Warehouse goods transfer auxiliary device

Abstract

The invention belongs to the technical field of warehouse stacking, and particularly relates to a warehouse cargo transfer auxiliary device which comprises a left fork arm and a right fork arm, a left auxiliary assembly is installed in the left fork arm, a right auxiliary assembly is installed in the right fork arm, and the right auxiliary assembly comprises a laser radar sensor, a swing assembly, a stretching motor and a detection assembly. The right auxiliary assembly is divided into two parts, namely a first part and a second part. The detection assembly can judge the running state, the loading state, the cargo carrying state and the cargo lifting and placing state of the forklift, so that the left auxiliary assembly and the right auxiliary assembly avoid the loading state and are unfolded under the cargo carrying state and the cargo lifting and placing state of the forklift, the forklift is assisted in completing driving obstacle detection, a predetermined area for placing the cargo is measured, and the detection efficiency is improved. The collision problem caused by the fact that the sight of a driver is affected by too high goods can be avoided, and the situation of a preset goods containing area on the high-rise storage frame can be known.

Description

Technical Field

[0001] The invention relates to the technical field of warehouse palletizing, and in particular to a warehouse cargo transfer auxiliary device. Background Art

[0002] In order to increase the storage capacity within a limited space, a storage center often uses high-rise storage racks to increase the storage capacity, and the storage racks need to be used with palletizing forklifts. Currently, there are two types of storage centers, one still relies on manually driven palletizing forklifts, and the other is an unmanned automatic storage center.

[0003] Regardless of the type of storage center, it requires a large amount of transportation equipment, such as stacking forklifts, and some high-rise storage centers will use stacking forklifts to complete cargo transfer. At the same time, because the forklift is transferring some high-height goods, the goods will block the driver's line of sight, which will bring driving hazards. In order to reduce safety accidents and save labor costs, unmanned storage centers have been introduced, using unmanned forklifts to place goods in the predetermined area. At present, there is a problem with manually driven stacking forklifts and unmanned warehousing. Whether the area where the goods are scheduled to be placed on the high-rise storage rack meets the placement conditions may exist in the following situations, such as: the goods in the adjacent area fall into the predetermined area, the actual space in the predetermined placement area is insufficient to place the goods, and the predetermined area has already placed the goods; first, it is difficult for workers to drive the stacking truck and manually visually judge the situation on the high-rise storage rack. The solution currently available for unmanned storage centers is to install multiple cameras in the storage center for assistance, which results in a large number of cameras required for large-scale storage cargo transfer centers, resulting in excessive costs, and it is impossible to give accurate data for a single predetermined cargo placement area. In the case of similar sizes between the predetermined area and the goods, it is impossible to determine whether the goods can be placed.

[0004] Therefore, we propose a storage cargo transfer auxiliary device, which can reduce costs, help avoid collision problems caused by cargo being too high affecting the driver's line of sight, and help understand the situation of the area where cargo is scheduled to be placed on high-rise storage shelves, avoiding safety hazards caused by blind spots in the high-rise visual field when manually viewing from below, and can determine whether the cargo can be placed in the scheduled area when the cargo size is similar. Summary of the invention

[0005] In order to overcome the above-mentioned defects of the prior art, the present invention provides a storage cargo transfer auxiliary device to solve the problems existing in the above-mentioned background technology.

[0006] To achieve the above-mentioned object, the present invention provides the following technical solutions: a storage cargo transfer auxiliary device, comprising a left fork arm and a right fork arm, wherein a left auxiliary component is installed inside the left fork arm, and a right auxiliary component is installed inside the right fork arm, wherein the right auxiliary component comprises: a laser radar sensor, a swing component, an extension motor and a detection component, wherein the right auxiliary component is divided into two parts, a first part and a second part, wherein the first part and the second part are rotationally connected through an unfolding component;

[0007] The laser radar sensor is located at the end of the first part of the right auxiliary component, the extension motor is located at the end of the second part, the extension shaft of the extension motor passes through the right auxiliary component and is connected to the right fork arm through a bearing, and the laser radar sensor extends out of the right fork arm range or is stored in the right fork arm range as the swing component and the extension motor rotate;

[0008] The detection component is located in the bottom groove of the right auxiliary component. The gas spring of the detection component is connected to a roller through a rotating ring. The rotating shaft of the roller is installed with a Hall sensor. The shaft of the roller connected to the gas spring is installed with an angle sensor. A pressure sensor is installed inside the gas spring.

