Forklift type AGV navigation lifting system

Abstract

The application discloses a fork-lift type AGV navigation lifting system and belongs to the field of fork-lift automation equipment, which comprises a lifting base and a lifting mechanism, the lifting base is slidably connected with a guide rod through a guide piece, the bottom end of the guide rod can move from the bottom to the top of the vehicle body, the lifting mechanism comprises a driving rod, the top end of the driving rod is connected with a navigation system, and the bottom end of the driving rod can move from the bottom to the top of the vehicle body. The lifting base is used for bearing the navigation system, and the guide rod is mainly used for ensuring that the navigation system can be stably lifted on the lifting base; the lifting mechanism comprises the driving rod, the driving rod can push the navigation system to any height under the action of the lifting mechanism, and since the bottom ends of the guide rod and the driving rod can move from the bottom to the top of the vehicle body, the navigation system has a large lifting stroke range, the applicability of the fork-lift is improved, and the fork-lift can be used in various workshops.

Description

TECHNICAL FIELD

[0001] The present application relates to a navigation system, more particularly, it relates to a forklift AGV navigation lifting system. BACKGROUND

[0002] With the acceleration of the intelligent factory construction process in the whole industry, the application scenarios of forklift AGV in old production line transformation are increasing. Some scenarios need to lower the navigation laser height to enable the AGV to pass through. Some scenarios have multi-layer stacked goods, and the height of the goods exceeds the height of the AGV navigation laser scanning surface, which causes the forklift to be unable to work. At this time, the navigation laser needs to be raised. Therefore, the existing forklift is difficult to adapt to the changing working environment.

[0003] For example: Chinese patent No. CN115626587A, published on January 20, 2023, the invention name is laser navigation AGV forklift and its control method. The scheme discloses an AGV forklift, including a support and a laser navigator, the laser is installed at the top of the support, which is used for laser navigation of the running path, and improves the degree of automation, but it cannot effectively realize the lifting of the laser navigator. When the laser navigator is blocked by objects in the workshop, the forklift cannot operate normally. SUMMARY

[0004] The present application overcomes the problem that the navigation system of the existing AGV forklift cannot be effectively lifted or has a short lifting stroke, and proposes a forklift AGV navigation lifting system. The present application can realize large-stroke lifting of the navigation system and improve the lifting stability of the navigation system.

[0005] In order to solve the above technical problems, the present application adopts the following technical scheme: a forklift AGV navigation lifting system, comprising a lifting base and a lifting mechanism, the lifting base is slidably connected with a guide rod through a guide piece, the bottom end of the guide rod can run from the bottom to the top of the vehicle body, the lifting mechanism comprises a drive rod, the top end of the drive rod is connected with a navigation system, and the bottom end of the drive rod can run from the bottom to the top of the vehicle body. In the present application, the lifting base is used to carry the navigation system, and the lifting base is provided with a guide piece, the guide piece can pass through the guide rod inside, which is used for the sliding of the guide rod. The guide rod is mainly used to ensure that the navigation system can be stably lifted on the lifting base; the lifting mechanism comprises a drive rod, which can push the navigation system to any height under the action of the lifting mechanism. Since the bottom end of the guide rod and the drive rod can move from the bottom to the top of the vehicle body, the navigation system has a large lifting stroke range, which improves the applicability of the forklift and can be used in various workshop situations.

[0006] Preferably, the lifting base includes a first connecting plate and a second connecting plate, both of which are provided with guide members. The first and second connecting plates are arranged in parallel, which can improve the stability of the lifting base. Furthermore, the presence of guide members on both the first and second connecting plates, with at least two guide members, ensures the smooth movement of the guide rod and prevents the guide rod from getting stuck inside the guide members, thereby enabling the navigation system to lift and lower normally.

[0007] Preferably, a first sensor is provided on the top of the first connecting plate, and a sensing element corresponding to the first sensor is provided on the bottom of the second connecting plate. The first sensor on the first connecting plate is mainly used to detect the descent position of the navigation system. When the navigation system performs a descent operation, the guide rod and drive rod move downward. When the first sensor moves to the sensing element, it will stop to prevent the first and second connecting plates from colliding and damaging the internal structure of the lifting base. Furthermore, the first connecting plate is fixed, while only the second connecting plate moves up and down with the drive rod. Therefore, the sensing element is set on the moving second connecting plate, and the first sensor is set on the fixed first connecting plate to prevent the first sensor from moving and falling off, thus providing a certain degree of protection for the first sensor.

