CN116732840A - Transition table, intelligent conveying system and conveying method thereof - Google Patents

Abstract

The application discloses a transition table, an intelligent conveying system and a conveying method thereof. The carrying method of the intelligent carrying system comprises the following steps: the intelligent forklift obtains a carrying instruction for carrying by crossing steps of a carrying path; the intelligent forklift acquires a transition table and conveys the transition table to be abutted against the step; the intelligent forklift is carried by crossing the steps through the transition table. Through the mode, the intelligent forklift can stably and smoothly cross the step.

Description

Transition table, intelligent conveying system and conveying method thereof

Technical Field

The application relates to the field of automatic transportation, in particular to a transition table, an intelligent transportation system and a transportation method thereof.

Background

Along with the development of technology, the application of intelligent technology in the production and life of people is becoming more and more popular. People lighten the labor burden by using the intelligent equipment, and the convenience degree of life is improved. Wherein, in the automated transportation technology field, people often utilize intelligent fork truck automatic handling goods.

At present, an intelligent forklift in the prior art does not perform well in an application scene with steps. On the one hand, the intelligent forklift cannot span steps with larger drop height, and on the other hand, even if the intelligent forklift can span steps with smaller drop height, large jolts can be generated in the spanning process.

Disclosure of Invention

The application mainly solves the technical problem of providing a transition table, an intelligent conveying system and a conveying method thereof, and can enable an intelligent forklift to smoothly and stably cross a step.

In order to solve the technical problems, the first technical scheme adopted by the application is as follows: a transition deck is provided that includes a main body portion and a travel path. The travel channel is arranged on the main body part, and the main body part can be propped against the step, so that the two ends of the travel channel can be respectively connected with the upper side of the step and the lower side of the step, and the width of the travel channel is larger than that of the intelligent forklift, so that the intelligent forklift transits between the upper side of the step and the lower side of the step through the travel channel.

In order to solve the technical problems, a second technical scheme adopted by the application is as follows: an intelligent handling system is provided, the intelligent handling system includes intelligent fork truck and the transition platform that first technical scheme provided.

In order to solve the technical problems, a third technical scheme adopted by the application is as follows: provided is a handling method of an intelligent handling system, comprising: the intelligent forklift obtains a carrying instruction for carrying by crossing steps of a carrying path; the intelligent forklift acquires a transition table and conveys the transition table to be abutted against the step; the intelligent forklift is carried by crossing the steps through the transition table.

The beneficial effects of the application are as follows: the utility model provides a be different from prior art's condition, including main part and travel path through the transition platform, travel path sets up in main part, main part can support to lean on the step setting, so that the both ends that travel path can connect the upside of step and the downside of step respectively, and travel path's width is greater than intelligent fork truck's width, so that intelligent fork truck passes through the transition of travel path between the upside of step and the downside of step, step upside and step downside can be connected respectively at the both ends of transition platform, thereby the transition platform can play the transitional effect when intelligent fork truck strides across the step, reduce the height that intelligent fork truck needs to climb, make intelligent fork truck can steadily and smoothly stride the step.

Drawings

FIG. 1 is a schematic view of a fork-lift pallet in an embodiment of an intelligent handling system of the present application;

FIG. 2 is an enlarged view of a portion of the schematic structural diagram of FIG. 1;

FIG. 3 is a schematic perspective view of the transition stage of FIG. 2;

FIG. 4 is a schematic view of the gooseneck vehicle shown in FIG. 2;

FIG. 5 is a schematic perspective view of the transition stage of FIG. 3 from another perspective;

FIG. 6 is a schematic view of a fork arm forking transition stage;

FIG. 7 is a schematic cross-sectional view of the transition table of FIG. 6 along section line B-B;

FIG. 8 is a schematic cross-sectional view of the transition table of FIG. 6 taken along section line A-A;

FIG. 9 is a schematic diagram of the intelligent forklift shown in FIG. 2;

FIG. 10 is a schematic block diagram of a circuit configuration of the intelligent forklift shown in FIG. 2;

FIG. 11 is a schematic view of the structure of a pallet fork take-up reel;

FIG. 12 is a schematic view of a partial construction of a pallet fork;

fig. 13 is a flow chart of an embodiment of a handling method of the intelligent handling system according to the present application.

Detailed Description

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

The inventor discovers through long-term research that in the technical field of automatic transportation, people often utilize intelligent forklift trucks to automatically transport goods. At present, an intelligent forklift in the prior art does not perform well in an application scene with steps. On the one hand, the intelligent forklift cannot span steps with larger drop height, and on the other hand, even if the intelligent forklift can span steps with smaller drop height, large jolts can be generated in the spanning process. In order to solve the above technical problems, the present application provides the following embodiments.

As shown in fig. 1 to 3, the transition table 100 includes a main body portion 101 and a travel path 110. The driving channel 110 is disposed on the main body 101, and the main body 101 can be disposed against the step 11, so that two ends of the driving channel 110 can be respectively connected with the upper side of the step 11 and the lower side of the step 11, and the width of the driving channel 110 is greater than that of the intelligent forklift 200, so that the intelligent forklift 200 transits between the upper side of the step 11 and the lower side of the step 11 through the driving channel 110.

