Automatic charging mechanism of unmanned forklift

Abstract

The utility model relates to the technical field of unmanned forklifts, and discloses an unmanned forklift automatic charging mechanism which comprises a charging panel assembly, a charging box seat assembly, a charging execution mechanism and a charging execution driving mechanism, and the output end of the charging execution driving mechanism movably penetrates through the charging box seat assembly and is connected with the charging execution mechanism. The driving device is used for driving the charging panel assembly to approach the charger and cooperate with the charger for charging. According to the automatic charging mechanism for the unmanned forklift, the consistency of automatic charging of unmanned forklifts of different models can be guaranteed, and the compatibility and universality of forklift charging are improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to unmanned forklift technical field, concretely relates to a kind of unmanned forklift automatic charging mechanism. BACKGROUND

[0002] At present, the charging of unmanned forklift is mainly divided into two modes: manual charging and automatic charging. Manual charging mode relies on the cooperation of operators, and the degree of intelligence is relatively low, while automatic charging mode realizes the function of unmanned forklift completing charging independently, and becomes the market mainstream.

[0003] Nowadays, the automatic charging mode of unmanned forklift usually fixes the charging plate on one side of the forklift. When the forklift reaches the preset charging position, the infrared device on the charger will scan the sensing device on the charging plate. If the sensing device is successfully scanned, the charger will start the charging task, and the transmission device of the charger will extend and establish communication connection with the forklift, and then start charging. However, this charging method has exposed some problems in actual application. First of all, the relative position of the charger infrared device and the vehicle sensing device is extremely strict, which increases the difficulty of installing the charger for on-site debuggers and the complexity of vehicle path matching, prolonging the debugging period. Secondly, due to the great difference in size, installation position and other aspects of different models of forklifts, it is difficult for one charger to be compatible with multiple models, which not only limits the universality of the charging equipment, but also affects the charging efficiency and flexibility of unmanned forklifts. SUMMARY

[0004] The utility model discloses in order to at least solve one of the technical problems existing in prior art, provide a kind of unmanned forklift automatic charging mechanism, the consistency of the automatic charging of different models of unmanned forklift can be guaranteed by the unmanned forklift automatic charging mechanism, improve the compatibility and universality of forklift charging.

[0005] In order to achieve the above-mentioned purpose, the utility model provides a kind of unmanned forklift automatic charging mechanism, comprising:

[0006] charging plate assembly;

[0007] charging execution mechanism, set in the side of the charging plate assembly close to the unmanned forklift vehicle body;

[0008] charging box seat assembly is connected with the side wall of the unmanned forklift vehicle body;

[0009] charging execution driving mechanism is set on the unmanned forklift vehicle body, the output end of the charging execution driving mechanism is movably through the charging box seat assembly and is connected with the charging execution mechanism, for driving the charging plate assembly close to charger and cooperating with the charger to charge.

[0010] Optionally, the charging box assembly comprises:

[0011] a box rear plate connected with the unmanned forklift body;

[0012] a hollow box body connected with one side of the box rear plate away from the unmanned forklift body;

[0013] a box front plate connected with the other side of the hollow box body, and the box front plate and the box rear plate are both provided with a through hole in communication with the inside of the hollow box body.

[0014] Optionally, the charging execution mechanism comprises:

[0015] an execution front plate connected with one side of the charging machine close to the charging plate assembly;

[0016] a mounting support provided on the other side of the execution front plate away from the charging machine and connected with the output end of the charging execution driving mechanism.

[0017] Optionally, the charging execution driving mechanism comprises:

[0018] a driving motor provided on the unmanned forklift body;

[0019] a push rod having one end connected with the output end of the driving motor and the other end connected with the mounting support.

[0020] Optionally, it further comprises:

[0021] a guide rod provided on the other side of the execution front plate away from the charging machine;

[0022] a guide seat provided on the inner wall of the hollow box body, and the end of the guide rod away from the execution front plate is movably penetrated into the guide seat and cooperatively guided by the guide seat.

