Foot radar detection structure for AGV forklift

Abstract

The utility model discloses a foot radar detection structure for an AGV forklift, which comprises a vehicle body, a pallet fork mounted on the vehicle body, a connecting column fixedly mounted on the vehicle body, a laser radar navigator, a protective laser radar and a display screen mounted on the connecting column, a camera mounted in the connecting column, a groove formed in the top end of the pallet fork, and a camera mounted in the groove. A first obstacle avoidance radar is installed in the groove, the second obstacle avoidance radars are installed on the two corners of the vehicle body, a base is installed at the bottom of the first obstacle avoidance radar, the base is rotationally installed in the groove, a containing groove is formed in the outer end, close to the outer side, of the rotating hole, a motor is installed in the containing groove, and the motor is connected with the first obstacle avoidance radar and the second obstacle avoidance radar. The motor is connected with the rotating rod, after the pallet fork ascends, the motor is controlled to rotate, the base is driven to rotate, the obstacle avoidance radar is driven to incline downwards to be aligned with the ground, the detection range of the obstacle avoidance radar to low obstacles is expanded, and the detection accuracy is further improved.

Description

TECHNICAL FIELD

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

[0002] AGV forklift refers to the forklift equipped with automatic guiding device, can complete material handling, warehousing etc.

[0003] Ground radar is also called laser radar, mostly adopts 2D laser radar, is installed on the vehicle body and the fork respectively, improves the environmental perception ability of AGV forklift, makes it more comprehensively obtain the surrounding environmental obstacle information, can monitor the front and rear obstacles in real time, thereby avoids the collision with the obstacle, guarantees the safety of goods, improves work efficiency.

[0004] Laser radar is one of important components guaranteeing the normal operation of forklift, but after the fork elevates and forks the goods, laser radar also elevates along with the fork, since laser radar is 2D, makes it unable to detect low obstacle after elevating. UTILITY MODEL CONTENTS

[0005] The utility model discloses a AGV forklift ground radar detection structure for overcoming the above-mentioned defects in the prior art, a AGV forklift ground radar detection structure according to the utility model, including the vehicle body, installs the fork on the vehicle body, fixedly installs the connecting column on the vehicle body, installs laser radar navigation, protection laser radar and display screen on the connecting column, installs the camera in the connecting column, sets up the recess in the top of the fork, installs the obstacle avoidance radar no.

[0006] The bottom of the obstacle avoidance radar no. is installed with the base, the base is rotatably installed in the recess, a motor is installed in the recess, and the motor is installed on one side of the base.

[0007] Preferably, the base is installed at the bottom of the obstacle avoidance radar no., rotating rods are fixedly installed at both ends of the base, rotating holes are formed on both sides of the recess, the rotating rods are rotatably connected with the rotating holes, a placing groove is formed at the outer end of the rotating hole close to the outer side, the motor is installed in the placing groove, the motor is connected with the rotating rod, and the obstacle avoidance radar no. is spaced apart from the top of the recess by a certain gap.

[0008] Preferably, a tray is installed in the base, the barrier radar is placed on the tray, four rotating members are circumferentially installed on the tray, and at least two rubber pads are fixedly installed on the inner side of the rotating members.

[0009] Preferably, the rotating members are rotationally connected with the tray, at least one spring is installed at the bottom of the base, a sliding groove is circumferentially formed in the base, a sliding block is circumferentially fixedly installed on the tray and slidably connected with the sliding groove, a connecting plate is rotationally installed at the top of the rotating members, a clamping groove is circumferentially formed at the top of the base, and a clamping block is fixedly installed on the outer side of the connecting plate and clamped in the clamping groove.

[0010] Preferably, the opening of the clamping groove is smaller than the clamping block, and the clamping block is made of elastic rubber material.

[0011] The utility model discloses the beneficial effects are:

[0012] 1、In the bottom of barrier radar one installs the base, installs the rotating rod at two ends of base, sets up the rotating hole on the both sides of recess, rotating rod and rotating hole rotationally connected, sets up the placement groove in the rotating hole outer end close to the outside, installs the motor in the placement groove, motor and rotating rod are connected, after the fork lifting, control motor rotates a certain angle, drives base to rotate, also drives barrier radar one to incline a certain angle downwards, makes barrier radar one aligns the direction of ground, ensures barrier radar one inclination and the fork lifting synchronous realization simultaneously, expands barrier radar one to the detection range of low obstacle, further improves the accuracy of detection.

[0013] 2、In the base installs the tray, barrier radar one is placed on the tray, four rotating members are circumferentially installed on the tray, and rubber pads are fixedly installed on the inner side of the rotating members, after barrier radar one is installed in the base, the rubber pad is extruded and fixed to barrier radar one, can avoid the influence of vehicle body shaking on the detection result of barrier radar one, and the accuracy of detection is provided.