The transition station 100 may act as a transition when the intelligent forklift 200 straddles the steps 11. By providing the width of the travel channel 110 of the transition deck 100 to be greater than the width of the intelligent forklift 200, the intelligent forklift 200 may be allowed to travel on the travel channel 110 of the transition deck 100.

The intelligent forklift 200 may gradually rise from the lower side of the step 11 through the driving lane 110 driving on the transition table 100 until rising to the upper side of the step 11, thereby crossing the step 11 upward. The intelligent forklift 200 may also gradually descend from the upper side of the step 11 through the driving channel 110 running on the transition platform 100 until descending to the lower side of the step 11, thereby crossing the step 11 downward. As such, the intelligent forklift 200 may span the step 11 to carry cargo from the upper side of the step 11 to the lower side of the step 11, or to carry cargo from the lower side of the step 11 to the upper side of the step 11.

Alternatively, the handling path comprises a first cargo placement area 12 and a second cargo placement area 13, wherein the step 11 connects the first cargo placement area 12 and the second cargo placement area 13, wherein the first cargo placement area 12 is higher than the second cargo placement area 13.

The first cargo placement area 12 may be located on the upper side of the step 11 and the second cargo placement area 13 may be located on the lower side of the step 11. The intelligent forklift 200 needs to pass through the first cargo area 12 to leave or enter the second cargo area 13. Specifically, the intelligent forklift 200 needs to span down the step 11 from the first cargo placement area 12 and then to the second cargo placement area 13, and the intelligent forklift 200 needs to span up the step 11 from the second cargo placement area 13 and then to the first cargo placement area 12.

In some embodiments, as shown in FIG. 4, a production or logistics unit has a gooseneck truck 10, the carriage of the gooseneck truck 10 being provided with a step 11. The first cargo placement area 12 may be an upper side of a step 11 of a cabin of the gooseneck truck 10 and the second cargo placement area 13 may be a lower side of the step 11 of the cabin of the gooseneck truck 10.

As shown in fig. 1 and 2, when carrying the cargo on the upper side of the step 11 of the vehicle cabin, the intelligent forklift 200 can carry the transition deck 100 to the lower side of the step 11 of the vehicle cabin and lean against the step 11 of the vehicle cabin, so that the intelligent forklift 200 can span the step 11 of the vehicle cabin through the travel path 110 running on the transition deck 100. As such, in cargo handling, the intelligent forklift 200 may transport cargo from the underside of the step 11 of the vehicle cabin to the upper side of the step 11 across the step 11 of the vehicle cabin, or transport cargo from the upper side of the step 11 to the underside of the step 11 across the step 11 of the vehicle cabin.

As shown in fig. 1, the production unit or the logistics unit may be further provided with a dock 20, and the underside of the step 11 of the carriage may be disposed at the same height or close to the dock 20 where the intelligent forklift 200 is located. The intelligent forklift 200 can travel from above the dock 20 to the underside of the step 11 of the car and then through the transition deck 100 to the underside of the step 11 of the car. The intelligent forklift 200 can also travel from the upper side of the step 11 of the carriage to the lower side of the step 11 of the carriage through the transition table 100 and then to the upper side of the platform 20. In this way, the intelligent forklift 200 can transport the cargo placed on the upper side of the step 11 of the vehicle cabin to the upper side of the dock 20 via the lower side of the step 11 of the vehicle cabin, or transport the cargo from the dock 20 to the upper side of the step 11 of the vehicle cabin via the lower side of the step 11 of the vehicle cabin.

Further, the production unit or the logistics unit is further provided with a storage area connected with the platform 20, and the intelligent forklift 200 can convey the goods placed under the steps 11 or above the steps 11 of the carriage to the storage area via the platform 20, or convey the goods from the storage area to the under sides of the steps 11 or above the steps 11 of the carriage via the platform 20.

In some embodiments, the gooseneck truck 10 is loaded with cargo both on the underside of the steps 11 and on the upper side of the steps 11. At the time of loading, the intelligent forklift 200 may first carry the transition deck 100 from the dock 20 to the underside of the step 11 of the car and against the step 11 of the car, and then the intelligent forklift 200 may carry the cargo to the upper side of the step 11 of the car through the transition deck 100. After completing the loading of the upper side of the step 11 of the car, the intelligent forklift 200 may remove the transition deck 100 from the underside of the step 11 of the car, for example, transfer the transition deck 100 to the dock 20, and then the intelligent forklift 200 may transfer the cargo to the underside of the step 11 of the car to complete the loading of the underside of the step 11 of the car. In this way, the transition table 100 can be prevented from interfering with the goods placed on the lower side of the step 11 of the carriage, and the intelligent forklift 200 can be prevented from being blocked from traveling by the goods placed on the lower side of the step 11 of the carriage when the intelligent forklift 200 loads the upper side of the step 11 of the carriage.

Similarly, during unloading, the intelligent forklift 200 can first unload the goods placed under the steps 11 of the carriage. After completing the unloading of the cargo under the steps 11 of the car, the intelligent forklift 200 may transport the transition deck 100 from the dock 20 to the underside of the steps 11 of the car and against the steps 11 of the car, and then unload the cargo over the steps 11 of the car through the transition deck 100. After completing the unloading of the cargo on the upper side of the steps 11 of the car, the intelligent forklift 200 may move the transition deck 100 off the lower side of the steps 11 of the car, for example, move the transition deck 100 to the dock 20.