[0023] Optionally, it further comprises:

[0024] a sensing plate provided on the other side of the execution front plate away from the charging machine and extending towards the unmanned forklift body;

[0025] a first sensing switch provided on the inner wall of the hollow box body;

[0026] a second sensing switch provided on the inner wall of the hollow box body and distributed in front of and behind the first sensing switch.

[0027] Optionally, a square hole is provided on the execution front plate, and the square hole is used for charging wire routing.

[0028] Optionally, the charging execution driving mechanism further comprises an open pin and a pin shaft, the open pin and the pin shaft being used for connecting the other end of the push rod with the mounting support.

[0029] Optionally, the charging plate assembly comprises a charging plate and a charging positive plate, a charging negative plate, a CAN high plate and a CAN bottom plate arranged on the charging plate, the charging positive plate and the charging negative plate being used for being connected with the positive and negative poles of the charger respectively.

[0030] Optionally, the front plate of the box seat is provided with a buffer pad on the side surface close to the charger.

[0031] Through the above technical scheme, the automatic charging mechanism of the unmanned forklift provided by the utility model realizes automatic charging of the unmanned forklift by starting the charging execution driving mechanism, driving the charging plate assembly connected with the charging execution mechanism to be close to or far away from the charger, and adopting the mode that the charging execution driving mechanism drives the charging plate assembly to be close to the charger and cooperates with the charger to charge, so that the consistency of charging of different models of unmanned forklifts can be guaranteed, the compatibility and the universality of charging of the forklift are improved, and then the on-site debugging personnel can install the charger and match the charging path of the forklift more simply, the on-site debugging time of the unmanned vehicle project is shortened, and the charging efficiency of the forklift is improved. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 is a structure schematic view of a first visual angle of the automatic charging mechanism of the unmanned forklift provided by the utility model;

[0033] Figure 2 is a structure schematic view of a second visual angle of the automatic charging mechanism of the unmanned forklift provided by the utility model;

[0034] Figure 3 is a structure schematic view of the charging box seat assembly in the utility model;

[0035] Figure 4 is a structure schematic view of the charging execution mechanism in the utility model;

[0036] Figure 5 is a structure schematic view of the charging plate assembly in the utility model.

[0037] BRIEF DESCRIPTION OF DRAWINGS

[0038] 1, charging plate assembly; 11, charging plate; 111, charging positive plate; 112, charging negative plate; 113, CAN high plate; 114, CAN bottom plate; 2, charging execution mechanism; 21, front plate; 211, mounting support; 212, guide rod; 213, square hole; 214, induction plate; 215, guide rod mounting plate; 3, charging execution drive mechanism; 31, drive motor; 32, push rod; 33, split pin; 34, pin shaft; 4, charging box seat assembly; 41, hollow box body; 411, guide seat; 412, first induction switch; 413, second induction switch; 42, box seat front plate; 421, buffer pad; 43, box seat rear plate. DETAILED DESCRIPTION

[0039] The specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely intended to illustrate and explain the present application, and are not intended to limit the present application.

[0040] It should be noted that in the description of the present application, unless otherwise specified, the terms "upper", "lower", "front", "rear", and the like indicate the orientation or positional relationship only for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0041] In addition, the terms "first", "second", and similar words used in the present application do not indicate any order, quantity, or importance, but are only used to distinguish different parts. The terms "include" or "contain" and the like mean that the elements before the word encompass the elements listed after the word, and do not exclude the possibility of also encompassing other elements.

