CN220098453U - Three-way stacking forklift - Google Patents

Abstract

The utility model discloses a three-way stacking forklift which comprises a forklift body, at least two ranging sensors and a controller. The three-way stacking forklift can travel between two preset rails and comprises a forklift body, at least two ranging sensors and a controller. The forklift body has a movable function; the forklift body is provided with a first side and a second side which are oppositely arranged; the first side and the second side are provided with at least one ranging sensor; the distance measuring sensor is positioned on the first side and used for measuring the distance between the first side and one preset track facing the first side; a distance measuring sensor located at the second side for measuring a distance between the second side and another preset track towards the second side; the controller is arranged on the forklift body and is electrically connected with at least two ranging sensors; and the device is used for controlling the running gesture of the forklift body according to the distance measured by the at least two distance measuring sensors. Through the mode, the driving safety of the three-way stacking forklift can be improved.

Description

Three-way stacking forklift

Technical Field

The utility model relates to the technical field of stacking forklifts, in particular to a three-way stacking forklift.

Background

Along with the intelligent degree of warehouse system promotes gradually, three-way stack fork truck becomes the indispensable goods transport means in the intelligent warehouse system.

When the three-way stacking forklift runs between goods shelves of the warehouse, especially when goods on the goods shelves are carried, the three-way stacking forklift possibly collides with the goods shelves of the warehouse, so that the goods fall off and are damaged, and even the three-way stacking forklift and the goods shelves of the warehouse are possibly damaged to some extent, so that the running safety of the three-way stacking forklift is reduced.

Disclosure of Invention

The technical problem to be solved mainly by the utility model is to provide the three-way stacking forklift, so that the possibility of collision between the three-way stacking forklift and a warehouse goods shelf can be reduced, and the running safety of the three-way stacking forklift is further improved.

In order to solve the technical problems, the utility model adopts a technical scheme that: a three-way stacker forklift is provided that includes a forklift body, at least two ranging sensors, and a controller. The three-way stacking forklift can travel between two opposite preset rails which are arranged side by side in a roadway between two adjacent rows of warehouse racks, and comprises a forklift body, at least two ranging sensors and a controller. The forklift body has a movable function. The forklift body has oppositely disposed first and second sides. The first side and the second side are each provided with at least one ranging sensor. The distance measuring sensor is arranged on the first side and is used for measuring the distance between the first side and a preset track facing the first side. A distance measuring sensor located at the second side is used to measure the distance between the second side and another preset track towards the second side. The controller is arranged on the forklift body and is electrically connected with at least two ranging sensors; and the device is used for controlling the running gesture of the forklift body according to the distance measured by the at least two distance measuring sensors.

The beneficial effects of the utility model are as follows: in the case of distinguishing prior art, through can driving between setting up in the tunnel between two adjacent rows of warehouse shelves relative and two preset rails that set up side by side, the fork truck main part has movable function, the fork truck main part has relative first side and the second side that sets up, first side and second side all are provided with at least one range finding sensor, the range finding sensor that is located first side is used for measuring the first side and is directed against the first side one preset rail between the distance, the range finding sensor that is located the second side is used for measuring the second side and is directed against the second side another preset rail between the distance, the controller sets up in the fork truck main part, at least two range finding sensors are connected to the electricity, be used for according to the distance control fork truck main part's that two at least range finding sensor measured the attitude of traveling, set up two preset rails in the warehouse goods shelves, thereby the three-way stacking fork truck can be in the regional travel of reservation, and can also make three-way stacking fork truck and warehouse three-way spacing a distance between the goods shelves, reduce the collision possibility between three-way stacking fork truck and the warehouse goods shelves. Through set up range sensor on three-dimensional stacking fork truck, can detect the distance between three-dimensional stacking fork truck and the two tracks of predetermineeing, and can control fork truck main part's the gesture of traveling according to the distance between three-dimensional stacking fork truck and the two tracks of predetermineeing, make when detecting that the distance between three-dimensional stacking fork truck and the corresponding track of predetermineeing is less than the threshold value, can control fork truck main part and keep away from corresponding track of predetermineeing, even make three-dimensional stacking fork truck can travel in the suitable region between with predetermineeing the track, reduce the collision possibility between three-dimensional stacking fork truck and the two tracks of predetermineeing, thereby reduce the collision possibility between three-dimensional stacking fork truck and the warehouse goods shelves, and then improve three-dimensional stacking fork truck's the security of traveling.

