Radar mounting bracket and intelligent forklift

Abstract

The utility model discloses a radar installation support and an intelligent forklift. The radar installation support comprises a guide rod installed between two prongs of the intelligent forklift. A sliding block mechanism capable of sliding along the guide rod is arranged on the guide rod; the sliding block mechanism is connected with a connecting rod mechanism, one end of the connecting rod mechanism is movably connected with the sliding block mechanism, and the other end of the connecting rod mechanism is provided with a mounting seat for mounting a laser radar; one end of the linear telescopic mechanism is fixed at the end part of the guide rod, and the other end of the linear telescopic mechanism is connected with the middle part of the connecting rod mechanism; the linear telescopic mechanism can stretch out and draw back along with lifting of the fork teeth, so that the installation base is located at the preset position all the time. According to the utility model, the laser radar on the mounting seat is always positioned in front of the whole intelligent forklift and the height position is not changed, so that the intelligent forklift can keep the 360-degree obstacle avoidance of the bottom plane in any working state, and the working safety of the intelligent forklift is ensured.

Description

Technical Field

[0001] The utility model relates to a bracket for installing a front radar of an intelligent forklift and an intelligent forklift with the radar installation bracket. Background Art

[0002] As an important handling tool, forklifts are also widely used in the field of logistics. Due to the particularity of the logistics field, warehouse forklifts are mainly designed for handling goods in warehouses. Except for a few warehouse forklifts (such as manual pallet forklifts) that are driven by manpower, the others are driven by electric motors. They are widely used in the warehousing industry because of their compact body, flexible movement, light weight and good environmental performance. With the development of intelligent warehousing, intelligent forklifts have emerged, and many intelligent forklifts based on AGV navigation technology have emerged to realize further unmanned operation of logistics factories.

[0003] During the operation of smart forklifts, they often need to sense the external environment through components such as radars to achieve functions such as automatic walking and forking. Generally speaking, a smart forklift requires multiple laser radars to monitor the surrounding environment, but the height of the forklift is generally high, and the forks need to move up and down. The goods and forks will block the sensing range of the laser radar, so it is difficult to achieve 360° complete monitoring.

[0004] Prior art Chinese patent application CN114180497A discloses a laser navigation-based intelligent forklift, comprising: a main body extending in the vertical direction; two auxiliary support bodies arranged on one side of the lower end of the main body and arranged in parallel and spaced apart in the horizontal direction, and auxiliary driven wheels arranged below the auxiliary support bodies; two lifting forks arranged above the auxiliary support bodies and movable up and down relative to the main body to fork or put down goods; a lifting mechanism installed on the main body, and both lifting forks are connected to the lifting mechanism to be driven by the lifting mechanism to move up and down along the main body; a driving mechanism arranged below the main body to provide power; and a laser navigation assembly arranged on the main body to navigate the laser navigation-based intelligent forklift. A controller electrically connected to the lifting mechanism, the driving mechanism and the laser navigation assembly to control them.

[0005] In the above-mentioned prior art, the laser navigation assembly is installed on the top of the forklift and cannot cover the front end of the fork teeth, so there is a safety blind spot. Utility Model Content

[0006] In view of this, the utility model provides a radar mounting bracket and an intelligent forklift, which can mount a front radar in front of the fork teeth and ensure that the position remains unchanged.

[0007] In order to solve the above technical problems, the technical solution of the utility model is to adopt a radar mounting bracket, which is applied to the installation of the front laser radar of the intelligent forklift, including a guide rod installed between the two fork teeth of the intelligent forklift; the guide rod is provided with a slider mechanism that can slide along the guide rod; the slider mechanism is connected to a connecting rod mechanism, one end of the connecting rod mechanism is movably connected to the slider mechanism, and the other end is provided with a mounting seat for installing the laser radar; it also includes a linear telescopic mechanism, one end of the linear telescopic mechanism is fixed to the end of the guide rod, and the other end is connected to the middle part of the connecting rod mechanism; the linear telescopic mechanism can be extended and retracted with the lifting and lowering of the fork teeth, so that the mounting seat is always located in a preset position.

[0008] As an improvement, one end of the guide rod is fixed on the fork tine mounting seat, and the other end is provided with a fixing seat, which facilitates the fixed connection between the fixing seat and the inner side of the fork tine, so that the guide rod and the fork tine are parallel and located in the same plane.

[0009] As a further improvement, the guide rods are two parallel left and right guide rods, and the slider mechanism includes two left and right sliding sleeves respectively sleeved on the left and right guide rods, and the two sliding sleeves are connected by a crossbeam.

