Safe anti-collision obstacle avoidance mechanism applied to end part of fork arm of AGV (Automatic Guided Vehicle) of forklift
By designing a safety anti-collision obstacle avoidance mechanism for the end of the forklift AGV wishbone, smooth guidance is achieved using the bearing guide telescopic structure and telescopic block, the low safety problem caused by step gaps in the prior art is solved, and the operation safety is improved and maintenance costs are reduced.
Patent Information
- Application Number
- CN202411990185.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-31
- Publication Date
- 2025-03-14
AI Technical Summary
There are many step gaps in the anti-collision and obstacle avoidance mechanism at the end of the existing fork arm, which is easy to scratch and get stuck with the goods, resulting in low operating safety of the forklift AGV.
A safety collision avoidance mechanism including a mechanism body, a bearing guide telescopic structure and a telescopic block are designed. The mechanism body is connected to the end of the fork arm, and smooth guidance is achieved through the bearing guide telescopic structure and a telescopic block to avoid step gaps.
Through the smooth guide structure, the risk of foreign objects being scratched and stuck is avoided, the operation safety of the forklift AGV is improved, and the maintenance and use cost is reduced.
Smart Images
Figure CN119612425A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of intelligent logistics technology, and in particular to a safety anti-collision and obstacle avoidance mechanism applied to the end of a forklift AGV fork arm. Background Art
[0002] With the development of the forklift industry and the AGV (Automated Guided Vehicle) industry, forklift AGV has gradually become an important core part of the intelligent logistics handling system and is widely used in factory workshops, warehouses, circulation centers and distribution centers. Most forklift AGVs have the characteristics of large size and weight, high operating height and strong driving power, so their safety cannot be ignored. Therefore, forklift AGV needs to be equipped with more safety devices. The forklift fork arm is the direct execution unit during operation, and the safety design of the fork arm part is particularly important.
[0003] Some existing anti-collision and obstacle avoidance mechanisms at the ends of fork arms realize the extension and retraction of the mechanisms through bushing guidance, detect contact-type obstacle avoidance through micro switches, and detect non-contact-type obstacle avoidance through photoelectric sensors.
[0004] However, the existing anti-collision and obstacle avoidance mechanism at the end of the fork arm itself has many large step gaps, which are very easy to be scratched and stuck with the goods when the AGV picks up and puts goods, resulting in low operating safety of the forklift AGV. Summary of the invention
[0005] The present application aims to provide a safe anti-collision and obstacle avoidance mechanism applied to the fork arm end of a forklift AGV to improve the operation safety of the forklift AGV. This is mainly achieved through the following technical solutions: The present application provides a safety anti-collision and obstacle avoidance mechanism applied to the fork arm end of a forklift AGV, comprising: a mechanism body, one side of the mechanism body is connected to the fork arm end, and the other side is a rectangular opening with a rectangular cross-section, and the rectangular opening is chamfered on all sides; a bearing-guided telescopic structure is installed inside the mechanism body, one end of the bearing-guided telescopic structure is installed on the inner side wall of the mechanism body, and the other end is installed with a telescopic block; the outer surface of the telescopic block is in sliding contact with the inner surface of the rectangular opening.
[0006] In a preferred technical solution, one side of the mechanism body connected to the fork arm end is a slope structure, and the slope angle of the slope structure matches the slope angle of the fork arm end.
[0007] In a preferred technical solution, the bearing guide telescopic structure includes: a concave bearing fixing block, the concave ends of the bearing fixing block are respectively fixedly installed with linear bearings on the front and rear sides, and the linear bearing is penetrated by a guide shaft; the first end of the guide shaft is installed with a front limit end cover, the second end of the guide shaft is connected to the telescopic block, and the front limit end cover is installed on the inner wall of the mechanism body; a compression spring is provided between the bearing fixing block and the telescopic block, and the guide shaft penetrates the compression spring; a slot-type photoelectric switch is installed on the bearing fixing block; an induction sheet is installed on the telescopic block; when the compression spring is in an initial relaxed state, the end of the induction sheet is in inductive contact with the slot-type photoelectric switch.
