AGV forklift with obstacle avoidance function

Abstract

The AGV forklift with the obstacle avoidance function comprises a forklift body, bearing wheels are arranged on the two sides of the front portion of the forklift body, a first laser sensor is arranged on the side, opposite to the forklift body, of one of the two bearing wheels, and a second laser sensor is arranged on the side, opposite to the first laser sensor, of the tail portion of the forklift body. The first laser sensor and the second laser sensor are matched to detect obstacles within the 360-degree range of the vehicle body, a driving assembly is arranged in the middle of the tail of the vehicle body and controls the moving direction of the vehicle body, and a forklift frame and a lifting assembly are arranged on the front portion of the vehicle body. The forklift frame is used for bearing goods and is driven by the lifting assembly to ascend and descend. According to the AGV forklift with the obstacle avoidance function, the first laser sensor and the second laser sensor which are arranged diagonally are adopted, obstacles around the forklift body can be sensed, and 360-degree dead-corner-free obstacle avoidance is achieved.

Description

Technical Field

[0001] The utility model relates to AGV technology, in particular to an AGV forklift with an obstacle avoidance function. Background Art

[0002] Automated guided vehicle, referred to as AGV, is also called automatic guided transport vehicle or automatic guided transport vehicle;

[0003] Since the front of the AGV forklift needs to carry and transport objects, existing AGV forklifts generally install sensors on both sides of the rear of the vehicle body, a total of two sensors. However, these two sensors cannot detect obstacles in the front of the vehicle body due to the obstruction of the vehicle body. When the AGV forklift moves forward, it is very easy to collide with obstacles in front of the vehicle. Utility Model Content

[0004] In order to solve the defects of the prior art mentioned above, the utility model provides an AGV forklift with an obstacle avoidance function, which can sense obstacles at all angles around the vehicle body.

[0005] To achieve the above technical objectives, the utility model adopts the following technical solutions: an AGV forklift with obstacle avoidance function, comprising a vehicle body, load-bearing wheels are arranged on both sides of the front of the vehicle body, one of the two load-bearing wheels is provided with a first laser sensor on the side relative to the vehicle body, a second laser sensor is provided on the side relative to the first laser sensor at the rear of the vehicle body, the first laser sensor and the second laser sensor cooperate to detect obstacles within a 360-degree range of the vehicle body, a drive assembly is provided at the middle of the rear of the vehicle body, the drive assembly controls the moving direction of the vehicle body, a forklift frame and a lifting assembly are provided at the front of the vehicle body, the forklift frame is used to carry goods and is driven by the lifting assembly to perform lifting work.

[0006] Preferably, horizontally arranged avoidance grooves are provided around the vehicle body, and the second laser sensor is arranged in the avoidance grooves.

[0007] Preferably, a protective cover is provided on the first laser sensor, a detection slot is provided on the protective cover, and the detection slot is arranged horizontally and is located in the same plane as the avoidance slot.

[0008] Preferably, the driving assembly includes a driving wheel, a power motor, a bracket and a steering motor. A wheel groove is provided in the middle of the rear of the vehicle body. The driving wheel and the power motor are both arranged in the wheel groove. The power motor drives the driving wheel to rotate. The driving wheel is rotatably fixed to the bottom end of the bracket. The top end of the bracket extends into the vehicle body and is driven to rotate by the steering motor. The steering motor is arranged in the vehicle body.

[0009] Preferably, the forklift frame is provided with an in-position sensing module, and the in-position sensing module is used to sense that the object is completely in-position on the forklift frame.

[0010] Preferably, the lifting assembly includes a lifting frame and a lifting unit, guide rails are provided on both sides of the lifting frame, the guide rails are slidably matched with the forklift frame, the lifting unit is arranged on the lifting frame, the lifting unit drives the forklift frame to rise and fall along the guide rails, and the lifting frame is provided with an in-position sensor, and the in-position sensor is used to detect the height of the forklift frame.

[0011] Preferably, the lifting unit includes a hydraulic cylinder, a guide wheel and a guide chain, the hydraulic cylinder is fixed to the bottom of the lifting frame, the top of the hydraulic cylinder is connected to the bottom of the wheel frame, the guide wheel is sleeved on the rotating shaft, both ends of the rotating shaft are fixed to the top of the wheel frame, one end of the guide chain is fixed to the lifting frame, the other end of the guide chain is fixed to the forklift frame, and the guide wheel is against the middle of the guide chain.

[0012] Preferably, a communication module is provided at the top end of the rear portion of the vehicle body, the communication module is connected to a terminal, and the communication module transmits vehicle status information and receives control information.

