CN109761167A - Probe unit position holding device and intelligent forklift - Google Patents
Probe unit position holding device and intelligent forklift Download PDFInfo
- Publication number
- CN109761167A CN109761167A CN201711094061.9A CN201711094061A CN109761167A CN 109761167 A CN109761167 A CN 109761167A CN 201711094061 A CN201711094061 A CN 201711094061A CN 109761167 A CN109761167 A CN 109761167A
- Authority
- CN
- China
- Prior art keywords
- probe unit
- traction rope
- structural body
- mounting rack
- holding device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Forklifts And Lifting Vehicles (AREA)
Abstract
The present invention relates to a kind of probe unit position holding device and intelligent forklifts, device includes: probe unit mounting rack (12), be movably disposed in relative on relocatable second structural body of first structure body, be configured as give the probe unit (1) provide installation site；With rigid traction rope (5), two end is separately connected with the first structure body and the probe unit mounting rack (12), and is towed contrary；Wherein, in second structural body relative to the first structure body along when being towed the identical or opposite preset direction in direction and floating, the rigidity traction rope (5) drives the probe unit mounting rack (12) to maintain relative to the first structure body in the position of the preset direction in the state of tensioning with the end of the rigid traction rope (5).The present invention can be improved the reliability of detection.
Description
Technical field
The present invention relates to a kind of probe unit position holding device and intelligent forklifts.
Background technique
With the development of warehouse logistics technology, intelligent forklift (after also abbreviation fork truck) is with the spies such as its high efficiency, easy-to-use
Point is gradually widely applied in each field.Intelligent forklift can the object (such as pallet etc.) to ambient enviroment feel
The operation such as know, and be lifted, shifted and transferred to appropriate location according to the information movement perceived.
For intelligent forklift, in order to realize the perception of front tray position, need to read fork truck and support incessantly
The distance between disk.There is using laser range sensor the side for realizing the measurement of the distance between fork truck and pallet in the related technology
Case.The program is in order to make laser range sensor maintain certain height, to ensure ranging effect, with when need laser
Distance measuring sensor is mounted in fork truck relative to ground in the height direction usually on not changed aftercarriage, but this knot
The problem of stopping laser range sensor when structure be easy to cause front vehicle body to move, influence range operation.
In order to avoid front vehicle body causes to stop to laser range sensor, generally require to be arranged in aftercarriage bottom, and this
So that laser range sensor is excessively close apart from ground, the probability bumped in use is larger, and is easily contaminated, and influences ranging
Reliability.In addition, when being mounted on aftercarriage bottom due to laser range sensor, it is not easy to directly observation working condition, it is real
Need to lift by crane fork truck in the production of border, therefore inconvenient in the adjustment of the parameter of laser range sensor, maintenance and cleaning and maintenance.
Summary of the invention
The purpose of the present invention is to propose to a kind of probe unit position holding device and intelligent forklift, can be improved detection can
By property.
To achieve the above object, the embodiment of the invention provides a kind of probe unit position holding devices, comprising:
Probe unit mounting rack is movably disposed in relative on relocatable second structural body of first structure body, quilt
It is configured to the probe unit and installation site is provided；With
Rigid traction rope, two end are separately connected with the first structure body and the probe unit mounting rack, and
It is towed contrary；
Wherein, second structural body relative to the first structure body along end with the rigid traction rope by
When the identical or opposite preset direction of lead floats, the rigidity traction rope drives the detection single in the state of tensioning
First mounting rack is maintained relative to the first structure body in the position of the preset direction.
In one embodiment, further includes:
Traction rope guiding mechanism, setting move on second structural body, and with second structural body, are matched
It is set to and provides the guidance of the direction of motion to the rigid traction rope.
In one embodiment, the traction rope guiding mechanism includes at least two leading blocks, and each guiding is slided
Wheel is at least when second structural body floats relative to the first structure body along the preset direction relative to described second
The position of structural body is fixed, it is described rigidity traction rope successively bypass each leading block, and in a tensioned state keep with
Each leading block is adjacent to contact.