Alternatively, the travel path 110 includes a flat section 111 and a slope section 112 connected to each other, an end of the flat section 111 remote from the slope section 112 being connected to an upper side of the step 11, and an end of the slope section 112 remote from the flat section 111 being connected to a lower side of the step 11. Wherein, along the gravity direction, the inclined surface section 112 extends downwards from the plane section 111 in an inclined manner.

Specifically, the travel channel 110 may be used for the intelligent forklift 200 to travel. When the transition platform 100 is set up against the step 11, one end of the setting plane section 111 of the driving channel 110 may be connected to the upper side of the step 11, and one end of the setting inclined plane section 112 of the driving channel 110 may be connected to the lower side of the step 11, so that the height of the intelligent forklift 200 required to climb can be reduced, and the intelligent forklift 200 can smoothly stride over the step 11.

When the step 11 is smaller in drop height so that the intelligent forklift 200 can directly span, the transition table 100 is arranged to reduce the jolt degree of the intelligent forklift 200 when the intelligent forklift 200 spans the step 11, and simultaneously reduce the rollover risk of the intelligent forklift 200 when the intelligent forklift 200 spans the step 11, so that the intelligent forklift 200 can smoothly and stably span the step 11.

When the step 11 is large in drop height and the intelligent forklift 200 cannot directly span, the transition table 100 is arranged to enable the intelligent forklift 200 to stably and smoothly span the step 11, so that the richness of application scenes of the intelligent forklift 200 can be improved.

As shown in fig. 2 and 3, in some application scenarios, when the space above the step 11 cannot fully accommodate the intelligent forklift 200, the plane section 111 may provide a standing place for the intelligent forklift 200 when the intelligent forklift 200 picks up and places the goods above the step 11. By providing the planar segment 111, the transition station 100 may be provided with more application scenarios. For example, the space above the steps 11 of the truck bed of the gooseneck truck 10 is not able to fully accommodate the intelligent forklift 200. When the goods on the upper side of the step 11 of the carriage are taken and placed, the front wheel 281 of the intelligent forklift 200 can stand on the upper side of the step 11 of the carriage, and the rear wheel 282 of the intelligent forklift 200 can stand on the plane section 111, so that the goods on the upper side of the step 11 of the carriage can be taken and placed.

Alternatively, the dimension of the ramp section 112 in the height direction of the transition stage 100 can be matched to the height of the step 11 when the height of the step 11 is fixed. For example, the dimension of the bevel section 112 in the height direction of the transition stage 100 is equal to the height of the step 11, with the flat section 111 being flush with the upper side of the step 11.

Through transition platform 100 including main part 101 and passageway of traveling 110, passageway of traveling 110 sets up on main part 101, main part 101 can support to lean on step 11 setting, so that the both ends of passageway of traveling 110 can connect the upside of step 11 and the downside of step 11 respectively, and the width of passageway of traveling 110 is greater than intelligent fork truck 200, so that intelligent fork truck 200 passes through passageway of traveling 110 and transits between the upside of step 11 and the downside of step 11, passageway of traveling 110 can play the transitional effect when intelligent fork truck 200 strides over step 11, thereby reducible intelligent fork truck 200 need climb the height, make intelligent fork truck 200 can steadily smoothly stride step 11.

As shown in fig. 2 and 3, optionally, a fork hole 120 is further provided on the main body 101 for inserting a fork 210 of the smart forklift 200. The fork holes may be used for the intelligent forklift 200 to fork the transition deck 100, thereby enabling the intelligent forklift 200 to handle the transition deck 100.

Further, the intelligent forklift 200 may insert the fork hole 120 from the end of the transition deck 100 where the bevel section 112 is located, and fork the transition deck 100 such that the end of the transition deck 100 where the flat section 111 is located abuts the step 11.

Alternatively, as shown in fig. 3 and 5, the main body portion 101 may further include two flange portions 130, and the two flange portions 130 may be disposed on outer wall surfaces of the travel path 110 facing the opposite side walls 113 of the travel path 110. The two fork holes 120 are respectively provided in the corresponding flange 130.

The two sides of the driving channel 110 may have two opposite side walls 113, and the two side walls 113 may prevent the intelligent forklift 200 from driving from the two sides of the driving channel 110 to the driving channel 110 when driving on the driving channel 110, thereby protecting the intelligent forklift 200. The transition platform 100 is provided with two fork holes 120 into which two fork arms 211 of the intelligent forklift 200 are inserted in a one-to-one correspondence.

By providing the flange 130 on the outer wall surface of the side walls 113 facing away from the travel path 110, interference between the flange 130 and the intelligent forklift 200 can be avoided. The extending direction of the flange portion 130 may be parallel to the extending direction of the travel path 110. Further, the extending direction of the fork hole 120 is parallel to the extending direction of the flange portion 130.

Optionally, as shown in fig. 3, a lifting hole 160 is formed on the upper surface of the flange 130 for suspending, so as to facilitate the processing of the transition table 100. Further, the inclined surface section 112 and the flat surface section 111 are provided with a lifting hole 160 on both sides thereof so as to stably lift the transition table 100.

