AGV forklift for industrial explosive production workplace
By using laser navigation and a non-contact scanning mechanism, combined with a contact-type anti-collision design, the navigation error and collision risk of forklifts in explosives production sites are solved, enabling precise path planning and safety detection, and ensuring the safety of industrial explosives production.
Patent Information
- Application Number
- CN202511646609.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-11-11
- Publication Date
- 2025-12-23
AI Technical Summary
Existing forklifts lack sufficient path planning capabilities in industrial explosives production sites, are susceptible to dust interference, and experience excessive collision forces, resulting in large navigation errors and high collision risks, thus failing to meet stringent safety requirements.
It employs a laser navigation mechanism and a non-contact safety scanning mechanism, including a laser rangefinder and a reflector, in conjunction with a laser scanning sensor on an arc-shaped mounting plate, to achieve dynamic and three-dimensional scanning, covering the entire detection area, and is equipped with a contact-type anti-collision mechanism to ensure safety.
It enables precise path planning and comprehensive detection in explosives production sites, avoiding the risk of explosions caused by navigation errors and collisions, and ensuring the safety and accuracy of forklifts.
Smart Images
Figure CN121180907A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of forklift technology, specifically to an AGV forklift used in industrial explosives production sites. Background Technology
[0002] Industrial explosives production follows the principles of "minimum moving distance" and "fixed flow line". Material transfer paths within the workshop must avoid high-risk areas such as materials, finished explosives, production equipment and facilities, and personnel. Furthermore, the alignment error of material rack docking and transfer table loading and unloading must be strictly controlled within ±3mm. If this range is exceeded, it may cause explosive raw materials (such as ammonium nitrate granules) or explosives to spill or generate static sparks due to friction with metal material racks, directly triggering an explosion accident. However, the existing path planning capabilities of forklifts are completely inadequate to meet this requirement. This is primarily due to poor adaptability of navigation technology: the mainstream magnetic strip navigation systems on existing forklifts are easily covered by explosive dust or loose explosives (workshop dust concentrations often reach 5-10 mg / m³, which can cover the magnetic strip signal within 24 hours), leading to path deviations; QR code navigation requires cleaning the code surface every 2 hours, and personnel entering hazardous areas during cleaning increases safety risks. Secondly, in explosive production scenarios, excessive collision force can trigger a chain reaction of risks: at best, it can damage explosive packaging (e.g., composite film-packaged explosive cartridges are prone to cracks larger than 0.5 mm after a collision, and leaked powder may ignite and explode under external force); at worst, sparks generated by metal parts colliding can ignite surrounding explosives. However, the existing forklift anti-collision design is completely unsuitable for this high-risk requirement: existing forklifts mostly install laser scanning sensors at a single position at the front, with fixed installation locations and small detection ranges, failing to cover the forklift's path in a scanning manner. Summary of the Invention
[0003] The purpose of this invention is to overcome the shortcomings of the prior art and provide an AGV forklift for use in industrial explosives production sites, thereby addressing the deficiencies of the prior art.
[0004] The objective of this invention is achieved through the following technical solution: an AGV forklift for use in industrial explosives production sites, comprising an AGV forklift body and a laser navigation mechanism. The laser navigation mechanism includes a navigation housing, a laser rangefinder sensor, and a reflector. The navigation housing is fixed to the top of the AGV forklift body, and a navigation seat is rotatably mounted on the top of the navigation housing. The laser rangefinder sensor is mounted on the navigation seat. Several reflectors are spaced apart on both sides of the AGV forklift body's travel path. A non-contact safety scanning mechanism is provided on the front end face of the AGV forklift body. The non-contact safety scanning mechanism includes an arc-shaped mounting plate and a laser scanning sensor. The arc-shaped mounting plate is fixed to the AGV forklift body, and scanning seats are rotatably mounted on both ends of the arc-shaped mounting plate. The laser scanning sensor is mounted on the scanning seats.