In one embodiment, further includes:
Strainer is arranged between second structural body and the probe unit mounting rack, is configured as making described
Rigid traction rope at least maintains to open when second structural body floats relative to the first structure body along the preset direction
Tight state.
In one embodiment, the strainer includes elastic element, and the elastic element is mounted on second knot
Between structure body and the probe unit mounting rack, it is capable of forming on the driving probe unit mounting rack for installing the detection
Movement tendency of the position of unit far from second structural body.
In one embodiment, the preset direction is the straight up or straight down probe unit mounting rack quilt
It is configured to move relative to the second structural body along the opposite direction of the preset direction or the preset direction.
In one embodiment, the weight of the probe unit mounting rack is configured as that the rigid traction rope is made at least to exist
Second structural body maintains tensioning state when floating relative to the first structure body along the preset direction.
In one embodiment, the probe unit mounting rack includes guide rod and mounting plate, the guide rod with it is described
Mounting plate is fixedly connected, and the other end is threaded through in the guide sleeve being fixedly connected with second structural body, and the guide rod can be in institute
The opposite direction in guide sleeve along the preset direction or the preset direction is stated to move.
In one embodiment, further includes: the compressed spring being set in outside the guide rod, one end of the compressed spring
It is connect with second structural body or the guide sleeve, the other end is connect with the mounting plate or the guide rod.
In one embodiment, the mounting plate is located at the lower section of second structural body, and the guide rod is along vertical side
To being threaded through in the guide sleeve.
In one embodiment, the rigid traction rope includes wirerope.
To achieve the above object, the present invention provides a kind of intelligent forklifts, comprising:
The first car body as first structure body；
As the second car body of the second structural body, can float relative to first car body；
Probe unit is configured as detecting and acquiring the signal in environment；With
Probe unit position holding device above-mentioned.
In one embodiment, first car body is configured as in place to walk, and second car body is equipped with
The pallet fork of bearing goods in operation, can be vertically moving with second car body, with raising or the decline cargo.
In one embodiment, second car body is arranged in by the probe unit mounting rack in the probe unit
Lower section or side.
In one embodiment, the probe unit mounting rack is located at the bottom of second car body far from first vehicle
The bottom edge position of body.
In one embodiment, the probe unit includes distance measuring sensor.
In one embodiment, the distance measuring sensor is laser range sensor, ultrasonic distance-measuring sensor or infrared
Distance measuring sensor.
According to embodiments of the present invention, pacify relative to setting probe unit on relocatable second structural body of first structure body
It shelves, and first structure body and probe unit mounting rack is connected by rigid traction rope, due to two ends of rigid traction rope
Be towed it is contrary, therefore when the second structural body is towed relative to first structure body along with the end of rigid traction rope
When the identical or opposite preset direction in direction floats, probe unit mounting rack can be made to tie up in the state of the tensioning of rigid traction rope
It holds relative to the first structure body in the position of preset direction, so that so that the installation of probe unit is no longer influenced by installation site is
The limitation of no floating, and then probe unit is made to be mountable to be collided or pollute the lower position of probability, reach raising and visits
The effect of the reliability of survey.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes part of this application, this hair
Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is the schematic diagram of an embodiment of probe unit position holding device of the present invention.
Fig. 2 is the schematic state diagram that second car body floats downwards in intelligent forklift embodiment of the present invention.
Fig. 3 is the schematic state diagram that second car body floats upwards in intelligent forklift embodiment of the present invention.
Specific embodiment
Below by drawings and examples, technical scheme of the present invention will be described in further detail.
As shown in Figure 1, the schematic diagram of the embodiment for probe unit position holding device of the present invention.In this reality
It applies in example, probe unit position holding device includes: probe unit mounting rack 12 and rigid traction rope 5.Wherein, probe unit is pacified
Shelve 12 be movably disposed in it is single to the detection relative to being configured as on relocatable second structural body of first structure body
Member 1 provides installation site.Two ends of rigid traction rope 5 are divided with the first structure body and the probe unit mounting rack 12
It does not connect, and is towed contrary.