[0008] In a preferred technical solution, the outer surface of the guide shaft is in sliding contact with the inner surface of the linear bearing.
[0009] In a preferred technical solution, the bearing guide telescopic structure further includes: a rear limit screw installed on the bearing fixing block.
[0010] In a preferred technical solution, the bearing guide telescopic structure further includes: a diffuse reflection photoelectric switch installed on the telescopic block.
[0011] In a preferred technical solution, a clearance groove is provided in front of the telescopic block; and the diffuse reflection photoelectric switch is located in the clearance groove.
[0012] In a preferred technical solution, a telescopic baffle is fitted in front of the telescopic block, and the telescopic baffle is provided with a through hole, and the shape and size of the through hole match the air avoidance groove.
[0013] In a preferred technical solution, the edge of the telescopic baffle is chamfered.
[0014] In a preferred technical solution, the size of the telescopic baffle matches the rectangular opening.
[0015] The safety anti-collision and obstacle avoidance mechanism described in the present application has a main body of the mechanism that is away from the side of the fork arm end of the forklift AGV, that is, the front side of the safety anti-collision and obstacle avoidance mechanism, which is designed as a rectangular opening with a rectangular cross-section, and the rectangular opening is chamfered on all sides, so that the port on the front side of the safety anti-collision and obstacle avoidance mechanism is smoother. When the forklift AGV picks up and puts goods, the end of the AGV fork arm encounters foreign objects, and the foreign objects fall onto the safety anti-collision and obstacle avoidance mechanism, which is conducive to guiding the foreign objects out through the smooth section on the front side of the mechanism, making it difficult for the mechanism to be scratched by foreign objects and become ineffective, thereby improving the operating safety of the forklift AGV.
[0016] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present application, nor is it intended to limit the scope of the present application. Other features of the present application will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS
[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.
[0018] Figure 1 A side perspective schematic diagram of a safety anti-collision and obstacle avoidance mechanism applied to the end of a forklift AGV fork arm provided in an embodiment of the present application; Figure 2 A front view of a safety anti-collision and obstacle avoidance mechanism applied to the end of a forklift AGV fork arm provided in an embodiment of the present application; Figure 3 A schematic diagram of the structure in which the safety anti-collision and obstacle avoidance mechanism provided in an embodiment of the present application is installed at the end of the fork arm of a forklift AGV; Figure 4 A schematic diagram of the cross-sectional structure of the mechanism body provided in the embodiment of the present application; Figure 5 A front perspective schematic diagram of a safety anti-collision and obstacle avoidance mechanism applied to the end of a forklift AGV fork arm provided in an embodiment of the present application; Figure 6 An exploded diagram of the structure of a safety anti-collision and obstacle avoidance mechanism applied to the end of the fork arm of a forklift AGV provided in an embodiment of the present application; Figure ID: Fork arm end-A; mechanism body-100; first side plate-101; second side plate-102; upper inclined plate-103; bottom plate-104; screw hole-105; cube opening-106; rectangular opening-107; bearing fixing block-200; telescopic block-300; air avoidance groove-301; telescopic baffle-400; through hole-401; two guide shafts-500; linear bearing-600; front limit end cover-700; compression spring-800; slot-type photoelectric switch-900; induction sheet-1000; diffuse reflection photoelectric switch-1100; rear limit screw-1200. DETAILED DESCRIPTION
[0019] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.
[0020] See also Figure 1 , Figure 1 A side perspective schematic diagram of a safety anti-collision and obstacle avoidance mechanism applied to the end of the fork arm of a forklift AGV provided in an embodiment of the present application. Figure 1 As shown, the safety anti-collision and obstacle avoidance mechanism comprises a mechanism body (100), a bearing guide telescopic structure and a telescopic block (300).
