CN217201921U - Automatic forklift - Google Patents

Abstract

Translated fromChinese

本申请提供一种自动叉车包括叉车本体、升降组件和承载组件，升降组件设置于叉车本体的一侧，承载组件传动连接升降组件。还包括：自动导航组件，包括第一雷达和第二雷达，第一雷达设置于升降组件的顶部，第二雷达设置于叉车本体的底部；控制组件，设置于叉车本体内，控制组件电连接自动导航组件，用于根据自动导航组件的检测结果调整叉车本体的运动状态；3D相机，安装于升降组件上，3D相机用于识别和锁定目标货物。本申请的自动叉车通过设置自动导航组件和3D相机，使叉车能够自动识别周围环境和锁定目标货物，在控制组件的作用下，实现自动行驶和自动插取货物，实现仓库物流的无人化操作，提升叉车的通用性，减少人工成本和仓库改造成本。

The application provides an automatic forklift truck including a forklift truck body, a lifting assembly and a bearing assembly, the lifting assembly is arranged on one side of the forklift body, and the bearing assembly is connected to the lifting assembly by transmission. It also includes: an automatic navigation component, including a first radar and a second radar, the first radar is arranged on the top of the lifting component, and the second radar is arranged on the bottom of the forklift body; the control component is arranged in the forklift body, and the control component is electrically connected to automatically The navigation component is used to adjust the motion state of the forklift body according to the detection result of the automatic navigation component; the 3D camera is installed on the lifting component, and the 3D camera is used to identify and lock the target goods. The automatic forklift of the present application is provided with an automatic navigation component and a 3D camera, so that the forklift can automatically identify the surrounding environment and lock the target goods. Under the action of the control component, it can realize automatic driving and automatic insertion of goods, and realize the unmanned operation of warehouse logistics. , Improve the versatility of forklifts, reduce labor costs and warehouse renovation costs.

Description

Translated fromChinese

自动叉车automatic forklift

技术领域technical field

本申请涉及叉车技术领域，具体而言，涉及一种自动叉车。The present application relates to the technical field of forklift trucks, and in particular, to an automatic forklift truck.

背景技术Background technique

叉车是工业搬运车辆，是指对成件托盘货物进行装卸、堆垛和短距离运输作业的各种轮式搬运车辆，常用于仓储大型物件的运输。Forklift is an industrial handling vehicle, which refers to various wheeled handling vehicles for loading and unloading, stacking and short-distance transportation of palletized goods. It is often used for the transportation of large-scale objects in storage.

目前使用的叉车，大部分仍是由人工操作或使用磁轨导航以及RFID定位技术来进行自主移动运送货物，该方法虽然能够满足一定的需要，但是局限性较大，需要针对仓库进行较大的改造，不具有通用性。Most of the currently used forklifts are still manually operated or use magnetic track navigation and RFID positioning technology to move goods autonomously. Although this method can meet certain needs, it has great limitations and needs to be carried out for warehouses. Retrofit, not universal.

实用新型内容Utility model content

本申请提供自动叉车，以解决上述人工成本高、叉车通用性差的问题。The present application provides an automatic forklift to solve the above-mentioned problems of high labor cost and poor forklift versatility.

本申请的实施例是这样实现的：The embodiments of the present application are implemented as follows:

一种自动叉车，包括叉车本体、升降组件和承载组件，所述升降组件设置于所述叉车本体的一侧，所述承载组件传动连接所述升降组件，还包括：An automatic forklift includes a forklift body, a lifting assembly and a bearing assembly, the lifting assembly is arranged on one side of the forklift body, the bearing assembly is drivingly connected to the lifting assembly, and further comprises:

自动导航组件，包括第一雷达和第二雷达，所述第一雷达设置于所述升降组件的顶部，所述第二雷达设置于所述叉车本体的底部；an automatic navigation assembly, including a first radar and a second radar, the first radar is arranged on the top of the lifting assembly, and the second radar is arranged at the bottom of the forklift body;

