CN218810165U - Double-portal forklift - Google Patents

Abstract

The utility model discloses a double-portal forklift, wherein, the double-portal forklift comprises a forklift body, an upper portal, a lower portal, an upper fork, a lower fork, a driving module and an identification module, the upper portal and the lower portal are arranged on one side of the forklift body, and the lower portal is arranged below the upper portal; the upper fork is arranged on the upper door frame in a lifting way; the lower fork is arranged on the lower door frame in a lifting way; the driving module is used for driving the vehicle body to move; the identification module is electrically connected with the driving module and used for identifying the position information of the carrier to be forked and the orientation of the carrier jack, so that the upper fork and the lower fork are inserted into the carrier jack to lift the carrier. The utility model discloses technical scheme aims at improving double portal fork truck's work efficiency.

Description

Double-portal forklift

Technical Field

The utility model relates to a fork truck technical field, in particular to double-portal forklift truck.

Background

Fork truck is a vehicle that uses the fork as load handling device, can promote certain height with the goods, can transport. The existing forklift is usually operated manually, and only one set of fork can be arranged on a gantry of the forklift in order to avoid disordered logic of manual operation.

However, with the popularization of unmanned forklifts, the working efficiency of a single set of fork is very low, and the requirement of the existing warehousing operation cannot be met, and the fork lift with two sets of forks gradually replaces the fork lift with only one set of fork, wherein the two sets of forks are respectively arranged on two door frames of the fork lift, the goods are usually arranged on a tray or other carriers, the carriers are provided with carrier jacks, and the forks can carry the loaded goods to do lifting action after entering the carrier jacks. However, in the loading process of the existing double-mast forklift, in order to face to the carriers which are not stacked neatly, the position of the double-mast forklift needs to be adjusted by manual assistance so that two sets of forks of the double-mast forklift are respectively inserted into carrier insertion holes of the two carriers to drive the two carriers filled with the goods to move, and the working efficiency is very low.

SUMMERY OF THE UTILITY MODEL

The utility model mainly aims at providing a double-portal forklift, aim at improving double-portal forklift's work efficiency.

In order to achieve the above object, the utility model provides a double-portal forklift, include:

a vehicle body;

the upper door frame is arranged on one side of the vehicle body;

the lower door frame is arranged on one side of the vehicle body and is positioned below the upper door frame;

the upper fork is arranged on the upper door frame in a lifting manner;

the lower fork is arranged on the lower door frame in a lifting manner;

the driving module is used for driving the vehicle body to move; and

the identification module is electrically connected with the driving module and used for identifying the position information of the carrier to be forked and the orientation of the carrier jack, so that the upper fork and the lower fork are inserted into the carrier jack to lift the carrier.

In an embodiment of the present invention, the identification module includes:

the first identification module is arranged on the upper fork and used for identifying the position information of the carrier to be forked and the orientation of the carrier jack, so that the upper fork is inserted into the carrier jack to lift the carrier; and

the second identification module is arranged on the lower fork and used for identifying the position information of the carrier to be forked and the orientation of the carrier jack, so that the lower fork is inserted into the carrier jack to lift the carrier.

In an embodiment of the present invention, the fork includes:

the upper connecting part is movably connected with the upper door frame, and the first identification module is arranged on the upper connecting part; and

go up the yoke, go up the yoke certainly last connecting portion deviate from go up a side surface of portal to keeping away from the direction extension setting of locating the portal.

The utility model discloses an in one embodiment, it is provided with first through-hole to go up connecting portion link up, first discernment module is located go up connecting portion deviate from one side of going up the yoke, just the discernment end orientation of first discernment module first through-hole sets up.

In an embodiment of the present invention, the upper yoke is connected to a lower end of the upper connecting portion, and an upper end of the upper connecting portion is slidably connected to the upper gantry, so that the upper yoke can sink to a front side of the lower gantry;

the upper connecting part is also provided with a second through hole in a penetrating manner, so that the identification end of the second identification module is exposed to the upper connecting part through the second through hole.

In an embodiment of the present invention, the upper connecting portion is provided with a tooth root detecting mechanism, and the tooth root detecting mechanism is located above the upper yoke and is used for detecting whether the upper yoke carries a carrier.

The utility model discloses an in the embodiment, go up the yoke and deviate from the one end of going up connecting portion is equipped with upper cusp detection mechanism, upper cusp detection mechanism is used for detecting whether there is the barrier in upper yoke the place ahead.