[0010] As another further improvement, the connecting rod mechanism includes two left and right connecting rods, which are rotatably connected to two sliding sleeves respectively; it also includes a main connecting rod, the end of which is sleeved on the crossbeam so that the main connecting rod can rotate around the crossbeam.

[0011] As an improvement, the two ends of the mounting seat are respectively hinged to the left and right connecting rods, and the middle part is hinged to the main connecting rod.

[0012] As an improvement, it further comprises an auxiliary connecting rod mechanism, wherein the auxiliary connecting rod mechanism comprises two left and right auxiliary connecting rods, and the left and right auxiliary connecting rods are respectively hinged to the middle parts of the left and right connecting rods.

[0013] As an improvement, the linear drive mechanism is an electric cylinder.

[0014] The utility model also provides an intelligent forklift, on which the above-mentioned radar mounting bracket is installed.

[0015] The utility model is beneficial in that:

[0016] The radar mounting bracket with the above structure changes the angle between the connecting rod mechanism and the guide rod and simultaneously changes the position of the slider on the guide rod through a linear drive mechanism that is retracted and extended synchronously with the lifting and lowering of the fork teeth, so that the mounting seat arranged at the end of the connecting rod mechanism always maintains the same position, thereby avoiding the influence of the lifting and lowering of the fork teeth on the position of the mounting seat, ensuring that the laser radar on the mounting seat is always located in front of the entire smart forklift and the height position remains unchanged, so that the smart forklift can maintain a 360° obstacle avoidance range on the bottom plane in any working state, thereby ensuring the working safety of the smart forklift. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of the utility model.

[0018] Figure 2 This is a structural diagram of an intelligent forklift.

[0019] Markings in the figure: 1 guide rod, 2 sliding sleeve, 3 cross beam, 4 connecting rod, 5 main connecting rod, 6 fixing seat, 7 auxiliary connecting rod, 8 linear telescopic mechanism, 9 mounting seat, 10 laser radar. DETAILED DESCRIPTION

[0020] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described in detail below in conjunction with specific implementation methods.

[0021] In the prior art, there is no position for installing a laser radar in front of the intelligent forklift. If the laser radar is directly installed on the fork tine, it will rise and fall with the fork tine, causing its position to change and making it impossible to avoid obstacles.

[0022] To solve this problem, Figure 1 The utility model provides a radar mounting bracket, which is used for installing a front laser radar of an intelligent forklift, including a guide rod 1 installed between two fork teeth of the intelligent forklift; a slider mechanism that can slide along the guide rod 1 is provided on the guide rod 1; a connecting rod mechanism is connected to the slider mechanism, one end of the connecting rod mechanism is movably connected to the slider mechanism, and the other end is provided with a mounting seat 9 for installing the laser radar; it also includes a linear telescopic mechanism 8, one end of the linear telescopic mechanism 8 is fixed to the end of the guide rod 1, and the other end is connected to the middle of the connecting rod mechanism; the linear telescopic mechanism 8 can be extended and retracted as the fork teeth are raised and lowered, so that the mounting seat is always located at a preset position.

[0023] The principle of the utility model is that through the proportional synchronous linkage between the linear telescopic mechanism 8 and the fork tine lifting mechanism, the angle between the guide rod 1 and the connecting rod mechanism and the position of the connection point are changed, so that the relative position between the mounting seat 9 and the fork tine is changed, thereby eliminating the influence of the fork tine lifting and lowering on the mounting seat position, so that the absolute position of the mounting seat remains unchanged and can always be located at the bottom position in front of the fork tine.

[0024] Specifically, one end of the guide rod 1 is fixed on the fork tine mounting seat, and the other end is provided with a fixing seat 6, which facilitates the fixing seat to be fixedly connected to the inner side of the fork tine, so that the guide rod 1 is parallel to the fork tine and is located in the same plane. The fixing seat can be fixed by magnetic attraction or bolts, etc., which is not limited in the utility model.

[0025] In addition, the guide rods 1 are arranged in parallel on the left and right sides, and the slider mechanism includes two left and right sliding sleeves 2 respectively sleeved on the left and right guide rods, and the two sliding sleeves 2 are connected by a crossbeam 3. The sliding sleeve 2 can slide along the guide rod 1, and the crossbeam 3 between the two sliding sleeves 2 is used to synchronize the movement of the left and right sliding sleeves 2.

