CN103350977A - Method and device for automatically lifting fork to correct good storing-taking position during goods taking and storing - Google Patents

Method and device for automatically lifting fork to correct good storing-taking position during goods taking and storing Download PDF

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Publication number
CN103350977A
CN103350977A CN2013102901794A CN201310290179A CN103350977A CN 103350977 A CN103350977 A CN 103350977A CN 2013102901794 A CN2013102901794 A CN 2013102901794A CN 201310290179 A CN201310290179 A CN 201310290179A CN 103350977 A CN103350977 A CN 103350977A
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goods
height
pallet fork
access
controller
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CN103350977B (en
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周学军
明国胜
贠海涛
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Noblelift Intelligent Equipment Co Ltd
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Zhejiang Nuoli Machinery Co Ltd
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Abstract

The invention relates to the stacker car technology, in particular to a method and device for automatically lifting a fork to a correct good storing-taking position during goods taking and storing. According to the technical scheme, the device for automatically lifting the fork to the correct good storing-taking position during goods taking and storing comprises a strain sensor, a height sensor, a controller and a lifting device. The strain sensor can produce a fork current height reading command when loads are detected to disappear or be obtained. The height sensor detects the height of the fork in real time. The controller can receive the fork current height reading command sent by the strain sensor, accordingly, read the fork current height from the height sensor, generate a data unit by being combined with the current goods allocation number and the current goods storing-taking state of a goods allocation, and store the data unit, wherein the data unit can reflect the goods allocation number, the goods storing-taking state and the goods storing-taking height value of the fork. When stacking the goods, an operator does not need to raise the head frequently to visually test the height of the fork, the working fatigue of the operator is relieved, and improvement of the stacking efficiency is also facilitated.

Description

The automatic lifting pallet fork is to method and the device of correct access goods height during a kind of access goods
Technical field
The present invention relates to the carrier-and-stacker technology, particularly during a kind of access goods the automatic lifting pallet fork to method and the device of correct access goods height.
Background technology
At present traditional carrier-and-stacker is when the stacking work of doing goods, the operator need to repeat the positioning action at the enterprising crudely-made articles fork of several standing heights, during each fork loading thing location, the operator adjusts after must new line with the naked eye judging the pallet fork height again, such repeated work makes easily the operator feel tired and is sick of, and is unfavorable for the stacking work of fork truck.
A kind of method is also arranged: be exactly the height input height locating device that the operator need to reach pallet fork, height locating device stops on the setting height according to this incoming signal control pallet fork; Here having a problem, is exactly not necessarily goods yard height accurately of the height set of operator, and especially in the many situations of the height quantity in goods yard, the operator is because accurate decision height and produce danger.
Summary of the invention
The automatic lifting pallet fork is to the method for correct access goods height when the purpose of this invention is to provide a kind of access goods, the corresponding current height of pallet fork in the time of can when first stacking, automatically being recorded in the operation of this goods yard, thereby next time is when the stacking of same goods yard, as long as input goods item and access goods state, can automatically pallet fork be promoted to corresponding access goods height to carry out the operation of access goods, thereby make the operator when the stacking goods, range estimation pallet fork height needn't frequently come back, alleviate operator's work fatigue, also be beneficial to and improve stacking efficient.
Above-mentioned technical purpose of the present invention is achieved by the following technical programs: the automatic lifting pallet fork is to the method for correct access goods height during a kind of access goods, and it may further comprise the steps:
(1) set up the step of data cell at controller, this step comprises step by step following:
Figure 2013102901794100002DEST_PATH_IMAGE002
The goods yard is numbered and is stored in the step of controller;
Figure 2013102901794100002DEST_PATH_IMAGE004
When the stock of current goods yard, when detecting the load disappearance, the strain sensor that is used for the reflection load change sends the step of the instruction of reading the current height of pallet fork to controller; Or when the picking of current goods yard, when detecting load and obtain, the strain sensor that is used for the reflection load change sends the step of the instruction of reading the current height of pallet fork to controller;
Figure 2013102901794100002DEST_PATH_IMAGE006
Controller receives the height reading command from strain sensor, and reads the step of the current height H x of pallet fork to the altitude sensing unit of real-time measurement pallet fork height, and x represents the goods item;
Figure 2013102901794100002DEST_PATH_IMAGE008
Controller calculates when this goods yard carried out the operation of access goods for Hx, and the step of the height value that pallet fork should promote draws when this goods yard carried out inventory operations, and pallet fork should be promoted to Hx+B, and when the picking operation was carried out in this goods yard, pallet fork should be promoted to Hx-A;
Figure 2013102901794100002DEST_PATH_IMAGE010
Controller contacts access status and the foundation of this goods yard access goods height value of current goods item, this article No. position, and generate one and can reflect that the data cell of goods item, goods yard access status and pallet fork access goods height value is stored in the step of controller, data cell is [x; Access status; Hx-A; Hx+B], when having goods on the goods yard, be defined as the picking state, be made as 1; When the goods yard is idle, be defined as inventory status, be made as 0;
(2) access goods step comprises step by step following successively:
Figure 88493DEST_PATH_IMAGE002
Step to controller input goods item and store status;
Figure 163153DEST_PATH_IMAGE004
Controller reads the data cell of corresponding goods item, and whether the access status that detects the goods item operates consistent step with the current access goods that carries out;
Figure 679453DEST_PATH_IMAGE006
Controller sends the step of pallet fork access goods height value data to jacking system;
Figure 130551DEST_PATH_IMAGE008
Jacking system rises to respective heights to carry out the step of access goods operation with pallet fork.
Preferred as technique scheme, described A and B are pre-set definite value.
Preferred as technique scheme, described A is pre-set definite value, the variable of B for increasing with load.
Preferred as technique scheme, described A is 5-25mm.
The automatic lifting pallet fork was to the device of correct access goods height when another object of the present invention also was to provide a kind of access goods, and it comprises
Can reflect in real time the pallet fork load change and can disappear or obtain the strain sensor that produces constantly the current height reading command of pallet fork detecting load,
Can detect in real time the height sensor of pallet fork height,
Thereby the current height reading command of pallet fork that can receive described strain sensor transmission reads the current height value of pallet fork to described height sensor, and can be in conjunction with the access goods state in current goods item, current goods yard, generation can reflect the data cell of goods item, goods yard access status and pallet fork access goods height value and the controller of being stored
Thereby the pallet fork access goods height value data that can receive described controller transmission rise to respective heights to carry out the jacking system of access goods operation with pallet fork.
Preferred as technique scheme, described strain sensor are installed on the car pin or on the door frame.
In sum, the present invention has following beneficial effect: the height value of pallet fork is the terrain clearance value of pallet fork upper surface; During first stacking, goods item and access goods state and storage to controller input current operation goods yard, the operator is by range estimation, make jacking system that pallet fork is risen to stacking height, and when pallet fork unloads goods, strain sensor is in the moment that detects the load disappearance, send the instruction of reading the current height of pallet fork to controller, thereby make controller read the current height value Hx of pallet fork and calculate to altitude sensing unit and lower inferior this pallet fork is carried out access goods when operation, the height value that pallet fork should promote, if pallet fork stock height value is Hx+B, pallet fork picking height value is Hx-A, thereby with current goods item, the access status of this article No. position and this goods yard access goods height value are set up and are contacted, and generate one and can reflect the goods item, the data cell of goods yard access status and pallet fork access goods height value is stored in controller; For ease of storage, the access status in goods yard; For defining, when the goods yard is idle, be decided to be inventory status, be made as 0; When having goods on the goods yard, be decided to be the picking state, be made as 1; Controller has the TIP of being convenient to input the goods item and need carrying out access goods state; Thereby when same goods yard being carried out again the operation of access goods, only need to controller input goods item and access goods state, controller can compare with the access goods state that is stored in this goods yard of controller the access status of input, if consistent, then send pallet fork access goods height value to jacking system, thereby when access goods operates, operating personal needn't frequently come back and estimate the pallet fork height, alleviate operator's work fatigue, also be beneficial to and improve stacking efficient, be conducive to simultaneously improve safety.
On controller, thereby also can input coding of parts and components and determine the goods item by warehousing management software, also can directly assign instruction by the storage main console desk to piler by wireless network forms, also can the RFID technology be installed at carrier-and-stacker and read pallet information and determine and verify access goods information.
The all right Effective Raise carrier-and-stacker safety performance of the present invention, when the operator freight lifting is liftoff, the goods yard that the input preparation is deposited, control instrument is after obtaining the load information of strain-gauge, by with the contrast of the carrier-and-stacker load curve of prior setting, if comparison the result dangerous then can remind at once and stop.
Description of drawings
Fig. 1 is data circulation scheme drawing between each device of embodiment;
Fig. 2 is that the embodiment data cell is set up scheme drawing.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is described in further detail.
This specific embodiment only is explanation of the invention; it is not limitation of the present invention; those skilled in the art can make the modification that does not have creative contribution to present embodiment as required after reading this specification sheets, but as long as all are subject to the protection of patent law in claim scope of the present invention.
Embodiment: the automatic lifting pallet fork comprises to the device of correct access goods height during a kind of access goods
Can reflect in real time the pallet fork load change and can disappear or obtain the strain sensor that produces constantly the current height reading command of pallet fork detecting load,
Can detect in real time the altitude sensing unit of pallet fork height,
Thereby the current height reading command of pallet fork that can receive described strain sensor transmission reads the current height value of pallet fork to described height sensor, and can be in conjunction with the access goods state in current goods item, current goods yard, generation can reflect the data cell of goods item, goods yard access status and pallet fork access goods height value and the controller of being stored
Thereby the pallet fork access goods height value data that can receive described controller transmission rise to respective heights to carry out the jacking system of access goods operation with pallet fork.
Data circulation scheme drawing between each device of present embodiment is referring to Fig. 1.
Strain sensor can be installed on the car pin of carrier-and-stacker or on the door frame.
The automatic lifting pallet fork may further comprise the steps to the application process of the device of correct access goods height during above-mentioned access goods:
(1) set up the step of data cell at controller, this step comprises step by step following, can be referring to Fig. 2:
Figure 48697DEST_PATH_IMAGE002
The goods yard is numbered and is stored in the step of controller;
Figure 395455DEST_PATH_IMAGE004
When the stock of current goods yard, when detecting the load disappearance, the strain sensor that is used for the reflection load change sends the step of the instruction of reading the current height of pallet fork to controller; Or when the picking of current goods yard, when detecting load and obtain, the strain sensor that is used for the reflection load change sends the step of the instruction of reading the current height of pallet fork to controller;
Figure 399051DEST_PATH_IMAGE006
Controller receives the height reading command from strain sensor, and reads the step of the current height H x of pallet fork to the altitude sensing unit of real-time measurement pallet fork height, and x represents the goods item;
Figure 388261DEST_PATH_IMAGE008
Controller calculates when this goods yard carried out the operation of access goods for Hx, and the step of the height value that pallet fork should promote draws when this goods yard carried out inventory operations, and pallet fork should be promoted to Hx+B, and when the picking operation was carried out in this goods yard, pallet fork should be promoted to Hx-A;
Figure 160913DEST_PATH_IMAGE010
Controller contacts access status and the foundation of this goods yard access goods height value of current goods item, this article No. position, and generate one and can reflect that the data cell of goods item, goods yard access status and pallet fork access goods height value is stored in the step of controller, data cell is [x; Access status; Hx-A; Hx+B], when having goods on the goods yard, be defined as the picking state, be made as 1; When the goods yard is idle, be defined as inventory status, be made as 0;
(2) access goods step comprises step by step following successively:
Figure 842955DEST_PATH_IMAGE002
Step to controller input goods item and store status;
Figure 333848DEST_PATH_IMAGE004
Controller reads the data cell of corresponding goods item, and whether the access status that detects the goods item operates consistent step with the current access goods that carries out;
Figure 861169DEST_PATH_IMAGE006
Controller sends the step of pallet fork access goods height value data to jacking system;
Jacking system rises to respective heights to carry out the step of access goods operation with pallet fork.
Wherein, A and B can be pre-set definite value, and particularly A is preferably 5-25mm; B also can be a variable, increases with load.

