Fork arm assembly of forklift type AGV

Abstract

The fork arm assembly of the forklift type AGV comprises a fork arm pallet fork and a detection mechanism, and the detection mechanism comprises two first detection assemblies and two second detection assemblies. The fork arm pallet fork comprises two fork arms which are symmetrically arranged on the front end plate surface of the connecting vertical plate; the two first detection assemblies are arranged at the front ends of the two fork arms respectively, and each first detection assembly comprises an anti-collision pipe, a diffuse reflection switch, a movable frame, a linear sliding rail, a spring reset assembly, a first proximity switch and a photoelectric switch which are arranged on a first shell; the two second detection assemblies are arranged on the rear sides of the two fork arms, and each second detection assembly comprises a load detection pressing plate, a vertical plate, a telescopic mechanism and a limiting mechanism; the fork arm assembly has the functions of recognizing front obstacles, reducing speed, avoiding collision in time, ensuring detection and judgment of the position relation between a fork arm pallet fork and a pallet when the pallet is forked, and the like, the position of the forklift type AGV is rapidly adjusted, the pallet is forked accurately, goods in the transportation process are effectively prevented from being collided, and the efficiency of the goods forking and carrying process is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to intelligent detection technical field, especially a fork arm subassembly of fork truck type AGV. BACKGROUND

[0002] In the intelligent logistics and storage industry, the automatic logistics and intelligent storage trend is the future development direction, and the automatic logistics can greatly improve the material handling efficiency and reduce the error rate in factories, warehouses, logistics centers and other fields, thereby optimizing management and saving labor costs.

[0003] In the traditional logistics and storage mode, manual driving of a balanced heavy internal combustion fork truck is generally used to realize material handling, which not only has low work efficiency, but also has a relatively high probability of safety accidents; therefore, at present, an automatic intelligent fork truck type AGV is used to replace manual operation as a new way of material handling in material storage to reduce the above risks caused by manual operation; however, in the intelligent storage and handling, the fork truck type AGV often collides with the material during the material handling process, which causes damage to the material, and the fork arm fork cannot be accurately inserted into the bottom of the pallet during the fork picking process; therefore, it is necessary to further improve the structure of the fork arm fork by adding detection components with different functions to enable the fork arm fork to avoid accidental collision with the material in time and accurately detect the insertion and picking state of the fork arm fork and the pallet, thereby improving the work efficiency and safety of the automatic intelligent handling process. SUMMARY

[0004] The utility model aims at solving the technical problem of the fork arm subassembly of the fork truck type AGV.

[0005] Therefore, the utility model technical scheme is as follows:

[0006] A fork arm subassembly of a fork truck type AGV, comprising a fork arm fork and a detection mechanism, the detection mechanism comprising two first detection components and two second detection components; wherein,

[0007] The fork arm fork comprises two fork arms symmetrically arranged on the front end plate surface of the connecting vertical plate; the two first detection components are arranged at the front ends of the two fork arms, respectively, and the two second detection components are arranged at the rear sides of the two fork arms;

[0008] The first detection assembly comprises an anti-collision tube, a diffuse reflection switch, a linear slide rail and a spring reset assembly arranged from front to back on the first shell; the anti-collision tube is partially arranged on the front end of the first shell, and a through hole is formed in the bottom side of the anti-collision tube, so that the detection end of the diffuse reflection switch can detect the obstacle in front through the through hole; the slider of the linear slide rail is connected with a moving frame, the front end of the moving frame is connected with the anti-collision tube, and the rear end of the moving frame is provided with an end plate; a first proximity switch is arranged on the side of the linear slide rail, and the detection end of the first proximity switch is opposite to the rear end plate of the moving frame; the spring reset assembly is arranged on the rear end plate of the moving frame, so as to reset the anti-collision tube and the moving frame which have moved backward; an optoelectronic switch is arranged on the side of the spring reset assembly, and the detection end of the optoelectronic switch is directed obliquely forward through the gap formed in the first shell.

[0009] The second detection assembly comprises a load detection pressing plate and a vertical plate, the vertical plate is arranged on the fork arm along the length direction of the fork arm and is fixed on the fork arm, the load detection pressing plate is arranged obliquely upward on the front side of the vertical plate with the plate surface facing forward and is hingedly connected with the vertical plate; a telescopic mechanism is arranged on one side of the vertical plate, so that when the load detection pressing plate is turned backward to the vertical state, the telescopic mechanism is pushed and compressed; a second proximity switch is arranged below the telescopic mechanism, and the detection end of the second proximity switch is arranged to face the telescopic mechanism, so as to detect the compression state of the telescopic mechanism.

[0010] Further, the fork arm assembly of the forklift AGV further comprises an FRID reader, which is fixed on the front end plate surface of the connecting vertical plate and is arranged at a position corresponding to the position of the FRID electronic tag arranged on the tray.

[0011] Further, the size and spacing of the two fork arms are adapted to the size and spacing of the two plug-in holes on the tray.