In an embodiment of the present invention, the upper door frame further includes:

the height positioning mechanism is used for detecting the rising height of the upper fork arm; and

and the height limiting mechanism is used for limiting the rising height of the upper fork arm.

In an embodiment of the present invention, a lower cusp detection mechanism is disposed at an end of the lower fork away from the lower mast, and is configured to detect whether an obstacle exists in front of the lower fork;

the lower fork is also provided with a lower tooth root detection mechanism for detecting whether the lower fork bears a carrier or not.

In an embodiment of the present invention, the upper gantry is disposed to be able to translate along a front-rear direction of the vehicle body so as to move closer to or away from the vehicle body;

the vehicle body further includes:

the first positioning mechanism is used for detecting the extending distance of the upper door frame; and

the first limiting mechanism is used for limiting the extending distance of the upper door frame;

and/or the lower gantry is arranged in a translation mode along the front-back direction of the vehicle body so as to move close to or away from the vehicle body;

the vehicle body further includes:

the second positioning mechanism is used for detecting the extending distance of the lower door frame; and

and the second limiting mechanism is used for limiting the extending distance of the lower door frame.

The utility model adopts the technical scheme that one side of the truck body is provided with an upper portal and a lower portal, wherein the upper portal is positioned above the lower portal, when a forklift is used for taking goods, an upper fork and a lower fork both descend to the lowest position, and a recognition module recognizes the position information of a carrier to be taken by forking and the orientation of a carrier jack, so that a driving module drives the truck body to adjust the position and the orientation, thereby inserting the upper fork into the carrier jack and lifting the carrier with goods to a certain height; the recognition module continues to recognize position information of a next carrier to be forked and orientation of the carrier jack, so that the driving module drives the vehicle body to adjust the position and the orientation again, the lower fork is inserted into the carrier jack, and after the carrier with the goods is lifted to a certain height, the vehicle body moves to the unloading area, and a goods taking process is completed. The setting of identification module need not artifical supplementary adjustment fork truck position, has improved fork truck's work efficiency.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

Fig. 1 is a schematic structural view of an embodiment of the dual-mast forklift of the present invention;

fig. 2 is a schematic structural view of an embodiment of the upper door frame of the present invention;

FIG. 3 is another perspective view of FIG. 2;

fig. 4 is a schematic structural view of an embodiment of the lower gantry of the present invention;

fig. 5 is another view of fig. 4.

The reference numbers illustrate:

reference numerals	Name (R)	Reference numerals	Name (R)
				100	Double-portal forklift	40	Upper fork
10	Vehicle body	41	Upper connecting part
				20	Upper door frame	411	First through hole
21	Height positioning mechanism	412	Second through hole
				22	Height limiting mechanism	413	Upper tooth root detection mechanism
23	First positioning mechanism	42	Upper yoke
				24	First limiting mechanism	421	Upper dental point detection mechanism
30	Lower door frame	50	Lower fork
				31	Second positioning mechanism	51	Lower cusp detection mechanism
32	Second limiting mechanism	52	Lower tooth root detection mechanism
				33	Upper limit switch	60	Identification module
34	Lower limit switch	61	First identification module
						62	Second identification module

The objects, features and advantages of the present invention will be further described with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It should be noted that all the directional indicators (such as upper, lower, left, right, front, and rear … …) in the embodiments of the present invention are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is changed accordingly.

In the present application, unless expressly stated or limited otherwise, the terms "connected" and "secured" are to be construed broadly, and thus, for example, "secured" may be a fixed connection, a removable connection, or an integral part; 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 meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In addition, descriptions in the present application as to "first", "second", and the like are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit to 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 addition, the expression "and/or" as used throughout is meant to encompass three juxtaposed aspects, exemplified by "A and/or B", including either the A aspect, or the B aspect, or aspects in which both A and B are satisfied. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.

Referring to fig. 1 to 5, the present invention provides a double-gantry forklift 100, comprising:

a vehicle body 10;

the upper door frame 20 is arranged on one side of the vehicle body 10;

the lower door frame 30 is arranged on one side of the vehicle body 10, and the lower door frame 30 is positioned below the upper door frame 20;

the upper pallet fork 40 is arranged on the upper gantry 20 in a lifting manner;

the lower fork 50 is arranged on the lower door frame 30 in a lifting manner;

a driving module (not shown) for driving the vehicle body 10 to move; and

and the identification module 60 is electrically connected with the driving module and is used for identifying the position information of the carrier to be forked and the orientation of the carrier jack, so that the upper fork 40 and the lower fork 50 are inserted into the carrier jack to lift the carrier.

