Automatic obstacle avoidance laser radar array support of unmanned counterbalance forklift truck
By designing an adjustable bracket assembly and extension components on an unmanned counterbalance forklift, and utilizing a drive motor, bevel gear system, and annular airbag structure, the automatic adjustment and lifting of the lidar height is achieved, solving the problem that lidar height cannot be adjusted in existing technologies and improving the adaptability and practicality of the equipment.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-05-27
- Publication Date
- 2026-03-27
AI Technical Summary
The existing automatic obstacle avoidance lidar of unmanned counterbalance forklifts cannot be adjusted in height, which makes it impossible to detect the path ahead by crossing taller obstacles, resulting in poor practicality.
An automatic obstacle avoidance lidar array support was designed, comprising a base, an adjustable support assembly, and an extension component. The height of the telescopic column is adjusted by a drive motor and a bevel gear system, and the lidar is automatically raised to a higher detection height by using a ring-shaped folding telescopic airbag and a sealing piston ring.
The system enables unmanned counterbalance forklifts to automatically adjust the height of the lidar when encountering obstacles, ensuring the recognition of the path ahead and improving the practicality and adaptability of the equipment.
Smart Images
Figure CN224050043U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to a forklift technical field especially relates to a kind of automatic obstacle avoidance laser radar array support of unmanned counterbalance forklift. BACKGROUND
[0002] Unmanned counterbalance forklift is also called AGV unmanned forklift, it is a kind of intelligent forklift based on automatic navigation technology, can complete the transport of goods, stacking, access tasks such as it combines automatic guided vehicle technology and intelligent forklift system, with high-precision navigation, automatic obstacle avoidance, intelligent scheduling functions.
[0003] The automatic obstacle avoidance laser radar of existingUnmanned counterbalance forklift is usually installed on the top of forklift, and the height of automatic obstacle avoidance laser radar cannot be adjusted after installation, so that unmanned counterbalance forklift cannot detect the front when encountering higher obstacles, and the practicability is poor. In view of this, the present application provides an automatic obstacle avoidance laser radar array support of unmanned counterbalance forklift. UTILITY MODEL CONTENT
[0004] The utility model discloses an automatic obstacle avoidance laser radar array support of unmanned counterbalance forklift, to solve the technical problem that the height of automatic obstacle avoidance laser radar cannot be adjusted in the background art.
[0005] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme:
[0006] An automatic obstacle avoidance laser radar array support of unmanned counterbalance forklift, comprising:
[0007] The base, the automatic obstacle avoidance laser radar body is arranged on the upper surface of the base, and the base is installed on the top shell surface of the unmanned counterbalance forklift by bolt;
[0008] The adjusting support assembly is used for adjusting the height of the automatic obstacle avoidance laser radar body, and the adjusting support assembly comprises a mounting cylinder fixed on the upper surface of the base and a fixed cylinder fixed on the upper surface of the mounting cylinder, the inner wall of the fixed cylinder is slidably provided with an extension column, the automatic obstacle avoidance laser radar body is arranged at the top end of the extension column, the adjusting support assembly further comprises a threaded column rotatably arranged in the inner bottom wall of the mounting cylinder and extending into the inside of the fixed cylinder, and a driving motor fixed on the upper surface of the base is used to drive the threaded column to rotate, and the bottom end of the extension column is provided with a cylindrical thread groove threadedly connected with the outer surface of the threaded column.
[0009] In a preferred scheme, the output end of the driving motor extends into the inside of the mounting cylinder and is fixed with a driving bevel gear, and the bottom end outer surface of the threaded column is fixed with a driven bevel gear meshing with the driving bevel gear.
[0010] By setting the driving bevel gear and the driven bevel gear, the driving bevel gear can be driven to rotate by the rotation of the driving motor, so that the driven bevel gear and the threaded column can be automatically rotated.
[0011] In a preferred scheme, the bottom end outer surface of the telescopic column is fixedly provided with two symmetrical limiting blocks, and the inner wall of the fixed cylinder is provided with two strip-shaped limiting openings in sliding connection with the surfaces of the two limiting blocks, respectively.
[0012] By setting the limiting blocks and the strip-shaped limiting openings, the stability of the telescopic column during extension and contraction is effectively ensured.
