CN215402895U

CN215402895U - Tray stacking inclination recognition device

Info

Publication number: CN215402895U
Application number: CN202120626084.5U
Authority: CN
Inventors: 李陆洋; 方牧; 杨建辉; 李扬添
Original assignee: Visionnav Robotics Shenzhen Co Ltd
Current assignee: Visionnav Robotics Shenzhen Co Ltd
Priority date: 2021-03-26
Filing date: 2021-03-26
Publication date: 2022-01-04
Anticipated expiration: 2031-03-26
Also published as: WO2022199644A1

Abstract

The utility model relates to a tray stacking inclination recognition device, which comprises a forklift body, a portal frame assembly arranged on the forklift body, a pallet fork arranged on the portal frame assembly, and further comprises: the detection piece is arranged on the fork and connected with the controller on the forklift body, and is used for detecting whether the material cage is completely separated from the fork or not. The above-mentioned scheme that this application provided, when the fork is carrying the material cage and is piling up, after the fork descends to predetermine the height, if the detection piece on the fork all triggers, then the material cage is accomplished and is separated with the fork, and the material cage piles up successfully to solved fork truck and when getting put the material cage, prevented that the material cage from inclining on the fork and turning over, improved the fail safe nature that the material cage piles up.

Description

Tray stacking inclination recognition device

Technical Field

The utility model relates to the technical field of forklifts, in particular to a tray stacking inclination recognition device.

Background

An unmanned forklift is a common automatic warehousing and carrying tool and mainly refers to that the forklift stacks goods on a goods shelf of a warehouse under the guidance of a computer or takes the goods off the goods shelf to carry the goods to a specified position.

At present, as shown in fig. 2, an existing unmanned forklift mainly comprises a forklift body 01, a mast assembly 02 and a pallet fork 03, wherein the pallet fork 03 can move up and down in the mast assembly 02, so that the height of the pallet fork 03 can be changed.

In the stacking process, the fork 03 carries the material cage to be stacked towards the material cage on the ground, when the height of the fork 03 reaches a set height value, the unmanned forklift carries the material cage to travel towards the material cage on the ground, after the unmanned forklift travels to a preset position, the fork 03 descends to a certain height, at the moment, the material cage is stacked on the material cage below, and then the unmanned forklift carries the fork to exit together, so that the stacking of the material cage is completed.

However, if the legs of the cage on the fork 03 are not aligned with the legs of the lower cage during stacking, for example if one or two of the four legs are not aligned, then the upper cage may tilt left, right, front, back, with a risk of toppling; or the four legs are misaligned, the cage on the fork 03 remains on the fork, causing the cage to retract with the fork, possibly resulting in the risk of pulling or even pulling the lower cage down.

SUMMERY OF THE UTILITY MODEL

Therefore, it is necessary to provide a tray stacking inclination recognition device for solving the problem that the material cage may tip over when the material cage is taken or placed by the existing fork.

The utility model provides a tray stacking inclination recognition device, which comprises a forklift body, a portal frame assembly arranged on the forklift body, a pallet fork arranged on the portal frame assembly, and further comprises:

the detection piece is arranged on the fork, connected with the controller on the forklift body and used for detecting whether the material cage is completely separated from the fork or not.

Above-mentioned slope recognition device is piled up to tray, when the fork is carrying the material cage and is piled up, after the fork descends and predetermines the height, if the detection piece on the fork all triggers, then the material cage is accomplished and is separated with the fork, and the material cage piles up successfully to solved fork truck and when getting put the material cage, prevented that the material cage from toppling over on the fork, improved the fail safe nature that the material cage piles up.

In one embodiment, one of the detecting members is provided on each of three fork arms of the fork.

In one embodiment, said detecting member on the intermediate yoke is arranged at the end on the intermediate yoke.

In one embodiment, the detecting members on the two side arms are arranged at the root parts of the corresponding two side arms.

In one embodiment, one of said detecting members is provided at each of the end and the root of each yoke.

In one embodiment, the detecting member is a switch signal sensor.

In one embodiment, a protective cover is arranged on the switch signal sensor.

In one embodiment, the device further comprises an alarm, and the alarm is connected with the controller.

In one embodiment, the alarm comprises an audible and visual alarm and a voice alarm.

In one embodiment, the cargo fork further comprises a camera, and the camera is arranged on the cargo fork.

