Cargo state monitoring structure for AGV forklift

Abstract

The utility model discloses a cargo state monitoring structure for an AGV (automatic guided vehicle) forklift, which comprises a vehicle body, a door frame fixedly mounted on the vehicle body, a controller mounted on the side surface of the door frame, movable bottom legs fixedly mounted at the bottom of the door frame, a connecting frame slidably mounted in the door frame, and two forks fixedly mounted on the connecting frame. The pallet fork is installed above the movable bottom legs, a groove is formed in the top of the pallet fork, a rotating plate is installed in the groove, an infrared distance measuring sensor is installed at the top of the rotating plate, and in the process of forking goods, when the distance detected by the infrared distance measuring sensor is too small, it is represented that the goods are completely located above the pallet fork, and the infrared distance measuring sensor is not used for measuring the distance detected by the infrared distance measuring sensor. Through cooperation with the camera, the state of the goods on the pallet fork can be monitored from multiple aspects, and the problem that the monitoring mode is single is solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to a forklift cargo monitoring technical field, specifically to a cargo state monitoring structure for AGV forklift. BACKGROUND

[0002] AGV forklift is also called automatic navigation forklift, which is a highly automated logistics equipment. It is equipped with automatic guiding device and can complete material handling, warehousing and other tasks through autonomous navigation technology without direct manual control. This forklift is widely used in logistics centers, ports, production workshops and other scenes, realizes automatic access to goods, greatly improves logistics efficiency, reduces labor cost and operating cost, and is an indispensable important tool in modern logistics and warehousing field.

[0003] The state of the cargo on the forklift is monitored to ensure the safety, accuracy and efficiency of the cargo during the handling process, which is composed of a series of sensors. By accurately detecting the position and shape of the cargo, the stability of the cargo during the handling process is ensured to prevent safety accidents such as slipping or overturning, which guarantees the quality of the cargo and saves the step of manual inspection.

[0004] At present, the state of the cargo is monitored by the camera on the forklift, the monitoring method is single, the state of the cargo cannot be monitored from multiple aspects, and the error in the judgment of the camera will affect the transportation of the cargo. INVENTION CONTENTS

[0005] The utility model aims at providing a cargo state monitoring structure for AGV forklift, which is used to overcome the above-mentioned defects in the prior art. According to the cargo state monitoring structure for AGV forklift, a door frame is fixedly installed on the vehicle body, a controller is installed on the side of the door frame, a movable bottom leg is fixedly installed at the bottom of the door frame, a connecting frame is slidably installed in the door frame, two forks are fixedly installed on the connecting frame, and the forks are installed above the movable bottom leg.

[0006] A groove is formed at the top of the fork, a rotating plate is installed in the groove, and an infrared distance measuring sensor is installed at the top of the rotating plate.

[0007] Preferably, a placing groove is formed at the inner end of the groove, a fixed column is fixedly installed in the placing groove, the rotating plate is rotatably installed at the outer end of the groove, a connecting groove is formed at the middle position of the inner side of the rotating plate, sliding grooves are formed on both sides of the connecting groove, a sliding rod is installed in the sliding grooves, the sliding rod can slide and rotate in the sliding grooves, a fixing member is fixedly installed at the middle position of the sliding rod, an electric push rod is installed between the fixed column and the fixing member, and an infrared distance measuring sensor is installed on the outer side of the rotating plate.

[0008] Preferably, the top end of the rotating plate is designed as an inclined surface that inclines inwardly, the length of the inner side of the rotating plate is less than the length of the groove, and the length of the outer side of the rotating plate is consistent with the length of the groove.

[0009] Preferably, a magnet is installed on the outer side of the rotating plate, and the fork is made of alloy steel, and the magnet is magnetically connected with the fork.

[0010] The utility model discloses the beneficial effect is:

[0011] 1. The recess is set up in the top of the fork, the rotating plate is installed in the recess, the infrared distance sensor is installed on the top of the rotating plate, and when the distance detected by the infrared distance sensor is too small in the process of picking up goods, it represents that the goods are completely located above the fork. The camera can monitor the state of the goods on the fork from multiple aspects, and the problem of single monitoring mode is improved.

[0012] 2. The electric push rod is installed at the inner end of the recess, the rotating plate is rotatably installed at the outer end of the recess, the infrared distance sensor is installed on the outer side of the rotating plate, the connecting groove is set up on the inner side of the rotating plate, the sliding groove is set up on the both sides of the connecting groove, the sliding rod is installed in the sliding groove, the sliding rod can slide and rotate in the sliding groove, the other end of the electric push rod is connected with the sliding rod, the electric push rod is elongated, the sliding rod is pushed to slide to the bottom of the sliding groove, the rotating plate and the fork form a right angle of ninety degrees, the distance between the forklift and the goods can be monitored, when the distance is too close, the electric push rod is controlled to contract, the sliding rod slides back to the top of the sliding groove, and the rotating plate is horizontally placed in the recess. The state of the goods on the fork in the picking process is monitored, the infrared distance sensor monitors the goods in multiple aspects, and the practicability of the device is improved.

