AGV forklift with adjustable laser radar detection angle

Abstract

The AGV forklift with the adjustable laser radar detection angle comprises a forklift body, one end of the forklift body is fixedly connected with a lifting frame, the middle of the top end of the lifting frame is fixedly connected with a mounting frame, one side of the top end of the mounting frame is fixedly connected with an active driving assembly, the top end of the mounting frame is fixedly connected with a fixing shaft, and the fixing shaft is fixedly connected with a laser radar. The fixed shaft is a hollow pipe body, one side of the fixed shaft is provided with a straight notch, the top end of the fixed shaft is rotatably provided with a visual monitoring assembly, the outer side of the top end of the fixed shaft is provided with a threaded groove, and the outer side of the top end of the fixed shaft is in threaded connection with a driven driving assembly. And meanwhile, a depth camera is matched for monitoring the surrounding condition of the forklift, and an adjusting controller and a micro industrial personal computer are matched for use, so that the automatic obstacle avoidance function of the forklift is achieved, the forklift is prevented from colliding with working personnel and colliding with goods shelves, other goods piles or transportation equipment, and the working safety and efficiency of the forklift are improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to a forklift technical field, concretely is a laser radar detection angle adjustable AGV forklift. BACKGROUND

[0002] The forklift is a kind of industrial handling vehicle, it plays the key role in logistics, warehousing, port loading and unloading and many other fields, forklift can quickly carry goods from one place to another, compared with manual handling, greatly improve the handling speed with the characteristics such as operation flexible, strong bearing capacity, wide goods adaptability, good stability, stable structure etc.;

[0003] The traditional forklift is mainly composed of power system, chassis, pallet fork and portal frame, in warehouse, factory and other operation sites, there are usually many staff around forklift, forklift operator may collide to the personnel who are working because of visual blind area, inattentive or operation failure, forklift may collide with goods shelf, other goods stacks or transport equipment in the process of carrying goods, not only can damage the goods being carried, forklift itself is also vulnerable to damage in collision, influence the safety and efficiency of forklift work, cause loss, therefore need to provide a laser radar detection angle adjustable AGV forklift. SUMMARY

[0004] The utility model aims at providing a laser radar detection angle adjustable AGV forklift to solve the problem that in warehouse, factory and other operation sites, there are usually many staff around forklift, forklift operator may collide to the personnel who are working because of visual blind area, inattentive or operation failure, forklift may collide with goods shelf, other goods stacks or transport equipment in the process of carrying goods, not only can damage the goods being carried, forklift itself is also vulnerable to damage in collision, influence the safety and efficiency of forklift work, cause loss.

[0005] To realize above-mentioned purpose, the utility model provides following technical scheme: a laser radar detection angle adjustable AGV forklift, including forklift main part, the one end fixedly connected with the lifting frame of forklift main part, the top department fixedly connected with the mounting bracket of lifting frame, the top one side fixedly connected with the driving component of mounting bracket, the top fixedly connected with the fixed shaft of mounting bracket, the fixed shaft is hollow pipe body and one side is equipped with straight slot, the top rotatably installed with visual monitoring component of fixed shaft, the top outside of fixed shaft is equipped with screw groove, the top outside of fixed shaft is equipped with the driven drive assembly of screw thread connection, forms the radar monitoring and camera monitoring mechanism of angle adjustable, can carry out comprehensive monitoring to the environment around forklift, it is convenient to promote the safety of forklift use, to improve the work efficiency of forklift.

[0006] Preferably, the active drive assembly comprises a drive motor fixedly embedded in the top end of the mounting frame, the output shaft of the drive motor is fixedly connected with a driving gear at the top end, a supporting frame is fixedly installed above the middle part of the top end of the mounting frame, an integrated circuit board is fixedly installed at the top end of the supporting frame, an engaging gear plate is rotatably connected to the top end of the supporting frame, the engaging gear plate and the driving gear are engaged to form a rotating linkage driven by the drive motor, so that the supporting frame can rotate.

[0007] Preferably, the mounting frame is fixedly installed with an adjustment controller and a micro industrial computer on one side, the top end of the adjustment controller is connected with the integrated circuit board through data transmission control wires to form a complete data analysis processing system and control system, which facilitates the intervention on the working state of the forklift.