Drawings

FIG. 1 is a schematic diagram of the composition of a warehouse of the present utility model;

FIG. 2 is a schematic view of a three-way stacker fork truck and two pre-set rails in a warehouse and warehouse racks of the present utility model;

FIG. 3 is a schematic perspective view of the fork assembly of FIG. 3;

FIG. 4 is an exploded view of the fork assembly of FIG. 3;

FIG. 5 is a schematic view of an embodiment of a three-way stacker forklift of the present utility model;

fig. 6 is a schematic view of a part of the three-way stacking forklift shown in fig. 2.

Detailed Description

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

Along with popularization of intelligent warehouse systems, the three-way stacking forklift is increasingly applied to the intelligent warehouse systems. When the three-way stacking forklift runs between warehouses and carries cargoes, collision possibly occurs between the three-way stacking forklift and the warehouse goods shelves, so that the running safety of the three-way stacking forklift is reduced.

In order to solve the above technical problems, the present utility model proposes at least the following embodiments.

The three-way stacker forklift 100 described in the three-way stacker forklift embodiment of the present utility model may be applied to various warehouses 10, such as medical storage warehouses, clothing storage warehouses, and the like. As shown in fig. 1, a plurality of oriented warehouse racks 200 may be included in the warehouse 10, for example. The warehouse rack 200 is used for placing goods, for example, medicines, cloths, etc. for carrying by the three-way stacking forklift 100. A plurality of preset tracks 300 may also be provided in the warehouse 10, for example. The preset rails 300 may be used to define a travel route for the three-way stacker forklift 100 such that the three-way stacker forklift 100 can travel only in the area between the preset rails 300. The lane between the warehouse racks 200 may be provided with preset rails 300, and the three-way stacking forklift 100 may be able to travel between the preset rails 300 of the warehouse racks 200 and carry the goods placed on the warehouse racks 200.

Optionally, the preset track 300 may extend in a vertical direction of a height direction of the three-way stacking forklift 100 and a traveling direction of the three-way stacking forklift 100, so that a distance between the three-way stacking forklift 100 and the warehouse rack 200 may be set, collision between the three-way stacking forklift 100 and the warehouse rack 200 may be reduced, and picking and placing operations of the three-way stacking forklift 100 relative to the warehouse rack 200 may be smoothly implemented.

Through setting up preset track 300 in the tunnel between warehouse goods shelves 200 for three-way stacking fork truck 100 can travel in the region of settlement, thereby inject the route of traveling of three-way stacking fork truck 100, can also make the interval certain distance between three-way stacking fork truck 100 and the warehouse goods shelves 200, reduce the collision possibility between three-way stacking fork truck 100 and the warehouse goods shelves 200, and can also make three-way stacking fork truck 100 can realize getting goods operation relative to warehouse goods shelves 200 smoothly.

As shown in fig. 1 to 3, the three-way stacking forklift 100 according to the embodiment of the present utility model is capable of traveling between two preset rails 300 disposed opposite and side by side in a roadway disposed between two adjacent rows of warehouse racks 200, and the three-way stacking forklift 100 includes a forklift body 110, at least two ranging sensors 120 and a controller 130. The forklift main body 110 has a movable function. The truck body 110 has oppositely disposed first and second sides 161, 162. The first side 161 and the second side 162 are each provided with at least one ranging sensor 120. The distance measuring sensor 120 located at the first side 161 is used to measure the distance between the first side 161 and a predetermined track towards the first side 162. The ranging sensor at the second side 162 is used to measure a distance between the second side 162 and another preset track 300 toward the second side 162. The controller 130 is disposed on the forklift body 110 and is electrically connected to the at least two ranging sensors 120. For controlling the driving posture of the forklift main body 110 according to the distances measured by the at least two ranging sensors 120.

