Standard modular fork type stacking robot

Abstract

The utility model discloses a standard modular fork type stacking robot. The standard modular fork type stacking robot comprises a frame module, the power module is arranged at the bottom of the frame module and used for providing power for the frame module; the portal module is arranged at the front end of the frame module and used for forking goods. The identification module is arranged on the gantry module and is used for preventing the gantry module from colliding with the goods; the navigation module is arranged at the top of the gantry module; the navigation radar is used for providing a walking path for the power module; the obstacle avoidance module is arranged on the frame module and used for avoiding obstacles in the advancing direction; the input end of the control module is connected with the recognition module, the navigation module and the obstacle avoidance module, the output end of the control module is connected with the power module, and the control module is used for controlling operation of the power module. The goods taking device is simple in structure, adopts modular structural design, adapts to different working conditions, effectively improves goods taking efficiency, effectively avoids collision in the transportation process, and improves safety.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of fork truck, especially relates to a standard module type fork stacking robot. BACKGROUND

[0002] At present, when the goods are stacked and carried, the stacking truck is usually used, which is a kind of wheel type carrying and transporting logistics stacking equipment for loading and unloading, stacking and short distance transporting of the pallet goods. The pallet stacking truck is manually or electrically driven, and the forks carried by the pallet stacking truck are inserted into the pallet hole, and the lifting and lowering of the pallet goods are realized by the manual or electric driving hydraulic system, and the transporting operation is controlled by the person. It is the most simple and effective operation mode in the pallet transporting tool, and at present, it mainly relies on the person to operate, and the structure is complicated and the efficiency is low. UTILITARY MODEL

[0003] In order to solve the above-mentioned problems in the prior art, the utility model provides a standard module type fork stacking robot, which comprises:

[0004] A vehicle frame module;

[0005] A power module arranged at the bottom of the vehicle frame module, the power module being used for providing power to the vehicle frame module;

[0006] A portal module arranged at the front end of the vehicle frame module, the portal module being used for picking up goods;

[0007] An identification module arranged on the portal module, the identification module being used for avoiding collision between the portal module and the goods;

[0008] A navigation module arranged at the top of the portal module, the navigation radar being used for providing a walking path for the power module;

[0009] An obstacle avoidance module arranged on the vehicle frame module, the obstacle avoidance module being used for avoiding obstacles in the advancing direction;

[0010] A control module having input ends connected with the identification module, the navigation module and the obstacle avoidance module respectively, and having an output end connected with the power module, the control module being used for controlling the operation of the power module.

[0011] Further, in the above-mentioned standard module type fork stacking robot, the vehicle frame module comprises a whole vehicle outer frame and a connecting mechanism, the connecting mechanism being fixed on the whole vehicle outer frame, and the connecting mechanism being used for connecting the portal module.

[0012] Furthermore, in the aforementioned standard modular forklift stacking robot, the gantry module includes forks, a fork lifting platform, and a fork guide rail. The forks are mounted on the fork lifting platform, the fork lifting platform is movably mounted on the fork guide rail, and the fork guide rail is fixedly connected to the connecting mechanism.

[0013] Furthermore, in the aforementioned standard modular forklift stacking robot, the identification module includes three photoelectric sensors and a 3D depth camera. The three photoelectric sensors are respectively located at the front end of the fork and the middle of the fork lifting platform, and the 3D depth camera is located on the fork lifting platform.

[0014] Furthermore, in the aforementioned standard modular forklift stacking robot, the navigation module includes a navigation radar and a support. The support is fixed to the top of the fork guide rail, and the navigation radar is mounted on the support. The navigation radar is 2.15m above the ground.

[0015] Furthermore, in the aforementioned standard modular forklift stacking robot, the obstacle avoidance module includes two 2D obstacle avoidance radars and a 3D obstacle avoidance radar. The two 2D obstacle avoidance radars are symmetrically arranged on both sides of the vehicle's outer frame, with the 2D obstacle avoidance radars being 0.16m above the ground. The 3D obstacle avoidance radars are arranged on the fork rails, with the 3D obstacle avoidance radars being 1.5m above the ground.