[0012] Further, the spring reset assembly is composed of a spring and a spring seat; the spring seat is arranged in a spaced manner with the moving frame, and the spring is initially arranged in a free state horizontally between the moving frame and the spring seat, one end of the spring is fixed perpendicularly in the center of the rear end plate of the moving frame, and the other end of the spring is fixed perpendicularly on the upper side of the spring seat.

[0013] Further, the telescopic mechanism comprises a fixed shaft fixed horizontally in the second shell, the fixed shaft is arranged in parallel with the plate surface of the vertical plate, and a compression spring and a pressing sleeve are sequentially sleeved on the fixed shaft in the second shell from front to back; the front end of the fixed shaft protrudes to the outside of the second shell, so that the rear side of the contact sleeve is sleeved on the front end of the fixed shaft and connected with the front end of the pressing sleeve through the through hole formed in the front end surface of the second shell; the detection end of the second proximity switch is initially arranged opposite to one spring ring on the compression spring.

[0014] Further, the left and right sides of the load detection pressing plate respectively extend backward and are formed with connecting portions, so that the top ends thereof are hingedly connected to the vertical plate through connecting shafts sequentially penetrating the two connecting portions and the vertical plate; torsion springs are arranged between the two ends of the connecting shafts and the two connecting portions of the load detection pressing plate, so that after the load detection pressing plate is flipped backward by external force, the load detection pressing plate can automatically return to the initial oblique arrangement state.

[0015] Further, the second detection assembly further comprises a limiting mechanism, which comprises a limiting bolt and a limiting block; the limiting block is an L-shaped block body, which is fixed on the other side surface of the vertical plate through the bolt; a limiting mounting plate is formed on the top surface of the load detection pressing plate in the horizontal direction and extends backward, and is located above the limiting block, so that the limiting bolt is vertically penetrated and fixed on the limiting mounting plate, and the bottom end of the limiting bolt is initially abutted against the rear side of the vertical portion of the limiting block to limit the oblique arrangement angle of the load detection pressing plate.

[0016] Further, the fork arm assembly of the fork truck type AGV further comprises a lifting mechanism; the lifting mechanism comprises a first lifting link head, a second lifting link head and two lifting roller sets; the first lifting link head is centrally arranged on the back side of the fork arm pallet, and the top end thereof is connected to one side end of the chain wound on the sprocket; the second lifting link head is arranged below the sprocket, and the top end thereof is connected to the other side end of the chain wound on the sprocket; the lifting roller set comprises a roller mounting plate, and two rollers arranged in an up-down manner are arranged on the outward side surface of the roller mounting plate and are rotatably arranged on the roller mounting plate through roller bearings; the two lifting roller sets are symmetrically arranged on the back side of the fork arm pallet, and the distance between the two lifting roller sets is adapted to the distance between the two side rails in the gantry, so that the two lifting roller sets are respectively embedded and assembled in the same side rail to realize the connection between the fork arm pallet and the gantry and the sliding lifting of the fork arm pallet relative to the gantry.

[0017] Further, the lifting link head comprises a columnar connecting body, a chain connecting head is connected to the top end of the connecting body, so that the top end of the connecting body is connected to the end of the chain through the chain connecting head; an annular boss is arranged on the lower outer wall of the connecting body, and a connecting external thread is arranged on the outer wall below the annular boss, so that two locking nuts are threadedly connected to the lower side of the connecting body.

[0018] Further, a pin hole is formed on the bottom end side wall of the connecting body in the radial direction, and a limiting pin is penetrated and fixed in the pin hole.

[0019] Compared with the prior art, the fork arm assembly of the fork truck type AGV can solve the problems existing in the unmanned point-to-point forking process of the fork arm forks of the existing fork truck type AGV on the loaded goods pallet, has multiple functions such as identifying the front obstacle and decelerating, stopping in time to avoid collision when the collision is about to occur, and detecting and determining the positional relationship between the fork arm forks and the pallet when the pallet is forked, realizes the quick adjustment of the position of the fork truck type AGV, accurately forks the pallet, effectively avoids the collision of the goods in the transportation process, and thus improves the efficiency of the goods forking and carrying process. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 It is a structure schematic view of the fork arm assembly of the fork truck type AGV of the utility model;

[0021] Figure 2 It is a structure schematic view of the first detection assembly of the fork arm assembly of the fork truck type AGV of the utility model;

[0022] Figure 3 It is a structure schematic view of the first detection assembly (without installing the moving frame) of the fork arm assembly of the fork truck type AGV of the utility model;

[0023] Figure 4 It is a side view of the second detection assembly of the fork arm assembly of the fork truck type AGV of the utility model;

[0024] Figure 5 It is an elevation view of the second detection assembly of the fork arm assembly of the fork truck type AGV of the utility model;

[0025] Figure 6 It is a side view of the other side of the telescopic mechanism of the second detection assembly of the fork arm assembly of the fork truck type AGV of the utility model;