Alternatively, the forklift body 110 includes a vehicle body 111 and a wheel assembly 112, wherein the wheel assembly 112 is disposed at the bottom of the vehicle body 111. The vehicle body 111 may advance or retreat between the preset rails 300 under the driving of the wheel assemblies 112.

Alternatively, as shown in fig. 2 to 4, the forklift body 110 includes a fork assembly 150, and the fork assembly 150 may be lifted in the height direction of the forklift body 110 and may also be rotated about a rotation axis parallel to the height direction of the forklift body 110. Through fork assembly 150 going up and down and rotating between warehouse shelf 200, can realize taking out the goods that will place in the high-order, also can deposit the goods on high-order warehouse shelf 200, can also carry out the change of goods place with the goods of warehouse shelf 200.

The three-way stacking forklift 100 can run in a roadway between two adjacent rows of warehouse racks 200, and can rotate relative to the car body 111 around a rotation axis parallel to the height direction of the forklift main body 110 through the forking assembly 150, so that cargoes on the warehouse racks 200 on two sides can be carried under the condition that the car body 111 and the wheel assembly 112 are kept not to rotate, the three-way stacking forklift 100 can keep straight running between the two rows of warehouse racks 200, the running route of the three-way stacking forklift 100 is simplified, and the space occupied by rotation of the car body 111 and the wheel assembly 112 can be avoided.

Alternatively, as shown in fig. 2-4, the fork assembly 150 includes a fork 157, a connector 153, and a sled 151. The slide rail 151 is slidably connected to the vehicle body 111 so as to be capable of being lifted and lowered in the height direction of the forklift main body 110. Both ends of the rail 152 of the sled 151 extend toward the warehouse racks 200 on both sides, respectively. The link 153 is slidably connected to the slide rail 151, and is slidable relative to the slide rail 151 along the extending direction of the rail 152 of the slide rail 151. The fork 157 and the link 153 are rotatably coupled, and the rotation axis of the fork 157 is parallel to the height direction of the fork truck main body 110. Further, the extending direction of the rail 152 of the sled 151 is perpendicular to the height direction of the forklift main body 110, and is perpendicular to the traveling direction of the three-way stacking forklift 100.

The forks 157 are rotatable with respect to the links 153 to turn the direction of the forks so that the loads on the warehouse racks 200 on both sides of the three-way stacker forklift 100 can be respectively forked. The movement of the link 153 sliding along the sled 151 in synchronization with the fork 157 is used for both picking up the goods by approaching or moving away from the warehouse rack 200 on a certain side and moving the root of the fork 157 to one end of the sled 151 when the fork 157 rotates relative to the link 153, so as to satisfy the space required for the rotation of the fork 157.

Alternatively, the connecting member 153 has two sets of pulleys 154, and the slide rail 151 has two rails 152 disposed opposite to each other, and each set of pulleys 154 is disposed in one rail 152 so that the connecting member 153 can slide relative to the slide rail 151. Further, the openings of the two rails 152 face away so that the sled 151 is positioned between the two sets of pulleys 154.

Optionally, the connecting member 153 is provided with a connecting groove 156, and the two sets of pulleys 154 are respectively connected to two opposite inner side walls of the connecting groove 156.

Alternatively, the number of pulleys 154 per set may be one or two or more.

Optionally, the connector 153 has a shaft 155, and the fork 157 is rotatably connected to the shaft 155.