[0042] It should also be noted that in the description of the present application, unless otherwise specified and limited, the terms "mounting", "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be directly connected, or indirectly connected through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0043] As Figure 1The utility model provides a kind of unmanned forklift automatic charging mechanism, including charging plate assembly 1, charging box seat assembly 4, charging execution mechanism 2 and charging execution drive mechanism 3.It is specifically, charging plate assembly 1 is used to connect with charger, charging execution mechanism 2 is arranged in the side of charging plate assembly 1 close to unmanned forklift vehicle body, charging box seat assembly 4 is connected with the side wall of unmanned forklift vehicle body, charging execution drive mechanism 3 is arranged on unmanned forklift vehicle body, the output end of charging execution drive mechanism 3 is movably passed through charging box seat assembly 4 and is connected with charging execution mechanism 2, for driving charging plate assembly 1 close to charger and cooperate with charger and charge.Charging box seat assembly 4 is used to support the smooth movement of unmanned forklift automatic charging mechanism.

[0044] In the technical scheme provided by the utility model, when unmanned forklift reaches charging position and prepares to charge, charging execution drive mechanism 3 is powered, drives charging execution mechanism 2 and charging plate assembly 1 to move along the predetermined path towards the direction of charger, when charging plate assembly 1 contacts charger, communication is established, charging starts, at this time, charging execution drive mechanism 3 is powered off, remains in place, when the battery of unmanned forklift is fully charged, charging execution drive mechanism 3 is powered, drives charging execution mechanism 2 and charging plate assembly 1 to retract together, and the unmanned forklift automatic charging mechanism returns to original position.

[0045] The utility model discloses a kind of simple and effective movement mechanisms, i.e.

[0046] For unmanned vehicle project, field debugging is a complex and time-consuming process, the automatic charging mechanism provided by the utility model can make the installation of charger and the matching of forklift charging path be completed faster by debugging personnel, so as to shorten the debugging cycle and improve work efficiency.

[0047] In addition, the traditional charging mode can cause unstable or failure due to vehicle size difference, improper installation position and other problems.The utility model can improve the success rate of charging, and also can reduce vehicle failure and downtime caused by charging problems.

[0048] It can be understood that the automatic charging mechanism in the utility model, in use, in combination with the control system of the unmanned forklift, automatically judges whether charging is needed according to the current power, position and other information of the forklift, and calculates the optimal charging path and docking mode, and then controls the charging execution driving mechanism 3 to realize the automatic docking and charging process.

[0049] In combination Figure 1 And Figure 3 As shown in the utility model, the charging box seat assembly 4 can include a hollow box body 41, a box seat front plate 42, a box seat rear plate 43, a guide seat 411, a buffer pad 421, a first induction switch 412 and a second induction switch 413.

[0050] Specifically, the box seat rear plate 43 is connected with the unmanned forklift body, the hollow box body 41 is connected with the side of the box seat rear plate 43 away from the unmanned forklift body on one side and connected with the box seat front plate 42 on the other side, the box seat front plate 42 and the box seat rear plate 43 are both provided with through holes communicating with the inside of the hollow box body 41, so that the output end of the charging execution driving mechanism 3 can pass through, and in some embodiments, the box seat rear plate 43 is provided with uniformly distributed holes for fixing the charging box seat assembly 4 on the body of the unmanned forklift.

[0051] The guide seat 411 is arranged on the inner wall of the hollow box body 41, and the guide seat 411 is provided with a guide hole, which plays a stable guiding role on the charging execution mechanism 2.

[0052] The buffer pad 421 is arranged on the side surface of the box seat front plate 42 close to the charger, and when the charging execution mechanism 2 is retracted in place after completing the charging docking task under the driving of the charging execution driving mechanism 3, the buffer pad 421 can effectively absorb and disperse impact energy, avoiding direct collision between the charging execution mechanism 2 and the charging box seat assembly 4, thereby avoiding excessive impact sound and vibration, and preventing structural damage or deformation caused by long-term frequent impact, prolonging the service life of the automatic charging mechanism of the entire unmanned forklift.

[0053] It can be understood that the buffer pad 421 can be provided with a plurality of buffer pads 421, which are uniformly distributed on the side surface of the box seat front plate 42 close to the charger and close to the edge of the surface.

