Fork tip anti-collision detection device and AGV

Abstract

The utility model provides a fork tip anti-collision detection device and an AGV, the fork tip anti-collision detection device comprises a sensor and an elastic component, the elastic component is assembled on a fork tip and is bent forward or bent to form a movable part, the movable part of the elastic component is provided with an avoiding through hole corresponding to an induction through hole, and the elastic component is driven by the sensor under the condition of no external force. The sensor, the sensing through hole and the avoiding through hole are located on the same straight line; the sensor can normally sense an obstacle in front through the sensing through hole and the avoiding through hole; when the elastic part of the fork tip is in contact with an obstacle, the movable part of the elastic part is bent inwards. The avoiding through hole in the elastic component can move, so that the sensor detects the elastic component, and induction triggering is carried out. An obstacle which cannot be detected by an original sensor is detected by the sensor after the elastic component is touched by the obstacle and deforms.

Description

Technical Field

[0001] The utility model relates to the field of AGV vehicles, in particular to a fork tip anti-collision detection device and an AGV vehicle. Background Art

[0002] AGV is also called automatic guided vehicle. The fork of AGV is used to pick up goods. It is often longer than the body of the vehicle. The sensor installed on the body is difficult to be compatible with the fork tip. In order to make the fork tip also have the ability to detect obstacles. There are two main types of anti-collision devices on the fork tip: the first is to directly install sensors (such as photoelectric or laser sensors) to detect obstacles in front of the fork tip. The second is to install a small part, use mechanical triggering, and associate the triggering conditions with the sensor for detection.

[0003] The first method is to directly install the sensor for detection, because the sensor has a blind spot, such as the area above or to the side of the sensor, which may lead to missed detection, and obstacles in the blind spot will still collide with the fork tip of the fork. To eliminate this phenomenon, it is necessary to install multiple sensors at different angles for combined detection, but the cost of sensors is often high. The second method realizes this function through small sub-installation, which can reduce the cost of using multiple sensors. However, because it is sub-installation (partial assembly), the structure is more complicated and inconvenient for later maintenance. Utility Model Content

[0004] To this end, the utility model provides a fork tip anti-collision detection device and an AGV vehicle, which are improved on the basis of the first detection using sensors to eliminate the detection blind area of ​​the sensor on the fork, making the detection more comprehensive.

[0005] To achieve the above purpose, the technical solution provided by the utility model is as follows:

[0006] A fork tip anti-collision detection device, comprising a sensor arranged inside the fork tip of a fork, wherein the front end surface of the fork tip is provided with a sensing through hole corresponding to the sensor; wherein, it also comprises an elastic component, wherein the elastic component is assembled on the fork tip and bent or folded forward to form a movable portion, wherein the movable portion of the elastic component is provided with an avoidance through hole corresponding to the sensing through hole, and in the absence of external force, the sensor, the sensing through hole and the avoidance through hole are in the same straight line; when the movable portion of the elastic component touches an object, it is compressed and deformed to block the sensor.

[0007] Furthermore, the movable portion of the elastic component is as wide as the front end surface of the fork tip.

[0008] Furthermore, the highest position of the movable portion of the elastic component is higher than the upper surface of the fork.

[0009] Furthermore, the elastic component is an elastic sheet, and the front end of the movable part of the elastic component is a curved arc-shaped guide part.

[0010] Furthermore, the elastic component includes a fixed portion, a lower curved section, an inclined section and an upper curved section connected in sequence, the fixed portion is fixed on the fork tip, the lower curved section is connected between the fixed portion and the inclined section, the inclined section is located in front of the fork tip and has the avoidance through hole, the upper curved section is connected to the upper end of the inclined section and bends forward to form an arc-shaped guide portion; the lower curved section, the inclined section and the upper curved section constitute the movable portion.

[0011] Furthermore, the fixing part is fixed on the front end surface of the fork tip, and a clearance through hole corresponding to the sensing through hole is opened on the fixing part. In the absence of external force, the sensor, the sensing through hole, the clearance through hole and the avoidance through hole are on the same straight line.