The utility model discloses one side of technical scheme automobile body 10 is equipped with upper mast 20 and lower mast 30, wherein upper mast 20 is located the top of lower mast 30, when fork truck got goods, upper fork 40 and lower fork 50 all descend to the lowest position, and identification module 60 discerns the position information of waiting to fork and get the carrier and the orientation of carrier jack, so that drive module drive automobile body 10 adjustment position and orientation, thereby make upper fork 40 insert in the carrier jack, and promote the carrier that is equipped with the goods to a certain height after; the recognition module 60 continues to recognize the position information of the next carrier to be picked and the orientation of the carrier jack, so that the driving module drives the vehicle body 10 again to adjust the position and the orientation, the lower fork 50 is inserted into the carrier jack, and after the carrier with the goods is lifted to a certain height, the vehicle body 10 moves to the unloading area, and the one-time goods picking process is completed. The setting of identification module 60 need not artifical supplementary adjustment fork truck position, has improved fork truck's work efficiency.

The bottom of the vehicle body 10 is provided with a steering wheel and a driven wheel, wherein the driving module can drive the steering wheel to rotate, brake and steer so as to drive the vehicle body 10 to move. The upper forks 40 can lift the carrier loaded with goods to a certain height for carrying the higher carrier; the lower forks 50 are only used for carrying the load to a height above the ground for ground carrying of the load without being lifted to a higher height.

Referring to fig. 1 to 5, in an embodiment of the present invention, the identification module 60 includes:

the first identification module 61 is arranged on the upper fork 40 and used for identifying the position information of the carrier to be forked and the orientation of the carrier jack, so that the upper fork 40 is inserted into the carrier jack to lift the carrier; and

and the second identification module 62 is arranged on the lower fork 50 and used for identifying the position information of the carrier to be forked and the orientation of the carrier jack, so that the lower fork 50 is inserted into the carrier jack to lift the carrier.

The utility model discloses an among the technical scheme of an embodiment, first discernment module 61 and second discernment module 62 can be the vision camera, also can be the vision identification subassembly, do not make the restriction here to the kind and the structure of first discernment module 61 and second discernment module 62. The lenses of the first recognition module 61 and the second recognition module 62 can collect environmental information to obtain the position of the carrier and the orientation of the carrier insertion hole, and the orientation of the vehicle body 10 is adjusted by the driving module to make the upper fork 40 and the lower fork 50 respectively align with the carrier insertion hole when the fork forks are used for lifting the carrier, so as to lift the cargo.

Before the forklift is used for taking goods, the upper fork 40 and the lower fork 50 are both lowered to the lowest positions, the first identification module 61 identifies the position information of the carrier to be taken and the orientation of the carrier jack, so that the driving module drives the vehicle body 10 to adjust the position and the orientation, the upper fork 40 is lifted to the corresponding height to be inserted into the carrier jack, and the carrier filled with the goods is lifted to a certain height;

the second identification module 62 identifies the position information of the next to-be-fork carrier and the orientation of the carrier jack, so that the driving module drives the vehicle body 10 to adjust the position and the orientation again, the lower fork 50 rises to a corresponding height to be inserted into the carrier jack, and after the carrier with the goods is lifted to a certain height, the vehicle body 10 moves to the unloading area, and the lower fork 50 and the upper fork 40 respectively complete unloading, thereby completing a one-time goods taking process. The first recognition module 61 and the second recognition module 62 are arranged, so that the position of the forklift is not required to be adjusted by manual assistance, and the working efficiency of the double-portal forklift 100 is improved.

Referring to fig. 1 to 3, in an embodiment of the present invention, the upper fork 40 includes:

the upper connecting part 41, the upper connecting part 41 is movably connected with the upper gantry 20, and the first identification module 61 is arranged on the upper connecting part 41; and

and the upper fork arm 42 extends from one side surface of the upper connecting part 41 departing from the upper door frame 20 to a direction away from the upper door frame 20.

The utility model discloses an among the technical scheme of an embodiment, connecting portion 41 is located to first discernment module 61 to the extending direction setting of yoke 42 is gone up towards, with the orientation of the positional information of discernment carrier and carrier jack. The number of the upper fork arms 42 is two, and the two upper fork arms 42 are arranged side by side to support cargoes.

Referring to fig. 1 to 3, in an embodiment of the present invention, the upper connecting portion 41 is provided with a first through hole 411 in a through manner, the first identification module 61 is located on one side of the upper connecting portion 41 departing from the upper fork arm 42, and the identification end of the first identification module 61 faces the first through hole 411.

