CN220056234U - Collision detection mechanism and forklift - Google Patents

Abstract

The embodiment of the utility model discloses a collision detection mechanism and a forklift, relates to the technical field of mechanical conveying equipment, and can improve the collision detection capability of fork tines of a fork. The collision detection mechanism includes: the base comprises a supporting bottom plate and a bearing mounting seat positioned in front of the supporting bottom plate; the joint bearing is arranged in the bearing mounting seat; the moving shaft is arranged in the knuckle bearing and is parallel to the guide post, an impact head is arranged at the first end of the moving shaft, and a movable block is arranged at the second end of the moving shaft; the front opening and closing trigger plate is penetrated on the guide post and is abutted to the front side surface of the movable block; the rear opening and closing trigger plate is penetrated on the guide post and is abutted to the rear side surface of the movable block; the opposite-type photoelectric switch is at least configured to detect an event occurring in the action of the front opening-closing trigger plate and/or the rear opening-closing trigger plate. The utility model is suitable for various anti-collision scenes.

Description

Collision detection mechanism and forklift

Technical Field

The utility model relates to the technical field of mechanical conveying equipment, in particular to a collision detection mechanism capable of detecting collision in any direction and a forklift.

Background

In some application occasions of an AGV (AGV, automated Guided Vehicle) forklift, in order to ensure the running safety of a vehicle, a collision detection mechanism is generally installed at the fork tips of the forklift, so as to trigger a safety protection mechanism in time when the forklift collides.

At present, the fork tip collision detection mechanism generally has the effect of triggering the safety protection mechanism only when a front collision occurs through detecting the action of stretching back and forth due to structural limitation, but in the operation process of an actual forklift, the fork tip part is likely to collide from multiple directions, and the fork tip collision detection mechanism is not limited to the front collision, for example, the front collision when the vehicle backs up, the side collision when the vehicle turns, the upward and downward collision caused by hooking obstacles when the fork retreats, and the like, so that the safety protection mechanism of the forklift is difficult to trigger effectively.

Disclosure of Invention

In view of the above, the embodiment of the utility model provides a collision detection mechanism and a forklift, which can improve the collision detection capability of the fork tips of the forks, thereby being convenient for effectively triggering a forklift safety protection mechanism.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

in a first aspect, an embodiment of the present utility model provides a collision detection mechanism including: the base comprises a supporting bottom plate and a bearing installation seat positioned in front of the supporting bottom plate, and the bearing installation seat is connected to the supporting bottom plate through a guide post; the joint bearing is arranged in the bearing mounting seat; the moving shaft penetrates through the knuckle bearing and is arranged in parallel with the guide column, an impact head is arranged at the first end of the moving shaft, and a movable block is arranged at the second end of the moving shaft; the front opening and closing trigger plate is arranged on the guide post in a penetrating way and is abutted to the front side surface of the movable block; the rear opening and closing trigger plate is arranged on the guide post in a penetrating way and is abutted to the rear side face of the movable block; the opposite-type photoelectric switch is at least configured to detect an event occurring in the action of the front opening-closing trigger plate and/or the rear opening-closing trigger plate.

Optionally, a first collision detection trigger head is arranged on the rear surface of the front opening and closing trigger plate, at least one correlation photoelectric switch is arranged on the front surface of the rear opening and closing trigger plate, when no external collision acting force is received, the first collision detection trigger head is arranged on a light path channel of the correlation photoelectric switch, and the rear surface of the front opening and closing trigger plate and the front surface of the rear opening and closing trigger plate are respectively surfaces propped against the movable block.

Optionally, a second collision detection trigger head is arranged on the front surface of the back opening and closing trigger plate, at least one correlation photoelectric switch is arranged on the rear surface of the front opening and closing trigger plate, when no external collision acting force is received, the second collision detection trigger head is arranged on the optical path channel of the correlation photoelectric switch, and the rear surface of the front opening and closing trigger plate and the front surface of the back opening and closing trigger plate are respectively surfaces propped against the movable block.