First structure body and the second structural body can be connected with each other, and can also be separated from each other, as long as meeting the second structural body
It can be relocatable relative to first structure body.First structure body can be affixed to the facility on ground, be also possible to energy
Enough along track or the vehicle that can freely walk in the venue.
Probe unit mounting rack 12 can be moved relative to the second structural body according at least one direction of setting.It is detecting
It is able to carry out the installation of probe unit 1 on unit mounting rack 12, as needed, one can be set on probe unit mounting rack 12
Or multiple probe units 1.Probe unit 1 can be pre-installed in advance with probe unit mounting rack 12, also can according to need at any time
It dismantled, replaced and is installed.The information type detected as needed, probe unit 1 also select the detection of at least one type
Element, such as measure temperature transducer or the survey of the distance measuring sensor, measurement target or environment temperature of target range
Measure target or the load cell of environmental pressure etc..Distance measuring sensor can further comprise again laser according to principle difference
Distance measuring sensor, ultrasonic distance-measuring sensor or infrared distance sensor etc., other types sensor are schematically illustrated with regard to different one.
Rigid traction rope 5 is that one kind can be realized draw, in the longitudinal direction free bend and length direction is flexible
Measure the rope of very little.The variation of length caused by the elastic extension of this rope is very small, so that can when in use may be used
Approximately to think its non-stretchable deformation.For using wirerope as rigid traction rope, it is in tractive force much smaller than fracture
Influence of the elastic elongation amount of wirerope to the position of probe unit 1 can be ignored under the range of power, and on the other hand, wirerope exists
Bringing onto load uses more than certain time, such as at 2 weeks or longer, structural elongation will keep stablizing, and length will not occur again
Variation.
By the way that two ends of rigid traction rope 5 are distinguished with the first structure body and the probe unit mounting rack 12
Connection can be such that first structure body and the probe unit mounting rack 12 connects by the tractive force of rigid traction rope 5.And
Be towed two ends of rigid traction rope 5 contrary, then it can be in the second structural body relative to first structure body edge
With the end of rigid traction rope 5 when being towed the identical or opposite preset direction in direction and floating, rigid traction rope 5 is in tensioning
The probe unit mounting rack 12 is driven to maintain relative to the first structure body in the position of the preset direction under state.
With reference to embodiment illustrated in fig. 1, with the end B for the rigid traction rope 5 being connect with first structure body leading from rope side
Gravity direction (straight down) is first direction, then the tractive force direction (straight up) of the other end A in contrast is the
Two directions, then when the second structural body moves the displacement of Δ L along the first direction relative to first structure body, the end side B
Rigid traction rope 5 along first direction length Δ L.Since its length L is perseverance to rigid traction rope 5 in a tensioned state
It is fixed, therefore the rigid traction rope 5 of the end side A is-Δ L, phase relative to the length variation along first direction of the second structural body
When in the Δ L that shortened.End A in this way is the second structural body moving displacement relative to the position of first structure body in a first direction
There is no variations relative to first structure body position in a first direction by Δ L+- Δ L=0, as probe unit mounting rack 12.
In Fig. 1, the height difference H 2 of certain position of end B and the second structural body in the vertical direction is plus end A and the
The sum of the height difference H 1 of certain position of two structural bodies not will receive the second structural body relative to first structure body in vertical direction
The influence of upper movement, so that the terrain clearance for the probe unit 1 installed on probe unit mounting rack 12 remains unchanged.Although
Tractive force direction and the direction of motion in Fig. 1 illustrated embodiment are vertical direction, but keep filling in probe unit position of the present invention
In another embodiment set, it is readily applicable to tractive force direction and the direction of motion in the horizontal direction or the feelings of inclined direction
Shape.
In one embodiment with reference to Fig. 1, probe unit position holding device can also include traction rope guiding mechanism 7.