The utility model provides an among the technical scheme of an embodiment, in order to avoid going up fork 40 fork goods, the discernment end of bad first discernment module 61 is pushed up on the edge of carrier or goods, locates first discernment module 61 one side that upper junction 41 deviates from last yoke 42 to make the discernment end of first discernment module 61 set up towards first through-hole 411, come discernment environmental information through first through-hole 411, improved double-portal forklift 100 inner structure's stability.

Referring to fig. 1 to 3, in an embodiment of the present invention, the upper yoke 42 is connected to a lower end of the upper connecting portion 41, and an upper end of the upper connecting portion 41 is slidably connected to the upper gantry 20, so that the upper yoke 42 can be lowered to the front of the lower gantry 30;

the upper connecting portion 41 further has a second through hole 412 formed therethrough, so that the identification end of the second identification module 62 is exposed to the upper connecting portion 41 through the second through hole 412.

The utility model relates to an among the technical scheme of an embodiment, when going up yoke 42 and sinking to the place ahead of portal 30 down, in order to avoid last connecting portion 41 to block the second discernment subassembly and lead to its unable discernment environmental information, second through-hole 412 has still been seted up on last connecting portion 41, the discernment end accessible second through-hole 412 of second discernment module 62 acquires environmental information and discerns, avoid leading to the unable environmental information that acquires of second discernment module 62 because of blockking of last connecting portion 41, the stability of double-portal forklift 100 inner structure has been improved.

The second through hole 412 is located below the first through hole 411, and when the upper fork 40 and the lower fork 50 respectively descend to the lowest positions, the identification end of the second identification module 62 can obtain the environmental information through the second through hole 412.

Referring to fig. 1 to 3, in an embodiment of the present invention, the upper connecting portion 41 is provided with an upper root detection mechanism 413, and the upper root detection mechanism 413 is located above the upper yoke 42 and is used for detecting whether a carrier is carried on the upper yoke 42.

In the technical solution of an embodiment of the present invention, the upper root detecting mechanism 413 is disposed on the upper connecting portion 41 and located above the upper yoke 42, the upper root detecting mechanism 413 is disposed toward the extending direction of the upper yoke 42, when the upper yoke 42 is inserted into the carrier insertion hole, the upper root detecting mechanism 413 detects whether the upper yoke 42 bears a carrier, and if it is detected that the upper yoke 42 bears the carrier, the upper yoke 42 drives the carrier to lift; if it is not detected that the upper yoke 42 carries the carrier, the first identification module 61 re-identifies the carrier and the carrier jack, so that the upper yoke 42 is accurately inserted into the carrier jack, and the cargo is lifted.

The upper root detecting means 413 may be a photoelectric switch or other sensors, and the kind and structure of the upper root detecting means 413 are not limited herein. When the upper root detection mechanism 413 is a photoelectric switch, the photoelectric switch emits a light beam to the bearing area of the upper yoke 42, and the light beam is reflected by the carrier, so that the fact that the upper yoke 42 bears the carrier can be detected; when the beam is not reflected, it can be measured that the upper yoke 42 does not carry a carrier.

Referring to fig. 1 to 3, in an embodiment of the present invention, an upper cusp detection mechanism 421 is disposed at an end of the upper yoke 42 away from the upper connection portion 41, and the upper cusp detection mechanism 421 is configured to detect whether an obstacle exists in front of the upper yoke 42.

The utility model relates to an embodiment's technical scheme in, when last yoke 42 inserts the carrier jack, if go up yoke 42 and do not align the carrier jack, go up yoke 42 can't insert the carrier jack and support and push up on the carrier, so it is equipped with tooth point detection mechanism 421 to go up the one end that last yoke 42 deviates from last connecting portion 41, when last yoke 42 does not align the carrier jack, go up tooth point detection mechanism 421 can detect and make first discernment module 61 readjust fork truck's orientation, make and go up yoke 42 and align the carrier jack.

The upper dental cusp detection mechanism 421 may be a photoelectric switch, an obstacle avoidance radar, or another sensor, and the kind and structure of the upper dental cusp detection mechanism 421 are not limited herein. When the upper cusp detection mechanism 421 is a photoelectric switch, the photoelectric switch emits a light beam to the front of the upper yoke 42, the light beam is reflected, and the relative distance between the upper yoke 42 and an object in front can be measured through the flight time of the light beam, so that the upper yoke 42 is prevented from being abutted against a carrier or other obstacles; when the upper cusp detection mechanism 421 is an obstacle avoidance radar, the obstacle avoidance radar emits an electromagnetic wave to the front of the upper yoke 42, the electromagnetic wave is reflected, and the relative distance between the upper yoke 42 and an object in front can be measured by the flight time of the electromagnetic wave, so that the upper yoke 42 is prevented from abutting against a carrier or other obstacles.