[0016] The standard modular forklift stacking robot of this utility model has the following advantages and beneficial effects:

[0017] This utility model has a simple structure and adopts a modular design. By replacing the gantry module, it can adapt to different working conditions. It uses a navigation module and an identification module to control the power module, which effectively improves the efficiency of picking up goods. It uses an obstacle avoidance module to control the power module, which effectively avoids collisions during transportation and improves safety. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only for further understanding of the embodiments of the present invention and constitute a part of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. In the drawings:

[0019] Fig. 1 This is a schematic diagram of the overall structure of the standard modular forklift stacking robot of this utility model;

[0020] Fig. 2This is a schematic diagram of the gantry module of the standard modular forklift stacking robot of this utility model after removing the fork guide rails.

[0021] Fig. 3 This is a control principle diagram of the standard modular forklift stacking robot of this utility model.

[0022] Explanation of reference numerals in the attached figures:

[0023] 1: Chassis module; 11: Vehicle outer frame; 12: Connecting mechanism;

[0024] 2: Power module;

[0025] 3: Mast module; 31: Forks; 32: Forklift platform; 33: Fork rails;

[0026] 4: Recognition module; 41: Photoelectric sensor; 42: 3D depth camera;

[0027] 5: Navigation module; 51: Navigation radar; 52: Bracket;

[0028] 6: Obstacle avoidance module; 61: 2D obstacle avoidance radar; 62: 3D obstacle avoidance radar;

[0029] 7: Control module. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without creative effort are within the scope of protection of this utility model.

[0031] like Figs. 1 to 3 As shown, the standard modular forklift stacking robot of this utility model includes:

[0032] Chassis module 1;

[0033] Power module 2 is located at the bottom of frame module 1 and is used to provide power to frame module 1;

[0034] The mast module 3 is located at the front end of the frame module 1 and is used for forking and picking up goods.

[0035] Identification module 4 is installed on gantry module 3 and is used to prevent gantry module 3 from colliding with goods;

[0036] Navigation module 5 is located on top of gantry module 3, and navigation radar 51 is used to provide the power module 2 with the travel path;

[0037] Obstacle avoidance module 6 is mounted on the frame module 1 and is used to avoid obstacles in the direction of travel.

[0038] The control module 7 has its input terminals connected to the identification module 4, navigation module 5, and obstacle avoidance module 6, respectively, and its output terminal connected to the power module 2. The control module 7 is used to control the operation of the power module 2.

[0039] Furthermore, in the standard modular forklift stacking robot of this utility model, the frame module 1 includes an outer frame 11 and a connecting mechanism 12. The connecting mechanism 12 is fixed on the outer frame 11 and is used to connect the gantry module 3.

[0040] Furthermore, in the standard modular forklift stacking robot of this utility model, the gantry module 3 includes a fork 31, a fork lifting platform 32, and a fork guide rail 33. The fork 31 is mounted on the fork lifting platform 32, and the fork lifting platform 32 is mounted on the fork guide rail 33 in a liftable manner. The fork guide rail 33 is fixedly connected to the connecting mechanism 12, so that the gantry module 3 can be replaced according to the working conditions.

[0041] Furthermore, in the standard modular forklift stacking robot of this utility model, the identification module 4 includes three photoelectric sensors 41 and a 3D depth camera 42. The three photoelectric sensors 41 are respectively set at the front end of the fork 31 and the middle of the fork lifting platform 32, and the 3D depth camera 42 is set on the fork lifting platform 32. The two photoelectric sensors 41 at the front end of the fork 31 detect whether there are obstacles in front of the fork 31 to ensure that the fork 31 can be accurately inserted into the pallet. The photoelectric sensor 41 in the middle of the fork lifting platform 32 detects whether the pallet is inserted in place. At the same time, the 3D depth camera 42 identifies the position of the pallet. The control module 7 adjusts the posture according to the information of the photoelectric sensors 41 and the 3D depth camera 42, effectively ensuring the safety of pallet lifting.

[0042] Furthermore, in the standard modular forklift stacking robot of this utility model, the navigation module 5 includes a navigation radar 51 and a bracket 52. The bracket 52 is fixed to the top of the fork guide rail 33, and the navigation radar 51 is mounted on the bracket 52. The navigation radar 51 is 2.15m above the ground, so that the power module 2 runs according to the path planned by the navigation radar 51.

[0043] Furthermore, in the standard modular forklift stacking robot of this utility model, the obstacle avoidance module 6 includes two 2D obstacle avoidance radars 61 and a 3D obstacle avoidance radar 62. The two 2D obstacle avoidance radars 61 are symmetrically arranged on both sides of the outer frame 11 of the vehicle, and the height of the 2D obstacle avoidance radars 61 above the ground is 0.16m. The 3D obstacle avoidance radars 62 are arranged on the fork guide rail 33, and the height of the 3D obstacle avoidance radars 62 above the ground is 1.5m. Through the cooperation of the obstacle avoidance module 6 and the control module 7, the power module 2 can avoid obstacles in front when moving forward, which effectively improves transportation safety.