Optionally, the correlation photoelectric switch includes: a first correlation type photoelectric switch and a second correlation type photoelectric switch; a first collision detection trigger head is arranged on the rear surface of the front opening and closing trigger plate, and a second collision detection trigger head is arranged on the front surface of the rear opening and closing trigger plate; the base further comprises a back plate, the back plate is intersected with the supporting bottom plate, the first correlation photoelectric switch and the second correlation photoelectric switch are respectively arranged on the back plate of the base, the first correlation photoelectric switch and the first collision detection trigger head are correspondingly arranged, and the second correlation photoelectric switch and the second collision detection trigger head are correspondingly arranged; when no external collision acting force is received, the first collision detection trigger head is arranged on the optical path channel of the first correlation photoelectric switch, and the second collision detection trigger head is arranged on the optical path channel of the second correlation photoelectric switch.

Optionally, a first collision detection trigger head is arranged on the rear surface of the front opening and closing trigger plate, and the first collision detection trigger head is a plate-shaped structure or a block-shaped structure or a columnar structure protruding from the rear surface of the front opening and closing trigger plate; the rear surface of the rear opening and closing trigger plate is provided with a second collision detection trigger head, and the second collision detection trigger head is of a plate-shaped structure or a block-shaped structure or a columnar structure protruding from the front surface of the rear opening and closing trigger plate; the opposite-type photoelectric switch is a groove-type photoelectric switch.

Optionally, the joint bearing comprises a first joint bearing and a second joint bearing, the first joint bearing and the second joint bearing are arranged at intervals in parallel, the moving shaft comprises a first moving shaft and a second moving shaft, the first moving shaft is arranged in the first joint bearing in a penetrating way, and the second moving shaft is arranged in the second joint bearing in a penetrating way; the movable block is of a ladder block structure and at least comprises a left side part, a middle part and a right side part, wherein the thickness of the middle part is larger than that of the left side part and the right side part, the left side part of the movable block is connected with the second end of the first movement shaft, and the right side part of the movable block is connected with the second end of the second movement shaft; two sides of the middle part of the movable block are respectively abutted on the front opening and closing trigger plate and the rear opening and closing trigger plate.

Optionally, the first correlation photoelectric switch and the second correlation photoelectric switch are respectively arranged on the backboard of the base and are respectively arranged at positions close to two ends of the movable block.

Optionally, a first compression spring is disposed on the front surface of the front opening and closing trigger plate in an abutting manner, and a second compression spring is disposed on the rear surface of the rear opening and closing trigger plate in an abutting manner.

Optionally, the first compression spring and the second compression spring are respectively sleeved on the guide post.

In a second aspect, a further embodiment of the present utility model provides a forklift, including: the collision detection mechanism according to any one of the first aspect and the fork, wherein the front end of the fork has an installation accommodating space, the collision detection mechanism is installed in the installation accommodating space through the base, and a collision head of the collision detection mechanism is exposed.

According to the collision detection mechanism and the forklift provided by the embodiment of the utility model, the joint bearing is arranged in the bearing mounting seat of the base, the moving shaft is penetrated into the joint bearing, and as the joint bearing can realize any-angle rotation and swing, when the collision head at the first end of the moving shaft is collided in any direction, the movable block at the second end of the moving shaft can adaptively move along with the collision head, so that the front opening and closing trigger plate and/or the rear opening and closing trigger plate which are abutted against the movable block are pulled to act, the opposite-type photoelectric switch is triggered to generate collision signals, so that the collision detection from a plurality of directions can be realized, the fork point collision detection capability is improved, and the safety protection mechanism of the forklift is conveniently and effectively triggered.

Drawings

In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of a collision detecting mechanism according to an embodiment of the present utility model;

FIG. 2 is a schematic view of a collision detecting mechanism according to another embodiment of the present utility model;

FIG. 3 is a schematic view of a collision detecting mechanism according to another embodiment of the present utility model;

FIG. 4 is a schematic view of a partial structure of an embodiment of a forklift equipped with a collision detection mechanism according to the present utility model;

fig. 5 is a schematic partial structure of an embodiment of a forklift equipped with the collision detection mechanism illustrated in fig. 1.

