An AGV forklift and its pallet detection device

Abstract

The present invention discloses a pallet detection device for an AGV forklift, comprising at least one flip baffle rotatably arranged on a fork tine to rotatably abut against a pallet; an angle detection member connected to the flip baffle and used to detect the current flip angle of the flip baffle; and a controller connected to the angle detection member. When the current flip angle of the flip baffle is equal to the preset flip angle, the position of the pallet on the fork tine has reached an optimum, and the angle detection member sends a signal to the controller, and the controller controls the roller drive member to drive the fork tine to stop translation, so that the pallet stays at the optimum position; at the same time, the controller controls the gantry drive member to drive the fork tine to lift the pallet, in preparation for transferring the pallet, so that the pallet can be accurately and automatically positioned, with a high degree of automation and more reliable positioning. Therefore, the pallet detection device for an AGV forklift provided by the present invention can safely and efficiently fork pallets. The present invention also discloses an AGV forklift comprising the above-mentioned pallet detection device.

Description

Technical Field

[0001] The present invention relates to the technical field of forklifts, and in particular to a pallet detection device for an AGV forklift. The present invention also relates to an AGV forklift comprising the pallet detection device. Background Art

[0002] Forklifts are usually used for loading, unloading, stacking or moving palletized goods. They have the advantages of high operating efficiency, convenient operation, and flexibility, and are widely used in the logistics field. In recent years, the development trend of intelligence and high reliability in the logistics field has posed severe challenges to the intelligence and safety of forklifts.

[0003] Existing forklifts usually use fork tines to pick up pallets. Generally, the fork tines have an ideal position for supporting the pallet. At the ideal position, the fork tines can stably and reliably support the pallet. In the actual process of picking up the pallet, it is difficult for the pallet to fall completely at the ideal position due to the influence of factors such as the inertia force of the forklift and the operating experience of the driver.

[0004] When the pallet is excessively offset from the ideal position toward the tip of the tine, the bottom surface of the pallet may not be completely attached to the fork tine, and the fork tine may not fully pick up the pallet. During the process of the fork tine lifting or transferring the pallet, the pallet is likely to fall or overturn due to unstable force, and safety cannot be guaranteed. When the pallet is excessively offset from the ideal position toward the door frame, the pallet may be too close to the door frame, making it more difficult for the fork tine to unload, causing the pallet to overturn due to unstable placement during the palletizing process, and safety is still affected.

[0005] However, existing forklifts lack effective detection devices to accurately detect whether the pallet is accurately placed in the ideal position. Therefore, how to efficiently and safely fork the pallet is a technical problem that needs to be solved urgently by those skilled in the art. Summary of the invention

[0006] In view of this, the object of the present invention is to provide an AGV forklift and a pallet detection device thereof, wherein the controller controls the roller drive component to drive the fork teeth to stop translation when the current flip angle is equal to the preset flip angle according to the signal sent by the angle detection component, and at the same time controls the gantry drive component to drive the fork teeth to lift the pallet, so that the pallet can be accurately and automatically positioned, with a high degree of automation and more reliable positioning, so the pallet can be forked safely and efficiently.

[0007] The specific plan is as follows:

[0008] The present invention provides a pallet detection device for an AGV forklift, comprising:

[0009] at least one flip baffle rotatably disposed on the fork tines to rotatably abut against the tray;

[0010] An angle detection member connected to the flip baffle and used to detect the current flip angle of the flip baffle;

[0011] A controller connected to the angle detection member is used to control the roller drive member to drive the fork teeth to stop translation and simultaneously control the door frame drive member to drive the fork teeth to lift the pallet when the current flip angle is equal to the preset flip angle according to the signal sent by the angle detection member.

[0012] Preferably, the flip baffle is installed in a mounting groove provided in the fork tine, the mounting groove is provided with a rotating shaft passing through the flip baffle, and the rotating shaft is provided with an abutting torsion spring which elastically abuts against the mounting groove and the flip baffle respectively and is used to provide damping for the flip baffle.