[0008] Preferably, the bottom of the second connecting plate is provided with a connecting support, which has a straight hole. The connecting support is connected to the drive rod through a connecting shaft and the straight hole. The connecting hole of the connecting support is a straight hole, and the connecting shaft is a cylindrical shaft. The connecting shaft can slide laterally in the straight hole. The connection between the connecting support and the drive rod through the connecting shaft and the straight hole allows for a buffer margin between the drive rod and the second connecting plate, avoiding rigid impact between the drive rod and the second connecting plate and the connecting support when the drive rod starts.

[0009] Preferably, the bottom of the second connecting plate is also provided with a pull rod support corresponding to the connecting support. A rotating rod with a sensing element as the fulcrum is rotatably connected between the connecting shaft and the pull rod support. During the movement of the guide rod, the second connecting plate is pulled or pushed by the drive rod, which will generate a torque on the guide rod in the radial direction. This will cause the guide rod to press against the guide member in the radial direction, which may easily cause the guide rod to jam in the guide member. Therefore, a pull rod support is also provided at the bottom of the second connecting plate. A rotating rod is provided between the pull rod support and the connecting support, and the rotating rod is rotated with the sensing element as the fulcrum. When the drive rod performs a downward operation, the drive rod will pull the connecting support downward, which will generate a downward force on the second connecting plate. This will cause the second connecting plate to generate a downward torque along the axial direction of the guide rod on the guide rod. Since the connecting hole on the connecting support is a straight hole, the drive rod will also pull the rotating rod while moving downward. Since the two ends of the rotating rod are connected to the drive rod and the pull rod support respectively, and the middle is rotated with the sensing element as the fulcrum, the rotation of the rotating rod is also affected. Therefore, when the rotating rod is pulled down by the driving rod, it generates an upward force on the tie rod support, causing the second connecting plate to generate an upward torque along the guide rod axis, thus canceling the downward torque along the guide rod axis. When the driving rod moves upward, it pushes the connecting support upward, generating an upward force on the second connecting plate, causing the second connecting plate to generate an upward torque along the guide rod axis. Simultaneously, the upward movement of the driving rod causes the rotating rod to generate a downward force on the tie rod support, i.e., a downward force on the second connecting plate, causing the second connecting plate to generate a downward torque along the guide rod axis, thus canceling the upward torque along the axis. This ensures that the guide rod is not affected by torque in the direction of movement, improving the smoothness of the guide rod's movement and preventing jamming. The sensing element acts as both the signal transmitter of the first sensor and the fulcrum of the rotating rod, saving on the arrangement of redundant structures, simplifying the device structure, and the setting of the rotating rod does not affect the reception of the first sensor signal.

[0010] Preferably, the bottom of the lifting base is equipped with at least one second sensor aligned with the guide rod. The second sensor primarily detects the rising position of the navigation system. When the bottom end of the guide rod moves close to the bottom of the lifting base, the larger stop at the bottom of the guide rod will be detected by the second sensor, causing the drive rod to stop moving and preventing the bottom of the guide rod from colliding with the bottom of the lifting base, thus avoiding damage to the lifting base or the guide rod. At least one second sensor is required, and two are optimal, to prevent the bottom of the guide rod from malfunctioning, especially the bottom sensor, and causing a collision between the bottom of the guide rod and the bottom of the lifting base.

[0011] Preferably, the bottom of the guide rod is provided with a stop block, the ring diameter of which is larger than the aperture of the guide member. The stop block at the bottom of the guide rod is cylindrical, and its cross-sectional area is larger than that of the guide rod and also larger than the aperture of the guide member. When the bottom end of the guide rod moves to the bottom of the lifting base, the drive rod may fail to stop moving, such as if the sensor fails. In this case, the stop block can prevent the guide rod from detaching from the guide member on the lifting base, and also avoid the situation where the guide rod collides with the lifting base due to the failure of the second sensor.