[0026] Figure 7 It is a partial sectional view of the telescopic mechanism of the second detection assembly of the fork arm assembly of the fork truck type AGV of the utility model;

[0027] Figure 8 It is a structure schematic view of the first lifting connecting head in the lifting mechanism of the fork arm assembly of the fork truck type AGV of the utility model;

[0028] Figure 9 It is a side view of the fork arm assembly of the fork truck type AGV of the utility model installed on the portal assembly of the fork truck type AGV through the lifting mechanism;

[0029] Figure 10 It is a structure schematic view of the fork truck type AGV of the utility model in the state of forking the pallet, wherein the fork arm assembly of the fork truck type AGV is installed;

[0030] Figure 11A front view of a pallet for cooperating with the fork arm assembly of the fork truck type AGV of the utility model;

[0031] Figure 12 A schematic view of the photoelectric switch of the two first detection assemblies detecting the front pallet when the fork arm assembly of the fork truck type AGV of the utility model is not directly opposite to the front pallet;

[0032] Figure 13 A schematic view of the photoelectric switch of the two first detection assemblies detecting the front pallet when the fork arm assembly of the fork truck type AGV of the utility model is not directly opposite to the front pallet. DETAILED DESCRIPTION

[0033] The utility model will be further explained in combination with the drawings and specific embodiments, but the following embodiments are by no means any limitation on the utility model.

[0034] Referring to Figure 1 The fork arm assembly of the fork truck type AGV comprises fork arm pallets 2, an FRID reader / writer 4, a detection mechanism and a lifting mechanism. The FRID reader / writer 4 is arranged at the rear end side of the fork arm pallets 2 to obtain the information of the goods in the to-be-lifted pallet 10. The detection mechanism comprises two first detection assemblies 1 and two second detection assemblies 3. The two first detection assemblies 1 are arranged at the front end side of the fork arm pallets 2, and the two second detection assemblies 3 are arranged at the rear end side of the fork arm pallets 2 to assist in controlling the fork arm pallets 2 to advance and retreat until the fork arm pallets 2 extend to the position of the to-be-lifted pallet 10. The lifting mechanism is arranged at the rear side of the fork arm pallets 2 and comprises a first lifting link head 5, a second lifting link head 12 and two lifting roller sets to be connected with the portal of the fork truck type AGV and control the lifting of the fork arm pallets 2 through the portal.

[0035] The fork arm pallets 2 comprise a vertically arranged connecting upright plate 201, and two L-shaped fork arms 202 are symmetrically fixed on the front end plate surface of the connecting upright plate 201. The size and spacing of the two fork arms 202 are adapted to the size and spacing of the two plug-in holes 1001 on the to-be-hauled pallet 10 to haul the to-be-hauled pallet 10 and the goods on the pallet 10 through the fork arm pallets 2. In this embodiment, each fork arm 202 is specifically composed of a horizontally arranged cross arm and a vertical arm integrally connected on the top surface of the rear end of the cross arm.

[0036] Referring to Figure 11An FRID electronic tag 1002 is centrally arranged on the wall surface of the tray body between the two insertion holes 1001 on the shipping tray 10, and the FRID reader 4 is centrally fixed on the front end surface of the connecting vertical plate 201, and is arranged in a position corresponding to the position of the FRID electronic tag 1002 on the tray 10, so that the information of the goods on the tray 10 can be read before the forked arm fork 2 carries the tray 10 and the goods on the tray 10, to realize point-to-point goods picking.

[0037] Referring to Figure 2 and Figure 3 , the first detection assembly 1 comprises an anti-collision tube 101, a diffuse reflection switch 102, a linear slide rail 103, a first proximity switch 104, a moving frame 105, a spring return assembly 106 and a photoelectric switch 107 arranged in the first housing 108.

[0038] The first housing 108 is composed of a top plate and side plates symmetrically and vertically fixed on both sides of the long side of the top plate, and the rear end of the first housing 108 is fixed on the front end surface of the forked arm 202; wherein the bottom surface of the top plate of the first housing 108 is used to fix the detection components.

[0039] The anti-collision tube 101, the linear slide rail 103 and the spring return assembly 106 are coaxially arranged in the first housing 108 along the length direction of the first housing 108 from front to back; wherein,

[0040] The anti-collision tube 101 is a cylindrical short tube, which is arranged along the width direction of the first housing 108 and partially protrudes from the front end surface of the first housing 108 at the front side; a through hole is formed in the middle of the tube body of the anti-collision tube 101 along the length direction of the first housing 108;

[0041] The linear slide rail 103 is arranged at the rear side of the anti-collision tube 101 along the length direction of the first housing 108 and is fixed on the first housing 108; the moving frame 105 is fixed on the sliding block of the linear slide rail 103, so that it can reciprocate along the length direction of the first housing 108; wherein the moving frame 105 is a reverse U-shaped frame body integrally formed by sequentially and vertically connecting a front end plate, a horizontal plate and a rear end plate, and the length of the moving frame 105 is greater than the length of the linear slide rail 103; the front end plate of the moving frame 105 abuts and is fixed on the rear side of the anti-collision tube 101; a space is left between the front end plate of the moving frame 105 and the first housing 108 to serve as the installation space of the diffuse reflection switch 102;

[0042] The spring return assembly 106 is composed of a spring and a spring seat; wherein the spring seat is a cylindrical structure, which is fixed on the first housing 108 in a spaced manner with the moving frame 105, and the spring is arranged in a free state between the moving frame 105 and the spring seat, one end of the spring is centrally and vertically fixed on the rear end plate of the moving frame 105, and the other end of the spring is vertically fixed on the upper part of the spring seat.

