Stacking fork-lift device based on visual guidance

Abstract

The utility model discloses a kind of based on vision guidance's stacking fork truck device, the device aims at solving the problem of long steering time of traditional stacking fork truck, the problem of big requirement to steering space, its main body includes portal, lifting platform, fork and the like component, lifting platform is slidably connected with portal by chute and guide rail, fork is slidably connected with lifting platform by slot, and utilize rack and lifting platform meshing, can accurately control telescopic, device top is equipped with image acquisition device, can obtain environmental image, realizes vision guidance after being analyzed and handled by control cavity, not only can guide fork truck in complex warehouse environment autonomous navigation to goods location to fork, carry and place, can also make goods directly from front side to rear side by portal in specific scene, avoid overall steering, effectively save steering time, reduce the demand to steering space, improve goods carrying efficiency and warehouse space utilization.

Description

Technical Field

[0001] This utility model belongs to the technical field of stacking forklifts, specifically relating to a vision-guided stacking forklift device. Background Technology

[0002] A stacker forklift is an industrial vehicle specifically designed for stacking, handling, and short-distance transport of goods. It primarily uses a mast structure and forks to lift and stack palletized goods. Widely used in warehouses, workshops, and logistics centers, it effectively improves the utilization rate of storage space and the efficiency of loading and unloading. Its design typically emphasizes flexibility and stacking capacity, and it can be divided into different types, such as low-level stacker forklifts and high-level stacker forklifts, to adapt to stacking operation scenarios at different heights.

[0003] Application publication number CN 120215492 A discloses a forklift navigation system that converts the external command set of an automated guided forklift into the vehicle body. The on-board control panel converts the external command set of the automated guided forklift into the vehicle body through learning function keys, and starts autonomous navigation based on the learning mechanism. The vehicle control unit is used to memorize the external command set learned by the automated guided forklift and control the forklift to achieve autonomous navigation based on the learning mechanism. However, the turning time of the stacking forklift is relatively long, which greatly reduces the work efficiency in industrial logistics stations that require frequent turning operations. Each turn of the stacking forklift requires a certain amount of time to adjust the direction, which prolongs the time of the entire cargo handling process. At the same time, when facing a large number of goods being handled frequently, the traditional stacking forklifts will affect each other when turning, greatly increasing the unloading time, and may even cause safety accidents such as collisions with shelves. Utility Model Content

[0004] The purpose of this invention is to provide a vision-guided stacking forklift device to solve the problem mentioned in the background art, which is that the long turning time of stacking forklifts greatly reduces work efficiency in industrial logistics stations that require frequent turning operations. Each turn of the stacking forklift requires a certain amount of time to adjust the direction, which prolongs the time of the entire cargo handling process. At the same time, when facing a large number of goods being handled frequently, traditional stacking forklifts will affect each other when turning, greatly increasing the unloading time and even causing safety accidents such as collisions with shelves.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a vision-guided stacking forklift device, comprising a stacking forklift body;

[0006] The stacker forklift body is provided with a support leg at the bottom position, and a roller is arranged in an array inside the support leg. The stacker forklift body is provided with a control cavity on the left side, and a control button is provided inside the control cavity. A start button is provided to the right of the control button.

[0007] A mast is provided in the middle of the main body of the stacker forklift, a lifting platform is provided inside the mast, forks are provided inside the lifting platform, and a counterweight block corresponding to the control cavity is provided on the right side of the main body of the stacker forklift.

[0008] Preferably, the lifting platform is provided with sliding grooves on the left and right sides, and the gantry is provided with guide rails on the inner side, and the lifting platform and the gantry are slidably connected through the sliding grooves and guide rails.

[0009] Preferably, a groove is provided inside the lifting platform, the forks are slidably connected to the lifting platform through the groove, and a pad is provided at the top of the forks.

[0010] Preferably, a limiting groove is provided at the inner side of the groove, and limiting strips corresponding to the limiting groove are provided at the left and right sides of the fork.

[0011] Preferably, a rack is provided below the limiting strip, and the forks are engaged with the lifting platform through the rack.

[0012] Preferably, a translation motor is provided at the bottom of the lifting platform, and a gear cavity is provided in the middle of the interior of the lifting platform.

[0013] Preferably, a transmission gear is provided on the left side of the gear cavity, and a meshing gear is provided on the right side of the transmission gear. The transmission gear is connected to the translation motor, and the transmission gear and the meshing gear are respectively meshed with the left and right forks.

