CN111003662B - Unmanned forklift - Google Patents
Unmanned forklift Download PDFInfo
- Publication number
- CN111003662B CN111003662B CN201911404730.7A CN201911404730A CN111003662B CN 111003662 B CN111003662 B CN 111003662B CN 201911404730 A CN201911404730 A CN 201911404730A CN 111003662 B CN111003662 B CN 111003662B
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- Prior art keywords
- bracket
- plate
- controller
- side plate
- housing
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/0759—Details of operating station, e.g. seats, levers, operator platforms, cabin suspension
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
本发明涉及一种无人叉车，包括：车体；驱动机构，用于驱使所述车体运动；货叉，连接于所述车体，用于承托货物；支架，安装于所述车体；视觉识别装置，设于所述支架；以及控制器，与所述视觉识别装置、所述驱动机构电性连接，所述控制器能够根据所述视觉识别装置识别的位置信息控制所述驱动机构调整所述车体的行进方向，所述控制器转动连接于所述支架以使得所述支架的顶部与所述控制器之间形成观察窗。上述的无人叉车，能够适应自动模式或手动模式，且控制器能够对于支架转动以使得所述支架的顶部与所述控制器之间形成观察窗，不会遮挡操作员的观察视线，操作安全性较佳。
The present invention relates to an unmanned forklift, comprising: a vehicle body; a driving mechanism for driving the vehicle body to move; a fork connected to the vehicle body for supporting cargo; a bracket installed on the vehicle body; a visual recognition device provided on the bracket; and a controller electrically connected to the visual recognition device and the driving mechanism, wherein the controller can control the driving mechanism to adjust the direction of travel of the vehicle body according to position information recognized by the visual recognition device, and the controller is rotatably connected to the bracket so that an observation window is formed between the top of the bracket and the controller. The above-mentioned unmanned forklift can adapt to automatic mode or manual mode, and the controller can rotate the bracket so that an observation window is formed between the top of the bracket and the controller, which will not block the operator's observation line of sight and has better operation safety.
Description
Technical Field
The invention relates to the technical field of unmanned forklifts, in particular to an unmanned forklift.
Background
The existing unmanned forklift controller is mostly fixed on an unmanned forklift support, and when the unmanned forklift adopts an automatic mode or a manual mode, the controller can shield the observation sight of an operator, so that a large potential safety hazard exists.
Disclosure of Invention
Accordingly, it is necessary to provide an unmanned forklift for solving the problem of low operation safety when the controller is switched between a plurality of operation modes.
An unmanned forklift, comprising:
a vehicle body;
the driving mechanism is used for driving the vehicle body to move;
a fork connected to the body for supporting the cargo;
A bracket mounted to the vehicle body;
A visual recognition device arranged on the bracket, and
The control box comprises a shell and a controller arranged in the shell, wherein an operation piece is arranged on the shell and is electrically connected with the controller, the controller can be switched to selectively enter a manual mode and an automatic mode, when the controller is in the manual mode, the controller is used for receiving an operation instruction of the operation piece and controlling the driving mechanism to adjust the movement state of the vehicle body, when the controller is in the automatic mode, the controller is electrically connected with the visual identification device and the driving mechanism, and the controller can control the driving mechanism to adjust the advancing direction of the vehicle body according to the position information identified by the visual identification device;
wherein, the casing rotates to be connected in the support.
The unmanned forklift can adapt to an automatic mode or a manual mode, the shell can rotate relative to the support so that the gap between the top of the support and the controller can be adjusted, the observation sight of an operator can not be blocked, and the operation safety is good.
In one embodiment, the housing is rotatable relative to the bracket between a first position in which the housing is adjacent the bracket top to block a gap between the bracket top and the vehicle body and a second position in which the housing is spaced from the bracket top and forms a viewing window with the bracket top.
In one embodiment, the device further comprises an elastic damping piece, one end of the elastic damping piece is hinged with the support, and the other end of the elastic damping piece is hinged with the shell.
In one embodiment, the elastic damping member includes a piston rod and a cylinder body, the piston rod is inserted into the cylinder body, one end of the cylinder body away from the piston rod is hinged to the bracket, one end of the piston rod away from the cylinder body is hinged to the housing, and when the housing rotates relative to the bracket, the controller can drive the piston rod to move telescopically relative to the cylinder body.
