Self-adaptive intelligent electric forklift for marble slab

Abstract

The utility model discloses a marble slab self-adaptive intelligent electric forklift which comprises a frame, a forking mechanism is arranged on the top of the frame, a PLC is fixedly connected to the bottom of the frame, walking wheels are arranged on the front side and the rear side of the two sides of the frame, and a laser radar is arranged on the top of the frame. The forking mechanism comprises a fork arm, two supports, two electric telescopic rods and two weight sensors, the tops of the supports are fixedly connected with the bottom of the fork arm, and the tops of the telescopic ends of the electric telescopic rods are fixedly connected with the bottoms of the supports. The problems that in the prior art, the driving speed, the lifting height and the steering angle are difficult to accurately control, and in a narrow space or a complex working condition, a marble slab is prone to colliding with foreign matter, so that the marble slab is broken, and economic losses are caused are solved.

Description

Technical Field

[0001] This utility model relates to the field of marble slab handling, and in particular to an adaptive intelligent electric forklift for marble slabs. Background Technology

[0002] In the modern building decoration, stone processing and logistics industry, marble slabs are widely used as a high-end building material due to their beauty and durability. Because of their heavy weight, forklifts are needed for handling.

[0003] Currently, Chinese patent CN213035874U discloses a convenient marble transfer vehicle. This utility model uses a partition bar to rotate marble along a rotating column during the transfer of marble, causing it to rotate out of the support device and lay flat between vertically stacked marbles. This creates a space between the vertically stacked marbles, allowing forklift forks and other tools to quickly reach the bottom of the marbles, thus realizing the loading and unloading of marbles and improving the convenience of marble loading and unloading.

[0004] Some existing forklifts used for handling marble slabs rely on manual operation based on experience, making it difficult to precisely control travel speed, lifting height, and steering angle. In confined spaces or complex working conditions, this can easily lead to marble slabs colliding with foreign objects, causing them to break and resulting in economic losses. Summary of the Invention

[0005] The main purpose of this utility model is to provide an adaptive intelligent electric forklift for marble slabs, which aims to solve the problem that some existing forklifts for handling marble slabs rely on manual operation based on experience, making it difficult to accurately control the driving speed, lifting height and steering angle. In confined spaces or complex working conditions, this can easily lead to the marble slabs colliding with foreign objects, causing the marble slabs to break and resulting in economic losses.

[0006] To achieve the above objectives, the adaptive intelligent electric forklift for marble slabs proposed in this utility model includes a frame, a forking mechanism is provided on the top of the frame, a PLC controller is fixedly connected to the bottom of the frame, driving wheels are provided on the front and rear sides of both sides of the frame, and a lidar is provided on the top of the frame.

[0007] The forklift mechanism includes a fork arm, two brackets, two electric telescopic rods, and two weight sensors. The top of the bracket is fixedly connected to the bottom of the fork arm, the top of the telescopic end of the electric telescopic rod is fixedly connected to the bottom of the bracket, the bottom of the electric telescopic rod is fixedly connected to the top of the weight sensor, and the bottom of the weight sensor is fixedly connected to the surface of the frame.

[0008] Preferably, the inner wall of the bracket is fixedly connected with a reinforcing brace, and the number of the reinforcing braces is two and they are symmetrically distributed on the inner wall of the bracket.

[0009] Preferably, an anti-slip strip is fixedly connected to the top of the fork arm, and the number of anti-slip strips is several and evenly distributed on the top of the fork arm.

[0010] Preferably, a synchronizer is provided between the two electric telescopic rods on opposite sides for use with the electric telescopic rods, and the bottom of the synchronizer is fixedly connected to the surface of the vehicle frame.

[0011] Preferably, a support rod is fixedly connected to the rear side of the vehicle frame, and the bottom of the lidar is fixedly connected to the top of the support rod.

[0012] Preferably, each of the four corners of the bottom of the vehicle frame is fixedly connected to a fixing frame, and a variable frequency motor is provided at the bottom of the fixing frame. The output end of the variable frequency motor is fixedly connected to the walking wheel.

[0013] Preferably, the inner wall of the fixing frame is fixedly connected with an open sleeve, the variable frequency motor is disposed inside the open sleeve, screws are provided on the front and rear sides of the top of the open sleeve, nuts are provided on the front and rear sides of the bottom of the open sleeve, and the nuts are threaded onto the surface of the screws.

[0014] Preferably, battery packs are fixedly connected to both sides of the bottom of the vehicle frame.

