Safe anti-collision obstacle avoidance mechanism applied to end part of fork arm of AGV (Automatic Guided Vehicle) of forklift
By designing a bearing-guided telescopic structure and a smooth rectangular opening at the end of the forklift AGV fork arm, combined with photoelectric switch detection, the safety problem caused by large gaps in the steps of the anti-collision and obstacle avoidance mechanism was solved, achieving high reliability and low-cost operational safety.
Patent Information
- Application Number
- CN202423309827.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-31
- Publication Date
- 2025-11-14
- Estimated Expiration
- 2034-12-31
AI Technical Summary
The existing anti-collision and obstacle avoidance mechanisms at the ends of the forklift arms of AGVs have large gaps in the steps, which can easily cause them to scrape against and get stuck with the goods, resulting in low operational safety.
A safe collision avoidance mechanism was designed, which adopts a bearing-guided telescopic structure and telescopic blocks, combined with a rectangular opening and a chamfered shape to achieve smooth guidance, avoid step gaps, and detect the obstacle avoidance status through a photoelectric switch.
It improves the operational safety of forklift AGVs, prevents foreign objects from scratching and getting stuck, reduces maintenance costs, and enhances the stability and protection of the mechanism.
Smart Images
Figure CN223547686U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of intelligent logistics technology, and in particular to a safety anti-collision and obstacle avoidance mechanism applied to the end of the fork arm of a forklift AGV. Background Technology
[0002] With the development of the forklift and AGV (Automated Guided Vehicle) industries, forklift AGVs have gradually become an important core component of intelligent logistics handling systems, widely used in factory workshops, warehouses, distribution centers, and other similar locations. Most forklift AGVs are characterized by their large size and weight, high operating height, and strong driving power; therefore, their safety is paramount. Consequently, forklift AGVs require the installation of numerous safety devices. The forklift fork arm is the direct execution unit during operation, making its safety design particularly crucial.
[0003] Some existing collision avoidance mechanisms at the end of the fork arm achieve the extension and retraction of the mechanism through bushing guidance, and detect contact avoidance through microswitches and non-contact avoidance through photoelectric sensors.
[0004] However, the existing anti-collision and obstacle avoidance mechanisms at the ends of the forklifts have many large step gaps, which make it very easy for the AGV to scrape and get stuck with the goods when picking up and placing them, resulting in low operational safety of the forklift AGV. Summary of the Invention
[0005] This application aims to provide a safety anti-collision and obstacle avoidance mechanism applied to the end of the fork arm of a forklift AGV, thereby improving the operational safety of the forklift AGV. This is mainly achieved through the following technical solutions:
[0006] This application provides a safety anti-collision and obstacle avoidance mechanism applied to the end of a forklift arm of a forklift AGV, comprising: a mechanism body, one side of which is connected to the end of the forklift arm, and the other side having a rectangular opening with a rectangular cross-section, the rectangular opening having chamfered edges; a bearing guide telescopic structure is installed inside the mechanism body, one end of which is installed on the inner wall of the mechanism body, and the other end is installed with a telescopic block; the outer surface of the telescopic block is in sliding contact with the inner surface of the rectangular opening.
[0007] In a preferred embodiment, the side of the mechanism body connected to the end of the fork arm is a sloping structure, and the sloping angle of the sloping structure matches the sloping angle of the end of the fork arm.
[0008] In a preferred embodiment, the bearing guide telescopic structure includes: a concave bearing fixing block, with linear bearings fixedly installed on the front and rear sides of the concave ends of the bearing fixing block, and a guide shaft passing through the linear bearings; a front limiting end cap installed at the first end of the guide shaft, and the second end of the guide shaft connected to the telescopic block, the front limiting end cap being installed on the inner wall of the main body of the mechanism; a compression spring provided between the bearing fixing block and the telescopic block, with the guide shaft passing through the compression spring; a slotted photoelectric switch installed on the bearing fixing block; and a sensing plate installed on the telescopic block; in the initial relaxed state of the compression spring, the end of the sensing plate making contact with the slotted photoelectric switch.
[0009] In a preferred embodiment, the outer surface of the guide shaft and the inner surface of the linear bearing are in sliding contact.
[0010] In a preferred embodiment, the bearing guide telescopic structure further includes a rear limiting screw mounted on the bearing fixing block.