[0014] Preferably, an image acquisition device is provided at the middle position of the top of the gantry. The image acquisition device is electrically connected to the control cavity. A camera is provided at the middle position inside the image acquisition device, and a light strip is provided at the outer position of the camera.

[0015] Preferably, the control buttons include a "Start Learning" button, a "Location Point" button, a "Stop" button, a "Unload" button, and a "End Learning" button. The vehicle control panel learns the control buttons to convert the external instruction set of the automatic navigation forklift into the vehicle body and starts autonomous navigation based on the learning mechanism.

[0016] Compared with the prior art, this utility model provides a vision-guided stacking forklift device, which has the following advantages:

[0017] 1. Through the design of the gantry, lifting platform, counterweight, slide rail, guide rail, recessed groove, pad, limit groove, limit strip, and rack, the gantry provides a stable support frame for the lifting platform. The lifting platform is slidably connected to the gantry via the slide rail and guide rail, ensuring the stability of the lifting platform during vertical movement. This facilitates accurate adjustment of the fork height to pick up goods at different positions. The forks are slidably connected to the lifting platform via the recessed groove and a pad is placed on top. The pad increases the contact area between the forks and the goods, better supporting and stabilizing the goods and preventing them from slipping during picking and handling. Limit grooves are set inside the recessed groove, and corresponding limit strips are set on the left and right sides of the forks. The rack effectively prevents the forks from disengaging from the slots during sliding, ensuring the reliability of the connection between the forks and the lifting platform, extending the service life of the equipment, and reducing the probability of failure. The forks are connected to the lifting platform through the rack. Compared with the traditional connection method, this meshing transmission can achieve more precise control, accurately controlling the extension and retraction of the forks to meet different cargo handling needs and improve the accuracy of picking up goods. A counterweight block corresponding to the control cavity is set on the right side of the stacker forklift body, which can balance the center of gravity shift generated by the stacker forklift during picking up and handling goods, ensuring the overall stability of the stacker forklift during operation and avoiding safety accidents such as tipping over due to unstable center of gravity.

[0018] 2. Through the design of the translation motor, gear chamber, transmission gear, and meshing gear, the translation motor provides stable power output. The transmission gear and meshing gear engage with the forks, enabling precise control of the fork's movement position and speed. Compared to traditional manual or simple mechanical control methods, this combination of electric drive and gear transmission allows for more precise operation, ensuring the forks accurately reach the required position to pick up or place goods, thus improving the accuracy of goods handling. The transmission gear and meshing gear engage with the left and right forks respectively, ensuring synchronous movement of the left and right forks. This allows the forks to maintain balance during the picking and handling of goods, avoiding... To prevent goods from tilting or slipping due to asynchronous forks on both sides, this design improves the stability and safety of goods handling. The translation motor is located at the bottom of the lifting platform, and the gear chamber is positioned in the middle of the platform's interior. This layout makes the forklift's structure more compact, making efficient use of limited space. It avoids the forklift becoming too large or bulky due to additional drive structures, allowing for flexible operation in the relatively narrow spaces of industrial logistics stations. The translation motor, transmission gears, or meshing gears are easily inspected, repaired, and replaced by maintenance personnel, reducing maintenance costs and downtime, and improving equipment lifespan and operating efficiency. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of this utility model.

[0020] Figure 2 This is a schematic diagram of the gantry structure of this utility model.

[0021] Figure 3 This is a schematic diagram of the lifting platform in this utility model.

[0022] Figure 4 This is a schematic diagram of the rack structure in this utility model.

[0023] Figure 5 This is a schematic diagram of the gear cavity in this utility model.

[0024] In the diagram: 1. Stacker forklift body; 2. Mast; 3. Image acquisition device; 4. Control cavity; 5. Support leg; 6. Lifting platform; 7. Control button; 8. Start button; 9. Counterweight; 10. Guide rail; 11. Camera; 12. Light strip; 13. Roller; 14. Slide; 15. Forks; 16. Pad; 17. Slot; 18. Limit bar; 19. Rack; 20. Limit groove; 21. Translation motor; 22. Gear cavity; 23. Transmission gear; 24. Meshing gear. 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] This utility model provides, for example Figure 1-5 The illustrated visual-guided stacking forklift device includes a stacking forklift body 1;

[0027] A support leg 5 is provided at the bottom of the main body 1 of the stacker forklift. Rollers 13 are arranged in an array inside the support leg 5. A control cavity 4 is provided on the left side of the main body 1 of the stacker forklift. A control button 7 is provided inside the control cavity 4. A start button 8 is provided on the right side of the control button 7.

