TWI746118B - Lifting mechanism and operating method thereof - Google Patents
Lifting mechanism and operating method thereof Download PDFInfo
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- TWI746118B TWI746118B TW109128209A TW109128209A TWI746118B TW I746118 B TWI746118 B TW I746118B TW 109128209 A TW109128209 A TW 109128209A TW 109128209 A TW109128209 A TW 109128209A TW I746118 B TWI746118 B TW I746118B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 56
- 238000011017 operating method Methods 0.000 title claims description 7
- 230000000630 rising effect Effects 0.000 claims description 13
- 230000001174 ascending effect Effects 0.000 claims description 4
- 238000001179 sorption measurement Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 claims description 2
- 230000008859 change Effects 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 10
- 230000000694 effects Effects 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000002452 interceptive effect Effects 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/043—Allowing translations
- F16M11/046—Allowing translations adapted to upward-downward translation movement
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/0755—Position control; Position detectors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
- F16M13/02—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Warehouses Or Storage Devices (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
Description
本發明是有關於一種升降機構及其操作方法,且特別是有關於一種升降機構及其操作方法。The present invention relates to a lifting mechanism and an operating method thereof, and particularly relates to a lifting mechanism and an operating method thereof.
一般來說,可依據不同的使用情境和需求,而將各式感測器安裝在其適當位置,甚至可依據情境和需求的改變,而動態的改變感測器位置。目前,主動式的感測器升降機構需要透過動力來源,例如馬達/油壓/氣壓/磁力等等來驅動。當無法安裝動力來源時,機構就無法運作。再者,有了動力源,就需要實體控制迴路來控制動力源。然而,控制迴路會占用系統的可用空間,同時也需要和其他控制系統連接,進而造成整個系統增加更多可能故障點。此外,主動式的感測器升降機構還需要和整個軟體系統運作整合,因而在系統軟體面增加維護項目,也增加軟體方面的出錯機會。Generally speaking, various sensors can be installed in their proper positions according to different usage scenarios and requirements, and even the position of the sensors can be dynamically changed according to changes in the context and requirements. Currently, the active sensor lifting mechanism needs to be driven by a power source, such as motor/oil pressure/air pressure/magnetic force, etc. When the power source cannot be installed, the organization cannot function. Furthermore, with a power source, a physical control loop is needed to control the power source. However, the control loop occupies the available space of the system and also needs to be connected to other control systems, which in turn causes the entire system to add more possible failure points. In addition, the active sensor lifting mechanism also needs to be integrated with the operation of the entire software system, thus increasing maintenance items on the system software side, and increasing the chance of software errors.
“背景技術”段落只是用來説明瞭解本發明內容,因此在“背景技術”段落所揭露的內容可能包含一些沒有構成本領域技術人員所知道的已知技術。在“背景技術”段落所揭露的內容,不代表該內容或者本發明一個或多個實施例所要解決的問題,在本發明申請前已被本領域技術人員所知曉或認知。The "background art" paragraph is only used to illustrate the understanding of the present invention, so the content disclosed in the "background art" paragraph may contain some known technologies that do not constitute those skilled in the art. The content disclosed in the “background art” paragraph does not represent the content or the problem to be solved by one or more embodiments of the present invention, and has been known or recognized by those skilled in the art before the application of the present invention.
本發明提供一種升降機構,無須額外增加動力源,即可被動地改變感測器的位置。The invention provides a lifting mechanism, which can passively change the position of the sensor without adding an additional power source.
本發明還提供一種升降機構的操作方法,用以操作上述的升降機構,藉此被動地改變感測器的位置。The present invention also provides an operating method of a lifting mechanism for operating the above-mentioned lifting mechanism, thereby passively changing the position of the sensor.
本發明的其他目的和優點可以從本發明所揭露的技術特徵中得到進一步的瞭解。The other objectives and advantages of the present invention can be further understood from the technical features disclosed in the present invention.