[0012] Preferably, the navigation system includes a navigator fixed to a navigation mounting base, and the navigation system is elastically connected to the top of the second connecting plate. The navigator is mainly a navigation laser, capable of detecting the forklift's path and planning its travel route. The navigator is mounted on the navigation mounting base, which provides some protection for the navigator. The elastic connection between the navigation system and the top of the second connecting plate prevents vibrations generated during forklift movement from being transmitted to the navigator, causing it to detach or become damaged.

[0013] Preferably, the system also includes a chassis bracket, which has at least two sets of fixing devices for the lifting mechanism. The chassis bracket is part of the forklift and is mainly used to fix the lifting mechanism, which has a length equivalent to the height of the forklift chassis. The chassis bracket also has fixing devices, which are mainly used to fix the body of the lifting mechanism. There are at least two sets of fixing devices. If there is only one set of fixing devices, the lifting mechanism will not be securely fixed, and the degree of freedom of the lifting mechanism will not be sufficient, making it easy for the lifting mechanism to tilt.

[0014] Preferably, the lifting base is fixed to the top of the vehicle body support. To ensure the stability of the lifting base, it is fixed to the top of the vehicle body support.

[0015] Compared with the prior art, the beneficial effects of the present invention are: (1) the navigation system has a large range of travel, a wider detection range, and more application scenarios; (2) the lifting structure has an anti-jamming structure, which can ensure the smooth operation of the navigation system; (3) the navigation system also has a shock absorption structure, which improves the safety of the navigation system; (4) the structure is simple, does not occupy too much space of the forklift, and is more practical. Attached Figure Description

[0016] Figure 1 This is an isometric view of the present invention.

[0017] Figure 2 This is a side view of the present invention.

[0018] Figure 3 for Figure 2 A magnified view of A in the middle.

[0019] Figure 4 This is a schematic diagram of the lifting mechanism of the present invention.

[0020] Figure 5 A schematic diagram illustrating a specific application of the present invention.

[0021] In the diagram: 1. Lifting base, 2. Lifting mechanism, 3. Guide rod, 4. Guide component, 5. Drive rod, 6. Navigation system, 7. First connecting plate, 8. Second connecting plate, 9. First sensor, 10. Sensing element, 11. Connecting support, 12. Straight hole, 13. Connecting shaft, 14. Tie rod support, 15. Rotating rod, 16. Second sensor, 17. Stop block, 18. Navigator, 19. Navigation mounting base, 20. Elastic component, 21. Vehicle body bracket, 22. Fixing device, 23. Forklift, 24. Lifting base base, 25. Support plate, 26. Fixed base, 27. Pressure plate, 28. First oil port, 29. Second oil port, 30. Oil pipe, 31. Lifting mechanism mounting base. Detailed Implementation

[0022] The technical solution of the present invention will be further described in detail below through specific embodiments and in conjunction with the accompanying drawings.

[0023] Example: As shown in the figure, a forklift-type AGV navigation and lifting system includes a lifting base 1, a lifting mechanism 2, and a navigation system 6. The lifting base 1 includes a first connecting plate 7, a second connecting plate 8, and a lifting base 24. The first connecting plate 7 and the second connecting plate 8 are arranged in parallel. The first connecting plate 7 is fixed on the lifting base 24. A circular through hole is opened at the center of the first connecting plate 7 and the lifting base 1 for the lifting mechanism 2 to pass through. The bottom of the second connecting plate 8 is provided with a connecting support 11. The lifting mechanism 2 includes a drive rod 5, which is connected to the connecting support 11 and is used to push the second connecting plate 8 to perform lifting and lowering movements. A navigation system 6 is mounted on the top of the second connecting plate 8 via a support plate 25. The navigation system 6 includes a navigator 18, and a navigation mounting base 19 is provided at the bottom of the navigator 18. Except in the direction of forklift movement, the navigator mounting base 19 is equipped with a three-way guardrail to prevent the navigator 18 from falling. The bottom of the navigation mounting base 19 is connected to the support plate 25 on the top of the second connecting plate 8 via an elastic element 20. The distance between the navigation mounting base 19 and the support plate 25 is small to prevent the elastic element 20 from being too long. The elastic element 20 is a spring, and there are four springs, which are respectively arranged at the four corners of the navigation mounting base 19 to prevent the forklift 23 from vibrating during operation and transmitting the vibration to the navigator 18, causing the navigator 18 to fall or be damaged. The support plate 25 is fixedly connected to the second connecting plate 8 by screws and other connectors to enhance the stability of the navigation system 6. When the lifting base 1 is raised or lowered by the lifting mechanism 2, the navigator 18 can also move up and down, and can be used in various places in the workshop. The length of the lifting mechanism 2 is similar to the height of the vehicle body. The bottom end of the guide rod 3 can move from the bottom of the vehicle body to the top, and the bottom end of the drive rod 5 can also move from the bottom of the vehicle body to the top, thus enabling the navigator 18 to move a large stroke.

