WO2022199644A1 - 托盘堆叠倾斜识别装置 - Google Patents

托盘堆叠倾斜识别装置 Download PDF

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Publication number
WO2022199644A1
WO2022199644A1 PCT/CN2022/082636 CN2022082636W WO2022199644A1 WO 2022199644 A1 WO2022199644 A1 WO 2022199644A1 CN 2022082636 W CN2022082636 W CN 2022082636W WO 2022199644 A1 WO2022199644 A1 WO 2022199644A1
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WIPO (PCT)
Prior art keywords
fork
material cage
pallet
detection
recognition device
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PCT/CN2022/082636
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English (en)
French (fr)
Inventor
李陆洋
方牧
杨建辉
李扬添
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未来机器人（深圳）有限公司
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Publication of WO2022199644A1 publication Critical patent/WO2022199644A1/zh

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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
    • B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
    • 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

Definitions

  • the present application relates to the technical field of forklifts, and in particular, to a pallet stacking tilt recognition device.
  • the unmanned forklift is a commonly used automatic storage and handling tool, which mainly refers to the forklift that under the guidance of the computer stacks the goods on the shelves of the warehouse, or removes the goods from the shelves and transports them to the designated location.
  • the existing unmanned forklift is mainly composed of three parts: a forklift body 01, a gantry assembly 02 and a fork 03, as shown in FIG. Fork 03 height change.
  • the fork 03 carries the material cage and stacks the material cage on the ground.
  • the unmanned forklift carries the material cage and drives towards the material cage on the ground.
  • the fork 03 descends to a certain height.
  • the material cage is stacked on the lower material cage, and then the unmanned forklift exits together with the fork, thus completing the stacking of the material cage.
  • the legs of the material cage on the fork 03 are not aligned with the legs of the lower material cage, for example, if one or two of the four legs are not aligned, the upper material cage will appear. Tilt to the left, tilt to the right, tilt forward, tilt back, there is a risk of tipping; or the four outriggers are not aligned, then the material cage on the fork 03 is still on the fork, causing the material cage to follow. Retraction of the forks may result in the risk of pulling or even pulling down the cage below.
  • the present application provides a pallet stacking inclination identification device, including a forklift truck body, a gantry assembly arranged on the forklift truck body, and a fork arranged on the gantry assembly, and further comprising:
  • the detection piece is arranged on the fork, the detection piece is connected with the controller on the forklift body, and is used for detecting whether the material cage is completely separated from the fork.
  • each of the three fork arms on the fork is provided with one of the detection pieces.
  • the detection piece located on the middle fork arm is arranged at the end of the middle fork arm.
  • the detection pieces located on the fork arms on both sides are arranged at the roots of the fork arms on the corresponding two sides.
  • the end and the root of each fork arm are provided with one of the detection pieces.
  • the detection element is a switch signal sensor.
  • a protective cover is provided on the switch signal sensor.
  • an alarm device is further included, and the alarm device is connected with the controller.
  • the alarms include sound and light alarms and voice alarms.
  • a camera is also included, and the camera is arranged on the fork.
  • FIG. 1 is a schematic structural diagram of a pallet stack tilt recognition device provided by an embodiment of the present application
  • FIG. 2 is a schematic diagram of a forklift truck according to an embodiment of the present application.
  • first and second are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature delimited with “first”, “second” may expressly or implicitly include at least one of that feature.
  • plurality means at least two, such as two, three, etc., unless expressly and specifically defined otherwise.
  • the terms “installed”, “connected”, “connected”, “fixed” and other terms should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection , or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between the two elements, unless otherwise specified limit.
  • installed may be a fixed connection or a detachable connection , or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between the two elements, unless otherwise specified limit.
  • a first feature "on” or “under” a second feature may be in direct contact with the first and second features, or the first and second features indirectly through an intermediary touch.
  • the first feature being “above”, “over” and “above” the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is level higher than the second feature.
  • the first feature being “below”, “below” and “below” the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature has a lower level than the second feature.
  • Automated Guided Vehicle refers to a transport vehicle equipped with automatic guidance devices such as electromagnetic or optical, which can travel along a prescribed guidance path, with safety protection and various transfer functions. It is used in industrial applications.
  • a truck that does not require a driver uses a rechargeable battery as its power source.
  • its travel route and behavior can be controlled through a computer, or its travel route can be set up by using an electromagnetic path-following system.
  • the electromagnetic path-following system is attached to the floor, and the unmanned truck follows the electromagnetic path-following system. Messages move and act.
  • AGV High degree of automation; controlled by computer, electronic control equipment, magnetic induction SENSOR, laser reflector, etc.
  • the staff When a certain part of the workshop needs auxiliary materials, the staff will input relevant information to the computer terminal, the computer terminal will then send the information to the central control room, and professional technicians will issue instructions to the computer. With the cooperation of electronic control equipment, this The instruction is finally accepted and executed by the AGV - the auxiliary material is sent to the corresponding location.
  • Charging automation when the power of the AGV car is about to run out, it will send a request command to the system to request charging (generally technicians will set a value in advance), and automatically "queue" at the charging place after the system allows it Charge.
  • the battery life of the AGV car is very long (more than 2 years), and it can work for about 4 hours per 15 minutes of charging.