[0005] Furthermore, a drive shaft and a transmission shaft are rotatably arranged inside the navigation housing. The bottom of the navigation base is fixed with a navigation shaft, which is rotatably connected to the navigation housing. A navigation gear is mounted on the navigation shaft. A first gear and a first intermittent gear are mounted on the transmission shaft. A second gear and a second intermittent gear are mounted on the drive shaft. The first gear meshes with the second gear, and the first intermittent gear and the second intermittent gear alternately mesh with the navigation gear. A navigation motor is installed at the bottom of the navigation housing, and the output shaft of the navigation motor is drivenly connected to the drive shaft.
[0006] Furthermore, a positioning rod is fixed to the side wall of the navigation shaft, and two mechanical positioning rods are provided on the inner wall of the navigation housing. The mechanical positioning rods are located on the rotation path of the positioning rods. When the positioning rod contacts one of the mechanical positioning rods, the first intermittent gear engages with the navigation gear and the second intermittent gear disengages from the navigation gear. When the positioning rod contacts the other mechanical positioning rod, the second intermittent gear engages with the navigation gear and the first intermittent gear disengages from the navigation gear.
[0007] Furthermore, a magnet is embedded at one end of the mechanical positioning rod near the positioning rod, and the magnet can magnetically attract the positioning rod.
[0008] Furthermore, the arc-shaped mounting plate is provided with an arc-shaped cavity, and a first drive shaft and a second drive shaft are rotatably arranged within the arc-shaped cavity. A scanning shaft is fixed on the scanning base, and the scanning shaft is rotatably connected to the arc-shaped mounting plate. A first pulley and a third gear are mounted on the first drive shaft, and a second pulley and a fourth gear are mounted on the second drive shaft. The third gear meshes with the fourth gear. A third pulley is mounted on the scanning shaft. The first pulley is connected to one of the third pulleys via a first synchronous belt, and the second pulley is connected to the other third pulley via a second synchronous belt.
[0009] Furthermore, a third drive shaft and a fourth drive shaft are rotatably arranged inside the arc-shaped cavity. A third intermittent gear and a fifth gear are mounted on the third drive shaft, and a fourth intermittent gear and a sixth gear are mounted on the fourth drive shaft. The sixth gear meshes with the fifth gear, and the third intermittent gear and the fourth intermittent gear alternately mesh with the third gear. A motor is mounted on the arc-shaped mounting plate, and the output shaft of the motor is connected to the third drive shaft.
[0010] Furthermore, multiple guide pulleys are provided on both sides of the first synchronous belt and both sides of the second synchronous belt, and the guide pulleys are used to adjust the arrangement path of the first synchronous belt and the second synchronous belt.
[0011] Furthermore, both the first and second synchronous belts are equipped with tensioning components on the side away from the AGV forklift body. The tensioning components include a tensioning slide and a tensioning pulley. The tensioning slide is slidably mounted on the arc-shaped mounting plate, and the tensioning pulley is rotatably mounted on the tensioning slide. Both the first and second synchronous belts pass around the corresponding tensioning pulleys.
[0012] Furthermore, the tensioning assembly also includes a screw, which is threaded onto an arc-shaped mounting plate, and the tail of the screw is rotatably connected to a tensioning slide via a bearing.
[0013] Furthermore, the front end face of the AGV forklift body is provided with a contact-type anti-collision mechanism, which includes an aluminum crossbar, a rubber sleeve, and conductive adhesive. The aluminum crossbar is fixed on the AGV forklift body, and the rubber sleeve is fitted onto the aluminum crossbar. A conductive space is formed inside the rubber sleeve, and two conductive adhesives are provided in the gap between the conductive space. The two conductive adhesives are respectively installed on the aluminum crossbar and the rubber sleeve.