[0024] Two sets of guide members 4 are provided at the edges of the first connecting plate 7 and the second connecting plate 8, and the two sets of guide members 4 correspond one-to-one. The guide members 4 are linear bearings. Guide rods 3 are slidably connected in the corresponding set of guide members 4 of the first connecting plate 7 and the second connecting plate 8, so there are also two guide rods 3. The guide members 4 are provided on both the first connecting plate 7 and the second connecting plate 8 to ensure that the guide rods 3 can remain in a vertical state. If the guide members 4 are only provided on one of the connecting plates, the guide rods 3 may easily get stuck. The fact that there are two sets of guide members 4 and two sets of guide rods 3 can ensure that the two guide rods 3 are parallel to each other, and ensure that the first connecting plate 7 and the second connecting plate 8 are parallel and relatively fixed in position, which is conducive to the smooth operation of the navigation system 6.

[0025] At the opposite positions of the two guide rods 3, there is a vehicle body bracket 21. The vehicle body bracket 21 is directly fixed to the forklift 23, and a lifting base 1 is fixed on the top of the vehicle body bracket 21. Thus, the entire navigation system 6 is also relatively fixed to the vehicle body bracket 21. The two guide rods 3 are located on opposite sides of the vehicle body bracket 21, so that there will be no interference between the body of the forklift 23 and the guide rods 3, and no obstruction of the movement of the guide rods 3.

[0026] In this embodiment, the lifting mechanism 2 adopts a hydraulic cylinder structure. This structure offers both fast drive response and strong load-bearing capacity. The lifting mechanism 2 is fixed to the vehicle body bracket 21 by at least two sets of fixing devices 22. Each fixing device 22 includes a fixed base 26 and a pressure plate 27 adapted to the lifting mechanism 2 body. The lifting mechanism 2 body is positioned between the fixed base 26 and the pressure plate 27, and the fixed base 26 and pressure plate 27 are connected by screws or other fasteners to secure the lifting mechanism 2. The presence of at least two sets of fixing devices prevents the lifting mechanism 2 from tilting, improves its stability, and ensures smooth lifting of the navigation system 6. To prevent vertical displacement of the lifting mechanism 2 body, a lifting mechanism mounting base 31 is also provided at the bottom of the lifting mechanism 2 to support it. The hydraulic cylinder structure serves as the main body of the lifting mechanism 2, and its length matches the vehicle height. The bottom of the cylinder has two oil ports: a first oil port 28 and a second oil port 29. The first oil port 28 is connected to the top of the cylinder via an oil pipe 30. The piston rod of the cylinder is the drive rod 5. In this design, both the first oil port 28 and the second oil port 29 are located at the bottom of the cylinder, facilitating the arrangement of the oil tank and saving space. When oil enters through the first oil port 28, hydraulic oil enters from the top of the cylinder, pressing the drive rod 5 downwards, causing it to move downwards, while oil exits through the second oil port 29, flowing back to the oil tank. When oil enters through the second oil port 29, hydraulic oil enters from the bottom of the cylinder, pushing the drive rod 5 upwards, causing it to move upwards, while oil exits through the first oil port 28, flowing back to the oil tank. This achieves the lifting and lowering motion of the navigation system 6 driven by the drive rod 5.