[0026] The connecting rod mechanism includes two left and right connecting rods 4, which are rotatably connected to two sliding sleeves 2 respectively; and also includes a main connecting rod 5, the end of which is sleeved on the cross beam 3, so that the main connecting rod 5 can rotate around the cross beam 3. The function of the connecting rod mechanism is to support the mounting seat 9, and the mounting seat is more stable through the left and right connecting rods 4 and the main connecting rod 5 arranged in the middle.

[0027] The two ends of the mounting seat 9 are respectively hinged to the left and right connecting rods 4, and the middle part is hinged to the main connecting rod 5. When the laser radar is installed on the mounting seat 9, since the mounting seat 9 and the connecting rod mechanism are movably connected, the laser radar always maintains a consistent angle under the action of gravity and is not affected by the movement of the connecting rod mechanism.

[0028] It also includes an auxiliary link mechanism, which includes two left and right auxiliary links 7 , which are hinged to the middle parts of the left and right links 4 respectively.

[0029] In this embodiment, the linear telescopic mechanism 8 is preferably an electric cylinder, which is a modular product that integrates a servo motor and a lead screw, converting the rotary motion of the servo motor into linear motion, and at the same time converting the best advantages of the servo motor - precise speed control, precise rotation speed control, and precise torque control - into precise speed control, precise position control, and precise force control. The electric cylinder can accurately drive the linkage mechanism to move.

[0030] During operation, when the fork tine rises, the electric cylinder extends synchronously, driving the connecting rod mechanism to rotate so that the angle between the connecting rod mechanism and the guide rod 1 increases, and the slider mechanism slides toward the middle of the guide rod, so that the distance between the mounting seat 9 and the fork tine increases, thereby offsetting the height of the fork tine rise. When the fork tine falls, the electric cylinder shortens synchronously, driving the connecting rod mechanism to rotate so that the angle between the connecting rod mechanism and the guide rod 1 decreases, and the slider mechanism slides toward the distal end of the guide rod 1, so that the distance between the mounting seat 9 and the fork tine decreases, thereby offsetting the height of the fork tine fall.

[0031] like Figure 2 As shown, the utility model also provides an intelligent forklift, on which the above-mentioned radar mounting bracket is installed.

[0032] The above are only preferred embodiments of the present invention. It should be noted that the above preferred embodiments should not be regarded as limiting the present invention. The protection scope of the present invention should be based on the scope defined by the claims. For ordinary technicians in this technical field, several improvements and modifications can be made without departing from the spirit and scope of the present invention, and these improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A radar mounting bracket, used for the installation of a front laser radar of an intelligent forklift, characterized in that: It includes a guide rod installed between two fork teeth of the intelligent forklift; the guide rod is provided with a slider mechanism that can slide along the guide rod; the slider mechanism is connected to a connecting rod mechanism, one end of the connecting rod mechanism is movably connected to the slider mechanism, and the other end is provided with a mounting seat for installing a laser radar; it also includes a linear telescopic mechanism, one end of the linear telescopic mechanism is fixed to the end of the guide rod, and the other end is connected to the middle of the connecting rod mechanism; the linear telescopic mechanism can be extended and retracted as the fork teeth are raised and lowered, so that the mounting seat is always located at a preset position.

2. A radar mounting bracket according to claim 1, characterized in that: One end of the guide rod is fixed on the fork tine mounting seat, and the other end is provided with a fixing seat, which facilitates the fixed connection between the fixing seat and the inner side of the fork tine, so that the guide rod and the fork tine are parallel and located in the same plane.

3. A radar mounting bracket according to claim 1, characterized in that: The guide rods are two parallel left and right guide rods, and the slider mechanism comprises two left and right sliding sleeves respectively sleeved on the left and right guide rods, and the two sliding sleeves are connected by a crossbeam.

4. A radar mounting bracket according to claim 3, characterized in that: The connecting rod mechanism comprises two left and right connecting rods, which are rotatably connected to two sliding sleeves respectively; and also comprises a main connecting rod, the end of which is sleeved on the cross beam so that the main connecting rod can rotate around the cross beam.

5. A radar mounting bracket according to claim 4, characterized in that: The two ends of the mounting seat are respectively hinged to the left and right connecting rods, and the middle part is hinged to the main connecting rod.

6. A radar mounting bracket according to claim 4, characterized in that: It also includes an auxiliary connecting rod mechanism, which includes two left and right auxiliary connecting rods, and the left and right auxiliary connecting rods are respectively hinged to the middle parts of the left and right connecting rods.

7. The radar mounting bracket according to claim 1, characterized in that: The linear telescopic mechanism is an electric cylinder.

8. An intelligent forklift, characterized in that: The intelligent forklift is equipped with the radar mounting bracket according to any one of claims 1 to 7.

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