[0009] The left auxiliary component includes a camera component.

[0010] Further: the camera assembly includes a camera and a rotating seat, a base is rotatably arranged on the rotating seat, an opening of the base is rotatably connected to a camera shell through two sets of driving shafts, and an outer wall of the camera shell is connected to the camera.

[0011] Further: the first part is divided into two pieces, a first piece and a second piece, by a hinge, the lidar sensor is located on the first piece, and the first piece and the second piece nod up and down through an unfolding assembly.

[0012] Furthermore: the support rod of the unfolding assembly is fixed to the second block, the other end of the support rod is connected to the electric push rod through a rotating shaft, and the electric push rod is connected to the second block through a connecting shaft.

[0013] Further: the swing assembly includes a swing motor, a cover shell and a swing block, the cover shell is fixedly connected to the corresponding second block, the swing block is located in the cover shell and rotates, the outer wall of the swing block is provided with a fixing hole, and the swing motor is connected to the fixing hole on the swing block corresponding to the fixed shaft on the cover shell.

[0014] Compared with the prior art, the technical effects and advantages of the present invention are as follows:

[0015] 1. The storage cargo transfer auxiliary device of the present invention can judge the operating state of the forklift through the detection component, which includes three states: loading, transporting and lifting and placing cargo, so that the left auxiliary component and the right auxiliary component avoid the loading state, and are deployed when the forklift is transporting cargo and lifting and placing cargo, to assist the forklift in completing the driving obstacle detection and measuring the predetermined area for placing cargo, which is helpful to avoid the collision problem caused by the cargo being too high affecting the driver's line of sight, and is helpful to understand the situation of the predetermined area for placing cargo on the high-rise storage rack.

[0016] 2. The storage cargo transfer auxiliary device of the present invention is provided with an extension motor, a swing assembly and an unfolding assembly. When the left fork arm and the right fork arm are lifted to a predetermined height, the extension motor is rotated to extend the second part out of the right fork arm range from any side of three directions, and then the direction of the laser radar sensor can be adjusted by the swing assembly. Then, the shaft of the swing motor is started to penetrate the fixed shaft and the fixed hole of the swing block to connect, so that the shaft of the swing motor rotates to drive the swing block to rotate in the cover shell, and the laser radar sensor rotates synchronously with the rotation of the swing block, so as to achieve left and right adjustment of the angle of the laser radar sensor. By starting the expansion and contraction of the electric push rod, the first block is pushed to form a nodding action with the hinge as the center point, so as to achieve up and down adjustment of the angle of the laser radar sensor. It can be more flexibly extended from under the forklift arm in different directions, which is conducive to the deployment of the left auxiliary assembly and the right auxiliary assembly even if there is an obstruction in a certain direction.

[0017] 3. The storage cargo transfer auxiliary device of the present invention, through the setting of laser radar sensors and camera components, can enable forklift drivers whose vision is blocked by the height of the cargo to view the road conditions ahead through the laser radar sensors and camera components to avoid safety accidents. For goods that need to be placed on high-rise storage shelves, the camera component can be used in conjunction with the laser radar sensor to determine whether the goods can be placed in the predetermined area, and whether there are other goods dropped in the predetermined area, thereby avoiding safety hazards caused by blind spots in high places when manually viewing from below, and can determine whether the goods can be placed in the predetermined area when the size is similar to that of the goods. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the structure of the left fork arm and the right fork arm of the present invention;

[0019] Figure 2 It is a side cross-sectional schematic diagram of the right auxiliary component structure of the present invention;

[0020] Figure 3 It is a schematic diagram of the structure of the unfolded assembly of the present invention;

[0021] Figure 4 It is a schematic diagram of the structure of the camera assembly of the present invention;

[0022] Figure 5 It is a schematic diagram of the structure of the swing assembly of the present invention;

[0023] Figure 6 It is a schematic diagram of the external structure of the right auxiliary component of the present invention;

[0024] Figure 7 It is an exploded schematic diagram of the detection component structure of the present invention;

[0025] Figure 8 It is a schematic structural diagram of the left auxiliary component of the present invention.

