A pallet identification and positioning device and a forklift truck

Abstract

The application discloses a tray identification and positioning device and a forklift. The forklift is provided with a forklift accessory. The tray identification and positioning device comprises a mounting mechanism and an identification sensor arranged at the lower end of the mounting mechanism. The mounting mechanism is movably arranged at the rear side of the forklift accessory and can move up and down along with the forklift accessory. When the forklift accessory is lifted to a preset height, the identification sensor is exposed from the rear side of the forklift accessory. The identification sensor comprises a distance measuring sensor, which is used to detect the relative position relationship between the forklift and the tray. The tray identification and positioning device can detect the relative position relationship between the forklift and the tray through the identification sensor, which is beneficial to fast and accurate insertion or clamping of the tray. In addition, the tray identification and positioning device is arranged at the rear side of the forklift accessory. On the one hand, the forklift accessory can shield and protect the identification sensor under certain conditions. On the other hand, the identification sensor can be exposed so as to direct the field of view towards the tray and / or goods under certain conditions.

Description

Technical Field

[0001] This invention relates to the field of AGV forklift technology, specifically to a pallet identification and positioning device and a forklift. Background Technology

[0002] Pallet recognition sensors on existing forklifts are usually installed on the upper part of the fork teeth. When the fork teeth are inserted into the pallet, the field of view of the recognition sensor is easily blocked by the goods. During the loading and unloading process, the recognition sensor cannot provide height detection of the pallet and / or goods, which is not conducive to precise loading and unloading control. In addition, when the recognition sensor is placed on the front side of the fork teeth, the recognition sensor is often exposed and lacks protection, which is not conducive to extending its service life. Summary of the Invention

[0003] In order to solve one or more technical problems in the prior art, or at least provide a beneficial alternative, the present invention provides a pallet identification and positioning device and a forklift to improve the control accuracy of pallets from picking up to placing, and to improve the safety and reliability of picking up and placing goods.

[0004] According to a first aspect of this application, a pallet identification and positioning device is provided for use on a forklift. The forklift is equipped with a forklift attachment. The pallet identification and positioning device includes: a mounting mechanism and an identification sensor disposed at the lower end of the mounting mechanism. The mounting mechanism is movably mounted on the rear side of the forklift attachment and can move up and down with the forklift attachment. When the forklift attachment is raised to a preset height, the identification sensor is exposed from the rear side of the forklift attachment. The identification sensor includes a distance sensor for detecting the relative positional relationship between the forklift and the pallet.

[0005] Preferably, during the process of the forklift attachment lowering the pallet to place the goods, the distance sensor detects the distance between the bottom of the pallet and the placement platform.

[0006] Preferably, the forklift attachment is a fork mechanism, which includes an upright plate and fork teeth. Two fork teeth are provided and fixed to the front side of the upright plate. The mounting mechanism is installed on the rear side of the upright plate and located between the two fork teeth. The upright plate includes a hollow portion. The identification sensor includes a camera, which is located above or below the ranging sensor. When the fork mechanism is lowered to the bottom, the camera is exposed through the hollow portion.

[0007] Preferably, the installation mechanism includes two fixed shafts symmetrically arranged on the left and right and a movable block slidably disposed on the fixed shafts. The identification sensor is fixed to the bottom end of the fixed shafts, and one side of the movable block is fixed to the rear side of the upright plate and slides up and down along the fixed shafts under the action of the upright plate.

[0008] Preferably, the upper end of the fixed shaft is provided with an upper limit stop to limit the upward movement of the movable block, and the axial position of the upper limit stop is adjustable in the fixed shaft.

[0009] Preferably, the forklift is equipped with a frame, the frame including a column and a crossbeam at the bottom of the column, the column is provided with a guide rail, the forklift attachment moves up and down along the guide rail, the crossbeam is provided with a lower limit plate, and during the descent of the forklift attachment, the lower limit plate restricts the downward movement of the pallet identification and positioning device.