Alternatively, as shown in fig. 7, the length of the upper surface of the flange part 130 is greater than the length of the lower surface of the flange part 130 in the extending direction of the flange part 130, and the length of the lower surface of the flange part 130 is the length of the fork hole 120. So configured, materials may be saved and the weight of the transition stage 100 may be reduced.

After the fork arms 211 are inserted into the fork holes 120, the fork holes 120 and the fork arms 211 may be mutually restricted to prevent the transition deck 100 from moving relative to the intelligent forklift 200 in the height direction of the transition deck 100. Optionally, the length of the fork hole 120 is greater than the length of the portion of the fork arm 211 used for inserting the fork hole 120, and the fork arm 211 cannot protrude from the other end of the fork hole 120 after being inserted into the fork hole 120 from one end of the fork hole 120, so that the length of the fork hole 120 and the fork arm 211 limited by each other is increased, and the stability of the intelligent forklift 200 when the transition table 100 is forked is improved.

Alternatively, as shown in fig. 5 and 7, the transition stage 100 is provided with reinforcing plates 140 on both sides of the travel path 110, and the reinforcing plates 140 are supportedly connected between the lower surfaces of the corresponding flange portions 130 and the side walls 113. By providing the reinforcing plate 140, structural stability between the flange portion 130 and the side wall 113 of the travel path 110 can be improved, and the ability of the flange portion 130 and the side wall 113 of the travel path 110 to withstand external forces can be improved.

Alternatively, the reinforcing plates 140 on both sides of the travel path 110 are provided in plural, and the plural reinforcing plates 140 are provided at intervals along the extending direction of the flange portion 130.

Optionally, the reinforcing plate 140 is hollow to save materials. Further, the outer contour of the reinforcing plate 140 approximates a triangle to improve structural stability.

Alternatively, the reinforcing plate 140 is provided with a relief 141 near one corner of the lower surface of the flange portion 130 and the side wall 113 at the same time to prevent interference with the angle between the lower surface of the flange portion 130 and the side wall 113.

Alternatively, as shown in fig. 6 and 7, the fork hole 120 has a fork opening 122 for insertion, and the bottom wall 121 of the fork hole 120 is provided with an inclined guide surface 123 extending obliquely upward from the fork opening 122.

Optionally, the fork aperture 120 has a fork opening 122 for insertion, and a top wall 124 of the fork aperture 120 is provided with a sloped guide surface 123 extending obliquely downward from the fork opening 122.

By providing the inclined guide surface 123, the yoke 211 can be guided during the process of inserting the yoke 211 into the yoke hole 120, so that the yoke 211 can be smoothly inserted into the yoke hole 120. If the inclined guide surface 123 is not provided, the fork hole 120 needs to be provided with a large size in the height direction of the transition stage 100 so that the fork arm 211 can be smoothly inserted. In the case of providing the inclined guide surface 123, the size of the fork hole 120 in the height direction of the transition platform 100 may be reduced, so as to reduce the gap between the fork hole 120 and the fork arm 211 in the height direction of the transition platform 100, which is beneficial to limiting the movement of the transition platform 100 relative to the fork arm 211 in the height direction thereof, and further improving the stability of the intelligent forklift 200 when the transition platform 100 is forked.

Alternatively, as shown in FIG. 8, the transition stage 100 includes a weight 150, the weight 150 being disposed at one end of the bevel section 112 of the transition stage 100.

Without the provision of the weight 150, the transition stage 100 would have a greater length when the step 11 falls by a greater fall due to the angle of inclination α of the ramp section 112 being within a certain range, such that the center of gravity of the transition stage 100 would likely fall outside the extension of the yoke 211 when the fork 210 is used to fork the transition stage 100. Because of the gap between the fork hole 120 and the fork arm 211 in the height direction of the transition platform 100, if the center of gravity of the transition platform 100 falls outside the extension range of the fork arm 211, the end of the transition platform 100 away from the intelligent forklift 200 may incline downward, which causes the risk that the transition platform 100 slides off the fork 210.

By arranging the balancing weight 150, the gravity center of the transition table 100 falls between the fork arms 211 when the fork 210 forks the transition table 100, so that the stability of the intelligent forklift 200 when the intelligent forklift forks the transition table 100 is improved.

Optionally, as shown in fig. 8, a cavity 170 is provided in the transition stage 100, the flat section 111 and the inclined section 112 form a top wall of the cavity 170, and a plurality of support plates 171 are provided in the cavity 170 to support the flat section 111 and the inclined section 112, the support plates 171 supporting the flat section 111 have the same height, and the support plates 171 supporting the inclined section 112 vary with the height of the inclined section 112. Further, the extending direction of the partial support plate 171 is parallel to the extending direction of the travel path 110, and the extending direction of the partial support plate 171 is perpendicular to the extending direction of the travel path 110. Optionally, a weight 150 is disposed within the cavity 170 proximate an end of the bevel section 112.

Alternatively, as shown in FIG. 8, the bevel segment 112 has an inclination angle α of 6-10 with respect to the planar segment 111. For example, the inclination angle α may be set to 8 °.

