CN207827780U - To pallet jack position detecting system after fork truck - Google Patents
To pallet jack position detecting system after fork truck Download PDFInfo
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- CN207827780U CN207827780U CN201721145296.1U CN201721145296U CN207827780U CN 207827780 U CN207827780 U CN 207827780U CN 201721145296 U CN201721145296 U CN 201721145296U CN 207827780 U CN207827780 U CN 207827780U
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- fork
- horizontal axis
- pallet
- longitudinal axis
- detecting system
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Abstract
The utility model is related to after a kind of fork truck to pallet jack position detecting system, including location tray, and the fork that coordinates with the location tray；The fork is set on Counterbalanced forklift power assembly, a sensor is provided only in the fork, the fork includes pallet fork, the longitudinal axis and horizontal axis, the pallet fork extends the front of horizontal axis, the rear of horizontal axis is connected with the longitudinal axis, the longitudinal axis is connect with Counterbalanced forklift power assembly, and the longitudinal axis is vertically removable back and forth along Counterbalanced forklift power assembly；Side shifter is provided on the horizontal axis, the side shifter is axial removable back and forth along horizontal axis.Simple in structure, precise positioning detects highly reliable, and speed is fast, and real-time is good, and security performance is high, solves the problems, such as that the prior art can not be accurately positioned pallet jack, and use is more convenient, preferably improves efficiency and reduction cost of labor.
Description
Technical field
The utility model belongs to AGV automatic material flow equipment technology field of transport, and in particular to pallet after a kind of fork truck
Jack position detecting system.
Background technology
AGV is called automated guided vehicle, refer to equipped with electricity magnetically or optically equal homing guidances device, can be along defined
Guide path travels, the transport vehicle with safeguard protection and various transfer functions.In recent years, with the rapid hair of logistics system
Exhibition, the application range of AGV fork trucks are also constantly extending, and the most widely used field of AGV trolleies becomes to produce and process field, wraps
The industries such as automobile, chemical industry, papermaking, metallurgy, tobacco, assembly are included, the specifically replacements such as warehouse, harbour are manually unloaded, carry, loaded
Equal work, it is untiring as mobile robot ceaselessly to work, there is good adaptive capacity to environment, it is very strong anti-interference
Ability and target identification ability.
It is mainly used for logistics turnover, the intelligence of storehouse pallet class cargo after AGV fork trucks to pallet jack detection and localization
Traffic administration, shop material dispatching, factory position warehouse stacking, the raw material dispatching on production line and the transport of semi-finished product, finished product
Etc. application fields.It is positioned compared to traditional fork truck, certain dull, frequent, labour can be done instead of people in the industrial production by force
Degree is big and repeats the operation under long working or danger, adverse circumstances, can be with to pallet jack detection and localization after AGV fork trucks
Automatically pallet jack position is arrived in evacuation barrier, accurate positionin in time, encounters barrier meeting emergency braking, keeps operation safer
Reliably, efficiency is improved, it might even be possible to, can be more standardized and orderly applied to warehouse logistics in the case where realizing unmanned transport,
Fully improve space availability ratio and conevying efficiency.But to pallet jack detection and localization, there are structures to answer after existing AGV fork trucks
Miscellaneous, poor reliability there are problems that pallet jack can not be accurately positioned.
Invention content
The utility model aim is to provide after a kind of fork truck to pallet jack position detecting system, simple in structure, precisely fixed
Position detection it is highly reliable, speed is fast, and real-time is good, and security performance is high, solves the prior art and can not be accurately positioned pallet and inserts
The problem of hole, use is more convenient, preferably improves efficiency and reduces cost of labor.
In order to achieve the goal above, the technical solution adopted in the utility model is：It is positioned to pallet jack after a kind of fork truck
Detecting system, including location tray, and the fork with the location tray cooperation；The fork is set to Counterbalanced forklift
On power assembly, it is provided only with a sensor in the fork, the fork includes pallet fork, the longitudinal axis and horizontal axis, described
Pallet fork extend the front of horizontal axis, rear and the longitudinal axis of horizontal axis are connected, and the longitudinal axis connects with Counterbalanced forklift power assembly
It connects, and the longitudinal axis is vertically removable back and forth along Counterbalanced forklift power assembly；Side shifter, the sidesway are provided on the horizontal axis
Device is axial removable back and forth along horizontal axis.
Further, the sensor is a TIM561 series SICK sensor for being set to pallet fork centre position.
Further, the location tray section is in " river " font or sphere of movements for the elephants type.
Further, guide bearing is provided between the side shifter and horizontal axis, the guide bearing is along horizontal axis axis
To being symmetrically arranged with two groups.