Detailed Description

Embodiments of the present utility model will be described in detail below with reference to the accompanying drawings.

It should be understood that the described embodiments are merely some, but not all, embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

At present, an AGV fork tooth anti-collision detection mechanism generally adopts key components such as a linear bearing, a guide shaft, an induction block, a photoelectric sensor and the like to realize fork tip collision detection, however, due to structural limitation, the effect of triggering a safety protection mechanism can be achieved by detecting the action of extending and retracting the guide shaft back and forth only when the front collision occurs, but in the running process of an actual forklift, the fork tip part is likely to collide from multiple directions, and the mechanism is not limited to the front collision, for example, the front collision when the vehicle backs up, the lateral collision when the vehicle turns, the up-down collision when the fork is retracted, and the like caused by hooking obstacles when the fork is pulled outwards, lifted and the like, so that the safety protection mechanism of the forklift is difficult to trigger effectively.

FIGS. 1 to 3 are schematic structural views of various embodiments of a collision detecting mechanism according to the present utility model; referring to fig. 1 to 3, a collision detection mechanism 100 according to an embodiment of the present utility model includes: a base 110, said base 110 comprising a support floor 111 and a bearing mount 112 located in front of said support floor 111 (in a relative orientation in one embodiment mounted on the fork truck tines), said bearing mount 112 being connected to said support floor 111 by guide posts 113.

The knuckle bearing 120 is disposed in the bearing mounting seat 112, and can adaptively realize rotation and swing at any angle.

A moving shaft 130, wherein the moving shaft 130 is inserted into the knuckle bearing 120, can adapt to collision in any direction to move, is arranged in parallel with the guide post 113, a collision head 131 is arranged at a first end of the moving shaft 130, the collision head 131 is used for transmitting external collision acting force, and a movable block 132 is arranged at a second end of the moving shaft 130;

wherein, the moving shaft 130 is movably connected in the knuckle bearing 120 to transmit any collision force from the collision head 131 to the movable block 132.

The front opening and closing trigger plate 140 is arranged on the guide post 113 in a penetrating way and is abutted to the front side surface of the movable block 132; the rear opening and closing trigger plate 150 is arranged on the guide post 113 in a penetrating way, and is abutted to the rear side surface of the movable block 132.

The opposite-type photoelectric switch 160 is at least configured to detect an event occurring when the front opening/closing trigger plate 140 and/or the rear opening/closing trigger plate 150 acts, as shown in fig. 1 to 3, and the opposite-type photoelectric switch 160 may be configured to one or both or more of the front opening/closing trigger plate 140, the rear opening/closing trigger plate 150, the base, and the corresponding position of the front end of the forklift fork for installing the collision detection mechanism. In this way, the movable block 132 is abutted against the front opening and closing trigger plate 140 and the rear opening and closing trigger plate 150, when the external collision force is transferred to the movable block 132, the actions of pressing, pulling, prying and the like of the front opening and closing trigger plate 140 or the rear opening and closing trigger plate 150 can be realized, the actions can be converted into the rectilinear motion of the front opening and closing trigger plate 150 and the rear opening and closing trigger plate 150 along the guide post 113, and the opposite-type photoelectric switch 160 is triggered to generate collision signals, so that the detection of collision in any direction can be realized.

According to the collision detection mechanism provided by the embodiment of the utility model, the joint bearing 120 is arranged in the bearing mounting seat 112 of the base, the moving shaft 130 is penetrated into the joint bearing 120, and as the joint bearing 120 can realize any-angle rotation and swing, when the collision head 131 at the first end of the moving shaft 130 is impacted from any direction, the movable block 132 at the second end of the moving shaft 130 can adaptively move along with the collision head, so that the front opening and closing trigger plate 140 and/or the rear opening and closing trigger plate 150 which are abutted against the movable block are pulled to act, and the opposite-type photoelectric switch 160 is triggered to generate collision signals, so that the collision detection from a plurality of directions can be realized, the fork tip collision detection capability is improved, and the safety protection mechanism of a forklift is conveniently and effectively triggered.