[0008] Preferably, the visual monitoring assembly comprises a mounting disc rotatably connected to the top end of the fixed shaft, a circular through hole is formed in the middle part of the mounting disc, a depth camera is fixedly installed at the middle part of the top end of the mounting disc, the depth camera can be connected with the adjustment controller through integrated connection wires, and the depth camera can take pictures of the surrounding environment and upload them.

[0009] Preferably, four connecting plates are fixedly connected to the bottom end of the mounting disc in a circumferential array manner, four limiting rods are fixedly connected to the bottom end of the mounting disc in a circumferential array manner near the central position, the limiting rods correspond to the positions of the connecting plates, and a transparent protective shell is fixedly connected to the outside of the mounting disc, which interferes with the movement path of the screwing sleeve, so that the screwing sleeve can only move up and down.

[0010] Preferably, the depth camera is connected with a sensing wire through an electric slip ring, the sensing wire extends outward through a straight slot formed on one side of the drive motor to form a complete camera image uploading and receiving command electric control loop.

[0011] Preferably, the driven drive assembly comprises a screwing sleeve, the screwing sleeve is threadedly connected to the top end of the fixed shaft and is below the mounting disc, a fixed frame is fixedly connected to the outside of the screwing sleeve in a circumferential array manner, a transmission frame is rotatably connected inside the fixed frame, a monitoring radar is connected to one end of the transmission frame away from the screwing sleeve through bolts, and a sensing wire is connected to the middle part of the end of the monitoring radar close to the transmission frame, the sensing wire is electrically connected to the top end of the integrated circuit board, the installation of the sensing wire is summarized through the integrated circuit board, which is beneficial to the neat arrangement of wires.

[0012] Preferably, one end of the transmission frame close to the fixed shaft is rotatably connected to the middle part of the screwing sleeve, and the middle part of the transmission frame is rotatably connected to the middle part of the connecting plate, so that the transmission frame can rotate along the middle part of the connecting plate.

[0013] Compared with the prior art, the utility model has the advantages of

[0014] Through design meshing toothed disc, drive motor, driving gear and fixed shaft, thread groove, screw sleeve, transmission frame, monitoring radar, utilize drive motor rotation to drive driving gear rotation and meshing toothed disc meshing, make the support frame rotation drive screw sleeve rotation, screw sleeve rotation and thread groove screwing move up and down along fixed shaft, so as to drive transmission frame, monitoring radar to move along with, change multiple radar's pitch angle and rotation angle, cooperate depth camera to the forklift around situation monitoring simultaneously, and through adjusting controller, micro industrial computer cooperation uses, reach forklift automatic obstacle avoidance's function, prevent collision to the personnel who is working and with shelf, other goods stack or transportation equipment collision, improve forklift work's security and efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 It is the three-dimensional structure schematic diagram of the utility model;

[0016] Figure 2 It is the transparent protective shell internal structure schematic diagram of the utility model;

[0017] Figure 3 It is the utility model Figure 2 It is the utility model

[0018] Figure 4 It is the front view of the utility model.

[0019] In the drawing: 1, forklift main body;2, lifting frame;3, mounting frame;4, support frame;5, meshing toothed disc;6, drive motor;7, driving gear;8, integrated circuit board;9, fixed shaft;10, thread groove;11, screw sleeve;12, transmission frame;13, monitoring radar;14, sensing wire;15, connecting plate;16, depth camera;17, adjusting controller;18, micro industrial computer;19, transparent protective shell;20, mounting disc. DETAILED DESCRIPTION

[0020] The technical scheme in the utility model embodiment will be described clearly and completely below with reference to the drawings in the utility model embodiments.

[0021] Please refer to Figures 1-4The utility model provides a kind of laser radar detection angle adjustable AGV fork truck, including fork truck main body 1, the fork truck main body 1 has vehicle body structure, power system (mainly by battery pack, motor is made of, motor is responsible for the electrical energy of battery pack is converted into mechanical energy, drives fork truck to travel through transmission device (such as speed reducer, chain etc.