[0013] In a preferred scheme, the inside of the telescopic column is provided with an extension assembly for driving the automatic obstacle avoidance laser radar body to extend to a higher place when adjusting the height of the automatic obstacle avoidance laser radar body, the extension assembly comprising a mounting ring fixedly provided on the surfaces of the two limiting blocks, and a fixed ring fixedly provided on the top end outer surface of the fixed cylinder.
[0014] By setting the mounting ring, the mounting ring can be automatically lifted by the movement of the telescopic column.
[0015] In a preferred scheme, the upper surface of the mounting ring is fixedly provided with an annular folding telescopic air bag, and the top end of the annular folding telescopic air bag is fixedly connected with the lower surface of the fixed ring.
[0016] By setting the fixed ring, the annular folding telescopic air bag can be automatically extruded during the automatic lifting of the mounting ring.
[0017] In a preferred scheme, the extension assembly further comprises an annular cavity provided in the inside of the telescopic column, and a sealing piston ring slidingly provided on the inner wall of the annular cavity, and the bottom end of the annular folding telescopic air bag is provided with an inflation tube penetrating through the mounting ring and the limiting blocks and extending to the bottom of the annular cavity.
[0018] By setting the sealing piston ring, the sealing piston ring can be automatically moved upward when the airflow enters the inside of the annular cavity when the annular folding telescopic air bag is extruded.
[0019] In a preferred scheme, the upper surface of the sealing piston ring is fixedly provided with two symmetrical fixed rods, the top ends of the two fixed rods extend to the upper surface of the telescopic column, and the inner top wall of the annular cavity is provided with two sliding holes for the two fixed rods to slide.
[0020] By setting the fixed rods, the two fixed rods can be automatically lifted by the movement of the sealing piston ring.
[0021] In a preferred scheme, the top ends of the two fixed rods are fixedly provided with a fixed seat, and the automatic obstacle avoidance laser radar body is fixedly provided on the upper surface of the fixed seat by screws.
[0022] By setting the fixed seat, the automatic obstacle avoidance laser radar body is conveniently installed and fixed.
[0023] As can be seen from the above, the automatic obstacle avoidance laser radar array support of the unmanned balanced weight type forklift provided by the utility model has the following technical effects.
[0024] Firstly, the utility model discloses an adjusting support assembly, and in the process of running of the unmanned balanced weight type forklift, the automatic obstacle avoidance laser radar body height of the telescopic column top end can be adjusted according to actual conditions by the rotation of the driving motor to drive the telescopic column to move upwards, so that the front path can be identified by overcoming the obstacles.
[0025] Secondly, the utility model discloses an extension assembly, and in the process of automatically lifting the automatic obstacle avoidance laser radar body by the rotation of the driving motor, the lifting of the telescopic column can drive the sealing piston ring to move upwards, so that the automatic obstacle avoidance laser radar body is driven to extend upwards by the fixing rod, so that the automatic obstacle avoidance laser radar body can reach a higher place, and the practicability of the support is further improved. BRIEF DESCRIPTION OF DRAWINGS
[0026] Figure 1 A three-dimensional structure schematic view of the automatic obstacle avoidance laser radar array support of the unmanned balanced weight type forklift is provided.
[0027] Figure 2 A front view structure schematic view of the automatic obstacle avoidance laser radar array support of the unmanned balanced weight type forklift is provided.
[0028] Figure 3 A three-dimensional structure schematic view of the automatic obstacle avoidance laser radar array support of the unmanned balanced weight type forklift is provided. Figure 2
[0029] Figure 4 A three-dimensional structure schematic view of the automatic obstacle avoidance laser radar array support of the unmanned balanced weight type forklift is provided. Figure 2
[0030] Figure 5 An assembly structure schematic view of the utility model on the forklift is provided.
[0031] DRAWINGS
[0032] 100, base;
[0033] 200, automatic obstacle avoidance laser radar body;
[0034] 300, adjusting support assembly; 301, mounting cylinder; 302, fixed cylinder; 303, telescopic column; 304, threaded column; 305, driving motor; 306, cylindrical threaded groove; 307, driving bevel gear; 308, driven bevel gear; 309, limiting block; 3010, strip-shaped limiting opening;
[0035] 400, extension assembly; 401, mounting ring; 402, fixed ring; 403, annular folding telescopic air bag; 404, annular cavity; 405, sealing piston ring; 406, inflation pipe; 407, fixed rod; 408, sliding hole; 409, fixed seat. DETAILED DESCRIPTION
[0036] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all the embodiments.