It should be understood that the collision detection mechanism provided by the present utility model is applicable to various anti-collision scenarios, and is not limited to collision detection of fork tines, but is also applicable to collision detection of other types of AGV vehicles.

Referring to fig. 1, in some embodiments, a first collision detecting trigger 141 is disposed on a rear surface of the front opening/closing trigger plate 140, at least one opposite-type photoelectric switch 160 is disposed on a front surface of the rear opening/closing trigger plate 150, and when the collision detecting mechanism is applied to a forklift without external collision force, when the fork tines do not collide, the first collision detecting trigger 141 is disposed on an optical path of the opposite-type photoelectric switch 160, and the rear surface of the front opening/closing trigger plate 140 and the front surface of the rear opening/closing trigger plate 150 are respectively surfaces abutting against the movable block 132.

In order to help understand the technical scheme and the technical effect of the embodiment of the utility model, the working principle of the utility model is described in detail as follows:

in this embodiment, the moving shaft 130 passes through the knuckle bearing 120, and the moving shaft 130 can linearly move in a telescopic manner in the knuckle bearing 120 or rotate around the knuckle bearing 120 at any angle, such as left and right, up and down. The front opening and closing trigger plate 140 and the rear opening and closing trigger plate 150 are abutted to two sides of the movable block 132 through the guide posts 113, and in the non-collision state, the first collision detection trigger head 141 on the front opening and closing trigger plate 140 is located in the optical path channel of the opposite-type photoelectric switch 160 on the rear opening and closing trigger plate 150, so that photoelectric opposite-type is blocked.

When the collision head 131 is impacted by the front, the moving shaft 130 is compressed linearly inwards (at the second end), the movable block 132 at the second end pushes the back opening and closing trigger plate 150, the first collision detection trigger head of the front opening and closing trigger plate 140 leaves the optical path channel of the opposite-type photoelectric switch 160 of the back opening and closing trigger plate 150, the trigger generates a collision signal, and then the safety protection mechanism of the forklift is triggered, and the vehicle is stopped suddenly, so that the running safety of the vehicle is effectively protected.

During the operation of the forklift, if the two sides of the collision head 131 are hooked with the barriers to pull outwards during the fork withdrawal, the movable block 132 is driven to push the front opening and closing trigger plate 140 forwards, the first collision detection trigger head of the front opening and closing trigger plate 140 leaves the optical path channel of the opposite-type photoelectric switch 160 of the rear opening and closing trigger plate 150, and the photoelectric collision signal is triggered as well, so that the sudden stop of the forklift is triggered, and the safety protection is realized;

if the collision head 131 is impacted in any direction on one side, the moving shaft 130 is driven to rotate around the joint bearing 120, the movable block 132 swings together, the movable block 132 will enlarge the distance between the front and rear opening and closing trigger plates 150 during swinging, the first collision detection trigger head of the front opening and closing trigger plate 140 cannot completely shield the optical path channel of the opposite-type photoelectric switch 160 on the rear opening and closing trigger plate 150, and the emergency stop of the forklift is triggered, so as to realize safety protection.

Referring to fig. 2, in another alternative embodiment, a second collision detecting trigger head is disposed on the front surface of the rear opening/closing trigger plate 150, at least one correlation photoelectric switch 160 is disposed on the rear surface of the front opening/closing trigger plate 140, and when the collision detecting mechanism is applied to a forklift without external collision force, when the fork tines do not collide, the second collision detecting trigger head 151 is disposed on the optical path of the correlation photoelectric switch 160, and the rear surface of the front opening/closing trigger plate 140 and the front surface of the rear opening/closing trigger plate 150 are respectively surfaces abutting against the movable block 132.