[0010] Preferably, the lower end of the mounting mechanism is provided with a frame-shaped protective cover, and an adjustment plate is rotatably provided inside the frame-shaped protective cover, and the identification sensor is fixed on the adjustment plate.

[0011] Preferably, the frame-shaped protective cover has multiple mutually isolated chambers formed along the vertical direction, and each chamber is used to place an identification sensor.

[0012] Preferably, the forklift attachment has a positioning sensor on its front end face, which is higher than the top surface of the pallet into which the fork teeth are inserted, for detecting the distance between the goods and the front end face of the forklift attachment; the pallet identification and positioning device also includes a controller, and the identification sensor and the positioning sensor are both electrically connected to the controller.

[0013] According to a second aspect of this application, a forklift is also provided, including the aforementioned pallet identification and positioning device and forklift attachments.

[0014] According to the pallet identification and positioning device of the present application, pallet identification and positioning can be achieved by detecting the relative positional relationship between the forklift and the pallet through identification sensors, so as to quickly and accurately insert or clamp the pallet. Furthermore, the pallet identification and positioning device is located on the rear side of the forklift attachment. On the one hand, under certain circumstances, the forklift attachment can form a shielding protection for the identification sensor. On the other hand, under certain circumstances, the identification sensor can be exposed so that the field of vision is directed toward the pallet and / or goods for detection. The pallet identification and positioning device does not hinder the movement of the forklift attachment, and its height can be adjusted by the forklift attachment to keep its field of vision within a better range.

[0015] Furthermore, during the process of the forklift attachment lowering the pallet to place goods, the distance sensor detects the distance between the bottom of the pallet and the placement platform. The identification sensor of this application is located near the lower part of the forklift attachment. When the pallet is inserted or clamped, the goods will not obstruct the field of view of the identification sensor. The identification sensor can be used to detect the placement height, which can improve the accuracy and safety of placement control.

[0016] Furthermore, the forklift attachment is a fork mechanism, which includes an upright plate and fork teeth. Two fork teeth are provided and fixed to the front side of the upright plate. The mounting mechanism is installed on the rear side of the upright plate and located between the two fork teeth. The upright plate includes a cutout. The identification sensor includes a camera, which is positioned above or below the ranging sensor. When the fork mechanism descends to its bottom, the camera is exposed through the cutout. Thus, even when the fork mechanism is at its lowest point, the camera can still be exposed through the cutout and used to monitor the area ahead. For example, when goods are detected in place, it can provide relevant signals to instruct the fork mechanism to lift and begin operation, thereby improving work efficiency.

[0017] Furthermore, the installation mechanism includes two fixed shafts symmetrically arranged on the left and right and a movable block slidably disposed on the fixed shafts. The identification sensor is fixed to the bottom end of the fixed shafts, and one side of the movable block is fixed to the rear side of the upright plate and slides up and down along the fixed shafts under the drive of the upright plate. By setting two fixed shafts, the connection strength between the installation mechanism and the upright plate can be enhanced. In addition, the movable block slides along the two fixed shafts, which can improve the smoothness of its sliding and prevent the balance of the two forks from being affected when the movable block is tilted to the left or right.

[0018] Furthermore, the upper end of the fixed shaft is provided with an upper limit stop to limit the upward movement of the movable block. The axial position of the upper limit stop is adjustable on the fixed shaft. By providing the upper limit stop, the movable block can be prevented from detaching from the fixed shaft. Moreover, the axial position of the upper limit stop is adjustable on the fixed shaft, which makes the movement stroke of the movable block adjustable. This helps to reduce the lifting height when the forklift attachment is raised to expose the identification sensor.