為達上述之一或部份或全部目的或是其他目的,本發明的一實施例提出一種升降機構,包括一平台、一感測器、一固定部、一活動部、一第一止擋件以及一第二止擋件。平台具有彼此相對的一第一側與一第二側。感測器設置於平台上。固定部設置於平台的第一側。活動部沿一軌道可升降地設置於平台的第二側。第一止擋件設置於固定部內。第二止擋件設置於活動部內。當第一止擋件干涉平台的第一側且第二止擋件不干涉平台的第二側,平台位於一初始位置。當第一止擋件不干涉平台的第一側且第二止擋件干涉平台的第二側,平台隨著活動部沿著軌道而相對於固定部移動至一上升位置。感測器隨著平台於初始位置及上升位置之間進行感測。In order to achieve one or part or all of the above objects or other objects, an embodiment of the present invention provides a lifting mechanism, which includes a platform, a sensor, a fixed part, a movable part, and a first stopper. And a second stopper. The platform has a first side and a second side opposite to each other. The sensor is set on the platform. The fixing part is arranged on the first side of the platform. The movable part is vertically arranged on the second side of the platform along a track. The first stopper is arranged in the fixed part. The second stopper is arranged in the movable part. When the first stopper interferes with the first side of the platform and the second stopper does not interfere with the second side of the platform, the platform is located at an initial position. When the first stopper does not interfere with the first side of the platform and the second stopper interferes with the second side of the platform, the platform moves to a raised position relative to the fixed portion along the track along with the movable portion. The sensor follows the platform to sense between the initial position and the rising position.
在本發明的一實施例中,上述的升降機構還包括至少一調整件,設置於平台上且連接感測器,用以調整感測器的至少一角度。In an embodiment of the present invention, the above-mentioned lifting mechanism further includes at least one adjusting member, which is disposed on the platform and connected to the sensor for adjusting at least one angle of the sensor.
在本發明的一實施例中,上述的至少一角度包括一水平角度或一俯仰角度。In an embodiment of the present invention, the aforementioned at least one angle includes a horizontal angle or a pitch angle.
在本發明的一實施例中,上述的升降機構還包括:一定位件,設置於固定部內,且位於第一止擋件上。In an embodiment of the present invention, the above-mentioned lifting mechanism further includes: a positioning member disposed in the fixing part and located on the first stop member.
在本發明的一實施例中,上述當活動部相對於固定部位於位置時,定位件與平台的第一側之間具有一磁性吸力,以使平台穩定地連接於定位件上,而使第一止擋件干涉平台的第一側。In an embodiment of the present invention, when the movable part is positioned relative to the fixed part, there is a magnetic attraction between the positioning member and the first side of the platform, so that the platform is stably connected to the positioning member, and the second A stopper interferes with the first side of the platform.
在本發明的一實施例中,上述的升降機構還包括一定位件,設置於活動部內,且位於第二止擋件上。In an embodiment of the present invention, the above-mentioned lifting mechanism further includes a positioning member disposed in the movable part and located on the second stopper.
在本發明的一實施例中,上述當活動部相對於固定部位於位置時,定位件與平台的第二側之間具有一磁性吸力,以使平台穩定地連接於定位件上,而使第二止擋件干涉平台的第二側。In an embodiment of the present invention, when the movable part is positioned relative to the fixed part, there is a magnetic attraction between the positioning member and the second side of the platform, so that the platform is stably connected to the positioning member and the second side The two stoppers interfere with the second side of the platform.
在本發明的一實施例中,上述當活動部相對於固定部沿軌道由位置移動至另一位置時,平台透過定位件的磁性吸附而隨著活動部沿著軌道相對於固定部由上升位置移動至初始位置。In an embodiment of the present invention, when the movable part moves from position to another position along the track relative to the fixed part, the platform will move from a raised position relative to the fixed part along the track through the magnetic adsorption of the positioning member. Move to the initial position.
在本發明的一實施例中,上述的軌道包括一直線軌道或一曲線軌道。In an embodiment of the present invention, the aforementioned track includes a linear track or a curved track.
在本發明的一實施例中,上述當活動部相對於固定部位於一第三位置時,第一止擋件干涉平台的第一側,而第二止擋件干涉平台的第二側,且平台位於初始位置。In an embodiment of the present invention, when the movable portion is located at a third position relative to the fixed portion, the first stopper interferes with the first side of the platform, and the second stopper interferes with the second side of the platform, and The platform is in the initial position.