When the upper yoke 42 moves towards the carrier jack, the upper cusp detection mechanism 421 detects that an obstacle is in front of the upper yoke 42, so that the upper yoke 42 stops moving forward, at this time, the upper root detection mechanism 413 detects whether the upper yoke 42 carries a carrier, and if the upper yoke 42 carries a carrier, the upper yoke 42 lifts the carrier; if the upper yoke 42 does not carry the carrier, the first identification module 61 re-identifies the carrier insertion hole, so that the upper yoke 42 is re-inserted into the carrier insertion hole.

Referring to fig. 1 to 3, in an embodiment of the present invention, the upper door frame 20 further includes:

a height positioning mechanism 21 for detecting the rising height of the upper yoke 42; and

and the height limiting mechanism 22 is used for limiting the rising height of the upper fork arm 42.

The utility model discloses an among the technical scheme of an embodiment, because go up yoke 42 and need promote the take the altitude with the goods, so go up portal frame 20 and still be equipped with high positioning mechanism 21 and high stop gear 22.

The height limiting mechanism 22 is used for limiting the highest lifting position of the upper fork arm 42, when the upper fork 40 is lifted too high, the forklift can lose load, so that the goods cannot be lifted to a specified position, therefore, the height limiting mechanism 22 is arranged on the upper portal frame 20, and when the upper fork 40 is lifted to the height of the height limiting mechanism 22, the lifting is stopped, and the forklift is prevented from losing load.

The height limiting mechanism 22 may be an opto-electronic switch or a correlation sensor, and the kind and structure of the height limiting mechanism 22 are not limited herein. When the height limiting mechanism 22 is a photoelectric switch, the upper yoke 42 rises to one side of the photoelectric switch and triggers the height limiting mechanism 22, and the upper yoke 42 stops rising continuously.

The height positioning mechanism 21 is used for detecting the rising height of the upper yoke 42, and the height positioning mechanism 21 may be a pull encoder or a photoelectric switch, and the kind and structure of the height positioning mechanism 21 are not limited herein. When the height positioning mechanism 21 is a stay wire encoder, the stay wire encoder comprises a stay wire type displacement sensor and a stay wire, wherein the stay wire type displacement sensor is fixed at the bottom of the upper portal frame 20, the stay wire is led out from the stay wire type displacement sensor, one end of the stay wire is fixed to the upper fork 40, the stay wire is driven to be pulled out when the upper fork 40 rises, and the stay wire type displacement sensor can calculate information such as the rising speed, the rising acceleration and the rising height of the upper fork 40 through the length, the time and the speed of pulling out the stay wire, so that the rising of the upper fork 40 can be monitored in real time;

the height positioning mechanism 21 can also be a photoelectric switch, the photoelectric switch is arranged at the bottom of the upper door frame 20 and is arranged towards the upper fork 40, the photoelectric switch emits a light beam to the upper fork 40, the light beam is reflected, the relative distance between the upper fork 40 and the photoelectric switch can be measured through the flight time of the light beam, so that the relative distance between the upper fork 40 and the height positioning mechanism 21 can be measured, and the real-time height of the upper fork 40 can be calculated.

Similarly, the lower door frame 30 is provided with a lower limit switch 34 and an upper limit switch 33 for limiting the lowest position and the highest lifting position of the lower fork 50, and the structures of the lower limit switch 34 and the upper limit switch 33 are the same as the structure of the height limit mechanism 22, which is not described in detail herein.

Referring to fig. 4 to 5, in an embodiment of the present invention, a lower cusp detection mechanism 51 is disposed at an end of the lower fork 50 away from the lower mast 30, and is used for detecting whether an obstacle exists in front of the lower fork 50;

the lower fork 50 is further provided with a lower tooth root detection mechanism 52 for detecting whether a carrier is carried on the lower fork 50.

In an embodiment of the present invention, the lower fork 50 includes a lower connecting portion (not labeled) and a lower fork arm (not labeled), the lower connecting portion is movably connected to the lower door frame 30, and the second identification module 62 is disposed on the lower connecting portion; the lower yoke arm deviates from a side surface of the lower door frame 30 from the lower connecting part, and extends and sets in a direction away from the lower door frame 30.

