CN219009843U

CN219009843U - Unmanned forklift

Info

Publication number: CN219009843U
Application number: CN202223489207.9U
Authority: CN
Inventors: 路威; 李陆洋; 方牧; 鲁豫杰; 杨建辉
Original assignee: Visionnav Robotics Shenzhen Co Ltd
Current assignee: Visionnav Robotics Shenzhen Co Ltd
Priority date: 2022-12-21
Filing date: 2022-12-21
Publication date: 2023-05-12
Anticipated expiration: 2032-12-21

Abstract

The application discloses unmanned forklift, include: the device comprises a vehicle body and an obstacle avoidance detection assembly, wherein the obstacle avoidance detection assembly is arranged on the vehicle body. The obstacle avoidance detection assembly comprises a fixed seat, a laser sensor and an elastic floating mechanism; the fixed seat is fixedly connected with the vehicle body; the elastic floating mechanism is connected with the fixed seat and the laser sensor; the elastic floating mechanism is used for adjusting the posture of the laser sensor relative to the fixed seat through elastic telescopic movement. Through the mode, the buffer can be provided for the obstacle avoidance detection assembly in the operation process of the unmanned forklift, and the damage probability of the obstacle avoidance detection assembly is reduced.

Description

Unmanned forklift

Technical Field

The application relates to the technical field of unmanned forklifts, in particular to an unmanned forklift.

Background

Fork trucks are various wheeled haulage vehicles that perform handling, stacking, and short-distance transportation operations on pallet goods. Along with the application of big data of the Internet of things, unmanned forklifts also gradually replace manual forklifts, and automatic cargo carrying can be achieved through remote control forklifts.

In order to reduce the probability of collision of an unmanned forklift in the automatic cargo carrying process, an obstacle avoidance detection assembly can be arranged in the unmanned forklift, so that the unmanned forklift can avoid when an obstacle is detected. However, the existing obstacle avoidance detection assembly is often fixedly installed on a vehicle body, so that the obstacle avoidance detection assembly is lack of buffering in the operation process of the unmanned forklift, and the obstacle avoidance detection assembly is easy to damage.

Disclosure of Invention

The technical problem that this application mainly solves is to provide an unmanned fork truck, can provide the buffering for avoiding the barrier detection subassembly at unmanned fork truck operation in-process, reduces and keeps away the impaired probability of barrier detection subassembly.

In order to solve the technical problems, one technical scheme adopted by the application is as follows: provided is an unmanned forklift, comprising: the device comprises a vehicle body and an obstacle avoidance detection assembly, wherein the obstacle avoidance detection assembly is arranged on the vehicle body. The obstacle avoidance detection assembly comprises a fixed seat, a laser sensor and an elastic floating mechanism; the fixed seat is fixedly connected with the vehicle body; the elastic floating mechanism is connected with the fixed seat and the laser sensor; the elastic floating mechanism is used for adjusting the posture of the laser sensor relative to the fixed seat through elastic telescopic movement.

The beneficial effects of this application are: in the circumstances of prior art, unmanned fork truck includes automobile body and keeps away the barrier detection subassembly, and keeps away the barrier detection subassembly and include fixing base, laser sensor and elasticity floating mechanism. The obstacle avoidance detection assembly can be fixedly connected with the vehicle body through the fixing seat so as to be installed on the vehicle body. Because the elastic floating mechanism is connected with the fixed seat and the laser sensor, and the elastic floating mechanism is used for adjusting the posture of the laser sensor relative to the fixed seat through elastic telescopic movement, a certain buffer is provided for the laser sensor in the operation process of the unmanned forklift, and damage to the laser sensor is avoided.

Drawings

FIG. 1 is a first structural schematic diagram of an embodiment of an unmanned forklift of the present application;

FIG. 2 is a second structural schematic diagram of an embodiment of the unmanned forklift of the present application;

FIG. 3 is an enlarged exploded view of portion A of a second structural schematic of an embodiment of the unmanned forklift of the present application;

fig. 4 is an enlarged view of section B of an enlarged exploded view of section a of an embodiment of the unmanned forklift of the present application.