The technical scheme provided in this embodiment is basically the same as the technical concept of the previous embodiment, except that the setting positions of the correlation photoelectric switch 160 and the collision detection trigger head are changed, and the working principle is similar to that of the first embodiment, and will not be described again.

In the two embodiments for realizing collision detection in any direction, one can be adopted

Referring to fig. 3, in yet another alternative embodiment, the correlation photoelectric switch 160 includes: a first correlation type photoelectric switch 161 and a second correlation type photoelectric switch 162;

a first collision detection trigger head 141 is disposed on the rear surface of the front opening/closing trigger plate 140, and a second collision detection trigger head 151 is disposed on the front surface of the rear opening/closing trigger plate 150;

the base 110 further includes a back plate, the back plate intersects the supporting bottom plate 111, the first and second opposite-type photoelectric switches 161 and 162 are respectively disposed on the back plate of the base 110, the first opposite-type photoelectric switch 161 is disposed corresponding to the first collision detection trigger head 141, and the second opposite-type photoelectric switch 162 is disposed corresponding to the second collision detection trigger head 151;

when no external impact force is applied, the first impact detection trigger head 141 is disposed on the optical path of the first correlation photoelectric switch 161, and the second impact detection trigger head 151 is disposed on the optical path of the second correlation photoelectric switch 162.

In order to help understand the technical scheme and the technical effect of the embodiment of the present utility model, the working principle of the present utility model will be described in detail below with reference to fig. 3:

the moving shaft 130 passes through the knuckle bearing 120, and the moving shaft 130 can linearly move in a telescopic manner in the knuckle bearing 120 or rotate around the knuckle bearing 120 at any angle, such as left and right, up and down.

The front opening and closing trigger plate 140 and the rear opening and closing trigger plate 150 are abutted to two sides of the movable block 132 through the guide posts 113, and in the non-collision state, a first collision detection trigger head on the front opening and closing trigger plate 140 is positioned in a light path channel of a first correlation photoelectric switch 161 on the base back plate to shield photoelectric correlation; the second trigger head on the back opening and closing trigger plate 150 is located in the optical path channel of the second correlation photoelectric switch 162 on the base back plate, so as to shield photoelectric correlation.

When the collision head 131 is impacted by the front, the moving shaft 130 is compressed linearly inwards (at the second end), the movable block 132 at the second end pushes the rear opening and closing trigger plate 150, the second trigger head of the rear opening and closing trigger plate 150 leaves the optical path channel of the second opposite-type photoelectric switch 162 on the base back plate, the trigger generates a collision signal, and then the safety protection mechanism of the forklift is triggered, and the vehicle is stopped suddenly, so that the running safety of the vehicle is effectively protected.

During the operation of the forklift, if the two sides of the collision head 131 are hooked with the barriers to be pulled outwards during the fork withdrawal, the movable block 132 is driven to push the front opening and closing trigger plate 140 forwards, the first collision detection trigger head of the front opening and closing trigger plate 140 leaves the optical path channel of the first correlation photoelectric switch 161 on the base backboard, and the photoelectric collision signal is triggered as well, so that the sudden stop of the forklift is triggered, and the safety protection is realized;

if the collision head 131 is collided in any direction on one side, the moving shaft 130 is driven to rotate around the joint bearing 1204, the movable block 132 swings together, the distance between the front and rear opening and closing trigger plates 150 is increased during swinging, the first collision detection trigger head of the front opening and closing trigger plate 140 cannot completely shield the light path channel of the first opposite-type photoelectric switch 161, the second trigger head of the rear opening and closing trigger plate 150 cannot completely shield the light path channel of the second opposite-type photoelectric switch 162, and the two photoelectric switches trigger to generate collision signals simultaneously to trigger the emergency stop of the forklift, so that safety protection is realized.

Referring to fig. 3, in the present embodiment, the first and second opposite-type photoelectric switches 161 and 162 are respectively disposed on the back plate of the base 110 and are respectively disposed at positions near two ends of the movable block 132.