為達上述之一或部份或全部目的或是其他目的,本發明的一實施例提出一種升降機構的操作方法。升降機構包括一平台、一感測器、一固定部、一活動部、一第一止擋件以及一第二止擋件。平台具有彼此相對的一第一側與一第二側。感測器設置於平台上。固定部設置於平台的第一側,而活動部沿一軌道可升降地設置於平台的第二側。第一止擋件設置於固定部內,而第二止擋件設置於活動部內。升降機構的操作方法包括以下步驟。令第一止擋件干涉平台的第一側,而第二止擋件不干涉平台的第二側,且使平台位於一初始位置。驅動活動部使第一止擋件不干涉平台的第一側,第二止擋件干涉平台的第二側,平台隨著活動部沿著軌道而相對於固定部移動至一上升位置。感測器隨著平台於初始位置及上升位置之間進行感測。In order to achieve one or part or all of the above objectives or other objectives, an embodiment of the present invention provides an operating method of a lifting mechanism. The lifting mechanism includes a platform, a sensor, a fixed part, a movable part, a first stopper and a second stopper. The platform has a first side and a second side opposite to each other. The sensor is set on the platform. The fixed part is arranged on the first side of the platform, and the movable part is arranged on the second side of the platform in a liftable manner along a rail. The first stopper is arranged in the fixed part, and the second stopper is arranged in the movable part. The operating method of the lifting mechanism includes the following steps. The first stopper interferes with the first side of the platform, and the second stopper does not interfere with the second side of the platform, and the platform is located at an initial position. The movable part is driven so that the first stopper does not interfere with the first side of the platform, the second stopper interferes with the second side of the platform, and the platform moves to a raised position relative to the fixed part along the track. The sensor follows the platform to sense between the initial position and the rising position.
基於上述,本發明的實施例至少具有以下其中一個優點或功效。在本發明的升降機構的設計中,感測器設置於平台上,而平台可隨著活動部相對於固定部在初始位置及上升位置之間移動。因此,設置在平台上的感測器亦可隨著平台於初始位置及上升位置之間進行感測。簡言之,本發明的升降機構,無須額外增加動力源,即可被動地改變感測器的位置。Based on the above, the embodiments of the present invention have at least one of the following advantages or effects. In the design of the lifting mechanism of the present invention, the sensor is arranged on the platform, and the platform can move between the initial position and the rising position with the movable part relative to the fixed part. Therefore, the sensor provided on the platform can also perform sensing between the initial position and the rising position of the platform. In short, the lifting mechanism of the present invention can passively change the position of the sensor without an additional power source.
為讓本發明的上述特徵和優點能更明顯易懂,下文特舉實施例,並配合所附圖式作詳細說明如下。In order to make the above-mentioned features and advantages of the present invention more comprehensible, the following specific embodiments are described in detail in conjunction with the accompanying drawings.
有關本發明之前述及其他技術內容、特點與功效,在以下配合參考圖式之一較佳實施例的詳細說明中,將可清楚的呈現。以下實施例中所提到的方向用語,例如:上、下、左、右、前或後等,僅是參考附加圖式的方向。因此,使用的方向用語是用來說明並非用來限制本發明。The foregoing and other technical content, features, and effects of the present invention will be clearly presented in the following detailed description of a preferred embodiment with reference to the drawings. The directional terms mentioned in the following embodiments, for example: up, down, left, right, front or back, etc., are only directions for referring to the attached drawings. Therefore, the directional terms used are used to illustrate but not to limit the present invention.
圖1A是依照本發明的一實施例的一種升降機構的示意圖。圖1B是1A的升降機構的活動部相對於固定部位於一位置,而平台位於一初始位置時的示意圖。圖1C是1A的升降機構的活動部相對於固定部位於一位置,而平台位於一上升位置時的示意圖。圖1D是1A的升降機構的活動部相對於固定部位於一位置,而平台位於一最終位置時的示意圖。Fig. 1A is a schematic diagram of a lifting mechanism according to an embodiment of the present invention. FIG. 1B is a schematic diagram when the movable part of the lifting mechanism of 1A is at a position relative to the fixed part, and the platform is at an initial position. Fig. 1C is a schematic diagram when the movable part of the lifting mechanism of 1A is at a position relative to the fixed part, and the platform is at a raised position. Fig. 1D is a schematic diagram when the movable part of the lifting mechanism of 1A is at a position relative to the fixed part, and the platform is at a final position.
