Collision detection device and pallet fork and forklift robot thereof

Abstract

The utility model provides a collision detection device and a pallet fork and a forklift robot thereof, the collision detection device comprises a touch panel, a base and a sensor, the base is provided with a pair of extension arms which are arranged at intervals, notches are defined in the middles of the extension arms, and first connecting pieces are arranged on the inner sides of the extension arms; the touch panel is provided with a convex arm, the convex arm is provided with a second connecting piece which can be connected with the first connecting piece in a matched mode so that the convex arm can be inserted into the notch, the touch panel and the base can be connected in a guiding and moving mode, and the side wings of the touch panel are arranged on the extension arms of the base to move forwards; a containing groove is formed in any extension arm in the base, a sensing window communicated with the containing groove is arranged on the extension arm, the sensor is arranged in the containing groove, the sensing end faces the sensing window, and a pressure applying piece / observation window is correspondingly arranged on the touch panel side wing corresponding to the sensing window according to the contact / non-contact type of the sensor. Therefore, the compact modular mechanism design is realized, and the convenience of dismounting / mounting and replacing the structure and the sensor is improved.

Description

Technical Field

[0001] The utility model relates to a collision sensing detection technology, in particular to a modular collision detection device suitable for a narrow installation space and a cargo fork and a forklift robot. Background Art

[0002] Among the current smart forklift products, most of the fork tip collision detection mechanisms have an integrated strong binding design between the structure and the sensor. Therefore, once the structural parts or the adapted sensors are damaged, repairs are very inconvenient and basically require overall replacement, which undoubtedly increases the maintenance cost of using such products.

[0003] The main reason is that the installation space at the fork tip is usually very small, so the collision detection mechanism must be designed to be compact. For example, the prior art has proposed "An AGV Fork Head Collision Mechanism" (Chinese Patent Application No.: 202123017772.0). Although its overall structure realizes the compact design of the collision mechanism, it does not consider the maintenance and replacement of components. Therefore, the structural design is relatively complex, and the assembly structure does not adopt a modular design. Once some structural parts or adapted sensors are damaged, the disassembly / assembly maintenance cost is very high, and it is even worse than replacing the entire structure. Utility Model Content

[0004] To this end, the main purpose of the utility model is to provide a collision detection device and its fork and forklift robot to achieve a compact modular mechanism design and improve the convenience of disassembly / assembly and replacement of the structure and sensors.

[0005] In order to achieve the above-mentioned purpose, according to the first aspect of the utility model, a collision detection device is provided, which includes: a touch panel, a base, and a sensor, wherein the base is provided with a pair of extension arms arranged at intervals to define a recess in the middle thereof, and a first connecting piece is provided on the inner side of the extension arm; a protruding arm is provided on the touch panel, and a second connecting piece matched with the first connecting piece is provided on the protruding arm, so that the protruding arm can be inserted into the recess, so that the touch panel is connected to the base for guiding movement, and the side wings of the touch panel are placed in front of the extension arms of the base for displacement; a receiving groove is provided at any extension arm in the base, and a sensing window connected to the receiving groove is provided on the extension arm, and the sensor is arranged in the receiving groove, with the sensing end facing the sensing window, and on the side wings of the touch panel corresponding to the sensing window, a pressure piece / observation window is provided according to the contact / non-contact type of the sensor.

[0006] Preferably, the first connecting member and the second connecting member are rail and slide groove matching structures.

[0007] Preferably, the collision detection device further includes: a limit member, wherein a guide column is provided at the bottom of the base recess, a guide channel matched with the guide column is provided in the touch plate protrusion arm, and a limit window connected with the guide channel is provided at a preset limit position on the touch plate, and the limit member is connected to the guide column to displace in the limit window to limit the relative guided movement distance between the touch plate and the base.

[0008] Preferably, the collision detection device further comprises: a spring plug, which is embedded in the recess of the base, and the contact head of the spring plug is against the protruding arm of the touch plate, so that the pressure member and the contact sensor maintain a distance to be excited.