[0014] The beneficial effects of this invention are: 1. The rotatable design of the navigation base, combined with reflectors on both sides of the path, allows the laser rangefinder to dynamically scan the surrounding environment. Compared to existing magnetic strip navigation (which is easily covered by dust) and QR code navigation (which requires frequent manual cleaning), this mechanism effectively avoids interference from the 5-10mg / m³ dust concentration in the explosives workshop through "active scanning + reflector positioning". The ranging error is controlled within ±2mm, which fully meets the ±3mm accuracy standard for material rack docking and transfer table loading and unloading. This fundamentally avoids the risk of explosion caused by misalignment, such as ammonium nitrate particles, explosive spillage, and electrostatic sparks from metal friction.
[0015] 2. The scanning mounts at both ends of the arc-shaped mounting plate can rotate, and together with the laser scanning sensor, they form a three-dimensional scanning range of "front end + side". Compared with the single fixed sensor of the existing forklift, this mechanism can cover a scanning area of 180° in front of the forklift and 60° on each side through the coordinated rotation of two laser scanning sensors. It can completely cover the equipment, facilities and inspection personnel and other "low / dynamic obstacles" of 1.2-1.5m on both sides of the explosive workshop passage, and completely eliminate the collision blind spot. Attached Figure Description
[0016] Figure 1 This is a schematic diagram of the structure of an AGV forklift used in an industrial explosives production site according to the present invention; Figure 2 This is a schematic diagram of the structure of an AGV forklift body in an AGV forklift used in an industrial explosives production site according to the present invention. Figure 1 ; Figure 3This is a schematic diagram of the structure of an AGV forklift body in an AGV forklift used in an industrial explosives production site according to the present invention. Figure 2 ; Figure 4 This is a schematic diagram of the internal structure of the navigation housing in an AGV forklift used in an industrial explosives production site according to the present invention. Figure 5 This is a schematic diagram of the internal structure of the arc-shaped mounting plate in an AGV forklift used in an industrial explosives production site according to the present invention. Figure 6 for Figure 5 Enlarged view of point A in the middle; Figure 7 This is a schematic diagram of a contact-type anti-collision mechanism in an AGV forklift used in an industrial explosives production site according to the present invention. In the diagram, 1-AGV forklift body, 2-navigation housing, 3-laser rangefinder sensor, 4-reflector, 5-navigation mount, 6-arc mounting plate, 7-laser scanning sensor, 8-scanning mount, 9-drive shaft, 10-drive shaft, 11-navigation shaft, 12-navigation gear, 13-first gear, 14-first intermittent gear, 15-second gear, 16-second intermittent gear, 17-navigation motor, 18-positioning rod, 19-mechanical positioning rod, 20-first drive shaft, 21-second drive shaft, 22-scanning shaft 23-First pulley, 24-Third gear, 25-Second pulley, 26-Fourth gear, 27-Third pulley, 28-First synchronous belt, 29-Second synchronous belt, 30-Third drive shaft, 31-Fourth drive shaft, 32-Third intermittent gear, 33-Fifth gear, 34-Fourth intermittent gear, 35-Sixth gear, 36-Motor, 37-Guide pulley, 38-Tensioning slide, 39-Tensioning pulley, 40-Screw, 41-Aluminum crossbar, 42-Rubber sleeve, 43-Conductive adhesive, 44-Conductive space. Detailed Implementation
[0017] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings, but the scope of protection of the present invention is not limited to the following description.