By setting the inclination angle α of the inclined surface section 112 relative to the plane section 111 to be greater than or equal to 6 °, the length of the transition platform 100 can be reduced, so that the intelligent forklift 200 can conveniently fork the transition platform 100, and the occupied area of the transition platform 100 can be reduced.

By setting the inclination angle α of the inclined surface section 112 relative to the plane section 111 to be smaller than or equal to 10 °, the intelligent forklift 200 is not easy to slip off when running on the inclined surface section 112, and the running stability of the intelligent forklift 200 is improved.

Alternatively, as shown in FIG. 8, the planar segments 111 are disposed parallel to the bottom surface of the transition stage 100.

Alternatively, as shown in fig. 8, the transition stage 100 is provided with a supporting top surface 180, the transition stage 100 is supported against the vertical surface of the step 11 by the supporting top surface 180, and when the step 11 is at right angles, the supporting top surface 180 is disposed at right angles to the bottom surface of the transition stage 100.

As shown in fig. 1 and 2, the intelligent transportation system 1 according to the embodiment of the present application includes the above-described transition station 100 and the intelligent forklift 200. The intelligent forklift 200 is used for transporting the transition deck 100, and can travel on the travel path 110. The intelligent transportation system 1 may be used to transport and transport goods across a step 11 in a production or logistics unit.

The intelligent forklift 200 may include a fork 210, and the intelligent forklift 200 may fork the transition deck 100 and the cargo through the fork 210 to carry the transition deck 100 and the cargo. As shown in fig. 1 and 2, in some embodiments, the cargo may be placed on the pallet 30, and the intelligent forklift 200 may fork the pallet 30 via the forks 210 to handle the cargo.

Optionally, as shown in fig. 2 and 9, the intelligent forklift 200 may further include an inner mast 250, an outer mast 260, and a body 270. The outer mast 260 is coupled to the body 270, and the inner mast 250 is disposed within the outer mast 260 and is slidably coupled to the outer mast 260 and the fork 210 is slidably coupled to the inner mast 250. The forks 210 may slide relative to the inner mast 250 along the height of the intelligent forklift 200 to enable lifting and lowering of the transition table 100 or cargo during handling. The inner mast 250 is slidable relative to the outer mast 260 along the height of the intelligent forklift 200 to enable further increases in the lifting height of the fork 210 to the transition deck 100 or cargo.

Optionally, the smart lift truck 200 may also include an energy storage module. The energy storage module may be disposed on the vehicle body 270 for supplying power when the intelligent forklift 200 is in operation.

Optionally, a plurality of detection assemblies may be disposed around the periphery of the body 270 for detecting the surrounding environment of the smart forklift 200 to prevent the smart forklift 200 from colliding. The detection component may be a lidar component, a camera, etc.

Alternatively, as shown in fig. 10, the smart lift truck 200 includes a processor 240 and a perception module 220 coupled together. The sensing module 220 is configured to detect a position of the fork opening 120, and the processor 240 is configured to control the sensing module 220 to detect the position of the fork opening 120 and also to control the fork 210 to fork the transition deck 100.

The sensing direction of the sensing module 220 may be oriented toward the forks direction of the forks 210 so that the position of each fork aperture 120 can be detected. The sensing module 220 may also be used to detect the position of the cargo and the tray 30. The processor 240 may control the fork 210 to fork the transition table 100 or the tray 30 according to the detection result of the sensing module 220.

Further, the sensing module 220 is disposed at a location between the fork 210 and the vehicle body 270.

Alternatively, the perception module 220 may be a lidar component, a camera, or the like.

Alternatively, as shown in fig. 9 and 10, the intelligent forklift 200 has a running gear 280. The running gear 280 may be coupled below the vehicle body 270. The processor 240 may be coupled to the travel mechanism 280 to control the travel of the intelligent forklift 200. Further, the running gear 280 includes a front wheel 281 and a rear wheel 282.

Optionally, as shown in fig. 9 and 10, a cab 271 is disposed in the vehicle body 270, the intelligent forklift 200 includes a man-machine interaction system 290 disposed in the cab 271, the man-machine interaction system 290 is coupled with the processor 240, and a driver can send an instruction to the processor 240 through the man-machine interaction system 290 to control the intelligent forklift 200 to work.

As shown in fig. 2 and 6, the main body 101 is optionally provided with two fork holes 120, and the fork holes 120 are respectively disposed on two sides of the travel path 110 of the transition table 100. The intelligent forklift 200 comprises a fork 210, wherein the fork 210 comprises four fork arms 211 arranged side by side, and the distance between two fork arms 211 positioned at the outermost side is matched with the distance between the fork holes 120, so that the two fork arms 211 positioned at the outermost side are respectively inserted into the two fork holes 120.

The intelligent forklift 200 can directly fork goods through the fork arms 211. The intelligent forklift 200 can also fork the pallet 30 through the fork arms 211 to carry goods. In some embodiments, as shown in fig. 2 and 9, two prongs 211 on one side of the smart forklift 200 may be used to fork one pallet 30 and two prongs 211 on the other side of the smart forklift 200 may be used to fork another pallet 30. By providing four fork arms 211, the intelligent forklift 200 can simultaneously fork two pallets 30, thereby increasing the number of loads handled by the intelligent forklift 200.