[0037] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing 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, therefore it cannot be understood as a limitation on the present application.
[0038] Referring to Figures 1 to 5 An automatic obstacle avoidance laser radar array support of an unmanned counterbalance forklift, comprising:
[0039] The base 100, the automatic obstacle avoidance laser radar body 200 is arranged on the upper surface of the base 100, and the base 100 is installed on the top surface of the unmanned counterbalance forklift through bolts;
[0040] The adjusting support assembly 300 is used for adjusting the height of the automatic obstacle avoidance laser radar body 200, and the adjusting support assembly 300 comprises a mounting cylinder 301 fixed on the upper surface of the base 100 and a fixed cylinder 302 fixed on the upper surface of the mounting cylinder 301. The inner wall of the fixed cylinder 302 is slidably provided with a telescopic column 303, and the automatic obstacle avoidance laser radar body 200 is arranged at the top end of the telescopic column 303. The adjusting support assembly 300 further comprises a threaded column 304 rotatably arranged in the inner bottom wall of the mounting cylinder 301 and extending into the interior of the fixed cylinder 302, and a driving motor 305 fixed on the upper surface of the base 100 and used for driving the threaded column 304 to rotate, and the bottom end of the telescopic column 303 is provided with a cylindrical threaded groove 306 threadedly connected with the outer surface of the threaded column 304.
[0041] Referring toFigure 2 And Figure 3 In one preferred embodiment, the output end of the driving motor 305 extends to the inside of the mounting cylinder 301 and is fixed with a driving bevel gear 307, and the bottom end outer surface of the threaded column 304 is fixed with a driven bevel gear 308 which is in mesh with the driving bevel gear 307.
[0042] Specifically, by setting the driving bevel gear 307 and the driven bevel gear 308, the driving bevel gear 307 can be driven to rotate by the rotation of the driving motor 305, so that the driven bevel gear 308 and the threaded column 304 can be automatically rotated.
[0043] Referring to Figure 2 And Figure 3 In one preferred embodiment, the bottom end outer surface of the telescopic column 303 is fixed with two symmetrical limiting blocks 309, and the inner wall of the fixed cylinder 302 is provided with two strip-shaped limiting openings 3010 which are respectively in sliding connection with the surfaces of the two limiting blocks 309.
[0044] Specifically, by setting the limiting block 309 and the strip-shaped limiting opening 3010, the stability of the telescopic column 303 during extension and contraction is effectively ensured.
[0045] Among them, the unmanned balance heavy fork truck can be adjusted according to the actual situation by rotating the driving motor 305 to drive the driving bevel gear 307 to rotate, the driving bevel gear 307 drives the driven bevel gear 308 and the threaded column 304 to rotate, and the threaded column 304 drives the telescopic column 303 to move upward under the action of the cylindrical threaded groove 306, so as to realize the automatic height adjustment of the automatic obstacle avoidance laser radar body 200 at the top end of the telescopic column 303, which is convenient for identifying the path in front of the obstacle.
[0046] Referring to Figure 3 And Figure 4 In one preferred embodiment, the inside of the telescopic column 303 is provided with an extension assembly 400, which is used to drive the automatic obstacle avoidance laser radar body 200 to extend to a higher place when adjusting the height of the automatic obstacle avoidance laser radar body 200. The extension assembly 400 includes a mounting ring 401 fixed on the surfaces of the two limiting blocks 309, and a fixing ring 402 fixed on the top end outer surface of the fixed cylinder 302.
[0047] Specifically, by setting the mounting ring 401, the mounting ring 401 can be automatically lifted by the movement of the telescopic column 303.
[0048] Referring to Figure 3 And Figure 4In a preferred implementation, the upper surface of the mounting ring 401 is fixedly provided with an annular folding telescopic air bag 403, and the top end of the annular folding telescopic air bag 403 is fixedly connected with the lower surface of the fixed ring 402.