[0019] Furthermore, the forklift is equipped with a frame, which includes a column and a crossbeam located at the bottom of the column. A guide rail is provided on the column, and the forklift attachment moves up and down along the guide rail. A lower limit plate is provided on the crossbeam. During the descent of the forklift attachment, the lower limit plate restricts the downward movement of the pallet identification and positioning device. By setting the lower limit plate, a buffer protection is provided to prevent the bottom of the pallet identification and positioning device from contacting the ground and being impacted. When the bottom of the pallet identification and positioning device abuts against the lower limit plate, it does not affect the continued descent of the forklift attachment.

[0020] Furthermore, the lower end of the mounting mechanism is provided with a frame-shaped protective cover, and an adjustment plate is rotatably provided inside the frame-shaped protective cover. The identification sensor is fixed on the adjustment plate. By setting the adjustment plate, the angle of the identification sensor can be flexibly adjusted so that its field of view is optimal. The frame-shaped protective cover can protect the identification sensor, reduce the accidental collision of the identification sensor by the surrounding structure, and reduce the probability of its damage.

[0021] Furthermore, the frame-shaped protective cover has multiple mutually isolated chambers formed along the vertical direction, each chamber being used to house an identification sensor; thus, multiple sensors can be set up separately without interfering with each other; multiple sensors can provide superimposed detection / monitoring effects, which is beneficial to improving the accuracy of tray identification and positioning.

[0022] Furthermore, the forklift attachment is equipped with a positioning sensor on its front end face. The positioning sensor is higher than the top surface of the pallet into which the fork teeth are inserted, and is used to detect the distance between the goods and the front end face of the forklift attachment. The pallet identification and positioning device also includes a controller, and the identification sensor and the positioning sensor are electrically connected to the controller. By setting the positioning sensor, the goods can be indicated to be placed in the correct position to control the insertion action to stop and prevent the goods from protruding and being collided. By setting the controller, automated monitoring, pallet control, and goods handling control can be realized, which can save manual operation and costs and improve work efficiency. Attached Figure Description

[0023] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this invention, illustrate exemplary embodiments of the invention and are used to explain the invention, but do not constitute an undue limitation of the invention. In the drawings:

[0024] Figure 1 This is a schematic diagram of the structure of a pallet identification and positioning device according to one embodiment of this application.

[0025] Figure 2 This is a schematic diagram of a pallet identification and positioning device installed on a fork mechanism according to one embodiment of this application, wherein the fork mechanism is at the bottom.

[0026] Figure 3 for Figure 2 A schematic diagram showing the forklift mechanism being raised to expose the identification sensor.

[0027] Figure 4 for Figure 2 A schematic diagram showing how the forklift mechanism lifts the pallet identification and positioning device to a certain height.

[0028] Figure label:

[0029] 100-Tray identification and positioning device, 10-Mounting mechanism, 11-Distance sensor, 12-Camera, 13-Fixed shaft, 14-Moving block, 131-Upper limit position, 132-Upper limit plate, 15-Frame-shaped protective cover, 151-Cavity;

[0030] 20-Fork mechanism, 21-Fork teeth, 22-Upright plate, 221-Hollow section, 30-Column, 31-Crossbeam, 32-Lower limit plate. Detailed Implementation

[0031] To more clearly illustrate the overall concept of the present invention, a detailed description will be provided below with reference to the accompanying drawings and examples.

[0032] To better understand the above-mentioned objectives, features, and advantages of this application, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0033] It should be noted that many specific details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present invention is not limited to the specific embodiments disclosed below.

[0034] Furthermore, in the description of this invention, it should be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0035] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0036] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral unit; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. However, specifying a direct connection indicates that the two connected entities do not establish a connection relationship through a transitional structure, but are connected solely by a connecting structure to form a whole. For those skilled in the art, the specific meaning of the above terms in this invention can be understood according to the specific circumstances.