1. Unmanned forklifts; 11. a vehicle body; 111. a vehicle body; 112. a walking wheel mechanism; 13. a lifting mechanism; 14. a fork; 15. a housing; 16. a support plate; 161. a first fixing hole; 162. a second fixing hole; 171. a first fastener; 172. a second fastener; 2. an obstacle avoidance detection assembly; 21. a fixing seat; 211. penetrating holes; 212. a first fixing portion; 213. a first kidney-shaped aperture; 22. a laser sensor; 23. an elastic floating mechanism; 231. an elastic component; 2311. a movable column; 2312. an elastic member; 2313. an adjusting member; 232. a mounting frame; 2321. a top plate; 2322. a side plate; 2323. an installation space; 24. a support bracket; 241. a second fixing portion; 242. and a second kidney-shaped aperture.

Detailed Description

The following description of the technical solutions in the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.

The inventor discovers through long-term research that in order to reduce unmanned fork truck and take place the probability that bumps at automatic handling goods in-process, can set up in unmanned fork truck and keep away the barrier detection subassembly to can make unmanned fork truck dodge when detecting the barrier. However, the existing obstacle avoidance detection assembly is often fixedly installed on a vehicle body, so that the obstacle avoidance detection assembly is lack of buffering in the operation process of the unmanned forklift, and the obstacle avoidance detection assembly is easy to damage. In order to solve the above technical problems, the present application proposes the following embodiments.

As shown in fig. 1, a description of an embodiment of the unmanned forklift of the present embodiment can be found in the following description of the unmanned forklift 1. The following describes an exemplary configuration of the unmanned forklift 1 according to the unmanned forklift embodiment of the present application. The unmanned forklift 1 can automatically carry cargoes through a remote control forklift. Specifically, the unmanned forklift 1 may include a body 11, a lifting mechanism 13, and a fork 14. The vehicle body 11 may include a vehicle body 111 and at least three road wheel mechanisms 112. At least three walking wheel mechanisms 112 are arranged at the bottom of the vehicle body 111, and the vehicle body 111 is driven to move through rotation of the walking wheel mechanisms 112.

In the process of moving the unmanned forklift 1, the travelling wheel mechanism 112 can be controlled to rotate so as to drive the vehicle body 11 to move. In the process of carrying cargoes, the cargoes can be inserted into the bottom of the cargoes by controlling the horizontal movement of the cargoes fork 14, then lifting the cargoes fork 14 by the lifting mechanism 13, so that the cargoes are separated from the cargo carrying surface, such as the ground, the cargoes are carried to a destination by controlling the traveling wheel mechanism 112 to rotate and move the car body 11, finally, the cargoes are lowered by the lifting mechanism 13, and after the cargoes are placed on another cargo carrying surface, the cargoes are pulled out from the bottom of the cargoes by controlling the horizontal movement of the cargoes fork 14, and the carrying of the cargoes is finished.

In order to avoid collision of the unmanned forklift 1 in the operation process, the obstacle avoidance detection assembly 2 can be installed on the forklift body 11, the obstacle avoidance detection assembly 2 is in communication connection with the forklift body 11, and when the obstacle avoidance detection assembly 2 detects an obstacle, the forklift body 11 can be controlled to move so as to avoid collision, so that the collision probability of the unmanned forklift 1 in the operation process is reduced. Specifically, the obstacle avoidance probe assembly 2 may be disposed on one or both sides of the vehicle body 11 adjacent to the forks 14. During operation of the unmanned forklift 1, the side of the body 11 connected with the fork 14 may bulge due to the stacked goods, and collision is more likely to occur. Therefore, by disposing the obstacle avoidance probe assembly 2 on one or both sides of the vehicle body 11 adjacent to the forks 14, collisions can be avoided more effectively and timely.

As shown in fig. 1 and 2, the obstacle avoidance detecting assembly 2 may be covered with a housing 15, and the housing 15 may be detachably connected to the vehicle body 11. Through locating the casing 15 cover on avoiding the barrier detection subassembly 2, can protect avoiding barrier detection subassembly 2, avoid avoiding causing the damage to avoiding barrier detection subassembly 2 because rainwater, dust and collide with etc. improves unmanned fork truck 1 security and stability in the in-process of traveling.

As shown in fig. 2, 3 and 4, the obstacle avoidance probe assembly 2 may include a fixed seat 21 and a support seat 24. Specifically, the fixing seat 21 and the supporting seat 24 are fixedly connected to the vehicle body 11, the fixing seat 21 and the supporting seat 24 are disposed on a side surface of the vehicle body 111 near the bottom, and are spaced from the travelling wheel mechanism 112, and the fixed connection may be a fixed connection manner such as welding or bolting. The fixing base 21 and the supporting base 24 are arranged at intervals in the height direction of the car body 11, and the fixing base 21 is positioned above the supporting base 24.