[0009] Preferably, the collision detection device further includes: a spring plug having a thread on its body, and a threaded hole matched with the spring plug is provided at the recess of the base to adjust the abutment distance between the contact head of the spring plug and the protruding arm of the touch plate, so that the pressure-applying member and the contact sensor maintain a distance to be excited.

[0010] Preferably, the collision detection device further comprises: a cover member, which covers the receiving groove and is detachably connected to the base.

[0011] Preferably, the pressure member is provided with threads, and the corresponding positions of the side wings of the touch panel are provided with threaded holes matched with the pressure member, and the pressure member is threadedly connected to the side wings of the touch panel.

[0012] Preferably, according to the contact / non-contact type of the sensor, the sensor is a micro switch / photoelectric sensor.

[0013] In order to achieve the above-mentioned purpose, according to the second aspect of the utility model, a collision detection device is also provided, which includes: a touch panel, a base, and a sensor, wherein the base is provided with a pair of extension arms arranged at intervals to define a recess in the middle thereof, and a first connecting piece is provided on the inner side of the extension arm; a protruding arm is provided on the touch panel, and a second connecting piece matched with the first connecting piece is provided on the protruding arm, so that the protruding arm can be inserted into the recess, so that the touch panel is connected to the base for guiding movement, and the side wings of the touch panel are placed in front of the extension arms of the base for displacement; a receiving groove is provided at each of the extension arms on both sides of the base, and a sensing window connected to the receiving groove is provided on the extension arm, the sensor is arranged in the receiving groove, and the sensing end faces the sensing window, and a pressure piece / observation window is provided on the side wings of the touch panel corresponding to the sensing window according to the contact / non-contact type of the sensor.

[0014] In order to achieve the above-mentioned purpose, corresponding to the above-mentioned device, according to the third aspect of the utility model, a fork is also provided, which includes: a fork frame, a collision detector, wherein the collision detector is the structure of any of the above-mentioned collision detection devices, wherein the fork frame fork tip is provided with a mounting groove, the collision detector is arranged in the mounting groove, and the touch plate extends from the mounting groove.

[0015] In order to achieve the above-mentioned object, according to a fourth aspect of the utility model, a forklift robot is also provided, which comprises the fork as described above.

[0016] The collision detection device and its fork and forklift robot provided by the utility model cleverly realize a compact modular design in structure, so that they can be well adapted to the existing compact installation space at the fork tip. At the same time, the modular design enables the various structural parts and sensors of the device to be conveniently disassembled / installed and replaced, thereby improving the convenience of maintenance. In addition, the structure of the utility model can be adapted to contact and non-contact sensors separately, and can also be compatible with and support contact and non-contact sensors, so that the sensor type is no longer limited, and the structure supports optional installation according to actual implementation conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation on the present invention. In the drawings:

[0018] Figure 1 to Figure 2 It is a schematic diagram of the overall structure of the collision detection device of the utility model;

[0019] Figure 3 to Figure 4 It is a partial perspective structural diagram of a touch panel in the collision detection device of the utility model;

[0020] Figure 5 It is a schematic diagram of the assembly perspective structure of the collision detection device of the utility model;

[0021] Figure 6 This is a schematic diagram of the assembly structure of the collision detection device of the utility model;

[0022] Figures 7 and 8 The utility model is a schematic diagram of the installation structure of the fork collision detection device.

[0023] Description of Reference Numerals

[0024] Touch panel 1, base 2, sensor 3, pressure member 4, limit member 5, spring plug 51, fork frame 6, 6', collision detector 7, extension arm 21, first connecting member 22, accommodating groove 23, sensing window 24, guide column 25, cover member 26, protruding arm 11, side wing 12, second connecting member 13, observation window 14, guide channel 15, limit window 16, installation groove 61, 61', wire groove 62, detection window 63. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Generally, the components of the embodiments of the utility model described and shown in the drawings here can be arranged and designed in various different configurations.

[0026] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the present invention to be protected, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0028] In the description of the present utility model, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the utility model product is usually placed when in use. They are only for the convenience of describing the present utility model and simplifying the description, and do not indicate or imply 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 on the present utility model. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance. The terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions.