In one embodiment, the support comprises a first support plate, a second support plate and a third support plate, the second support plate and the third support plate are respectively arranged on two opposite sides of the vehicle body, the first support plate is connected with the second support plate and the third support plate and spans over the vehicle body, and the shell is hinged to the second support plate and the third support plate through the elastic damping piece.
In one embodiment, the portable electronic device further comprises a mounting seat, wherein the mounting seat comprises a bottom plate, a first side plate and a second side plate which are connected with each other, the first side plate and the second side plate are fixed on the support, the bottom plate, the first side plate and the second side plate form a containing space, and the shell is located in the containing space and connected with the first side plate and the second side plate.
In one embodiment, the first side plate and/or the second side plate comprises a main plate and an auxiliary plate, the main plate is connected with the auxiliary plate approximately vertically, the main plate is connected with the bottom plate to form a whole, the shell is connected with the main plate through a fastener, and an included angle of the shell is located at a joint of the main plate and the auxiliary plate.
In one embodiment, the locking assembly is further arranged on the first side plate and/or the second side plate, and the locking assembly is detachably connected with the bracket.
In one embodiment, the locking assembly comprises a locking seat and a knob, wherein the locking seat is fixed on the first side plate and/or the second side plate, the knob penetrates through the locking seat, and the knob is in threaded connection with the bracket.
In one embodiment, the visual recognition device is embedded in the bracket and external light can enter the visual recognition device.
Drawings
FIG. 1 is an isometric view of an unmanned forklift in an embodiment in which a controller is in a first position;
FIG. 2 is an isometric view of an unmanned forklift in an embodiment in which the controller is in a second position;
FIG. 3 is an exploded view of the unmanned forklift of FIG. 1;
Fig. 4 is an exploded view of the bracket and the elastic damping member of the unmanned forklift shown in fig. 1.
Detailed Description
In order that the invention may be readily understood, a more complete description of the invention will be rendered by reference to the appended drawings. The drawings illustrate preferred embodiments of the invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1, an unmanned forklift of an embodiment includes a body 100, a fork 200, a driving mechanism 300, a bracket 400, a control box 500, and a visual recognition device 600.
Referring to fig. 1, a pallet fork 200 is connected to a vehicle body 100 and is used for supporting a picked-up object, it should be noted that the picked-up object may be a material or a supporting structure for carrying a material, for example, a pallet carrying a material is lifted by the pallet fork 200 to transfer the material when the vehicle body 100 moves.
The driving mechanism 300 is provided to the vehicle body 100 for powering the travel of the vehicle body 100. For example, the power source of the driving mechanism 300 may be a servo motor or a stepper motor, which is not limited herein.
Referring to fig. 1, the control box 500 includes a housing 510 and a controller (not shown in the drawing) disposed in the housing 510, wherein an operation piece 520 is disposed on the housing 510, and the operation piece 520 is electrically connected to the controller and can switch the controller to selectively enter a manual mode and an automatic mode.
When the controller is in the automatic mode, the controller is electrically connected with the visual recognition device 600 and the driving mechanism 300, and the controller can control the driving mechanism 300 to adjust the traveling direction of the vehicle body 100 according to the position information recognized by the visual recognition device 600.
Specifically, the housing 510 is mounted on one side of the bracket 400, the visual recognition device 600 is mounted on one side of the bracket 400 away from the housing 510, the visual recognition device 600 can recognize the surrounding environment, the controller can determine the position of the unmanned forklift according to the image obtained by the visual recognition device 600, so as to generate position information, and the controller can control the unmanned forklift to travel along a preset track according to the position information.
In some embodiments, the bracket 400 is fixedly coupled to the vehicle body 100. In other embodiments, the bracket 400 is rotatably connected to the vehicle body 100, and the bracket 400 rotates relative to the vehicle body 100 to drive the visual recognition device 600 to rotate, so as to facilitate the expansion of the recognition range of the surrounding environment.
Further, the visual recognition device 600 is embedded in the bracket 400, external light can enter the visual recognition device 600, the visual recognition device 600 can be effectively protected, and external factors are prevented from interfering with shooting of the visual recognition device 600, so that shooting effects are affected.
In some embodiments, the visual recognition device 600 is a wide angle lens and the wide angle range is 120-180 degrees. In other embodiments, the wide angle range of visual recognition device 600 may also be adjusted as desired.