Of course, the base 110 may be provided without a back plate, and the first and second photoelectric switches 161 and 162 may be directly provided on the forklift body to be applied, for example, directly mounted to the bottom of the fork tines when applied.

Referring to fig. 1 to 3, a first collision detecting trigger head 141 is disposed on the rear surface of the front opening/closing trigger plate 140, and the first collision detecting trigger head 141 is a plate-shaped structure, a block-shaped structure or a column-shaped structure protruding from the rear surface of the front opening/closing trigger plate 140;

a second collision detection trigger head 151 is disposed on the rear surface of the rear opening and closing trigger plate 150, and the second collision detection trigger head 151 is a plate-shaped structure or a block-shaped structure or a column-shaped structure protruding from the front surface of the rear opening and closing trigger plate 150;

the opposite-type photoelectric switch 160 is a slot type photoelectric switch.

The first collision detection trigger head 141 or the second collision detection trigger head 151 is disposed in a groove of the groove-type photoelectric switch, so as to completely shield the correlation light of the groove-type photoelectric switch when no collision force is applied.

With continued reference to fig. 1-3, in some embodiments, the knuckle bearing 120 includes a first knuckle bearing 121 and a second knuckle bearing 122, the first knuckle bearing 121 and the second knuckle bearing 122 being spaced apart in parallel; correspondingly, the moving shaft 130 includes a first moving shaft 133 and a second moving shaft 134, the first moving shaft 133 is disposed through the first knuckle bearing 121, and the second moving shaft 134 is disposed through the second knuckle bearing 122;

the movable block 132 has a stepped block structure and at least includes a left portion 1321, a middle portion 1322 and a right portion 1323, the middle portion 1322 has a thickness greater than that of the left portion 1321 and the right portion 1323, the left portion 1321 of the movable block 132 is connected to the second end of the first movement shaft 133, and the right portion 1323 of the movable block 132 is connected to the second end of the second movement shaft 134; both sides of the middle portion 1322 of the movable block 132 are respectively abutted against the front opening/closing trigger plate 140 and the rear opening/closing trigger plate 150.

The collision detection mechanism provided by the embodiment of the utility model is structurally improved, and a rectangular frame connecting rod structure formed by the first moving shaft 133, the second moving shaft 134, the collision head 131 positioned at the first ends of the first moving shaft 133 and the second moving shaft 134 and the movable block 132 positioned at the second ends of the first moving shaft 133 and the second moving shaft 134 is adopted, the first joint bearing 121 and the second joint bearing 122 are cooperatively matched, linear expansion or rotation can be realized in the first joint bearing 121 and the second joint bearing 122, when the collision acting force is received, the function of pushing, pulling or prying the distance between the front and/or rear opening and closing trigger plates 150 can be realized, and the collision received by the collision head 131 from any different directions is converted into the linear movement of the opening and closing trigger plates, so that the effect of triggering collision detection signals can be achieved, the collision detection in any directions is realized, and the collision detection capability is improved.

In some embodiments, a first compression spring 171 is disposed on the front surface of the front opening and closing trigger plate 140 in an abutting manner, and a second compression spring 172 is disposed on the rear surface of the rear opening and closing trigger plate 150 in an abutting manner, so that in an initial state, when the collision head 131 is not impacted by external force, the front opening and closing trigger plate 140 and the rear opening and closing trigger plate 150 can be pressed against both sides of the movable block 132; when the external acting force is applied, the spring can be extruded to move, so that the position change is realized, and the external acting force can be relieved and then the spring can be automatically restored to the initial state.

The first compression spring 171 and the second compression spring 172 are respectively sleeved on the guide post 113.

The collision detection mechanism provided in this embodiment may be used in short-distance cargo transportation and handling equipment such as a dock, a logistics warehouse or a factory, where the handling equipment is generally automatic handling equipment, for example, an automatic guided vehicle (AGV, automated Guided Vehicle), specifically may be a forklift type AGV, a lifting type AGV, or the like, and may of course be used in other automated machines, such as a sweeping robot.