[0018] Example 1 like Figures 1 to 7As shown, an AGV forklift for use in industrial explosives production sites includes an AGV forklift body 1 and a laser navigation mechanism. The laser navigation mechanism includes a navigation housing 2, a laser rangefinder sensor 3, and reflectors 4. The navigation housing 2 is fixed to the top of the AGV forklift body 1, and a navigation seat 5 is rotatably mounted on the top of the navigation housing 2. The laser rangefinder sensor 3 is mounted on the navigation seat 5. Several reflectors 4 are arranged at intervals on both sides of the AGV forklift body 1's travel path. A non-contact safety scanning mechanism is provided on the front end of the AGV forklift body 1. The non-contact safety scanning mechanism includes an arc-shaped mounting plate 6 and a laser scanning sensor 7. The arc-shaped mounting plate 6 is fixed to the AGV forklift body 1, and scanning seats 8 are rotatably mounted on both ends of the arc-shaped mounting plate 6. The laser scanning sensor 7 is mounted on the scanning seats 8. The AGV forklift body 1 travels in the path planned by the reflectors 4 and passes through the navigation seats 5. The laser rangefinder 3 is driven to reciprocate, thereby continuously scanning the surrounding reflectors 4. By collecting the laser beams reflected by the reflectors 4, the current position and direction of the AGV forklift body 1 are determined. Specifically, the initial position of the AGV forklift body 1 is first determined, and the current position is determined by collecting the laser beams reflected by the reflectors 4 through the laser rangefinder 3. In addition to collecting the laser beams reflected by the nearest reflector 4, the laser rangefinder 3 can also collect the laser beams reflected by the reflector 4 in front, thereby obtaining the distance between the AGV forklift body 1 and the reflector 4 in front. This distance is used to plan the driving path of the AGV forklift body 1 in advance and to correct the current driving path of the AGV forklift body 1 in a timely manner. This process is repeated so that the AGV forklift body 1 can travel accurately according to the driving path, thereby avoiding the risk of explosion caused by alignment deviations, such as ammonium nitrate particles, explosive spills, and electrostatic sparks from metal friction. Secondly, the scanning mount 8 drives the laser scanning sensor 7 to detect the travel path range of the AGV forklift body 1 and determine whether there are obstacles in front. Through the coordinated rotation of the two laser scanning sensors, the scanning area of 180° in front of the forklift and 60° on each side can be covered, completely covering the "low / dynamic obstacles" such as equipment, facilities and inspection personnel on both sides of the explosive workshop passage of 1.2-1.5m, completely eliminating collision blind spots and ensuring the working safety of AGV forklifts in explosive production sites.
[0019] Example 2 Based on Example 1, such as Figures 1 to 4As shown, a drive shaft 9 and a transmission shaft 10 are rotatably mounted inside the navigation housing 2. A navigation shaft 11 is fixed to the bottom of the navigation base 5, and the navigation shaft 11 is rotatably connected to the navigation housing 2. A navigation gear 12 is mounted on the navigation shaft 11. A first gear 13 and a first intermittent gear 14 are mounted on the transmission shaft 10. A second gear 15 and a second intermittent gear 16 are mounted on the drive shaft 9. The first gear 13 meshes with the second gear 15, and the first intermittent gear 14 and the second intermittent gear 16 alternately mesh with the navigation gear 12. A navigation motor 17 is installed at the bottom of the navigation housing 2. The output shaft of the navigation motor 17 is connected to the drive shaft 9, which drives the drive shaft 9 to rotate. The drive shaft 9 drives the transmission shaft 10 to rotate through the meshing of the second gear 15 and the first gear 13. At the same time, the drive shaft 9 drives the second intermittent gear 16 to rotate. When the second intermittent gear 16 meshes with the navigation gear 12, the first intermittent gear 14 disengages from the navigation gear 12, and the second intermittent gear 16 drives the navigation shaft 12 to rotate. 1. When the second intermittent gear 16 meshes with the navigation gear 12, the first intermittent gear 14 meshes with the navigation gear 12. Since the rotation directions of the first intermittent gear 14 and the second intermittent gear 16 are opposite, the first intermittent gear 14 drives the navigation shaft 11 to rotate in the opposite direction and reset. When the first intermittent gear 14 separates from the navigation gear 12, the second intermittent gear 16 meshes with the navigation gear 12, causing the navigation seat 5 to rotate. This process repeats, causing the navigation seat 5 to drive the laser rangefinder 3 to perform reciprocating linear motion within a certain range. This allows the laser rangefinder 3 to continuously scan the reflector 4 in front, and to plan and correct the travel path of the AGV forklift body 1 in a timely manner. Since the rear of the AGV forklift body is an invalid detection area, the reciprocating deflection method avoids the laser rangefinder 3 from rotating, thus avoiding detection of the invalid detection area and achieving accurate scanning of the detection range. This allows for timely acquisition of travel data and also avoids the problem of winding when the laser rangefinder 3 rotates.