[0021] The first side of the mechanism body (100) is connected to the end of the fork arm of the forklift AGV, and the second side of the mechanism body (100) is slidably connected to the telescopic block (300). The opening of the second side is a rectangular opening with a rectangular cross section, and the outer surface of the telescopic block (300) is in sliding contact with the inner surface of the rectangular opening. The first end of the telescopic block (300) is the end that contacts the cargo, that is, the front end of the safety anti-collision and obstacle avoidance mechanism; the second end of the telescopic block (300) is located inside the mechanism body (100), and the second end of the telescopic block (300) is fixedly connected to the bearing-guided telescopic structure. When the front end of the telescopic block (300) touches the cargo, it is subjected to the relative squeezing force of the cargo, and the telescopic block (300) slides along the inner surface of the rectangular opening toward the inside of the mechanism body (100). The bearing-guided telescopic structure provides a motion source force and space for the sliding displacement of the telescopic block (300). The third end of the bearing-guided telescopic structure is fixedly connected to the second end of the telescopic block (300), and the fourth end of the bearing-guided telescopic structure is fixedly mounted on the inner wall of the mechanism body (100). Before the front end of the telescopic block (300) touches the goods, when the front end of the telescopic block (300) is not subjected to the relative squeezing force of the goods, the bearing-guided telescopic structure provides a motion source force to the telescopic block (300), so that the front end of the telescopic block (300) and the rectangular opening always maintain a certain sliding distance, and the sliding distance is the space provided by the telescopic block (300) for sliding displacement into the mechanism body (100). As described above, the embodiment of the present application can detect the sliding displacement information of the telescopic block (300) toward the inside of the mechanism body (100), thereby determining whether the front end of the telescopic block (300) in front of the safety anti-collision and obstacle avoidance mechanism touches the goods. If the front end of the telescopic block (300) touches the goods (or other objects), the operating parameters of the forklift AGV are adjusted through the data processing center of the forklift AGV to control the operation of the forklift AGV, such as deceleration, backward or steering operations. In this way, the purpose of contact obstacle avoidance state detection of the safety anti-collision and obstacle avoidance mechanism is achieved.
[0022] In addition, the rectangular opening is chamfered on all sides. When the forklift AGV picks up and places goods, the end of the AGV fork arm encounters foreign objects, and the foreign objects fall onto the safety anti-collision and obstacle avoidance mechanism, which is conducive to guiding the foreign objects out through the smooth section on the front side of the mechanism, thereby preventing the mechanism from being scratched and stuck by foreign objects and causing failure, thereby improving the operation safety of the forklift AGV. The front end of the telescopic block (300) includes a rectangular end face, the size and shape of which match the rectangular opening, so that when the front end of the telescopic block (300) touches the goods and is subjected to a relative squeezing force, assuming that the force is large enough and lasts long enough, the front end of the telescopic block (300) is subjected to the squeezing force and slides into the inside of the mechanism body (100) to the position of the rectangular opening. Due to the obstruction of the rectangular opening, the front end of the telescopic block (300) cannot continue to slide into the inside of the mechanism body (100). In some feasible embodiments, the size and shape of the rectangular end face match the rectangular opening, and specifically, the size and shape of the rectangular end face are exactly the same as the size and shape of the rectangular opening, so that when the rectangular end face at the front end of the telescopic block (300) is pushed to the position of the rectangular opening by the squeezing force of the goods, the rectangular end face at the front end of the telescopic block (300) can completely and just cover the rectangular opening. At the same time, the rectangular opening can also have a limiting function to limit the maximum displacement space of the front end of the telescopic block (300) slidingly displaced into the inside of the mechanism body (100). A specific implementation method can be: a telescopic baffle (400) is fitted on the front end of the telescopic block (300), and the telescopic baffle (400) moves with the telescopic block (300). The telescopic baffle (400) is conducive to protecting the telescopic block (300) and avoiding the problem that the front end of the telescopic block (300) is damaged due to collision, friction, etc. when it touches the goods. The telescopic baffle (400) not only protects the front end of the telescopic block (300), but also, even if the front end of the telescopic block (300) is damaged due to collision, friction, etc. when touching the goods, the telescopic baffle (400) can be directly removed for repair or replacement without the need to maintain the entire safety anti-collision and obstacle avoidance mechanism, thereby reducing the use and maintenance costs. The size and shape of the telescopic baffle (400) are exactly the same as the size and shape of the rectangular opening, so that when the telescopic baffle (400) at the front end of the telescopic block (300) is pushed to the position of the rectangular opening by the squeezing force of the goods, the telescopic baffle (400) can completely and just cover the rectangular opening; and the edge of the telescopic baffle (400) is also chamfered.