[0011] In a preferred embodiment, the bearing guide telescopic structure further includes a diffuse reflection photoelectric switch mounted on the telescopic block.
[0012] In a preferred embodiment, a clearance groove is provided in front of the telescopic block; the diffuse reflection photoelectric switch is located within the clearance groove.
[0013] In a preferred embodiment, a telescopic baffle is fitted to the front of the telescopic block, and the telescopic baffle has a through hole whose shape and size match the clearance groove.
[0014] In a preferred embodiment, the edges of the telescopic baffle are chamfered.
[0015] In a preferred embodiment, the size of the telescopic baffle matches the size of the rectangular opening.
[0016] The safety collision avoidance mechanism described in this application has a rectangular opening with a rectangular cross-section on the side of the main body away from the end of the forklift AGV's fork arm, i.e., the front side of the mechanism. The rectangular opening has chamfered edges, making the front end of the mechanism smoother. When the forklift AGV is picking up or placing goods, if the end of the AGV's fork arm encounters a foreign object, the object will fall onto the safety collision avoidance mechanism. The smooth section on the front side of the mechanism will facilitate the removal of the foreign object, making the mechanism less prone to being scratched or jammed by foreign objects and thus improving the operational safety of the forklift AGV.
[0017] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this application, nor is it intended to limit the scope of this application. Other features of this application will become readily apparent from the following description. Attached Figure Description
[0018] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0019] Figure 1 A side perspective view of a safety anti-collision and obstacle avoidance mechanism applied to the end of the fork arm of a forklift AGV provided in this application embodiment;
[0020] Figure 2 A front view of a safety anti-collision and obstacle avoidance mechanism applied to the end of the fork arm of a forklift AGV, provided in an embodiment of this application;
[0021] Figure 3 This is a schematic diagram of the structure of the safety collision avoidance mechanism provided in this application embodiment installed at the end of the fork arm of a forklift AGV;
[0022] Figure 4 A schematic cross-sectional view of the main body of the mechanism provided in an embodiment of this application;
[0023] Figure 5 A front perspective view of a safety anti-collision and obstacle avoidance mechanism applied to the end of the fork arm of a forklift AGV, provided for an embodiment of this application;
[0024] Figure 6 An exploded view of the structure of a safety anti-collision and obstacle avoidance mechanism applied to the end of the fork arm of a forklift AGV, provided in an embodiment of this application;
[0025] Attached image labels:
[0026] Fork arm end - A; Mechanism body - 100; First side plate - 101; Second side plate - 102; Upper inclined plate - 103; Base plate - 104; Screw hole - 105; Cube opening - 106; Rectangular opening - 107; Bearing fixing block - 200; Telescopic block - 300; Clearance groove - 301; Telescopic baffle - 400; Through hole - 401; Two guide shafts - 500; Linear bearing - 600; Front limit end cover - 700; Compression spring - 800; Slotted photoelectric switch - 900; Induction plate - 1000; Diffuse reflection photoelectric switch - 1100; Rear limit screw - 1200. Detailed Implementation
[0027] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.
[0028] Please see Figure 1 , Figure 1 This is a side perspective view of a safety collision avoidance mechanism applied to the end of the fork arm of a forklift AGV, provided as an embodiment of this application. Figure 1 As shown, the safety collision avoidance mechanism includes a main body (100), a bearing guide telescopic structure, and a telescopic block (300).