Alternatively, as shown in FIGS. 1, 5 and 6, the wheel assembly 112 includes at least one steering wheel mechanism 114. The steering wheel mechanism 114 can be used to drive the vehicle body 111 and can be used to steer the vehicle body 111. The steering wheel mechanism 114 is controlled to control the forward, backward, steering, and the like of the three-way stacker forklift 100. For example, when the three-way stacking forklift 100 runs in a roadway between the warehouse racks 200, the continuous running may cause collision between the vehicle body 111 and the warehouse racks 200, and at this time, the running direction of the vehicle body 111 can be changed by controlling the steering wheel mechanism 114, so that the possibility of collision between the vehicle body 111 and the warehouse racks 200 is reduced. The steering wheel mechanism 114 may be a double steering wheel, a four steering wheel, or the like.

By using steering wheel mechanism 114, the flexibility of the three-way stacker forklift 100 in roadway travel between warehouse racks 200 may be increased so that three-way stacker forklift 100 may remain on the travel path while traveling, reducing the likelihood of three-way stacker forklift 100 deviating from the travel path and the likelihood of collisions.

When the three-way stacking forklift 100 runs between the preset rails 300, the three-way stacking forklift 100 may collide with the preset rails 300, and thus, the three-way stacking forklift 100 and the preset rails 300 may be damaged to some extent.

For example, by providing at least two ranging sensors 120, the controller 130 may be configured to control the truck body 110 away from an object that may collide when there is a distance measured by one ranging sensor 120 that is less than a preset threshold, i.e., when the three-way stacker truck 100 may be about to collide, thereby reducing the likelihood of the three-way stacker truck 100 colliding.

The number of the ranging sensors 120 may be, for example, one, two, or three. The ranging sensor 120 is provided on the forklift body 110 and faces an object that may collide, for detecting a distance from the object that may collide. For example, an object that may collide with the forklift main body 110 may be the preset rail 300. The ranging sensor 120 may be disposed toward the preset track 300. The ranging sensor 120 may be used to measure a distance between the forklift body 110 and the preset rail 300. The ranging sensor 120 may be, for example, an electro-optical ranging sensor or the like. By providing the ranging sensor 120, the distance between the forklift main body 110 and the preset rail 300 can be detected, thereby reducing the possibility of collision between the forklift main body 110 and the preset rail 300.

For example, the number of the ranging sensors 120 is at least two, and the at least two ranging sensors 120 are respectively disposed on two sides of the forklift body 110 facing the two preset rails 300 in a one-to-one correspondence manner, and are used for measuring the distance between the forklift body 110 and the corresponding preset rail 300. Wherein, each side of the forklift body 110 facing the preset rail 300 is provided with at least one ranging sensor 120.

In some embodiments, the forklift body 110 includes a body 111, at least two ranging sensors 120 are respectively disposed on two sides of the body 111 facing two preset rails 300 in a one-to-one correspondence, and one ranging sensor 120 is disposed on each side of the body 111 facing the preset rails 300. By providing the distance measuring sensors 120 on both sides of the vehicle body 111, the distance between both sides of the vehicle body 111 and the preset rail 300 can be detected, so that the possibility of collision between both sides of the vehicle body 111 and the preset rail 300 can be reduced at the same time.

The distance detection manner of the distance measuring sensor 120 may be, for example, that a light receiver is disposed on the preset track 300, and after the distance measuring sensor 120 emits light, the preset track 300 may receive the light emitted by the distance measuring sensor 120, so as to detect the distance between the distance measuring sensor 120 and the preset track 300. The distance measuring sensor 120 may also be configured to perform distance measurement by, for example, providing an emitting element and a receiving element on the distance measuring sensor 120 and providing a reflecting element on the preset track 300, where the distance measuring sensor 120 may emit light to the reflecting element of the preset track 300 and may receive light reflected by the reflecting element of the preset track 300, so as to detect a distance between the distance measuring sensor 120 and the preset track 300.