[0013] Preferably, it also includes a height detection component connected to the controller and used to detect the current lifting height of the fork teeth lifting the pallet; the controller is used to control the roller driving component to drive the fork teeth to transfer the pallet to the target position according to the preset planned path when the current lifting height is equal to the preset lifting height based on the signal sent by the height detection component.

[0014] Preferably, the controller is used to control the roller drive component to drive the fork tine to stop translation when the fork tine transfers the pallet according to a preset planned path and the current flip angle is zero according to the signal sent by the angle detection component.

[0015] Preferably, the controller controls the roller drive member to drive the fork tine to translate by a first preset length in a direction close to the tray according to the signal sent by the angle detection member when the current flip angle is equal to zero, and further includes a first length detection member connected to the controller and used to detect whether the fork tine has translated by the first preset length;

[0016] The controller controls the gantry driving component to drive the fork tine to lift the pallet when the fork tine translates the first preset length and the current flip angle is between zero and the preset flip angle according to the signals sent by the first length detection component and the angle detection component; otherwise, the controller controls the roller driving component to drive the fork tine to stop translation and controls the alarm to sound at the same time when the fork tine translates the first preset length and the current flip angle is equal to zero according to the signals sent by the first length detection component and the angle detection component.

[0017] Preferably, the controller controls the roller drive member to drive the fork tine to translate by a second preset length in a direction away from the tray according to the signal sent by the angle detection member when the current flip angle is greater than the preset flip angle, and further comprises a second length detection member connected to the controller and used to detect whether the fork tine has translated by the second preset length;

[0018] The controller controls the gantry driving component to drive the fork tine to lift the pallet according to the signals sent by the second length detection component and the angle detection component when the fork tine translates the second preset length and the current flip angle is between zero and the preset flip angle; otherwise, the controller controls the roller driving component to drive the fork tine to stop translation and controls the alarm to sound at the same time when the fork tine translates the second preset length and the current flip angle is greater than the preset flip angle according to the signals sent by the second length detection component and the angle detection component.

[0019] Preferably, it also includes an obstacle avoidance detection component connected to the controller and used to detect obstacles distributed in front of the tooth tip. The controller is used to control the roller drive component to drive the fork teeth to stop moving horizontally and control the alarm to sound an alarm when the tooth tip collides with an obstacle based on the information sent by the obstacle avoidance detection component.

[0020] Preferably, it also includes a micro-motion detection member connected to the controller and arranged at the tooth tip of the forklift to detect whether the tooth tip vibrates. The controller is used to control the roller drive member to drive the fork teeth to stop translation when the tooth tip vibrates according to the signal sent by the micro-motion detection member.

[0021] Preferably, the conical guide block provided at the tooth tip to guide the tooth tip to drill into the fork hole also includes a distance detection component connected to the controller and used to detect the current deviation between the conical guide block and the fork hole. The controller is used to control the roller drive component to drive the fork tine to move horizontally based on the signal sent by the distance detection component when the current deviation is within a preset deviation range so that the fork tine is inserted into the corresponding fork hole.

[0022] The present invention also provides an AGV forklift, comprising the pallet detection device of the AGV forklift.

[0023] Compared with the background technology, the pallet detection device of the AGV forklift provided by the present invention includes a flip baffle, an angle detection member and a controller. When the fork tine picks up the pallet, the fork tine moves relative to the pallet along the fork hole, so that the pallet falls on the fork tine until the pallet and the flip baffle provided by the fork tine are against each other. Since the flip baffle is rotatably mounted on the fork tine, the flip baffle is flipped under the pressure of the pallet. When the current flip angle of the flip baffle is equal to the preset flip angle, it means that the position of the pallet on the fork tine has reached the best. At this time, the angle detection member used to detect the current flip angle sends a signal to the controller, and the controller controls the roller drive member to drive the fork tine to stop translation, so that the pallet stays at the best position; at the same time, the controller controls the gantry drive member to drive the fork tine to lift the pallet, in preparation for transferring the pallet, so that the pallet can be accurately and automatically positioned, with a high degree of automation and reliable positioning, which can effectively prevent the pallet from tipping over due to unstable positioning, and improve safety. Therefore, the pallet detection device of the AGV forklift provided by the present invention can pick up the pallet safely and efficiently.