[0028] A mast 2 is located in the middle of the main body 1 of the stacker forklift. A lifting platform 6 is located inside the mast 2. Forks 15 are located inside the lifting platform 6. A counterweight 9 corresponding to the control cavity 4 is located on the right side of the main body 1 of the stacker forklift.

[0029] The lifting platform 6 is provided with slide grooves 14 on the left and right sides respectively, and the gantry 2 is provided with guide rails 10 on the inner side. The lifting platform 6 and the gantry 2 are slidably connected through the slide grooves 14 and guide rails 10.

[0030] A groove 17 is provided inside the lifting platform 6, and the forks 15 are slidably connected to the lifting platform 6 through the groove 17. A pad 16 is provided at the top of the forks 15.

[0031] A limiting groove 20 is provided on the inner side of the groove 17, and limiting strips 18 corresponding to the limiting groove 20 are provided on the left and right sides of the fork 15.

[0032] A rack 19 is provided below the limit bar 18, and the forks 15 are connected to the lifting platform 6 through the rack 19.

[0033] A translation motor 21 is installed at the bottom of the lifting platform 6, and a gear cavity 22 is installed in the middle of the interior of the lifting platform 6.

[0034] A transmission gear 23 is provided on the left side of the gear cavity 22, and a meshing gear 24 is provided on the right side of the transmission gear 23. The transmission gear 23 is connected to the translation motor 21, and the transmission gear 23 and the meshing gear 24 are respectively meshed with the left and right forks 15.

[0035] An image acquisition device 3 is installed at the top center of the gantry 2. The image acquisition device 3 is electrically connected to the control cavity 4. A camera 11 is installed at the center of the inside of the image acquisition device 3. A light strip 12 is installed on the outside of the camera 11.

[0036] Control button 7 includes the "Start Learning" button, "Location Point" button, "Stop" button, "Unload" button, and "End Learning" button. The vehicle control panel converts the external command set of the automatic navigation forklift into the vehicle body through the learning control button 7, and starts autonomous navigation based on the learning mechanism.

[0037] In this embodiment, a specific implementation step of a vision-guided stacking forklift device is as follows: The "Start Learning" button and other related buttons on the vehicle control panel's learning control button 7 input task commands into the system. The system converts the external command set of the automatic navigation forklift into the vehicle body and initiates autonomous navigation based on the learning mechanism. The image acquisition device 3 at the top center of the mast 2 begins operation. The camera 11 uses the illumination provided by the light strip 12 to acquire image information of the surrounding environment and transmits it to the control system in the control cavity 4. The control system analyzes and processes this image information, combining it with a pre-set map and task information to guide the stacking forklift device to the goods storage location. During the journey, the driving path can be adjusted in real time through vision guidance to avoid obstacles. When stacking... After the forklift arrives at the storage location, the operator controls the lifting platform 6 to descend via control button 7, aligning the forks 15 with the goods. Since the lifting platform 6 and the mast 2 are slidably connected via the slide groove 14 and guide rail 10, they can descend smoothly. The forks 15 are slidably connected to the lifting platform 6 via the slot 17 and are engaged with the lifting platform 6 via the rack 19, allowing the goods to be transported directly from the front to the rear via the mast 2. The pad 16 on the top of the forks 15 increases the contact area with the goods, ensuring stable placement. The operator controls the lifting platform 6 to rise to the appropriate height via control button 7, and then uses the vision guidance system again to guide the stacker forklift to the target placement location. After reaching the target location, the operator controls the lifting platform 6 to descend, accurately placing the goods at the designated location, and then retracts the forks 15.

[0038] like Figure 1-4 As shown, a mast 2 is located in the middle of the main body 1 of the stacker forklift. A lifting platform 6 is located inside the mast 2. Forks 15 are located inside the lifting platform 6. A counterweight 9 corresponding to the control cavity 4 is located on the right side of the main body 1 of the stacker forklift. Slide grooves 14 are located on the left and right sides of the lifting platform 6. A guide rail 10 is located inside the mast 2. The lifting platform 6 and the mast 2 are slidably connected through the slide grooves 14 and the guide rails 10. A groove 17 is located inside the lifting platform 6. Forks 15 are slidably connected to the lifting platform 6 through the groove 17. A pad 16 is located at the top of the forks 15. A limit groove 20 is located inside the groove 17. Limiting strips 18 corresponding to the limiting grooves 20 are located on the left and right sides of the forks 15. A rack 19 is located below the limiting strips 18. Forks 15 are engaged with the lifting platform 6 through the rack 19.