請先參考圖1A,在本實施例中,升降機構100包括一平台110、一感測器120、一固定部130、一活動部140、一第一止擋件150以及一第二止擋件160。平台110具有彼此相對的一第一側112與一第二側114。感測120器設置於平台110上,而固定部130設置於平台110的第一側112,且活動部140沿一軌道T可升降地設置於平台110的第二側114。第一止擋件150設置於固定部130內,而第二止擋件160設置於活動部140內。Please refer to FIG. 1A. In this embodiment, the
詳細來說,在本實施例中,升降機構110的固定部130為固定不動的構件,而活動部140為可相對於固定部130活動的構件。本實施例的活動部140設置於平台110的第二側114,因此當活動部140相對於固定部130移動時,可帶動平台110一起移動。此處,感測器120設置於平台110上,因此感測器120亦可被動地被改變位置。故,本實施例的平台110可視為一運動平台,可讓需要移動到特定位置的感測器120或他元件設置於此平台110上。此處,感測器120例如是飛時測距(Time of Flight,TOF)相機(camera),但不以此為限。In detail, in this embodiment, the fixed
再者,本實施例的軌道T可例如是一直線軌道或一曲線軌道,但不以此為限。也就是說,本實施例的軌道T不一定是直線,也可以是曲線,但僅限於在一維方向上。在本實施例中,活動部140可帶動平台110一起沿著軌道T移動。第一止擋件150可決定平台110沿著軌道T移動時,相對於固定部130停止的位置。第二止擋件160則會隨著活動部140運動,以推動平台110對抗外力,讓平台110沿軌道T移動,且保持平台110與活動部140相對的位置。值得一提的是,第一止擋件150及第二止擋件160的位置可依據感測器120的需求而調整。Furthermore, the track T in this embodiment can be, for example, a straight track or a curved track, but it is not limited to this. That is to say, the track T in this embodiment is not necessarily a straight line, but can also be a curve, but it is limited to a one-dimensional direction. In this embodiment, the
此外,請再參考圖1A,本實施例的升降機構100還包括至少一調整件170,設置於平台110上且連接感測器120,用以調整感測器120的至少一角度,以增加感測器120的感測角度。此處,角度包括一水平角度或一俯仰角度,但不以此為限。In addition, please refer to FIG. 1A again. The
另外,為了避免不可預期的外力干擾,本實施例的升降機構100還包括一定位件180,設置於固定部130內,且位於第一止擋件150上。定位件180可提供一維持力量,維持力量可使第一止擋件150干涉平台110的第一側112時,平台110可持續且穩定地接觸定位件180而避免因為異常的狀況而分開,異常的狀況例如是震動、抖動或其他外力。具體來說,第一止擋件150干涉平台110的第一側112可理解為第一止擋件150藉由定位件180抵靠平台110的第一側112而影響平台110的平衡或起降。同樣地,升降機構100還包括一定位件190,設置於活動部140內,且位於第二止擋件160上。定位件190可提供一維持力量,維持力量可使第二止擋件160干涉平台110的第二側114時,平台110可持續且穩定地接觸定位件190而避免因為異常的狀況而分開。同樣地,第二止擋件160干涉平台110的第二側114可理解為第二止擋件160藉由定位件190抵靠平台110的第二側114而影響平台110的平衡或起降。值得一提的是,定位件180及定位件190分別與平台110的第一側112及第二側114之間可透過磁力、吸力、壓力或其他機構設計,而使平台110可持續且穩定地接觸定位件180及定位件190。透過定位件180及定位件190的設置,可抵抗一定範圍的外力衝擊,而不會讓平台110與定位件180及定位件190之間發生位移或脫離停止位置,可避免影響到設置在平台110上的感測器120之感測。In addition, in order to avoid unpredictable external force interference, the