[0043] The diffuse reflection switch 102 is fixed on the first shell 108 with its detection end facing forward between the anti-collision tube 101 and the linear slide rail 103, and the detection end of the diffuse reflection switch 102 is opposite to the through hole on the anti-collision tube 101, so that the detection end of the diffuse reflection switch 102 can detect the obstacles in front through the through hole, and when there is an obstacle within a specified distance in front of the fork arm 202, the diffuse reflection switch 102 detects and sends out a first signal;

[0044] The first proximity switch 104 is arranged on one side of the linear slide rail 103 along the length direction of the first shell 108, and the detection end of the first proximity switch 104 faces the rear end plate of the moving frame 105, so that when the moving frame 105 and the detection end of the first proximity switch 104 are displaced, the first proximity switch 104 sends out a second signal.

[0045] The photoelectric switch 107 is fixed on the rear side of the first shell 108 and arranged side by side with the spring return assembly 106; the photoelectric switch 107 is arranged obliquely, so that its detection end faces one side plate of the first shell 108, and a notch is arranged on the side plate opposite to the detection end of the photoelectric switch 107, so that the detection end of the photoelectric switch 107 can detect the distance relative to the front tray 10 through the notch on the side plate.

[0046] The photoelectric switches 107 of the two first detection assemblies are arranged symmetrically with the same oblique angle near the inner side of the fork arm 202 where they are located, so that when the fork carriage 2 is aligned with the tray 10, the two photoelectric switches 107 emit light signals synchronously to measure the distance between them and the front tray 10, so as to determine whether the current forklift AGV is facing the tray 10; see Figure 11 When the forklift AGV is facing the tray 10, the distance measured by the two photoelectric switches 107 is the same; when the forklift AGV is not facing the tray 10, see Figure 13 , the distance measured by the two photoelectric switches 107 is different, at this time, the current position of the forklift AGV relative to the tray 10 needs to be adjusted.

[0047] In actual application, the two first detection assemblies are respectively installed at the front ends of the two fork arms 202 of the fork carriage 2, so that the fork carriage 2 can determine the alignment of the two fork arms 202 and the two insertion holes 1001 on the tray 10 through the first detection assemblies during the tray insertion and extraction process; in addition, the two first detection assemblies can also be used to avoid collision of the fork carriage 2 with other goods in the transportation process.

[0048] The specific working principle of the two first detection assemblies during the forking of the pallet 10 by the fork arms 202 is as follows: when the front of the fork arms 202 is an obstacle, the first signal is first detected by the diffuse reflection switch 102 that there is an obstacle in front, and the first signal is sent out; since the diffuse reflection switch 102 is connected with the travel controller of the forklift AGV, the first signal sent out by the diffuse reflection switch 102 is accepted by the travel controller of the forklift AGV, and the travel speed of the forklift AGV is reduced to avoid serious collision; the forklift AGV continues to advance at the reduced speed until the anti-collision round pipe 101 first collides with the obstacle, at which time the anti-collision round pipe 101 is pushed by the reverse force of the obstacle to move the moving frame 105 backward in the first housing 108, and the moving frame 105 synchronously compresses the spring in the spring reset assembly 106 during the backward movement of the moving frame 105; when the moving frame 105 moves, the first proximity switch 104 detects the change in the distance between the detection end and the rear end plate of the moving frame 105, and sends out the second signal, indicating that the two fork arms 202 of the fork arms 2 are not aligned with the two plug-in holes 1001 on the pallet 10; since the first proximity switch 104 is also connected with the travel controller of the forklift AGV, when the travel controller of the forklift AGV receives the second signal, the forklift AGV is timely stopped from continuing to travel forward to avoid damage to the pallet 10 or the first detection assembly due to impact, and when the forklift AGV retreats away from the obstacle, the spring reset assembly 106 drives the moving frame 105 and the anti-collision round pipe 101 to return to the initial position; the photoelectric switch 107 of the two first detection assemblies confirms whether the forklift AGV is directly facing the pallet 10 by detecting the distance to the obstacle in front.

[0049] The two second detection assemblies are symmetrically arranged at the rear side of the two fork arms 202 of the fork arms 2. Specifically, referring to Figure 4 and Figure 5 , the second detection assembly 3 comprises a load detection plate 301, a telescopic mechanism, a limiting mechanism, a second proximity switch 305 and a vertical plate 311.