[0015] In this invention, a laser radar is connected to a PLC controller via an external connection cable to scan the surrounding environment in real time, construct a 3D map, and detect obstacle positions and distances. When the forklift receives a handling instruction, the PLC controller automatically plans the optimal travel path based on the data collected by the laser radar and the preset handling target position. When the forklift reaches the bottom of the marble slab, which has been pre-supported for a certain distance, the PLC controller sends an instruction to the electric telescopic rods, controlling their extension ends to extend via the external connection cable. The two electric telescopic rods rise synchronously under the action of a synchronizer, which is connected to the electric telescopic rods via an external connection cable to ensure that the forks smoothly lift the marble slab. During the lifting process, a weight sensor detects the weight of the marble slab in real time and feeds the data back to the PLC controller. Based on the weight information and the size of the marble slab scanned by the laser radar, the PLC controller can adaptively plan the wheel speed and a safe travel path. Variable frequency motors at the four corners of the chassis drive the wheels to rotate. These motors are connected to the PLC controller via connection cables. When turning is required, the PLC controller... Based on the path planning results, different speed commands are sent to the variable frequency motors at different positions. Steering is achieved by adjusting the speed difference of the four traveling wheels. During the journey, the lidar continuously monitors the environment to ensure safe obstacle avoidance. This solves the problem that some existing forklifts for handling marble slabs rely on manual experience for operation, making it difficult to accurately control the travel speed, lifting height, and steering angle. In confined spaces or complex working conditions, this can easily lead to the marble slabs colliding with foreign objects, causing them to break and resulting in economic losses. The battery packs on both sides of the bottom of the frame supply power to the PLC controller, lidar, electric telescopic rod, variable frequency motor, and synchronizer via external connection cables. The battery packs provide a stable power output to ensure continuous operation of the forklift during handling. The anti-slip strips on the top of the forks increase the friction between the forklift and the marble slab, preventing the marble slab from sliding during handling. The reinforcing braces on the inner wall of the frame enhance the structural strength of the frame, ensuring stability during lifting and handling. The variable frequency motor is installed in the opening sleeve, and the motor can be locked inside the opening sleeve by tightening screws and nuts, facilitating the installation, disassembly, and maintenance of the variable frequency motor. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the structure of an embodiment of the present utility model;

[0018] Figure 2 This is a three-dimensional structural diagram of the bottom of the vehicle frame in an embodiment of this utility model;

[0019] Figure 3 This is a three-dimensional connection diagram of the forklift mechanism in an embodiment of this utility model;

[0020] Figure 4 This is a three-dimensional exploded view of the variable frequency motor and the open sleeve in an embodiment of this utility model;

[0021] Figure 5 This is a three-dimensional connection diagram of the frame and synchronizer in an embodiment of this utility model;

[0022] Figure 6 This is a three-dimensional connection diagram of the fork arm and the anti-slip strip in an embodiment of this utility model.

[0023] The following are the symbol labels: 1. Frame; 2. Reinforcing brace; 3. Forklift mechanism; 301. Fork arm; 302. Bracket; 303. Electric telescopic rod; 304. Weight sensor; 4. Support rod; 5. LiDAR; 6. Battery pack; 7. Wheels; 8. PLC controller; 9. Variable frequency motor; 10. Opening sleeve; 11. Fixing bracket; 12. Screw; 13. Nut; 14. Synchronizer; 15. Anti-slip strip.

[0024] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0025] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0026] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in this utility model embodiment are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0027] Furthermore, in this utility model, the use of terms such as "first," "second," etc., is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0028] Furthermore, the technical solutions of the various embodiments of this utility model can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0029] This utility model provides an adaptive intelligent electric forklift for marble slabs, which aims to solve the problem that some existing forklifts for handling marble slabs rely on manual operation based on experience, making it difficult to accurately control the driving speed, lifting height and steering angle. In confined spaces or complex working conditions, this can easily lead to the marble slabs colliding with foreign objects, causing the marble slabs to break and resulting in economic losses.

[0030] like Figure 1-6 As shown, the adaptive intelligent electric forklift for marble slabs provided in this embodiment of the present invention includes a frame 1, a forklift mechanism 3 is provided on the top of the frame 1, a PLC controller 8 is fixedly connected to the bottom of the frame 1, a traveling wheel 7 is provided on the front and rear sides of both sides of the frame 1, and a laser radar 5 is provided on the top of the frame 1.