[0020] Example 3 Based on Example 2, such as Figures 1 to 4As shown, a positioning rod 18 is fixed to the side wall of the navigation shaft 11, and two mechanical positioning rods 19 are provided on the inner wall of the navigation housing 2. The mechanical positioning rods 19 are located on the rotation path of the positioning rod 18. When the positioning rod 18 contacts one of the mechanical positioning rods 19, the first intermittent gear 14 engages the navigation gear 12, and the second intermittent gear 16 disengages from the navigation gear 12. When the positioning rod 18 contacts the other mechanical positioning rod 19, the second intermittent gear 16 engages the navigation gear 12, and the first intermittent gear 14 disengages from the navigation gear 12. A magnet is embedded at one end of the mechanical positioning rod 19 near the positioning rod 18. The magnet can magnetically attract the positioning rod 18. During long-term operation... The meshing transmission of gears can lead to wear on the gears. On the one hand, this reduces the scanning angle range, and on the other hand, it causes the first intermittent gear 14 and the second intermittent gear 16 to separate from the navigation gear 12 prematurely, preventing the navigation gear 12 from deflecting into place and from properly meshing with the second intermittent gear 16 and the first intermittent gear 14. To address this, the attraction between the magnet and the positioning rod 18 can cause the navigation shaft 11 to move slightly, allowing the positioning rod 18 to smoothly contact the mechanical positioning rod 19. This enables the first intermittent gear 14 and the second intermittent gear 16 to smoothly mesh with the navigation gear 12, ensuring that the scanning angle range of the laser rangefinder 3 is not affected.
[0021] Example 4 Based on Example 3, such as Figures 1 to 6As shown, an arc-shaped cavity 19 is provided inside the arc-shaped mounting plate 6. A first drive shaft 20 and a second drive shaft 21 are rotatably mounted inside the arc-shaped cavity 19. A scanning shaft 22 is fixed on the scanning base 8 and is rotatably connected to the arc-shaped mounting plate 6. A first pulley 23 and a third gear 24 are mounted on the first drive shaft 20. A second pulley 25 and a fourth gear 26 are mounted on the second drive shaft 21. The third gear 24 meshes with the fourth gear 26. A third pulley 27 is mounted on the scanning shaft 22. The first pulley 23 is connected to one of the third pulleys 27 via a first synchronous belt 28. The second pulley 25 is connected to the other third pulley 27 via a second synchronous belt 29. The rotation of the first drive shaft 20 drives the first pulley 23 and the third gear 24 to rotate. The first drive shaft 20 is connected to... The meshing of the third gear 24 and the fourth gear 26 drives the second drive shaft 21 to rotate. The second drive shaft 21 drives the second pulley 25 to rotate. The first pulley 23 drives one of the third pulleys 27 through the first synchronous belt 28. The second pulley 25 drives the other third pulley 27 to rotate through the second synchronous belt 29. This causes the two scanning shafts 22 to drive the scanning base 8 to rotate, which in turn drives the two laser scanning sensors 7 to rotate. This is used to scan and detect the road conditions around the AGV forklift body 1. Through the coordinated rotation of the two laser scanning sensors 7, a scanning area of 180° in front of the forklift and 60° to each side can be covered, completely covering the equipment, facilities, inspection personnel, and other "low / dynamic obstacles" of 1.2-1.5m on both sides of the explosive workshop passage, completely eliminating collision blind spots.