[0023] As described above, the rectangular opening with chamfered edges and the telescopic baffle (400) with chamfered edges constitute a smooth guiding structure, and at the same time, the outer surface of the telescopic block (300) is in sliding contact with the inner surface of the rectangular opening. Therefore, the entire safety anti-collision and obstacle avoidance mechanism itself does not have any obvious step gaps, so it has higher reliability when the forklift AGV picks up and puts goods, avoiding the problem of easy scratching and jamming with the goods due to multiple large step gaps in the mechanism itself. In addition, the entire safety anti-collision and obstacle avoidance mechanism can be independently removed from the end of the forklift AGV fork arm through the first side of the mechanism body (100), so the safety anti-collision and obstacle avoidance mechanism is completely decoupled from the end of the forklift AGV fork arm. Therefore, the safety anti-collision and obstacle avoidance mechanism described in the embodiment of the present application has a high degree of modularization, can be stored and sold independently, and is also conducive to the subsequent replacement and maintenance of the safety anti-collision and obstacle avoidance mechanism, reducing the use and maintenance costs of the forklift AGV. Furthermore, the mechanism body (100) serves as a protective shell of the safety anti-collision and obstacle avoidance mechanism, so that the internal space of the entire safety anti-collision and obstacle avoidance mechanism itself is relatively closed, and the mechanism body (100) is an integrally formed steel structure, which has high protection and is not easy to be damaged. Furthermore, the above-mentioned smooth guide structure is conducive to guiding out foreign objects that fall on the safety anti-collision and obstacle avoidance mechanism, thereby avoiding the problem that the safety anti-collision and obstacle avoidance mechanism installed at the end of the AGV fork arm is scratched and stuck by foreign objects and fails when the forklift AGV picks up and puts goods, thereby improving the operating safety of the forklift AGV.
[0024] See also Figure 2 and 3 , Figure 2 A front view of a safety anti-collision and obstacle avoidance mechanism applied to the end of a forklift AGV fork arm provided in an embodiment of the present application; Figure 3 This is a schematic diagram of the structure of the safety anti-collision and obstacle avoidance mechanism provided in the embodiment of the present application installed at the end of the forklift AGV fork arm. Figure 2 and 3 As shown, the mechanism body (100) includes two parts, namely a first part and a second part, wherein the first part includes a first side connected to the fork arm end (A), and the second part is an integrally formed and internally hollow cube, which may be a steel structure, and the cube lacks one of the bottoms, so that the cube has an opening, which is recorded as the cube opening, and the other bottom of the cube serves as the inner side wall of the mechanism body (100). It should be noted that the first part is welded to the second part, thereby reducing the step gap of the safety anti-collision and obstacle avoidance mechanism itself and increasing the stability and protection of the safety anti-collision and obstacle avoidance mechanism.
[0025] See also Figure 4 , Figure 4 This is a schematic diagram of the cross-sectional structure of the mechanism body provided in the embodiment of the present application. Figure 4 As shown, the size of the cube can be 5 cm long, 4 cm wide, and 2 cm high, and the thickness of all the steel structures is 0.5 cm. The bottom size of the inner side wall of the mechanism body (100) is 4 cm long and 2 cm wide, that is, one side of the cube serves as the inner side wall; the side with an opening, that is, the size of the cube opening (106) is also 4 cm long and 2 cm wide, but because the edges of the cube opening (106) are chamfered, the size of the rectangular opening (107) with chamfered edges is smaller than the outer size of the edge of the cube opening (106). In a more preferred embodiment, the size and shape of the telescopic baffle (400) should be the same as those of the rectangular opening (107), so that the smooth guide structure formed by this is more conducive to guiding out foreign matter.