The lower yoke is connected to the lower end of the lower connecting part, the upper end of the lower connecting part is slidably connected to the lower gantry 30, the lower tooth root detecting mechanism 52 is disposed on the lower connecting part and located above the lower yoke, and the second identifying component is located above the lower tooth root detecting mechanism 52.

After the lower yoke is inserted into the carrier jack, the lower tooth root detection mechanism 52 detects whether the lower yoke carries the carrier, and if the lower yoke carries the carrier, the lower yoke drives the carrier to lift; if the lower yoke is not detected to carry the carrier, the second identification module 62 re-identifies the carrier and the carrier jack, so that the lower yoke is accurately inserted into the carrier jack, and the goods are lifted.

The lower root detecting means 52 may be a photoelectric switch or other sensors, and the kind and structure of the lower root detecting means 52 are not limited herein. When the lower tooth root detection mechanism 52 is a photoelectric switch, the photoelectric switch emits a light beam to the bearing area of the lower yoke, the light beam is reflected by the carrier, and the carrier borne by the lower yoke can be measured; when the beam is not reflected, it can be measured that the lower yoke does not carry a carrier.

When the lower yoke is inserted into the carrier jack, if the lower yoke is not aligned with the carrier jack, the lower yoke cannot be inserted into the carrier jack and abuts against the carrier, so that the lower cusp detection mechanism 51 is arranged at one end of the lower yoke, which is far away from the lower connecting part, and when the lower yoke is not aligned with the carrier jack, the lower cusp detection mechanism 51 detects and enables the second identification module 62 to readjust the orientation of the forklift, so that the lower yoke is aligned with the carrier jack.

The lower cusp detection mechanism 51 may be a photoelectric switch, an obstacle avoidance radar, or another sensor, and the type and structure of the lower cusp detection mechanism 51 are not limited herein. When the lower cusp detection mechanism 51 is a photoelectric switch, the photoelectric switch emits a light beam to the front of the lower yoke, the light beam is reflected, and the relative distance between the lower yoke and an object in front can be measured through the flight time of the light beam, so that the lower yoke is prevented from being propped against a carrier or other obstacles; when the lower cusp detection mechanism 51 is an obstacle avoidance radar, the obstacle avoidance radar transmits electromagnetic waves to the front of the lower yoke, the electromagnetic waves are reflected, and the relative distance between the lower yoke and an object in front can be measured through the flight time of the electromagnetic waves, so that the lower yoke is prevented from being abutted to a carrier or other obstacles.

When the lower yoke moves towards the carrier jack, the lower tooth tip detection mechanism 51 detects that an obstacle is in front of the lower yoke, so that the lower yoke stops moving forwards, at the moment, the lower tooth root detection mechanism 52 detects whether the lower yoke bears a carrier, and if the lower yoke bears the carrier, the lower yoke lifts the carrier; if the lower yoke does not carry the carrier, the second identification module 62 re-identifies the carrier insertion hole so that the lower yoke is re-inserted into the carrier insertion hole.

Referring to fig. 1 to 5, in an embodiment of the present invention, the upper gantry 20 is translatably disposed along the front-rear direction of the vehicle body 10 to move closer to or away from the vehicle body 10;

the vehicle body 10 further includes:

a first positioning mechanism 23 for detecting the extension distance of the upper gantry 20; and

the first limiting mechanism 24 is used for limiting the extending distance of the upper door frame 20;

and/or the lower door frame 30 is arranged to be capable of translating along the front-rear direction of the vehicle body 10 so as to move close to or away from the vehicle body 10;

the vehicle body 10 further includes:

a second positioning mechanism 31 for detecting the extension distance of the lower gantry 30; and

and the second limiting mechanism 32 is used for limiting the extending distance of the lower door frame 30.

The utility model relates to an among the technical scheme of an embodiment, fork truck uses in the storage operation environment usually, at the in-process of storage transportation, needs for fork truck design tunnel space to go and turn to for fork truck. For storage and transportation, the increase of the roadway space can cause the reduction of the storage capacity rate, so that the storage space of the warehouse cannot be fully utilized.

In order to reduce the volume of the double mast forklift 100 during operation and to increase the storage capacity, the upper mast 20 and the lower mast 30 may be disposed to be translated in the front and rear directions of the body 10, respectively. When the goods are taken, the upper door frame 20 and the lower door frame 30 respectively extend out of the vehicle body 10 to take the goods, and after the goods are taken, the upper door frame 20 and the lower door frame 30 respectively retract into the vehicle body 10 to reduce the volume and convey the goods to the unloading area. During unloading, the upper and lower door frames 20 and 30, respectively, extend from the vehicle body 10 for unloading, and after unloading, the upper and lower door frames 20 and 30, respectively, retract into the vehicle body 10 to reduce their volume and move to the pickup area.