The setting of traction rope guiding mechanism 7 moves on the second structural body, and with the second structural body, is configured as to the rigidity
The guidance of the offer direction of motion of traction rope 5.The traction rope guiding mechanism 7 can make rigid traction rope 5 opposite in the second structural body
When the first structure body floats along preset direction, being towed for the end of rigid traction rope 5 is contrary, and the side of being towed
To identical or opposite as preset direction.
Traction rope guiding mechanism 7 can include as shown in Figure 1 at least two leading blocks, and each leading block is extremely
Less when second structural body floats relative to the first structure body along the preset direction relative to second structure
The position of body is fixed, it is described rigidity traction rope 5 successively bypass each leading block, and in a tensioned state keep with it is each
The leading block is adjacent to contact.With reference to Fig. 1, each leading block can be separately positioned on multiple positions of the second structural body
Set, two leading blocks in the left and right sides may insure the rigid traction rope 5 of the end side A be towed direction be vertically to
On, and the direction that is towed of the rigid traction rope 5 of the end side B is straight down.Rigid traction rope can be in the several of centre
Positive and negative alternate bypasses between leading block, and the guidance of rigid traction rope 5 is realized by these leading blocks.It can be seen that nothing
How to change by the traction rope length of end A and B respectively between the second structural body, as long as rigid traction rope 5 keeps tensioning shape
The length of state, the rigid traction rope 5 between these leading blocks will not change, it is ensured that stablize the position of probe unit 1.
The realization structure of traction rope guiding mechanism 7 is not limited in passing through leading block.In another embodiment, it draws
Rope guiding mechanism 7 may include at least two protrusions, and successively be bypassed by rigid traction rope 5, and surface, which can be set into, compares
It is smooth, to function similarly to the effect of leading block.Alternatively, traction rope guiding mechanism 7 may include logical for rigid traction rope 5
Cross in circumferentially closed or partially enclosed one or more sleeves, the movement guidance of rigid traction rope 5 is realized using sleeve.
It is of course also possible to include the combination of the two kinds of structures or various structures in leading block, protrusion and sleeve.
Rigidity traction rope 5 mentioned above is needed in the second structural body relative to the first structure body along the preset direction
Tensioning state is kept when floating, therefore in one embodiment of probe unit position holding device, can further include
Strainer.The strainer is arranged between second structural body and the probe unit mounting rack 12, is configured as making
The rigidity traction rope 5 is at least tieed up when second structural body floats relative to the first structure body along the preset direction
Hold tensioning state.
A kind of way of realization of strainer is the elastic force using elastic element to realize tensioning, such as strainer packet
Elastic element is included, the elastic element is mounted between second structural body and the probe unit mounting rack 12, being capable of shape
It is used to install the position of the probe unit 1 on the probe unit mounting rack 12 far from the fortune of second structural body at driving
Dynamic trend.It is used as elastic element for example, by using compressed spring 4 shown in FIG. 1, the second structural body is relative to first structure body pre-
When moving on set direction, it is remote that compressed spring 4 can impose driving probe unit mounting rack 12 to probe unit mounting rack 12 always
Elastic force from the second structural body, and under conditions of rigid traction rope 5 is non-extensible, rigid traction rope 5 is also in probe unit
It is tensioned under this separate trend of mounting rack 12.
Other than the way of realization of this strainer, probe unit mounting rack 12 can also can be driven using other
Mechanism far from the second structural body, such as the device of driving force is persistently provided using motor etc..It is non-horizontal for preset direction
For the embodiment in direction, tensioning can also be realized using gravity.
With reference to Fig. 1, in one embodiment, preset direction is straight up or straight down probe unit mounting rack 12
It is configured to move relative to the second structural body along the opposite direction of the preset direction or the preset direction.At this point,
The weight of probe unit mounting rack 12 can be configured as keeping the rigid traction rope 5 at least opposite in second structural body
Tensioning state is maintained when the first structure body floats along the preset direction.In other words, probe unit mounting rack 12 and
Gravity suffered by probe unit 1 can make rigid traction rope 5 at least in the second structural body relative to first structure body edge
The preset direction maintains tensioning state when floating.