[0029] The first side of the main body (100) is connected to the end of the forklift AGV fork arm, and the second side of the main body (100) is slidably connected to the telescopic block (300). The opening on the second side is a rectangular opening with a rectangular cross-section, and the outer surface of the telescopic block (300) is in sliding contact with the inner surface of the rectangular opening. The first end of the telescopic block (300) is the end that contacts the cargo, i.e., the front end of the safety anti-collision and obstacle avoidance mechanism; the second end of the telescopic block (300) is located inside the main body (100), and the second end of the telescopic block (300) is fixedly connected to the bearing guide telescopic structure. When the front end of the telescopic block (300) touches the cargo, it is subjected to the relative squeezing force of the cargo, and the telescopic block (300) slides along the inner surface of the rectangular opening into the main body (100). The bearing guide telescopic structure provides the motion source force and space for the sliding displacement of the telescopic block (300). The third end of the bearing-guided telescopic structure is fixedly connected to the second end of the telescopic block (300), and the fourth end of the bearing-guided telescopic structure is fixedly installed on the inner wall of the main body (100). Before the front end of the telescopic block (300) touches the goods, when the front end of the telescopic block (300) is not subjected to the relative squeezing force of the goods, the bearing-guided telescopic structure provides a motion source force to the telescopic block (300), so that the front end of the telescopic block (300) always maintains a certain sliding distance with the rectangular opening. The sliding distance is the space provided by the telescopic block (300) for sliding displacement into the main body (100). As described above, this embodiment of the application can determine whether the front end of the telescopic block (300) in front of the safety collision avoidance mechanism has touched the goods by detecting the sliding displacement information of the telescopic block (300) into the mechanism body (100). If the front end of the telescopic block (300) touches the goods (or other objects), the operating parameters of the forklift AGV are adjusted through the data processing center of the forklift AGV to control the operation of the forklift AGV, such as deceleration, reversing, or turning. In this way, the contact-type obstacle avoidance status detection purpose of the safety collision avoidance mechanism is achieved.
[0030] In addition, the rectangular opening has a chamfered shape around its perimeter. When the forklift AGV is picking up or placing goods, if the end of the AGV fork arm encounters a foreign object, the object will fall onto the safety anti-collision and obstacle avoidance mechanism. This facilitates the smooth section on the front side of the mechanism to guide the foreign object out, preventing the mechanism from being scraped and stuck by the foreign object and thus failing, thereby improving the operational safety of the forklift AGV. The front end of the telescopic block (300) includes a rectangular end face. The size and shape of the rectangular end face match the rectangular opening. When the front end of the telescopic block (300) touches the goods and is subjected to a relative squeezing force, assuming the force is large enough and the duration is long enough, the front end of the telescopic block (300) will slide into the body of the mechanism (100) to the position of the rectangular opening under the squeezing force. Due to the obstruction of the rectangular opening, the front end of the telescopic block (300) cannot continue to slide into the body of the mechanism (100). In some feasible implementations, the size and shape of the rectangular end face match the rectangular opening. Specifically, the size and shape of the rectangular end face are exactly the same as the size and shape of the rectangular opening, so that when the rectangular end face of the front end of the telescopic block (300) is pushed to the position of the rectangular opening by the squeezing force of the goods, the rectangular end face of the front end of the telescopic block (300) can completely and just cover the rectangular opening. At the same time, the rectangular opening can also serve as a limiting function, restricting the maximum displacement space of the front end of the telescopic block (300) sliding into the main body (100). A specific implementation can be: a telescopic baffle (400) is attached to the front end of the telescopic block (300), and the telescopic baffle (400) moves with the telescopic block (300). The telescopic baffle (400) helps to protect the telescopic block (300) and avoid damage to the front end of the telescopic block (300) due to collision, friction, etc. when it touches the goods. The telescopic baffle (400) not only protects the front end of the telescopic block (300), but also allows for easy removal and repair or replacement of the baffle if damage occurs due to collision or friction when the front end of the telescopic block (300) comes into contact with goods. This eliminates the need to maintain the entire safety collision avoidance mechanism, thus reducing usage and maintenance costs. The size and shape of the telescopic baffle (400) are identical to those of the rectangular opening, ensuring that when the front end of the telescopic block (300) is pushed to the rectangular opening by the pressure of the goods, the baffle (400) completely and precisely covers the rectangular opening. Furthermore, the edges of the telescopic baffle (400) are chamfered.
[0031] As described above, the rectangular opening with chamfered edges and the telescopic baffle (400) with chamfered edges form a smooth guiding structure. Simultaneously, the outer surface of the telescopic block (300) slides in contact with the inner surface of the rectangular opening. Therefore, the entire safety collision avoidance mechanism itself has no obvious step gaps, resulting in higher reliability when the forklift AGV picks up and places goods, avoiding the problem of easily scraping and jamming with goods due to large step gaps in the mechanism itself. Furthermore, the entire safety collision avoidance mechanism can be independently removed from the forklift AGV fork arm end through the first side of the mechanism body (100). Therefore, the safety collision avoidance mechanism is completely decoupled from the forklift AGV fork arm end. Thus, the safety collision avoidance mechanism described in this embodiment has a high degree of modularity, can be stored and sold independently, and is also beneficial for subsequent replacement and maintenance, reducing the use and maintenance costs of the forklift AGV. Furthermore, the main body (100) serves as the protective shell of the safety collision avoidance mechanism, making the internal space of the entire safety collision avoidance mechanism relatively enclosed. The main body (100) is a one-piece steel structure, providing high protection and making it less prone to damage. Additionally, the aforementioned smooth guiding structure facilitates the removal of foreign objects that fall onto the safety collision avoidance mechanism, preventing the mechanism from malfunctioning due to being scraped and stuck by foreign objects when the forklift AGV is picking up or placing goods, thereby improving the operational safety of the forklift AGV.