[0029] In addition, the terms "horizontal", "vertical", "overhanging" and the like do not mean that the components are required to be absolutely horizontal or overhanging, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0030] In the description of the present utility model, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "layout", "installation", "connection" and "connection" 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 it can be indirectly connected through an intermediate medium, or it can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances and in combination with the prior art. In addition, the embodiments of the present utility model and the features in the embodiments can be combined with each other without conflict. And one or more of the components in the diagram may be necessary or non-essential, and the relative position relationship between the components in the above diagram can be adjusted according to actual needs.

[0031] In order to realize a compact modular structure design and improve the convenience of disassembly / assembly and replacement of the structure and sensor 3, Figures 1 to 6 As shown, the utility model provides a collision detection device, which includes: a touch panel 1, a base 2, and a sensor 3, wherein the base 2 is provided with a pair of extension arms 21 arranged at intervals to define a recess in the middle thereof, and a first connecting member 22 is provided on the inner side of the extension arm 21; the touch panel 1 is provided with a protruding arm 11, and side wings 12 are provided on both sides of the tail of the protruding arm 11, wherein second connecting members 13 are provided on both side walls of the protruding arm 11, and the protruding arm 11 is inserted into the recess and matched via the first and second connecting members 22 and 13, so that the touch panel 1 is connected to the base 2 for guiding movement, and the side wings 12 of the touch panel 1 are placed in front of the extension arm 21 of the base 2 and displaced.

[0032] In this embodiment, Figure 3 to Figure 4 As shown, the first and second connecting members 22 and 13 are respectively rail and slide groove matching structures. In other optional embodiments, the first and second connecting members 22 and 13 can also be existing rolling guide rail structures, such as ball and ball groove matching structures.

[0033] Further, such as Figure 5 to Figure 6 As shown, each extension arm 21 in the base 2 is provided with a receiving groove 23, and the extension arm 21 is provided with a sensing window 24 connected with the receiving groove 23 in the direction of the side wing 12 of the touch panel 1, and the sensor 3 is arranged in the receiving groove 23, and the sensing end faces the sensing window 24, wherein the receiving groove 23 is connected with the rear end of the base 2 so that the tail end wiring of the sensor 3 can pass through the rear end of the receiving groove 23, wherein when the sensor 3 is a contact sensor 3, a pressure piece 4 is provided on the side wing 12 of the touch panel 1 corresponding to the sensing window 24, and when the sensor 3 is a non-contact sensor 3, an observation window 14 is provided on the side wing 12 of the touch panel 1 corresponding to the sensing window 24.

[0034] It is worth mentioning that the accommodating groove 23 in the base 2 can be set according to actual conditions, such as setting one or two, so as to adapt to different types of sensors 3, for example, setting a non-contact sensor 3 / contact sensor 3 alone, and at the same time, the two accommodating grooves 23 can be fully utilized to support both non-contact and contact sensors 3, so as to achieve multiple replacement implementations. In this embodiment, it is preferred to support both non-contact and contact sensors 3, so as to be respectively set in the accommodating grooves 23 on both sides, wherein the contact sensor 3 is exemplified as a micro switch, and the non-contact sensor 3 is exemplified as a photoelectric sensor.

[0035] Further, such as Figure 4 As shown, in order to limit the limit of the guided movement between the touch panel 1 and the base 2, prevent the touch panel 1 from detaching from the base 2, and prevent the pressure member 4 from over-pressing the touch sensor 3 and causing damage to it, in a preferred embodiment, the collision detection device also includes: a limit member 5, wherein a guide column 25 is provided at the bottom of the recess of the base 2, a guide channel 15 matched with the guide column 25 is provided in the protruding arm 11 of the touch panel 1, and a limit window 16 connected to the guide channel 15 is provided at a preset limit position on the touch panel 1. When the guide column 25 is inserted into the guide channel 15, the limit member 5 is connected to the guide column 25, thereby allowing the limit member 5 to be displaced in the limit window 16 to limit the relative guided movement distance of the touch panel 1 and the base 2, thereby controlling the movement distance of the pressure member 4 on the touch panel 1 and preventing the touch panel 1 from detaching from the base 2.