  • the AGV When the AGV needs to supplement power, it will automatically report and request charging, and it will be commanded by the ground control center to drive to the designated charging area or station, and the on-board charging connector will automatically connect to the ground charging system and implement charging. After the charging is completed, the AGV automatically leaves the charging system and drives to the work area or standby area for normal operation. Its characteristic is that the entire charging process is fully automated and intelligent, and no special personnel are required to take care of it. Automatic charging AGV is suitable for occasions with long working cycle, few cars and high degree of automation, and more alkaline fast charging batteries are used, such as cigarette, metallurgy, chemical industry, automobile, aviation and other industries.
  • the AGV unmanned vehicle control system is similar to the robot controller, which is used to monitor the AGV unmanned vehicle.
  • the controller computer receives commands from the ground station through the communication system and reports its status.
  • the controller can complete the following work: manual control, safety device activation, battery status, steering limit, brake release, walking lights, drive and steering motor control and charging contactors, etc.
  • Some AGVs have programming capabilities that allow the trolley to leave the guidance path, drive to a teaching location, and return to the guidance path after completing the task.
  • the control commands of the AGV unmanned vehicle are generally issued by the ground controller (outside the vehicle), and the status of the AGV unmanned vehicle is also sent back to the ground controller through the communication system.
  • communication systems There are two types of communication systems: continuous and decentralized.
  • the continuous communication system allows the AGV to send and receive information at any time and anywhere relative to the ground controller using radio frequency methods or using communication cables within the guidance path. Such as the use of radio, infrared laser communication methods.
  • a decentralized system simply provides communication between a specific AGV and a ground controller at a predetermined location (communication point) such as an AGV docking station. Generally, this communication is achieved by inductive or optical methods.
  • An obvious disadvantage of decentralized communication is that if the AGV fails between two communication points, the AGV will not be able to get in touch with the ground control station. At present, most AGV systems use a decentralized communication method because it is cheaper.
  • the safety system of the AGV unmanned vehicle should not only protect the AGV, but also protect people or other ground equipment.
  • the safety protection methods can be classified into two categories: contact and non-contact protection systems.
  • contact and non-contact protection systems For the AGV of the free path (no fixed guiding path) type, the calculation of the body orientation is also performed, which is completed by the vehicle body orientation calculation subsystem.
  • the orientation of the AGV unmanned truck that is, the position and direction in the overall coordinate system, has a definite relationship with the movement of the left and right wheels of the vehicle body, from which the orientation of the AGV unmanned truck can be calculated.
  • the existing unmanned forklift is mainly composed of three parts: a forklift body 01, a gantry assembly 02 and a fork 03, as shown in FIG. Fork 03 height change.
  • the fork 03 carries the material cage and stacks the material cage on the ground.
  • the unmanned forklift carries the material cage and drives towards the material cage on the ground.
  • the fork 03 descends to a certain height.
  • the material cage is stacked on the lower material cage, and then the unmanned forklift exits together with the fork, thus completing the stacking of the material cage.
  • the legs of the material cage on the fork 03 are not aligned with the legs of the lower material cage, for example, if one or two of the four legs are not aligned, the upper material cage will appear. Tilt to the left, tilt to the right, tilt forward, tilt back, there is a risk of tipping; or the four outriggers are not aligned, then the material cage on the fork 03 is still on the fork, causing the material cage to follow. Retraction of the forks may result in the risk of pulling or even pulling down the cage below.
  • a pallet stacking tilt recognition device which includes a forklift truck body 01 , a gantry assembly 02 provided on the forklift truck body 01 , and a gantry assembly 02 provided on the forklift truck body 01 .
  • the fork 03 on the fork also includes a detection piece, the detection piece is arranged on the fork 03, the detection piece is connected with the controller on the forklift body 01, and is used to detect whether the material cage is completely separated from the fork.
  • a first detection member 10 is provided at the end of the fork arm located in the middle of the fork 03, and a second detection member 20 and a third detection member 20 are correspondingly provided at the roots of the fork arms located on both sides of the fork 03.
  • each of the fork arms in the present application is provided with a detection member at the end and the root.
  • the arrangement structure of the detectors in the embodiments of the present application is only an example, and in other alternative solutions, other arrangement structures may also be used, for example, the end portion, the root portion and the middle portion of each fork arm Each is provided with a detection piece.
  • the present application does not limit the specific arrangement structure of the detection element, as long as the above structure can achieve the purpose of the present application.
  • the detection element in this application is a switch signal sensor.
  • each switch signal sensor When the material cage is located on the fork, each switch signal sensor is in a closed state. At the same time, the switch signal sensor sends a closing signal to the controller.
  • the switch signal sensor When the fork is stacked with the material cage, when the fork descends to the preset height, if the switch signal sensors on the fork arm are all triggered, it is considered that the material cage is separated from the fork, and the material cage is stacked successfully. If one of the switch signal sensors If there is no trigger, it is considered that the cage and the fork are not completely separated, the stacking of the cage fails, and the unmanned forklift will alarm.
  • the present application is provided with a protective cover on the switch signal sensor.
  • the pallet stack tilt identification device in the present application further includes an alarm, and the alarm is connected to the controller. If one of the switch signal sensors is not triggered, it is considered that the cage and the fork are not completely separated, and the stacking of the cage fails. At this time, the controller controls the alarm to give an alarm.
  • alarms include sound and light alarms and voice alarms.
  • the pallet stack inclination identification device in the present application further includes a camera, and the camera is arranged on the fork 03 .
  • the camera is used to observe the position of the cages when they are stacked, which further ensures that the cages can be stacked neatly.