Further, the controller 130 is configured to determine whether the distance detected by the ranging sensor 120 is less than or equal to a preset distance. The distance detected by the ranging sensor 120 may be regarded as a distance between the three-way stacker forklift 100 and the preset track 300. The preset distance may be, for example, 1mm, 5mm, 10mm, or the like. Only when maintained at the predetermined distance, the three-way stacker forklift 100 reduces the possibility of collision with the predetermined track 300. When it is determined that the distance detected by the ranging sensor 120 is greater than the preset distance, it may be considered that the three-way stacker forklift 100 is not likely to collide with the preset rail 300, and thus may continue to advance in the original direction. When it is determined that the distance detected by the ranging sensor 120 is less than or equal to the preset distance, it may be considered that the three-way stacking forklift 100 may be about to collide with the preset track 300, and the moving direction of the three-way stacking forklift 100 needs to be changed at this time, so that the three-way stacking forklift 100 moves in a direction away from the preset track 300, i.e., in a direction to increase the distance between the three-way stacking forklift 100 and the preset track 300.

The manner in which the three-way stacker forklift 100 is moved in a direction that increases the distance between the three-way stacker forklift 100 and the preset track 300 may be, for example, to control the steering wheel mechanism 114 to change the yaw direction to adjust the final distance and thereby rectify the vehicle body 111. Of course, the three-way stacker forklift 100 may be controlled to stop further.

By detecting the distance between the three-way stacking forklift 100 and the preset track 300, the driving gesture of the forklift body 110 can be controlled according to the distance between the three-way stacking forklift 100 and the preset track 300, so that the forklift body 110 can be controlled to be far away from the preset track 300 when the distance between the three-way stacking forklift 100 and the preset track 300 is detected to be smaller than the preset threshold, even if the three-way stacking forklift 100 can drive in a proper area between the three-way stacking forklift 100 and the preset track 300, the collision possibility between the three-way stacking forklift 100 and the preset track 300 is reduced, the collision possibility between the three-way stacking forklift 100 and the warehouse goods shelf 200 is reduced, and the driving safety of the three-way stacking forklift 100 is improved.

When the three-way stacking forklift 100 is not avoided and then collides with the preset rail 300, the ranging sensor 120 disposed on the forklift body 110 may collide with the preset rail 300 and be damaged.

Optionally, as shown in fig. 1, 5 and 6, the three-way stacking forklift 100 may optionally include a protective frame 140, where the protective frame 140 is disposed corresponding to the ranging sensor 120, for protecting the ranging sensor 120. For example, the three-way stacker forklift 100 includes at least two protective frames 140, and the at least two protective frames 140 are in one-to-one correspondence with the at least two ranging sensors 120. When the at least two ranging sensors 120 are disposed on two sides of the forklift body 110 facing the two preset rails 300 in a one-to-one correspondence, the at least two protection frames 140 are disposed on two sides of the forklift body 110 facing the two preset rails 300 in a one-to-one correspondence.

The protection frame 140 is provided with a protection space 141, and the protection space 141 has an opening 142 at least at one side of the protection frame 140 facing the corresponding preset track 300. The distance measuring sensor 120 is disposed in the protection space 141, and is capable of measuring a distance through the opening 142. For example, when the ranging sensor 120 is a photoelectric sensor, the opening 142 may be used for emitting light of the ranging sensor 120, so that the ranging sensor 120 is protected by the protection frame 140 and does not affect the measuring process.

By providing the ranging sensor 120 with the protective frame 140 correspondingly, the ranging sensor 120 can be protected to a certain extent when colliding with the preset track 300, and the possibility of damage to the ranging sensor 120 can be reduced.

Specifically, the protective frame 140 may include a first side plate 143, a second side plate 144, and a top plate 145. The first side plate 143 and the second side plate 144 are disposed opposite to each other. The roof 145 is connected to one ends of the first and second side plates 143, 144 remote from the bottom of the forklift body 110, and is located between the first and second side plates 143, 144. The first side plate 143, the second side plate 144, and the top plate 145 are fixed relative to the forklift main body 110. The first side plate 143, the second side plate 144 and the top plate 145 enclose a protection space 141, and the sides of the first side plate 143, the second side plate 144 and the top plate 145 away from the forklift body 110 enclose an opening 142.