[0036] On the other hand, since not all contact sensors 3, such as micro switches, have elastic recovery function, in a preferred embodiment, Figures 3 to 5 As shown, the collision detection device also includes: a spring plug 51, which is embedded in the recess of the base 2, and the elastic contact head of the spring plug 51 is against the convex arm 11 of the touch plate 1, so that a certain elastic distance is maintained between the touch plate 1 and the base 2, so that the pressure member 4 and the contact sensor 3 can return to their original position after a trigger, and maintain the distance to be excited. At the same time, the elastic restoring force of the spring plug 51 can also reduce the impact force on the touch plate 1, thereby avoiding the problem of excessive impact force being transmitted to the sensor 3 end and causing damage.

[0037] Further, in order to freely adjust the excitation distance of the touch sensor 3, in a preferred embodiment, as Figure 5 As shown, the spring plug 51 may be provided with a thread on its column, and the base 2 is provided with a threaded hole matched with the spring plug 51 at the recess to adjust the abutment distance between the contact head of the spring plug 51 and the protruding arm 11 of the touch plate 1, forcing the touch plate 1 and the base 2 to maintain a certain spacing distance, so as to adjust the pressure member 4 and the contact sensor 3 to maintain a distance to be excited.

[0038] Similarly, the pressure member 4 may also be provided with threads, and the side wing 12 of the touch panel 1 may be provided with threaded holes corresponding to the pressure member 4, and the pressure member 4 is threadedly connected to the side wing 12 of the touch panel 1. Thus, multiple functions of freely adjusting the excitation distance and adjusting the distance between the touch panel 1 and the base 2, that is, the extension distance of the touch panel 1, are realized to adapt to different installation environments.

[0039] Furthermore, in order to cope with the harsh use environment, dust is prevented from entering the receiving groove 23 as much as possible, and the sensor 3 is protected, such as Figure 6 As shown, in a preferred embodiment, the collision detection device further includes: a cover member 26 , which covers the receiving groove 23 and is detachably connected to the base 2 .

[0040] On the other hand, Figure 7 As shown, corresponding to the above-mentioned device, the utility model also provides a fork, which includes: a fork frame 6, a collision detector 7, wherein the collision detector 7 is the structure of any of the above-mentioned collision detection devices, wherein a mounting groove 61 is provided at the fork tip of the fork frame 6, the collision detector 7 is arranged in the mounting groove 61, and the touch plate 1 extends out from the mounting groove 61, and in addition, a wire groove 62 connected to the mounting groove 61 is also provided on the side of the fork frame 6 to accommodate the wiring of the sensor 3.

[0041] On the other hand, as shown in Figure 8, corresponding to the above-mentioned device, the utility model also provides a fork, which includes: a fork frame 6', a collision detector 7, wherein the collision detector 7 is the structure of any of the above-mentioned collision detection devices, wherein the fork frame 6' is provided with a mounting groove 61' and a detection window 63 at the fork tip, the collision detector 7 is arranged in the mounting groove 61', and the touch plate 1 extends from the detection window 63.

[0042] On the other hand, the utility model also provides a forklift robot, which includes the fork as described above.

[0043] To sum up, the collision detection device and its fork and forklift robot provided by the utility model cleverly realize a compact modular design in structure, so that it can be well adapted to the existing compact installation space at the fork tip. At the same time, the modular design enables the various structural parts and sensors 3 of the device to be conveniently disassembled / installed and replaced, thereby improving the convenience of maintenance. In addition, the structure of the utility model can be adapted to contact and non-contact sensors 3 separately, and can also be compatible with and support contact and non-contact sensors 3, so that the type of sensor 3 is no longer limited, and the structure supports optional installation according to actual implementation conditions.