In order to ensure probe unit mounting rack 12 can be relative to the second structural body along aforementioned preset direction or opposite direction
Free movement, in the embodiment shown in fig. 1, probe unit mounting rack 12 may include guide rod 3 and mounting plate 2, the guide rod 3
One end is fixedly connected with the mounting plate 2, and the other end is threaded through in the guide sleeve 6 being fixedly connected with second structural body, described
Guide rod 3 can the opposite direction in the guide sleeve 6 along the preset direction or the preset direction move.Mounting plate 2 can be with
Positioned at the lower section of second structural body, and guide rod 3 is threaded through along the vertical direction in the guide sleeve 6.And in order to make probe unit
Mounting rack 12 maintains rigid traction rope 5 to be tensioned far from the second structural body, can increase the compressed spring being set in outside guide rod 3
4.One end of compressed spring 4 is connect with second structural body or the guide sleeve 6, the other end and the mounting plate 2 or described
Guide rod 3 connects.
The embodiment of above-mentioned probe unit position holding device is suitable for all kinds of in hope maintenance probe unit phase of floating
Constant operating equipment is set, such as is applied on intelligent forklift.Fig. 2, Fig. 3 just show a kind of embodiment of intelligent forklift.It should
Intelligent forklift includes: the first car body 10 as first structure body, the second car body 9 as the second structural body, 1 and of probe unit
Any probe unit position holding device embodiment above-mentioned.Second car body 9 can float relative to first car body 10.It visits
Unit 1 is surveyed then to be configured as detecting and acquiring the signal in environment.
First car body 10 can be configured to walk in place, and the second car body 9 attends class and the carrying in operation is arranged
The pallet fork 11 of cargo, can be vertically moving with second car body 9, with raising or the decline cargo.And when second
When car body 9 passes through the raising or decline of the vertically moving progress cargo of pallet fork, the second car body 9 is at this time with respect to the first vehicle
Body 10 is floated in the vertical direction.Since probe unit 1 has been mounted on the second car body 9 by probe unit mounting rack 12
On, therefore just evaded and shortcomings present in probe unit 1 are set on the first car body 10, and probe unit 1 can
Its position in the vertical direction is still maintained when the second car body 9 floats, therefore can also ensure that the accuracy of detection and reliable
Property.
According to the general work mode of intelligent forklift, the second car body 9 is connect with the first car body 10, and can be in the first car body
It floats under the driving of driving mechanism on 10, and the side on the second car body 9 in the horizontal direction far from the first car body is equipped with goods
Fork 11, if before being with 11 direction of pallet fork, the second car body 9 is also referred to as front vehicle body, and the first car body 10 can be referred to as
For aftercarriage.
For intelligent forklift, accurately positioning multiplies the essential condition that the pallet of goods putting object is automated handling, accordingly
Probe unit 1 may include the survey such as laser range sensor, ultrasonic distance-measuring sensor or infrared distance sensor
Away from sensor.Distance measuring sensor preferably passes through the lower section or side that second car body 9 is arranged in the probe unit mounting rack 12
Side, in order to avoid the floating of the second car body 9 of interference.In another embodiment, other kinds of probe unit 1 also can be set in institute
The lower section or side of the second car body 9 are stated, in order to avoid the floating of the second car body 9 of interference.And in order to closer to the front side of intelligent forklift,
It is preferred that by the setting of probe unit mounting rack 12 to the bottom 8 of second car body 9 far from the bottom edge position of first car body 10,
To make the installation, maintenance of probe unit 1 and replace more convenient.
Below with reference to Fig. 2 and Fig. 3 respectively to probe unit position holding device the second car body vertically downwards and
Relative motion when floating upwards is illustrated.
In the non-lifting or low lifting state of intelligent forklift, for instance in off working state or preparation state etc.,
Two car bodies 9 are in relatively low floating position relative to the first car body 10, in the position when, the bottom 8 of the second car body 9 is compared
Close to ground, the rope length of the end side B of rigid traction rope 5 is longer at this time, and the rope length of the end side A is shorter, the end side A
Compressed spring 4 be compressed to shorter length, and the length of H1'+H2' is constant, the height of corresponding probe unit 1 and ground
Spending H is also constant.