[0026] See also Figure 5 , Figure 5 This is a front perspective schematic diagram of a safety anti-collision and obstacle avoidance mechanism applied to the end of the fork arm of a forklift AGV provided in an embodiment of the present application. Figure 5 As shown, the first part includes a first side plate (101), a second side plate (102) and an upper inclined plate (103), and the first side plate (101), the second side plate (102) and the upper inclined plate (103) are all welded to the second part. The second part includes a bottom plate (104), which is the bottom of the cube serving as the inner wall of the mechanism body (100). Figure 2 As shown, the upper inclined plate (103) has a first horizontal upward inclination angle relative to the mechanism body (100), and the first inclination angle matches a second inclination angle of the fork arm end of the forklift AGV that is tilted downward, so that when the safety anti-collision and obstacle avoidance mechanism is connected to the fork arm end (A), the lower surface of the upper inclined plate (103) and the downward inclined surface of the fork arm end (A) are just in contact, and there is no obvious step gap, which has higher reliability when the AGV picks up and puts goods. The specific value of the first inclination angle of the upper inclined plate (103) relative to the mechanism body (100) is set according to the actual application scenario, depending on the second inclination angle of the fork arm end of the forklift AGV that is tilted downward; for example, if the second inclination angle of the fork arm end of the forklift AGV that is tilted downward is 12°, then the first inclination angle of the upper inclined plate (103) relative to the mechanism body (100) is also set to 12°, so that the step gap on the safety anti-collision and obstacle avoidance mechanism itself can be reduced as much as possible when the two are installed in contact.
[0027] On the other hand, the upper inclined plate (103) forms a section of the inclined structure. Such a design makes the safety anti-collision and obstacle avoidance mechanism as a whole lower than the upper surface of the fork arm of the forklift AGV, thereby avoiding a large load when carrying, and improving the service life of the safety anti-collision and obstacle avoidance mechanism. It is understandable that a plurality of screw holes (105) are also distributed on the first side plate (101), the second side plate (102) and the upper inclined plate (103). The screw holes (105) are used to be fixed with the end of the fork arm of the forklift AGV by bolts, thereby enhancing the stability and protection of the safety anti-collision and obstacle avoidance mechanism.
[0028] See also Figure 6 , Figure 6 This is a structural explosion diagram of a safety anti-collision and obstacle avoidance mechanism applied to the end of the fork arm of a forklift AGV provided in an embodiment of the present application. Figure 6 As shown, the bearing guide telescopic structure comprises: a concave bearing fixing block (200), and linear bearings (600) are fixedly installed on the front and rear sides of the concave ends of the bearing fixing block (200), and the linear bearings (600) are made of PVB (Polyvinyl Butyral, polyvinyl alcohol butyral) plastic material, which is a synthetic resin obtained by condensation reaction of polyvinyl alcohol and butyraldehyde under the action of an acid catalyst. This polymer has many excellent properties such as good flexibility, adhesion and optical transparency. The safety anti-collision and obstacle avoidance mechanism is light in weight as a whole and has a low manufacturing cost; and does not interfere with the signal of the slot-type photoelectric switch (900) inside the mechanism. That is, the four linear bearings (600) are respectively installed on the front and rear sides of the bearing fixing block (200).
[0029] Two guide shafts (500) respectively penetrate the concave ends of the linear bearing (600) and the bearing fixing block (200) to realize the bearing telescopic guiding function. The outer surface of the guide shaft (500) and the inner surface of the linear bearing (600) are in sliding contact. In the embodiment of the present application, the telescopic guiding is realized by the relative sliding of the guide shaft (500) and the linear bearing (600). The guide shaft (500) and the linear bearing (600) are in surface contact, with good wear resistance, and the linear bearing (600) has the characteristic of self-lubrication, does not require maintenance, reduces subsequent maintenance costs, and is convenient for operation.