[0031] The lifting mechanism 3 includes a fork arm 301, two brackets 302, two electric telescopic rods 303, and two weight sensors 304. The top of the bracket 302 is fixedly connected to the bottom of the fork arm 301, the top of the telescopic end of the electric telescopic rod 303 is fixedly connected to the bottom of the bracket 302, the bottom of the electric telescopic rod 303 is fixedly connected to the top of the weight sensor 304, and the bottom of the weight sensor 304 is fixedly connected to the surface of the frame 1.

[0032] In the technical solution of this utility model, the lidar 5 is connected to the PLC controller 8 via an external connection cable to scan the surrounding environment in real time, construct a three-dimensional map, and detect information such as the position and distance of obstacles. When the forklift receives a handling instruction, the PLC controller 8 automatically plans the optimal driving path based on the data collected by the lidar 5 and the preset handling target position. When the forklift travels to the bottom of the marble slab that has been pre-supported for a certain distance, the PLC controller 8 sends an instruction to the electric telescopic rod 303 to extend its telescopic end via the external connection cable. The telescopic ends of the two electric telescopic rods 303 are synchronized by the synchronizer 14. Using a synchronized lifting mechanism, synchronizer 14 is connected to the electric telescopic rod 303 via an external connection cable to ensure that the fork arm 301 smoothly lifts the marble slab. During the lifting process, weight sensor 304 detects the weight of the marble slab in real time and feeds the data back to PLC controller 8. Based on the weight information and the size of the marble slab scanned by lidar 5, PLC controller 8 can adaptively plan the rotation speed of the traveling wheels 7 and the safe walking path. The variable frequency motors 9 at the four corners of the bottom of the frame 1 drive the traveling wheels 7 to rotate. The variable frequency motors 9 are connected to PLC controller 8 via connection cables. When turning is required, PLC controller 8 adjusts the rotation speed according to the specified parameters. Based on the path planning results, different speed commands are sent to the variable frequency motors 9 at different positions. Steering is achieved by adjusting the speed difference of the four traveling wheels 7. During the journey, the lidar 5 continuously monitors the environment to ensure safe obstacle avoidance. This solves the problem that some existing forklifts for handling marble slabs rely on manual experience for operation, making it difficult to accurately control the travel speed, lifting height, and steering angle. In confined spaces or complex working conditions, this can easily lead to the marble slabs colliding with foreign objects, causing them to break and resulting in economic losses. The battery packs 6 on both sides of the bottom of the frame 1 are connected to the PLC controller 8 and the lidar 5 via external cables. Radar 5, electric telescopic rod 303, variable frequency motor 9 and synchronizer 14 are powered, and battery pack 6 provides stable power output to ensure continuous operation of the forklift during handling. The anti-slip strip 15 on the top of the fork arm 301 increases the friction between the fork and the marble slab to prevent the marble slab from sliding during handling. The reinforcing brace 2 on the inner wall of the bracket 302 enhances the structural strength of the bracket 302 and ensures the stability of the lifting and handling process. The variable frequency motor 9 is installed in the opening sleeve 10. By tightening the screws 12 and nuts 13, the variable frequency motor 9 can be limited inside the opening sleeve 10, which facilitates the installation, disassembly and maintenance of the variable frequency motor 9.

[0033] Please refer to the following: Figure 3 The inner wall of the support 302 is fixedly connected with two reinforcing supports 2, which are symmetrically distributed on the inner wall of the support 302. In this embodiment, the reinforcing supports 2 can improve the strength of the support 302, making the lifting process of the fork arm 301 on the marble slab and the subsequent handling process more stable.

[0034] For further information, please continue to refer to [link / reference]. Figure 6 The top of the fork arm 301 is fixedly connected with anti-slip strips 15, and there are several anti-slip strips 15 evenly distributed on the top of the fork arm 301. In this embodiment, the anti-slip strips 15 on the top of the fork arm 301 increase the friction between the marble slab and the marble slab, preventing the marble slab from sliding during transportation.

[0035] Please continue to refer to this. Figure 5 A synchronizer 14 is provided between the two electric telescopic rods 303 on opposite sides, and the bottom of the synchronizer 14 is fixedly connected to the surface of the frame 1. In this embodiment, the two electric telescopic rods 303 can extend and retract simultaneously by controlling the synchronizer 14.

[0036] Please refer to Figure 2 A support rod 4 is fixedly connected to the rear side of the frame 1, and the bottom of the lidar 5 is fixedly connected to the top of the support rod 4. In this embodiment, the lidar 5 is stably supported at a high position on the rear side of the frame 1 by the support rod 4, which facilitates the movement of the entire forklift and the judgment of marble slabs.