[0027] To ensure the safety of the lifting mechanism 2's movement, sensors and other structures are needed to detect the position of the driving rod 5 or the navigation system 6 of the lifting mechanism 2 in real time. A first sensor 9 is provided at the top of the first connecting plate 7, and a sensing element 10 is provided at the bottom of the second connecting plate 8, wherein the positions of the first sensor 9 and the sensing element 10 correspond. At least one second sensor 16 is provided at the bottom of the lifting base 1, and the second sensor 16 corresponds to the position of the guide rod 3. A stop block 17 is provided at the bottom of the guide rod 3. The stop block 17 is cylindrical, and its cross-sectional area is larger than that of the guide rod 3, and also larger than the aperture of the guide member 4. When the bottom end of the guide rod 3 moves to the bottom of the lifting base 1, the driving rod 5 may fail to stop moving, such as if the sensor fails. At this time, the stop block 17 can prevent the guide rod 3 from detaching from the guide member 4 on the lifting base 1, and also avoid the situation where the guide rod 3 collides with the lifting base 1 due to the failure of the second sensor 16. The first sensor 9 on the first connecting plate 7 is mainly used to detect the descent position of the navigation system 6. When the navigation system 6 descends, the guide rod 3 and the drive rod 5 move downwards. When the first sensor 9 moves to the sensing element 10, it will stop to prevent the first connecting plate 7 and the second connecting plate 8 from colliding and damaging the internal structure of the lifting base 1. The first connecting plate 7 is fixed, while the second connecting plate 8 moves up and down with the drive rod 5. Therefore, the sensing element 10 is set on the moving second connecting plate 8, and the first sensor 9 is set on the fixed first connecting plate 7 to prevent it from moving and falling off, thus providing some protection for the first sensor 9. The second sensor 16 is mainly used to detect the ascent position of the navigation system 6. When the bottom end of the guide rod 3 moves close to the bottom of the lifting base 1, the stop block 17 at the bottom of the guide rod 3, being larger, will be detected by the second sensor 16, causing the drive rod 5 to stop moving and preventing the bottom of the guide rod 3 from colliding with the bottom of the lifting base 1 and damaging the lifting base 1 or the guide rod 3. At least one second sensor 16 should be installed, and two are best, to prevent one of the sensors, especially the bottom sensor, from malfunctioning and causing the bottom of the guide rod 3 to collide with the bottom of the lifting base 1.

[0028] Since the guide rod 3 is positioned opposite the body bracket 21, and the drive rod 5 acts on the middle position of the bottom of the second connecting plate 8, when the drive rod 5 pushes the second connecting plate 8 to move, the second connecting plate 8 easily generates torque on the guide rod 3, causing the guide rod 3 to jam inside the guide member 4. Therefore, a pull rod support 14 is provided at the bottom of the second connecting plate 8. The pull rod support 14, the sensing element 10, and the connecting support 11 are located on the same straight line, and a rotating rod 15 is connected between the pull rod support 14, the sensing element 10, and the connecting support 11. The two ends of the rotating rod 15 are respectively connected to the connecting support 11 and the pull rod support 14, and the middle of the rotating rod 15 is pivoted at the sensing element 10. The connecting hole on the connecting support 11 is a straight hole 12, and the drive rod 5 is connected to the straight hole 12 through a connecting shaft 13. The lateral movement of the connecting shaft 13 can slide to a certain extent within the straight hole 12, thereby allowing the rotating rod 15 to rotate slightly. When the drive rod 5 descends, it pulls the connecting support 11 downwards, generating a downward force on the second connecting plate 8. This causes the second connecting plate 8 to exert a downward torque on the guide rod 3 along its axial direction. Since the connecting hole 12 on the connecting support 14 is a straight hole, the drive rod 5 also pulls the rotating rod 15 downwards. Because the rotating rod 15 is connected to the drive rod 5 and the pull rod support 14 at both ends, with the sensing element 10 as the pivot point, when the rotating rod 15 is pulled down by the drive rod 5, it generates an upward force on the pull rod support 14. This causes the second connecting plate 8 to exert an upward torque on the guide rod 3 along its axial direction, thus pulling the guide rod 15 downwards. The downward torque along the axial direction of rod 3 is canceled out. When the drive rod 5 moves upward, it pushes the connecting support 11 upward, which generates an upward force on the second connecting plate 8. This causes the second connecting plate 8 to generate an upward torque along the axial direction of the guide rod 3. Simultaneously, the upward movement of the drive rod 5 causes the rotating rod 15 to generate a downward force on the pull rod support 14, which in turn generates a downward force on the second connecting plate 8. This causes the second connecting plate 8 to generate a downward torque along the axial direction of the guide rod 3, thus canceling out the upward torque along the axial direction of the guide rod 3. This ensures that the guide rod 3 is not affected by torque in its direction of movement, improves the smoothness of the guide rod 3's movement, and avoids jamming. The sensing element 10 serves as both the signal transmitter of the first sensor 9 and the fulcrum of the rotating rod 15, saving on the arrangement of redundant structures and simplifying the device structure. At the same time, the setting of the rotating rod 15 does not affect the reception of the signal from the first sensor 9. The connecting hole of the connecting support 11 is a straight hole 12, and the connecting shaft 13 is a cylindrical shaft. The connecting shaft 13 can slide laterally in the straight hole 12. The connecting support 11 is connected to the drive rod 5 through the connecting shaft 13 and the straight hole 12, so that a buffer margin can be generated between the drive rod 5 and the second connecting plate 8, avoiding rigid impact between the drive rod and the second connecting plate 8 and the connecting support 11 when the drive rod is started.