[0024] Considering the same technical solutions, the AGV forklift provided by the present invention including the above-mentioned pallet detection device has the same beneficial effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0026] Figure 1 A structural diagram of a pallet detection device for an AGV forklift provided in a specific embodiment of the present invention;

[0027] Figure 2 for Figure 1 A partial exploded structural diagram of the middle flip baffle, rotating shaft and abutting torsion spring;

[0028] Figure 3 for Figure 1 Top view of the structure when the middle fork tine is opposite to the tray.

[0029] The reference numerals are as follows:

[0030] Tray 1, fork teeth 2, flip baffle 3, angle detection member 4, mounting groove 5, rotating shaft 6 and abutting torsion spring 7. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] In order to enable those skilled in the art to better understand the scheme of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0033] Please refer to Figure 1 and Figure 3 , Figure 1 A structural diagram of a pallet detection device for an AGV forklift provided in a specific embodiment of the present invention; Figure 2 for Figure 1 A partial exploded structural diagram of the middle flip baffle, rotating shaft and abutting torsion spring; Figure 3 for Figure 1 Top view of the structure when the middle fork tine is opposite to the tray.

[0034] The embodiment of the present invention discloses a pallet detection device for an AGV forklift, comprising a flip baffle 3, an angle detection member 4 and a controller.

[0035] The flip baffle 3 includes at least one, and each flip baffle 3 is rotatably arranged on the forklift. When the pallet 1 abuts against the flip baffle 3, the flip baffle 3 flips relative to the fork tine 2 under the squeezing effect of the pallet 1. In this specific embodiment, the fork tine 2 is specifically L-shaped, including a horizontal supporting section for supporting the pallet 1 and a vertical connecting section vertically connected to the horizontal supporting section. The vertical connecting section is connected to the door frame so that the door frame drives the pallet 1 to rise and fall in a direction perpendicular to the ground through the vertical connecting section. Specifically, two flip baffles 3 are arranged at the bottom of the side of the vertical connecting section away from the door frame, and each flip baffle 3 is aligned with one fork tine 2. Of course, the structure, number and installation position of the flip baffle 3 are not limited to this, and can be specifically set according to the shape and size of the pallet 1.

[0036] In this specific embodiment, the flip baffle 3 is installed in the mounting groove 5 provided by the fork tine 2. A rotating shaft 6 is fixed in each mounting groove 5. The rotating shaft 6 passes through the flip baffle 3 to support the flip baffle 3 to flip in the direction close to or away from the mounting groove 5. In order to make the flip baffle 3 work, the rotating shaft 6 is installed with an abutting torsion spring 7. The two abutting arms of the abutting torsion spring 7 abut against the mounting groove 5 and the flip baffle 3 respectively. During the flipping process of the flip baffle 3, the abutting torsion spring 7 provides damping for the flip baffle 3, providing conditions for the smooth flipping of the flip baffle 3. When the abutting torsion spring 7 is in the initial state, the flip baffle 3 relies on the elastic force of the abutting torsion spring 7 to flip outside the mounting groove 5, and the angle between the flip baffle 3 and the mounting groove 5 reaches the maximum at this time. Of course, the structure and installation method of the flip baffle 3 are not limited to this.

[0037] The angle detection member 4 is connected to the flip baffle 3 and is used to detect the current flip angle of the flip baffle 3. The angle detection member 4 is preferably an angle sensor disposed in the mounting groove 5, but is not limited thereto.

[0038] The angle sensor is connected to the controller. More importantly, the controller is also connected to the roller drive and the gantry drive. The roller drive is used to drive the roller to drive the fork 2 to move closer to or away from the pallet 1, and the gantry drive is used to drive the fork 2 to drive the fork 2 to achieve lifting. The structure and working principle of the roller drive and the gantry drive can refer to the existing technology and will not be described in detail here.