[0037] In this invention, unless otherwise expressly specified and limited, the first feature "on" or "below" the second feature may be in direct contact with the first and second features, or indirect contact through an intermediate medium. In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0038] like Figures 1 to 4 As shown, this application provides a pallet identification and positioning device 100, which is applied to a forklift. The forklift is equipped with a forklift attachment. The pallet identification and positioning device 100 includes: a mounting mechanism 10 and an identification sensor located at the lower end of the mounting mechanism 10. The mounting mechanism 10 is movably mounted on the rear side of the forklift attachment and can move up and down with the forklift attachment. When the forklift attachment is raised to a preset height, the identification sensor is exposed from the rear side of the forklift attachment. The identification sensor includes a distance sensor 11, which is used to detect the relative positional relationship between the forklift and the pallet.

[0039] The pallet identification and positioning device 100 of this application is located at the rear of the forklift attachment. This avoids the vulnerability of the identification sensor to accidental impacts from goods or other surrounding structures when it is located at the front, protecting the sensor's structure from damage and preventing its view from being obstructed by goods. The identification sensor is not completely exposed, such as... Figure 2 As shown, when the fork mechanism 20 descends to its lowest point, it can partially or completely block the identification sensors, thus protecting them. Figure 3 As shown, when the fork mechanism 20 is raised to a preset height, the identification sensor can be exposed from the rear to provide detection.

[0040] It should be noted that forklift attachments are mechanical tools configured according to different forklift types or usage requirements, used for inserting, clamping, or gripping pallets and / or goods to achieve pallet and / or goods transfer. Appropriate forklift attachments can also be selected based on the configuration and type of the pallets or goods to be transferred to improve the insertion, clamping, or gripping effect. Forklift attachments may include, for example, forks with fork teeth. For pallet types with slots, the pallet can be inserted or removed by inserting the fork teeth into the slots. Forklift attachments can also have other configurations, such as clamping mechanisms, clamping and rotating mechanisms, etc.

[0041] Although this application is described as a "pallet identification and positioning device", in actual applications, the detection object is not limited to the pallet, but can also be the goods themselves, which does not affect the use of the pallet identification and positioning device of this application.

[0042] One or more identification sensors can be set to optimize the detection range and detection objects, depending on actual needs. When multiple identification sensors are set, different types of sensor combinations can be configured to achieve the fusion of multiple detection functions. When multiple identification sensors are set, if the forklift attachments obstruct the identification sensors, only one or a few sensors can be obstructed, or all identification sensors can be obstructed, depending on actual needs. By using the distance sensor 11 to detect the relative positional relationship between the forklift and the pallet, precise pallet positioning can be achieved, thereby controlling the forklift to insert or clamp the pallet. For example, the distance sensor 11 can detect the X-axis and / or Y-axis position of the pallet to control the alignment of the forklift attachments with the pallet. For example, the distance sensor 11 can detect the distance between the pallet and the forklift attachments to control the insertion or clamping of the pallet by the forklift attachments. Furthermore, during the unloading process, the distance sensor 11 is used to detect the distance between the bottom of the pallet and the unloading platform, which can prevent the bottom of the pallet from being easily impacted when blindly unloading. By detecting the unloading height, the descent rate can be controlled in time so that the bottom of the pallet falls gently. The loading platform can be either the ground or a support surface formed by stacked goods. The ranging sensor 11 is preferably a radar.

[0043] For ease of description, the following explanation will use the forklift attachment, specifically the fork mechanism 20, as an example.

[0044] In a preferred embodiment, the fork mechanism 20 includes a vertical plate 22 and fork teeth 21. Two fork teeth 21 are provided and fixed to the front side of the vertical plate 22. The mounting mechanism 10 is mounted on the rear side of the vertical plate 22 and located between the two fork teeth 21. The vertical plate 22 includes a hollow portion 221. The identification sensor includes a camera 12. When the fork mechanism 20 descends to the bottom, the camera 12 is exposed through the hollow portion 221.