In order to ensure that the telescoping process of the upper door frame 20 is controllable, the vehicle body 10 further includes a first positioning mechanism 23 and a first limit mechanism 24, the first positioning mechanism 23 is used for detecting the extending distance of the upper door frame 20, the first positioning mechanism 23 may be a pull-cord encoder or a photoelectric switch, and the type and structure of the first positioning mechanism 23 are not limited herein. When the first positioning mechanism 23 is a stay wire encoder, the stay wire encoder comprises a stay wire type displacement sensor and a stay wire, wherein the stay wire type displacement sensor is fixed on the upper door frame 20, the stay wire is led out from the stay wire type displacement sensor, one end of the stay wire is fixed on the vehicle body 10, the stay wire is driven to be pulled out when the upper door frame 20 extends out, and the stay wire type displacement sensor can calculate the information of the extension speed, the extension acceleration, the extension length and the like of the upper door frame 20 through the length, the time and the speed of the pull wire pulling out, so that the real-time monitoring of the extension of the upper door frame 20 is realized;

the first positioning mechanism 23 may also be a photoelectric switch, the photoelectric switch is disposed on the upper door frame 20 and is disposed toward the vehicle body 10, the photoelectric switch emits a light beam to the vehicle body 10, the light beam is reflected, and the relative distance between the vehicle body 10 and the photoelectric switch can be measured through the flight time of the light beam, so as to measure the relative distance between the vehicle body 10 and the upper door frame 20, thereby calculating the extending length of the upper door frame 20.

Because the upper door frame 20 needs to extend for a certain distance to take goods, in order to ensure that the distance of the upper door frame 20 extending every time is the same, the upper door frame 20 is provided with a first limiting mechanism 24, and the first limiting mechanism 24 can be a photoelectric switch, a correlation sensor or other limiting structures, and the first limiting mechanism 24 is not limited herein. Photoelectric switches are respectively provided at the front and rear ends of the upper door frame 20, and triggering portions for triggering the photoelectric switches are respectively provided at the front and rear ends of the vehicle body 10. In the goods taking process, the upper door frame 20 extends out of the vehicle body 10 until a photoelectric switch at the rear end of the upper door frame 20 is triggered by a triggering part at the rear end of the vehicle body 10, the upper door frame 20 stops extending out, and a forklift is used for taking goods; after the goods are taken out, the upper door frame 20 retracts into the vehicle body 10 until the photoelectric switch at the front end of the upper door frame 20 is triggered by the trigger part at the front end of the vehicle body 10, and the upper door frame 20 stops retracting, so that the goods taking is completed.

In order to ensure that the extension and retraction process of the lower door frame 30 is controllable, the vehicle body 10 further includes a second positioning mechanism 31 and a second limiting mechanism 32, the second positioning mechanism 31 is used for detecting the extension distance of the lower door frame 30, the second positioning mechanism 31 may be a pull wire encoder or an optoelectronic switch, and the type and structure of the second positioning mechanism 31 are not limited herein. When the second positioning mechanism 31 is a stay wire encoder, the stay wire encoder comprises a stay wire type displacement sensor and a stay wire, wherein the stay wire type displacement sensor is fixed on the lower door frame 30, the stay wire is led out from the stay wire type displacement sensor, one end of the stay wire is fixed on the vehicle body 10, the stay wire is driven to be pulled out when the lower door frame 30 is extended, the stay wire type displacement sensor can calculate the information of the extension speed, the extension acceleration, the extension length and the like of the lower door frame 30 according to the length, the time and the speed of the pull wire, and the extension of the lower door frame 30 can be monitored in real time;

the second positioning mechanism 31 may also be a photoelectric switch, the photoelectric switch is disposed on the lower door frame 30 and is disposed toward the vehicle body 10, the photoelectric switch emits a light beam to the vehicle body 10, the light beam is reflected, and the relative distance between the vehicle body 10 and the photoelectric switch can be measured through the flight time of the light beam, so as to measure the relative distance between the vehicle body 10 and the lower door frame 30, and thus calculate the extending length of the lower door frame 30.