When the operation control 520 is manipulated to switch the unmanned forklift from the automatic mode to the manual mode, the controller is configured to receive an operation instruction of the operation control 520 and control the driving mechanism 300 to adjust the movement state of the vehicle body 100.
Specifically, the control 520 may be a rocker or a button for an operator to manually control the unmanned forklift. Specifically, the manipulation member 520 is capable of inputting a control signal to the controller so that the controller moves in accordance with a manipulation instruction of the operator. For example, taking the example that the manipulator 520 includes a rocker for manipulating the steering or traveling of the unmanned forklift, when the controller is switched to the manual manipulation mode, the steering of the wheel body of the unmanned forklift can be controlled by operating the rocker to yaw left and right.
Further, referring to fig. 2 in combination, the housing 510 is rotatably connected to the stand 400, so that an observation window 401 is formed between the top of the stand 400 and the housing 510, so that the unmanned forklift can adapt to a manual mode, and when the automatic mode is switched to the manual mode, the observation line of sight of an operator is not blocked, and the operation safety is better.
Specifically, the housing 510 is capable of rotating relative to the bracket 400 between a first position 501 (shown in fig. 1) and a second position 502 (shown in fig. 2), when the housing 510 is in the first position 501, the housing 510 is adjacent to the top of the bracket 400 to block a gap between the top of the bracket 400 and the vehicle body 100, and when the housing 510 is in the second position 502, the housing 510 is away from the top of the bracket 400 and forms the viewing window 401 with the top of the bracket 400.
Still further, referring to fig. 3, the unmanned forklift further includes an elastic damping member 700, wherein one end of the elastic damping member 700 is hinged to the bracket 400, and the other end of the elastic damping member 700 is hinged to the housing 510, so that the housing 510 can rotate slowly through the elastic damping member 700, and the housing 510 is prevented from being impacted due to too fast rotation, and the control box 500 is prevented from being damaged.
Specifically, referring to fig. 4, the elastic damping member 700 includes a piston rod 710 and a cylinder 720, the piston rod 720 is inserted into the cylinder 710, one end of the cylinder 720 away from the piston rod 710 is hinged to the bracket 400, one end of the piston rod 720 away from the cylinder 720 is hinged to the housing 510, the cylinder 720 is filled with compressed gas, and when the housing 510 rotates between the first position 501 (shown in fig. 1) and the second position 502 (shown in fig. 2) relative to the bracket 400, the controller can drive the piston rod 710 to move telescopically relative to the cylinder 710.
In some embodiments, the elastic damping member 700 is a nitrogen spring and the compressed gas is compressed nitrogen. In other embodiments, the elastic damping member 700 may be replaced by a gear, where the housing 510 and the bracket 400 are provided with a gear, and the housing 510 and the bracket 400 are rotatably connected by meshing with each other, so that slow rotation of the housing 510 relative to the bracket 400 can be achieved.
In some embodiments, referring to fig. 4, the bracket 400 is U-shaped and includes a first support plate 410, a second support plate 420 and a third support plate 430, the second support plate 420 and the third support plate 430 are respectively disposed on two opposite sides of the vehicle body 100, the first support plate 410 is connected with the second support plate 420 and the third support plate 430 and spans over the vehicle body 100, and the housing 510 is hinged to the second support plate 420 and the third support plate 430 through the elastic damping member 700.
For ease of explanation, the following description is made with reference to fig. 1 and 2.
When the housing 510 is located at the first position 501 (as shown in fig. 1), the housing 510 is closely adjacent to the inner sides of the first support plate 410, the second support plate 420 and the third support plate 430 to cover the gap between the top of the bracket 400 and the vehicle body 100, when the housing 510 is located at the second position 502 (as shown in fig. 2), the housing 510 is far away from the first support plate 410, the second support plate 420 and the third support plate 430 and forms the observation window 401 with the top of the bracket 400, and when the housing 510 rotates relative to the bracket 400 and is switched between the first position 501 and the second position 502, the housing 510 can freely turn over relative to the vehicle body 100 due to the fact that the housing 510 is hinged to the second support plate 420 and the third support plate 430 through the elastic damping member 700, and meanwhile, the controller can drive the piston rod 710 to move telescopically relative to the cylinder 710.
In other embodiments, the bracket 400 may also be curved or other irregular shape.