[0012] Furthermore, the fixing portion is flat against the front end surface of the fork tip and is fixed by a fixing piece.

[0013] Furthermore, the highest position of the movable portion of the elastic component is flush with the upper surface of the fork.

[0014] Furthermore, the bottom of the fork tip is recessed upward to form a mounting cavity, and the sensor is assembled in the mounting cavity.

[0015] An AGV vehicle comprises a cargo fork, wherein the fork tip of the cargo fork is provided with the fork tip anti-collision detection device as described above.

[0016] The technical solution provided by the utility model has the following beneficial effects:

[0017] In the absence of external force, the sensor, the sensing through hole and the avoidance through hole are in the same straight line, and the sensor can sense the obstacle in front normally through the sensing through hole and the avoidance through hole; when the elastic component of the fork tip contacts the obstacle, the movable part of the elastic component will bend inward. The avoidance through hole on the elastic component will move, allowing the sensor to detect the elastic component, thereby triggering the induction. When the obstacle is removed, the elastic component will return to its initial state until it is triggered by the obstacle again next time.

[0018] A relatively simple structure is used to change the obstacle detection method from non-contact to contact, and obstacles that were originally undetectable by the sensor are detected by the elastic component after being touched by the obstacle and deformed; the structural design is simple and ingenious. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 The figure shows a schematic diagram of the fork structure with a fork tip anti-collision detection device in the embodiment;

[0020] Figure 2 The figure is a schematic diagram of the structure of the fork tip anti-collision detection device in the embodiment;

[0021] Figure 3 The figure shows a cross-sectional view of the fork tip anti-collision detection device in the embodiment in a natural state;

[0022] Figure 4 The figure shows a cross-sectional view of the fork tip anti-collision detection device in the embodiment after the elastic sheet is compressed and deformed;

[0023] Figure 5 The figure is a schematic diagram of the structural decomposition of the fork tip anti-collision detection device in the embodiment;

[0024] Figure 6 Shown is a schematic structural diagram of the elastic sheet in the embodiment. DETAILED DESCRIPTION

[0025] To further illustrate the various embodiments, the present invention provides drawings. These drawings are part of the disclosure of the present invention, which are mainly used to illustrate the embodiments and can be used in conjunction with the relevant descriptions in the specification to explain the operating principles of the embodiments. With reference to these contents, a person of ordinary skill in the art should be able to understand other possible implementations and advantages of the present invention. The components in the figures are not drawn to scale, and similar component symbols are generally used to represent similar components.

[0026] In the description of the present invention, terms such as "up", "down", "left", "right", "front", "back", etc., and the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of description and simplification of operation, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention.

[0027] The utility model is now further described in conjunction with the accompanying drawings and specific implementation methods.

[0028] Reference Figures 1 to 6 As shown, a fork tip anti-collision detection device provided in this embodiment includes a sensor 20 arranged inside the fork tip 11 of the fork 10. Specifically, in this embodiment, the bottom of the fork tip 11 is recessed upward to form an installation cavity 102, and the sensor 20 is assembled in the installation cavity 102 to achieve hidden installation of the sensor 20; the front end surface 111 of the fork tip 11 is provided with a sensing through hole 101 corresponding to the sensor 20.

[0029] Among them, it also includes an elastic component. Specifically, in this embodiment, the elastic component is a sheet-shaped elastic sheet 30, which is assembled on the fork tip 11 and bent or folded forward to form an active portion 35. The active portion 35 of the elastic sheet 30 is provided with an avoidance through hole 301 corresponding to the sensing through hole 101, and in the absence of external force, that is, in a natural state, as shown in FIG. Figure 3 As shown, the sensor 20, the sensing through hole 101 and the avoiding through hole 301 are on the same straight line; in this way, the signal emitted by the transmitting end of the sensor 20 can be transmitted forward through the sensing through hole 101 and the avoiding through hole 301 in sequence, and the signal reflected by the obstacle can also be received by the receiving end of the sensor 20 through the avoiding through hole 301 and the sensing through hole 101 in sequence, thereby realizing normal obstacle sensing.