When the second car body 9 floats (with reference to direction arrow shown in Fig. 3) straight up relative to the first car body 10, with the
Two car bodies 9 move upwards, and drive rigid traction rope 5 also to move upwards, and the rope length of the end side B shortens, the end side A
Rope length is elongated, although the compressed spring 4 of the end side A is still confined state at this time, its length is more compared with length in Fig. 2
Long, the length of H1'+H2' is constant at this time, and corresponding probe unit 1 and the height H on ground are also constant.When 9 phase of the second car body
When for the first car body 10, (direction arrow with reference to shown in Fig. 2) floats straight down, similarly it is found that probe unit 1 and ground
Height H will not change.
Finally it should be noted that: the above embodiments are merely illustrative of the technical scheme of the present invention and are not intended to be limiting thereof；To the greatest extent
The present invention is described in detail with reference to preferred embodiments for pipe, it should be understood by those ordinary skilled in the art that: still
It can modify to a specific embodiment of the invention or some technical features can be equivalently replaced；Without departing from this hair
The spirit of bright technical solution should all cover within the scope of the technical scheme claimed by the invention.
Claims (17)
1. a kind of probe unit position holding device, comprising:
Probe unit mounting rack (12) is movably disposed in relative on relocatable second structural body of first structure body, quilt
It is configured to the probe unit (1) and installation site is provided；With
Rigid traction rope (5), two end are separately connected with the first structure body and the probe unit mounting rack (12),
And it is towed contrary；
Wherein, second structural body relative to the first structure body along end with the rigid traction rope (5) by
When the identical or opposite preset direction of lead floats, the rigidity traction rope (5) drives the spy in the state of tensioning
Unit mounting rack (12) are surveyed to maintain relative to the first structure body in the position of the preset direction.
2. probe unit position holding device according to claim 1, wherein further include:
Traction rope guiding mechanism (7), setting move on second structural body, and with second structural body, are matched
It is set to and provides the guidance of the direction of motion to the rigid traction rope (5).
3. probe unit position holding device according to claim 2, wherein the traction rope guiding mechanism (7) includes
At least two leading blocks, each leading block at least in second structural body relative to the first structure body along institute
It states position when preset direction floats relative to second structural body to fix, the rigidity traction rope (5) is successively around each
The leading block, and keep contacting with each being adjacent to for the leading block in a tensioned state.
4. probe unit position holding device according to claim 1, wherein further include:
Strainer is arranged between second structural body and the probe unit mounting rack (12), is configured as making described
Rigid traction rope (5) at least maintains when second structural body floats relative to the first structure body along the preset direction
Tensioning state.
5. probe unit position holding device according to claim 4, wherein the strainer includes elastic element,
The elastic element is mounted between second structural body and the probe unit mounting rack (12), is capable of forming described in driving
Become for installing the position of the probe unit (1) far from the movement of second structural body on probe unit mounting rack (12)
Gesture.
6. probe unit position holding device according to claim 1, wherein the preset direction is straight up or perpendicular
It is straight downwards, the probe unit mounting rack (12) is configured to relative to the second structural body along the preset direction or described
The opposite direction of preset direction moves.
7. probe unit position holding device according to claim 6, wherein the weight of the probe unit mounting rack (12)
Amount be configured as making the rigid traction rope (5) at least in second structural body relative to the first structure body along described pre-
Set direction maintains tensioning state when floating.
8. probe unit position holding device according to claim 1, wherein the probe unit mounting rack (12) includes
Guide rod (3) and mounting plate (2), described guide rod (3) one end are fixedly connected with the mounting plate (2), the other end be threaded through with it is described
In the guide sleeve (6) that second structural body is fixedly connected, the guide rod (3) can in the guide sleeve (6) along the preset direction or
The opposite direction of the preset direction moves.
