shape frame, the car casing install door shape frame deviates from one side of base, fork truck still includes the liftable and installs slotting tool subassembly on the door shape frame, be provided with the lift unit on the door shape frame, the lift end of lift unit with slotting tool subassembly is connected in order to drive slotting tool subassembly goes up and down.

Furthermore, the slotting tool subassembly includes the slotting tool body and sets up the slotting tool body near-end and with the integrative mounting panel that sets up of slotting tool body, the door shape frame be two mutual parallel arrangement's guide rail, the mounting panel on be provided with the gliding slider of guide rail adaptation.

Furthermore, the slotting tool body is also provided with a weighing unit, the weighing unit comprises a weighing sensor and a weighing platform, the weighing sensor is arranged in the inner cavity of the slotting tool body, the weighing platform is arranged on the upper surface of the slotting tool body, the weighing sensor is connected with the power supply unit through a lead, and the weighing sensor is connected with the control unit through a signal wire.

Furthermore, a display screen is further installed on the installation plate, and the display screen is connected with the power supply unit through a wire.

Borrow by above technical scheme, the beneficial effects of the utility model are as follows:

the utility model discloses reduce cost effectively, the setting in three-dimensional obstacle avoidance space can improve effectively and keep away the barrier effect, and the processing of weighing to the article of transport that makes more convenient and fast of weighing unit's setting need not to set up weighing device in addition, utilizes the transport action can realize weighing, and efficiency is higher.

Drawings

FIG. 1 is a schematic structural view of the present invention;

fig. 2 is another schematic view of fig. 1 according to the present invention.

Wherein:

1. a forklift body; 101. a vehicle housing; 102. a base; 103. a guide rail; 104. a handle; 105. a top beam; 2. a slotting tool assembly; 201. mounting a plate; 202. a slotting tool body; 203. a blocking arm; 204. a display screen; 205. a weighing platform; 3. a first obstacle avoidance radar; 4. a second obstacle avoidance radar; 5. a third obstacle avoidance radar; 6. and a fourth obstacle avoidance radar.

Detailed Description

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

It should be noted that, in the description of the present invention, the terms "first", "second", etc. are used for descriptive purposes only and to distinguish similar objects, and there is no order between the two, and no indication or suggestion of relative importance should be understood. In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified.

Referring to fig. 1-2, a barrier avoiding structure according to a preferred embodiment of the present invention is mounted on a traveling mechanism when in use, and specifically includes a first barrier avoiding radar 3 mounted at a lower end of the traveling mechanism, a second barrier avoiding radar 4 mounted at a top of the traveling mechanism, a third barrier avoiding radar 5 mounted on a left wall plate of the traveling mechanism, and a fourth barrier avoiding radar 6 mounted on a right wall plate of the traveling mechanism, each of the radars is mounted toward a front side, and scanning areas of the first barrier avoiding radar 3, the second barrier avoiding radar 4, the third barrier avoiding radar 5, and the fourth barrier avoiding radar 6 enclose a three-dimensional barrier avoiding space, the barrier avoiding structure is connected to a power supply unit through a power supply lead, and the barrier avoiding structure is electrically connected to a control unit through a signal line. Each obstacle avoidance radar is a 2D laser radar. Specifically, the installation angle of the first obstacle avoidance radar 3 is inclined upwards by 30-60 degrees, the installation angle of the second obstacle avoidance radar 4 is inclined downwards by 30-60 degrees, the installation angle of the third obstacle avoidance radar 5 is inclined leftwards by 0-10 degrees, and the installation angle of the fourth obstacle avoidance radar 6 is inclined rightwards by 0-10 degrees. The types of the obstacle avoidance radar are as follows: RPLIDAR-A3.

An unmanned forklift comprises the obstacle avoidance structure, and the unmanned forklift serves as the traveling mechanism. The unmanned forklift is used for carrying, comprises a forklift body 1, a power supply unit for supplying power to the forklift body 1, a control unit for controlling the forklift body 1 to move, and a forklift shell 101 arranged on the front side of the forklift body 1 and used for accommodating the power supply unit and the control unit, wherein the obstacle avoidance structure is realized by installing a plurality of 2D laser radars, the type of the 2D laser radars is RPLIDAR-A3, specifically the RPLIDAR-A3 produced by Silan technology, specifically, a first obstacle avoidance radar 3 is installed on a lower installation platform of the forklift shell 101, a second obstacle avoidance radar 4 is installed at the top of the forklift body 1, a third obstacle avoidance radar 5 is installed on a left wallboard of the forklift body 1 and a fourth obstacle avoidance radar 6 is installed on a right wallboard of the forklift body 1, in order to effectively avoid the obstacle, the detection ends of the first obstacle avoidance radar 3, the second obstacle avoidance radar 4, the third obstacle avoidance radar 5 and the fourth obstacle avoidance radar 6 are preferably arranged towards the front side, so that the detection areas of the first obstacle avoidance radar 3, the second obstacle avoidance radar 4, the third obstacle avoidance radar 5 and the fourth obstacle avoidance radar can finally surround a three-dimensional obstacle avoidance space, the specific installation angle can be adjusted according to actual use requirements, wherein the installation angle of the first obstacle avoidance radar 3 is upwards inclined by 30-60 degrees, the installation angle of the second obstacle avoidance radar 4 is downwards inclined by 30-60 degrees, the installation angle of the third obstacle avoidance radar 5 is leftwards inclined by 0-10 degrees, and the installation angle of the fourth obstacle avoidance radar 6 is rightwards inclined by 0-10 degrees.