[0054] As Figure 2 To ensure that the charging execution driving mechanism 3 can reach the predetermined maximum and minimum stroke during operation, the first induction switch 412 and the second induction switch 413 can be arranged on the inner wall of the hollow box body 41, and the two induction switches are arranged in front of and behind each other to control the operating range of the charging execution driving mechanism 3.

[0055] As Figure 4As shown, the charging execution mechanism 2 as the operating mechanism in the utility model, it can include execution front plate 21, mounting support 211, guide rod 212 and induction plate 214.Specifically, the execution front plate 21 is connected with the charging plate assembly 1 on the side close to the charger, the mounting support 211 is arranged on the side of the execution front plate 21 away from the charger and is connected with the output end of the charging execution drive mechanism 3.It can be understood that the output end of the charging execution drive mechanism 3 can drive the charging execution mechanism 2 to reciprocate towards the charger.

[0056] It can be understood that the connection mode of the charging plate assembly 1 and the execution front plate 21 can be any appropriate mode known to those skilled in the art, and in some embodiments, threaded connection is adopted.The guide rod 212 is connected with the side of the execution front plate 21 away from the charger through the guide rod mounting plate 215, the guide rod 212 is arranged to be able to pass through the guide hole on the guide seat 411, and the cooperation of the guide rod 212 and the guide seat 411 limits the movement trajectory of the charging execution mechanism 2 and the charging plate assembly 1, ensuring that the charging execution mechanism 2 and the charging plate assembly 1 can move smoothly and accurately along the predetermined path to the corresponding position of the charger.

[0057] Further, in order to enhance the stability and directivity of the structure, the guide rod 212 and the guide seat 411 can be provided with two respectively, and the two guide rods 212 and the two guide seats 411 correspond one by one.Specifically, the two guide rods 212 are arranged in an upper and lower and spaced manner on the side of the execution front plate 21 away from the charger, and the two guide seats 411 are arranged relatively centrally on the upper wall and the lower wall of the inner wall of the hollow box body 41.

[0058] It can be understood that the layout of the two guide rods 212 arranged in an upper and lower and spaced manner on the side of the execution front plate 21 away from the charger can provide stable support and guidance to the charging execution mechanism 2 in the vertical direction, and the setting mode of the two guide seats 411 mounted relatively centrally on the upper wall and the lower wall of the inner wall of the hollow box body 41 not only facilitates the butt joint with the guide rod 212, but also can provide stability and guiding force to the charging execution mechanism 2 in the horizontal direction, thereby effectively preventing the shaking or deviation of the charging execution mechanism 2 during movement.

[0059] In the utility model, in order to optimize the management of the charging wire harness, square holes 213 can be formed on the execution front plate 21 for the wire harness routing, and the design of the square holes 213 enables the charging wire harness to pass through the execution front plate 21 in an orderly and orderly manner, avoiding the disorder and entanglement of the wire harness and improving the reliability and safety of the charging process.It can be understood that the square holes 213 can be provided with multiple.

[0060] In the utility model, the induction plate 214 is arranged on the side of the execution front plate 21 far from the charger and extends towards the direction of the vehicle body of the unmanned forklift, the first induction switch 412 is arranged on the inner wall of the hollow box body 41, the second induction switch 413 is arranged on the inner wall of the hollow box body 41 and is distributed in front of and behind the first induction switch 412. When the induction plate 214 passes the first induction switch 412 and the second induction switch 413, high-low level signal input is brought to control the output end of the charging execution driving mechanism 3 and the movement stroke of the charging execution mechanism 2.

[0061] Specifically, when the second induction switch 413 senses the induction plate 214, it indicates that the unmanned forklift automatic charging mechanism has been retracted to the original position, at this time, high level output, cut off the electric signal of the charging execution driving mechanism 3, ensure that the unmanned forklift automatic charging mechanism returns to the initial state. When the first induction switch 412 cannot sense the induction plate 214, it indicates that the stroke of the unmanned forklift automatic charging mechanism has been extended close to the maximum stroke of the charging execution driving mechanism 3, output low level signal, cut off the electric signal of the charging execution driving mechanism 3, the unmanned forklift is in the state of waiting for charging at this time.