[0030] like Figure 4 As shown, when the movable portion 35 of the elastic sheet 30 touches an object, it is compressed and deformed to block the sensor 20. That is, when an obstacle in the blind spot of the sensor 20 hits the fork 10, it will first hit the movable portion 35 of the elastic sheet 30, causing the movable portion 35 of the elastic sheet 30 to bend and deform, thereby causing the avoidance through hole 301 to move. Figure 4 As shown, the avoidance through hole 301 is offset upward, and the sensor 20, the sensing through hole 101 and the avoidance through hole 301 are not on the same straight line, and the sensor 20 will detect the elastic sheet 30, thereby performing induction triggering, and finally effectively preventing the fork 10 from hitting the obstacle. When the obstacle is removed, the elastic sheet 30 will return to the initial state until it is triggered by the obstacle again next time.

[0031] A relatively simple structure is used to change the obstacle detection method from non-contact to contact, and obstacles that were originally undetectable by the sensor 20 are detected by the elastic component after being touched by the obstacle and deformed; the structural design is simple and ingenious.

[0032] Preferably, in this embodiment, the movable portion 35 of the elastic sheet 30 is as wide as the front end surface 111 of the fork tip 11, so that obstacles within the blind spot can be detected more accurately.

[0033] The highest position of the movable portion 35 of the elastic sheet 30 is higher than the upper surface 112 of the fork 10 , so that obstacles above the fork 10 can also be contacted by the elastic sheet 30 , and the detection is more comprehensive.

[0034] Specifically, the front end of the movable portion 35 of the elastic sheet 30 is a curved arc-shaped guide portion 341. With such a configuration, if it contacts an object that is relatively soft but not enough to cause an obstacle, it can play a guiding role, allowing the soft object to smoothly transition through the arc-shaped guide portion 341 without deforming the movable portion 35 of the elastic sheet 30, thereby reducing unnecessary error reports.

[0035] Specifically, the elastic sheet 30 includes a fixed portion 31, a lower curved section 32, an inclined section 33 and an upper curved section 34 connected in sequence, the fixed portion 31 is fixed on the fork tip 11, the lower curved section 32 is connected between the fixed portion 31 and the inclined section 33, and specifically, the inclined section 33 is inclined from bottom to top; the inclined section 33 is located in front of the fork tip 11 and has the avoidance through hole 301, the upper curved section 34 is connected to the upper end of the inclined section 33 and bends forward to form an arc-shaped guide portion 341, and the upper curved section 34 is the arc-shaped guide portion 341; the lower curved section 32, the inclined section 33 and the upper curved section 34 constitute the movable portion 35, that is, the movable portion 35 is a structure similar to an "S" shape obtained by bending the elastic sheet 30 forward, and has good deformation and reset capabilities. Specifically, the arc-shaped guide portion 341 is a portion higher than the upper surface 112 of the fork 10.

[0036] The fixing portion 31 is fixed on the front end face 111 of the fork tip 11. Specifically, the fixing portion 31 is a flat plate structure. The fixing portion 31 is flat against the front end face 111 of the fork tip 11 and is fixed by a fixing member (a bolt 40 in this embodiment). A clearance through hole 302 corresponding to the sensing through hole 101 is provided on the fixing portion 31. In the absence of external force, the sensor 20, the sensing through hole 101, the clearance through hole 302 and the avoidance through hole 301 are in the same straight line. Of course, in other embodiments, the fixing portion 31 can also be fixed at other positions of the fork tip 11, such as fixed at the bottom of the fork tip 11. When the fixing portion 31 is fixed at other positions of the fork tip 11, since the sensing through hole 101 will not be blocked, there is no need to provide a structure of the clearance through hole 302.