[0044] Specifically, when transporting pallets, the gantry module 3 is installed according to the working conditions. At this time, the navigation radar 51 plans the transportation path. The planning information is processed by the control module 7 to control the power module 2 to move according to the path planned by the navigation radar 51. When the power module 2 moves along the planned path, the obstacle avoidance module 6 scans the obstacle and transmits it to the control module 7. After processing by the control module 7, the power module 2 is controlled to avoid the obstacle. When the 3D depth camera 42 identifies the pallet to be transported, the two photoelectric sensors 41 at the front end of the fork 31 detect whether there is an obstacle in front of the fork 31 to ensure that the fork 31 can be accurately inserted into the pallet. The photoelectric sensor 41 in the middle of the fork lifting platform 32 detects whether the pallet is inserted in place. At the same time, the 3D depth camera 42 identifies the position of the pallet. The 3D depth camera 42 controls the power module 2 to adjust its attitude according to the pallet placement position through the control module 7, effectively ensuring the safety of pallet lifting.

[0045] In summary, compared with the prior art, the standard modular forklift stacking robot of this utility model has the following advantages and beneficial effects:

[0046] This utility model has a simple structure and adopts a modular design. By replacing the gantry module, it can adapt to different working conditions. It uses a navigation module and an identification module to control the power module, which effectively improves the efficiency of picking up goods. It uses an obstacle avoidance module to control the power module, which effectively avoids collisions during transportation and improves safety.

[0047] It should be noted that, unless otherwise expressly specified and limited, the term "connection" or its synonyms should be interpreted broadly in this document. For example, "connection" can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal communication of two elements or the interaction between two elements. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances. Furthermore, expressions such as "first" and "second" are merely used to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Meanwhile, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. In addition, the terms "front," "rear," "left," "right," "upper," and "lower" in this document refer to the placement states shown in the accompanying drawings.

[0048] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. A standard modular forklift stacking robot, characterized in that, The standard modular forklift stacking robot includes: Chassis module; A power module is disposed at the bottom of the frame module and is used to provide power to the frame module; A gantry module is disposed at the front end of the frame module and is used for forking and picking up goods; An identification module is mounted on the gantry module and is used to prevent the gantry module from colliding with the goods. A navigation module is mounted on top of the gantry module, and the navigation radar is used to provide a travel path for the power module. An obstacle avoidance module is mounted on the vehicle frame module and is used to avoid obstacles in the direction of travel. The control module has its input terminals connected to the identification module, the navigation module, and the obstacle avoidance module, respectively, and its output terminal connected to the power module. The control module is used to control the operation of the power module.

2. The standard modular forklift stacking robot according to claim 1, characterized in that, The frame module includes a vehicle outer frame and a connecting mechanism. The connecting mechanism is fixed to the vehicle outer frame and is used to connect the mast module.

3. The standard modular forklift stacking robot according to claim 2, characterized in that, The gantry module includes forks, a fork lifting platform, and fork guide rails. The forks are mounted on the fork lifting platform, and the fork lifting platform is movably mounted on the fork guide rails. The fork guide rails are fixedly connected to the connecting mechanism.

4. The standard modular forklift stacking robot according to claim 3, characterized in that, The identification module includes three photoelectric sensors and a 3D depth camera. The three photoelectric sensors are respectively located at the front end of the fork and the middle of the fork lifting platform, and the 3D depth camera is located on the fork lifting platform.

5. The standard modular forklift stacking robot according to claim 3, characterized in that, The navigation module includes a navigation radar and a bracket. The bracket is fixed to the top of the fork rail, and the navigation radar is mounted on the bracket at a height of 2.15m above the ground.

6. The standard modular forklift stacking robot according to claim 3, characterized in that, The obstacle avoidance module includes two 2D obstacle avoidance radars and a 3D obstacle avoidance radar. The two 2D obstacle avoidance radars are symmetrically arranged on both sides of the vehicle's outer frame, with the 2D obstacle avoidance radars being 0.16m above the ground. The 3D obstacle avoidance radars are arranged on the fork rails, with the 3D obstacle avoidance radars being 1.5m above the ground.

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