[0022] Further, the driving motor 6 can be rotated in positive and reverse directions at a certain angle, so that the driving motor 6 is fixedly embedded in the top end of the mounting rack 3, the output shaft top of the driving motor 6 is fixedly connected with the driving gear 7, the supporting rack 4 is fixedly installed on the top end of the mounting rack 3, the integrated circuit board 8 is fixedly installed on the top end of the supporting rack 4, the meshing gear disc 5 is rotatably connected to the top end of the supporting rack 4, the driving motor 6 drives the meshing gear disc 5 to rotate within a range of 90 degrees, the meshing gear disc 5 is engaged with the driving gear 7, the driving motor 6 drives the driving gear 7 to rotate, and the driving gear 7 is engaged with the meshing gear disc 5 when rotating, so that the meshing gear disc 5 is rotated.

[0023] Further, the mounting rack 3 is fixedly installed with an adjusting controller 17 and a micro industrial computer 18 on one side, the top end of the adjusting controller 17 is connected with the integrated circuit board 8 through data transmission control wires, which is mainly used for controlling the fork truck, receiving information transmitted by the data transmission control wires and analyzing the information, and issuing instructions according to the analysis information, and the adjusting controller 17 is installed with an inertial measurement unit, which measures the three-axis attitude angle and acceleration of an object.

[0024] Further, the visual monitoring assembly includes a mounting disc 20 rotatably connected to the top end of the fixed shaft 9, a circular through hole is formed in the middle of the mounting disc 20, the sensing wires 14 can pass through the through hole, a depth camera 16 is fixedly installed on the top end of the mounting disc 20, the depth camera 16 at this position is a camera group, which is respectively aimed at different angles, so as to complete omnidirectional image capturing when rotating within a certain range.

[0025] Further, the four connecting plates 15 are fixedly connected to the bottom end of the mounting disc 20 in a circumferential array, and four limiting rods are fixedly connected to the bottom end of the mounting disc 20 near the center in a circumferential array, the limiting rods correspond to the positions of the connecting plates 15, the transparent protective shell 19 is fixedly connected to the outer side of the mounting disc 20, the connecting plate 15 is composed of two frame bodies and a horizontal shaft, the horizontal shaft penetrates the transmission frame 12 and the transmission frame 12 can rotate along the horizontal shaft in the middle of the connecting plate 15.

[0026] Further, the sensing lead 14 is connected to the bottom end of the depth camera 16 through an electric slip ring, the sensing lead 14 is an integrated wire harness composed of a plurality of wire harnesses, and the sensing lead 14 is arranged to extend outward through a straight slot opening formed on one side of the driving motor 6, and the other end of the sensing lead 14 is connected to the integrated circuit board 8.

[0027] Further, the driven driving assembly includes a threaded sleeve 11, the threaded sleeve 11 is threadedly connected to the top end of the fixed shaft 9 and located below the mounting disc 20, the outer side of the threaded sleeve 11 is fixedly connected with a fixed frame in a circumferential array, there are four fixed frames, the transmission frame 12 is rotatably connected to the inside of the fixed frame, a straight slot opening is formed on one end of the transmission frame 12 near the fixed frame, so that the transmission frame 12 can be lifted and lowered in cooperation with the threaded sleeve 11 while satisfying its own rotation, the monitoring radar 13 is connected to the other end of the transmission frame 12 away from the threaded sleeve 11 through a bolt, the sensing lead 14 is connected to the middle of one end of the monitoring radar 13 near the transmission frame 12, the other end of the sensing lead 14 is electrically connected to the top end of the integrated circuit board 8, the integrated circuit board 8, the integrated circuit board 8 has a pre-designed copper foil circuit, which provides a transmission path for the electrical signal.

[0028] Further, the transmission frame 12 is rotatably connected to the middle of the threaded sleeve 11 at one end near the fixed shaft 9, and the transmission frame 12 is rotatably connected to the middle of the connecting plate 15.