[0037] The structure of the elastic sheet 30 is one of the preferred solutions in this embodiment. Of course, in other embodiments, the structure of the elastic sheet 30 is not limited thereto. For example, the width of the movable portion 35 of the elastic sheet 30 may be greater than or less than the front end surface 111 of the fork tip 11; or the highest position of the movable portion 35 of the elastic sheet 30 may be flush with the upper surface 112 of the fork 10; or the front end of the movable portion 35 of the elastic sheet 30 may not be provided with an arc-shaped guide portion 341; or the movable portion 35 may be a "W"-like bending structure obtained by bending the elastic sheet 30 forward, etc. As long as the sensor 20 is ensured to form a normal induction in a natural state, the movable portion 35 of the elastic sheet 30 will be deformed and sensed by the sensor 20 when it touches an obstacle.

[0038] Specifically, in this embodiment, the elastic component is a sheet-shaped elastic sheet 30, which has good deformation ability, high sensitivity, and is easy to implement. Of course, in other embodiments, the elastic component can also be a block-shaped elastic block, a plate-shaped elastic plate, etc., as long as it is able to deform when touching an obstacle to block the sensor 20.

[0039] Specifically, in the present embodiment, the movable portion 35 of the elastic component is completely exposed and suspended in the air, and can contact obstacles without obstruction. Of course, in other embodiments, the movable portion 35 may also be partially closed, such as closing the side for protection, as long as it does not affect the deformation of the movable portion 35 when it is hit by an obstacle.

[0040] This embodiment further provides an AGV vehicle, comprising a fork 10, wherein the fork tip 11 of the fork 10 is provided with the fork tip anti-collision detection device as described above.

[0041] Although the present invention has been specifically demonstrated and described in conjunction with the preferred embodiments, those skilled in the art should understand that various changes may be made to the present invention in form and detail without departing from the spirit and scope of the present invention as defined in the appended claims, all of which are within the scope of protection of the present invention.

Claims

1. A fork tip anti-collision detection device, comprising a sensor arranged inside the fork tip of a fork, wherein the front end surface of the fork tip is provided with a sensing through hole corresponding to the sensor; characterized in that: It also includes an elastic component, which is assembled on the fork tip and bent or folded forward to form a movable part. The movable part of the elastic component is provided with an avoidance through hole corresponding to the sensing through hole, and in the absence of external force, the sensor, the sensing through hole and the avoidance through hole are in the same straight line; when the movable part of the elastic component touches an object, it is compressed and deformed to block the sensor.

2. The fork tip anti-collision detection device according to claim 1, characterized in that: The movable portion of the elastic component has the same width as the front end surface of the fork tip.

3. The fork tip anti-collision detection device according to claim 1, characterized in that: The highest position of the movable portion of the elastic component is higher than the upper surface of the fork.

4. The fork tip anti-collision detection device according to claim 1, characterized in that: The elastic component is an elastic sheet, and the front end of the movable part of the elastic component is a curved arc-shaped guide part.

5. The fork tip anti-collision detection device according to claim 1 or 4, characterized in that: The elastic component includes a fixed portion, a lower curved section, an inclined section and an upper curved section connected in sequence, the fixed portion is fixed on the fork tip, the lower curved section is connected between the fixed portion and the inclined section, the inclined section is located in front of the fork tip and has the avoidance through hole, the upper curved section is connected to the upper end of the inclined section and bends forward to form an arc-shaped guide portion; the lower curved section, the inclined section and the upper curved section constitute the movable portion.

6. The fork tip anti-collision detection device according to claim 5, characterized in that: The fixing part is fixed on the front end surface of the fork tip, and a clearance through hole corresponding to the sensing through hole is opened on the fixing part. In the absence of external force, the sensor, the sensing through hole, the clearance through hole and the avoidance through hole are on the same straight line.

7. The fork tip anti-collision detection device according to claim 6, characterized in that: The fixing portion is flat against the front end surface of the fork tip and is fixed by a fixing piece.

8. The fork tip anti-collision detection device according to claim 1, characterized in that: The highest position of the movable part of the elastic component is flush with the upper surface of the fork.

9. The fork tip anti-collision detection device according to claim 1, characterized in that: The bottom of the fork tip is recessed upward to form a mounting cavity, and the sensor is assembled in the mounting cavity.

10. An AGV vehicle, including a fork, characterized in that: The fork tip of the fork is provided with a fork tip anti-collision detection device as described in any one of claims 1 to 9 above.

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