[0039] When the current flip angle of the flip baffle 3 is equal to the preset flip angle, it means that the position of the pallet 1 on the fork tine 2 has reached the best position. At this time, the angle detection member 4 used to detect the current flip angle sends a signal to the controller, and the controller controls the roller drive member to drive the fork tine 2 to stop translation, so that the pallet 1 stays at the best position; at the same time, the controller controls the gantry drive member to drive the fork tine 2 to lift the pallet 1, preparing for the transfer of the pallet 1, so that the pallet 1 can be accurately positioned automatically, with a high degree of automation and reliable positioning, which can effectively prevent the pallet 1 from tipping over due to unstable positioning, and improve safety. The preset flip angle here refers to the angle at which the flip baffle 3 of the pallet 1 flips relative to the mounting slot 5 at the best position of the fork tine 2. The preset flip angle can be pre-input into the controller, and the size of the preset flip angle is related to factors such as the type of pallet 1 and the setting height of the flip baffle 3. The specific angle value is set according to actual conditions.

[0040] Therefore, the pallet detection device for the AGV forklift provided by the present invention can fork the pallet 1 safely and efficiently.

[0041] The present invention further comprises a height detection member connected to the control, and the height detection member is used to detect the current lifting height of the fork 2 lifting the pallet 1, so as to prepare for the subsequent transfer of the pallet 1. The height detection member can be a height detection sensor, but is not limited thereto.

[0042] When the height detection component detects that the current lifting height is equal to the preset lifting height, it means that the current lifting height of pallet 1 is optimal, and the height detection component sends a signal to the controller. The controller controls the roller drive component to drive the fork 2 to transfer pallet 1 to the target position according to the preset planned path, thereby realizing automatic transfer of pallet 1, further improving the degree of automation, and making the transfer efficiency of pallet 1 higher. The preset lifting height in the text can be pre-input into the controller, and can be specifically set according to the height and weight of pallet 1, which is not limited here. Similarly, the target position in the text refers to the position for connecting pallet 1, and the preset planned path in the text refers to the optimal transfer route between the current position of pallet 1 and the target position, which can be preset and input into the controller according to the actual working conditions, and can be obtained or set in real time according to the actual situation according to the image recognition equipment set on site, etc., which is not specifically limited here.

[0043] When the fork tine 2 transfers the pallet 1 according to the preset planned path, when the angle detection component 4 detects that the current flip angle is zero, it means that the pallet 1 may be out of contact with the flip baffle 3 due to factors such as rollover or impact vibration, and the risk of the pallet 1 falling is high. At this time, the controller controls the roller drive component to stop the translation of the fork tine 2 based on the signal sent by the angle detection component 4, so as to avoid the collision between the fork tine 2 and the pallet 1, thereby further improving the safety.

[0044] In the actual process of forking the pallet 1, in view of the complex actual working conditions, in order to reduce the probability of the fork tine 2 stopping, the present invention can also control the fork tine 2 to move in a small distance within a certain range to compensate for the displacement error between the fork tine 2 and the pallet 1, thereby improving the transportation reliability of the pallet 1. There are two specific cases. One is that the optimal position of the fork tine 2 moves forward relative to the pallet 1. Specifically, the pallet 1 moves forward relative to the optimal position. Figure 3 The other is that the optimal position of the fork 2 is moved backward relative to the tray 1, specifically, the tray 1 is moved toward the adjacent position relative to the optimal position. Figure 3 The D direction is shown as offset.

[0045] Optionally, when the angle detection member 4 detects that the current flip angle of the flip baffle 3 is equal to zero, it means that the tray 1 has not flipped the baffle 3 and the tray 1 is not at the optimal position of the fork tine 2. At this time, the angle detection member 4 sends a signal to the controller, and the controller controls the roller drive member to drive the fork tine 2 to move the first preset length in the direction close to the tray 1, that is, to drive the fork tine 2 to move forward by the first preset length. The first preset length can be 100 mm, which is specifically set according to the implementation situation.

[0046] Accordingly, the present invention includes a first length detection member connected to the controller, and the first length detection member is used to detect whether the fork tine 2 is translated by a first preset length, that is, whether the fork tine 2 is offset by a first preset length in the direction C. The first length detection member can be a length detection sensor, but is not limited thereto.