[0050] Referring to Figure 1 , the vertical plate 311 is a vertically arranged plate body, which is arranged at the rear side of the fork arm 202 along the length direction of the fork arm 202, and specifically, the lower side wall and the rear side wall of the vertical plate 311 are respectively fixed perpendicularly on the top surface of the horizontal arm and the front end surface of the vertical arm of the fork arm 202.

[0051] Referring to Figure 6 and Figure 7The telescopic mechanism is arranged on the upper side of the one side surface of the vertical plate 311, and comprises a compression spring 306, a fixed shaft 307, a contact sleeve 308 and a pressing sleeve 309 arranged in the second shell 310; the fixed shaft 307 is arranged parallel to the surface of the vertical plate 311 and horizontally penetrates through the second shell 310, and the rear end of the fixed shaft 307 is fixed on the rear end surface of the second shell 310; the pressing sleeve 309 and the compression spring 306 are arranged in the second shell 310 and are sequentially sleeved on the fixed shaft 307 from front to back; the front end of the fixed shaft 307 protrudes to the outside of the second shell 310, so that the rear side of the contact sleeve 308 is sleeved on the front end of the fixed shaft 307, and the contact sleeve 308 penetrates to the inside of the second shell 310 through the through hole arranged on the front end surface of the second shell 310 and abuts against the front end of the pressing sleeve 309; when the contact sleeve 308 moves backward due to the left and right external force, the contact sleeve 308 pushes the pressing sleeve 309 to move backward on the fixed shaft 307, and the compression spring 306 is compressed.

[0052] The second proximity switch 305 is arranged and fixed on the bottom surface of the second shell 310 with the detection end vertically upward, and in the initial state, the compression spring 306 is arranged in a free state, the detection end of the second proximity switch 305 is aligned with any spring ring on the compression spring 306, and when the compression spring 306 is compressed by the pressing of the pressing sleeve 309, the spring ring initially aligned with the detection end of the second proximity switch 305 moves successively, so that the detection end of the second proximity switch 305 is aligned with the outer wall of the fixed shaft 307, the detection distance changes, and the second proximity switch 305 sends out a third signal.

[0053] The load detection pressing plate 301 is arranged obliquely on the front side of the vertical plate 311, and the left and right sides thereof extend backward and are formed with connecting portions, so that the top end of the load detection pressing plate 301 is hingedly connected to the vertical plate 311 through the connecting shaft 303 sequentially penetrating through the two connecting portions and the vertical plate 311, so that the load detection pressing plate 301 can be flipped backward or flipped forward relative to the vertical plate 311; torsion springs are arranged between the two ends of the connecting shaft 303 and the two connecting portions of the load detection pressing plate 301, so that the load detection pressing plate 301 can automatically return to the initial oblique arrangement state after being flipped backward under the action of external force; in the initial state, the load detection pressing plate 301 leaves a gap with the front end of the contact sleeve 308, and the gap preferably satisfies that when the load detection pressing plate 301 is flipped backward to a vertical state from the initial oblique arrangement state under the action of external force, the load detection pressing plate 301 just abuts against the contact sleeve 308 and drives the pressing sleeve 309 to move synchronously, so that the compression spring 306 is compressed; at this time, the second proximity switch 305 sends out a third signal, which can be used as a signal that the fork arm fork 2 and the pallet 10 are inserted and arranged in place.

[0054] Referring to Figure 4The limiting mechanism comprises a limiting bolt 304 and a limiting block 312; the limiting block 312 is an L-shaped block body which is fixed on the other side surface of the vertical plate 311 by a bolt; correspondingly, the top surface of the load detection pressing plate 301 extends backward along the horizontal direction to form a limiting mounting plate which is located above the limiting block 312, and the limiting bolt 304 is vertically arranged and fixed on the limiting mounting plate; the limiting bolt 304 is adapted to the arrangement position of the limiting block 312, so that the bottom end of the limiting bolt 304 initially abuts against the vertical rear side of the limiting block 312, thereby limiting the load detection pressing plate 301, so that the load detection pressing plate 301 can only be flipped backward and cannot be flipped forward again, thereby avoiding that the load detection pressing plate 301 is too long when extending forward.

[0055] Referring to Figure 6 The specific working principle of the two second detection assemblies is as follows: after the two fork arms 202 of the forked arm fork 2 are inserted into the two insertion holes 1001 of the pallet 10 through the two first detection assemblies, the forklift AGV can continue to advance at the current driving speed, so that the two fork arms 202 extend into the two insertion holes 1001; when the two fork arms 202 are about to be completely inserted into the two insertion holes 1001 of the pallet 10, the pallet 10 abuts against the load detection pressing plates 301 of the two second detection assemblies, and gradually pushes the load detection pressing plates 301 to flip backward along with the continuous advancement of the forklift AGV, until reaching the vertically arranged state; at this time, the load detection pressing plates 301 abut against the contact sleeves 308, and push the extrusion sleeves 309 along with the contact sleeves 308, so that the compression springs 306 are compressed, and the second proximity switch 305 is driven to send a third signal; since the second proximity switch 305 is also connected with the driving controller of the forklift AGV, when the driving controller receives the third signal, the forklift AGV is timely stopped from driving forward; in this state, the forked arm fork 2 of the forklift AGV completes the fork picking operation on the specified pallet 10; then, the forklift AGV lifts the forked arm fork 2 to perform subsequent pallet carrying operations.