In one implementation, the side of the body 111 near the bottom is provided with a support plate 16. Specifically, the support plate 16 may be spaced apart from the travelling wheel mechanism 112 side by side, and the fixing base 21 and the bearing base 24 are disposed on a side of the support plate 16 facing away from the travelling wheel mechanism 112.

In one implementation manner, the fixing base 21 is bent to form a first fixing portion 212, and the first fixing portion 212 is provided with a first kidney-shaped hole 213, and specifically, two first kidney-shaped holes 213 may be provided. The support bracket 24 is bent to form a second fixing portion 241, and the second fixing portion 241 is provided with a second kidney-shaped hole 242, and specifically, one second kidney-shaped hole 242 may be provided. The support plate 16 is provided with a first fixing hole 161 corresponding to the first kidney-shaped hole 213 and a second fixing hole 162 corresponding to the second kidney-shaped hole 242. The projection of the first fixing hole 161 on the plane of the first kidney-shaped hole 213 is located in the first kidney-shaped hole 213, and the projection of the second fixing hole 162 on the plane of the second kidney-shaped hole 242 is located in the second kidney-shaped hole 242. The first fixing portion 212 is connected to the support plate 16 by a first fastening member 171 inserted through the first kidney-shaped hole 213 and inserted into the first fixing hole 161, and the second fixing portion 241 is connected to the support plate 16 by a second fastening member 172 inserted through the second kidney-shaped hole 242 and inserted into the second fixing hole 162. The first fastener 171 and the second fastener 172 may be members for fastening connection such as bolts.

The first fixing portion 212 and the second fixing portion 241 are respectively installed on one side, far away from the walking wheel mechanism 112, of the supporting plate 16 through the first fixing member 171 and the second fixing member 172, on the one hand, convenience in installation of the first fixing portion 212 and the second fixing portion 241 can be achieved, and on the other hand, the first fixing portion 212 and the second fixing portion 241 can be conveniently detached, so that other parts in the obstacle avoidance detecting assembly 2 can be replaced or overhauled.

The obstacle avoidance detection assembly 2 may also include a resilient float mechanism 23 and a laser sensor 22. Specifically, the elastic floating mechanism 23 is connected with the fixing seat 21 and the laser sensor 22, the elastic floating mechanism 23 and the laser sensor 22 are connected with the vehicle body 11 through the fixing seat 21, and in the running process of the unmanned forklift 1, the laser sensor 22 can transmit and receive laser to judge whether an obstacle exists or not, so that the unmanned forklift 1 can be controlled to avoid the obstacle conveniently. The fixing base 21 and the support base 24 are fixedly connected to the vehicle body 111 through the support plate 16, so that an accommodating space for installing the laser sensor 22 is formed between the support base 24 and the fixing base 21.

The elastic floating mechanism 23 may include at least two elastic components 231, specifically, at least two elastic components 231 are elastically supported between the laser sensor 22 and the fixing base 21, and at least a straight line can be formed between the connection positions of at least two elastic components 231 and the fixing base 21. The elastic floating mechanism 23 is used for adjusting the posture of the laser sensor 22 relative to the fixed seat 21 through the elastic telescopic movement of the at least two elastic components 231, and the levelness of the laser sensor 22 can be adjusted through adjusting the deformation amount of the at least two elastic components 231 to different degrees, and a certain buffer effect can be provided between the laser sensor 22 and the fixed seat 21 to avoid the damage of the laser sensor 22.

In one implementation, the elastic floating mechanism 23 may further include at least three elastic components 231, specifically, the at least three elastic components 231 are elastically supported between the laser sensor 22 and the fixing base 21, and at least one plane can be formed between the connection positions of the at least three elastic components 231 and the fixing base 21. For example, three elastic members 231 may be provided, and the three elastic members 231 are arranged in a triangle. By adjusting the deformation of the three elastic components 231 to different degrees, the levelness of the laser sensor 22 is adjusted, so that the laser sensor 22 is beneficial to be suitable for detecting levelness under different requirements.