[0030] The first end of the guide shaft (500) is installed with a front limit end cover (700), and the front limit end cover (700) is installed on the inner wall of the mechanism body (100); when the telescopic stroke is used up, the front limit end cover (700) contacts the linear bearing (600) as a limit on one side of the telescopic movement. The bearing guide telescopic structure also includes a rear limit screw (1200) installed on the bearing fixing block (200); when the telescopic stroke is used up, the rear limit screw (1200) contacts the telescopic block (300) as a limit on the other side of the telescopic movement.
[0031] The second end of the guide shaft (500) is connected to the telescopic block (300), and two compression springs (800) are provided between the bearing fixing block (200) and the telescopic block (300). The guide shaft (500) passes through the compression springs (800), serving as a power source for resetting the telescopic movement.
[0032] The principle is that when the front end of the telescopic block (300) touches the goods, it is subjected to the relative squeezing force of the goods, and the telescopic block (300) slides along the inner surface of the rectangular opening into the interior of the mechanism body (100). Due to the presence of the compression spring (800), a motion source force and space are provided for the sliding displacement of the telescopic block (300). Before the front end of the telescopic block (300) touches the goods, when the front end of the telescopic block (300) is not subjected to the relative squeezing force of the goods, the compression spring (800) is in a relaxed state, providing a motion source force to the telescopic block (300), so that the front end of the telescopic block (300) and the rectangular opening always maintain a certain sliding distance, and the sliding distance is the space provided by the telescopic block (300) for sliding displacement into the interior of the mechanism body (100). When the front end of the telescopic block (300) touches the cargo, the telescopic block (300) is subjected to the relative squeezing force of the cargo and slides along the inner surface of the rectangular opening toward the inside of the mechanism body (100). Then, the telescopic block (300) squeezes the compression spring (800), so that the compression spring (800) is gradually in a compressed state. At the same time, due to the presence of the linear bearing (600) of the compression spring (800), the bearing fixing block (200) and the linear bearing (600) on the other side of the bearing fixing block (200) without the compression spring (800) are pushed to move along the guide shaft (500) toward the inner wall of the mechanism body (100). When the front limit end cover (700) contacts the linear bearing (600), it indicates that the telescopic stroke is exhausted, and the front limit end cover (700) serves as the first limit of the telescopic movement. Similarly, when the rear limit screw (1200) contacts the telescopic block (300), it indicates that the telescopic stroke is exhausted, and the rear limit screw (1200) serves as the second limit of the telescopic movement.
[0033] Specifically, the bearing guide telescopic structure may further include: a slot-shaped photoelectric switch (900) mounted on the bearing fixing block (200) and a sensing sheet (1000) mounted on the telescopic block (300). Before the front end of the telescopic block (300) touches the goods, when the front end of the telescopic block (300) is not subjected to the relative squeezing force of the goods, the compression spring (800) is in a relaxed state, i.e., a reset state, and the end of the sensing sheet (1000) is in inductive contact with the slot-shaped photoelectric switch (900), then the sensing sheet (1000) triggers a signal of the slot-shaped photoelectric switch (900). The slot-type photoelectric switch is an infrared sensing photoelectric product, a type of beam-type photoelectric switch, also called a U-type photoelectric switch. When the sensor sheet (1000) triggers the signal of the slot-type photoelectric switch (900), the slot-type photoelectric switch (900) is equivalent to its light emitter being powered on. After the light emitter is powered on, a beam of infrared or visible light is emitted. The light propagates along the optical slot to form an optical axis. At this time, the end of the sensor sheet (1000) is inductively contacted with the slot-type photoelectric switch (900). The light is absorbed or scattered by the sensor sheet (1000), causing the light signal received by the receiver to weaken or disappear. The receiver converts the light signal change into an electrical signal, which is amplified and transmitted to the control circuit. After the control circuit processes and judges, it outputs a trigger signal, and transmits the trigger signal to the data processing center of the forklift AGV through a network connection. When the data processing center of the forklift AGV continues to receive the trigger signal, it indicates that the front end of the telescopic block (300) has not touched the goods.