[0022] Example 5 To avoid increasing detection time by having the laser scanning sensor scan the invalid area behind the AGV forklift body 1, therefore, based on Example 4, as follows: Figures 1 to 6As shown, a third drive shaft 30 and a fourth drive shaft 31 are rotatably mounted inside the arc-shaped cavity 19. A third intermittent gear 32 and a fifth gear 33 are mounted on the third drive shaft 30, and a fourth intermittent gear 34 and a sixth gear 35 are mounted on the fourth drive shaft 31. The sixth gear 35 meshes with the fifth gear 33, and the third intermittent gear 32 and the fourth intermittent gear 34 alternately mesh with the third gear 24. A motor 36 is mounted on the arc-shaped mounting plate 6. The output shaft of the motor 36 is connected to the third drive shaft 30. The motor 36 drives the third drive shaft 30 to rotate, which in turn drives the third intermittent gear 32 and the fifth gear 33 to rotate. The meshing of the fifth gear 33 and the sixth gear 35 drives the fourth drive shaft 31 to rotate. When the third intermittent gear 32 meshes with the third gear 24, the fourth intermittent gear 34 disengages from the third gear 24, thereby causing the first drive shaft 20 to deflect. At a certain angle, the first drive shaft 20 drives the second drive shaft 21 to deflect in the opposite direction by a certain angle, thereby causing the two laser scanning sensors 7 to deflect in opposite directions. When the fourth intermittent gear 34 meshes with the third gear 24, the third intermittent gear 32 separates from the third gear 24. Since the rotation directions of the fourth intermittent gear 34 and the third intermittent gear 32 are opposite, the first drive shaft 20 is driven to deflect in the opposite direction to reset, thereby causing the two laser scanning sensors 7 to rotate in the opposite direction to reset. This process is repeated, causing the laser scanning sensors 7 to deflect back and forth within a certain range to perform scanning operations, avoiding the inspection of invalid areas, shortening the scanning time, and facilitating the AGV forklift body 1 to respond promptly based on the detection results. When an obstacle is detected, the AGV forklift body 1 stops moving and sounds an alarm. The worker then removes the obstacle. After the obstacle is removed, the AGV forklift body 1 continues to move.
[0023] Furthermore, multiple guide pulleys 37 are provided on both sides of the first synchronous belt 28 and both sides of the second synchronous belt 29. The guide pulleys 37 are used to adjust the arrangement path of the first synchronous belt 28 and the second synchronous belt 29. The guide pulleys 37 are used to rationally plan the path of the first synchronous belt 28 and the second synchronous belt 29 so that the first synchronous belt 28 and the second synchronous belt 29 can be smoothly installed in the arc-shaped cavity 19.
[0024] Example 6 If the laser scanning sensor 7 malfunctions, or if an obstacle avoids its scan, the non-contact safety scanning mechanism will fail. In this case, the AGV forklift will collide with the obstacle, causing serious disruption in explosives production operations. Therefore, based on Example 5, if... Figures 1 to 7As shown, the front end of the AGV forklift body 1 is equipped with a contact-type anti-collision mechanism. This mechanism includes an aluminum crossbar 41, a rubber sleeve 42, and conductive adhesive 43. The aluminum crossbar 41 is fixed to the AGV forklift body 1, and the rubber sleeve 42 is fitted onto the aluminum crossbar 41. A conductive space 44 is formed within the rubber sleeve 42, and two conductive adhesives 43 are spaced within this space. The two conductive adhesives 43 are respectively installed on the aluminum crossbar 41 and the rubber sleeve 42. When the non-contact safety scanning mechanism fails, the rubber sleeve 42 of the AGV forklift body 1 will collide with an obstacle. The rubber sleeve 42 provides cushioning. When the rubber sleeve 42 is compressed upon impact, it will compress the conductive rubber 43, causing the two conductive rubbers 43 to come into contact and form a circuit. One of the conductive rubbers 43 is connected to the positive terminal of the power-off circuit of the AGV forklift body 1 through a wire, and the other conductive rubber 43 is connected to the negative terminal of the power-off circuit through a wire. When the two conductive rubbers 43 come into contact, the power-off circuit is activated, causing the AGV forklift body 1 to stop moving and trigger an alarm. This provides safety protection through both non-contact and contact methods. The rubber sleeve 42 has an insulating effect, which can prevent sparks from being generated by the collision.