控制组件，设置于所述叉车本体内，所述控制组件电连接所述自动导航组件，用于根据所述自动导航组件的检测结果调整所述叉车本体的运动状态；a control assembly, disposed in the forklift body, the control assembly is electrically connected to the automatic navigation assembly, and used for adjusting the motion state of the forklift body according to the detection result of the automatic navigation assembly;

3D相机，安装于所述升降组件上，所述3D相机用于识别和锁定目标货物；所述控制组件还用于根据所述3D相机的检测结构控制所述升降组件和承载组件的运动状态。A 3D camera is installed on the lifting assembly, and the 3D camera is used for identifying and locking the target goods; the control assembly is also used for controlling the movement states of the lifting assembly and the carrying assembly according to the detection structure of the 3D camera.

如此，通过设置自动导航组件和3D相机，使叉车能够自动识别周围环境和锁定目标货物，叉车可以在控制组件的作用下，实现自动行驶和自动插取货物，实现仓库物流的无人化操作，提升叉车的通用性，减少人工成本和仓库改造成本。In this way, by setting up the automatic navigation component and 3D camera, the forklift can automatically identify the surrounding environment and lock the target goods. Under the action of the control component, the forklift can realize automatic driving and automatic insertion of goods, and realize the unmanned operation of warehouse logistics. Improve the versatility of forklifts and reduce labor costs and warehouse renovation costs.

在一种可能的实施方式中：In one possible implementation:

所述升降组件包括升降驱动器和升降支架，所述升降驱动器部分设于所述叉车本体内，所述升降支架设置于所述叉车本体的一侧，所述承载组件传动连接所述升降驱动器；The lifting assembly includes a lifting driver and a lifting bracket, the lifting driver is partially arranged in the forklift body, the lifting bracket is arranged on one side of the forklift body, and the bearing assembly is drivingly connected to the lifting driver;

所述第一雷达设置于所述升降支架的顶部；the first radar is arranged on the top of the lifting bracket;

所述3D相机位于所述第一雷达与所述叉车本体之间。The 3D camera is located between the first radar and the forklift body.

在一种可能的实施方式中：In one possible implementation:

所述升降支架上设有安装架，所述3D相机可转动地连接于所述安装架。A mounting bracket is provided on the lifting bracket, and the 3D camera is rotatably connected to the mounting bracket.

在一种可能的实施方式中：In one possible implementation:

两组所述第二雷达对称设置于所述叉车本体的相对两侧。The two sets of second radars are symmetrically arranged on opposite sides of the forklift body.

在一种可能的实施方式中：In one possible implementation:

还包括舵轮组件，设置于所述叉车本体的底部，所述控制组件电连接所述舵轮组件。It also includes a steering wheel assembly, which is arranged on the bottom of the forklift body, and the control assembly is electrically connected to the steering wheel assembly.

在一种可能的实施方式中：In one possible implementation:

还包括滑轮组件，所述滑轮组件设置于所述承载组件的底部。It also includes a pulley assembly, the pulley assembly is arranged on the bottom of the bearing assembly.

在一种可能的实施方式中：In one possible implementation:

所述叉车本体背离所述承载组件的一侧还设有充电电极，用于插接外部电源；A charging electrode is also provided on the side of the forklift body away from the bearing assembly for plugging in an external power supply;

所述充电电极位于两组所述第二雷达之间，且设置于叉车本体的外表面。The charging electrode is located between the two sets of second radars and is arranged on the outer surface of the forklift body.

在一种可能的实施方式中：In one possible implementation:

所述升降支架的顶部还设有示廓灯，所述示廓灯设置于所述第一雷达的下方。The top of the lifting bracket is also provided with a position indicator light, and the position indicator light is arranged below the first radar.

在一种可能的实施方式中：In one possible implementation:

所述自动叉车还包括接口组件；The automatic forklift also includes an interface assembly;

所述接口组件设置于所述叉车本体的一侧表面，所述控制组件电连接所述接口组件。The interface assembly is disposed on one side surface of the forklift body, and the control assembly is electrically connected to the interface assembly.