[0045] In one example, such as Figure 1 and Figure 2 As shown, the camera 12 is positioned above the distance sensor 11. When the fork mechanism 20 descends to its bottom, a portion of the upright plate 22 blocks the distance sensor 11, while the camera 12, located above the distance sensor 11, is exposed through the cutout 221. By preserving the field of view of the camera 12, it can be used to monitor the area ahead. For example, before inserting goods, manual labor or a conveyor device may need to transport a batch of goods to a designated placement location / area. The camera 12 can provide real-time monitoring. When the goods are detected to be in place, the camera 12 can provide a detection signal to the controller. At this time, the controller can issue control commands to move the forklift toward the goods or control the fork mechanism 20 to start lifting. This can improve the degree of automation and optimize work efficiency.

[0046] In another example, the camera 12 is located below the ranging sensor 11. When the fork mechanism 20 descends to the bottom, the camera 12 can still be exposed through the cutout 221. Thus, the camera 12 can always be exposed throughout the entire stroke of the fork mechanism 20 so as to monitor the situation in front in real time.

[0047] It is understood that this application does not specify the arrangement relationship between the camera 12 and the range sensor 11. For example, the camera 12 can also be located in other positions of the range sensor 11. When the range sensor 11 is exposed, the range sensor 11 begins detection. Specifically, the controller can control the range sensor 11 to start working by setting a positioning detection. For example, detection elements and sensing elements can be installed on the fork mechanism 20 and the column 30. When the fork mechanism 20 is raised to a preset height, the sensing element senses the detection element and can provide a corresponding signal to the controller so that the controller controls the range sensor 11 to start working. Alternatively, the detection element and sensing element can also be set on the movable block 14 and the fixed shaft 13. The detection element is, for example, a magnet, and the sensing element is a reed switch or a Hall element.

[0048] In the configuration of camera 12, the camera 12 can also assist in recognizing the tray. For example... Figure 3 or Figure 4 As shown, during the tray insertion process, camera 12 can detect the tray outline to better align the fork tines 21 with the tray. Camera 12 can also detect the slot position of the tray to better align the fork tines 21 with the slot; furthermore, by detecting the distance between the fork tines 21 and the tray in real time through distance sensor 11, the insertion depth of the fork tines 21 can be controlled.

[0049] It is understood that in other embodiments, the upright plate 22 may also be a complete plate structure, in which case the upright plate 22 blocks the identification sensor when the fork mechanism 20 descends to the bottom.

[0050] Furthermore, the installation mechanism 10 includes two fixed shafts 13 arranged symmetrically on the left and right and a movable block 14 slidably disposed on the fixed shafts 13. The identification sensor is fixed to the bottom end of the fixed shaft 13, and one side of the movable block 14 is fixed to the rear side of the upright plate 22 and slides up and down along the fixed shaft 13 under the action of the upright plate 22.

[0051] like Figure 1 As shown, the movable block 14 can be fixed to the upright plate 22 by bolts. The sliding arrangement of the movable block 14 provides relative movement between the movable block 14 and the recognition sensor. The movable block 14 passes through the two fixed shafts 13, which can improve the stability of its up and down movement. Since it is connected to the upright plate 22, the stability of the movement of the movable block 14 ensures the posture balance of the two fork teeth 21, which can prevent the insertion effect with the pallet from being affected when the height positions of the two fork teeth 21 are inconsistent.