[0032] Please see Figure 2 and 3 , Figure 2 A front view of a safety anti-collision and obstacle avoidance mechanism applied to the end of the fork arm of a forklift AGV, provided in an embodiment of this application; Figure 3 This is a schematic diagram of the safety collision avoidance mechanism provided in this application, installed at the end of the forklift arm of a forklift AGV. Figure 2 and 3 As shown, the main body (100) of the mechanism comprises two parts, namely a first part and a second part. The first part includes a first side connected to the end (A) of the fork arm. The second part is an integrally formed, hollow cube, which may be a steel structure. The cube lacks one of its bases, thus having an opening, referred to as the cube opening. The other base of the cube serves as the inner wall of the main body (100). It should be noted that by welding the first part to the second part, the step gaps of the safety collision avoidance mechanism itself are reduced, and the stability and protective properties of the safety collision avoidance mechanism are increased.
[0033] Please see Figure 4 , Figure 4 This is a schematic cross-sectional view of the main body of the mechanism provided in an embodiment of this application. Figure 4 As shown, the cube can be 5cm long, 4cm wide, and 2cm high, and the thickness of all steel structures is 0.5cm. The bottom dimension of the inner wall of the main body (100) is 4cm long and 2cm wide, meaning one side of the cube serves as this inner wall. The side with the opening, i.e., the cube opening (106), is also 4cm long and 2cm wide. However, since the edges of the cube opening (106) are chamfered, the size of the rectangular opening (107) with chamfered edges is smaller than the outer edge dimension of the cube opening (106). In a more preferred embodiment, the size and shape of the telescopic baffle (400) should be the same as the rectangular opening (107), thus forming a smooth guiding structure that is more conducive to removing foreign objects.
[0034] Please see Figure 5 , Figure 5 This is a front perspective view of a safety collision avoidance mechanism applied to the end of the fork arm of a forklift AGV, provided as an embodiment of this application. Figure 5 As shown, the first part includes a first side plate (101), a second side plate (102), and an upper inclined plate (103), all of which are welded to the second part. The second part includes a base plate (104), which is the base of the cube that forms the inner wall of the main body (100) of the mechanism. Figure 2 As shown, the upper inclined plate (103) has a certain horizontal upward first tilt angle relative to the main body of the mechanism (100). This first tilt angle matches the second tilt angle of the forklift AGV fork arm end tilting downward, so that when the safety anti-collision and obstacle avoidance mechanism is connected to the fork arm end (A), the lower surface of the upper inclined plate (103) and the downward tilted surface of the fork arm end (A) fit together perfectly, without any obvious step gaps, thus providing higher reliability when the AGV picks up and places goods. The specific value of the first tilt angle of the upper inclined plate (103) relative to the main body of the mechanism (100) is set according to the actual application scenario, depending on the second tilt angle of the forklift AGV fork arm end tilting downward. For example, if the second tilt angle of the forklift AGV fork arm end tilting downward is 12°, then the first tilt angle of the upper inclined plate (103) relative to the main body of the mechanism (100) is also set to 12°, so that when the two are fitted together, the step gaps on the safety anti-collision and obstacle avoidance mechanism itself can be minimized as much as possible.
[0035] On the other hand, the inclined structure formed by the aforementioned upper inclined plate (103) ensures that the entire safety anti-collision and obstacle avoidance mechanism is lower than the upper surface of the forklift AGV fork arm, thus avoiding excessive load during operation and improving the service life of the safety anti-collision and obstacle avoidance mechanism. It is understood that several screw holes (105) are also distributed on the first side plate (101), the second side plate (102), and the upper inclined plate (103). These screw holes (105) are used to fix the mechanism to the end of the forklift AGV fork arm using bolts, enhancing the stability and protection of the safety anti-collision and obstacle avoidance mechanism.