在一种可能的实施方式中：In one possible implementation:

所述自动叉车还包括配重件；The automatic forklift also includes a counterweight;

所述配重件部分设于所述叉车本体内，用于调整所述自动叉车的重心。The counterweight is partially arranged in the forklift body, and is used to adjust the center of gravity of the automatic forklift.

附图说明Description of drawings

为了更清楚地说明本申请实施例的技术方案，下面将对实施例中的附图作简单地介绍，应当理解，以下附图仅示出了本申请的某些实施例，因此不应被看作是对范围的限定，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他相关的附图。In order to illustrate the technical solutions of the embodiments of the present application more clearly, the accompanying drawings in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be viewed as As a limitation of the scope, for those of ordinary skill in the art, other related drawings can also be obtained according to these drawings without any creative effort.

图1为本申请一实施例的自动叉车的结构示意图。FIG. 1 is a schematic structural diagram of an automatic forklift according to an embodiment of the application.

图2为图1所示自动叉车在另一方向上的结构示意图。FIG. 2 is a schematic structural diagram of the automatic forklift shown in FIG. 1 in another direction.

图3为图1所示自动叉车的正视图。FIG. 3 is a front view of the automatic forklift shown in FIG. 1 .

图4为图1所示自动叉车的侧视图。FIG. 4 is a side view of the automatic forklift shown in FIG. 1 .

主要元件符号说明：Description of main component symbols:

具体实施方式Detailed ways

下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅是本申请一部分实施例，而不是全部的实施例。The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all of the embodiments.

需要说明的是，当元件被称为“固定于”另一个元件，它可以直接在另一个元件上或者也可以存在居中的元件。当一个元件被认为是“连接”另一个元件，它可以是直接连接到另一个元件或者可能同时存在居中元件。当一个元件被认为是“设置于”另一个元件，它可以是直接设置在另一个元件上或者可能同时存在居中元件。本文所使用的术语“垂直的”、“水平的”、“左”、“右”以及类似的表述只是为了说明的目的。It should be noted 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. When an element is referred to as being "disposed on" another element, it can be directly disposed on the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and similar expressions are used herein for illustrative purposes only.

除非另有定义，本文所使用的所有的技术和科学术语与属于本申请领域的技术人员通常理解的含义相同。本文中在本申请的说明书中所使用的术语只是为了描述具体的实施方式的目的，不是旨在于限制本申请。本文所使用的术语“或/及”包括一个或多个相关的所列项目的任意的和所有的组合。Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art of this application. The terms used herein in the specification of the present application are for the purpose of describing particular embodiments only, and are not intended to limit the present application. As used herein, the term "or/and" includes any and all combinations of one or more of the associated listed items.

本申请的一些实施方式作详细说明。在不冲突的情况下，下述的实施方式及实施方式中的特征可以相互组合。Some embodiments of the present application are described in detail. The following embodiments and features of the embodiments may be combined with each other without conflict.