In some situations, the width of the truck 10 is limited, and when one pallet 30 is placed, the remaining space along the width of the truck 10 can be used to place another pallet 30, which is inconvenient for the intelligent forklift 200 to carry. Through setting up four yoke 211, two trays 30 can be simultaneously forked to intelligent fork truck 200, are favorable to intelligent fork truck 200 to carry work in the carriage of gooseneck car 10, can improve the carriage space utilization of gooseneck car 10.

Two fork arms 211 positioned at the outermost sides of the fork 210 can be inserted into the two fork holes 120 in a one-to-one correspondence to fork the transition table 100. In some embodiments, the distance between the two fork arms 211 located outermost is not adjustable. In other embodiments, the distance between the outermost two prongs 211 may be adjusted to match the distance between the prongs 120.

Alternatively, as shown in fig. 10, the smart forklift 200 includes an adjusting mechanism 230 coupled to a processor 240, where the adjusting mechanism 230 may be used to adjust the distance between the fork arms 211, and the processor 240 is used to control the adjusting mechanism 230 to adjust the distance between the two fork arms 211 located at the outermost side according to the distance between the fork holes 120.

After the processor 240 determines the location of each of the fork apertures 120 by the perception module 220, the distance between the fork apertures 120 may be further determined. The processor 240 may control the adjustment mechanism 230 to adjust the distance between the outermost two prongs 211 of the pallet fork 210 such that the distance between the outermost two prongs 211 of the pallet fork 210 matches the distance between the fork apertures 120, thereby enabling the outermost two prongs 211 of the pallet fork 210 to be inserted into the corresponding fork apertures 120.

The adjusting mechanism 230 can enable the intelligent forklift 200 to meet the working requirements in more scenes by adjusting the distance between the fork arms 211. For example, the intelligent forklift 200 may need to switch between the pallet 30 and the transition pallet 100 during operation. In some embodiments, the forks 210 require adjustment of the distance between the fork arms 211 via the adjustment mechanism 230 when switching between the pallet 30 and the transition station 100. In other embodiments, the forks 210 may not require adjustment of the distance between the fork arms 211 when switching between the pallet 30 and the transition station 100.

As another example, as shown in fig. 11, two of the prongs 211 of the fork 210 may be moved toward and away from each other to enable the fork 210 to be switched between a two-prong configuration and a one-prong configuration. The fork 210 is in a single fork configuration when the two prongs 211 are brought together, at which point the fork 210 can be used to fork the spool 40. The fork 210 is in a double fork configuration when the two prongs 211 are spaced apart from each other, and the fork 210 can be used to fork the pallet 30 or the transition deck 100.

Alternatively, as shown in fig. 9 and 12, the fork 210 includes a rail 212 perpendicular to the extending direction of the fork arms 211 and parallel to the arrangement direction of at least two fork arms 211, and the at least two fork arms 211 are slidably connected to the rail 212 to be able to be moved close to or away from each other, respectively. The slide rail 212 may guide the sliding movement of the yoke 211, which may facilitate the adjustment mechanism 230 to adjust the distance between the yoke 211.

Alternatively, as shown in fig. 9 and 12, the rail 214 of the slide rail 212 extends in a direction perpendicular to the height direction of the inner gantry 250 and also perpendicular to the traveling direction of the intelligent forklift 200. The slide rail 212 may be slidably connected to the inner gantry 250 to be capable of lifting in the height direction of the intelligent forklift 200.

Alternatively, as shown in fig. 12, each fork arm 211 has two sets of pulleys 213, and the rail 212 has two rails 214 disposed opposite to each other, and each set of pulleys 213 is disposed in one rail 214 so that the fork arm 211 can slide with respect to the rail 212. Further, the openings of the two rails 214 face away so that the slide rail 212 is located between the two sets of pulleys 213.

Alternatively, as shown in fig. 12, the fork arm 211 is provided with a connecting groove 215, and the two sets of pulleys 213 are respectively rotatably connected to two opposite inner side walls of the connecting groove 215.

Alternatively, the number of pulleys 213 may be one or two or more.

Alternatively, as shown in fig. 6 and 7, the bottom wall 121 of the fork hole 120 is higher than the top end of the bottom surface of the travel path 110 in the height direction of the transition stage 100.

When the fork 210 is provided with at least two fork arms 211, two fork arms 211 positioned at the outermost side of the fork 210 can be inserted into corresponding fork holes 120 to fork the transition table 100, and the other fork arms 211 of the fork 210 are positioned between two side walls 113 of the driving channel 110. For example, the fork 210 has four fork arms 211, and two fork arms 211 located at the outermost side of the fork 210 can be inserted into corresponding fork holes 120, where two fork arms 211 in the middle of the fork 210 are located between two side walls 113 of the travel channel 110. By providing the bottom wall 121 of the fork hole 120 higher than the top end of the bottom surface of the travel path 110 in the height direction of the transition stage 100, the other fork arms 211 of the fork 210 are prevented from interfering with the inclined surface section 112 and the flat surface section 111.