[0056] Referring to Figure 8 In the lifting mechanism, the first lifting link head 5 and the second lifting link head 12 are the same in structure; the structure of the first lifting link head 5 is described as an example: the first lifting link head 5 comprises a columnar connecting body 501, the top end of which is connected with a chain connecting head 503, so that the top end of the connecting body 501 is connected with the end of the chain through the chain connecting head 503; an annular boss is arranged on the lower outer wall of the connecting body 501, and a connecting external thread is arranged on the outer wall below the annular boss, so that two locking nuts 502 are threadedly connected to the lower side of the connecting body 501; as a preferred technical solution of the embodiment, a pin hole is radially arranged on the bottom end side wall of the connecting body 501, and a limiting pin 504 is arranged in and fixed in the pin hole, so as to prevent the locking nut 502 from being separated from the connecting body 501 due to unclamping.

[0057] Referring to Figure 1 Two lifting roller groups are symmetrically fixed on the rear side surface of the connecting vertical plate 201 of the fork arm 2; each lifting roller group comprises a roller mounting plate 7 which is vertically fixed on the connecting vertical plate 201; two rollers 6 arranged in an up-down manner are arranged on the outward side surface of the roller mounting plate 7 at intervals, and the two rollers 6 are rotatably arranged on the roller mounting plate 7 through roller bearings; the interval distance of the two lifting roller groups is adapted to the interval distance of the two side rails in the portal frame 13 of the forklift AGV, so that the fork arm 2 is assembled on the portal frame 13 by embedding the rollers 6 in the two lifting roller groups into the two side rails in the portal frame 13, and the fork arm 2 can reciprocatingly slide up and down in the portal frame 13.

[0058] Referring to Figure 8 In actual application, the lifting mechanism is used to realize the connection between the fork arm 2 and the portal frame 13 of the forklift AGV; specifically, a first horizontal connecting plate is fixed in the middle on the rear side surface of the connecting vertical plate 201 of the fork arm 2, and a mounting through hole is formed in the first horizontal connecting plate; the connecting body 501 of the first lifting connecting head 5 is arranged in the mounting through hole, the annular boss on the connecting body 501 is press-fitted on the top surface of the first horizontal connecting plate, two locking nuts 502 are threadedly connected on the lower side of the connecting body 501 and tightly abut against the bottom surface of the first horizontal connecting plate, a limiting pin 504 is arranged in the pin hole at the bottom end of the connecting body 501, and the top end of the connecting body 501 is connected with one side of the chain end portion wound around the sprocket 14 through the chain connecting head 503; correspondingly, a second horizontal connecting plate is arranged below the sprocket 14 on the forklift AGV, the second horizontal connecting plate is fixed on the portal frame 13, and a mounting through hole is formed in the second horizontal connecting plate; the connecting body of the second lifting connecting head 12 is arranged in the mounting through hole, the annular boss on the connecting body is press-fitted on the top surface of the second horizontal connecting plate, two locking nuts are threadedly connected on the lower side of the connecting body and tightly abut against the bottom surface of the second horizontal connecting plate, a limiting pin is arranged in the pin hole at the bottom end of the connecting body, and the top end of the connecting body is connected with the other side of the chain end portion wound around the sprocket 14 through the chain connecting head; further, when the sprocket 14 on the forklift AGV is driven to move up and down by the cylinder, the chain on the sprocket 14 drives the fork arm 2 to synchronously lift; in summary, the lifting mechanism realizes the quick and convenient assembly between the fork arm 2 and the portal frame 13 of the original forklift AGV and the chain wound around the sprocket 14.

[0059] Referring to Figure 5The fork arm assembly 11 of the present embodiment is replaced with the fork arm pallet fork in the existing fork truck AGV, and a new fork truck AGV is formed with the vehicle head 8 and the mast assembly 9 in the fork truck AGV, the mast assembly 9 including a mast 13, a chain wheel, a lifting cylinder driving the chain wheel 14, and a chain wound around the chain wheel 14, the fork arm assembly 11 being connected with the mast 13 in the mast assembly 9 and the two ends of the chain through a lifting mechanism to control the lifting of the fork arm pallet fork 2 through the mast assembly; at the same time, the fork arm pallet fork 2 realizes the improvement of the insertion and mounting efficiency between the fork arm pallet fork 2 and the to-be-lifted transfer pallet 10 through the FRID reader / writer 4, the first detection assembly, and the second detection assembly arranged thereon; specifically, the working principle of the fork arm assembly 11 mounted on the fork truck AGV to insert and mount and lift the transfer pallet 10 is described as follows.