[0026] The accompanying drawings are marked as follows: 1. right fork arm; 2. left fork arm; 3. left auxiliary component; 4. right auxiliary component; 41. extension motor; 42. extension shaft; 5. lidar sensor; 6. deployment component; 61. support rod; 62. connecting shaft; 63. electric push rod; 64. rotating shaft; 7. swing component; 71. swing motor; 72. cover; 73. fixed shaft; 74. fixed hole; 75. swing block; 8. detection component; 81. pressure sensor; 82. gas spring; 83. rotating ring; 84. angle sensor; 85. roller; 86. Hall sensor; 9. camera component; 91. camera; 92. drive shaft; 93. camera housing; 94. base; 95. rotating seat. DETAILED DESCRIPTION

[0027] The technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the present invention. In addition, the forms of the various structures recorded in the following embodiments are merely illustrative, and the structures involved in the present invention are not limited to the various structures recorded in the following embodiments. All other embodiments obtained by ordinary technicians in this field without making creative work belong to the scope of protection of the present invention.

[0028] Example:

[0029] See also Figure 1-8 The present invention provides a technical solution: a storage cargo transfer auxiliary device, comprising a left fork arm 2 and a right fork arm 1, the left fork arm 2 and the right fork arm 1 form a complete forklift front frame, both stacking forklifts and unmanned forklifts need to use the forklift front frame, the left fork arm 2 is internally installed with a left auxiliary component 3, the right fork arm 1 is internally installed with a right auxiliary component 4, the right auxiliary component 4 includes: a laser radar sensor 5, a swing component 7, an extension motor 41 and a detection component 8;

[0030] The laser radar sensor 5 is mainly composed of a transmitting system, a receiving system and an information processing system. The laser beam of the transmitting system is used to detect objects and environments in front, the receiving system receives the laser signal reflected from the target object, and the information processing system is responsible for amplifying and processing the received data to generate an environmental map for vehicle decision-making. Since the actual detection range of this device is about 1 meter and the maximum does not exceed 2 meters, the volume of the laser radar sensor 5 does not need to be as large as the vehicle-mounted laser radar currently on the market, and can be miniaturized to be similar to the volume of traditional reversing radars, about 20 mm;

[0031] The right auxiliary component 4 is divided into two parts, a first part and a second part, and the first part is divided into two pieces, a first piece and a second piece, by a hinge.

[0032] The first part and the second part are rotatably connected via an unfolding assembly 6, and the two parts of the right auxiliary assembly 4 are respectively adjusted in angle via the unfolding assembly 6 and the extension motor 41;

[0033] The laser radar sensor 5 is located at the end of the first part of the right auxiliary component 4, and the extension motor 41 is located at the end of the second part. The extension motor 41 can drive the second part to rotate, so that the right auxiliary component 4 is extended from the left, right and front three directions below the right fork arm 1, which can avoid any side of the right fork arm 1 from being restricted. For example, the left side is too close to the crossbeam of the pallet, or the right side of the cargo has a falling part or the pallet falls under pressure, which will affect the deployment of the right auxiliary component 4. The extension shaft 42 of the extension motor 41 passes through the right auxiliary component 4 and is connected to the right fork arm 1 through a bearing. The laser radar sensor 5 is extended out of the right fork arm 1 range or stored in the right fork arm 1 range as the swing component 7 and the extension motor 41 rotate. The second part is extended out of the right fork arm 1 range from any side of the three directions by the rotation of the extension motor 41, and the direction of the laser radar sensor 5 can be adjusted by the swing component 7;

[0034] The swing assembly 7 includes a swing motor 71, a cover 72 and a swing block 75. The cover 72 is fixedly connected to the second block. The swing block 75 is located in the cover 72 and rotates. The outer wall of the swing block 75 is provided with a fixing hole 74. The swing motor 71 is connected to the fixing hole 74 on the swing block 75 through the fixing shaft 73 on the cover 72. When the second part is fixedly connected to the cover 72, the shaft of the swing motor 71 is started to penetrate the fixing shaft 73 and the fixing hole 74 of the swing block 75, so that the shaft of the swing motor 71 rotates to drive the swing block 75 to rotate in the cover 72, and the laser radar sensor 5 rotates synchronously with the rotation of the swing block 75, so as to adjust the angle of the laser radar sensor 5 to the left and right.