在操作上,請再參考圖1A,首先,令第一止擋件150干涉平台110的第一側112,而第二止擋件160不干涉平台110的第二側114,且使平台110位於一初始位置P1。意即,當平台110的第一側112被第一止擋件150擋住,而第二止擋件160與平台110的第二側114分離時,平台110是位於初始位置P1。此時,活動部140相對於固定部130是位於位置L1,定位件180與平台110的第一側112之間例如具有一磁性吸力,以使平台110穩定地連接於定位件180上,而使第一止擋件150干涉平台110的第一側112。換言之,於此狀態下,活動部140不影響平台110的位置。In operation, please refer to FIG. 1A again. First, the
接著,請參考圖1B,驅動活動部140相對於固定部130沿方向D(如向上)移動而位於一位置L3。此時,第一止擋件150干涉平台110的第一側112,而第二止擋件160干涉平台110的第二側114,且平台110仍位於初始位置P1。Next, referring to FIG. 1B, the
之後,請參考圖1C,驅動活動部140相對於固定部130沿方向D(如向上)移動至一位置L2,使第一止擋件150不干涉平台110的第一側112,第二止擋件160干涉平台110的第二側114,平台110隨著活動部140沿著軌道T而相對於固定部130移動至上升位置P2。當活動部140相對於固定部130位於位置L2時,定位件190與平台110的第二側114之間例如是具有一磁性吸力,以使平台110穩定地連接於定位件190上,而使第二止擋件160干涉平台110的第二側114。也就是說,當第一止擋件150不干涉平台110的第一側112且第二止擋件160干涉平台110的第二側114,平台110可隨著活動部140沿著軌道T而相對於固定部130移動至上升位置P2。簡言之,在此狀態下,平台110被第二止擋件160推動而使其位置隨著活動部140的移動而改變。此時,固定部130不會影響平台110的位置。Afterwards, referring to FIG. 1C, the driving
最後,請參考圖1D,可持續驅動活動部140相對於固定部130沿方向D(如向上)移動至一位置L4,使第一止擋件150不干涉平台110的第一側112,而第二止擋件160干涉平台110的第二側114,且平台110位於一最終位置P3。此時,活動部140停止在極限位置(即位置L4),且平台110與活動部140之間保持相對靜止,而固定部130仍不會影響平台110的位置。Finally, referring to FIG. 1D, the
之後,請同時參考圖1C與圖1D,或者是,圖1D與圖1B,可驅動活動部140相對於固定部130沿相反於方向D(如向下)移動至位置L2或移動至位置L3,使平台110透過定位件190的磁性吸附而隨著活動部140沿著軌道T相對於固定部130由最終位置P3移動至上升位置P2,或移動至初始位置P1。After that, please refer to FIGS. 1C and 1D at the same time, or, in FIGS. 1D and 1B, the
由於本實施例的感測器120設置於平台110上,而平台110可隨著活動部140相對於固定部130在初始位置P1、上升位置P2及最終位置P3之間移動。因此,設置在平台110上的感測器120亦可隨著平台110於初始位置P1、上升位置P2及最終位置P3之間進行感測。簡言之,本實施例的升降機構100的感測器120可隨著平台110於初始位置P1、上升位置P2及最終位置P3之間進行感測,無須額外增加動力源,即可被動地改變感測器120的位置。Since the
圖2A是本發明的一實施例的一種叉車的立體示意圖。圖2B是圖2A中的區域A的放大示意圖。圖2C是圖2A的叉車的感測器的水平視野範圍的俯視示意圖。圖2D與圖2E分別是圖2A的叉車的貨叉於不同位置時,感測器的俯仰視野範圍的側視示意圖。Fig. 2A is a perspective schematic view of a forklift according to an embodiment of the present invention. FIG. 2B is an enlarged schematic diagram of area A in FIG. 2A. 2C is a schematic top view of the horizontal field of view range of the sensor of the forklift of FIG. 2A. 2D and 2E are schematic side views of the pitch view range of the sensor when the forks of the forklift of FIG. 2A are in different positions, respectively.