[0013] In summary, the utility model has achieved the following technical effects:

[0014] The utility model discloses an AGV forklift with an obstacle avoidance function, which adopts a first laser sensor and a second laser sensor which are arranged diagonally, and can sense obstacles around the vehicle body, thereby achieving 360-degree obstacle avoidance without blind spots. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a three-dimensional structural schematic diagram of the AGV forklift with obstacle avoidance function of the utility model;

[0016] Figure 2 It is a structural schematic diagram of an AGV forklift with obstacle avoidance function of the utility model;

[0017] Figure 3 It is a schematic diagram of the obstacle avoidance range of the AGV forklift with obstacle avoidance function of the utility model;

[0018] Explanation of the reference numerals in the drawings in the specification: 1. vehicle body; 2. load-bearing wheels; 3. first laser sensor; 4. second laser sensor; 5. communication module; 6. lifting frame; 7. guide rail; 8. lifting unit; 9. in-position sensor; 10. forklift frame; 11. in-position sensing module; 12. avoidance groove; 13. first sensing range; 14. second sensing range. DETAILED DESCRIPTION

[0019] The utility model is further described in detail below in conjunction with the accompanying drawings.

[0020] This specific embodiment is merely an explanation of the present invention and is not a limitation of the present invention. After reading this specification, those skilled in the art may make non-creative modifications to the present embodiment as needed, but such modifications are protected by patent law as long as they are within the scope of the claims of the present invention.

[0021] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0022] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present utility model, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0023] In the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0024] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0025] Embodiment 1:

[0026] like Figure 1 As shown in Figure 2, an AGV forklift with obstacle avoidance function includes a body 1, load-bearing wheels 2 are provided on both sides of the front of the body 1, one of the two load-bearing wheels 2 is provided with a first laser sensor 3 on the side opposite to the body 1, and a second laser sensor 4 is provided on the rear of the body 1 on the side opposite to the first laser sensor 3. The first laser sensor 3 and the second laser sensor 4 cooperate to detect obstacles within a 360-degree range around the body 1, a driving assembly is provided in the middle of the rear of the body 1, and the driving assembly controls the moving direction of the body 1, and a forklift frame 10 and a lifting assembly are provided at the front of the body 1, and the forklift frame 10 is used to carry goods and is driven by the lifting assembly to perform lifting work.

[0027] like Figure 3 As shown, the detection range of the first laser sensor 3 is a first sensing range 13 , and the detection range of the second laser sensor 4 is a second sensing range 14 . The first sensing range 13 and the second sensing range 14 overlap to completely cover the surroundings of the vehicle body 1 .

[0028] The vehicle body 1 is provided with horizontal avoidance grooves 12 all around, and the second laser sensor 4 is arranged in the avoidance grooves 12; the first laser sensor 3 is covered with a protective cover, and the protective cover is provided with a detection groove, and the detection groove is horizontally arranged and is located in the same plane as the avoidance groove 12; the avoidance groove 12 and the protective cover are both provided to protect the second laser sensor 4 and the first laser sensor 3; wherein the second laser sensor 4 and the first laser sensor 3 are both laser sensors, which use laser technology for measurement; it is composed of a laser, a laser detector and a measuring circuit; the laser sensor is a new type of measuring instrument, which has the advantages of realizing non-contact long-distance measurement, fast speed, high accuracy, large range, strong resistance to light and electrical interference, etc.; laser sensors produced by Yiwei or Keyence can be selected.

[0029] The driving assembly includes a driving wheel, a power motor, a bracket and a steering motor. A wheel groove is provided in the middle of the rear of the vehicle body 1. The driving wheel and the power motor are both arranged in the wheel groove. The power motor drives the driving wheel to rotate. The driving wheel is rotatably fixed to the bottom end of the bracket. The top end of the bracket extends into the vehicle body 1 and is driven to rotate by the steering motor. The steering motor is arranged in the vehicle body 1.

[0030] The forklift frame 10 is provided with an in-position sensing module 11 , and the in-position sensing module 11 is used to sense whether an object is completely in-position on the forklift frame 10 .

[0031] The lifting assembly includes a lifting frame 6 and a lifting unit 8. Guide rails 7 are provided on both sides of the lifting frame 6. The guide rails 7 are slidably matched with the forklift frame 10. The lifting unit 8 is set on the lifting frame 6. The lifting unit 8 drives the forklift frame 10 to rise and fall along the guide rails 7. The lifting frame 6 is provided with an in-position sensor 9, and the in-position sensor 9 is used to detect the height of the forklift frame 10.