Drawings

Fig. 1 is a schematic structural diagram of a tray stack inclination recognition apparatus according to an embodiment of the present invention;

fig. 2 is a schematic view of a forklift according to an embodiment of the present invention.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the utility model and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the utility model.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

An Automated Guided Vehicle (AGV) is a transportation Vehicle equipped with an electromagnetic or optical automatic guiding device, which can travel along a predetermined guiding path, and has safety protection and various transfer functions. Generally, the traveling route and behavior can be controlled by a computer, or the traveling route is set up by using an electromagnetic track (electromagnetic path-following system), the electromagnetic track is adhered to the floor, and the unmanned transport vehicle moves and acts according to the information brought by the electromagnetic track.

The AGV has the advantages that (1) the automation degree is high; the device is controlled by a computer, an electric control device, a magnetic induction SENSOR, a laser reflecting plate and the like. When auxiliary materials are needed in a certain link of a workshop, relevant information is input to the computer terminal by a worker, the computer terminal sends the information to the central control room, a professional technician sends an instruction to the computer, and the instruction is finally received and executed by the AGV under the cooperation of the electric control equipment, namely the auxiliary materials are sent to a corresponding place. (2) Charging automation; when the AGV is running out of charge, it will send a request to the system to request charging (a value is set by the technician in advance), and automatically "queue" the charge to the place where it is allowed by the system. In addition, the AGV has a long battery life (more than 2 years) and can operate for about 4 hours every 15 minutes of charging. (3) Beautiful appearance and high enjoyment and thus high enterprise image. (4) The convenience is realized, and the occupied area is reduced; the AGV trolleys of the production workshop can shuttle among various workshops.

When the AGV needs to supplement power, the AGV can automatically report and request charging, the ground control center conducts the AGV to drive to a designated charging area or a designated station, and the vehicle-mounted charging connector is automatically connected with a ground charging system and conducts charging. After charging is finished, the AGV automatically breaks away from a charging system and drives to a working area or a standby area to be put into normal operation. The intelligent charging system is characterized in that the whole charging process is completely automatic and intelligent, and no special person is required to take care of the charging system. The automatic charging AGV is suitable for occasions with long working period, few vehicles and people and high automation degree, and is mainly used for alkaline quick charging batteries, such as industries of cigarette, metallurgy, chemical industry, automobiles, aviation and the like.

When the AGV electric power is not enough, by the command of ground control center, drive to appointed charging district or platform position, be connected by the manual electrical apparatus of accomplishing between AGV and the charger of full-time personnel, then implement to charge, also the manual work is gone to the disconnect circuit after accomplishing, resumes operating condition. The manual charging AGV has the characteristics of safety, reliability, simplicity, practicability, manpower waste and reduced automation degree, and needs a specially-assigned person to take care. The system is often used in occasions with low requirement on automation degree, few vehicles and many people and standard work system, such as using the AGV for 8 hours on duty in the daytime and charging the AGV when having a rest off duty, and is suitable for acidic conventional batteries.

The AGV automated guided vehicle control system is similar to a robot controller for monitoring the AGV automated guided vehicle. The controller computer receives commands from the ground station through the communication system and reports its status. Typically the controller performs such tasks as manual control, safety device activation, battery status, steering limits, brake release, walk lights, drive and steering motor control and charging contacts, etc. Some AGV automated guided vehicles have programming capability that allows the vehicle to leave the guidance path, travel to a taught location, and return to the guidance path along the original track after completing a task.

The control command of the AGV is generally sent by a ground controller (outside the vehicle), and the state of the AGV is also sent back to the ground controller through a communication system. There are two types of communication systems, a continuous mode and a decentralized mode. The continuous communication system allows the AGV to send and receive information at any time and at any location relative to the floor controller using radio frequency methods or using communication cables within the guided path. Such as radio, infrared laser, and the like. The distributed system simply provides communication between a particular AGV and the floor controller at a predetermined location (communication point), such as an AGV docking station or the like. Typically, such communication is achieved by inductive or optical means. One significant drawback of decentralized communication is that if an AGV fails between two communication points, the AGV will not be able to contact the ground control station. Most AGV systems currently employ distributed communication because they are relatively inexpensive.

The safety system of the AGV needs to protect both the AGV and a person or other ground equipment. The safety protection method can be classified into two types, namely a contact type protection system and a non-contact type protection system. For free path (no fixed guidance path) type AGVs, the body orientation is also calculated by the body orientation calculation subsystem. The position of the AGV, that is, the position and direction in the global coordinate system, has a certain relationship with the movement of the left and right wheels of the vehicle body, and thus the position of the AGV can be calculated.