[0034] When the telescopic block (300) in front of the safety anti-collision and obstacle avoidance mechanism touches an object and is squeezed, the telescopic block (300) telescopes into the body (100) of the mechanism. At this time, the end of the sensing sheet (1000) moves in a direction away from the slot-type photoelectric switch (900), resulting in the end of the sensing sheet (1000) no longer being in inductive contact with the slot-type photoelectric switch (900). The light emitted by the light emitter is not absorbed or scattered by the sensing sheet (1000), resulting in no change in the light signal received by the receiver, no electrical signal is generated, and no trigger signal is output, i.e., the signal of the slot-type photoelectric switch (900) is lost. When the data processing center of the forklift AGV fails to receive the trigger signal, it indicates that the front end of the telescopic block (300) currently touches the goods. The embodiment of the present application detects whether a trigger signal of the slot-shaped photoelectric switch (900) exists, thereby determining whether the telescopic block (300) in front of the safety anti-collision and obstacle avoidance mechanism touches an object, thereby achieving contact-type obstacle avoidance state detection of the entire safety anti-collision and obstacle avoidance mechanism.
[0035] In some feasible embodiments, the bearing-guided telescopic structure further comprises a diffuse reflection photoelectric switch (1100) mounted on the telescopic block (300), and the diffuse reflection photoelectric switch (1100) moves with the telescopic displacement of the telescopic block (300). A clearance groove (301) is provided in front of the telescopic block (300); the diffuse reflection photoelectric switch (1100) is located in the clearance groove (301). The diffuse reflection photoelectric switch (1100) irradiates the front of the safety anti-collision and obstacle avoidance mechanism through the clearance groove (301), and the diffuse reflection photoelectric switch has a light emitter (usually an infrared light-emitting diode) and a receiver (a photodiode or a phototransistor) inside. The light emitted by the light emitter is directed toward the detection object, and when the object appears in the detection area, the light is diffusely reflected on the surface of the object. A portion of the reflected light is returned and received by the receiver. The receiver converts the received optical signal into an electrical signal recorded as a diffuse reflection electrical signal, and transmits the diffuse reflection electrical signal to a data processing center of the forklift AGV via a network connection. The data processing center of the forklift AGV performs calculations based on the received diffuse reflection electrical signal to obtain the reflected light intensity corresponding to the diffuse reflection electrical signal, and then determines whether the reflected light intensity meets a preset condition through a preset light intensity threshold. If the reflected light intensity meets the preset condition, it is determined that there is cargo at the front end of the telescopic block (300); otherwise, it is determined that there is currently no cargo at the front end of the telescopic block (300).
[0036] In the embodiment of the present application, a diffuse reflection photoelectric switch (1100) installed on the telescopic block (300) detects whether there is an obstacle in front of the safety anti-collision and obstacle avoidance mechanism. If it is determined that there is cargo (obstacle) in front of the telescopic block (300), the operating parameters of the forklift AGV are adjusted through the data processing center of the forklift AGV to control the operation of the forklift AGV, such as deceleration, backward movement or steering. In this way, the purpose of non-contact obstacle avoidance state detection of the safety anti-collision and obstacle avoidance mechanism is achieved.
[0037] As described above, it can be understood that the telescopic baffle (400) is provided with a through hole (401), and the shape and size of the through hole (401) match the air avoidance groove (301). Figure 6As shown, the diffuse reflection photoelectric switch (1100) located in the air avoidance groove (301) can just illuminate the front of the safety anti-collision and obstacle avoidance mechanism through the through hole (401). Compared with the method of using transparent protective materials, the embodiment of the present application designs the through hole (401) to match the shape and size of the air avoidance groove (301), so that the diffuse reflection photoelectric switch (1100) can better illuminate the front of the safety anti-collision and obstacle avoidance mechanism, and the detection accuracy of whether there is an obstacle in front of the safety anti-collision and obstacle avoidance mechanism is higher and more sensitive, thereby improving the non-contact obstacle avoidance state detection quality and detection efficiency of the safety anti-collision and obstacle avoidance mechanism.