In some embodiments, the first support plate 410, the second support plate 420 and the third support plate 430 are integrally formed, and have high structural strength and high bearing capacity. In other embodiments, the first support plate 410, the second support plate 420 and the third support plate 430 may be in a spliced structure, and the first support plate 410, the second support plate 420 and the third support plate 430 are all in telescopic structures, so as to adapt to control boxes 500 with different sizes, and expand the application range.
Referring to fig. 4, the unmanned forklift further includes a mounting base 800, the housing 510 is fixed to the mounting base 800, and the mounting base 800 is connected to the bracket 400.
Specifically, the mounting base 800 includes a bottom plate 810, a first side plate 820 and a second side plate 830 that are connected to each other, where the bottom plate 810, the first side plate 820 and the second side plate 830 form a containing space 801, and the housing 510 is located in the containing space 801 and is connected to the first side plate 820 and the second side plate 830.
In some embodiments, the first side plate 820 and the second side plate 830 are both L-shaped, taking the first side plate 820 as an example for illustration, the first side plate 820 includes a main plate 821 and an auxiliary plate 822, the main plate 821 is vertically connected with the auxiliary plate 822, and the main plate 821 is connected with the bottom plate 810 to form a whole, the rear side of the housing 510 is connected with the main plate 821 by fasteners such as screws or bolts, and the included angle of the housing 510 is located at the junction of the main plate 821 and the auxiliary plate 822, which can effectively protect the included angle of the housing 510 to prevent the housing 510 from being damaged due to collision when rotating, and the second side plate 830 is similar to the first side plate 820 in structure and will not be described in detail herein. In other embodiments, the first side plate 820 and the second side plate 830 may also have an arc shape, a U shape, or other irregular shapes.
In some embodiments, the bottom plate 810, the first side plate 820 and the second side plate 830 are integrally formed, which has good integrity and high carrying capacity. In other embodiments, the bottom plate 810, the first side plate 820 and the second side plate 830 may be in a spliced structure, which is convenient for disassembly and assembly, and is beneficial for recycling resources.
Still further, referring to fig. 4, the unmanned forklift further includes a locking assembly 900, wherein the locking assembly 900 is detachably connected to the bracket 400, and the locking assembly 900 and the bracket 400 need to be unlocked to rotate the housing 510, so as to prevent the housing 510 from rotating randomly and having a safety hazard.
Specifically, the locking assembly 900 includes a locking seat 910 and a knob 920, in some embodiments, the locking seat is fixed to the first side plate 820 and/or the second side plate 830, and the knob 920 is threaded through the locking seat 910 and is connected with the bracket 400. In other embodiments, the locking assembly 900 may also be a clasp, by which the housing 510 is detachably connected to the bracket 400.
The unmanned forklift is characterized in that the control piece 520 is electrically connected with the controller and can switch the controller to selectively enter a manual mode and an automatic mode, the shell 510 is rotatably connected with the bracket 400, when the unmanned forklift is switched from the automatic mode to the manual mode, an observation window 401 can be formed between the top of the bracket 400 and the shell 510, the observation sight of an operator is not blocked, the operation safety is good, the shell 510 can be slowly rotated through the elastic damping piece 700, and the control box 500 is prevented from being damaged due to collision caused by excessively fast rotation.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (10)
1. An unmanned forklift, comprising:
a vehicle body;
the driving mechanism is used for driving the vehicle body to move;
a fork connected to the body for supporting the cargo;
A bracket mounted to the vehicle body;
A visual recognition device arranged on the bracket, and
The control box comprises a shell and a controller arranged in the shell, wherein an operation piece is arranged on the shell and is electrically connected with the controller, the controller can be switched to selectively enter a manual mode and an automatic mode, when the controller is in the manual mode, the controller is used for receiving an operation instruction of the operation piece and controlling the driving mechanism to adjust the movement state of the vehicle body, when the controller is in the automatic mode, the controller is electrically connected with the visual identification device and the driving mechanism, and the controller can control the driving mechanism to adjust the advancing direction of the vehicle body according to the position information identified by the visual identification device;
the shell is rotatably connected to the support so that an observation window is formed between the top of the support and the shell, the shell is arranged on one side of the support, and the visual identification device is arranged on one side of the support, which is away from the shell.