在應用上,請先同時參考圖2A與圖2B,本實施例的升降機構100可應用於例如是叉車10上,其中固定部130例如是叉車10的車體,而活動部140例如是叉車10的貨叉。此處,調整件170示意地繪示三個,於感測器120上的為二個俯仰角度調整件,而另一個為水平角度調整件,但不以此為限。In terms of application, please refer to FIGS. 2A and 2B at the same time. The
更進一步來說,由於感測器120是安裝於叉車10的車體的側面,其透過調整件170可調整感測器120的感測角度與感測範圍。如圖2C所示,感測器120可提供一水平視野範圍H,其中以中間的箭頭為基準,向上可轉約30度的視野角度,而向下可轉約30度的視野角度,則水平視野範圍H例如是60度,但不以此為限。除了水平視野範圍H之外,感測器120亦可透過調整件170的調整而可提供一俯仰視野範圍E。於一實施例中,如圖2D所示,當平台110位於初始位置P1,而活動部140(例如是叉車10的貨叉)位於位置L1時,意即貨叉下降而感測器120停止在貨叉的上方,感測器120以中間的箭頭為主,向上可轉約22.5度的視野角度,而向下可轉約22.5度的視野角度,因此俯仰視野範圍E例如是45度,但不以此為限。於另一實施例中,如圖2E所示,當平台110位於最終位置P3,而活動部140(例如是叉車10的貨叉)位於位置L4時,意即貨叉上升而感測器120停止在貨叉的下方,感測器120以中間的箭頭為基準,向上可轉約22.5度的視野角度,而向下可轉約22.5度的視野角度,因此俯仰視野範圍E例如是45度,但不以此為限。此外,於一實施例中,調整件170亦可透過連動機構與升降的停止位置連動,藉此可擁有不同的水平及仰角調整數值,來滿足更複雜的使用情境。Furthermore, since the
由於本實施例的感測器120是被動運作,依附於原本機構的作動下,因此不需要額外的動力源。活動部140原本的動力源亦透過傳動軸/繩索/鋼索/或任何傳動機構牽引,以讓感測器120有更大的安裝空間可選擇。再者,通過額外傳動機構的設計,感測器120的升降方式就不限於和重力相同的垂直方向,可以是水平,可以是斜線,甚至是曲線的動作方式。此外,由於不需要額外的動力源,因此也不需要主動的控制迴路。Since the
綜上所述,本發明的實施例至少具有以下其中一個優點或功效。本發明的實施例至少具有以下其中一個優點或功效。在本發明的升降機構的設計中,感測器設置於平台上,而平台可隨著活動部相對於固定部在初始位置及上升位置之間移動。因此,設置在平台上的感測器亦可隨著平台於初始位置及上升位置之間進行感測。簡言之,本發明的升降機構,無須額外增加動力源,即可被動地改變感測器的位置。In summary, the embodiments of the present invention have at least one of the following advantages or effects. The embodiments of the present invention have at least one of the following advantages or effects. In the design of the lifting mechanism of the present invention, the sensor is arranged on the platform, and the platform can move between the initial position and the rising position with the movable part relative to the fixed part. Therefore, the sensor provided on the platform can also perform sensing between the initial position and the rising position of the platform. In short, the lifting mechanism of the present invention can passively change the position of the sensor without an additional power source.
以上所述,僅為本發明的較佳實施例而已,當不能以此限定本發明實施的範圍,即大凡依本發明權利要求書及發明說明內容所作的簡單的等效變化與修改,皆仍屬本發明專利涵蓋的範圍內。另外本發明的任一實施例或權利要求不須達成本發明所揭露的全部目的或優點或特點。此外,摘要部分和發明名稱僅是用來輔助專利檔檢索之用,並非用來限制本發明之權利範圍。此外,本說明書或申請專利範圍中提及的“第一”、“第二”等用語僅用以命名元件(element)的名稱或區別不同實施例或範圍,而並非用來限制元件數量上的上限或下限。The above are only preferred embodiments of the present invention, and should not be used to limit the scope of implementation of the present invention, that is, all simple equivalent changes and modifications made in accordance with the claims of the present invention and the content of the description of the invention will still be used. It belongs to the scope covered by the patent of the present invention. In addition, any embodiment or claim of the present invention does not have to achieve all the objectives or advantages or features disclosed in the present invention. In addition, the abstract part and the title of the invention are only used to assist in the search of patent files, and are not used to limit the scope of rights of the present invention. In addition, the terms "first" and "second" mentioned in this specification or the scope of the patent application are only used to name the element (element) or to distinguish different embodiments or ranges, and are not used to limit the number of elements. Upper or lower limit.