9. probe unit position holding device according to claim 8, wherein further include: it is set in the guide rod (3) outside
One end of the compressed spring (4) in portion, the compressed spring (4) is connect with second structural body or the guide sleeve (6), another
End is connect with the mounting plate (2) or the guide rod (3).
10. probe unit position holding device according to claim 8, wherein the mounting plate (2) is located at described second
The lower section of structural body, and the guide rod (3) is threaded through along the vertical direction in the guide sleeve (6).
11. probe unit position holding device according to claim 1, wherein the rigidity traction rope (5) includes steel wire
Rope.
12. a kind of intelligent forklift, comprising:
The first car body (10) as first structure body；
As the second car body (9) of the second structural body, can float relative to first car body (10)；
Probe unit (1) is configured as detecting and acquiring the signal in environment；With
Any probe unit position holding device of claim 1~11.
13. intelligent forklift according to claim 12, wherein first car body (10) is configured as feasible in place
It walks, second car body (9) is equipped with the pallet fork (11) of the bearing goods in operation, can be with second car body (9) along perpendicular
Histogram is to movement, with raising or the decline cargo.
14. intelligent forklift according to claim 12, wherein the probe unit (1) is installed by the probe unit
Frame (12) is arranged in the lower section or side of second car body (9).
15. intelligent forklift according to claim 14, wherein the probe unit mounting rack (12) is located at second vehicle
Bottom edge position of the bottom (8) of body (9) far from first car body (10).
16. intelligent forklift according to claim 12, wherein the probe unit (1) includes distance measuring sensor.
17. intelligent forklift according to claim 16, wherein the distance measuring sensor is laser range sensor, ultrasound
Wave distance measuring sensor or infrared distance sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711094061.9A CN109761167B (en) | 2017-11-09 | 2017-11-09 | Detection unit position holding device and intelligent forklift |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711094061.9A CN109761167B (en) | 2017-11-09 | 2017-11-09 | Detection unit position holding device and intelligent forklift |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109761167A true CN109761167A (en) | 2019-05-17 |
| CN109761167B CN109761167B (en) | 2020-12-22 |
Family
ID=66448690
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711094061.9A Active CN109761167B (en) | 2017-11-09 | 2017-11-09 | Detection unit position holding device and intelligent forklift |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109761167B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2067400U (en) * | 1990-03-31 | 1990-12-12 | 高秀珍 | Float code band liquid level gauge |
| JPH08283000A (en) * | 1995-04-18 | 1996-10-29 | Taisei Corp | Work positioning method and crane device |
| KR20110003137U (en) * | 2009-09-22 | 2011-03-30 | 현대엘리베이터주식회사 | Wrong loading sensor device of baggage |
| CN202037898U (en) * | 2010-12-30 | 2011-11-16 | 南通国谊锻压机床有限公司 | Device for adjusting position switches of hydraulic presses |
| CN102358604A (en) * | 2011-09-09 | 2012-02-22 | 上海贝洱热系统有限公司 | Crown-block gravity traction contact device |
| CN202836532U (en) * | 2012-08-29 | 2013-03-27 | 合肥海德数控液压设备有限公司 | Hydraulic press ejection oil cylinder pull wire-type position accurate detection device |
| CN204330340U (en) * | 2014-11-24 | 2015-05-13 | 北京宝克测试系统有限公司 | Vehicle detection constraint mechanism |
| CN205483161U (en) * | 2016-03-21 | 2016-08-17 | 安阳化学工业集团有限责任公司 | Feed bin material level automatic measuring device |
-
2017
- 2017-11-09 CN CN201711094061.9A patent/CN109761167B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2067400U (en) * | 1990-03-31 | 1990-12-12 | 高秀珍 | Float code band liquid level gauge |
| JPH08283000A (en) * | 1995-04-18 | 1996-10-29 | Taisei Corp | Work positioning method and crane device |