Claims (6)

1. the automatic lifting pallet fork is characterized in that to the method for correct access goods height it may further comprise the steps during an access goods:
(1) set up the step of data cell at controller, this step comprises step by step following:
Figure 2013102901794100001DEST_PATH_IMAGE002
The goods yard is numbered and is stored in the step of controller;
When the stock of current goods yard, when detecting the load disappearance, the strain sensor that is used for the reflection load change sends the step of the instruction of reading the current height of pallet fork to controller; Or when the picking of current goods yard, when detecting load and obtain, the strain sensor that is used for the reflection load change sends the step of the instruction of reading the current height of pallet fork to controller;
Figure DEST_PATH_IMAGE006
Controller receives the height reading command from strain sensor, and reads the step of the current height H x of pallet fork to the altitude sensing unit of real-time measurement pallet fork height, and x represents the goods item;
Figure DEST_PATH_IMAGE008
Controller calculates when this goods yard carried out the operation of access goods for Hx, and the step of the height value that pallet fork should promote draws when this goods yard carried out inventory operations, and pallet fork should be promoted to Hx+B, and when the picking operation was carried out in this goods yard, pallet fork should be promoted to Hx-A;
Figure DEST_PATH_IMAGE010
Controller contacts access status and the foundation of this goods yard access goods height value of current goods item, this article No. position, and generate one and can reflect that the data cell of goods item, goods yard access status and pallet fork access goods height value is stored in the step of controller, data cell is [x; Access status; Hx-A; Hx+B], when having goods on the goods yard, be defined as the picking state, be made as 1; When the goods yard is idle, be defined as inventory status, be made as 0;
(2) access goods step comprises step by step following successively:
Figure 141110DEST_PATH_IMAGE002
Step to controller input goods item and store status;
Figure 435081DEST_PATH_IMAGE004
Controller reads the data cell of corresponding goods item, and whether the access status that detects the goods item operates consistent step with the current access goods that carries out;
Figure 339452DEST_PATH_IMAGE006
Controller sends the step of pallet fork access goods height value data to jacking system;
Jacking system rises to respective heights to carry out the step of access goods operation with pallet fork.
2. the automatic lifting pallet fork is characterized in that to the method for correct access goods height described A and B are pre-set definite value during a kind of access goods according to claim 1.
3. the automatic lifting pallet fork is characterized in that described A is pre-set definite value, the variable of B for increasing with load to the method for correct access goods height during a kind of access goods according to claim 1.
4. the automatic lifting pallet fork is characterized in that to the method for correct access goods height described A is 5-25mm according to claim 2 or during 3 described a kind of access goods.
5. the automatic lifting pallet fork is characterized in that to the device of correct access goods height it comprises during an access goods
Can reflect in real time the pallet fork load change and can detect that load disappears or produce the strain sensor of the current height reading command of pallet fork when obtaining,
Can detect in real time the altitude sensing unit of pallet fork height,
Thereby the current height reading command of pallet fork that can receive described strain sensor transmission reads the current height value of pallet fork to described height sensor, and can be in conjunction with the access goods state in current goods item, current goods yard, generation can reflect the data cell of goods item, goods yard access status and pallet fork access goods height value and the controller of being stored
Thereby the pallet fork access goods height value data that can receive described controller transmission rise to respective heights to carry out the jacking system of access goods operation with pallet fork.
6. the automatic lifting pallet fork is characterized in that to the device of correct access goods height during a kind of access goods according to claim 5, and described strain sensor is installed on the car pin or on the door frame.
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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105967113A (en) * 2016-07-27 2016-09-28 江苏科力机械有限公司 Combined forklift control system
CN106044644A (en) * 2016-07-27 2016-10-26 江苏科力机械有限公司 Automatic forklift system
CN107067203A (en) * 2017-01-24 2017-08-18 华北理工大学 Garden low-carbon storage method and system
CN107963583A (en) * 2017-11-22 2018-04-27 南京凡泰科技有限公司 A kind of elevator for being used to assist tortoise car handling goods
CN108408657A (en) * 2018-02-08 2018-08-17 徐州工程学院 Four-wheel movable type hydraulic lifting device in a kind of underground engineering construction
CN114684753A (en) * 2020-12-30 2022-07-01 比亚迪股份有限公司 Forklift fork height control method, device and system and forklift
CN114701858A (en) * 2022-05-13 2022-07-05 中建材智能自动化研究院有限公司 Glass sheet storage machine and control method thereof

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CN102482066A (en) * 2009-09-15 2012-05-30 罗伯特·博世有限公司 Load-carrying vehicle with vertically adjustable lifting device
CN202317557U (en) * 2011-11-03 2012-07-11 柳州双英汽车配件制造有限公司 Soldering set for automobile seat base
CN203382458U (en) * 2013-07-11 2014-01-08 浙江诺力机械股份有限公司 Device capable of lifting good fork to correct good storing and taking height during good storing and taking

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CN201217626Y (en) * 2008-01-29 2009-04-08 广西柳工机械股份有限公司 Indicating equipment for fork height of fork truck
CN102482066A (en) * 2009-09-15 2012-05-30 罗伯特·博世有限公司 Load-carrying vehicle with vertically adjustable lifting device
US7865286B1 (en) * 2010-05-01 2011-01-04 Hall Walter D Lift truck safety system
CN202317557U (en) * 2011-11-03 2012-07-11 柳州双英汽车配件制造有限公司 Soldering set for automobile seat base
CN203382458U (en) * 2013-07-11 2014-01-08 浙江诺力机械股份有限公司 Device capable of lifting good fork to correct good storing and taking height during good storing and taking

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105967113A (en) * 2016-07-27 2016-09-28 江苏科力机械有限公司 Combined forklift control system
CN106044644A (en) * 2016-07-27 2016-10-26 江苏科力机械有限公司 Automatic forklift system
CN107067203A (en) * 2017-01-24 2017-08-18 华北理工大学 Garden low-carbon storage method and system
CN107067203B (en) * 2017-01-24 2020-07-07 华北理工大学 Garden low-carbon storage method and system
CN107963583A (en) * 2017-11-22 2018-04-27 南京凡泰科技有限公司 A kind of elevator for being used to assist tortoise car handling goods
CN108408657A (en) * 2018-02-08 2018-08-17 徐州工程学院 Four-wheel movable type hydraulic lifting device in a kind of underground engineering construction
CN114684753A (en) * 2020-12-30 2022-07-01 比亚迪股份有限公司 Forklift fork height control method, device and system and forklift
CN114684753B (en) * 2020-12-30 2023-10-17 比亚迪股份有限公司 Fork height control method, device and system for forklift and forklift
CN114701858A (en) * 2022-05-13 2022-07-05 中建材智能自动化研究院有限公司 Glass sheet storage machine and control method thereof

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