10:叉車
100:升降機構
110:平台
112:第一側
114:第二側
120:感測器
130:固定部
140:活動部
150:第一止擋件
160:第二止擋件
170:調整件
180、190:定位件
A:區域
D:方向
E:俯仰視野範圍
H:水平視野範圍
L1、L2、L3、L4:位置
P1:初始位置
P2:上升位置
P3:最終位置
T:軌道10: Forklift
100: Lifting mechanism
110: platform
112: first side
114: second side
120: Sensor
130: fixed part
140: Activities Department
150: first stop
160: second stop
170:
圖1A是依照本發明的一實施例的一種升降機構的示意圖。 圖1B是1A的升降機構的活動部相對於固定部位於一位置,而平台位於一初始位置時的示意圖。 圖1C是1A的升降機構的活動部相對於固定部位於一位置,而平台位於一上升位置時的示意圖。 圖1D是1A的升降機構的活動部相對於固定部位於一位置,而平台位於一最終位置時的示意圖。 圖2A是本發明的一實施例的一種叉車的立體示意圖。 圖2B是圖2A中的區域A的放大示意圖。 圖2C是圖2A的叉車的感測器的水平視野範圍的俯視示意圖。 圖2D與圖2E分別是圖2A的叉車的貨叉於不同位置時,感測器的俯仰視野範圍的側視示意圖。 Fig. 1A is a schematic diagram of a lifting mechanism according to an embodiment of the present invention. FIG. 1B is a schematic diagram when the movable part of the lifting mechanism of 1A is at a position relative to the fixed part, and the platform is at an initial position. Fig. 1C is a schematic diagram when the movable part of the lifting mechanism of 1A is at a position relative to the fixed part, and the platform is at a raised position. Fig. 1D is a schematic diagram when the movable part of the lifting mechanism of 1A is at a position relative to the fixed part, and the platform is at a final position. Fig. 2A is a perspective schematic view of a forklift according to an embodiment of the present invention. FIG. 2B is an enlarged schematic diagram of area A in FIG. 2A. 2C is a schematic top view of the horizontal field of view range of the sensor of the forklift of FIG. 2A. 2D and 2E are schematic side views of the pitch view range of the sensor when the forks of the forklift of FIG. 2A are in different positions, respectively.
100:升降機構 100: Lifting mechanism
110:平台 110: platform
112:第一側 112: first side
114:第二側 114: second side
120:感測器 120: Sensor
130:固定部 130: fixed part
140:活動部 140: Activities Department
150:第一止擋件 150: first stop
160:第二止擋件 160: second stop
170:調整件 170: adjustment piece
180、190:定位件 180, 190: positioning parts
L1:位置 L1: location
P1:初始位置 P1: initial position
T:軌道 T: track
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Publication number | Priority date | Publication date | Assignee | Title |
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CA2144886A1 (en) * | 1995-03-17 | 1996-09-18 | William J. Doherty | Video camera guidance system for forklifts |
US5586620A (en) * | 1995-05-12 | 1996-12-24 | Crown Equipment Corporation | Remote viewing apparatus for fork lift trucks |
EP1361190B1 (en) * | 2001-02-16 | 2010-04-14 | Kabushiki Kaisha Toyoda Jidoshokki | Camera lifting device and load handling support device of industrial vehicle, and industrial vehicle |
DE10323641A1 (en) * | 2003-05-26 | 2005-01-05 | Daimlerchrysler Ag | Movable sensor device on the load means of a forklift |
DE102005043781A1 (en) * | 2005-09-14 | 2007-03-15 | Still Gmbh | Industrial truck e.g. counterbalance fork-lift truck, for putting down, lifting, lowering and transporting loads, has stopper arranged at lifting frame such that sensor is moved upward relative to carrier during complete lowering of carrier |
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