The resilient float mechanism 23 may also include a mounting bracket 232. Specifically, the mounting frame 232 may be spaced from the fixing base 21, and at least three elastic members 231 connect the mounting frame 232 and the fixing base 21. The laser sensor 22 is fixedly connected to the mounting frame 232, and the mounting frame 232 can elastically float relative to the fixed seat 21 through at least three elastic components 231. Since the laser sensor 22 is fixedly connected to the mounting frame 232, when the mounting frame 232 elastically floats relative to the fixing base 21 through at least three elastic components 231, the laser sensor 22 can also elastically float relative to the fixing base 21, so that the levelness of the laser sensor 22 is adjusted.

In one implementation, the mounting bracket 232 may include a top plate 2321 and two side plates 2322. Specifically, the two side plates 2322 are disposed opposite to each other, and the top plate 2321 is located between the two side plates 2322, so as to enclose an installation space 2323 in which the laser sensor 22 is installed, and at least three elastic assemblies 231 are fixedly connected to the top plate 2321 at intervals. The laser sensor 22 is partially disposed in the mounting space 2323, and is fixedly connected to the two side plates 2322. The fixed connection can be achieved by means of welding or other fixed connection means.

A mounting frame 232 for mounting the laser sensor 22 is arranged between the fixing seat 21 and the laser sensor 22, so that the laser sensor 22 is protected by the mounting frame 232, and the laser sensor 22 is prevented from being damaged due to direct extrusion or collision with the fixing seat 21 in the process of elastically floating relative to the fixing seat 21.

The elastic assembly 231 may include a movable post 2311, an elastic member 2312, and an adjusting member 2313. One end of the movable post 2311 is fixed to the laser sensor 22, and the other end is inserted into the fixed seat 21. Specifically, one end of the movable post 2311 may be fixedly connected to the top plate 2321, and the fixing base 21 may be provided with a through hole 211 through which the movable post 2311 passes.

The elastic member 2312 may be disposed on the movable pillar 2311 and elastically supported between the laser sensor 22 and the fixed seat 21, specifically, the elastic member 2312 may be a spring, the elastic member 2312 may be sleeved on the movable pillar 2311, and two ends of the elastic member 2312 respectively abut against one side of the fixed seat 21 close to the mounting seat and the top plate 2321 of the mounting frame 232.

The adjusting member 2313 may be disposed on a side of the fixing base 21 away from the elastic member 2312, and is movably connected with the movable pillar 2311, for adjusting a length of the movable pillar 2311 penetrating the fixing base 21 away from the elastic member 2312, so as to adjust a stretching amount of the elastic member 2312. Specifically, the adjusting member 2313 may be a nut, and an end of the movable post 2311 remote from the laser sensor 22 is provided with external threads, and the adjusting member 2313 is screwed with the movable post 2311. In the process of adjusting the adjustment member 2313, since one end of the movable post 2311 is fixedly coupled to the top plate 2321, the length of the movable post 2311 threaded to the adjustment member 2313 is correspondingly increased or decreased to a side of the fixing base 21 remote from the elastic member 2312 by rotating the adjustment member 2313. When the length of the movable post 2311 extending to the side of the fixed seat 21 away from the elastic member 2312 increases, the mounting frame 232 and the laser sensor 22 are driven by the movable post 2311 to move in a direction approaching the fixed seat 21, and the elastic member 2312 is compressed by being extruded. When the length of the movable post 2311 penetrating the side of the fixed seat 21 away from the elastic member 2312 is reduced, the mounting frame 232 and the laser sensor 22 are driven by the movable post 2311 to move in a direction away from the fixed seat 21, and the elastic member 2312 is elastically deformed to rebound to an original length. Elastic movement is performed between the fixing seat 21 and the mounting frame 232 through the elastic piece 2312 so as to play a role in buffering and prevent the damage of the laser sensor 22 in the mounting frame 232.

In summary, the obstacle avoidance detecting assembly 2 in the present embodiment includes the vehicle body 11 and the obstacle avoidance detecting assembly 2, and the obstacle avoidance detecting assembly 2 includes the fixing base 21, the laser sensor 22 and the elastic floating mechanism 23. The obstacle avoidance detecting assembly 2 may be fixedly connected to the vehicle body 11 through a fixing seat 21 so as to be mounted to the vehicle body 11. Since the elastic floating mechanism 23 connects the fixed seat 21 and the laser sensor 22, and the elastic floating mechanism 23 is used to adjust the posture of the laser sensor 22 with respect to the fixed seat 21 by elastic telescopic movement. Since the elastic floating mechanism 23 may include at least two elastic components 231, the levelness of the laser sensor 22 may be adjusted by adjusting the deformation of the at least two elastic components 231 to different degrees, and a certain buffering effect may be provided between the laser sensor 22 and the fixing seat 21 to avoid damage to the laser sensor 22.