参见图1和图2，本实施例提供一种自动叉车100，包括叉车本体10、升降组件20、承载组件30、自动导航组件40、控制组件和3D相机50。所述升降组件20设置于所述叉车本体10的一侧，所述承载组件30传动连接所述升降组件20，叉车本体10可以带动升降组件20和承载组件30移动至预定位置。自动导航组件40包括第一雷达41和第二雷达42，所述第一雷达41设置于所述升降组件20的顶部，所述第二雷达42设置于所述叉车本体10的底部。所述控制组件设置于所述叉车本体10内，所述控制组件电连接所述自动导航组件40，用于根据所述自动导航组件40的检测结果调整所述叉车本体10的运动状态。所述3D相机50安装于所述升降组件20上，所述3D相机50用于识别和锁定目标货物，所述控制组件还用于根据所述3D相机50的检测结构控制所述升降组件20和承载组件30的运动状态。Referring to FIGS. 1 and 2 , the present embodiment provides anautomatic forklift truck 100 , including aforklift truck body 10 , alifting component 20 , acarrying component 30 , anautomatic navigation component 40 , a control component and a3D camera 50 . Thelift assembly 20 is disposed on one side of theforklift body 10 , thecarrying assembly 30 is connected to thelift assembly 20 in a driving manner, and theforklift body 10 can drive thelift assembly 20 and thecarrying assembly 30 to move to a predetermined position. Theautomatic navigation assembly 40 includes afirst radar 41 and asecond radar 42 , thefirst radar 41 is disposed on the top of thelift assembly 20 , and thesecond radar 42 is disposed on the bottom of theforklift body 10 . The control assembly is disposed in theforklift body 10 , and the control assembly is electrically connected to theautomatic navigation assembly 40 for adjusting the motion state of theforklift body 10 according to the detection result of theautomatic navigation assembly 40 . The3D camera 50 is installed on thelift assembly 20 , the3D camera 50 is used to identify and lock the target goods, and the control assembly is also used to control thelift assembly 20 and the lift according to the detection structure of the3D camera 50 . The state of motion of thecarrier assembly 30 .

进一步地，所述升降组件20包括升降驱动器22和升降支架21，所述升降驱动器22部分设于所述叉车本体10内，所述升降支架21设置于所述叉车本体10的一侧，所述承载组件30传动连接所述升降驱动器22，并可移动地设置于所述升降支架21背离所述叉车本体10的一侧。所述升降驱动器22用于驱动所述承载组件30沿所述升降支架21移动或停止。Further, thelift assembly 20 includes alift driver 22 and alift bracket 21 , thelift driver 22 is partially arranged in theforklift body 10 , and thelift bracket 21 is arranged on one side of theforklift body 10 . The bearingassembly 30 is drivingly connected to thelift driver 22 , and is movably disposed on the side of thelift bracket 21 away from theforklift body 10 . Thelift driver 22 is used to drive thecarrier assembly 30 to move or stop along thelift bracket 21 .

请继续参阅图3，在本申请的实施例中，所述第一雷达41设置于所述升降支架21的顶部，用于识别行驶路线，以导航叉车本体10的移动方向。两组所述第二雷达42对称设置于所述叉车本体10的相对两侧，用于检测叉车周围的障碍物，辅助叉车在行驶过程中避开障碍物，提升叉车移动的稳定性和安全性。Please continue to refer to FIG. 3 , in the embodiment of the present application, thefirst radar 41 is disposed on the top of the liftingbracket 21 for identifying the driving route and navigating the moving direction of theforklift body 10 . The two sets ofsecond radars 42 are symmetrically arranged on opposite sides of theforklift body 10 to detect obstacles around the forklift, assist the forklift to avoid obstacles during driving, and improve the stability and safety of the forklift. .

进一步地，所述3D相机50位于所述第一雷达41与所述叉车本体10之间，以便锁定目标货物，减少3D相机50被遮挡的风险。3D相机50设置的位置太高会影响识别位置较低的货物，3D相机50设置的位置较矮则容易导致3D相机50被遮挡，无法识别目标货物。具体地，所述升降支架21上设有安装架23，所述安装架23大致位于升降支架21的中部，所述3D相机50可转动地连接于所述安装架23，以便识别不同位置的目标货物，控制组件根据3D相机50的识别结果，控制叉车本体10和/或升降驱动器22启动或停止，从而带动承载机构移动，以自动插取和搬运货物。Further, the3D camera 50 is located between thefirst radar 41 and theforklift body 10 so as to lock the target goods and reduce the risk of the3D camera 50 being blocked. If the3D camera 50 is set too high, it will affect the recognition of goods at a lower position, and if the3D camera 50 is set at a low position, the3D camera 50 may be blocked and the target goods cannot be recognized. Specifically, a mountingbracket 23 is provided on the liftingbracket 21 , and the mountingbracket 23 is generally located in the middle of the liftingbracket 21 . The3D camera 50 is rotatably connected to the mountingbracket 23 so as to identify targets at different positions. For the goods, the control component controls theforklift body 10 and/or thelift driver 22 to start or stop according to the recognition result of the3D camera 50 , thereby driving the carrying mechanism to move, so as to automatically insert and carry the goods.