[0036] Please see Figure 6 , Figure 6 This is an exploded view of a safety collision avoidance mechanism applied to the end of the fork arm of a forklift AGV, provided as an embodiment of this application. Figure 6 As shown, the bearing guide telescopic structure includes: a concave bearing fixing block (200), on which linear bearings (600) are fixedly installed at the front and rear ends respectively. The linear bearings (600) are made of PVB (Polyvinyl Butyral) plastic, a synthetic resin obtained by the condensation reaction of polyvinyl alcohol and butyral under the action of an acidic catalyst. This polymer has many excellent properties such as good flexibility, adhesion and optical transparency. This makes the safety collision avoidance mechanism lightweight and low in manufacturing cost; and does not interfere with the signal of the slotted photoelectric switch (900) inside the mechanism. That is, four linear bearings (600) are respectively installed on the front and rear sides of the bearing fixing block (200).
[0037] Two guide shafts (500) pass through the concave ends of the linear bearing (600) and the bearing fixing block (200), respectively, to realize the bearing telescopic guiding function. The outer surface of the guide shaft (500) and the inner surface of the linear bearing (600) are in sliding contact. In this embodiment, telescopic guidance is achieved by the relative sliding of the guide shaft (500) and the linear bearing (600). The guide shaft (500) and the linear bearing (600) are in surface contact, which has good wear resistance. Furthermore, the linear bearing (600) has self-lubricating properties, requiring no maintenance, reducing subsequent maintenance costs, and facilitating operation.
[0038] A front limiting end cap (700) is installed at the first end of the guide shaft (500), and the front limiting end cap (700) is installed on the inner wall of the main body of the mechanism (100). When the telescopic stroke is completed, the front limiting end cap (700) contacts the linear bearing (600) as one side limiting the telescopic movement. The bearing guide telescopic structure also includes a rear limiting screw (1200) installed on the bearing fixing block (200). When the telescopic stroke is completed, the rear limiting screw (1200) contacts the telescopic block (300) as the other side limiting the telescopic movement.
[0039] The second end of the guide shaft (500) is connected to the telescopic block (300), and two compression springs (800) are provided between the bearing fixing block (200) and the telescopic block (300). The guide shaft (500) passes through the compression springs (800) as the power source for the telescopic movement to reset.
[0040] The principle is that when the front end of the telescopic block (300) touches the goods, it is subjected to the relative squeezing force of the goods. The telescopic block (300) slides along the inner surface of the rectangular opening into the main body (100). Due to the presence of the compression spring (800), the sliding displacement of the telescopic block (300) is provided with the motion source force and space. Before the front end of the telescopic block (300) touches the goods, when the front end of the telescopic block (300) is not subjected to the relative squeezing force of the goods, the compression spring (800) is in a relaxed state, providing the motion source force to the telescopic block (300), so that the front end of the telescopic block (300) always maintains a certain sliding distance with the rectangular opening. The sliding distance is the space provided by the telescopic block (300) for sliding displacement into the main body (100). When the front end of the telescopic block (300) touches the goods, it is subjected to the relative squeezing force of the goods. The telescopic block (300) slides along the inner surface of the rectangular opening into the body of the mechanism (100), and the telescopic block (300) squeezes the compression spring (800), so that the compression spring (800) is gradually in a compressed state. At the same time, due to the presence of the linear bearing (600) of the compression spring (800), the bearing fixing block (200) and the linear bearing (600) on the other side of the bearing fixing block (200) without the compression spring (800) are pushed to move along the guide shaft (500) towards the inner wall of the body of the mechanism (100). When the front limit end cap (700) contacts the linear bearing (600), it indicates that the telescopic stroke is used up. The front limit end cap (700) serves as the first limit of the telescopic movement. Similarly, when the rear limit screw (1200) contacts the telescopic block (300), it indicates that the telescopic stroke has been used up, and the rear limit screw (1200) serves as the second limit for the telescopic movement.