The protection space 141 is surrounded by the first side plate 143, the second side plate 144 and the top plate 145, so that external light rays from multiple directions can be effectively isolated, interference of the external light rays on the distance measuring sensor 120 is reduced, and accuracy of the distance measuring sensor 120 on distance measurement is improved.

Specifically, the length of the first side plate 143 in the height direction of the forklift body 110 is greater than the length of the second side plate 144 in the height direction of the forklift body 110. Setting the length of the second side plate 144 shorter can save material to some extent, and can facilitate heat dissipation of the ranging sensor 120. The ranging sensor 120 is fixed to a side of the first side plate 143 facing the second side plate 144, and is located between the first side plate 143 and the second side plate 144.

The fender bracket 140 may further include a connection plate 146, where the connection plate 146 is connected to the side edge of the first side plate 143 near the forklift body 110, extends toward the second side plate 144, and is disposed opposite to the opening 142. The web 146 is fixedly coupled to the truck body 110. By providing the connection plate 146, the protection frame 140 may be fixed to the forklift body 110, and thus the distance between the forklift body 110 and the preset rail 300 may be measured by the ranging sensor 120.

The connecting plate 146 is provided with at least one kidney-shaped hole 147, and the fork truck main body 110 is provided with at least one fixing hole 115. The kidney-shaped hole 147 and the fixing hole 115 are butted against each other, and the projection of the fixing hole 115 on the plane of the kidney-shaped hole 147 falls into the kidney-shaped hole 147. The hitch plate 146 and the forklift body 110 are fixedly coupled by fasteners 148 that are inserted through kidney-shaped holes 147 and into the securing holes 115. Through the trompil that docks each other that sets up on connecting plate 146 and fork truck main part 110 with fastener 148 fixed connection for be connected between connecting plate 146 and the fork truck main part 110 more stable, thereby make range sensor 120 can more stable setting on fork truck main part 110, and then can make range sensor 120 more accurate to the measurement of distance.

Additionally, the fastener 148 may have a relaxed state and a tightened state. The fender bracket 140 is fixedly coupled to the fork truck body 110 when the fastener 148 is in a tightened state. When the fastener 148 is in a released state, the fender bracket 140 and the forklift body 110 can relatively move along the length direction of the kidney-shaped hole 147, so that the mounting position of the fender bracket 140 can be adjusted, and the adaptability of the fender bracket 140 can be improved.

After the distance sensor 120 measures the distance, the controller 130 needs to determine first and then further control the three-way stacking forklift 100, and when a certain delay occurs in an instruction that the controller 130 controls the three-way stacking forklift 100 to move in a direction away from the preset track 300, the three-way stacking forklift 100 may not avoid the situation that the three-way stacking forklift collides with the preset track 300.

Optionally, the three-way stacking forklift 100 further includes a supporting pulley 116, and the supporting pulley 116 is disposed on a side of the forklift body 110 facing the corresponding preset rail 300.

The supporting pulley 116 is rotatably disposed on the forklift body 110, and the rotation axis of the supporting pulley 116 is consistent with the height direction of the forklift body 110. The supporting pulley 116 can contact with the preset track 300 and can drive the three-way stacking forklift 100 to move in a direction far away from the preset track 300 through a reaction force, so that further calibration of the posture of the car body 111 is realized, and collision between the three-way stacking forklift 100 and the warehouse goods shelf 200 can be effectively avoided.

Further, the three-way stacking forklift 100 includes a plurality of supporting pulleys 116, and the supporting pulleys 116 are respectively disposed on two sides of the forklift body 110 facing two preset rails 300 in a one-to-one correspondence manner. At least two supporting pulleys 116 are arranged at intervals on each side of the forklift body 110 facing the corresponding preset rail 300, so that collision between the three-way stacking forklift 100 and the warehouse shelf 200 can be further avoided.

Further, the forklift main body 110 is provided with the convex portions 117 at each side thereof facing the two preset rails 300 in one-to-one correspondence. A corresponding support pulley 116 and at least one ranging sensor 120 are provided to the boss 117. The boss 117 is provided with a support plate 118 extending in a direction away from the forklift main body 110. The support pulley 116 is rotatably disposed on a bottom side of the support plate 118 toward the forklift main body 110.