[0062] In the utility model, in combination with Figure 1 and Figure 2 As shown, the charging execution driving mechanism 3 can include a driving motor 31, a push rod 32, an open pin 33 and a pin shaft 34. Specifically, the driving motor 31 is arranged on the vehicle body of the unmanned forklift, one end of the push rod 32 is connected with the output end of the driving motor 31, and the other end is connected with the mounting support 211.

[0063] It can be understood that the driving motor 31 of the charging execution driving mechanism 3 is arranged on the vehicle body of the unmanned forklift, and the arrangement mode can be any appropriate mode. In some embodiments, it can be fixed in the vehicle body of the unmanned forklift through the pin shaft 34 and the open pin 33.

[0064] The output end of the charging execution driving mechanism 3 is connected with the mounting support 211, and the connection mode can be any appropriate mode. Specifically, in some embodiments, the push rod 32 is arranged on the output end of the driving motor 31 and extends towards the charger, and the front end of the push rod 32 can be connected with the mounting support 211 through the open pin 33 and the pin shaft 34 to drive the movement of the execution front plate 21.

[0065] It can be understood that the forward and reverse rotation of the driving motor 31 realizes the movement of the push rod 32 advancing and retracting through the transmission mechanism.

[0066] In the utility model, as Figure 5As shown, the charging plate assembly 1 is used as an execution component of the automatic charging mechanism of the unmanned forklift, is used for connecting the charger, and can include a charging plate 11, a charging positive plate 111, a charging negative plate 112, a CAN high plate 113 and a CAN bottom plate 114.

[0067] The charging plate 11 is made of an insulating material, four holes are formed in the charging plate 11 and are respectively used for fixing the charging positive plate 111, the charging negative plate 112, the CAN high plate 113 and the CAN bottom plate 114, the charging positive plate 111 and the charging negative plate 112 are used for connecting the positive and negative poles of the charger, are usually made of copper plates or aluminum plates, and the CAN high plate 113 and the CAN bottom plate 114 are used for realizing the communication connection between the unmanned forklift and the charger and are usually made of copper plates or aluminum plates.

[0068] According to the automatic charging mechanism of the unmanned forklift, the specific working process is as follows:

[0069] When the unmanned forklift reaches the charging position and needs to be charged, a charging signal is sent to make the charging execution driving mechanism 3 powered, the push rod 32 starts to extend, drives the mounting support 211 and the guide rod 212 to move, the guide rod 212 is guided to slide in the guide seat 411, the straight movement is ensured, the execution front plate 21 and the charging plate assembly 1 are pushed to move forward together, when the charging positive plate 111, the charging negative plate 112, the CAN high plate 113 and the CAN bottom plate 114 of the charging plate assembly 1 are connected with the positive pole, the negative pole, the CAN high and the CAN bottom of the charger respectively, at this time, the charger starts to establish communication with the unmanned forklift and starts to charge, the charging execution driving mechanism 3 is de-energized to stop moving. If the charging plate assembly 1 cannot be connected with the charger, the push rod 32 will continue to move forward until the first induction switch 412 cannot sense the induction plate 214, at this time, a low-level signal is output, the power signal of the charging execution driving mechanism 3 is cut off, the charging execution mechanism 2 and the charging plate assembly 1 stop moving forward, at this time, the unmanned forklift is in a charging state. When the charging is completed, a completion signal is sent to make the charging execution driving mechanism 3 powered, the push rod 32 starts to retract, drives the mounting support 211 and the guide rod 212 to slide linearly in the guide seat 411, at the same time, the execution front plate 21 and the charging plate assembly 1 connected therewith move back together, when the second induction switch 413 senses the induction plate 214, a high-level signal is output, the power signal of the charging execution driving mechanism 3 is cut off, the automatic charging mechanism of the unmanned forklift returns to the initial state, and the unmanned forklift starts to drive away from the charging position.