[0049] Specifically, by arranging the fixed ring 402, automatic extrusion of the annular folding telescopic air bag 403 can be realized during automatic lifting of the mounting ring 401.
[0050] Referring to Figure 3 and Figure 4 In a preferred implementation, the extension assembly 400 further comprises an annular cavity 404 arranged in the telescopic column 303, and a sealing piston ring 405 slidingly arranged on the inner wall of the annular cavity 404. The bottom end of the annular folding telescopic air bag 403 is provided with an inflation pipe 406 extending through the mounting ring 401 and the limiting block 309 and extending to the bottom of the annular cavity 404.
[0051] Specifically, by arranging the sealing piston ring 405, the sealing piston ring 405 can be automatically moved upward when the annular folding telescopic air bag 403 is extruded and air flow enters the inside of the annular cavity 404.
[0052] Referring to Figure 3 and Figure 4 In a preferred implementation, the upper surface of the sealing piston ring 405 is fixedly provided with two symmetrical fixed rods 407, and the top end of each of the two fixed rods 407 extends to the upper surface of the telescopic column 303. The inner top wall of the annular cavity 404 is provided with two sliding holes 408 for sliding of the two fixed rods 407.
[0053] Specifically, by arranging the fixed rods 407, the two fixed rods 407 can be automatically lifted and lowered by movement of the sealing piston ring 405.
[0054] Referring to Figure 3 and Figure 4 Figure 3 Figure 4 In a preferred implementation, the top end of each of the two fixed rods 407 is fixedly provided with a fixed seat 409, and the automatic obstacle avoidance laser radar body 200 is fixedly arranged on the upper surface of the fixed seat 409 by screws.
[0055] Specifically, by arranging the fixed seat 409, the automatic obstacle avoidance laser radar body 200 can be conveniently installed and fixed.
[0056] The utility model discloses a kind of automatic obstacle avoidance laser radar bracket, including driving motor 305, automatic obstacle avoidance laser radar body 200, telescopic column 303, fixed rod 407, ring cavity 404, ring folding telescopic air bag 403, sealing piston ring 405, installation ring 401 and extension assembly 400, driving motor 305 is arranged on the top of telescopic column 303, automatic obstacle avoidance laser radar body 200 is arranged on the top of telescopic column 303, telescopic column 303 is arranged in the telescopic column 303 of driving motor 305, fixed rod 407 is arranged on the top of telescopic column 303, ring cavity 404 is arranged on the top of fixed rod 407, ring folding telescopic air bag 403 is arranged in the ring cavity 404 of fixed rod 407, sealing piston ring 405 is arranged in the ring cavity 404 of fixed rod 407, installation ring 401 is arranged in the ring cavity 404 of fixed rod 407, extension assembly 400 is arranged in the ring cavity 404 of fixed rod 407.
[0057] Working principle: unmanned balance heavy fork truck in the process of running, can according to actual situation, through the rotation of driving motor 305 drive driving bevel gear 307 rotation, the rotation of driving bevel gear 307 drive driven bevel gear 308 and threaded column 304 rotation, the rotation of threaded column 304 drives telescopic column 303 to move upwards under the action of cylindrical thread groove 306, realize the height adjustment of automatic obstacle avoidance laser radar body 200 at the top of telescopic column 303, it is convenient to cross over barrier to identify the path in front, and the bracket in the process of being driven by the rotation of driving motor 305 automatic obstacle avoidance laser radar body 200 automatic lifting, the lifting of telescopic column 303 can drive installation ring 401 to move upwards, the upward movement of installation ring 401 realizes the extrusion of ring folding telescopic air bag 403, makes ring folding telescopic air bag 403 fold, so that the air in ring folding telescopic air bag 403 enters ring cavity 404 through inflator tube 406, when gas enters the inner bottom of ring cavity 404, sealing piston ring 405 can be driven to move upwards, so as to drive automatic obstacle avoidance laser radar body 200 to extend upwards through fixed rod 407, so as to make automatic obstacle avoidance laser radar body 200 reach higher place, further improve the practicability of the bracket.