The utility model has technical effect that：The longitudinal axis of the horizontal axis connection pallet fork of the utility model, pallet fork extend to cross
The front of axis, in this way, pallet fork is for inserting picking object.The longitudinal axis drives the integral structure of pallet fork and horizontal axis, side shifter vertically to adjust.Side
Move device and be mounted on fork truck and be used for making cargo in location tray or so lateral displacement back and forth, facilitate cargo in place after pallet fork small
It is moved left and right in range, pallet fork is made preferably to insert picking object.Sensor senses the two of location tray using the light source of scanning signal
The borderline region of side jack, accurate tray position.Counterbalanced forklift power assembly provides motive power, controls whole work shape
State.By realizing to, to pallet jack detection and localization, simple in structure, the reliability of precise positioning detection enhances, speed after fork truck
Soon, real-time is good, and security performance is high, solves the problems, such as that the prior art can not be accurately positioned pallet jack, use is more convenient.
Description of the drawings
Fig. 1 is the structure diagram of the utility model.
Specific implementation mode
With reference to attached drawing, determine to pallet jack position detecting system, including location tray 1, and with described after a kind of fork truck
The fork 2 that position pallet 1 coordinates；The fork 2 is set on Counterbalanced forklift power assembly 5, is only arranged in the fork 2
There are one sensor 4, the fork 2 includes that pallet fork 2a, longitudinal axis 2b and horizontal axis 2c, the pallet fork 2a extend horizontal axis 2c's
Front, rear and the longitudinal axis 2b of horizontal axis 2c are connected, and the longitudinal axis 2b is connect with Counterbalanced forklift power assembly 5, and longitudinal axis 2b
It is vertical removable back and forth along Counterbalanced forklift power assembly 5；Side shifter 3,3 edge of side shifter are provided on the horizontal axis 2c
Horizontal axis 2c is axial removable back and forth.
In conjunction with Fig. 1, the longitudinal axis 2b of horizontal axis 2c connection pallet forks 2a, pallet fork 2a extends to the front of horizontal axis 2c, in this way, pallet fork 2a
For inserting picking object.Longitudinal axis 2b drives the integral structure of pallet fork 2a and horizontal axis 2c, side shifter 3 vertically to adjust.Side shifter 3 is mounted on
Be used for making cargo in location tray 1 or so lateral displacement back and forth on fork truck, facilitate cargo in place after pallet fork 2a in a small range
It moves left and right, pallet fork 2a is made preferably to insert picking object.Sensor 4 senses the both sides of location tray 1 using the light source of scanning signal
The borderline region of jack incudes location tray 1 particular by the conplane profile in side of timing scan pallet fork 2a
The boundary of both sides jack, obtains boundary coordinate, and the data that analysis scanning profile is formed determine both sides jack according to boundary coordinate
Center, detecting distance reach 10m, and angle detection resolution greatly promotes, and can detect more tiny object, preferably divide
The jack position of pallet, accurate tray position is precipitated.In addition, being directed to existing disadvantage and problem, in order to better improve efficiency
With reduction cost of labor.To pallet jack position detecting system include location tray 1, sidesway after the fork truck that the utility model is taken
Device 3, sensor 4, Counterbalanced forklift power assembly 5.Wherein, Counterbalanced forklift power assembly 5 provides motive power, controls whole
Working condition.By realizing to, to pallet jack detection and localization, simple in structure, the reliability of precise positioning detection increases after fork truck
By force, speed is fast, and real-time is good, and security performance is high, solves the problems, such as that the prior art can not be accurately positioned pallet jack, using compared with
For convenience.
Further, the sensor 4 is a TIM561 series SICK sensing for being set to the centre positions pallet fork 2a
Device.
Sensor 4 uses SICK sensors, and scanning range is 270 °, and scanning is to location tray 1 in positive range, after being
The information processing and analysis of controller provide basis on the fork truck of face.The utility model by SICK sensors two dimensional laser scanning
Instrument provides the initial data for AGV fork truck robot navigations.The SICK sensors are TIM561 series SICK sensors.
It being capable of anticollision, navigation and the detection of surrounding enviroment, area monitoring.The advantages of TIM561 series SICK sensors：It only needs to use
One sensor can monitor big plane domain；It can ensure the high optical noise immunity of environment；Degree of protection is high, it is ensured that durable
Property；Low consumpting power；Reach as high as the scanning range of 25m.It, can be unlatching using this sensor in specific practical set
Angle spread is to 270 degree of scan area.It is promoted from 1 degree to 0.33 degree along with the resolution ratio of scanning angle, makes measurement point
It is closeer, it can detect more tiny object.Meanwhile the sensor 4 of the utility model uses infrared light sources, makes the inspection of working region
Ranging is from reaching 10 meters, to human eye also safety.
Further, 1 section of location tray is in " river " font or sphere of movements for the elephants type.
Location tray 1 plays the role of cargo carrier, as handling, storage and the transport device during Logistics Operation.
And for warehoused cargo, it is contemplated that intensity is high, moving loads are big, and this pallet is due to wanting Reusability and to coordinate
AGV fork trucks use, and are stored on shelf with fork truck or piler, need designed for transport, carry, the support of handling intensity
Disk, the utility model use the structure design of location tray 1 for the pallet that section is in sphere of movements for the elephants type either " river " font, in this way
Location tray 1 not only increases vertical supporting, while there are two jacks for horizontally-parallel position tool, and pallet fork 2a is facilitated steadily to fork.
Further, guide bearing is provided between the side shifter 3 and horizontal axis 2c, the guide bearing is along horizontal axis
2c is axially and symmetrically provided with two groups.Ensure that side shifter 3 steadily translates in this way.
Claims (4)
1. to pallet jack position detecting system after a kind of fork truck, it is characterised in that：Including location tray (1), and with it is described
The fork (2) of location tray (1) cooperation；The fork (2) is set on Counterbalanced forklift power assembly (5), the fork
A sensor (4) is provided only in portion (2), the fork (2) includes pallet fork (2a), the longitudinal axis (2b) and horizontal axis (2c), institute
The pallet fork (2a) stated extends the front of horizontal axis (2c), and rear and the longitudinal axis (2b) of horizontal axis (2c) are connected, the longitudinal axis (2b)
It is connect with Counterbalanced forklift power assembly (5), and the longitudinal axis (2b) is vertical removable back and forth along Counterbalanced forklift power assembly (5)；Institute
Side shifter (3) is provided on the horizontal axis (2c) stated, the side shifter (3) is axial removable back and forth along horizontal axis (2c).
2. to pallet jack position detecting system after fork truck according to claim 1, it is characterised in that：The sensor
(4) it is a TIM561 series SICK sensor for being set to the centre position pallet fork (2a).
3. to pallet jack position detecting system after fork truck according to claim 1, it is characterised in that：The positioning support
Disk (1) section is in " river " font or sphere of movements for the elephants type.
4. to pallet jack position detecting system after fork truck according to claim 1, it is characterised in that：The side shifter
(3) guide bearing is provided between horizontal axis (2c), the guide bearing is axially and symmetrically provided with two groups along horizontal axis (2c).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721145296.1U CN207827780U (en) | 2017-09-08 | 2017-09-08 | To pallet jack position detecting system after fork truck |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721145296.1U CN207827780U (en) | 2017-09-08 | 2017-09-08 | To pallet jack position detecting system after fork truck |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207827780U true CN207827780U (en) | 2018-09-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201721145296.1U Active CN207827780U (en) | 2017-09-08 | 2017-09-08 | To pallet jack position detecting system after fork truck |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109264638A (en) * | 2018-11-13 | 2019-01-25 | 上海辛格林纳新时达电机有限公司 | A kind of intelligent forklift |
| CN109502513A (en) * | 2018-12-26 | 2019-03-22 | 苏州罗伯特木牛流马物流技术有限公司 | Fork-lift type AGV pallet fork is apart from automatic regulating apparatus and method |
| CN110852180A (en) * | 2019-10-17 | 2020-02-28 | 上海快仓智能科技有限公司 | TOF camera calibration method for automatic guided vehicle and automatic guided vehicle |
| CN111003658A (en) * | 2018-10-04 | 2020-04-14 | 丰田自动车株式会社 | Conveying device |
| CN111908382A (en) * | 2020-08-18 | 2020-11-10 | 诺力智能装备股份有限公司 | Tray calibration device and method |
| CN116513562A (en) * | 2023-04-07 | 2023-08-01 | 广州拓威天海国际物流有限公司 | Method and device for batch support beating |
-
2017
- 2017-09-08 CN CN201721145296.1U patent/CN207827780U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111003658A (en) * | 2018-10-04 | 2020-04-14 | 丰田自动车株式会社 | Conveying device |
| CN109264638A (en) * | 2018-11-13 | 2019-01-25 | 上海辛格林纳新时达电机有限公司 | A kind of intelligent forklift |
| CN109502513A (en) * | 2018-12-26 | 2019-03-22 | 苏州罗伯特木牛流马物流技术有限公司 | Fork-lift type AGV pallet fork is apart from automatic regulating apparatus and method |
| CN110852180A (en) * | 2019-10-17 | 2020-02-28 | 上海快仓智能科技有限公司 | TOF camera calibration method for automatic guided vehicle and automatic guided vehicle |
| CN111908382A (en) * | 2020-08-18 | 2020-11-10 | 诺力智能装备股份有限公司 | Tray calibration device and method |
| CN116513562A (en) * | 2023-04-07 | 2023-08-01 | 广州拓威天海国际物流有限公司 | Method and device for batch support beating |
| CN116513562B (en) * | 2023-04-07 | 2023-11-14 | 广州拓威天海国际物流有限公司 | Method and device for batch support beating |
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