[0070] The preferred embodiments of the present application are described in detail above with reference to the drawings, but the present application is not limited thereto. Within the technical concept of the present application, the technical solution of the present application can be subjected to various simple modifications. In order to avoid unnecessary repetition, the present application will not be described again for various possible combination manners. However, these simple modifications and combinations should also be regarded as the disclosed content of the present application, and all belong to the protection scope of the present application.

Claims

1. An automatic charging mechanism for an unmanned fork truck, characterized by, The utility model relates to a charging device for unmanned forklift, which comprises the following components: a charging plate assembly (1); a charging execution mechanism (2) arranged on the side of the charging plate assembly (1) close to the body of the unmanned forklift; a charging box seat assembly (4) connected to the side wall of the body of the unmanned forklift; a charging execution driving mechanism (3) arranged on the body of the unmanned forklift, the output end of the charging execution driving mechanism (3) passing through the charging box seat assembly (4) and being connected to the charging execution mechanism (2) for driving the charging plate assembly (1) to approach the charger and cooperate with the charger for charging.

2. The automatic charging mechanism for unmanned fork truck according to claim 1, wherein, The charging box seat assembly (4) comprises: a box seat rear plate (43) connected to the body of the unmanned forklift; a hollow box body (41) connected to the side of the box seat rear plate (43) away from the body of the unmanned forklift; a box seat front plate (42) connected to the other side of the hollow box body (41), and the box seat front plate (42) and the box seat rear plate (43) are both provided with through holes in communication with the inside of the hollow box body (41).

3. The automatic charging mechanism of the unmanned fork truck according to claim 2, characterized in that, The charging execution mechanism (2) comprises: an execution front plate (21) connected to the charging plate assembly (1) on the side close to the charger; a mounting support (211) arranged on the side of the execution front plate (21) away from the charger and connected to the output end of the charging execution driving mechanism (3).

4. The automatic charging mechanism of the unmanned fork truck according to claim 3, characterized in that, The charging execution driving mechanism (3) comprises: a driving motor (31) arranged on the body of the unmanned forklift; a push rod (32) having one end connected to the output end of the driving motor (31) and the other end connected to the mounting support (211).

5. The automatic charging mechanism for unmanned fork truck of claim 3, wherein, Further comprising: a guide rod (212) arranged on the side of the execution front plate (21) away from the charger; a guide seat (411) arranged on the inner wall of the hollow box body (41), and the end of the guide rod (212) away from the execution front plate (21) passing through the guide seat (411) and cooperating with the guide seat (411) for guiding.

6. The automatic charging mechanism for unmanned fork truck of claim 3, wherein, Further comprising: an induction plate (214) arranged on the side of the execution front plate (21) away from the charger and extending towards the body of the unmanned forklift; a first induction switch (412) arranged on the inner wall of the hollow box body (41); a second induction switch (413) arranged on the inner wall of the hollow box body (41) and distributed in front of and behind the first induction switch (412).

7. The automatic charging mechanism for unmanned fork truck of claim 3, wherein, The execution front plate (21) is provided with a square hole (213) for charging wire routing.

8. The automatic charging mechanism for unmanned fork truck of claim 4, wherein, The charging execution driving mechanism (3) further comprises an open pin (33) and a pin shaft (34) for connecting the other end of the push rod (32) to the mounting support (211).

9. The automatic charging mechanism for unmanned fork trucks according to claim 1, characterized in that, The charging plate assembly (1) comprises a charging plate (11) and a charging positive plate (111), a charging negative plate (112), a CAN high plate (113) and a CAN bottom plate (114) arranged on the charging plate (11), wherein the charging positive plate (111) and the charging negative plate (112) are respectively used for connecting with the positive and negative poles of the charger.

10. The automatic charging mechanism for unmanned fork truck of claim 2, wherein, The box seat front plate (42) is provided with a buffer pad (421) on the side plate surface close to the charger.

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