2. The unmanned forklift of claim 1, wherein said housing is rotatable relative to said bracket between a first position in which said housing is adjacent said bracket top to block a gap between said bracket top and said body, and a second position in which said housing is spaced apart from said bracket top and forms a viewing window with said bracket top.
3. The unmanned forklift of claim 1, further comprising an elastic damping member, one end of the elastic damping member being hinged to the bracket, the other end of the elastic damping member being hinged to the housing.
4. The unmanned forklift of claim 3, wherein the elastic damping member comprises a piston rod and a cylinder, the piston rod is inserted into the cylinder, one end of the cylinder, which is far away from the piston rod, is hinged to the bracket, one end of the piston rod, which is far away from the cylinder, is hinged to the housing, and when the housing rotates relative to the bracket, the controller can drive the piston rod to move telescopically relative to the cylinder.
5. The unmanned forklift of claim 3, wherein the bracket comprises a first support plate, a second support plate and a third support plate, the second support plate and the third support plate are respectively arranged on two opposite sides of the forklift body, the first support plate is connected with the second support plate and the third support plate and spans above the forklift body, and the shell is hinged to the second support plate and the third support plate through the elastic damping piece.
6. The unmanned forklift of claim 1, further comprising a mounting base, the mounting base comprising a bottom plate, a first side plate, and a second side plate that are connected to each other, the first side plate and the second side plate being secured to the bracket, the bottom plate, the first side plate, and the second side plate forming a receiving space, the housing being located in the receiving space and connected to the first side plate and the second side plate.
7. The unmanned forklift of claim 6, wherein the first side plate and/or the second side plate comprises a main plate and an auxiliary plate, the main plate is connected with the auxiliary plate approximately vertically, the main plate is connected with the bottom plate to form a whole, the housing is connected with the main plate through a fastener, and an included angle of the housing is positioned at the joint of the main plate and the auxiliary plate.
8. The unmanned forklift of claim 6, further comprising a locking assembly provided on the first side plate and/or the second side plate, the locking assembly being detachably connected to the bracket.
9. The unmanned forklift of claim 8, wherein the locking assembly comprises a locking seat and a knob, the locking seat is fixed to the first side plate and/or the second side plate, the knob is threaded through the locking seat, and the knob is threaded with the bracket.
10. The unmanned forklift of claim 1, wherein said visual recognition device is embedded in said bracket and ambient light can enter said visual recognition device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911404730.7A CN111003662B (en) | 2019-12-30 | 2019-12-30 | Unmanned forklift |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911404730.7A CN111003662B (en) | 2019-12-30 | 2019-12-30 | Unmanned forklift |
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| Publication Number | Publication Date |
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| CN111003662A CN111003662A (en) | 2020-04-14 |
| CN111003662B true CN111003662B (en) | 2024-12-10 |
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| CN201911404730.7A Active CN111003662B (en) | 2019-12-30 | 2019-12-30 | Unmanned forklift |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115092856A (en) * | 2022-07-22 | 2022-09-23 | 长沙爱达环保科技有限公司 | Modular intelligent pallet truck with weighing function |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201231764Y (en) * | 2008-06-18 | 2009-05-06 | 珠海信石电子科技有限公司 | Hand cart capable of carrying player |
| CN106082018A (en) * | 2011-03-18 | 2016-11-09 | 雷蒙德股份有限公司 | The mast of a kind of material carrier and integrative display mechanism |
| CN211847030U (en) * | 2019-12-30 | 2020-11-03 | 视航机器人（佛山）有限公司 | Unmanned forklift |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203713943U (en) * | 2014-02-18 | 2014-07-16 | 无锡知谷网络科技有限公司 | Handcart |
| CN207158711U (en) * | 2017-09-14 | 2018-03-30 | 斯坦德机器人（深圳）有限公司 | A kind of laser navigation is from electrical forklift |
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2019
- 2019-12-30 CN CN201911404730.7A patent/CN111003662B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201231764Y (en) * | 2008-06-18 | 2009-05-06 | 珠海信石电子科技有限公司 | Hand cart capable of carrying player |
| CN106082018A (en) * | 2011-03-18 | 2016-11-09 | 雷蒙德股份有限公司 | The mast of a kind of material carrier and integrative display mechanism |
| CN211847030U (en) * | 2019-12-30 | 2020-11-03 | 视航机器人（佛山）有限公司 | Unmanned forklift |
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| CN111003662A (en) | 2020-04-14 |
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