As shown in fig. 1 in combination with fig. 2, in an embodiment of the present invention, there is provided a pallet stack inclination recognition apparatus, including a forklift body 01, a mast assembly 02 provided on the forklift body 01, and forks 03 provided on the mast assembly 02, further including: the detection piece, this detection piece sets up on fork 03, and the detection piece is connected with the controller on the fork truck body 01 for whether detect the material cage completely with the fork separation.

Specifically, the first detection part 10 is arranged at the end part of the middle fork arm on the fork 03, the second detection part 20 and the third detection part 30 are correspondingly arranged at the root parts of the fork arms on two sides of the fork 03, when the material cage is positioned on the fork, the first detection part 10, the second detection part 20 and the third detection part 30 are all in a closed state, when the material cage is stacked by the fork, after the fork descends to a preset height, if the first detection part 10, the second detection part 20 and the third detection part 30 are all triggered (the fork is triggered when the fork is separated from the material cage), the material cage is considered to be separated from the fork, the material cage stacking is successful, if one of the detection parts is not triggered, the material cage is considered not to be completely separated from the fork, the material cage stacking fails, the unmanned forklift gives an alarm, and therefore, when the material cage is taken or placed, the material cage is prevented from overturning on the fork, the safety and reliability of material cage stacking are improved.

In some embodiments, one detector is provided at each of the ends and roots of the prongs of the present application. It should be noted that the arrangement of the detecting members in the embodiments of the present application is merely an example, and in other alternative embodiments, other arrangements may be adopted, for example, one detecting member is disposed at each of the end portion, the root portion, and the middle portion of each fork arm. The present application does not specifically limit the specific arrangement structure of the detecting members as long as the above-described structure can achieve the object of the present application.

In some embodiments, the detection part in this application is a switching signal sensor, when the material cage is located on the fork, each switching signal sensor is in a closed state, and meanwhile, the switching signal sensor sends a closing signal to the controller, when the fork carries the material cage to be stacked, after the fork descends to a preset height, if the switching signal sensors on the fork arms are all triggered, the material cage is considered to be separated from the fork, the material cage is successfully stacked, if one of the switching signal sensors is not triggered, the material cage is considered not to be completely separated from the fork, the material cage is failed to be stacked, and the unmanned forklift gives an alarm to remind.

In some embodiments, in order to avoid damage to the switch signal sensor, the present application provides a protective cover over the switch signal sensor.

In some embodiments, the device for identifying the inclination of the stacked trays in the present application further comprises an alarm, and the alarm is connected with the controller. If one of the switch signal sensors is not triggered, the material cage is not considered to be completely separated from the pallet fork, the material cage stacking fails, and at the moment, the controller controls the alarm to give an alarm.

Further, the alarm comprises an audible and visual alarm and a voice alarm.

In some embodiments, the device for identifying the inclination of the stacked pallet in the present application further comprises a camera disposed on the fork 03. The position of the material cage when stacked is observed through the camera, and the material cage can be further ensured to be stacked orderly.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the utility model. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. The utility model provides a slope recognition device is piled up to tray, includes fork truck body (01), sets up mast assembly (02) on fork truck body (01) and sets up fork (03) on mast assembly (02), its characterized in that still includes:

the detection piece is arranged on the pallet fork (03), and the detection piece is connected with a controller on the forklift body (01) and used for detecting whether the material cage is completely separated from the pallet fork or not.

2. The device for recognizing inclination of a stack of pallets as claimed in claim 1, wherein one of said detecting members is provided on each of three arms of said fork (03).

3. The tray stack tilt recognition device of claim 2, wherein the detector on the middle prong is disposed at an end on the middle prong.

4. The tray stack tilt recognition device of claim 2, wherein the detection members on both side arms are provided at roots on the corresponding both side arms.

5. The tray stack tilt recognition device of claim 2, wherein one of the detection members is provided at each of the end portion and the root portion of each of the fork arms.

6. The tray stack tilt recognition device according to any one of claims 1 to 5, wherein the detection member is a switching signal sensor.

7. The tray stack tilt recognition device of claim 6, wherein a protective cover is disposed on the switching signal sensor.

8. The tray stack tilt identification device of claim 1, further comprising an alarm coupled to the controller.

9. The tray stack tilt recognition device of claim 8, wherein the alarm comprises an audible and visual alarm and a voice alarm.

10. The tray stack tilt recognition device of claim 1, further comprising a camera disposed on the fork (03).