[0013] 3. The top end of the rotating plate is designed as an inclined surface that inclines inwardly, the length of the inner side of the rotating plate is less than the length of the groove, and the length of the outer side of the rotating plate is consistent with the length of the groove.

[0014] 4. The magnet is installed on the outer side of the rotating plate, the fork is made of alloy steel, the magnet is magnetically connected with the fork, the electric push rod pushes the rotating plate forward, the rotating plate and the fork form a right angle of ninety degrees, and the magnet is magnetically connected with the fork to be fixed. When the electric push rod is controlled to contract, the magnet and the fork are disconnected and separated, the rotating plate is stable in the vertical state, and the accuracy of monitoring is ensured. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 It is the first appearance schematic drawing of the utility model.

[0016] Figure 2 is an enlarged view of A of Figure 1 ;

[0017] Figure 3 is a second appearance schematic view of the utility model;

[0018] Figure 4 is a first appearance schematic view of the rotating plate;

[0019] Figure 5 is a first appearance schematic view of the rotating plate;

[0020] Figure 6 is a cross section schematic view of the rotating plate;

[0021] Figure 7 is a cross section schematic view of the fork;

[0022] Figure 8 is an enlarged view of B of Figure 7 ;

[0023] In the figure: 1, vehicle body; 2, portal; 3, fork; 4, mobile bottom leg; 5, laser radar; 6, camera one; 7, camera two; 8, recess; 9, controller; 10, connecting frame; 11, placing groove; 12, fixed column; 13, electric push rod; 14, connecting groove; 15, sliding groove; 16, sliding rod; 17, fixing piece; 18, rotating plate; 19, infrared distance measuring sensor; 20, magnet. DETAILED DESCRIPTION

[0024] In order to make the purpose and the advantage of the utility model more clearly, the following is specifically explained to the utility model with example, should understand as the following text is merely used to describe the AGV fork truck cargo state monitoring structure of the utility model or several specific implementation manners, and does not strictly limit the protection range of the utility model specific request, such as in this text, the terms up and down and left and right are not limited to its strict geometric definition, but include the tolerance of reasonable and inconsistent for machining or human error, the following detailedly explains the specific features of the AGV fork truck cargo state monitoring structure:

[0025] Refer to Figures 1-8According to the embodiment of the utility model, the AGV forklift cargo state monitoring structure has the advantages that the AGV forklift cargo state monitoring structure is provided with the laser radar, the camera and the infrared distance sensor, the laser radar is used for forming the digital map of the environment, the camera is used for capturing the image of the front environment, the infrared distance sensor is used for judging the position of the cargo and monitoring the distance between the two, and the state of the cargo during the operation can also be monitored, the state of the cargo can be monitored from multiple aspects, the monitoring mode is improved, and the stability of the cargo transportation is further ensured.

[0026] The laser radar 5 is installed on the top of the controller 9, the camera one 6 is installed obliquely below the controller 9, the camera two 7 is installed on the connecting frame 10, the laser radar 5 is used for forming the digital map of the environment, the camera one 6 is used for capturing the image of the front environment, and the camera two 7 is used for judging the position of the cargo and monitoring the distance between the two, and can also be used for monitoring the state of the cargo during the operation.

[0027] At present, the state of the cargo is monitored only through the camera, the monitoring mode is single, in order to further ensure the stability of the cargo transportation, the inventor considers monitoring the cargo from multiple aspects, and makes the following improvements.

[0028] The recess 8 is formed in the top of the fork 3, the rotating plate 18 is installed in the recess 8, and the infrared distance sensor 19 is installed on the top of the rotating plate 18; in the process of picking up the cargo, when the distance detected by the infrared distance sensor 19 is too small, it represents that the cargo is completely located above the fork 3, and the state of the cargo on the fork 3 can be monitored from multiple aspects in cooperation with the camera 7, and the problem of single monitoring mode is improved.

[0029] Further, the placing groove 11 is formed in the inner end of the recess 8, the fixed column 12 is fixedly installed in the placing groove 11, the rotating plate 18 is rotatably installed at the outer end of the recess 8, the connecting groove 14 is formed in the middle position of the inner side of the rotating plate 18, the sliding grooves 15 are formed on the two sides of the connecting groove 14, the sliding rods 16 are installed in the sliding grooves 15, the sliding rods 16 can slide and rotate in the sliding grooves 15, the fixed part 17 is fixedly installed at the middle position of the sliding rod 16, the electric push rod 13 is installed between the fixed column 12 and the fixed part 17, and the infrared distance sensor 19 is installed on the outer side of the rotating plate 18.