By providing the protruding portion 117, the supporting pulley 116 can be further away from the forklift body 110, so that the collision possibility between the forklift body 110 and the preset track 300 can be reduced more effectively.

Further, the support pulley 116 is spaced apart from the ranging sensor 120. So that the possibility of collision between the ranging sensor 120 and the preset rail 300 can be reduced when the supporting pulley 116 contacts with the preset rail 300, further protecting the ranging sensor 120.

By providing the supporting pulleys 116 on the forklift body 110, the possibility of collision between the three-way stacking forklift 100 and the preset rail 300 can be reduced.

Alternatively, the distance measuring sensor 120 may be used to detect the distance between the support pulley 116 and the preset rail 300, and the controller 130 may be used to compare the distance between the support pulley 116 and the preset rail 300 with the magnitude of the preset distance. When the distance between the support pulley 116 and the preset track 300 is smaller than the preset distance, it can be considered that contact may occur between the support pulley 116 and the preset track 300. When the distance between the support pulley 116 and the preset track 300 is greater than the preset distance, it can be considered that contact is not made between the support pulley 116 and the preset track 300.

For example, when the preset distance is set to 5mm, if the distance measuring sensor 120 detects that the distance between the support pulley 116 and the preset track 300 is 10mm, it can be considered that contact is not made between the support pulley 116 and the preset track 300. When the preset distance is 5mm, if the distance measuring sensor 120 detects that the distance between the support pulley 116 and the preset rail 300 is 3mm, it is considered that contact may occur between the support pulley 116 and the preset rail 300.

Optionally, the controller 130 may also control the forklift body 110 according to the comparison result after comparing the distances. So that the controller 130 travels the forklift body 110 in a direction away from the preset track 300 when contact between the support pulley 116 and the preset track 300 is likely to occur. By spacing the support pulleys 116 a distance from the preset rails 300, contact wear between the support pulleys 116 and the preset rails 300 can be reduced, and the three-way stacking forklift 100 can smoothly perform pick and place operations with respect to the warehouse racks 200.

In summary, the preset track 300 is provided in the warehouse rack 200 to limit the driving route of the three-way stacking forklift 100, and a certain distance is further formed between the three-way stacking forklift 100 and the warehouse rack 200, so that the possibility of collision between the three-way stacking forklift 100 and the warehouse rack 200 is reduced, and the three-way stacking forklift 100 can smoothly realize the picking and placing operation relative to the warehouse rack 200. Through set up range sensor 120 on three-way stacking fork truck 100, can detect the distance between three-way stacking fork truck 100 and the track 300 of predetermineeing, and can control fork truck main part 110's the attitude of traveling according to the distance between three-way stacking fork truck 100 and the track 300 of predetermineeing, make when detecting that the distance between three-way stacking fork truck 100 and the track 300 of predetermineeing is less than predetermineeing the threshold value can control fork truck main part 110 and keep away from the track 300 of predetermineeing, even make three-way stacking fork truck 100 can travel in the suitable region with the track 300 of predetermineeing, reduce the collision possibility between three-way stacking fork truck 100 and the track 300 of predetermineeing, thereby reduce the collision possibility between three-way stacking fork truck 100 and warehouse goods shelves 200, and then improve the security of traveling of three-way stacking fork truck 100.

The foregoing description is only illustrative of the present utility model and is not intended to limit the scope of the utility model, and all equivalent structures or equivalent processes or direct or indirect application in other related technical fields are included in the scope of the present utility model.

Claims (10)

1. A three-way stacking forklift, which is characterized in that the forklift can travel between two preset rails which are arranged in a roadway between two adjacent rows of warehouse racks in a opposite and side-by-side manner, and comprises:

the forklift body has a movable function; the forklift body is provided with a first side and a second side which are oppositely arranged;

at least two ranging sensors, at least one ranging sensor being provided on each of the first side and the second side; the distance measuring sensor is located on the first side and is used for measuring the distance between the first side and one preset track facing the first side; the distance measuring sensor located at the second side is used for measuring the distance between the second side and the other preset track facing the second side;

the controller is arranged on the forklift body and is electrically connected with the at least two ranging sensors; and the control device is used for controlling the running gesture of the forklift body according to the distances measured by the at least two distance measuring sensors.