Compared with the traditional single-direction collision triggering collision signal, the collision detection mechanism provided by the embodiment of the utility model can trigger the collision signal in any direction and multiple degrees of freedom by structurally improving, improves the collision detection performance, can better meet the real collision condition of an AGV fork truck in the actual motion process, and plays a better role in safety protection.

FIG. 4 is a schematic view of an exemplary configuration of a forklift equipped with the collision detection mechanism according to the foregoing exemplary embodiment; FIG. 5 is a partial schematic view of an embodiment of a forklift equipped with the collision detection mechanism illustrated in FIG. 1; it should be noted that, for the sake of understanding, fig. 5 illustrates a schematic view of a partial installation structure of the collision detecting mechanism of the foregoing embodiment on a forklift, and of course, the collision detecting mechanisms of the remaining embodiments may be installed on a forklift provided by the present utility model, so as to form a different forklift embodiment structure.

Referring to fig. 4 and 5, based on the collision detection mechanism provided in the foregoing embodiment, a forklift 200 is provided in a further embodiment of the present utility model, which includes: the front end of the fork 210 and the collision detecting mechanism 100 according to any of the foregoing embodiments has a mounting accommodating space 220, the collision detecting mechanism is mounted in the mounting accommodating space 220 through the base 110, and the collision head 131 of the collision detecting mechanism 100 is exposed.

The forklift provided by this embodiment, because the collision detection mechanism provided by the foregoing embodiment is adopted, the collision detection mechanism is installed at the front end of the fork of the forklift through the base, and the collision head 131 of the collision detection mechanism is exposed, so when the fork carries goods, the collision detection triggering from multiple degrees of freedom in multiple directions can be realized, the collision detection capability of the fork tip of the fork is improved, and the real collision condition of the AGV forklift in the actual movement process can be more satisfied, thereby being convenient for effectively triggering the safety protection mechanism of the forklift and playing a better role in protecting the forklift.

Of course, it can be understood that the technical concept of the forklift provided in this embodiment is substantially the same as that of the collision detection mechanism provided in the foregoing embodiments, and further technical effects caused by other specific technical features are further provided on the basis of having the same or corresponding specific technical features as those of the collision detection mechanism in the foregoing embodiments, which are not repeated for brevity.

It should be noted that, in this document, terms "upper", "lower", and the like, indicate orientations or positional relationships, and are merely used for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the devices or elements being referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model. Unless specifically stated or limited otherwise, the terms "mounted," "connected," and "coupled" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be directly connected or indirectly connected through an intermediate medium. Relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element. As will be appreciated by those of ordinary skill in the art, this may be the case.

The foregoing is merely illustrative of the present utility model, and the present utility model is not limited thereto, and any changes or substitutions easily contemplated by those skilled in the art within the scope of the present utility model should be included in the present utility model. Therefore, the protection scope of the utility model is subject to the protection scope of the claims.

Claims (10)

1. A collision detection mechanism, characterized by comprising:

the base comprises a supporting bottom plate and a bearing installation seat positioned in front of the supporting bottom plate, and the bearing installation seat is connected to the supporting bottom plate through a guide post;

the joint bearing is arranged in the bearing mounting seat;

the moving shaft penetrates through the knuckle bearing and is arranged in parallel with the guide column, an impact head is arranged at the first end of the moving shaft, and a movable block is arranged at the second end of the moving shaft;

the front opening and closing trigger plate is arranged on the guide post in a penetrating way and is abutted to the front side surface of the movable block;

the rear opening and closing trigger plate is arranged on the guide post in a penetrating way and is abutted to the rear side face of the movable block;

the opposite-type photoelectric switch is at least configured to detect an event occurring in the action of the front opening-closing trigger plate and/or the rear opening-closing trigger plate.