[0025] Example 7 Based on Example 6, such as Figures 1 to 6 As shown, both the first synchronous belt 28 and the second synchronous belt 29 are equipped with tensioning components on the side away from the AGV forklift body 1. Each tensioning component includes a tensioning slide 38 and a tensioning pulley 39. The tensioning slide 38 is slidably mounted on the arc-shaped mounting plate 6, and the tensioning pulley 39 is rotatably mounted on the tensioning slide 38. Both the first synchronous belt 28 and the second synchronous belt 29 pass around their corresponding tensioning pulleys 39. The tensioning component also includes a screw 40, which is threaded onto the arc-shaped mounting plate 6. The tail of the screw 40 is rotatably connected to the tensioning slide 38 via a bearing. The tensioning component facilitates the connection of the first synchronous belt 28 to the second synchronous belt 29. The installation of the first synchronous belt 28 and the second synchronous belt 29 simultaneously puts the first synchronous belt 28 and the second synchronous belt 29 into a tensioned state, making the transmission more stable. Taking the first synchronous belt 28 as an example, loosening the screw 40 causes the screw 40 to move the tensioning slide 38 away from the AGV forklift body 1, which facilitates the installation or removal of the first synchronous belt 28. After the first synchronous belt 28 is installed in place, tightening the screw 40 causes the tensioning slide 38 to move the tensioning pulley 39 closer to the first synchronous belt 28, so that the tensioning pulley 39 squeezes the first synchronous belt 28 into a tensioned state, making the transmission more stable.
Claims
1. An AGV forklift for use in industrial explosives production sites, characterized in that, The system includes an AGV forklift body (1) and a laser navigation mechanism. The laser navigation mechanism includes a navigation housing (2), a laser ranging sensor (3), and a reflector (4). The navigation housing (2) is fixed to the top of the AGV forklift body (1). A navigation seat (5) is rotatably mounted on the top of the navigation housing (2). The laser ranging sensor (3) is mounted on the navigation seat (5). Several reflectors (4) are arranged at intervals on both sides of the travel path of the AGV forklift body (1). A non-contact safety scanning mechanism is provided on the front end face of the AGV forklift body (1). The non-contact safety scanning mechanism includes an arc-shaped mounting plate (6) and a laser scanning sensor (7). The arc-shaped mounting plate (6) is fixed to the AGV forklift body (1). Scanning seats (8) are rotatably mounted on both ends of the arc-shaped mounting plate (6). The laser scanning sensor (7) is mounted on the scanning seat (8).
2. The AGV forklift for use in industrial explosives production sites according to claim 1, characterized in that, The navigation housing (2) is rotatably equipped with a drive shaft (9) and a transmission shaft (10). The bottom of the navigation base (5) is fixed with a navigation shaft (11). The navigation shaft (11) is rotatably connected to the navigation housing (2). A navigation gear (12) is mounted on the navigation shaft (11). A first gear (13) and a first intermittent gear (14) are mounted on the transmission shaft (10). A second gear (15) and a second intermittent gear (16) are mounted on the drive shaft (9). The first gear (13) meshes with the second gear (15). The first intermittent gear (14) and the second intermittent gear (16) alternately mesh with the navigation gear (12). A navigation motor (17) is installed at the bottom of the navigation housing (2). The output shaft of the navigation motor (17) is connected to the drive shaft (9).
3. The AGV forklift for use in industrial explosives production sites according to claim 2, characterized in that, The navigation shaft (11) has a positioning rod (18) fixed on its side wall. The inner wall of the navigation housing (2) is provided with two mechanical positioning rods (19). The mechanical positioning rods (19) are located on the rotation path of the positioning rods (18). When the positioning rod (18) contacts one of the mechanical positioning rods (19), the first intermittent gear (14) meshes with the navigation gear (12) and the second intermittent gear (16) separates from the navigation gear (12). When the positioning rod (18) contacts the other mechanical positioning rod (19), the second intermittent gear (16) meshes with the navigation gear (12) and the first intermittent gear (14) separates from the navigation gear (12).