[0041] Specifically, the bearing guide telescopic structure may further include: a slotted photoelectric switch (900) mounted on the bearing fixing block (200) and a sensing plate (1000) mounted on the telescopic block (300). Before the front end of the telescopic block (300) touches the goods, when the front end of the telescopic block (300) is not subjected to the relative squeezing force of the goods, the compression spring (800) is in a relaxed state, i.e., in a reset state. At this time, the end of the sensing plate (1000) makes contact with the slotted photoelectric switch (900), and the sensing plate (1000) will trigger the signal of the slotted photoelectric switch (900). Among them, the slotted photoelectric switch is an infrared sensing photoelectric product, belonging to the type of through-beam photoelectric switch, also called a U-shaped photoelectric switch. When the sensing plate (1000) triggers the signal of the slotted photoelectric switch (900), that is, at this time, the slotted photoelectric switch (900) is equivalent to its emitter being powered on. After the emitter is powered on, it emits a beam of infrared or visible light. The light beam propagates along the optical slot to form an optical axis. At this time, the end of the sensing plate (1000) is in contact with the slotted photoelectric switch (900). The light is absorbed or scattered by the sensing plate (1000), causing the light signal received by the receiver to weaken or disappear. The receiver converts the change in light signal into an electrical signal, which is amplified and transmitted to the control circuit. After processing and judging, the control circuit outputs a trigger signal and transmits the trigger signal to the data processing center of the forklift AGV through a network connection. When the data processing center of the forklift AGV continuously receives the trigger signal, it indicates that the front end of the telescopic block (300) is not touching the goods.
[0042] When the telescopic block (300) in front of the safety collision avoidance mechanism touches an object and is squeezed, the telescopic block (300) moves inward toward the main body (100) of the mechanism. At this time, the end of the sensing plate (1000) moves away from the slotted photoelectric switch (900), causing the end of the sensing plate (1000) to no longer be in contact with the slotted photoelectric switch (900). The light emitted by the light emitter is not absorbed or scattered by the sensing plate (1000), resulting in no change in the light signal received by the receiver. No electrical signal is generated, and no trigger signal is output. That is, the signal of the slotted photoelectric switch (900) is lost at this time. When the data processing center of the forklift AGV does not receive this trigger signal, it indicates that the front end of the telescopic block (300) is currently touching the goods. This application embodiment determines whether the telescopic block (300) in front of the safety collision avoidance mechanism touches an object by detecting whether the trigger signal of the slotted photoelectric switch (900) exists, thereby realizing the overall contact-type obstacle avoidance status detection of the safety collision avoidance mechanism.
[0043] In some feasible embodiments, the bearing-guided telescopic structure further includes a diffuse reflection photoelectric switch (1100) mounted on the telescopic block (300), which moves with the telescopic displacement of the telescopic block (300). A clearance groove (301) is provided in front of the telescopic block (300); the diffuse reflection photoelectric switch (1100) is located within the clearance groove (301). The diffuse reflection photoelectric switch (1100) illuminates the front of the safety collision avoidance mechanism through the clearance groove (301). The diffuse reflection photoelectric switch contains a light emitter (usually an infrared light-emitting diode) and a receiver (photodiode or phototransistor). The light emitted by the light emitter is directed towards the detected object; when the object appears in the detection area, the light undergoes diffuse reflection on the object's surface. A portion of the reflected light returns and is received by the receiver. The receiver converts the received optical signal into an electrical signal, denoted as a diffuse reflection electrical signal, and transmits the diffuse reflection electrical signal to the data processing center of the forklift AGV via a network connection. The data processing center of the forklift AGV calculates the intensity of the reflected light corresponding to the received diffuse reflection electrical signal, and then determines whether the intensity of the reflected light reaches a preset condition through a preset light intensity threshold. If the intensity of the reflected light reaches the preset condition, it is determined that there is cargo at the front end of the telescopic block (300); otherwise, it is determined that there is no cargo at the front end of the telescopic block (300).
[0044] In this embodiment, a diffuse reflection photoelectric switch (1100) installed on the telescopic block (300) detects whether there is an obstacle in front of the safety collision avoidance mechanism. If it is determined that there is cargo (obstacle) in front of the telescopic block (300), the operating parameters of the forklift AGV are adjusted through the data processing center of the forklift AGV to control the operation of the forklift AGV, such as deceleration, reversing, or turning. In this way, the non-contact obstacle avoidance status detection purpose of the safety collision avoidance mechanism is achieved.