2. The collision detection mechanism as claimed in claim 1, wherein a first collision detection trigger head is disposed on a rear surface of the front opening and closing trigger plate, at least one of the opposite-type photoelectric switches is disposed on a front surface of the rear opening and closing trigger plate, and the first collision detection trigger head is disposed on an optical path channel of the opposite-type photoelectric switch when no external collision force is applied, and the rear surface of the front opening and closing trigger plate and the front surface of the rear opening and closing trigger plate are surfaces respectively abutted against the movable block.

3. The collision detection mechanism as claimed in claim 1 or 2, wherein a second collision detection trigger head is provided on a front surface of the back opening and closing trigger plate, at least one of the correlation photoelectric switches is provided on a back surface of the front opening and closing trigger plate, and the second collision detection trigger head is provided on an optical path channel of the correlation photoelectric switch when no external collision force is applied, and a back surface of the front opening and closing trigger plate and a front surface of the back opening and closing trigger plate are surfaces respectively abutted against the movable block.

4. The collision detection mechanism of claim 1, wherein the correlation photoelectric switch comprises: a first correlation type photoelectric switch and a second correlation type photoelectric switch;

a first collision detection trigger head is arranged on the rear surface of the front opening and closing trigger plate, and a second collision detection trigger head is arranged on the front surface of the rear opening and closing trigger plate;

the base further comprises a back plate, the back plate is intersected with the supporting bottom plate, the first correlation photoelectric switch and the second correlation photoelectric switch are respectively arranged on the back plate of the base, the first correlation photoelectric switch and the first collision detection trigger head are correspondingly arranged, and the second correlation photoelectric switch and the second collision detection trigger head are correspondingly arranged;

when no external collision acting force is received, the first collision detection trigger head is arranged on the optical path channel of the first correlation photoelectric switch, and the second collision detection trigger head is arranged on the optical path channel of the second correlation photoelectric switch.

5. The collision detection mechanism as claimed in claim 1, wherein a first collision detection trigger head is provided on the rear surface of the front opening and closing trigger plate, and the first collision detection trigger head is a plate-like structure or a block-like structure or a columnar structure protruding from the rear surface of the front opening and closing trigger plate;

the rear surface of the rear opening and closing trigger plate is provided with a second collision detection trigger head, and the second collision detection trigger head is of a plate-shaped structure or a block-shaped structure or a columnar structure protruding from the front surface of the rear opening and closing trigger plate;

the opposite-type photoelectric switch is a groove-type photoelectric switch.

6. The collision detection mechanism as claimed in claim 1, wherein the knuckle bearings comprise a first knuckle bearing and a second knuckle bearing, the first knuckle bearing and the second knuckle bearing being arranged in parallel and spaced apart, the moving shaft comprising a first moving shaft and a second moving shaft, the first moving shaft being disposed through the first knuckle bearing, the second moving shaft being disposed through the second knuckle bearing;

the movable block is of a ladder block structure and at least comprises a left side part, a middle part and a right side part, wherein the thickness of the middle part is larger than that of the left side part and the right side part, the left side part of the movable block is connected with the second end of the first movement shaft, and the right side part of the movable block is connected with the second end of the second movement shaft;

two sides of the middle part of the movable block are respectively abutted on the front opening and closing trigger plate and the rear opening and closing trigger plate.

7. The collision detecting mechanism as claimed in claim 4, wherein said first and second opposite-type photoelectric switches are respectively provided on the back plate of said base and are respectively provided at positions close to both ends of said movable block.

8. The collision detection mechanism of claim 1, wherein a first compression spring is disposed in abutment on a front surface of the front opening and closing trigger plate and a second compression spring is disposed in abutment on a rear surface of the rear opening and closing trigger plate.

9. The collision detection mechanism of claim 1, wherein the first compression spring and the second compression spring are respectively sleeved on the guide post.

10. A forklift truck, comprising: the fork and the collision detection mechanism of any one of claims 1 to 9, wherein the front end of the fork is provided with an installation accommodating space, the collision detection mechanism is installed in the installation accommodating space through the base, and a collision head of the collision detection mechanism is exposed.