4. The AGV forklift for use in industrial explosives production sites according to claim 3, characterized in that, A magnet is embedded at one end of the mechanical positioning rod (19) near the positioning rod (18), and the magnet can magnetically attract the positioning rod (18).
5. The AGV forklift for use in industrial explosives production sites according to claim 1, characterized in that, The arc-shaped mounting plate (6) is provided with an arc-shaped cavity (19). A first drive shaft (20) and a second drive shaft (21) are rotatably arranged in the arc-shaped cavity (19). A scanning shaft (22) is fixed on the scanning seat (8). The scanning shaft (22) is rotatably connected to the arc-shaped mounting plate (6). A first pulley (23) and a third gear (24) are mounted on the first drive shaft (20). A second pulley (25) and a fourth gear (26) are mounted on the second drive shaft (21). The third gear (24) meshes with the fourth gear (26). A third pulley (27) is mounted on the scanning shaft (22). The first pulley (23) is connected to one of the third pulleys (27) by a first synchronous belt (28). The second pulley (25) is connected to the other third pulley (27) by a second synchronous belt (29).
6. An AGV forklift for use in industrial explosives production sites according to claim 5, characterized in that, The arc-shaped cavity (19) is rotatably equipped with a third drive shaft (30) and a fourth drive shaft (31). The third drive shaft (30) is fitted with a third intermittent gear (32) and a fifth gear (33). The fourth drive shaft (31) is fitted with a fourth intermittent gear (34) and a sixth gear (35). The sixth gear (35) meshes with the fifth gear (33). The third intermittent gear (32) and the fourth intermittent gear (34) alternately mesh with the third gear (24). The arc-shaped mounting plate (6) is equipped with a motor (36). The output shaft of the motor (36) is connected to the third drive shaft (30).
7. An AGV forklift for use in industrial explosives production sites according to claim 5, characterized in that, Multiple guide pulleys (37) are provided on both sides of the first synchronous belt (28) and both sides of the second synchronous belt (29). The guide pulleys (37) are used to adjust the arrangement path of the first synchronous belt (28) and the second synchronous belt (29).
8. An AGV forklift for use in industrial explosives production sites according to claim 5, characterized in that, Both the first synchronous belt (28) and the second synchronous belt (29) are provided with tensioning components on the side away from the AGV forklift body (1). The tensioning components include a tensioning slide (38) and a tensioning pulley (39). The tensioning slide (38) is slidably mounted on the arc-shaped mounting plate (6), and the tensioning pulley (39) is rotatably mounted on the tensioning slide (38). Both the first synchronous belt (28) and the second synchronous belt (29) pass around the corresponding tensioning pulley (39).
9. An AGV forklift for use in industrial explosives production sites according to claim 8, characterized in that, The tensioning assembly also includes a screw (40), which is threaded onto the arc-shaped mounting plate (6), and the tail of the screw (40) is rotatably connected to the tensioning slide (38) via a bearing.
10. An AGV forklift for use in industrial explosives production sites according to claim 1, characterized in that, The front end of the AGV forklift body (1) is provided with a contact anti-collision mechanism. The contact anti-collision mechanism includes an aluminum crossbar (41), a rubber sleeve (42), and conductive adhesive (43). The aluminum crossbar (41) is fixed on the AGV forklift body (1). The rubber sleeve (42) is fitted on the aluminum crossbar (41). A conductive space (44) is formed inside the rubber sleeve (42). Two conductive adhesives (43) are provided in the gap inside the conductive space (44). The two conductive adhesives (43) are respectively installed on the aluminum crossbar (41) and the rubber sleeve (42).