[0035] Since the device does not need to detect the rear, a slide groove for limiting the swing range of the swing block 75 is provided on the outer wall of the cover shell 72, and the rotation angle of the swing block 75 is limited by the slide groove.

[0036] The laser radar sensor 5 is located on the first block, and the first block and the second block nod up and down through the deployment assembly 6;

[0037] The support rod 61 of the unfolding component 6 is fixed to the second block, and the other end of the support rod 61 is connected to the electric push rod 63 through the rotating shaft 64. The electric push rod 63 is connected to the second block through the connecting shaft 62. By starting the expansion and contraction of the electric push rod 63, the first block is pushed to form a nodding action with the hinge as the center point, thereby achieving the up and down adjustment of the angle of the laser radar sensor 5.

[0038] The left auxiliary component 3 includes a camera component 9 . The structure of the left auxiliary component 3 is the same as that of the right auxiliary component 4 except for the laser radar sensor 5 . The laser radar sensor 5 is replaced with the camera component 9 .

[0039] The camera assembly 9 includes a camera 91 and a rotating seat 95, on which a base 94 is rotatably provided, and an opening of the base 94 is rotatably connected to a camera housing 93 via two sets of drive shafts 92, and an outer wall of the camera housing 93 is connected to the camera 91, and the base 94 is driven to rotate via the rotating seat 95, and a drive motor is built into the base 94 to connect to the drive shaft 92, and the camera housing 93 is driven to swing via the drive motor, thereby adjusting the angle of the camera 91 of the camera housing 93, so as to achieve the effect of multi-angle rotation of the camera 91;

[0040] In actual use, both the left auxiliary component 3 and the right auxiliary component 4 are equipped with the camera 91 and the laser radar sensor 5 at the same time. Considering the installation space problem, the component for adjusting the angle of the camera 91 can be abandoned, and the angle of the camera 91 can be made to follow the effect of the laser radar sensor 5. The direction of the laser radar sensor 5 can be flexibly adjusted through the image of the camera 91, so that when the front frame of the forklift frame drives the goods to be placed on the storage rack, the situation of the predetermined placement area can be checked, whether the predetermined area is vacant, whether there are obstacles in the predetermined area, and the laser radar sensor 5 can form a distance detection to determine whether the pallet and goods can be placed in the predetermined area;

[0041] When the predetermined area for placing goods is relatively small, or the goods need a secondary depth adjustment after being placed, the secondary depth adjustment is often needed because in order to ensure the stability of the center of gravity, the forklift makes the pallet as a whole close to the rear of the forklift front frame, resulting in the goods being close to the outside when placed on the storage rack. When the forklift front frame carries the goods, the left auxiliary component 3 and the right auxiliary component 4 can both be unfolded, and when the left fork arm 2 and the right fork arm 1 are pulled out from the bottom of the pallet, the left auxiliary component 3 and the right auxiliary component 4 are retracted and unfolded.

[0042] The detection component 8 is located in the bottom groove of the right auxiliary component 4. The gas spring 82 of the detection component 8 is connected to a roller 85 through a rotating ring 83. The rotating shaft of the roller 85 is installed with a Hall sensor 86. The shaft of the roller 85 connected to the gas spring 82 is installed with an angle sensor 84. The gas spring 82 is internally installed with a pressure sensor 81.

[0043] It should be noted that when the forklift front frame sends the left fork arm 2 and the right fork arm 1 under the pallet, the left fork arm 2 and the right fork arm 1 are parallel to the ground. When the forklift front frame needs to lift and move the pallet and the cargo, the left fork arm 2 and the right fork arm 1 are tilted.