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  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Civil Engineering (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

一种托盘堆叠倾斜识别装置，包括叉车本体（01）、设置在叉车本体（01）上的门架组件（02）以及设置在门架组件（02）上的货叉（03），还包括：检测件，检测件设置在货叉（03）上，检测件与叉车本体（01）上的控制器连接，用于检测料笼是否完全与货叉分离。当货叉载着料笼堆叠时，在货叉下降预设高度后，如果货叉上的检测件均触发，则料笼完成与货叉分离，料笼堆叠成功，防止料笼在货叉上倾翻，提高料笼堆叠的安全可靠性。

Description

托盘堆叠倾斜识别装置 技术领域
本申请涉及叉车技术领域，特别是涉及一种托盘堆叠倾斜识别装置。
背景技术
无人叉车是一种常用的自动仓储搬运工具，主要是指叉车在计算机的指引下把货物搬运堆高到仓库的货架上，或者把货物从货架上取下搬运到指定位置。
目前，现有的无人叉车如图2所示，主要由叉车本体01、门架组件02及货叉03三大部分组成，其中，货叉03可以在门架组件02中上下运动，从而实现货叉03高度的变化。
在堆叠的过程中，货叉03载着料笼往地面上的料笼叠放，当货叉03的高度到达设定高度值时，无人叉车载着料笼朝向地面上的料笼行驶，当行驶到预定位置后，货叉03下降一定高度，此时，再把料笼叠放到下面的料笼上，然后无人叉车带着货叉一起退出，从而完成了料笼的堆叠。
然而在堆叠的过程中，如果货叉03上的料笼的支腿没有对准下面料笼的支腿，例如四个支腿中有一个或者两个没有对准的话，就会出现上面料笼往左倾斜、往右倾斜、往前倾斜、往后倾斜，出现倾倒风险；或者四个支腿都没对准，那么货叉03上的料笼就仍然位于货叉上，从而造成料笼随货叉退回，可能会导致把下面的料笼拉动甚至拉倒的风险。
发明内容
基于此，有必要针对现有的货叉在取放料笼时，料笼会发生倾翻的问题，提供一种托盘堆叠倾斜识别装置。
本申请提供了一种托盘堆叠倾斜识别装置，包括叉车本体、设置在叉车本体上的门架组件以及设置在门架组件上的货叉，还包括：
检测件，所述检测件设置在所述货叉上，所述检测件与所述叉车本体上的控制器连接，用于检测料笼是否完全与货叉分离。
上述托盘堆叠倾斜识别装置，当货叉载着料笼堆叠时，在货叉下降预设高度后，如果货叉上的检测件均触发，则料笼完成与货叉分离，料笼堆叠成功，从而解决了叉车在取放料笼时，防止料笼在货叉上倾翻，提高料笼堆叠的安全可靠性。
在其中一个实施例中，所述货叉上的三个叉臂上均设置有一个所述检测件。
在其中一个实施例中，位于中间叉臂上的所述检测件设置在中间叉臂上的端部。
在其中一个实施例中，位于两侧叉臂上的所述检测件设置在对应两侧叉臂上的根部。
在其中一个实施例中，每个叉臂上的端部和根部均设置有一个所述检测件。
在其中一个实施例中，所述检测件为开关信号传感器。
在其中一个实施例中，所述开关信号传感器上设置有保护罩。
在其中一个实施例中，还包括报警器，所述报警器与所述控制器连接。
在其中一个实施例中，所述报警器包括声光报警器和语音报警器。
在其中一个实施例中，还包括摄像头，所述摄像头设置在所述货叉上。
附图说明
图1为本申请一实施例提供的托盘堆叠倾斜识别装置的结构示意图；
图2为本申请一实施例提供的叉车示意图。
具体实施方式
为使本申请的上述目的、特征和优点能够更加明显易懂，下面结合附图对本申请的具体实施方式做详细的说明。在下面的描述中阐述了很多具体细节以便于充分理解本申请。但是本申请能够以很多不同于在此描述的其它方式来实施，本领域技术人员可以在不违背本申请内涵的情况下做类似改进，因此本申请不受下面公开的具体实施例的限制。
在本申请的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”、“顺时针”、“逆时针”、“轴向”、“径向”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。在本申请的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。