[0030] Before the fork takes the goods, the electric push rod 13 is elongated, the sliding rod 16 is pushed to slide to the bottom of the sliding groove 15, the rotating plate 18 is at a right angle of 90 degrees with the fork 3, the infrared distance sensor 19 on the rotating plate 18 can monitor the distance between the forklift and the goods, when the distance is too close, the electric push rod 13 is controlled to retract, the sliding rod 16 slides back to the top of the sliding groove 15, the rotating plate 18 is horizontally placed in the groove 8, and the state of the goods in the forking process is monitored, the above structure realizes the multi-aspect monitoring of the goods by the infrared distance sensor 19, improves the practicability of the infrared distance sensor 19, and monitors the state of the goods from multiple directions on the basis of the monitoring of the camera two 7, and the stability of the goods transportation is ensured.

[0031] Further, in order to avoid the rotating plate 18 from being stuck when rotating into the groove 8, the inventor makes the following improvement.

[0032] The top end of the rotating plate 18 is designed as an inwardly inclined slope, the length of the inner side of the rotating plate 18 is less than the length of the groove 8, and the length of the outer side of the rotating plate 18 is consistent with the length of the groove 8; this shape can avoid the rotating plate 18 from being stuck during the process of rotating into the groove 8.

[0033] Further, when the rotating plate 18 is at a right angle of 90 degrees with the fork 3, only the electric push rod 13 supports the rotating plate 18, the supporting effect is limited, and the rotating plate 18 may shake during operation, affecting the accuracy of monitoring, in order to solve this problem, the inventor makes the following improvement.

[0034] The magnet 20 is installed on the outer side of the rotating plate 18, the fork 3 is made of alloy steel, and the magnet 20 is magnetically connected with the fork 3; the alloy steel is an iron-based material and has ferromagnetism, the electric push rod 13 pushes the rotating plate 18 forward, so that the rotating plate 18 is at a right angle of 90 degrees with the fork 3, and the magnet 20 is magnetically connected with the fork 3 and is fixed at the same time, when the electric push rod 13 is controlled to retract, the magnet 20 is disconnected with the fork 3 and is separated, the above structure makes the rotating plate 18 stable in the vertical state, and ensures the accuracy of monitoring.

[0035] Those skilled in the art can clearly make various modifications to the above embodiments without departing from the overall spirit and concept of the present application. All fall within the protection scope of the present application. The protection scheme of the present application is subject to the claims attached to the present application.

Claims

1. A cargo status monitoring structure for an AGV forklift, comprising a vehicle body (1), a mast (2) fixedly mounted on the vehicle body (1), a controller (9) mounted on the side of the mast (2), a movable base leg (4) fixedly mounted on the bottom of the mast (2), a connecting frame (10) slidably mounted inside the mast (2), and two forks (3) fixedly mounted on the connecting frame (10), the forks (3) being mounted above the movable base leg (4), characterized in that: A groove (8) is formed on the top of the fork (3), a rotating plate (18) is installed in the groove (8), and an infrared distance sensor (19) is installed on the top of the rotating plate (18).

2. The AGV forklift cargo state monitoring structure according to claim 1, characterized in that: A placing groove (11) is formed on the inner end of the groove (8), a fixed column (12) is fixedly installed in the placing groove (11), the rotating plate (18) is rotatably installed on the outer end of the groove (8), a connecting groove (14) is formed on the inner side of the rotating plate (18), a sliding groove (15) is formed on both sides of the connecting groove (14), a sliding rod (16) is installed in the sliding groove (15), the sliding rod (16) can slide and rotate in the sliding groove (15), a fixing member (17) is fixedly installed on the middle position of the sliding rod (16), an electric push rod (13) is installed between the fixed column (12) and the fixing member (17), and the infrared distance sensor (19) is installed on the outer side of the rotating plate (18).

3. The AGV forklift cargo state monitoring structure according to claim 2, characterized in that: The top end of the rotating plate (18) is designed as an inwardly inclined slope, the length of the inner side of the rotating plate (18) is less than the length of the groove (8), and the length of the outer side of the rotating plate (18) is consistent with the length of the groove (8).

4. The AGV forklift cargo state monitoring structure according to claim 2, characterized in that: A magnet (20) is installed on the outer side of the rotating plate (18), the fork (3) is made of alloy steel, and the magnet (20) is magnetically connected with the fork (3).

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