Because the lower door frame 30 needs to extend for a certain distance to take goods, in order to ensure that the distance of each extension of the lower door frame 30 is the same, the lower door frame 30 is provided with a second limit mechanism 32, and the second limit mechanism 32 can be a photoelectric switch, a correlation sensor or other limit structures, and the second limit mechanism 32 is not limited. Photoelectric switches are respectively provided at the front and rear ends of the lower door frame 30, and triggering portions for triggering the photoelectric switches are respectively provided at the front and rear ends of the vehicle body 10. In the process of picking up goods, the lower door frame 30 extends out of the vehicle body 10 until a photoelectric switch at the rear end of the lower door frame 30 is triggered by a trigger part at the rear end of the vehicle body 10, the lower door frame 30 stops extending out, and the forklift is used for picking up goods; after the goods are taken out, the lower door frame 30 retracts into the vehicle body 10 until the photoelectric switch at the front end of the lower door frame 30 is triggered by the trigger part at the front end of the vehicle body 10, and the lower door frame 30 stops retracting, so that the goods taking is completed.

The above only is the preferred embodiment of the present invention, not limiting the scope of the present invention, all the equivalent structure changes made by the contents of the specification and the drawings under the inventive concept of the present invention, or the direct/indirect application in other related technical fields are included in the patent protection scope of the present invention.

Claims (10)

1. A dual mast forklift, comprising:

a vehicle body;

the upper door frame is arranged on one side of the vehicle body;

the lower door frame is arranged on one side of the vehicle body and is positioned below the upper door frame;

the upper fork is arranged on the upper door frame in a lifting manner;

the lower fork is arranged on the lower door frame in a lifting manner;

the driving module is used for driving the vehicle body to move; and

the identification module is electrically connected with the driving module and used for identifying the position information of the carrier to be forked and the orientation of the carrier jack, so that the upper fork and the lower fork are inserted into the carrier jack to lift the carrier.

2. The dual mast forklift of claim 1, wherein said identification module comprises:

the first identification module is arranged on the upper fork and used for identifying the position information of the carrier to be forked and the orientation of the carrier jack so that the upper fork is inserted into the carrier jack to lift the carrier; and

the second identification module is arranged on the lower fork and used for identifying the position information of the carrier to be forked and the orientation of the carrier jack, so that the lower fork is inserted into the carrier jack to lift the carrier.

3. The dual mast forklift of claim 2, wherein said upper forks comprise:

the upper connecting part is movably connected with the upper door frame, and the first identification module is arranged on the upper connecting part; and

go up the yoke, go up the yoke certainly last connecting portion deviate from go up a side surface of portal to keeping away from and locating go up the direction of portal extends the setting.

4. The dual mast forklift of claim 3, wherein said upper attachment portion has a first through hole formed therethrough, said first identification module is disposed on a side of said upper attachment portion facing away from said upper fork arm, and an identification end of said first identification module is disposed toward said first through hole.

5. The dual mast forklift of claim 3, wherein said upper fork arm is connected to a lower end of said upper link, an upper end of said upper link being slidably connected to said upper mast so that said upper fork arm can be lowered in front of said lower mast;

the upper connecting part is also provided with a second through hole in a penetrating manner, so that the identification end of the second identification module is exposed to the upper connecting part through the second through hole.

6. The twin mast forklift of claim 3, wherein said upper attachment portion is provided with an upper root detection mechanism located above said upper fork arm for detecting whether a vehicle is carried on said upper fork arm.

7. The dual mast forklift of claim 3, wherein an end of said upper fork arm facing away from said upper attachment portion is provided with an upper toe detection mechanism for detecting the presence of an obstacle in front of said upper fork arm.

8. The twin mast forklift of claim 3, wherein said upper mast further comprises:

the height positioning mechanism is used for detecting the rising height of the upper fork arm; and

and the height limiting mechanism is used for limiting the rising height of the upper fork arm.

9. The dual mast forklift of claim 1, wherein an end of said lower fork facing away from said lower mast is provided with a lower toe detection mechanism for detecting the presence of an obstacle in front of said lower fork;

the lower fork is also provided with a lower tooth root detection mechanism for detecting whether the lower fork bears a carrier or not.

10. The dual mast forklift of any one of claims 1-9, wherein said upper mast is translatably disposed in a fore-aft direction of said body for movement toward or away from said body;

the vehicle body further includes:

the first positioning mechanism is used for detecting the extending distance of the upper door frame; and

the first limiting mechanism is used for limiting the extending distance of the upper door frame;

and/or the lower portal is arranged in a translational manner along the front-back direction of the vehicle body so as to move close to or away from the vehicle body;

the vehicle body further includes:

the second positioning mechanism is used for detecting the extending distance of the lower door frame; and

and the second limiting mechanism is used for limiting the extending distance of the lower door frame.

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