[0052] It should be noted that existing technologies often use a scheme where two movable blocks slide along two fixed axes or two guide rails respectively. This scheme requires high transmission precision from the movable blocks. Specifically, if the transmission of one movable block is obstructed, the fork mechanism 20 may be hindered from rising or falling. Alternatively, only by ensuring the synchronicity of the movement of the two movable blocks can the balance of the fork mechanism 20 (two fork teeth 21) be guaranteed. Only when the two fork teeth 21 maintain the same horizontal height can the firmness and reliability of their insertion into the pallet and / or goods be ensured. For example, when the two fork teeth 21 are at different heights, when the two fork teeth 21 are inserted into the slot of the pallet, only one fork tooth 21 may abut against the top wall of the slot and bear the load, while the other fork tooth 21 is suspended and unloaded. When goods are loaded onto the pallet, a single fork tooth 21 may not be able to withstand the large load, leading to the risk of the pallet and / or goods tipping over. Furthermore, in the two-moving-block design, during forklift operation, the vibrations generated by the forklift will be at least partially transmitted to the forks and then to the mounting mechanism 10. When the vibration levels of the two moving blocks are inconsistent, it will affect their balance, ultimately leading to inconsistent heights of the two fork teeth 21. This affects the stability and reliability of the fork teeth 21 in inserting pallets and / or goods, potentially causing safety accidents during cargo transportation. In other words, this application uses a single, integrated moving block 14. Under the premise that it can withstand a certain load, the moving block 14 can ensure that the fork mechanism 20 is in a reliable posture when moving along the fixed shaft 13, thereby ensuring the firmness and reliability of inserting pallets and / or goods. Furthermore, the upper end of the fixed shaft 13 is provided with an upper limit part 131 to limit the upward movement of the moving block 14. The axial position of the upper limit part 131 on the fixed shaft 13 is adjustable.

[0053] When the movable block 14 moves upward and abuts against the upper limit part 131, it stops moving upward, preventing it from dislodging from the fixed shaft 13 at the top. The upper limit part 131 is, for example, a limit ring, which has a pin hole for fastening to the fixed shaft 13 with screws. The top end of the fixed shaft 13 is also provided with an upper limit plate 132 for limiting the upper limit installation position of the upper limit part 131.

[0054] It is understandable that a lower limit part can be provided at the lower end of the fixed shaft 13 to limit the downward movement of the movable block 14. The lower limit part is located, for example, at a preset distance above the recognition sensor.

[0055] Furthermore, the forklift is equipped with a frame, which includes a column 30 and a crossbeam 31 located at the bottom of the column 30. The column 30 is equipped with a guide rail, and the fork mechanism 20 moves up and down along the guide rail. The crossbeam 31 is equipped with a lower limit plate 32. During the descent of the fork mechanism 20, the lower limit plate 32 restricts the downward movement of the pallet identification and positioning device 100.

[0056] like Figures 2 to 4 As shown, the uprights 30 and the crossbeam 31 form a portal structure, for example, with the two uprights 30 symmetrically arranged on the left and right sides and connected by the crossbeam 31. A slider is provided on the rear side of the upright plate 22 of the fork mechanism 20, which, in cooperation with the guide rail, enables the fork mechanism 20 to rise and fall. During the descent of the fork mechanism 20, when the bottom of the pallet identification and positioning device 100 abuts against the lower limit plate 32, the pallet identification and positioning device 100 stops moving downwards, while the fork mechanism 20 can continue to descend. At this time, the upright plate 22 can drive the movable block 14 to move downwards relative to the identification sensor until the fork mechanism 20 reaches its lowest point. Thus, the pallet identification and positioning device 100 will not impact the ground, reducing the probability of it being damaged by impact. Preferably, the lower limit plate 32 has a certain degree of elasticity, which can further reduce the impact. Since the two fork teeth 21 are connected by the upright plate 22, the slider can ensure the balance of the posture of the two fork teeth 21 when moving along the guide rail, thereby ensuring the firmness and reliability of the fork mechanism 20 in picking up pallets and / or goods.

[0057] Based on the above embodiments, the lower end of the mounting mechanism 10 is provided with a frame-shaped protective cover 15, and an adjustment plate (not shown in the figure) is rotatably provided inside the frame-shaped protective cover 15, and the identification sensor is fixed on the adjustment plate.