[0047] When the fork tine 2 translates the first preset length and the angle detection component 4 detects that the current flipping angle is between zero and the preset flipping angle, it means that the pallet 1 can be offset against the flip baffle 3 after the fork tine 2 moves forward the first preset distance. Although the pallet 1 is not yet in the optimal position of the fork tine 2, the fork tine 2 still has the possibility of smoothly transferring the pallet 1. The controller controls the gantry drive component to drive the fork tine 2 to lift the pallet 1 according to the signals sent simultaneously by the first length detection component and the angle detection component 4, thereby providing the possibility for the fork tine 2 to automatically transfer the pallet 1 and preventing the AGV forklift from stopping frequently. Since the pallet 1 is close to the tooth tip at this time, the fork tine 2 is suitable for pallets 1 with smaller volume and lighter weight, and has a wider range of applications.

[0048] When the fork tine 2 translates the first preset length and the angle detection member 4 detects that the current flipping angle is still equal to zero, it means that although the fork tine 2 has moved forward the first preset distance relative to the pallet 1, the pallet 1 has not yet abutted against the flip baffle 3. At this time, the risk of the pallet 1 falling from the fork tine 2 or tipping over is extremely high. The controller controls the roller drive member to stop the translation of the fork tine 2 based on the signals sent simultaneously by the first length detection member and the angle detection member 4, so as to prevent the pallet 1 from tipping over during the forking process, thereby achieving higher safety. At the same time, the controller controls the alarm connected thereto to sound an alarm, so as to promptly remind the staff to check the situation around the pallet 1 to prevent dangerous accidents.

[0049] Optionally, when the angle detection member 4 detects that the current flip angle of the flip baffle 3 is greater than the preset flip angle, it means that the flip baffle 3 is over-flipped under the action of the tray 1, and the tray 1 is still not at the optimal position of the fork tine 2. At this time, the angle detection member 4 sends a signal to the controller, and the controller controls the roller drive member to drive the fork tine 2 to move the second preset length in the direction away from the tray 1, that is, to drive the fork tine 2 to move back the second preset length. The second preset length can also be 100 mm, which is set according to the specific implementation situation.

[0050] Accordingly, the present invention includes a second length detection member connected to the controller, and the second length detection member is used to detect whether the fork tine 2 is translated by a second preset length, that is, whether the fork tine 2 is offset by a second preset length in the direction D. The second length detection member can also be a length detection sensor, but is not limited thereto.

[0051] When the fork 2 translates the second preset length and the angle detection component 4 detects that the current flip angle is between zero and the preset flip angle, it means that the pallet 1 is close to the optimal position of the fork 2 after the fork 2 moves back the second preset distance. Although the pallet 1 is not yet in the optimal position of the fork 2, the fork 2 still has the possibility of smoothly transferring the pallet 1. The controller controls the gantry drive component to drive the fork 2 to lift the pallet 1 according to the signals sent simultaneously by the second length detection component and the angle detection component 4, thereby further providing the possibility for the fork 2 to automatically transfer the pallet 1 and further preventing the AGV forklift from stopping frequently. Since the pallet 1 is close to the gantry at this time, the fork 2 is suitable for pallets 1 with larger volume and heavier weight, and the application range is further increased.

[0052] When the fork tine 2 translates the second preset length and the angle detection component 4 detects that the current flipping angle is greater than the preset flipping angle, it means that although the fork tine 2 has moved back the second preset distance relative to the pallet 1, the pallet 1 is still excessively in contact with the flip baffle 3. At this time, the pallet 1 may have tipped over on the fork tine 2. The controller controls the roller drive component to stop the translation of the fork tine 2 based on the signals sent simultaneously by the second length detection component and the angle detection component 4, so as to prevent the pallet 1 from falling during the transportation process, thereby improving the safety. At the same time, the controller controls the alarm connected to it to sound an alarm, so as to promptly remind the staff to check the placement of the pallet 1 on the fork tine 2, thereby reducing the risk of safety accidents.