| KR20110003137U (en) * | 2009-09-22 | 2011-03-30 | 현대엘리베이터주식회사 | Wrong loading sensor device of baggage |
| CN202037898U (en) * | 2010-12-30 | 2011-11-16 | 南通国谊锻压机床有限公司 | Device for adjusting position switches of hydraulic presses |
| CN102358604A (en) * | 2011-09-09 | 2012-02-22 | 上海贝洱热系统有限公司 | Crown-block gravity traction contact device |
| CN202836532U (en) * | 2012-08-29 | 2013-03-27 | 合肥海德数控液压设备有限公司 | Hydraulic press ejection oil cylinder pull wire-type position accurate detection device |
| CN204330340U (en) * | 2014-11-24 | 2015-05-13 | 北京宝克测试系统有限公司 | Vehicle detection constraint mechanism |
| CN205483161U (en) * | 2016-03-21 | 2016-08-17 | 安阳化学工业集团有限责任公司 | Feed bin material level automatic measuring device |
Non-Patent Citations (1)
| Title |
|---|
| 吴清一: "《中国托盘手册》", 30 November 2014, 中国财富出版社 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109761167B (en) | 2020-12-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106185698B (en) | Heavy duty lifting mobile platform based on AGV | |
| KR101600279B1 (en) | Experimental System for measuring wave forces | |
| US8881919B2 (en) | System for measuring length of a beam extension and detecting support | |
| US8949058B2 (en) | System for determining the load mass of a load carried by a hoist cable of a crane | |
| NL2021228B1 (en) | Mobile lifting column, lifting system comprising one or more of such lifting columns, and method for lifting a vehicle | |
| CN209052357U (en) | A kind of small swing radius formula unmanned fork lift | |
| FR2802631B1 (en) | MEASURING THE PROFILE OF A PAVEMENT | |
| KR100980908B1 (en) | Overspeed preventing system for children protection zone | |
| CN109761167A (en) | Probe unit position holding device and intelligent forklift | |
| CN102765681A (en) | Forklift capable of detecting goods lifting height in real time | |
| CN110306412A (en) | A kind of quality of road construction detection device | |
| CN211195974U (en) | Connection structure of AGV and skip | |
| CN207257826U (en) | A kind of suspension driving device of heavy duty two-wheeled differential mechanism people's universal chassis | |
| CN207258613U (en) | Lift rolling bed skid conveying equipment and its positioning guiding structure | |
| CN206562819U (en) | The positioner of the traversing platform of multi-storied garage | |
| KR102290043B1 (en) | 6wd . | |
| CN203187358U (en) | Forklift weighing mechanism | |
| GB2058508A (en) | Photo-electric measurement of the height of a load carrier on a vehicle | |
| CN219532232U (en) | Unmanned electronic truck scale | |
| CN206069278U (en) | Heavy duty lifting mobile platform based on AGV | |
| JP3214210U (en) | Road deflection measuring device | |
| CN207330025U (en) | Balance coefficient of elevator detection device | |
| CN114988291A (en) | Bridge crane system based on vision and accurate positioning and anti-rolling control method | |
| US20100171943A1 (en) | Method for geodetic monitoring of rails | |
| CN110525311B (en) | AGV and skip's connection structure |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20190730 Address after: 300 457 days First Floor, Phase 2, No. 10, Fourth Avenue, Binhai New Area Economic and Technological Development Zone, Tianjin Applicant after: Tianjin Jingdong Shentuo Robot Technology Co., Ltd. Address before: East Building 11, 100195 Beijing city Haidian District xingshikou Road No. 65 west Shan creative garden district 1-4 four layer of 1-4 layer Applicant before: Beijing Jingdong Shangke Information Technology Co., Ltd. Applicant before: Beijing Jingdong Century Commerce Co., Ltd. |
|
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20200520 Address after: Room A1905, 19th floor, No. 2 Building, 18 Kechuang 11th Street, Beijing Daxing District, Beijing Applicant after: Beijing Jingdong Qianshi Technology Co.,Ltd. Address before: 300 457 days First Floor, Phase 2, No. 10, Fourth Avenue, Binhai New Area Economic and Technological Development Zone, Tianjin Applicant before: Tianjin Jingdong Shentuo Robot Technology Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |