CN208292587U - fork truck - Google Patents
fork truck Download PDFInfo
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- CN208292587U CN208292587U CN201820695697.2U CN201820695697U CN208292587U CN 208292587 U CN208292587 U CN 208292587U CN 201820695697 U CN201820695697 U CN 201820695697U CN 208292587 U CN208292587 U CN 208292587U
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- measuring sensor
- distance measuring
- fork
- fork truck
- pallet
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Abstract
The utility model belongs to haulage vehicle technical field more particularly to a kind of fork truck.The fork truck of the utility model, including fork truck ontology, the first distance measuring sensor and the second distance measuring sensor, the front side of the fork truck ontology, which is arranged side by side, left side pallet fork and right side pallet fork, the front side of the fork truck ontology is arranged in first distance measuring sensor and the second distance measuring sensor, first distance measuring sensor is located at the left side of the left side pallet fork, and second distance measuring sensor is located at the right side of the right side pallet fork.There is deviation in the distance that the first distance measuring sensor or the second distance measuring sensor of the fork truck detect, illustrate the jack on the wherein at least one misalignment pallet of left side pallet fork and right side pallet fork, the signal that controller on fork truck is sent according to the first distance measuring sensor received and the second distance measuring sensor, driver can be notified to carry out the adjustment in fork truck orientation, thus the technical issues of accumulative caused fork truck for solving error takes not arrival.
Description
Technical field
The utility model belongs to haulage vehicle technical field more particularly to a kind of fork truck.
Background technique
Fork truck can load and unload pallet cargo, stacking and short distance transportation operation, liberate bulky goods pair
Artificial constraint is widely used in manufacturing enterprises such as automobile manufactures.
Existing fork truck mostly just determines fork truck position by reflector and laser navigation equipment, is carried out according to the position of fork truck
The handling of pallet and the planning of transportation route.But since the ground relief that fork truck stops website will affect determining for reflector
Position accuracy, frequent picking, unloading lead to the accumulation of position error, deviate so as to cause fork truck position relative to pallet
It is more, cause fork truck to take not arrival.
Utility model content
The technical problem to be solved by the utility model is to the position inaccurate for fork truck in the prior art may be led
The fork truck of cause takes the technological deficiency of not arrival, provides a kind of fork truck.
In order to solve the above technical problems, the utility model embodiment provides a kind of fork truck, including fork truck ontology, the first ranging
Sensor and the second distance measuring sensor, the front side of the fork truck ontology, which is arranged side by side, left side pallet fork and right side pallet fork, and described the
The front side of the fork truck ontology is arranged in one distance measuring sensor and the second distance measuring sensor, and first distance measuring sensor is located at institute
The left side of left side pallet fork is stated, second distance measuring sensor is located at the right side of the right side pallet fork.
Optionally, first distance measuring sensor and the second distance measuring sensor are laser range sensor.
Optionally, first distance measuring sensor is less than at a distance from second distance measuring sensor for stack goods
The mounting height of the width of the jack of pallet, first distance measuring sensor and the second distance measuring sensor is located at the jack of pallet
Between upper edge and lower edge.
Optionally, distance and second distance measuring sensor to institute of first distance measuring sensor to the left side pallet fork
State being equidistant for right side pallet fork.
Optionally, first distance measuring sensor and second distance measuring sensor are located at same level.
Optionally, be additionally provided with limit switch on front side of the fork truck ontology, the limit switch be used to heap goods putting
It is triggered when the pallet contact of object.
Optionally, the limit switch is arranged between the left side pallet fork and right side pallet fork.
Optionally, the limit switch to the left side pallet fork right side edge distance and the limit switch arrive described in
The left side edge of right side pallet fork is equidistant.
Optionally, the limit switch includes the first limit switch and the second limit switch, and first limit switch is set
It sets the left side in the left side pallet fork and is located at the left side of first distance measuring sensor, second limit switch is arranged in institute
It states the right side of right side pallet fork and is located at the right side of second distance measuring sensor.
Optionally, distance and second limit switch to the right side of first limit switch to the left side pallet fork
Side pallet fork is equidistant.
The fork truck of above-described embodiment is provided with the first ranging biography positioned at the left side of left side pallet fork on front side of fork truck ontology
Sensor and the second distance measuring sensor positioned at the right side of right side pallet fork, the first distance measuring sensor is for measuring the first distance measuring sensor
At a distance from its front recently barrier, the second distance measuring sensor is for measuring the second distance measuring sensor and its nearest obstacle in front
The distance of object.When the first distance measuring sensor front is the jack for the pallet of stack goods, the detection of the first distance measuring sensor
The distance arrived is greater than the first distance measuring sensor and pallet towards at a distance from a side surface of fork truck, when second laser distance measuring sensor
When front is the jack of pallet, the distance that the second distance measuring sensor detects is greater than the second distance measuring sensor and pallet towards fork truck
A side surface distance.Only when the distance that the first distance measuring sensor and the second distance measuring sensor detect is all larger than itself and support
When the distance between disk, that is, when determining the left side pallet fork and right side pallet fork alignment receptacles of fork truck, fork truck just carries out picking.And one
There is deviation in the distance that the first distance measuring sensor of denier or the second distance measuring sensor detect, illustrates left side pallet fork and the right side of fork truck
Jack on the wherein at least one misalignment pallet of side pallet fork, the controller on fork truck are sensed according to the first ranging received
The signal that device and the second distance measuring sensor are sent, can notify driver to carry out the adjustment in fork truck orientation, to solve error
It is accumulative caused by fork truck the technical issues of taking not arrival.
Detailed description of the invention
Fig. 1 is the schematic diagram of fork truck provided by the embodiment of the utility model；
The schematic diagram of the normal use of Fig. 2 fork truck provided by the embodiment of the utility model；
Fig. 3 is the schematic diagram that fork truck provided by the embodiment of the utility model is biased to the first jack；
Fig. 4 is the schematic diagram that fork truck provided by the embodiment of the utility model is biased to the second jack.
Appended drawing reference in specification is as follows:
1, fork truck ontology；11, left side pallet fork；12, right side pallet fork；2, first laser distance measuring sensor；3, second laser is surveyed
Away from sensor；4, pallet；41, the first jack；42, the second jack；5, limit switch；61, drive control device；62, course changing control
Device；63, entire car controller；64, programmable logic controller (PLC)；7, driving wheel；8, laser navigation equipment；81, reflecting pole.
Specific embodiment
The technical issues of in order to keep the utility model solved, technical solution and beneficial effect are more clearly understood, below
In conjunction with accompanying drawings and embodiments, the utility model is described in further detail.It should be appreciated that specific reality described herein
It applies example to be only used to explain the utility model, is not used to limit the utility model.
As shown in Figures 1 to 4, the utility model embodiment provides a kind of fork truck, including fork truck ontology 1, the first ranging
Sensor and the second distance measuring sensor, being arranged side by side on front side of the fork truck ontology 1 has left side pallet fork 11 and right side pallet fork 12, described
The front side of the fork truck ontology 1, first distance measuring sensor position is arranged in first distance measuring sensor and the second distance measuring sensor
In the left side of the left side pallet fork 11, second distance measuring sensor is located at the right side of the right side pallet fork 12.In the present embodiment,
First distance measuring sensor is first laser distance measuring sensor 2, and the second distance measuring sensor is second laser distance measuring sensor 3.
The fork truck of above-described embodiment is provided with positioned at the left side of the left side pallet fork 11 in the front side of fork truck ontology 1
One laser range sensor 2 and second laser distance measuring sensor 3 positioned at the right side of the right side pallet fork 12, first laser ranging
For measuring the first laser distance measuring sensor 2 at a distance from its front recently barrier, second laser ranging passes sensor 2
Sensor 3 is for measuring second laser distance measuring sensor 3 at a distance from its front recently barrier.When the first laser ranging passes
When being the jack for the pallet 4 of stack goods in front of sensor 2, the distance that the first laser distance measuring sensor 2 detects is big
In the first laser distance measuring sensor 2 and pallet 4 towards at a distance from a side surface of the fork truck, when the second laser is surveyed
When away from being the jack of pallet 4 in front of sensor 3, the distance that the second laser distance measuring sensor 3 detects is greater than described second
Laser range sensor 3 and pallet 4 are towards at a distance from a side surface of the fork truck.Only when the first laser ranging senses
When the distance that device 2 and second laser distance measuring sensor 3 detect is all larger than the distance between itself and pallet 4, that is, determine fork truck
When left side pallet fork 11 and right side 12 alignment receptacles of pallet fork, fork truck just carries out picking.Once and first laser distance measuring sensor 2 or
There is deviation in the distance that second laser distance measuring sensor 3 detects, and the left side pallet fork 11 and right side pallet fork 12 for illustrating fork truck are extremely
Jack on few one of misalignment pallet 4, controller on fork truck is according to receiving first laser distance measuring sensor 2 or the
The signal that dual-laser distance measuring sensor 3 is sent can notify driver to carry out the adjustment in fork truck orientation, to solve error
The technical issues of fork truck caused by accumulative takes not arrival.
As shown in Figures 1 to 4, the first laser distance measuring sensor 2 is at a distance from the second laser distance measuring sensor 3
Less than pallet 4 the first jack 41 left side edge at a distance from the right side edge of the second jack 42 of pallet 4 (i.e. pallet 4
The width of jack), the mounting height of the first laser distance measuring sensor 2 is located at the upper edge of first jack 41 and following
Along between, the mounting height of the second laser distance measuring sensor 3 be located at second jack 42 upper edge and lower edge it
Between.In this way, the first laser distance measuring sensor 2 is corresponding with first jack 41 when fork truck is corresponding with pallet 4,
The second laser distance measuring sensor 3 is corresponding with second jack 42, what the first laser distance measuring sensor 2 detected
Distance be greater than the first laser distance measuring sensor 2 and pallet 4 towards a side surface of fork truck the distance between, described second
The distance that laser range sensor 3 detects is greater than side table of the second laser distance measuring sensor 3 with pallet 4 towards fork truck
The distance between face.And when left avertence shifting occurs in fork truck, the distance that the first laser distance measuring sensor 2 detects is equal to institute
State first laser distance measuring sensor 2 and pallet 4 towards a side surface of fork truck the distance between, when right avertence shifting occurs in fork truck
When, the distance that the second laser distance measuring sensor 3 detects is equal to the second laser distance measuring sensor 3 and 4 direction of pallet
The distance between one side surface of fork truck, to ensure that the first laser distance measuring sensor 2 can judge the left side
Whether pallet fork 11 is directed at first jack 41, and the second laser distance measuring sensor 3 can judge that the right side pallet fork 12 is
No alignment second jack 42.The first laser distance measuring sensor 2 arrives the distance and described second of the left side pallet fork 11
Laser range sensor 3 is equidistant to the right side pallet fork 12.The first laser distance measuring sensor 2 swashs with described second
Ligh-ranging sensor 3 is located at same level.
As shown in Figures 1 to 4, the front side of the fork truck ontology 1 is additionally provided with limit switch 5, the limit switch 5 with
Pallet 4 is triggered when contacting.The limit switch 5 is arranged between the left side pallet fork 11 and right side pallet fork 12.The limit
The distance that switch 5 arrives the right side edge of the left side pallet fork 11 arrives the left side of the right side pallet fork 12 with the limit switch 5
Edge is equidistant.When the fork truck gets goods, pallet 4 is contacted with the limit switch 5 to trigger the limit switch 5.
Since the limit switch 5 is located at the centre of the left side pallet fork 11 and the right side pallet fork 12, the limit switch
5 further determined the relative position of fork truck Yu pallet 4, it is determined that fork truck has got goods.
As shown in Figure 1, the controller on fork truck include drive control device 61, steering controller 62, entire car controller 63 and
One end of programmable logic controller (PLC) 64, the drive control device 61 and steering controller 62 is electrically connected with driving wheel 7, the drive
The other end of movement controller 61 and steering controller 62 is electrically connected with the entire car controller 63, the programmable logic controller (PLC)
64 one end is electrically connected with the first laser distance measuring sensor 2 and second laser distance measuring sensor 3, the programmable logic control
The other end of device 64 processed is electrically connected with the entire car controller 63.
The working principle of fork truck provided by the above embodiment is as follows:
The home position of fork truck is determined by laser navigation equipment 8 and reflecting pole 81, then by the first laser distance measuring sensor 2
And second laser distance measuring sensor 3 determines whether fork truck deviates relative to pallet 4.When the fork truck opposing tray 4 is without offset
(as shown in Figure 2), the first laser distance measuring sensor 2 is towards first jack 41, the second laser distance measuring sensor 3
Towards second jack 42, the distance that the first laser distance measuring sensor 2 detects is passed greater than the first laser ranging
Sensor 2 and pallet 4 are towards the distance that at a distance from a side surface of the fork truck, the second laser distance measuring sensor 3 is detected
Greater than the second laser distance measuring sensor 3 and pallet 4 towards at a distance from a side surface of the fork truck.When the fork truck is biased to
When first jack 41 (as shown in figure 3, fork truck deviates to the left), the first laser distance measuring sensor 2 is inserted with described first
The entity of the left side edge in hole 41 is corresponding, and the distance that the first laser distance measuring sensor 2 detects is surveyed equal to first laser
Away from sensor 2 and pallet 4 towards at a distance from a side surface of the fork truck, the first laser distance measuring sensor 2 sends first
Shifted signal to controller, the controller driving wheel 7 started by the drive control device 61 so that the fork truck to
The mobile distance detected up to the first laser distance measuring sensor 2 in the direction of second jack 42 (to the right) is greater than described
First laser distance measuring sensor 2 and pallet 4 are towards at a distance from a side surface of the fork truck.When the fork truck is biased to described second
When jack 42 (as shown in figure 4, fork truck deviates to the right), the right side of the second laser distance measuring sensor 3 and second jack 42
The entity of side edge is corresponding, and the distance that the second laser distance measuring sensor 3 detects is passed equal to the second laser ranging
Sensor 3 and pallet 4 are towards at a distance from a side surface of the fork truck.The second laser distance measuring sensor 3 sends the second offset
Signal is to controller, and the controller by the drive control device 61 starts the driving wheel 7 so that the fork truck is to described
The direction of first jack 41 (to the left) is mobile until the second laser ranging that the second laser distance measuring sensor 3 detects
The distance of sensor 3 to pallet 4 is greater than the second laser distance measuring sensor 3 and pallet 4 towards a side surface of the fork truck
Distance.After determining the fork truck and pallet 4 without offset, the fork truck is to the direction running of pallet 4 so that the left side pallet fork
11 insertion first jacks 41, the right side pallet fork 12 is inserted into second jack 42, when pallet 4 and the limit switch 5
After contact, default fork truck has got cargo, and the drive control device 61 and steering controller 62 control driving wheel 7 so that fork truck
Cargo transport is completed to the direction running of destination.
However, in other embodiments, the limit switch includes the first limit switch and the second limit switch, described the
One limit opens up the left side set in the left side pallet fork 11 and the left side for being located at first distance measuring sensor, second limit
Switch is arranged in the right side that the right side pallet fork 12 is arranged in and is located at the right side of second distance measuring sensor, and described the
Distance and second limit switch being equidistant to the right side pallet fork of one limit switch to the left side pallet fork.
First distance measuring sensor can also be that the first ultrasonic distance-measuring sensor, second distance measuring sensor may be used also
To be the second ultrasonic distance-measuring sensor, at this point, the first ultrasonic distance-measuring sensor and the second ultrasonic distance-measuring sensor are perpendicular
The upward detection range of histogram is located between the upper edge and lower edge of the jack, allows it to detect whether pallet fork is right
The jack of quasi- pallet 4.The form of sensor is not particularly limited herein.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Made any modifications, equivalent replacements, and improvements etc., should be included in the utility model within the spirit and principle of utility model
Protection scope within.
Claims (10)
1. a kind of fork truck, which is characterized in that including fork truck ontology, the first distance measuring sensor and the second distance measuring sensor, the fork
The front side of vehicle ontology, which is arranged side by side, has left side pallet fork and right side pallet fork, first distance measuring sensor and the second distance measuring sensor to set
It sets in the front side of the fork truck ontology, first distance measuring sensor is located at the left side of the left side pallet fork, second ranging
Sensor is located at the right side of the right side pallet fork.
2. fork truck according to claim 1, which is characterized in that first distance measuring sensor and the second distance measuring sensor are
Laser range sensor.
3. fork truck according to claim 2, which is characterized in that first distance measuring sensor and second ranging sense
The distance of device is less than the width of the jack of the pallet for stack goods, first distance measuring sensor and the second distance measuring sensor
The mounting height jack that is located at pallet upper edge and lower edge between.
4. fork truck according to claim 3, which is characterized in that first distance measuring sensor to the left side pallet fork away from
From with the second distance measuring sensor being equidistant to the right side pallet fork.
5. fork truck according to claim 4, which is characterized in that first distance measuring sensor and second ranging sense
Device is located at same level.
6. fork truck according to claim 1, which is characterized in that it is additionally provided with limit switch on front side of the fork truck ontology,
The limit switch is triggered when contacting with the pallet for being used to stack goods.
7. fork truck according to claim 6, which is characterized in that the limit switch is arranged on the left side pallet fork and right side
Between pallet fork.
8. fork truck according to claim 7, which is characterized in that right side edge of the limit switch to the left side pallet fork
Distance and the left side edge of the limit switch to the right side pallet fork be equidistant.
9. fork truck according to claim 6, which is characterized in that the limit switch includes the first limit switch and the second limit
Bit switch, first limit switch are arranged in the left side of the left side pallet fork and are located at a left side for first distance measuring sensor
Side, second limit switch are arranged in the right side of the right side pallet fork and are located at the right side of second distance measuring sensor.
10. fork truck according to claim 9, which is characterized in that first limit switch to the left side pallet fork away from
From with the second limit switch being equidistant to the right side pallet fork.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820695697.2U CN208292587U (en) | 2018-05-10 | 2018-05-10 | fork truck |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820695697.2U CN208292587U (en) | 2018-05-10 | 2018-05-10 | fork truck |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208292587U true CN208292587U (en) | 2018-12-28 |
Family
ID=64703435
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820695697.2U Active CN208292587U (en) | 2018-05-10 | 2018-05-10 | fork truck |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208292587U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112357836A (en) * | 2020-11-25 | 2021-02-12 | 中钞长城金融设备控股有限公司 | Automatic alignment control method and device for hydraulic fork |
| WO2021052264A1 (en) * | 2019-09-18 | 2021-03-25 | 北京海益同展信息科技有限公司 | Apparatus and method for distribution article placement detection, robot, distribution device, and controller |
| CN112830428A (en) * | 2020-06-18 | 2021-05-25 | 陈凤阳 | System for correcting forklift AGV (automatic guided vehicle) measurement fork tray posture and working method thereof |
| CN113120801A (en) * | 2019-12-31 | 2021-07-16 | 锥能机器人（上海）有限公司 | Forklift control method, forklift control device, and computer-readable storage medium |
| CN113267180A (en) * | 2021-06-10 | 2021-08-17 | 上海大学 | AGV forklift tray positioning and forking method based on 3D depth vision |
| CN114077244A (en) * | 2020-08-11 | 2022-02-22 | 准时达国际供应链管理有限公司 | AGV forklift control method and control device and AGV forklift |
| CN114435985A (en) * | 2020-11-06 | 2022-05-06 | 广东博智林机器人有限公司 | Loading device |
| WO2022130847A1 (en) * | 2020-12-15 | 2022-06-23 | 株式会社豊田自動織機 | Forklift |
| CN115258500A (en) * | 2022-08-30 | 2022-11-01 | 安徽宇锋智能科技有限公司 | Refrigeration house carrying robot and method for preventing frost condensation of pallet fork and workpiece |
-
2018
- 2018-05-10 CN CN201820695697.2U patent/CN208292587U/en active Active
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021052264A1 (en) * | 2019-09-18 | 2021-03-25 | 北京海益同展信息科技有限公司 | Apparatus and method for distribution article placement detection, robot, distribution device, and controller |
| CN113120801A (en) * | 2019-12-31 | 2021-07-16 | 锥能机器人（上海）有限公司 | Forklift control method, forklift control device, and computer-readable storage medium |
| CN112830428A (en) * | 2020-06-18 | 2021-05-25 | 陈凤阳 | System for correcting forklift AGV (automatic guided vehicle) measurement fork tray posture and working method thereof |
| CN112830428B (en) * | 2020-06-18 | 2022-09-13 | 陈凤阳 | System for correcting forklift AGV (automatic guided vehicle) measurement fork tray posture and working method thereof |
| CN114077244A (en) * | 2020-08-11 | 2022-02-22 | 准时达国际供应链管理有限公司 | AGV forklift control method and control device and AGV forklift |
| CN114435985A (en) * | 2020-11-06 | 2022-05-06 | 广东博智林机器人有限公司 | Loading device |
| CN112357836A (en) * | 2020-11-25 | 2021-02-12 | 中钞长城金融设备控股有限公司 | Automatic alignment control method and device for hydraulic fork |
| WO2022130847A1 (en) * | 2020-12-15 | 2022-06-23 | 株式会社豊田自動織機 | Forklift |
| CN113267180A (en) * | 2021-06-10 | 2021-08-17 | 上海大学 | AGV forklift tray positioning and forking method based on 3D depth vision |
| CN115258500A (en) * | 2022-08-30 | 2022-11-01 | 安徽宇锋智能科技有限公司 | Refrigeration house carrying robot and method for preventing frost condensation of pallet fork and workpiece |
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