[0014] 3, the rotating piece is rotatably connected with the tray, a spring is installed at the bottom of the base, a sliding groove is arranged in the circumference of the base, a sliding block is fixedly installed on the circumference of the tray, a connecting plate is rotatably installed at the top of the rotating piece, a clamping groove is arranged at the top of the base, a clamping block is fixedly installed on the outer side of the connecting plate, the clamping block is installed into the clamping groove by pressing the obstacle avoidance radar one to the bottom of the base and then pressing the connecting plate, the clamping block is separated from the clamping groove by rotating the connecting plate upwards, the tray is bounced upwards under the action of the spring, and the obstacle avoidance radar one can be taken out, so that the installation and disassembly of the obstacle avoidance radar one in the base are facilitated. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 is the first appearance schematic view of the utility model;

[0016] Figure 2 is the second appearance schematic view of the utility model;

[0017] Figure 3 is the cross section schematic view of the fork;

[0018] Figure 4 is the enlarged schematic view of A of Figure 3

[0019] In the drawing: 1, vehicle body; 2, fork; 3, laser radar navigation; 4, display screen; 5, obstacle avoidance radar one; 6, obstacle avoidance radar two; 7, protective laser radar; 8, camera; 9, connecting column; 10, recess; 11, base; 12, rotating rod; 13, rotating hole; 14, placing groove; 15, motor; 16, tray; 17, spring; 18, rotating piece; 19, sliding groove; 20, sliding block; 21, rubber pad; 22, connecting plate; 23, clamping groove; 24, clamping block. DETAILED DESCRIPTION

[0020] In order to make the purpose and advantages of the utility model more clear and obvious, the utility model is specifically described below in combination with examples, and it should be understood that the following text is only used to describe one AGV forklift ground radar detection structure or several specific implementation manners of the utility model, and does not strictly limit the protection range of the utility model, such as the terms up and down and left and right in this text are not limited to their strict geometric definitions, but include the tolerance of reasonable and inconsistent machining or human error, and the specific features of the one AGV forklift ground radar detection structure are described in detail as follows:

[0021] Referring to Figures 1-4 ​According to the embodiment of the utility model, the AGV forklift ground radar detection structure comprises a vehicle body 1, a fork 2 is installed on the vehicle body 1, a connecting column 9 is fixedly installed on the vehicle body 1, a laser radar navigation 3, a protective laser radar 7 and a display screen 4 are installed on the connecting column 9, a camera 8 is installed in the connecting column 9, a groove 10 is formed in the top end of the fork 2, an obstacle avoidance radar one 5 is installed in the groove 10, and the obstacle avoidance radar two 6 is installed on the two corners of the vehicle body 1, which is a conventional structure of the AGV forklift ground radar detection structure.

[0022] The obstacle avoidance radar one 5 and the obstacle avoidance radar two 6 are both 2D laser radars, the laser radar navigation 3 and the protective laser radar 7 are both 3D laser radars, and the above laser radars form a three-dimensional protective ring on the forklift, so that the forklift can be detected in all directions, and the safety of goods and the forklift is ensured.

[0023] After the fork 2 lifts to pick up goods, the obstacle avoidance radar one 5 also rises with the fork 2, and since the obstacle avoidance radar one 5 is a 2D laser radar, it cannot detect the range close to the ground after being lifted. In order to solve this problem, the inventor makes the following improvement.

[0024] A base 11 is installed at the bottom of the obstacle avoidance radar one 5, rotating rods 12 are fixedly installed at both ends of the base 11, rotating holes 13 are formed at both sides of the groove 10, the rotating rods 12 are rotationally connected with the rotating holes 13, a placing groove 14 is formed at the outer end of the rotating hole 13 close to the outer side, a motor 15 is installed in the placing groove 14, the motor 15 is connected with the rotating rod 12, and the obstacle avoidance radar one 5 is spaced apart from the top of the groove 10 by a certain gap; after the fork 2 is lifted, the motor 15 is controlled to rotate by a certain angle, the base 11 is driven to rotate, the obstacle avoidance radar one 5 is also driven to tilt downward by a certain angle, the obstacle avoidance radar one 5 is aligned with the direction of the ground, and the tilt of the obstacle avoidance radar one 5 and the lifting of the fork 2 are realized synchronously, the detection range of the obstacle avoidance radar one 5 on low obstacles is expanded, and the detection accuracy is further improved.

[0025] Further, the fixing effect of the base 11 on the obstacle avoidance radar one 5 has limitations, and if the forklift encounters bumps after tilting, the obstacle avoidance radar one 5 will be shaken, thereby affecting the detection result. In order to solve this problem, the inventor makes the following improvement.