[0039] Preferably, the gantry 2 provides a stable support frame for the lifting platform 6. The lifting platform 6 is slidably connected to the gantry 2 via the slide groove 14 and guide rail 10, ensuring the stability of the lifting platform 6 during vertical movement. This facilitates accurate adjustment of the height of the forks 15 to pick up goods at different positions. The forks 15 are slidably connected to the lifting platform 6 via the groove 17, and a pad 16 is provided on the top. The pad 16 increases the contact area between the forks 15 and the goods, better supporting and stabilizing the goods and preventing them from slipping during picking and handling. A limiting groove 20 is provided inside the groove 17, and corresponding limiting strips 18 are provided on the left and right sides of the forks 15 to effectively prevent the forks 15 from slipping. During operation, the forks 15 disengage from the slot 17, ensuring the reliability of the connection between the forks 15 and the lifting platform 6, extending the service life of the equipment, and reducing the probability of failure. The forks 15 are connected to the lifting platform 6 through the rack 19. Compared with the traditional connection method, this meshing transmission can achieve more precise control, accurately control the extension and retraction of the forks 15, meet different cargo handling needs, and improve the accuracy of picking up goods. The right side of the stacker forklift body 1 is equipped with a counterweight 9 corresponding to the control cavity 4, which can balance the center of gravity shift generated by the stacker forklift during picking up and handling goods, ensure the overall stability of the stacker forklift during operation, and avoid safety accidents such as tipping over due to unstable center of gravity.

[0040] like Figure 1 and Figure 3-5 As shown, a translation motor 21 is provided at the bottom of the lifting platform 6, a gear cavity 22 is provided in the middle of the lifting platform 6, a transmission gear 23 is provided on the left side of the gear cavity 22, and a meshing gear 24 is provided on the right side of the transmission gear 23. The transmission gear 23 is connected to the translation motor 21, and the transmission gear 23 and the meshing gear 24 are respectively meshed with the left and right forks 15.

[0041] Preferably, the translation motor 21 provides stable power output and is connected to the forks 15 via the transmission gear 23 and the meshing gear 24. This allows for precise control of the forks 15's movement position and speed. Compared to traditional manual or simple mechanical control methods, this combination of electric drive and gear transmission enables more precise operation, ensuring that the forks 15 accurately reach the required position to pick up or put down goods, thus improving the accuracy of goods handling. The transmission gear 23 and the meshing gear 24 are respectively connected to the left and right forks 15, ensuring that the left and right forks 15 can move synchronously. This allows the forks to maintain balance during the picking up and handling of goods, preventing the goods from being damaged by the movement of the forks on both sides. To prevent tilting and slippage due to asynchronous forks, this design improves the stability and safety of cargo handling. The translation motor 21 is located at the bottom of the lifting platform 6, and the gear cavity 22 is positioned in the middle of the lifting platform 6. This layout makes the entire forklift structure more compact, making efficient use of limited space. It avoids the forklift becoming too large or bulky due to additional drive structures, allowing for flexible operation in the relatively narrow spaces of industrial logistics stations. The translation motor 21, transmission gear 23, or meshing gear 24 allow maintenance personnel to easily inspect, repair, and replace components, reducing maintenance costs and downtime, and improving equipment lifespan and operating efficiency.

[0042] like Figure 1 and Figure 2 As shown, an image acquisition device 3 is installed at the top center of the gantry 2. The image acquisition device 3 is electrically connected to the control cavity 4. A camera 11 is installed at the center of the inside of the image acquisition device 3, and a light strip 12 is installed on the outside of the camera 11.