2. The three-way stacking forklift as recited in claim 1, wherein,

the three-way stacking forklift comprises at least two protection frames, and the at least two protection frames correspond to the at least two ranging sensors one by one; the at least two protection frames are respectively arranged on two sides of the forklift main body, which face the two preset tracks in a one-to-one correspondence manner; the protection frame is provided with a protection space, and the protection space is provided with an opening at least at one side of the protection frame facing the corresponding preset track; the distance measuring sensor is arranged in the protection space and can measure the distance through the opening.

3. The three-way stacking forklift as claimed in claim 2, wherein,

the protection frame comprises a first side plate, a second side plate and a top plate; the first side plate and the second side plate are oppositely arranged; the top plate is connected to one ends of the first side plate and the second side plate, which are far away from the bottom of the forklift body, and is positioned between the first side plate and the second side plate; the first side plate, the second side plate and the top plate are fixed relative to the forklift body; the first side plate, the second side plate and the top plate enclose into the protection space, and the side edge, away from the forklift body, of the first side plate, the second side plate and the top plate encloses into the opening.

4. The three-way stacker forklift of claim 3 wherein,

the protection frame comprises a connection plate, wherein the connection plate is connected to the side edge, close to the forklift body, of the first side plate, extends towards the direction of the second side plate and is arranged opposite to the opening; the connecting plate is fixedly connected with the forklift body.

5. The three-way stacking forklift as recited in claim 4, wherein,

the forklift body is provided with at least one fixing hole; the kidney-shaped hole and the fixing hole are in butt joint, and the projection of the fixing hole on the plane of the kidney-shaped hole falls into the kidney-shaped hole; the connecting plate is fixedly connected with the forklift body through a fastener which penetrates through the kidney-shaped hole and is inserted into the fixing hole.

6. The three-way stacking forklift as recited in claim 4, wherein,

the length of the first side plate in the height direction of the forklift body is larger than that of the second side plate in the height direction of the forklift body; the distance measuring sensor is fixed on one side of the first side plate facing the second side plate and is positioned between the first side plate and the second side plate.

7. The three-way stacking forklift as recited in claim 1, wherein,

the three-way stacking forklift further comprises a plurality of supporting pulleys, and the supporting pulleys are respectively arranged on two sides of the forklift main body, which face the two preset tracks in a one-to-one correspondence manner; at least two supporting pulleys are arranged on each side, facing the corresponding preset track, of the forklift body at intervals; the rotation axial direction of the supporting pulley is consistent with the height direction of the forklift body; the supporting pulleys are arranged at intervals with the distance measuring sensor.

8. The three-way stacking forklift of claim 7, wherein,

the forklift body is provided with protruding parts on each side, facing the two preset tracks, of the forklift body in a one-to-one correspondence manner; the corresponding supporting pulley and at least one ranging sensor are arranged on the protruding portion.

9. The three-way stacking forklift of claim 8, wherein,

the bulge is provided with a supporting plate extending in a direction away from the forklift body; the support pulley is rotatably arranged on one side of the support plate, which faces the bottom of the forklift body.

10. The three-way stacking forklift as recited in claim 1, wherein,

the forklift body comprises a body and a wheel assembly; the wheel assembly is arranged at the bottom of the vehicle body; the at least two ranging sensors are respectively arranged on two sides of the vehicle body, which face the two preset tracks in a one-to-one correspondence manner; the wheel assembly includes at least one steering wheel mechanism; the controller is used for judging whether the distance is smaller than or equal to a preset distance, and if so, the steering wheel mechanism is controlled to change the yaw direction so as to increase the distance and further rectify the automobile body.