The foregoing description is only exemplary embodiments of the present application and is not intended to limit the scope of the present application, and all equivalent structures or equivalent processes using the descriptions and the drawings of the present application, or direct or indirect application in other related technical fields are included in the scope of the present application.

Claims

1. An unmanned forklift, comprising:

a vehicle body;

the obstacle avoidance detection assembly is arranged on the vehicle body and comprises a fixed seat, a laser sensor and an elastic floating mechanism; the fixed seat is fixedly connected with the vehicle body; the elastic floating mechanism is connected with the fixed seat and the laser sensor; the elastic floating mechanism is used for adjusting the posture of the laser sensor relative to the fixed seat through elastic telescopic movement.

2. The unmanned forklift of claim 1, wherein,

the elastic floating mechanism comprises at least two elastic components, the at least two elastic components are elastically supported between the laser sensor and the fixing seat, and at least one straight line can be formed between the connection positions of the at least two elastic components and the fixing seat.

3. The unmanned forklift of claim 2, wherein,

the elastic floating mechanism comprises at least three elastic components, the at least three elastic components are elastically supported between the laser sensor and the fixing seat, and at least one plane can be formed between the connecting positions of the at least three elastic components and the fixing seat.

4. The unmanned forklift of claim 2, wherein,

the elastic component comprises a movable column, an elastic piece and an adjusting piece; one end of the movable column is relatively fixed with the laser sensor, and the other end of the movable column penetrates through the fixed seat; the elastic piece is arranged on the movable column and is elastically supported between the laser sensor and the fixed seat; the adjusting piece set up in the fixing base is kept away from one side of elastic component, but just swing joint the movable column is used for the adjustment the movable column wears to be established to the fixing base is kept away from the length of one side of elastic component, and then the adjustment the flexible volume of elastic component.

5. The unmanned forklift of claim 4, wherein,

the elastic piece is a spring and is sleeved on the movable column; the adjusting piece is a nut, one end of the movable column, which is far away from the laser sensor, is provided with external threads, and the adjusting piece is in threaded connection with the movable column.

6. The unmanned forklift of claim 3, wherein,

the elastic floating mechanism comprises a mounting frame, the mounting frame and the fixing seat are arranged at intervals, and the at least three elastic components are connected with the mounting frame and the fixing seat; the laser sensor is fixed in the mounting bracket, the mounting bracket can be elastically floated by at least three elastic components relative to the fixing base.

7. The unmanned forklift of claim 6, wherein,

the mounting frame comprises a top plate and two side plates; the two side plates are oppositely arranged; the top plate is positioned between the two side plates so as to enclose an installation space; the at least three elastic components are fixedly connected with the top plate at intervals; the laser sensor part is arranged in the installation space and is fixedly connected with the two side plates.

8. The unmanned forklift of claim 6, wherein,

the obstacle avoidance detection assembly comprises a bearing seat which is fixedly connected with the vehicle body; the fixed seat and the bearing seat are arranged at intervals in the height direction of the vehicle body, and the fixed seat is positioned above the bearing seat; an accommodating space is formed between the bearing seat and the fixing seat; the mounting frame and the laser sensor are arranged in the accommodating space.

9. The unmanned forklift of claim 8, wherein,

the vehicle body comprises a vehicle body and at least three travelling wheel mechanisms; the at least three travelling wheel mechanisms are arranged at the bottom of the vehicle body; the fixed seat and the bearing seat are arranged on the side surface of the vehicle body, which is close to the bottom, and are arranged at intervals with the travelling wheel mechanism.

10. The unmanned forklift of claim 9, wherein,

the side surface of the vehicle body, which is close to the bottom of the vehicle body, is provided with a supporting plate, and the supporting plate and the travelling wheels are arranged at intervals side by side; the fixed seat and the bearing seat are arranged on one side of the supporting plate, which is away from the travelling wheel mechanism.