[0060] The pallet 10 is placed at a designated position, the fork truck AGV drives to the position of the pallet 10, first reads the FRID electronic tag 1002 on the pallet 10 through the FRID reader / writer 4 to confirm the cargo category; then confirms whether the fork truck AGV is directly opposite the pallet 10 through the photoelectric switch 107 in the two first detection assemblies, and if not, adjusts; after the confirmation is completed, the fork truck AGV gradually drives forward to insert the two L-shaped insertion arms of the fork arm pallet fork 2 into the two insertion holes 1001 of the pallet 10; when the diffuse reflection switch 102 in the first detection assembly detects an obstacle in front, the fork truck AGV is slowed down and driven forward by sending a first signal; in the process of continuing to drive, if the two L-shaped insertion arms of the fork arm assembly 11 are not aligned with the two insertion holes 1001 on the pallet 10, the anti-collision round pipe 101 of the first detection assembly will contact the obstacle and push the moving frame 105 to move backward, at this time, the first proximity switch 104 detects that the moving frame 105 moves, and the fork truck AGV stops by sending a second signal, indicating that the two L-shaped insertion arms of the fork arm pallet fork 2 are not directly opposite the two insertion holes 1001 of the pallet 10; the fork truck AGV retreats to adjust its position relative to the pallet, and repeats the above insertion and mounting process; when the fork truck AGV is adjusted to be directly opposite the two insertion holes 1001 of the pallet 10, the fork truck AGV keeps driving forward until the two L-shaped insertion arms of the fork arm pallet fork 2 are completely inserted into the two insertion holes 1001 of the pallet 10, at this time, the pallet 10 abuts against the load detection pressure plates 301 of the two second detection assemblies and pushes them to turn over to the vertical arrangement state, and since the load detection pressure plates 301 simultaneously push the compression springs in the telescopic assembly to compress, the second proximity switch 305 sends a third signal to make the fork truck AGV stop; in this state, the fork arm pallet fork 2 of the fork truck AGV can be lifted to a designated height through the mast assembly and transfer the pallet 10 and the cargo thereon.

[0061] In summary, replacing the fork arm assembly of the fork truck AGV with the fork arm assembly of the fork truck AGV can automatically detect obstacles in front of the material and whether the pallet is in place when the pallet and the goods thereon are forked, and can realize the whole process of unmanned point-to-point forklift handling. It is used to replace the traditional manual driving forklift to transport materials, and can also avoid the safety hazards brought by manual driving, effectively improve the level of automatic logistics intelligent warehousing, improve work efficiency and save factory expenses, make the logistics warehousing completely upgrade to intelligent logistics, intelligent handling, and completely realize unmanned operation.

Claims

1. A fork arm assembly for a fork truck AGV, characterized by, The application relates to a forklift fork (2) and a detection mechanism, the detection mechanism comprising two first detection assemblies (1) and two second detection assemblies (3); wherein the forklift fork (2) comprises two fork arms (202) symmetrically arranged on the front end surface of a connecting vertical plate (201); the two first detection assemblies (1) are arranged at the front ends of the two fork arms (202) respectively, and the two second detection assemblies (3) are arranged at the rear sides of the two fork arms (202); the first detection assembly (1) comprises a bump tube (101), a diffuse reflection switch (102), a linear slide rail (103) and a spring reset assembly (106) arranged on a first shell (108) from front to back; the bump tube (101) is partially arranged at the front end of the first shell (108) and is provided with a through hole, so that the detection end of the diffuse reflection switch (102) can detect the front obstacles through the through hole; the slider of the linear slide rail (103) is connected with a moving frame (105), the front end of the moving frame (105) is connected with the bump tube (101), and the rear end is provided with an end plate; a first proximity switch (104) is arranged at the side of the linear slide rail (103), and the detection end of the first proximity switch (104) is opposite to the rear end plate of the moving frame (105); the spring reset assembly (106) is abutted against the rear end plate of the moving frame (105) to reset the bump tube (101) and the moving frame (105) which have moved backward; a photoelectric switch (107) is arranged at the side of the spring reset assembly (106) in a diagonal manner, and the detection end of the photoelectric switch (107) is directed to the front side through the gap in the first shell (108); the photoelectric switches (107) of the two first detection assemblies are arranged in an axial symmetry mode on the inner sides of the fork arms (202) at the same diagonal angle; the second detection assembly (3) comprises a load detection pressing plate (301) and a vertical plate (311), the vertical plate (311) is arranged along the length direction of the fork arm (202) and is fixed on the fork arm (202), the load detection pressing plate (301) is arranged on the front side of the vertical plate (311) in a diagonal manner with the plate surface facing forward and is hinged to the vertical plate (311); a telescopic mechanism is arranged on one side surface of the vertical plate (311), so that when the load detection pressing plate (301) is turned back to the vertical state, the telescopic mechanism is pushed to be compressed; a second proximity switch (305) is arranged below the telescopic mechanism, and the detection end of the second proximity switch (305) is directed to the telescopic mechanism to detect the compression state of the telescopic mechanism.