[0038] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of protection involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. For example, the above features are replaced with the technical features with similar functions disclosed in this application (but not limited to) by each other.
Claims
1. A safety anti-collision and obstacle avoidance mechanism applied to the end of the fork arm of a forklift AGV, characterized in that: include: A mechanism body (100), wherein one side of the mechanism body (100) is connected to the end of the fork arm, and the other side is a rectangular opening with a rectangular cross section, and the rectangular opening is chamfered on all sides; A bearing-guided telescopic structure is installed inside the mechanism body (100); one end of the bearing-guided telescopic structure is installed on the inner wall of the mechanism body (100), and the other end is installed with a telescopic block (300); The outer surface of the telescopic block (300) is in sliding contact with the inner surface of the rectangular opening.
2. A safety anti-collision and obstacle avoidance mechanism applied to the fork arm end of a forklift AGV as claimed in claim 1, characterized in that: One side of the mechanism body (100) connected to the end of the fork arm is a slope structure, and the slope angle of the slope structure matches the slope angle of the end of the fork arm.
3. A safety anti-collision and obstacle avoidance mechanism applied to the fork arm end of a forklift AGV as claimed in claim 2, characterized in that: The bearing guide telescopic structure comprises: A concave bearing fixing block (200), wherein linear bearings (600) are fixedly mounted on both ends of the concave shape of the bearing fixing block (200) at the front and rear sides respectively, and a guide shaft (500) is provided through the linear bearing (600); a front limit end cover (700) is installed at the first end of the guide shaft (500), the second end of the guide shaft (500) is connected to the telescopic block (300), and the front limit end cover (700) is installed on the inner side wall of the mechanism body (100); a compression spring (800) is provided between the bearing fixing block (200) and the telescopic block (300), and the guide shaft (500) passes through the compression spring (800); A slot-shaped photoelectric switch (900) is mounted on the bearing fixing block (200); a sensing sheet (1000) is mounted on the telescopic block (300); and when the compression spring (800) is in an initial relaxed state, an end of the sensing sheet (1000) is in sensing contact with the slot-shaped photoelectric switch (900).
4. A safety anti-collision and obstacle avoidance mechanism applied to the end of the fork arm of a forklift AGV as claimed in claim 3, characterized in that: The outer surface of the guide shaft (500) and the inner surface of the linear bearing (600) are in sliding contact.
5. A safety anti-collision and obstacle avoidance mechanism applied to the end of the fork arm of a forklift AGV as claimed in claim 4, characterized in that: The bearing guide telescopic structure also includes: A rear limit screw (1200) is mounted on the bearing fixing block (200).
6. A safety anti-collision and obstacle avoidance mechanism applied to the end of the fork arm of a forklift AGV as claimed in any one of claims 3 to 5, characterized in that: The bearing guide telescopic structure also includes: A diffuse reflection photoelectric switch (1100) mounted on the telescopic block (300).
7. A safety anti-collision and obstacle avoidance mechanism applied to the end of the fork arm of a forklift AGV as claimed in claim 6, characterized in that: A clearance groove is provided in front of the telescopic block (300); the diffuse reflection photoelectric switch (1100) is located in the clearance groove.
8. A safety anti-collision and obstacle avoidance mechanism applied to the end of the fork arm of a forklift AGV as claimed in claim 7, characterized in that: A telescopic baffle (400) is fitted in front of the telescopic block (300), and the telescopic baffle (400) is provided with a through hole, the shape and size of the through hole matching the air avoidance groove.
9. A safety anti-collision and obstacle avoidance mechanism applied to the end of the fork arm of a forklift AGV as claimed in claim 8, characterized in that: The edge of the telescopic baffle (400) is in a chamfered shape.
10. A safety anti-collision and obstacle avoidance mechanism applied to the end of the fork arm of a forklift AGV as claimed in claim 9, characterized in that: The size of the telescopic baffle (400) matches the rectangular opening.