[0029] When the embodiment of the application is in use:

[0030] When the device is running, the driving motor 6 rotates to drive the driving gear 7 to rotate, the driving gear 7 meshes with the meshing gear plate 5 when rotating, so that the meshing gear plate 5 rotates, thereby driving the integrated circuit board 8, the threaded sleeve 11, the transmission frame 12, the monitoring radar 13, the sensing lead 14, the connecting plate 15, and the depth camera 16 to rotate, at this time, the depth camera 16 takes pictures of the surrounding environment and uploads them, the threaded sleeve 11 is screwed with the threaded groove 10 on the outer side of the top end of the fixed shaft 9 when rotating, so that the threaded sleeve 11 moves up and down to drive the transmission frame 12, the monitoring radar 13, and the connecting plate 15 to swing up and down, thereby monitoring the surrounding environment, cooperating with the uploaded images, the adjusted controller 17 and the micro industrial computer 18 receive the information transmitted by the data transmission control lead and analyze it, and issue instructions according to the analysis information.

[0031] Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions recorded in the foregoing embodiments or make equivalent replacement to part of the technical features, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. A laser radar detection angle adjustable AGV forklift, comprising a forklift body (1), characterized in that: The forklift body (1) one end is fixedly connected with lifting frame (2), lifting frame (2) top middle part is fixedly connected with mounting bracket (3), mounting bracket (3) top one side is fixedly connected with driving component, mounting bracket (3) top is fixedly connected with fixed shaft (9), fixed shaft (9) is hollow pipe body and one side is provided with straight slot, fixed shaft (9) top rotatably installed with visual monitoring assembly, fixed shaft (9) top outside is provided with threaded groove (10), fixed shaft (9) top outside is threadedly connected with driven drive assembly.

2. The laser radar angle-adjustable AGV forklift according to claim 1, characterized in that: The driving component includes a driving motor (6), the driving motor (6) is fixedly embedded in the top inside of mounting bracket (3), the output shaft top of driving motor (6) is fixedly connected with driving gear (7), the top middle part of mounting bracket (3) is fixedly installed with support frame (4), the top of support frame (4) is fixedly installed with integrated circuit board (8), the top of support frame (4) is rotatably connected with meshing gear plate (5), the meshing gear plate (5) and driving gear (7) are engaged.

3. The laser radar angle-adjustable AGV forklift according to claim 1, characterized in that: The one side of mounting bracket (3) is fixedly installed with adjusting controller (17), micro industrial computer (18), the top of adjusting controller (17) is connected with integrated circuit board (8) through data transmission control wire.

4. The laser radar angle-adjustable AGV forklift according to claim 1, characterized in that: The visual monitoring assembly includes mounting disc (20), the mounting disc (20) is rotatably connected to the top of fixed shaft (9), the middle part of mounting disc (20) is provided with circular through hole, the top middle part of mounting disc (20) is fixedly installed with depth camera (16).

5. The laser radar angle-adjustable AGV forklift according to claim 4, characterized in that: The bottom end side edge position of mounting disc (20) is fixedly connected with four connecting plates (15) in a circular array, the bottom end of mounting disc (20) is fixedly connected with four limit rods in a circular array close to the center position, the limit rod and connecting plate (15) position correspond, the outside of mounting disc (20) is fixedly connected with transparent protective shell (19).

6. The laser radar angle-adjustable AGV forklift according to claim 4, characterized in that: The bottom end of depth camera (16) is connected with sensing wire (14) through electric slip ring, the sensing wire (14) passes through the straight slot of one side of driving motor (6) and extends outward.

7. The laser radar angle-adjustable AGV forklift according to claim 1, characterized in that: The driven drive assembly includes a threaded sleeve (11), the threaded sleeve (11) is threadedly connected to the top of fixed shaft (9) and the threaded sleeve (11) is below the mounting disc (20), the outside of threaded sleeve (11) is fixedly connected with fixed frame in a circular array, the inside of fixed frame is rotatably connected with transmission frame (12), the end of transmission frame (12) away from threaded sleeve (11) is connected with monitoring radar (13) through bolt, the end of monitoring radar (13) close to transmission frame (12) is connected with sensing wire (14) in the middle part, the sensing wire (14) is electrically connected to the top of integrated circuit board (8) at this place.

8. The laser radar angle-adjustable AGV forklift according to claim 7, characterized in that: The end of transmission frame (12) close to fixed shaft (9) is rotatably connected to the middle part of threaded sleeve (11), the middle part of transmission frame (12) is rotatably connected to the middle part of connecting plate (15).

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