[0037] Additionally, please refer to Figure 2 and Figure 4 Each of the four corners of the bottom of the frame 1 is fixedly connected to a mounting bracket 11. A variable frequency motor 9 is installed at the bottom of the mounting bracket 11, and the output end of the variable frequency motor 9 is fixedly connected to the traveling wheel 7. In this embodiment, the variable frequency motor 9 can drive the traveling wheel 7 to rotate by rotating the variable frequency motor 9.

[0038] Please refer to Figure 4 An open sleeve 10 is fixedly connected to the inner wall of the fixing frame 11. The variable frequency motor 9 is disposed inside the open sleeve 10. Screws 12 are provided on the front and rear sides of the top of the open sleeve 10, and nuts 13 are provided on the front and rear sides of the bottom of the open sleeve 10. The nuts 13 are threaded onto the surface of the screws 12. In this embodiment, by locking the variable frequency motor 9 with the screws 12 and nuts 13, the surface of the variable frequency motor 9 is made in close contact with the inner wall of the open sleeve 10. The variable frequency motor 9 is limited inside the open sleeve 10 by friction, which facilitates the provision of stable power to the traveling wheel 7.

[0039] Additionally, please refer to Figure 2 Battery packs 6 are fixedly connected to both sides of the bottom of the frame 1. In this embodiment, the battery packs 6 on both sides of the bottom of the frame 1 supply power to the PLC controller 8, the lidar 5, the electric telescopic rod 303, the frequency converter motor 9 and the synchronizer 14 through external connection cables. The battery packs 6 provide a stable power output to ensure the continuous operation of the forklift during the handling process.

[0040] The above description is only a preferred embodiment of the present utility model and does not limit the patent scope of the present utility model. All equivalent structural transformations made under the concept of the present utility model and using the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included in the patent protection scope of the present utility model.

Claims

1. An adaptive intelligent electric forklift for marble slabs, characterized in that, The adaptive intelligent electric forklift for marble slabs includes a frame (1), a forklift mechanism (3) is provided on the top of the frame (1), a PLC controller (8) is fixedly connected to the bottom of the frame (1), and a traveling wheel (7) is provided on the front and rear sides of both sides of the frame (1). A laser radar (5) is provided on the top of the frame (1). The forklift mechanism (3) includes a fork arm (301), two brackets (302), two electric telescopic rods (303), and two weight sensors (304). The top of the bracket (302) is fixedly connected to the bottom of the fork arm (301), the top of the telescopic end of the electric telescopic rod (303) is fixedly connected to the bottom of the bracket (302), the bottom of the electric telescopic rod (303) is fixedly connected to the top of the weight sensor (304), and the bottom of the weight sensor (304) is fixedly connected to the surface of the frame (1).

2. The adaptive intelligent electric forklift for marble slabs according to claim 1, characterized in that, The inner wall of the bracket (302) is fixedly connected with a reinforcing brace (2), and the number of the reinforcing braces (2) is two and they are symmetrically distributed on the inner wall of the bracket (302).

3. The adaptive intelligent electric forklift for marble slabs according to claim 1, characterized in that, The top of the fork arm (301) is fixedly connected with anti-slip strips (15), and the number of anti-slip strips (15) is several and evenly distributed on the top of the fork arm (301).

4. The adaptive intelligent electric forklift for marble slabs according to claim 1, characterized in that, A synchronizer (14) is provided between the two electric telescopic rods (303) on opposite sides, and the bottom of the synchronizer (14) is fixedly connected to the surface of the frame (1).

5. The adaptive intelligent electric forklift for marble slabs according to claim 1, characterized in that, A support rod (4) is fixedly connected to the rear side of the frame (1), and the bottom of the laser radar (5) is fixedly connected to the top of the support rod (4).

6. The adaptive intelligent electric forklift for marble slabs according to claim 1, characterized in that, The four corners of the bottom of the frame (1) are fixedly connected to the fixing frame (11), and the bottom of the fixing frame (11) is provided with a variable frequency motor (9). The output end of the variable frequency motor (9) is fixedly connected to the walking wheel (7).

7. The adaptive intelligent electric forklift for marble slabs according to claim 6, characterized in that, An open sleeve (10) is fixedly connected to the inner wall of the fixed frame (11). The variable frequency motor (9) is located inside the open sleeve (10). Screws (12) are provided on the front and rear sides of the top of the open sleeve (10). Nuts (13) are provided on the front and rear sides of the bottom of the open sleeve (10). The nuts (13) are threaded onto the surface of the screws (12).

8. The adaptive intelligent electric forklift for marble slabs according to claim 1, characterized in that, Battery packs (6) are fixedly connected to both sides of the bottom of the frame (1).

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