在本申请中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系，除非另有明确的限定。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请中的具体含义。
在本申请中，除非另有明确的规定和限定，第一特征在第二特征“上”或“下”可以是第一和第二特征直接接触，或第一和第二特征通过中间媒介间接接触。而且，第一特征在第二特征“之上”、“上方”和“上面”可是第一特征在第二特征正上方或斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”可以是第一特征在第二特征正下方或斜下方，或仅仅表示第一特征水平高度小于第二特征。
需要说明的是，当元件被称为“固定于”或“设置于”另一个元件，它可以直接在另一个元件上或者也可以存在居中的元件。当一个元件被认为是“连接”另一个元件，它可以是直接连接到另一个元件或者可能同时存在居中元件。本文所使用的术语“垂直的”、“水平的”、“上”、“下”、“左”、“右”以及类似的表述只是为了说明的目的，并不表示是唯一的实施方式。
无人搬运车(Automated Guided Vehicle，简称AGV)，指装备有电磁或光学等自动导引装置，能够沿规定的导引路径行驶，具有安全保护以及各种移载功能的运输车，工业应用中不需驾驶员的搬运车，以可充电之蓄电池为其动力来源。一般可透过电脑来控制其行进路线以及行为，或利用电磁轨道(electromagnetic path-following system)来设立其行进路线，电磁轨道黏贴於地板上，无人搬运车则依循电磁轨道所带来的讯息进行移动与动作。
AGV的优点(1)自动化程度高；由计算机，电控设备，磁气感应SENSOR,激光反射板等控制。当车间某一环节需要辅料时，由工作人员向计算机终端输入相关信息，计算机终端再将信息发送到中央控制室，由专业的技术人员向计算机发出指令，在电控设备的合作下，这一指令最终被AGV接受并执行——将辅料送至相应地点。(2)充电自动化；当AGV小车的电量即将耗尽时，它会向系统发出请求指令，请求充电(一般技术人员会事先设置好一个值)，在系统允许后自动到充电的地方“排队”充电。另外，AGV小车的电池寿命很长(2年以上)， 并且每充电15分钟可工作4h左右。(3)美观，提高观赏度，从而提高企业的形象。(4)方便，减少占地面积；生产车间的AGV小车可以在各个车间穿梭往复。
当AGV需要补充电力时，会自动报告并请求充电，由地面控制中心指挥，驶向指定充电区或台位，车载充电连接器与地面充电系统自动连接并实施充电。充电完成后AGV自动脱离充电系统，驶向工作区或待命区投入正常运行。其特点是整个充电过程全部实现自动化、智能化，无需专人看管。自动充电AGV适用于工作周期长，车多人少，自动化程度高的场合，且多使用碱性快速充电电池，如卷烟、冶金、化工、汽车、航空等行业。
当AGV电力不足时，由地面控制中心指挥，驶向指定充电区或台位，由专职人员手动完成AGV与充电器之间的电器连接，然后实施充电，完成后也是人工去脱离连接电路，恢复工作状态。手动充电AGV的特点是安全可靠，简单易行，但需要专人看管，浪费人力，而且自动化程度降低。常用于自动化程度要求不是很高，车少人多，标准工作制的场合，如白天上班8小时使用AGV，下班休息时让AGV充电，适用于酸性常规电池。
AGV无人搬运车控制系统类似于机器人控制器，用以对AGV无人搬运车进行监控。控制器计算机通过通信系统从地面站接受指令并报告自己的状态。通常控制器可完成以下工作:手动控制、安全装置启动、蓄电池状态、转向极限、制动器解脱、行走灯光、驱动和转向电机控制和充电接触器等。某些AGV无人搬运车具有编程能力，允许小车离开导引路径，驶向某个示教地点，完成任务后循原道返回到导引路径上来。
AGV无人搬运车的控制指令一般是由地面控制器(车外)发出，AGV无人搬运车的状态也通过通信系统送回地面控制器。通信系统有两种:连续方式和分散方式。连续通信系统允许AGV无人搬运车在任何时候和相对地面控制器的任何位置使用射频方法或使用在导引路径内的通信电缆收发信息。如采用无线电、红外激光的通信方法。分散式系统只是在预定的地点(通信点)如AGV停泊站等，在特定的AGV与地面控制器之间提供通信。一般来说，这种通信是通过感应或光学的方法来实现的。分散通信的一个明显缺点是:如果AGV无人搬运车在两通信点之间发生故障，AGV将无法与地面控制站取得联系。目前大多数AGV系统都是采用分散式通信方式，因为其价格较便宜。