[0058] The axis of the adjustment plate can be set horizontally to adjust the pitch angle of the recognition sensor. Alternatively, the axis of the adjustment plate can be set vertically to adjust the left and right orientation angle of the recognition sensor. In the embodiment with camera 12, camera 12 can be rotatably mounted on the adjustment plate. Camera 12 can have multiple degrees of rotational freedom to monitor the front, left, right, diagonally above, diagonally below, etc., expanding the monitoring range. It is used not only to detect the position of goods, but also to monitor the process of picking up and placing goods, and to detect surrounding obstacles. The distance sensor 11 can be rotatably mounted on the adjustment plate. The distance sensor 11 has an adjustable pitch angle to more accurately detect the height of goods being placed.

[0059] Furthermore, the frame-shaped protective cover 15 has multiple mutually isolated chambers 151 formed in the vertical direction, and each chamber 151 is used to place an identification sensor.

[0060] exist Figure 1 In the example, the frame-shaped protective cover 15 is divided into two chambers 151. The upper chamber 151 houses the camera 12, and the lower chamber 151 houses the ranging sensor 11. It is understood that the type and number of identification sensors are not limited, and the number of chambers 151 can be determined by the required number of identification sensors. Isolating the identification sensors avoids mutual interference and optimizes the spatial layout.

[0061] It is understandable that the arrangement of multiple chambers 151 is not limited to the vertical direction, but can also be along the horizontal direction, etc.

[0062] Furthermore, the front end face of the fork mechanism 20 is provided with a positioning sensor (not shown in the figure). The positioning sensor is higher than the top surface of the pallet into which the fork teeth 21 are inserted, and is used to detect the distance between the goods and the front end face of the fork mechanism 20. The pallet identification and positioning device also includes a controller, and the identification sensor and the positioning sensor are electrically connected to the controller.

[0063] By setting a positioning sensor, after the fork tines 21 insert into the pallet, the goods on the pallet can come into contact with the front end of the fork mechanism 20. Position detection indicates that the insertion depth of the fork tines 21 has reached the required level, thus controlling the insertion action to stop. Simultaneously, it prevents the front end of the goods from protruding excessively and being easily struck by external objects when the insertion depth is insufficient, which could affect the reliability and safety of cargo transportation. The positioning sensor can be, for example, a laser sensor.

[0064] The controller is used to control the fork mechanism 20 or the forklift to perform corresponding actions after receiving detection signals from the identification sensor and the position sensor, thus providing an automated control process.

[0065] The pallet identification and positioning device 100 of this application operates as follows: When the fork mechanism 20 is at its lowest position, the upright plate 22 blocks part or all of the identification sensors. When it is necessary to pick up or remove goods, the controller controls the fork mechanism 20 to lift. When it is lifted to a preset height, such as... Figure 3 As shown, the identification sensor protrudes from the rear, with its field of view facing the pallet and / or goods; the controller can control the identification sensor to start working to locate the pallet's position, measure the distance between the fork tines 21 and the pallet, etc., to assist the fork tines 21 in picking up the pallet; from Figures 3 to 4 During the loading process, the fork mechanism 20 can drive the pallet identification and positioning device 100 to lift synchronously, allowing the identification sensor to detect the height of the pallet and / or goods. When loading, the fork mechanism 20 can drive the pallet identification and positioning device 100 to lower synchronously, and the distance sensor 11 can detect the distance between the bottom of the pallet and the loading platform until loading is completed.

[0066] The process of the fork mechanism 20 descending to its lowest point is as follows: the fork mechanism 20 drives the pallet identification and positioning device 100 to descend. When the bottom of the pallet identification and positioning device 100 abuts against the lower limit plate 32, the pallet identification and positioning device 100 stops moving downwards, and the fork mechanism 20 continues to descend until it touches the ground. Conversely, the process of the fork mechanism 20 lifting is as follows: initially, the upright plate 22 drives the movable block 14 to lift. At this time, the bottom of the pallet identification and positioning device 100 has not yet left the lower limit plate 32. When the movable block 14 abuts against the upper limit part 131, the upright plate 22 can drive the pallet identification and positioning device 100 to lift. After that, the pallet identification and positioning device 100 and the fork mechanism 20 lift synchronously. During this process, the identification sensor is exposed from the rear, with its field of view facing forward.