Claims

1. A forklift-type AGV navigation and lifting system, characterized in that, It includes a lifting base and a lifting mechanism. The lifting base is slidably connected to a guide rod via a guide member. The bottom end of the guide rod can move from the bottom of the vehicle body to the top. The lifting mechanism includes a drive rod. The top end of the drive rod is connected to a navigation system. The bottom end of the drive rod can move from the bottom of the vehicle body to the top. The lifting base includes a second connecting plate. The bottom of the second connecting plate is provided with a connecting support, a sensing element, and a pull rod support. The pull rod support, the sensing element, and the connecting support are located on the same straight line. A rotating rod is connected between the pull rod support, the sensing element, and the connecting support. The two ends of the rotating rod are respectively connected to the connecting support and the pull rod support. The rotating rod rotates with the sensing element as the fulcrum. The drive rod is connected to the straight hole on the connecting support and can pull the rotating rod to move.

2. The forklift-type AGV navigation and lifting system according to claim 1, characterized in that, The lifting base includes a first connecting plate, and both the first and second connecting plates are provided with guides.

3. The forklift-type AGV navigation and lifting system according to claim 2, characterized in that, The first connecting plate has a first sensor on its top, and the second connecting plate has a sensing element at its bottom corresponding to the first sensor.

4. The forklift-type AGV navigation and lifting system according to claim 3, characterized in that, The connecting support is provided with a straight hole, and the connecting support is connected to the drive rod through the connecting shaft and the straight hole.

5. The forklift-type AGV navigation and lifting system according to claim 4, characterized in that, The bottom of the second connecting plate is also provided with a tie rod support corresponding to the connecting support, and a rotating rod with the sensing element as the fulcrum is rotatably connected between the connecting shaft and the tie rod support.

6. The forklift-type AGV navigation and lifting system according to claim 5, characterized in that, The bottom of the lifting base is equipped with at least one second sensor aligned with the guide rod.

7. A forklift-type AGV navigation and lifting system according to any one of claims 2 to 5, characterized in that, The bottom of the guide rod is provided with a stop block, and the ring diameter of the stop block is larger than the hole diameter of the guide member.

8. A forklift-type AGV navigation and lifting system according to any one of claims 1 to 5, characterized in that, The navigation system includes a navigator, which is fixed on a navigation mounting base, and the navigation system is elastically connected to the top of the second connecting plate.

9. A forklift-type AGV navigation and lifting system according to any one of claims 1 to 5, characterized in that, It also includes a vehicle body support, on which at least two sets of fixing devices for the lifting mechanism are provided.

10. A forklift-type AGV navigation and lifting system according to claim 8, characterized in that, The lifting base is fixed to the top of the vehicle body support.

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