[0043] Optionally, the image acquisition device 3 is installed at the top center of the gantry 2. This high and central position allows for a wider and more comprehensive field of view. The internal camera 11 clearly captures images of the surrounding environment, including the location of goods and the distribution of surrounding obstacles. This image data is then transmitted to the control cavity 4 for analysis and processing. The control cavity 4 uses the received image information to provide visual guidance, directing the stacker forklift accurately to the desired storage location. This significantly improves the accuracy and efficiency of the stacker forklift operation, reducing errors and time consumption associated with manual operation. An LED strip 12 is installed on the outside of the camera 11. In dimly lit warehouse environments, the LED strip 12 provides sufficient light to ensure clear imaging of the camera 11. This allows the stacker forklift to operate normally regardless of whether it is in bright daylight or dim light at night, improving the equipment's environmental adaptability and operational stability. It ensures accurate acquisition of surrounding environmental information under various lighting conditions, thereby facilitating the smooth completion of goods handling tasks.

[0044] like Figure 1 and Figure 2As shown, control button 7 includes the "Start Learning" button, "Location Point" button, "Stop" button, "Unload" button, and "End Learning" button. The vehicle control panel converts the external instruction set of the automatic navigation forklift into the vehicle body through the learning control button 7, and starts autonomous navigation based on the learning mechanism.

[0045] Optionally, the control panel can convert the external command set of the automated guided forklift into the vehicle body through the control button 7, and start autonomous navigation based on the learning mechanism. It can learn and memorize information such as the operator's operation instructions and driving path. In subsequent operations, it can autonomously plan driving routes and identify the position of goods based on the learned content, realize autonomous navigation operations, reduce manual intervention, improve the degree of automation and accuracy of operations, and improve the overall operational efficiency of warehousing and logistics.

[0046] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A vision-guided stacking forklift device, comprising a stacking forklift body (1); The stacker forklift body (1) is provided with a support leg (5) at the bottom position, and a roller (13) is arranged in an array inside the support leg (5). The stacker forklift body (1) is provided with a control cavity (4) on the left side, and a control button (7) is provided inside the control cavity (4). A start button (8) is provided on the right side of the control button (7). Its features are: A mast (2) is provided in the middle of the main body (1) of the stacker forklift. A lifting platform (6) is provided inside the mast (2). Forks (15) are provided inside the lifting platform (6). A counterweight (9) corresponding to the control cavity (4) is provided on the right side of the main body (1) of the stacker forklift.

2. The vision-guided stacking forklift device according to claim 1, characterized in that: The lifting platform (6) is provided with sliding grooves (14) on the left and right sides respectively, and the gantry (2) is provided with guide rails (10) on the inner side. The lifting platform (6) and the gantry (2) are slidably connected through the sliding grooves (14) and the guide rails (10).

3. The vision-guided stacking forklift device according to claim 2, characterized in that: A groove (17) is provided inside the lifting platform (6), and the forks (15) are slidably connected to the lifting platform (6) through the groove (17). A pad (16) is provided at the top of the forks (15).

4. The vision-guided stacking forklift device according to claim 3, characterized in that: A limiting groove (20) is provided on the inner side of the groove (17), and limiting strips (18) corresponding to the limiting groove (20) are provided on the left and right sides of the fork (15).

5. A vision-guided stacking forklift device according to claim 4, characterized in that: A rack (19) is provided below the limiting strip (18), and the forks (15) are connected to the lifting platform (6) through the rack (19).

6. The vision-guided stacking forklift device according to claim 1, characterized in that: A translation motor (21) is provided at the bottom of the lifting platform (6), and a gear cavity (22) is provided in the middle of the interior of the lifting platform (6).

7. A vision-guided stacking forklift device according to claim 6, characterized in that: A transmission gear (23) is provided on the left side of the gear cavity (22), and a meshing gear (24) is provided on the right side of the transmission gear (23). The transmission gear (23) is connected to the translation motor (21), and the transmission gear (23) and the meshing gear (24) are respectively meshed with the left and right forks (15).

8. A vision-guided stacking forklift device according to claim 1, characterized in that: An image acquisition device (3) is provided at the middle position of the top of the gantry (2). The image acquisition device (3) is electrically connected to the control cavity (4). A camera (11) is provided at the middle position inside the image acquisition device (3). A light strip (12) is provided at the outer position of the camera (11).

9. A vision-guided stacking forklift device according to claim 1, characterized in that: The control button (7) includes a "Start Learning" button, a "Location Point" button, a "Stop" button, a "Unload" button, and a "End Learning" button. The vehicle control panel learns the control button (7) to convert the external instruction set of the automatic navigation forklift into the vehicle body and starts autonomous navigation based on the learning mechanism.

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