2. The fork arm assembly of the fork truck AGV according to claim 1, characterized by, The application further comprises an FRID reader / writer (4) fixed on the front end surface of the connecting vertical plate (201) and arranged at a position corresponding to the position of the FRID electronic tag (1002) arranged on the tray (10).

3. The fork arm assembly of the fork truck AGV according to claim 1, wherein, The sizes and intervals of the two fork arms (202) are adapted to the sizes and intervals of the two plug-in holes (1001) on the tray (10).

4. The fork arm assembly of the fork truck AGV according to claim 1, wherein, The spring reset assembly (106) is composed of a spring and a spring seat; the spring seat is arranged in a spaced mode with the moving frame (105), the spring is initially arranged in a free state horizontally between the moving frame (105) and the spring seat, one end of the spring is fixed centrally and vertically on the rear end plate of the moving frame (105), and the other end of the spring is fixed vertically on the spring seat.

5. The fork arm assembly of the fork truck AGV according to claim 1, wherein, The telescopic mechanism comprises a fixed shaft (307) fixed horizontally in the second shell (310), the fixed shaft (307) is arranged parallel to the plate surface of the vertical plate (311), and the extrusion sleeve (309) and the compression spring (306) are sequentially sleeved on the fixed shaft (307) in the second shell (310) from front to back; the front end of the fixed shaft (307) extends to the outside of the second shell (310), so that the rear side of the contact sleeve (308) is sleeved on the front end of the fixed shaft (307) and connected with the front end of the extrusion sleeve (309) through the through hole formed on the front end surface of the second shell (310); the detection end of the second proximity switch (305) is initially arranged opposite to a spring ring on the compression spring (306).

6. The fork arm assembly of the fork truck AGV according to claim 1, wherein, The left and right sides of the load detection pressing plate (301) respectively extend backward and are formed with connecting portions, so that the top ends thereof are hingedly linked to the vertical plate (311) through the connecting shafts (303) sequentially penetrating the two connecting portions and the vertical plate (311); torsion springs are arranged between the two ends of the connecting shafts (303) and the two connecting portions of the load detection pressing plate (301), so that the load detection pressing plate (301) can automatically restore to the initial inclined arrangement state after being turned backward under the action of external force.

7. The fork arm assembly of the fork truck AGV according to claim 1, wherein, The second detection assembly (3) further comprises a limiting mechanism, which comprises a limiting bolt (304) and a limiting block (312); wherein the limiting block (312) is an L-shaped block body, which is fixed on the other side surface of the vertical plate (311) through a bolt; a limiting mounting plate is formed by extending backward along the horizontal direction from the top surface of the load detection pressing plate (301), which is located above the limiting block (312), so that the limiting bolt (304) is vertically penetrated and fixed on the limiting mounting plate, and the bottom end thereof is initially abutted against the rear side of the vertical portion of the limiting block (312) to limit the inclined arrangement angle of the load detection pressing plate (301).

8. The fork arm assembly of the fork truck AGV according to claim 1, wherein, The lifting mechanism comprises a first lifting link head (5), a second lifting link head (12) and two lifting roller groups; wherein the first lifting link head (5) is arranged in the middle of the back side of the fork arm fork (2), and the top end thereof is connected with one side end of the chain wound on the sprocket; the second lifting link head (12) is arranged below the sprocket (14), and the top end thereof is connected with the other side end of the chain wound on the sprocket; the lifting roller group comprises a roller mounting plate (7), the outer side surface of which is arranged with two rollers (6) arranged in an up-down manner at intervals, and the two rollers (6) are rotatably arranged on the roller mounting plate (7) through roller bearings; the two lifting roller groups are symmetrically fixed on the back side of the fork arm fork (2), and the distance between the two lifting roller groups is adapted to the distance between the two side rails in the gantry (13), so that the two lifting roller groups are respectively embedded and assembled in the same side rail through the rollers (6), the fork arm fork (2) is connected with the gantry (13), and can slide up and down relative to the gantry (13).

9. The fork arm assembly of a fork truck AGV according to claim 8, wherein, The lifting link head comprises a columnar connecting body, a chain connecting head connected to the top end of the connecting body, and a chain end connected to the top end of the connecting body through the chain connecting head.

10. The fork arm assembly of a fork truck AGV according to claim 9, wherein, An annular boss is arranged on the lower outer wall of the connecting body, and an outer thread is arranged on the outer wall below the annular boss, so that two locking nuts are threadedly connected to the lower side of the connecting body. A pin hole is radially arranged on the bottom end sidewall of the connecting body, and a limiting pin is arranged and fixed in the pin hole.

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