AGV无人搬运车的安全系统既要实现对AGV的保护，又要实现对人，或对其它地面设备的保护。其安全保护方法可归纳为两类:接触式和非接触式两种保护系统。对自由路径(无固定导引路径)型的AGV，还要进行车体方位的计算，它由车体方位计算子系统来完成。AGV无人搬运车的方位，即在总体坐标系中的位置与方向，与车体左右轮的运动有一确定的关系，由此可计算出AGV无人搬运车的方位。
目前，现有的无人叉车如图2所示，主要由叉车本体01、门架组件02及货叉03三大部分组成，其中，货叉03可以在门架组件02中上下运动，从而实现货叉03高度的变化。
在堆叠的过程中，货叉03载着料笼往地面上的料笼叠放，当货叉03的高度到达设定高度值时，无人叉车载着料笼朝向地面上的料笼行驶，当行驶到预定位置后，货叉03下降一定高度，此时，再把料笼叠放到下面的料笼上，然后无人叉车带着货叉一起退出，从而完成了料笼的堆叠。
然而在堆叠的过程中，如果货叉03上的料笼的支腿没有对准下面料笼的支腿，例如四个支腿中有一个或者两个没有对准的话，就会出现上面料笼往左倾斜、往右倾斜、往前倾斜、往后倾斜，出现倾倒风险；或者四个支腿都没对准，那么货叉03上的料笼就仍然位于货叉上，从而造成料笼随货叉退回，可能会导致把下面的料笼拉动甚至拉倒的风险。
如图1并结合图2所示，本申请一实施例中，提供了一种托盘堆叠倾斜识别装置，包括 叉车本体01、设置在叉车本体01上的门架组件02以及设置在门架组件02上的货叉03，还包括：检测件，该检测件设置在货叉03上，检测件与叉车本体01上的控制器连接，用于检测料笼是否完全与货叉分离。
具体地，本申请在货叉03上位于中间的叉臂的端部设置有第一检测件10，在货叉03上位于两侧的叉臂的根部对应设置有第二检测件20和第三检测件30，当料笼位于货叉上时，第一检测件10、第二检测件20以及第三检测件30均处于闭合状态，在货叉载着料笼堆叠时，当货叉下降预设高度后，如果第一检测件10、第二检测件20以及第三检测件30均触发(货叉与料笼分离则触发)，则认为料笼完成与货叉分离，料笼堆叠成功，如果其中一个检测件没有触发，则认为料笼与货叉没有完全分离，料笼堆叠失败，无人叉车将报警提醒，从而解决了叉车在取放料笼时，防止料笼在货叉上倾翻，提高料笼堆叠的安全可靠性。
在一些实施例中，本申请中的每个叉臂上的端部和根部均设置有一个检测件。需要说明的是，本申请实施例中的检测件的布置结构仅为示例，在其他可替代的方案中，也可以采用其它布置结构，例如，每个叉臂上的端部、根部以及中间部位均设置有一个检测件。本申请对检测件的具体布置结构不作特殊限制，只要上述结构能实现本申请的目的便可。
在一些实施例中，本申请中的检测件为开关信号传感器，当料笼位于货叉上时，每个开关信号传感器均处于闭合状态，同时，开关信号传感器将闭合信号发送给控制器，在货叉载着料笼堆叠时，当货叉下降预设高度后，如果叉臂上的开关信号传感器均触发，则认为料笼完成与货叉分离，料笼堆叠成功，如果其中一个开关信号传感器没有触发，则认为料笼与货叉没有完全分离，料笼堆叠失败，无人叉车将报警提醒。
在一些实施例中，为了避免开关信号传感器收到损坏，本申请在开关信号传感器上设置有保护罩。
在一些实施例中，本申请中的托盘堆叠倾斜识别装置，还包括报警器，报警器与控制器连接。如果其中一个开关信号传感器没有触发，则认为料笼与货叉没有完全分离，料笼堆叠失败，此时，控制器控制报警器报警。
进一步地，上述报警器包括声光报警器和语音报警器。
在一些实施例中，本申请中的托盘堆叠倾斜识别装置，还包括摄像头，该摄像头设置在货叉03上。通过摄像头观察料笼堆叠时的位置，进一步确保了料笼能够整齐堆叠。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本申请的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对申请专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。因此，本申请专利的保护范围应以所附权利要求为准。