[0067] Furthermore, this application also provides a forklift, including the pallet identification and positioning device 100 and forklift attachments described above.

[0068] The technical solutions protected by this invention are not limited to the above embodiments. It should be noted that any combination of the technical solutions of any embodiment with one or more other embodiments is within the protection scope of this invention. Although the invention has been described in detail above with general descriptions and specific embodiments, some modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, all such modifications or improvements made without departing from the spirit of this invention are within the scope of protection claimed by this invention.

Claims

1. A pallet identification and positioning device, applied to a forklift, the forklift being equipped with forklift attachments, characterized in that, The pallet identification and positioning device includes: The mounting mechanism and the identification sensor located at the lower end of the mounting mechanism are movably mounted on the rear side of the forklift attachment and can move up and down with the forklift attachment. When the forklift attachment is raised to a preset height, the identification sensor is exposed from the rear side of the forklift attachment. The identification sensor includes a distance sensor, used to detect the relative positional relationship between the forklift and the pallet; The lower end of the installation mechanism is provided with a frame-shaped protective cover, and an adjustment plate is rotatably provided inside the frame-shaped protective cover. The identification sensor is fixed on the adjustment plate. The frame-shaped protective cover has multiple mutually isolated chambers formed along the vertical direction, and each chamber is used to place an identification sensor; The upper edge of the frame-shaped protective cover expands outward, while the lower edge contracts inward.

2. The pallet identification and positioning device according to claim 1, characterized in that, During the process of the forklift attachment lowering the pallet to place the goods, the distance sensor detects the distance between the bottom of the pallet and the placement platform.

3. The pallet identification and positioning device according to claim 1, characterized in that, The forklift attachment is a fork mechanism, which includes a vertical plate and fork teeth. Two fork teeth are provided and fixed to the front side of the vertical plate. The mounting mechanism is installed on the rear side of the vertical plate and located between the two fork teeth. The upright plate includes a cutout section, and the identification sensor includes a camera. The camera is located above or below the ranging sensor. When the fork mechanism descends to the bottom, the camera is exposed through the cutout section.

4. A pallet identification and positioning device according to claim 3, characterized in that, The installation mechanism includes two fixed shafts symmetrically arranged on the left and right and a movable block slidably disposed on the fixed shafts. The identification sensor is fixed to the bottom end of the fixed shafts, and one side of the movable block is fixed to the rear side of the upright plate and slides up and down along the fixed shafts under the action of the upright plate.

5. A pallet identification and positioning device according to claim 4, characterized in that, The upper end of the fixed shaft is provided with an upper limit stop to limit the upward movement of the movable block. The axial position of the upper limit stop is adjustable on the fixed shaft.

6. A pallet identification and positioning device according to any one of claims 1 to 5, characterized in that, The forklift is equipped with a frame, which includes a column and a crossbeam located at the bottom of the column. A guide rail is provided on the column, and the forklift attachment moves up and down along the guide rail. A lower limit plate is provided on the crossbeam, and during the descent of the forklift attachment, the lower limit plate restricts the downward movement of the pallet identification and positioning device.

7. A pallet identification and positioning device according to claim 1, characterized in that, The forklift attachment is equipped with a positioning sensor on its front end face. The positioning sensor is higher than the top surface of the pallet into which the fork teeth are inserted, and is used to detect the distance between the goods and the front end face of the forklift attachment. The pallet identification and positioning device also includes a controller, and the identification sensor and the positioning sensor are both electrically connected to the controller.

8. A forklift, characterized in that, Includes the pallet identification and positioning device and forklift attachment as described in any one of claims 1 to 7.

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