[0032] The lifting unit 8 includes a hydraulic cylinder, a guide wheel and a guide chain. The hydraulic cylinder is fixed to the bottom of the lifting frame 6, the top of the hydraulic cylinder is connected to the bottom of the wheel frame, the guide wheel is sleeved on the rotating shaft, both ends of the rotating shaft are fixed to the top of the wheel frame, one end of the guide chain is fixed to the lifting frame 6, and the other end of the guide chain is fixed to the forklift frame 10, and the guide wheel is against the middle of the guide chain.

[0033] The in-position sensing module 11 and the in-position sensor 9 are both displacement sensors, which are linear devices belonging to metal sensing. The function of the sensor is to convert various measured physical quantities into electrical quantities. In the production process, the measurement of displacement is generally divided into two types: measuring physical size and mechanical displacement.

[0034] A communication module 5 is provided at the top end of the rear of the vehicle body 1 , and the communication module 5 is connected to a terminal. The communication module 5 transmits vehicle status information and receives control information. The Dartet RS485 wireless communication module 5 can be selected.

[0035] The AGV forklift with obstacle avoidance function of the utility model adopts a first laser sensor 3 and a second laser sensor 4 arranged diagonally to sense obstacles around the vehicle body 1 and realize 360-degree obstacle avoidance without blind spots.

[0036] The above description is only a preferred implementation mode of the present invention, and does not limit the present invention in any form. Any simple modification, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention are within the scope of the technical solution of the present invention.

Claims

1. An AGV forklift with obstacle avoidance function, characterized in that: It includes a vehicle body, wherein load-bearing wheels are arranged on both sides of the front of the vehicle body, one of the two load-bearing wheels is provided with a first laser sensor on the side opposite to the vehicle body, and a second laser sensor is provided on the side opposite to the first laser sensor at the rear of the vehicle body, and the first laser sensor and the second laser sensor cooperate to detect obstacles within a 360-degree range of the vehicle body, a driving component is arranged in the middle of the rear of the vehicle body, and the driving component controls the moving direction of the vehicle body, and a forklift frame and a lifting component are arranged at the front of the vehicle body, and the forklift frame is used to carry goods and is driven by the lifting component to perform lifting work.

2. The AGV forklift with obstacle avoidance function according to claim 1, characterized in that: Horizontally arranged avoidance grooves are arranged around the vehicle body, and the second laser sensor is arranged in the avoidance grooves.

3. The AGV forklift with obstacle avoidance function according to claim 2, characterized in that: The first laser sensor is covered with a protective cover, and the protective cover is provided with a detection slot, which is arranged horizontally and is located in the same plane as the avoidance slot.

4. The AGV forklift with obstacle avoidance function according to claim 1, characterized in that: The driving assembly includes a driving wheel, a power motor, a bracket and a steering motor. A wheel groove is provided in the middle of the rear of the vehicle body. The driving wheel and the power motor are both arranged in the wheel groove. The power motor drives the driving wheel to rotate. The driving wheel is rotatably fixed to the bottom end of the bracket. The top end of the bracket extends into the vehicle body and is driven by the steering motor to rotate. The steering motor is arranged in the vehicle body.

5. The AGV forklift with obstacle avoidance function according to claim 1, characterized in that: The forklift frame is provided with an in-position sensing module, and the in-position sensing module is used to sense that the object is completely in-position on the forklift frame.

6. The AGV forklift with obstacle avoidance function according to claim 1, characterized in that: The lifting assembly includes a lifting frame and a lifting unit. Guide rails are provided on both sides of the lifting frame. The guide rails are slidably matched with the forklift frame. The lifting unit is arranged on the lifting frame. The lifting unit drives the forklift frame to rise and fall along the guide rails. The lifting frame is provided with an in-place sensor, and the in-place sensor is used to detect the height of the forklift frame.

7. The AGV forklift with obstacle avoidance function according to claim 6, characterized in that: The lifting unit includes a hydraulic cylinder, a guide wheel and a guide chain. The hydraulic cylinder is fixed to the bottom of the lifting frame, the top of the hydraulic cylinder is connected to the bottom of the wheel frame, the guide wheel is sleeved on the rotating shaft, both ends of the rotating shaft are fixed to the top of the wheel frame, one end of the guide chain is fixed to the lifting frame, the other end of the guide chain is fixed to the forklift frame, and the guide wheel is against the middle of the guide chain.

8. The AGV forklift with obstacle avoidance function according to claim 1, characterized in that: A communication module is provided at the top end of the rear portion of the vehicle body. The communication module is connected to a terminal and transmits vehicle status information and receives control information.

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