Claims (10)

  1. 一种托盘堆叠倾斜识别装置，包括叉车本体(01)、设置在叉车本体(01)上的门架组件(02)以及设置在门架组件(02)上的货叉(03)，其特征在于，还包括：
    检测件，所述检测件设置在所述货叉(03)上，所述检测件与所述叉车本体(01)上的控制器连接，用于检测料笼是否完全与货叉分离。
  2. 根据权利要求1所述的托盘堆叠倾斜识别装置，其特征在于，所述货叉(03)上的三个叉臂上均设置有一个所述检测件。
  3. 根据权利要求2所述的托盘堆叠倾斜识别装置，其特征在于，位于中间叉臂上的所述检测件设置在中间叉臂上的端部。
  4. 根据权利要求2所述的托盘堆叠倾斜识别装置，其特征在于，位于两侧叉臂上的所述检测件设置在对应两侧叉臂上的根部。
  5. 根据权利要求2所述的托盘堆叠倾斜识别装置，其特征在于，每个叉臂上的端部和根部均设置有一个所述检测件。
  6. 根据权利要求1-5任意一项所述的托盘堆叠倾斜识别装置，其特征在于，所述检测件为开关信号传感器。
  7. 根据权利要求6所述的托盘堆叠倾斜识别装置，其特征在于，所述开关信号传感器上设置有保护罩。
  8. 根据权利要求1所述的托盘堆叠倾斜识别装置，其特征在于，还包括报警器，所述报警器与所述控制器连接。
  9. 根据权利要求8所述的托盘堆叠倾斜识别装置，其特征在于，所述报警器包括声光报警器和语音报警器。
  10. 根据权利要求1所述的托盘堆叠倾斜识别装置，其特征在于，还包括摄像头，所述摄像头设置在所述货叉(03)上。
PCT/CN2022/082636 2021-03-26 2022-03-24 托盘堆叠倾斜识别装置 WO2022199644A1 (zh)

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