[0053] The present invention also includes an obstacle avoidance detection member connected to the controller, and the obstacle avoidance detection member is used to detect obstacles distributed in front of the tooth tip. The obstacle avoidance detection member can be a photoelectric sensor, but is not limited thereto. When the obstacle avoidance detection member detects that the tooth tip collides with an obstacle, the obstacle avoidance detection member sends a signal to the controller, and the controller controls the roller drive member to drive the fork tine 2 to stop translation to prevent the fork tine 2 from colliding with the obstacle; at the same time, the controller controls the alarm to send an alarm to remind the operator to move the obstacle in time, thereby achieving automatic obstacle avoidance, with high safety and high degree of automation.

[0054] The present invention also includes a micro-motion detection member connected to the controller, and the micro-motion detection member is arranged at the tooth tip of the forklift, and is used to detect whether the tooth tip vibrates. The micro-motion detection member can be a micro-motion sensor, but is not limited to this. When the tooth tip collides with external objects, the tooth tip vibrates. At this time, the micro-motion detection member sends a pulse signal to the controller, and the controller controls the roller drive member to drive the fork tine 2 to stop the translation, so as to prevent the fork tine 2 from continuing to collide with external objects, and prevent the fork tine 2 from being worn or deformed, which is conducive to improving the working reliability of the fork tine 2. In addition, on-site staff can also kick the micro-motion detection member according to work needs, so that the AGV forklift can stop at the ideal position as needed, which is convenient and flexible to operate.

[0055] In order to facilitate the accurate entry of the fork tine 2 into the fork hole at the bottom of the tray 1, a conical guide block is provided at the tip of the fork tine 2, and the smallest end of the conical guide block faces the tray 1, so as to facilitate the fork tine 2 to quickly drill into the fork hole. In addition to the guiding function, the conical guide block can also compensate for the slight displacement deviation between the fork tine 2 and the fork pick, such as the attached Figure 3 As shown, when the tray 1 is offset by a certain distance in the direction A or B relative to the fork tine 2, since the width of the small diameter end of the conical guide block is smaller than the width of the fork hole, conditions are created for the fork tine 2 to enter the fork hole, and the adaptability is wide.

[0056] Furthermore, the present invention also includes a distance detection member connected to the controller, so as to use the distance detection member to detect the current deviation between the conical guide block and the fork hole, and the current deviation here mainly refers to the deviation between the fork tine 2 and the fork hole in the width direction of the fork tine 2 when the fork tine 2 and the fork are on the same plane. The distance detection member can be a laser distance sensor, but is not limited to this. When the distance detection member detects that the current deviation is within the preset deviation range, it means that the fork tine 2 can smoothly enter the fork, and at this time the controller controls the roller drive member to drive the fork tine 2 to move horizontally, so that the fork tine 2 is automatically inserted into the corresponding fork hole, which is highly automated and convenient to operate. When the distance detection member detects that the current deviation exceeds the preset deviation range, it means that the fork tine 2 cannot smoothly enter the fork, and at this time the controller controls the roller drive member to drive the fork tine 2 to move along the width direction of the fork tine 2, and automatically adjusts the position of the fork tine 2 relative to the fork hole until the current deviation between the conical guide block and the fork hole is within the preset deviation range, thereby realizing automatic adjustment of the position of the fork tine 2.

[0057] The invention also provides an AGV forklift, including the pallet detection device of the above-mentioned AGV forklift, which has the same beneficial effects.

[0058] The AGV forklift and pallet detection device thereof provided by the present invention are introduced in detail above. Specific examples are used herein to illustrate the principle and implementation mode of the present invention. The description of the above embodiments is only used to help understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation mode and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A pallet detection device for an AGV forklift, characterized in that: include: At least one flip baffle (3) rotatably arranged on the fork tine (2) to rotate and abut against the tray (1); an angle detection member (4) connected to the flip baffle (3) and used to detect a current flip angle of the flip baffle (3); a controller connected to the angle detection member (4), the controller being used to control the roller drive member to drive the fork teeth (2) to stop translation and simultaneously control the door frame drive member to drive the fork teeth (2) to lift the tray (1) when the current flip angle is equal to a preset flip angle according to a signal sent by the angle detection member (4); The controller controls the roller drive member to drive the fork tine (2) to translate by a first preset length in a direction close to the tray (1) according to a signal sent by the angle detection member (4) when the current flip angle is equal to zero, and further comprises a first length detection member connected to the controller and used to detect whether the fork tine (2) has translated by the first preset length; The controller controls the gantry drive to drive the fork tine (2) to lift the pallet (1) according to the signals sent by the first length detection member and the angle detection member (4) when the fork tine (2) translates the first preset length and the current flip angle is between zero and the preset flip angle; otherwise, the controller controls the roller drive to drive the fork tine (2) to stop translation and simultaneously controls the alarm to sound according to the signals sent by the first length detection member and the angle detection member (4) when the fork tine (2) translates the first preset length and the current flip angle is equal to zero.