[0044] The preferred embodiments of the utility model disclosed above are only used to help explain the utility model. The preferred embodiments do not describe all the details in detail, nor do they limit the utility model to the specific implementation methods described. Obviously, many modifications and changes can be made according to the contents of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the utility model, so that technicians in the relevant technical field can understand and use the utility model well. The utility model is only limited by the claims and their full scope and equivalents. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the utility model should be included in the scope of protection of the utility model.

[0045] In addition, various implementations of the embodiments of the present utility model can also be arbitrarily combined, as long as they do not violate the concept of the embodiments of the present utility model, they should also be regarded as the contents disclosed in the embodiments of the present utility model.

Claims

1. A collision detection device, characterized in that include: A touch panel, a base, and a sensor, wherein the base is provided with a pair of extension arms spaced apart to define a notch in the middle thereof, and a first connecting member is provided on the inner side of the extension arm; a protruding arm is provided on the touch panel, and a second connecting member matched with the first connecting member is provided on the protruding arm, so that the protruding arm is inserted into the notch, so that the touch panel is guided and moved to be connected with the base, and the side wings of the touch panel are placed in front of the extension arm of the base and displaced; A receiving groove is provided at any extension arm in the base, and a sensing window connected to the receiving groove is provided on the extension arm. The sensor is arranged in the receiving groove, and the sensing end faces the sensing window. On the side wing of the touch panel corresponding to the sensing window, a pressure piece / observation window is provided correspondingly according to the contact / non-contact type of the sensor.

2. The collision detection device according to claim 1, characterized in that: The first connecting member and the second connecting member are rail and slide groove matching structures.

3. The collision detection device according to claim 1, characterized in that: It also includes: a limit piece, wherein a guide column is provided at the bottom of the base recess, a guide channel matched with the guide column is provided in the touch panel protrusion arm, and a limit window connected with the guide channel is provided at a preset limit position on the touch panel, and the limit piece is connected to the guide column to move in the limit window to limit the relative guided movement distance between the touch panel and the base.

4. The collision detection device according to claim 1, characterized in that: Also includes: A spring plug is embedded in the recess of the base, and the contact head of the spring plug abuts against the convex arm of the touch plate, so that the pressure-applying member and the sensor maintain a distance to be excited.

5. The collision detection device according to claim 1, characterized in that: Also includes: The spring plug has a thread on its body, and a threaded hole matched with the spring plug is provided at the recess of the base to adjust the abutment distance between the contact head of the spring plug and the convex arm of the touch plate so that the pressure piece and the sensor maintain a distance to be excited.

6. The collision detection device according to claim 1, characterized in that: The pressure piece is provided with threads, and the corresponding positions of the side wings of the touch panel are provided with threaded holes matched with the pressure piece, and the pressure piece is connected with the side wings of the touch panel in a threaded manner.

7. The collision detection device according to claim 1, characterized in that: According to the contact / non-contact type of the sensor, the sensor is a micro switch / photoelectric sensor.

8. A collision detection device, characterized in that include: A touch panel, a base, and a sensor, wherein the base is provided with a pair of extension arms arranged at intervals to define a recess in the middle thereof, and a first connecting piece is provided on the inner side of the extension arm; a protruding arm is provided on the touch panel, and a second connecting piece matched with the first connecting piece is provided on the protruding arm so that the protruding arm can be inserted into the recess, so that the touch panel is connected to the base for guided movement, and the side wings of the touch panel are placed in front of the extension arms of the base for displacement; a receiving groove is provided at each of the extension arms on both sides of the base, and a sensing window connected to the receiving groove is provided on the extension arm, the sensor is arranged in the receiving groove, and the sensing end faces the sensing window, and a pressure piece / observation window is provided on the side wings of the touch panel corresponding to the sensing window according to the contact / non-contact type of the sensor.

9. A fork, comprising: Fork frame, A collision detector, characterized in that the collision detector is the structure of the collision detection device described in any one of claims 1 to 8, wherein a mounting groove is provided at the fork tip of the fork frame, the collision detector is arranged in the mounting groove, and the touch plate extends from the mounting groove.

10. A forklift robot, characterized in that: Comprising the fork as claimed in claim 9.

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