Specifically, fork truck body 1 includes base 102 and installs on base 102 and along longitudinal extension's door-shaped frame, car casing 101 install door-shaped frame deviates from one side of base 102, fork truck still includes the liftable and installs slotting tool subassembly 2 on the door-shaped frame, be provided with the lift unit on the door-shaped frame, the lift end of lift unit with slotting tool subassembly 2 is connected in order to drive slotting tool subassembly 2 goes up and down, slotting tool subassembly 2 includes slotting tool body 202 and sets up slotting tool body 202 near-end and with the integrative mounting panel 201 that sets up of slotting tool body 202, door-shaped frame be two mutual parallel arrangement's guide rail 103, mounting panel 201 on be provided with the gliding slider of guide rail 103 adaptation.

In order to facilitate weighing, preferably, a weighing unit is further arranged on the slotting tool body 202, the weighing unit comprises a weighing sensor arranged in an inner cavity of the slotting tool body 202 and a weighing platform 205 arranged on the upper surface of the slotting tool body 202, the weighing sensor is connected with the power supply unit through a wire, the weighing sensor is connected with the control unit through a signal line, for reading, a display screen 204 is preferably further arranged on the mounting plate 201, and the display screen 204 is connected with the power supply unit through a wire. And when the weighing sensor detects that the weight of the product exceeds a preset value, the control system controls the alarm indicator lamp to flash according to the received signal to remind an operator. In order to prevent the product from sliding against the mounting plate 201, a stop arm 203 for stopping the carried product is preferably further provided at one end of the knife body 202 close to the mounting plate 201, and a handle 104 is further provided at one side of the guide rail 103 facing the vehicle housing 101.

Specifically, the obstacle avoidance structure of this application pass through the power supply wire with the power supply unit is connected, and, the obstacle avoidance structure pass through the signal line with the control unit electric connection. The movement of unmanned forklifts is not described in more detail in the prior art.

The above-mentioned embodiments are merely preferred embodiments for fully illustrating the present invention, and the scope of the present invention is not limited thereto. Equivalent substitution or transformation made by the technical personnel in the technical field on the basis of the utility model is within the protection scope of the utility model. The protection scope of the present invention is subject to the claims.

Claims

1. The utility model provides a keep away barrier structure, installs on a running gear, its characterized in that, including install the first obstacle-avoiding radar of running gear lower extreme, install the second at the running gear top keeps away the obstacle radar, install the third on the running gear left side wallboard keeps away the obstacle radar and install the fourth on the running gear right side wallboard keeps away the obstacle radar, every keep away the obstacle radar all towards the installation of front side and the first obstacle-avoiding radar, second keep away the obstacle radar, the third keeps away the obstacle radar and the fourth keeps away the area of straying of obstacle radar and encloses into a three-dimensional obstacle-avoiding space, keep away the barrier structure and be connected with a power supply unit through the power supply wire, and, keep away the barrier structure and pass through signal line and a control unit electric connection.

2. An obstacle avoidance structure according to claim 1, wherein each said obstacle avoidance radar is a 2D lidar.

3. The obstacle avoidance structure according to claim 1, wherein the installation angle of the first obstacle avoidance radar is 30-60 ° upward, the installation angle of the second obstacle avoidance radar is 30-60 ° downward, the installation angle of the third obstacle avoidance radar is 0-10 ° leftward, and the installation angle of the fourth obstacle avoidance radar is 0-10 ° rightward.

4. An obstacle avoidance structure according to claim 1, wherein the obstacle avoidance radar is of a type: RPLIDAR-A3.

5. An unmanned forklift, characterized by comprising the obstacle avoidance structure of any one of claims 1 to 4, wherein the unmanned forklift is used as the travelling mechanism.

6. The unmanned forklift as claimed in claim 5, wherein the unmanned forklift comprises a forklift body, the power supply unit for supplying power to the forklift body, the control unit for controlling the forklift body to move, and a forklift housing mounted on the front side of the forklift body and used for accommodating the power supply unit and the control unit, the first obstacle avoidance radar is mounted on a lower mounting platform of the forklift housing, the second obstacle avoidance radar is mounted on the top of the forklift body, the third obstacle avoidance radar is mounted on a left wall plate of the forklift body, and the fourth obstacle avoidance radar is mounted on a right wall plate of the forklift body.

7. The unmanned forklift as claimed in claim 6, wherein the forklift body comprises a base and a portal frame which is mounted on the base and extends in the longitudinal direction, the forklift shell is mounted on one side of the portal frame, which faces away from the base, the forklift further comprises a slotting cutter assembly which is mounted on the portal frame in a lifting manner, a lifting unit is arranged on the portal frame, and a lifting end of the lifting unit is connected with the slotting cutter assembly to drive the slotting cutter assembly to lift.

8. The unmanned forklift as claimed in claim 7, wherein the slotting tool assembly comprises a slotting tool body and a mounting plate which is arranged at the proximal end of the slotting tool body and is integrated with the slotting tool body, the gate-shaped frame is two guide rails which are arranged in parallel, and a sliding block which is matched with the guide rails and slides is arranged on the mounting plate.

9. The unmanned forklift as claimed in claim 8, wherein the slotting tool body is further provided with a weighing unit, the weighing unit comprises a weighing sensor and a weighing platform, the weighing sensor is arranged in the inner cavity of the slotting tool body, the weighing platform is mounted on the upper surface of the slotting tool body, the weighing sensor is connected with the power supply unit through a lead, and the weighing sensor is connected with the control unit through a signal wire.

10. The unmanned forklift of claim 8, wherein a display screen is further mounted on the mounting plate, and the display screen is connected to the power supply unit through a wire.