[0026] The obstacle avoidance radar one 5 is placed on the tray 16, four rotating pieces 18 are circumferentially installed on the tray 16, and at least two rubber pads 21 are fixedly installed on the inner side of the rotating pieces 18; after the obstacle avoidance radar one 5 is installed in the base 11, the rubber pads 21 extrude and fix the obstacle avoidance radar one 5, so that the detection result of the obstacle avoidance radar one 5 is not affected by the shaking of the vehicle body, and the detection accuracy is provided.

[0027] Further, the rotating piece 18 is rotationally connected with the tray 16, at least one spring 17 is installed at the bottom of the base 11, a sliding groove 19 is circumferentially formed in the base 11, a sliding block 20 is circumferentially fixedly installed on the tray 16, the sliding block 20 is slidably connected with the sliding groove 19, a connecting plate 22 is rotationally installed at the top of the rotating piece 18, a clamping groove 23 is circumferentially formed at the top of the base 11, a clamping block 24 is fixedly installed at the outer side of the connecting plate 22, and the clamping block 24 is clampedly installed in the clamping groove 23; the obstacle avoidance radar one 5 is placed on the tray 16, the obstacle avoidance radar one 5 is pressed downward to the bottom of the base 11, four connecting plates 22 are further pressed to enable the clamping block 24 to be clampedly installed in the clamping groove 23 to achieve a fixing effect, the connecting plate 22 is rotated upward to enable the clamping block 24 to be separated from the clamping groove 23 to release the fixing effect, and the tray 16 is bounced upward under the action of the spring 17, so that the obstacle avoidance radar one 5 can be taken out, and the installation and dismounting of the obstacle avoidance radar one 5 in the base 11 are facilitated.

[0028] Further, the opening of the clamping groove 23 is smaller than the clamping block 24, the clamping block 24 is made of elastic rubber material, and the clamping block 24 is clamped in the clamping groove 23 by being extruded and deformed when being pressed, so that the fixing effect is achieved.

[0029] Those skilled in the art can make various modifications to the above embodiments without departing from the overall spirit and concept of the present application. All of the modifications 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 ground foot radar detection structure for AGV forklifts, comprising a vehicle body (1), a cargo fork (2) mounted on the vehicle body (1), a connecting column (9) fixedly mounted on the vehicle body (1), a laser radar navigation (3), a protective laser radar (7) and a display screen (4) mounted on the connecting column (9), a camera (8) mounted in the connecting column (9), a recess (10) formed at the top end of the cargo fork (2), an obstacle avoidance radar one (5) mounted in the recess (10), and an obstacle avoidance radar two (6) mounted on two corner edges of the vehicle body (1), characterized in that: The base (11) is installed at the bottom of the obstacle avoidance radar (5), the base (11) is rotatably installed in the groove (10), the motor (15) is installed in the groove (10), and the motor (15) is installed on one side of the base (11). ​ 2. The AGV forklift ground radar detection structure according to claim 1, characterized in that: The base (11) is installed at the bottom of the obstacle avoidance radar (5), the rotating rods (12) are fixedly installed at both ends of the base (11), the rotating holes (13) are formed at both sides of the groove (10), the rotating rods (12) are rotatably connected with the rotating holes (13), the placement grooves (14) are formed at the outer ends of the rotating holes (13) close to the outer sides, the motor (15) is installed in the placement grooves (14), the motor (15) is connected with the rotating rods (12), and the obstacle avoidance radar (5) is spaced apart from the top of the groove (10) by a gap.

3. The AGV forklift ground radar detection structure according to claim 2, characterized in that: The tray (16) is installed in the base (11), the obstacle avoidance radar (5) is placed on the tray (16), four rotating members (18) are circumferentially installed on the tray (16), and at least two rubber pads (21) are fixedly installed on the inner sides of the rotating members (18).

4. The AGV forklift ground radar detection structure according to claim 3, characterized in that: The rotating members (18) are rotatably connected with the tray (16), at least one spring (17) is installed at the bottom of the base (11), a sliding groove (19) is circumferentially formed in the base (11), a sliding block (20) is circumferentially fixedly installed on the tray (16), the sliding block (20) is slidably connected with the sliding groove (19), a connecting plate (22) is rotatably installed on the top of the rotating member (18), a clamping groove (23) is circumferentially formed at the top of the base (11), a clamping block (24) is fixedly installed on the outer side of the connecting plate (22), and the clamping block (24) is clampedly installed in the clamping groove (23).

5. The AGV forklift ground radar detection structure according to claim 4, characterized in that: The opening of the clamping groove (23) is smaller than the clamping block (24), and the clamping block (24) is made of elastic rubber material.

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