[0045] As described above, it is understood that the telescopic baffle (400) is provided with a through hole (401), the shape and size of which match the clearance groove (301). Figure 6As shown, the diffuse reflection photoelectric switch (1100) located in the clearance slot (301) can illuminate the front of the safety collision avoidance mechanism through the through hole (401). Compared with the use of transparent protective materials, this embodiment of the application designs the through hole (401) to match the shape and size of the clearance slot (301), so that the diffuse reflection photoelectric switch (1100) can better illuminate the front of the safety collision avoidance mechanism, and the detection accuracy and sensitivity of whether there is an obstacle in front of the safety collision avoidance mechanism are higher, thereby improving the non-contact obstacle avoidance status detection quality and detection efficiency of the safety collision avoidance mechanism.
[0046] The above description is merely a preferred embodiment of this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of protection involved in this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this application.
Claims
1. A safety collision avoidance mechanism applied to the end of the fork arm of a forklift AGV, characterized in that, include: The main body of the mechanism (100) is connected to the end of the fork arm on one side and has a rectangular opening with a rectangular cross-section on the other side. The rectangular opening has a chamfered shape around its perimeter. The main body (100) of the mechanism is equipped with a bearing guide telescopic structure. One end of the bearing guide telescopic structure is installed on the inner side wall of the main body (100), and the other end is equipped with a telescopic block (300). The outer surface of the telescopic block (300) slides in contact with the inner surface of the rectangular opening.
2. The safety anti-collision and obstacle avoidance mechanism applied to the end of the fork arm of a forklift AGV as described in claim 1, characterized in that, The side of the main body (100) of the mechanism that is connected to the end of the fork arm is a sloped structure, and the slope angle of the sloped structure matches the slope angle of the end of the fork arm.
3. A safety collision avoidance mechanism applied to the end of the fork arm of a forklift AGV as described in claim 2, characterized in that, The bearing guide telescopic structure includes: A concave bearing fixing block (200) has linear bearings (600) fixedly installed on its concave ends at the front and rear sides respectively. A guide shaft (500) is provided through the linear bearings (600). A front limiting end cap (700) is installed on the first end of the guide shaft (500), and the second end of the guide shaft (500) is connected to the telescopic block (300). The front limiting end cap (700) is installed on the inner wall of the main body (100) of the mechanism. A compression spring (800) is provided between the bearing fixing block (200) and the telescopic block (300), and the guide shaft (500) passes through the compression spring (800). A slotted photoelectric switch (900) is installed on the bearing fixing block (200); an induction plate (1000) is installed on the telescopic block (300); the compression spring (800) is in an initial relaxed state, and the end of the induction plate (1000) is in contact with the slotted photoelectric switch (900).
4. A safety collision avoidance mechanism applied to the end of the fork arm of a forklift AGV as described in claim 3, characterized in that, The outer surface of the guide shaft (500) and the inner surface of the linear bearing (600) are in sliding contact.
5. A safety collision avoidance mechanism applied to the end of the fork arm of a forklift AGV as described in claim 4, characterized in that, The bearing guide telescopic structure also includes: The rear limit screw (1200) is installed on the bearing fixing block (200).
6. A safety collision avoidance mechanism applied to the end of the fork arm of a forklift AGV as described in any one of claims 3 to 5, characterized in that, The bearing guide telescopic structure also includes: A diffuse reflection photoelectric switch (1100) is installed on the telescopic block (300).
7. A safety collision avoidance mechanism applied to the end of the fork arm of a forklift AGV as described in claim 6, characterized in that, A clearance groove is provided in front of the telescopic block (300); the diffuse reflection photoelectric switch (1100) is located in the clearance groove.
8. A safety collision avoidance mechanism applied to the end of the fork arm of a forklift AGV as described in claim 7, characterized in that, A telescopic baffle (400) is fitted to the front of the telescopic block (300), and the telescopic baffle (400) is provided with a through hole, the shape and size of which match the clearance groove.
9. A safety collision avoidance mechanism applied to the end of the fork arm of a forklift AGV as described in claim 8, characterized in that, The edges of the telescopic baffle (400) are chamfered.
10. A safety collision avoidance mechanism applied to the end of a forklift arm of a forklift AGV as described in claim 9, characterized in that, The size of the telescopic baffle (400) matches the rectangular opening.