[0058] The above is only the preferred specific embodiment of the utility model, but the protection scope of the utility model is not limited to this. The replacement can be the replacement of part structure, device, method step, or complete technical scheme. According to the technical scheme of the utility model and the utility model concept, equivalent replacement or change are covered in the protection scope of the utility model.
Claims
1. An automatic obstacle avoidance laser radar array bracket of an unmanned counterbalance forklift, characterized in that, The utility model relates to an automatic obstacle avoidance laser radar height adjusting device, including: The base (100) is installed on the top shell surface of the self-balancing forklift by bolt, and the automatic obstacle avoidance laser radar body (200) is arranged on the upper surface of the base (100); The adjusting support assembly (300) is used for adjusting the height of the automatic obstacle avoidance laser radar body (200), and the adjusting support assembly (300) includes the mounting cylinder (301) fixed on the upper surface of the base (100) and the fixed cylinder (302) fixed on the upper surface of the mounting cylinder (301), the inner wall of the fixed cylinder (302) is slidably provided with the telescopic column (303), the automatic obstacle avoidance laser radar body (200) is arranged at the top end of the telescopic column (303), the adjusting support assembly (300) further includes the screw column (304) rotatably arranged in the bottom wall of the mounting cylinder (301) and extending to the inside of the fixed cylinder (302), and the drive motor (305) for driving the screw column (304) to rotate is fixed on the upper surface of the base (100), and the bottom end of the telescopic column (303) is provided with the cylindrical thread groove (306) threadedly connected with the outer surface of the screw column (304).
2. The automatic obstacle avoidance laser radar array support of the unmanned counterbalance forklift according to claim 1, characterized in that, The output end of the drive motor (305) extends to the inside of the mounting cylinder (301) and is fixed with the driving bevel gear (307), and the bottom end of the screw column (304) is fixed with the driven bevel gear (308) meshing with the driving bevel gear (307).
3. The automatic obstacle avoidance laser radar array support of the unmanned counterbalance forklift according to claim 1, characterized in that, The bottom end of the telescopic column (303) is fixed with two symmetrical limit blocks (309), and the inner wall of the fixed cylinder (302) is provided with two strip-shaped limit openings (3010) respectively slidably connected with the surfaces of the two limit blocks (309).
4. The automatic obstacle avoidance laser radar array support of the unmanned counterbalance forklift according to claim 3, characterized in that, The inside of the telescopic column (303) is provided with the extension assembly (400) for driving the automatic obstacle avoidance laser radar body (200) to extend to a higher place when the height of the automatic obstacle avoidance laser radar body (200) is adjusted, and the extension assembly (400) includes the mounting ring (401) fixed on the surfaces of the two limit blocks (309) and the fixed ring (402) fixed on the outer surface of the top end of the fixed cylinder (302).
5. The automatic obstacle avoidance laser radar array support of the unmanned counterbalance forklift according to claim 4, characterized in that, The upper surface of the mounting ring (401) is fixed with the annular folding telescopic air bag (403), and the top end of the annular folding telescopic air bag (403) is fixedly connected with the lower surface of the fixed ring (402).
6. The automatic obstacle avoidance laser radar array support of the unmanned counterbalance forklift according to claim 5, characterized in that, The extension assembly (400) further includes the annular cavity (404) provided in the inside of the telescopic column (303) and the sealing piston ring (405) slidably arranged on the inner wall of the annular cavity (404), and the bottom end of the annular folding telescopic air bag (403) is provided with the inflation pipe (406) penetrating through the mounting ring (401) and the limit block (309) and extending to the inner bottom of the annular cavity (404).
7. The automatic obstacle avoidance laser radar array support of a driverless counterbalanced forklift truck of claim 6, wherein, The upper surface of the sealing piston ring (405) is fixed with two symmetrical fixed rods (407), the top ends of the two fixed rods (407) extend to the upper surface of the telescopic column (303), and the inner top wall of the annular cavity (404) is provided with two sliding holes (408) for the two fixed rods (407) to slide.
8. The automatic obstacle avoidance laser radar array support of a driverless counterbalance forklift according to claim 7, characterized in that, The top ends of the two fixed rods (407) are fixed with a fixed seat (409), and the automatic obstacle avoidance laser radar body (200) is fixed on the upper surface of the fixed seat (409) by screws.