请再次参阅图2，所述自动叉车100还包括舵轮组件60，所述舵轮组件60设置于所述叉车本体10的底部，所述控制组件电连接所述舵轮组件60，以便根据自动导航组件40和/或3D相机50的检测信号控制舵轮的转动方向，从而调整叉车本体10的移动方向。Please refer to FIG. 2 again, theautomatic forklift 100 further includes asteering wheel assembly 60 , thesteering wheel assembly 60 is disposed at the bottom of theforklift body 10 , and the control assembly is electrically connected to thesteering wheel assembly 60 , so that according to theautomatic navigation assembly 40 And/or the detection signal of the3D camera 50 controls the rotation direction of the steering wheel, so as to adjust the movement direction of theforklift truck body 10 .

进一步地，所述自动叉车100还还包括滑轮组件70，所述滑轮组件70设置于所述承载组件30的底部。滑轮组件70为从动件，随叉车本体10的移动而转动，用于辅助自动叉车100移动，减少承载组件30与地面之间的摩擦力。Further, theautomatic forklift 100 further includes apulley assembly 70 , and thepulley assembly 70 is disposed at the bottom of the carryingassembly 30 . Thepulley assembly 70 is a driven member, which rotates with the movement of theforklift truck body 10 , and is used to assist theautomatic forklift truck 100 to move and reduce the frictional force between the bearingassembly 30 and the ground.

请参阅图3和图4，所述叉车本体10背离所述承载组件30的一侧还设有充电电极11，用于插接外部电源，以对叉车本体10内的电池进行充电。所述充电电极11位于两组所述第二雷达42之间，且设置于叉车本体10的外表面，使得自动叉车100可以运行至充电站并自行对位充电电极11与充电位点，实现自动充电。Referring to FIGS. 3 and 4 , the side of theforklift body 10 away from the carryingassembly 30 is further provided with a chargingelectrode 11 for plugging in an external power source to charge the battery in theforklift body 10 . The chargingelectrode 11 is located between the two sets of thesecond radars 42, and is arranged on the outer surface of theforklift truck body 10, so that theautomatic forklift truck 100 can run to the charging station and align the chargingelectrode 11 and the charging site by itself, so as to realize automatic operation. Charge.

进一步地，所述自动叉车100还包括接口组件12和配重件13。所述接口组件12设置于所述叉车本体10的一侧表面，所述控制组件电连接所述接口组件12。外部设备可以通过接口组件12连接所述控制组件，以便调整控制组件的内部程序，实现对自动叉车100的优化、检修和维护。所述配重件13部分设于所述叉车本体10内，用于调整所述自动叉车100的重心，减少自动叉车100在移动货物时发生倾倒、侧翻等问题。Further, theautomatic forklift 100 further includes aninterface assembly 12 and acounterweight 13 . Theinterface assembly 12 is disposed on one side surface of theforklift truck body 10 , and the control assembly is electrically connected to theinterface assembly 12 . External devices can be connected to the control assembly through theinterface assembly 12 , so as to adjust the internal program of the control assembly to realize optimization, inspection and maintenance of theautomatic forklift 100 . Thecounterweight 13 is partially disposed in theforklift body 10 and is used to adjust the center of gravity of theautomatic forklift 100 to reduce problems such as tipping and overturning of theautomatic forklift 100 when moving goods.

在本申请的实施例中，所述升降支架21的顶部还设有示廓灯80，用于警示自动叉车100的高度范围，提高自动叉车100的安全性能。优选地，所述示廓灯80设置于所述第一雷达41的下方，以避免遮挡所述第一雷达41，影响第一雷达41的检测准确性。In the embodiment of the present application, the top of the liftingbracket 21 is further provided with amarker light 80 for warning the height range of theautomatic forklift 100 and improving the safety performance of theautomatic forklift 100 . Preferably, the position light 80 is disposed below thefirst radar 41 to avoid blocking thefirst radar 41 and affecting the detection accuracy of thefirst radar 41 .