Specifically, the travel path 110 includes a planar section 111 and a sloped section 112 connected to each other, and a bottom wall 121 of the fork hole 120 is higher than a top end of the sloped section 112 and the planar section 111 in the height direction of the transition stage 100.

As shown in fig. 13, a handling method described in an embodiment of a handling method of an intelligent handling system of the present application includes: s100: the intelligent forklift obtains a conveying instruction for conveying the steps which need to cross the conveying path. S200: the intelligent forklift acquires the transition table and carries the transition table to be abutted against the step. S300: the intelligent forklift is carried by crossing the steps through the transition table.

The intelligent transportation system 1 can span the steps 11 to carry cargoes during the working process. After the intelligent forklift 200 obtains a conveying instruction for conveying across the step 11, the transition table 100 can be conveyed to abut against the step 11, so that the transition effect of the transition table 100 between the upper side of the step 11 and the lower side of the step 11 is realized, and then the intelligent forklift 200 is driven on the transition table 100 to convey across the step 11.

The following describes in detail an embodiment of a handling method of the intelligent handling system of the present application.

S100: the intelligent forklift obtains a conveying instruction for conveying the steps which need to cross the conveying path.

The conveyance path may be, for example, a path between the dock 20 and the upper side of the step 11 of the cabin of the gooseneck 10.

The handling instructions may include loading instructions and unloading instructions. The carrying instruction may include information that the carrying path has the step 11, and the carrying instruction may also include the position of the step 11, so that the intelligent forklift 200 can accurately abut the transition table 100 against the step 11.

The carry instruction may also include positional information of the transition station 100. As shown in fig. 1, for example, a storage area 21 may be provided on the dock 20 to place the transition dock 100, and the handling instructions may include the location of the storage area 21. After the intelligent forklift 200 obtains the position of the storage area 21, the intelligent forklift can reach the storage area 21 to fork the transition platform 100, and then carry the transition platform 100 to abut against the step 11.

Optionally, the intelligent forklift may specifically refer to the following steps after S100 between acquiring the handling instruction for handling across the steps of the handling path:

s110: and the intelligent forklift acquires the unloading instruction.

The discharge instructions may indicate a need for the intelligent forklift 200 to move the cargo placed in the first cargo placement area 12 and the second cargo placement area 13 away, such as from the carriage of the gooseneck 10 to the dock 20 or the storage area.

S120: and the intelligent forklift removes the cargoes in the second cargo placing area from the second cargo placing area according to the unloading instruction.

Since the intelligent forklift 200 needs to pass through the first cargo placement area 12 to leave or enter the second cargo placement area 13, and the intelligent forklift 200 needs to place the transition table 100 in the first cargo placement area 12 when entering the second cargo placement area 13, the unloading of the second cargo placement area 13 needs to be completed first to clean the site before unloading the first cargo placement area 12.

Optionally, the intelligent forklift may further refer to step S130 between acquiring the handling instruction for handling across the steps of the handling path:

s130: the intelligent forklift obtains a loading instruction.

The loading instructions may indicate that the intelligent forklift 200 is required to transfer cargo to the first cargo placement area 12 and the second cargo placement area 13, such as from the dock 20 or the storage area to the carriage of the gooseneck truck 10.

S200: the intelligent forklift acquires the transition table and carries the transition table to be abutted against the step.

The transition stage 100 may serve to transition between the upper side and the lower side of the step 11 when abutting against the step 11. The transition station 100 is placed in an area outside the first cargo placement area 12 and the second cargo placement area 13 when not in use, so as to avoid occupying the space of the first cargo placement area 12 and the second cargo placement area 13. When the transition table 100 needs to be used, the intelligent forklift 200 is required to convey the transition table 100 from the area where the transition table 100 is placed to abut against the step 11.

Optionally, as to how to acquire the transition table and carry the transition table against the step, see in particular the following steps included after S200:

s210: the intelligent forklift carries the transition platform to the second goods placement area and abuts against the step.

Because the second cargo placement area 13 is lower than the first cargo placement area 12, the transition platform 100 is required to be carried to the second cargo placement area 13, the bottommost end of the inclined surface section 112 is close to the second cargo placement area 13, the topmost end of the inclined surface section 112 is close to the first cargo placement area 12, and the intelligent forklift 200 can gradually rise from the second cargo placement area 13 to a height close to or equal to the first cargo placement area 12 by virtue of the inclined surface section 112 of the transition platform 100.

Optionally, the transition stage 100 is provided with fork holes 120. Before acquiring the transition table and carrying the transition table against the step, the following steps included after S210 may be specifically referred to:

s211: the intelligent forklift comprises a fork, a sensing module and an adjusting mechanism, wherein the fork is provided with at least two fork arms, and the adjusting mechanism is used for adjusting the distance between the fork arms.

S212: the intelligent forklift detects the distance between fork holes by using the sensing module.

S213: the intelligent forklift controls the adjusting mechanism to adjust the distance between two fork arms in the at least two fork arms according to the distance between the fork holes.

Optionally, for how the intelligent forklift can be carried across the steps by the transition table, see in particular the following steps included after S300:

s310: the intelligent forklift removes the goods in the first goods placing area from the first goods placing area through the second goods placing area and the transition table according to the unloading instruction.