2. The pallet detection device for an AGV forklift according to claim 1, characterized in that: The flip baffle (3) is installed in a mounting groove (5) provided in the fork tine (2); the mounting groove (5) is provided with a rotating shaft (6) passing through the flip baffle (3); the rotating shaft (6) is provided with a contact torsion spring (7) which elastically contacts the mounting groove (5) and the flip baffle (3) and is used to provide damping for the flip baffle (3).

3. The pallet detection device for an AGV forklift according to claim 1, characterized in that: It also includes a height detection component connected to the controller and used to detect the current lifting height of the fork teeth (2) lifting the tray (1); the controller is used to control the roller drive component to drive the fork teeth (2) to transfer the tray (1) to the target position according to the preset planned path when the current lifting height is equal to the preset lifting height based on the signal sent by the height detection component.

4. The pallet detection device for an AGV forklift according to claim 3, characterized in that: The controller is used to control the roller drive component to drive the fork tine (2) to stop translation when the fork tine (2) transfers the pallet (1) according to the preset planned path and the current flip angle is zero according to the signal sent by the angle detection component (4).

5. The pallet detection device for an AGV forklift according to claim 1, characterized in that: The controller controls the roller drive member to drive the fork tine (2) to translate by a second preset length in a direction away from the tray (1) according to a signal sent by the angle detection member (4) when the current flip angle is greater than the preset flip angle, and further comprises a second length detection member connected to the controller and used to detect whether the fork tine (2) has translated by the second preset length; The controller controls the gantry drive to drive the fork tine (2) to lift the pallet (1) according to the signals sent by the second length detection member and the angle detection member (4) when the fork tine (2) translates the second preset length and the current flip angle is between zero and the preset flip angle; otherwise, the controller controls the roller drive to drive the fork tine (2) to stop translating and simultaneously controls the alarm to sound according to the signals sent by the second length detection member and the angle detection member (4) when the fork tine (2) translates the second preset length and the current flip angle is greater than the preset flip angle.

6. The pallet detection device for an AGV forklift according to claim 1, characterized in that: It also includes an obstacle avoidance detection component connected to the controller and used to detect obstacles distributed in front of the tooth tip. The controller is used to control the roller drive component to drive the fork teeth (2) to stop translation and control the alarm to sound an alarm when the tooth tip collides with an obstacle according to the information sent by the obstacle avoidance detection component.

7. The pallet detection device for an AGV forklift according to any one of claims 1 to 4, characterized in that: It also includes a micro-motion detection component connected to the controller and arranged on the forklift tooth tip to detect whether the tooth tip is vibrating. The controller is used to control the roller drive component to drive the fork teeth (2) to stop translation when the tooth tip is vibrating according to a signal sent by the micro-motion detection component.

8. The pallet detection device for an AGV forklift according to any one of claims 1 to 4, characterized in that: It also includes a conical guide block arranged at the tooth tip to guide the tooth tip to drill into the fork hole, and a distance detection member connected to the controller and used to detect the current deviation between the conical guide block and the fork hole. The controller is used to control the roller drive member to drive the fork tine (2) to move horizontally according to the signal sent by the distance detection member when the current deviation is within a preset deviation range so that the fork tine (2) is inserted into the corresponding fork hole.

9. An AGV forklift, characterized in that: A pallet detection device for an AGV forklift comprising any one of claims 1 to 8.

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