本申请的自动叉车100通过设置自动导航组件40和3D相机50，使叉车能够自动识别周围环境和锁定目标货物，在控制组件的作用下，实现自动行驶和自动插取货物，实现仓库物流的无人化操作，提升叉车的通用性，减少人工成本和仓库改造成本。Theautomatic forklift 100 of the present application is provided with anautomatic navigation component 40 and a3D camera 50, so that the forklift can automatically identify the surrounding environment and lock the target goods, and under the action of the control component, realize automatic driving and automatic insertion of goods. Humanized operation improves the versatility of forklifts and reduces labor costs and warehouse renovation costs.

以上实施方式仅用以说明本申请的技术方案而非限制，尽管参照以上较佳实施方式对本申请进行了详细说明，本领域的普通技术人员应当理解，可以对本申请的技术方案进行修改或等同替换都不应脱离本申请技术方案的精神和范围。The above embodiments are only used to illustrate the technical solutions of the present application rather than limitations. Although the present application has been described in detail with reference to the above preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present application can be modified or equivalently replaced. Neither should depart from the spirit and scope of the technical solutions of the present application.

Claims (10)

1. An automatic forklift comprises a forklift body, a lifting assembly and a bearing assembly, wherein the lifting assembly is arranged on one side of the forklift body, and the bearing assembly is in transmission connection with the lifting assembly; it is characterized by also comprising:

the automatic navigation assembly comprises a first radar and a second radar, the first radar is arranged at the top of the lifting assembly, and the second radar is arranged at the bottom of the forklift body;

the control assembly is arranged in the forklift body, is electrically connected with the automatic navigation assembly and is used for adjusting the motion state of the forklift body according to the detection result of the automatic navigation assembly; and

the 3D camera is installed on the lifting assembly and used for identifying and locking target cargos, and the control assembly is further used for controlling the motion states of the lifting assembly and the bearing assembly according to the detection structure of the 3D camera.

2. The automatic forklift of claim 1, wherein:

the lifting assembly comprises a lifting driver and a lifting support, the lifting driver is partially arranged in the forklift body, the lifting support is arranged on one side of the forklift body, and the bearing assembly is in transmission connection with the lifting driver;

the first radar is arranged at the top of the lifting bracket;

the 3D camera is located between the first radar and the forklift body.

3. The automatic forklift of claim 2, wherein:

the lifting support is provided with a mounting frame, and the 3D camera is rotatably connected to the mounting frame.

4. The automatic forklift of claim 1, wherein:

two sets of the second radar symmetry set up in the relative both sides of fork truck body.

5. The automatic forklift of claim 1, wherein:

still include the steering wheel subassembly, set up in the bottom of fork truck body, the control assembly electricity is connected the steering wheel subassembly.

6. The automatic forklift as recited in claim 5, wherein:

still include loose pulley assembly, loose pulley assembly sets up in the bottom of carrier assembly.

7. The automatic forklift truck according to claim 4, wherein:

a charging electrode is further arranged on one side of the forklift body, which is far away from the bearing assembly, and is used for being plugged with an external power supply;

the charging electrodes are located between the two groups of second radars and arranged on the outer surface of the forklift body.

8. The automatic forklift of claim 2, wherein:

the top of lifting support still is equipped with and shows the clearance lamp, it sets up to show the clearance lamp in the below of first radar.

9. The automatic forklift as recited in claim 1, wherein:

the automatic forklift further comprises an interface component;

the interface assembly is arranged on one side surface of the forklift body, and the control assembly is electrically connected with the interface assembly.

10. The automatic forklift of claim 1, wherein:

the automatic forklift further comprises a counterweight;

the counterweight part is arranged in the forklift body and used for adjusting the gravity center of the automatic forklift.

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