After receiving the unloading command, after completing the movement of moving the goods away from the second goods placement area 13 and the movement of moving the transition platform 100 to abut against the step 11, the intelligent forklift 200 can enter the first goods placement area 12 through the second goods placement area 13 and the transition platform 100, and can leave the first goods placement area 12 through the second goods placement area 13 and the transition platform 100, so that the goods in the first goods placement area 12 can be moved away.

Optionally, for how to carry across the step by the transition station, see also step S320 in particular:

s320: the intelligent forklift carries cargoes to the first cargo placing area through the second cargo placing area and the transition table according to the cargo loading instruction.

After receiving the loading command, after completing the movement of the transition platform 100 to abut against the step 11, the intelligent forklift 200 can enter the first cargo placement area 12 through the second cargo placement area 13 and the transition platform 100, and can leave the first cargo placement area 12 through the second cargo placement area 13 and the transition platform 100, so that the cargo can be carried to the first cargo placement area 12.

After completing the loading of the first cargo area 12, the intelligent forklift 200 may move the transition deck 100 away from the second cargo area 13, e.g., to the storage area 21 above the dock 20, so that the loading of the second cargo area 13 may be completed in a subsequent process.

For details not mentioned in the embodiment of the handling method of the intelligent handling system according to the present application, reference may also be made to the description related to the above embodiment of the intelligent handling system, which is not repeated herein.

To sum up, this embodiment can realize that through the setting of transition platform 100 supporting step 11, the both ends of travel channel 110 can connect step 11 upside and step 11 downside respectively, can play the transitional effect when intelligent fork truck 200 strides over step 11 to reducible intelligent fork truck 200 need climb the height, make intelligent fork truck 200 can smoothly stride over step 11.

The foregoing is only illustrative of the present application and is not to be construed as limiting the scope of the application, and all equivalent structures or equivalent flow modifications which may be made by the teachings of the present application and the accompanying drawings or which may be directly or indirectly employed in other related art are within the scope of the application.

Claims (10)

1. A transition station, comprising:

a main body portion;

the travel channel is arranged on the main body part, the main body part can be propped against the step, so that two ends of the travel channel can be respectively connected with the upper side of the step and the lower side of the step, and the width of the travel channel is larger than that of the intelligent forklift, so that the intelligent forklift transits to travel between the upper side of the step and the lower side of the step through the travel channel.

2. A transition stage according to claim 1, wherein,

the driving channel comprises a plane section and an inclined plane section which are connected with each other, one end of the plane section, which is far away from the inclined plane section, is connected with the upper side of the step, and one end of the inclined plane section, which is far away from the plane section, is connected with the lower side of the step; wherein, along the direction of gravity, the inclined plane section extends downwards in an inclined way from the plane section.

3. A transition station according to claim 1 or 2, characterized in that,

and fork holes for inserting the fork of the intelligent forklift are further formed in the main body.

4. A transition stage according to claim 3, wherein,

the main body part further comprises two flange parts, wherein the two flange parts are arranged on the outer wall surface of the opposite side wall of the running channel, which is away from the running channel; the number of the fork holes is two, and the fork holes are respectively arranged on the corresponding flange parts.

5. A transition stage according to claim 3, wherein,

the fork hole is provided with a fork opening for insertion, and the bottom wall of the fork hole is provided with an inclined guide surface which extends upwards obliquely from the fork opening; and/or the number of the groups of groups,

the fork hole has a fork opening for insertion, and a top wall of the fork hole is provided with an inclined guide surface extending obliquely downward from the fork opening.

6. An intelligent handling system, comprising:

a transition station as claimed in claim 1 or 2;

an intelligent forklift.

7. The intelligent transportation system of claim 6, wherein,

the main body part is provided with two fork holes which are respectively arranged on two sides of the traveling passage of the transition table;

the intelligent forklift comprises a fork, the fork comprises four fork arms which are arranged side by side, and the distance between two fork arms located at the outermost side is matched with the distance between two fork holes, so that the two fork arms located at the outermost side are respectively inserted into the two fork holes.

8. The intelligent transportation system of claim 7, wherein,

the bottom wall of the fork hole is higher than the top end of the bottom surface of the running channel in the height direction of the transition table.

9. A handling method of an intelligent handling system, applied to the intelligent handling system according to any one of claims 6 to 8, comprising:

the intelligent forklift acquires a carrying instruction for carrying by crossing steps of a carrying path;

the intelligent forklift acquires a transition table and carries the transition table to be abutted against the step;

the intelligent forklift is carried by crossing the steps through the transition table.

10. The method of claim 9, wherein,

the carrying path comprises a first goods placing area and a second goods placing area, wherein the step is connected with the first goods placing area and the second goods placing area, and the height of the first goods placing area is higher than that of the second goods placing area; the carrying instruction comprises a loading instruction and a unloading instruction;

the intelligent forklift is carried by crossing the step through the transition platform, and comprises:

the intelligent forklift moves the goods in the first goods placing area away from the first goods placing area through the second goods placing area and the transition table according to the unloading instruction; or alternatively, the first and second heat exchangers may be,

the intelligent forklift carries cargoes to the first cargo placing area through the second cargo placing area and the transition platform according to the cargo loading instruction.