[0044] The rotation direction and number of turns of the roller 85 are detected by the Hall sensor 86, and the pressure change of the gas spring 82 is detected by the pressure sensor 81. When the left fork arm 2 and the right fork arm 1 are parallel to the ground, the pressure detected by the pressure sensor 81 is within the mid-range threshold range, which is half of the maximum pressure value of the pressure sensor 81, and the Hall sensor 86 detects that the roller 85 rotates normally, which means that the forklift is loading goods; when the left fork arm 2 and the right fork arm 1 are tilted, the pressure detected by the pressure sensor 81 is within the minimum threshold range, which is within the pressure range of the minimum threshold. When the minimum pressure value of the sensor 81 is near and the Hall sensor 86 detects that the roller 85 rotates normally, the forklift is transporting the goods; when the pressure detected by the pressure sensor 81 is within the minimum threshold range and the Hall sensor 86 does not detect that the roller 85 rotates normally, it means that the goods are in the lifting stage; during the forklift's cargo handling and transportation stages, the left auxiliary component 3 and the right auxiliary component 4 can be started to assist the workers in checking the road conditions ahead. At the same time, when the goods are lifted to the predetermined area and need to be put on the storage shelf, the left auxiliary component 3 and the right auxiliary component 4 can assist the forklift in observing the situation on the storage shelf.

[0045] This device only needs to be connected to the control platform in the unmanned storage center. When the automatic stacking forklift is lifting, the left auxiliary component 3 and the right auxiliary component 4 upload the picture to the console in real time. After manually adjusting the angle of the left auxiliary component 3 and the right auxiliary component 4 and detecting with the laser radar sensor 5, it is confirmed that the space in the predetermined area of ​​the storage rack is valid before the goods are put on the storage rack;

[0046] When the device is installed on a manual stacking forklift, it is equipped with a display screen, a set of control buttons, and a warning module. When a person is driving the stacking forklift, if the laser radar sensor 5 detects that there is an obstruction on the way forward, such as people or goods, the picture can be displayed on the display screen, and the warning module will sound and the light will flash. When the person is driving the stacking forklift to place the goods on the storage rack, the worker can check the situation on the rack through the display screen and then put the goods on the rack.

[0047] It should be noted that both of the above-mentioned usage scenarios require the use of communication modules to complete the Internet of Things. This technology is a common means in current industrial modernization and will not be elaborated here.

[0048] Working principle of the embodiment of the present invention: by starting the camera assembly 9, the situation in front of the forklift can be directly observed, but it is partially blocked by the forklift arm;

[0049] The rotation direction and number of turns of the roller 85 are detected by the Hall sensor 86, and the pressure change of the gas spring 82 is detected by the pressure sensor 81. When the left fork arm 2 and the right fork arm 1 are parallel to the ground, the pressure detected by the pressure sensor 81 is within the mid-range threshold range, which is half of the maximum pressure value of the pressure sensor 81, and the Hall sensor 86 detects that the roller 85 rotates normally, which means that the forklift is loading goods, and the left auxiliary component 3 and the right auxiliary component 4 are not deployed;

[0050] When the left fork arm 2 and the right fork arm 1 are tilted, the pressure detected by the pressure sensor 81 is within the minimum threshold range, and the minimum threshold range is near the minimum pressure value of the pressure sensor 81, and the Hall sensor 86 detects that the roller 85 rotates normally, the forklift is transporting the goods. The left auxiliary component 3 and the right auxiliary component 4 can be unfolded according to the actual situation. For example, when a worker is driving a forklift, both can be unfolded. If it is in an unmanned storage center, the choice is made according to the actual situation.

[0051] When the pressure detected by the pressure sensor 81 is within the minimum threshold range, and the Hall sensor 86 does not detect the normal rotation of the roller 85, it means that the cargo is in the lifting stage. When the left fork arm 2 and the right fork arm 1 are lifted to a predetermined height, the second part is extended out of the right fork arm 1 from any side of the three directions by the extension motor 41. Then, the direction of the laser radar sensor 5 can be adjusted by the swing assembly 7. Then, the shaft of the swing motor 71 is started to penetrate the fixed shaft 73 and connect with the fixed hole 74 of the swing block 75, so that the shaft of the swing motor 71 rotates to drive the swing block 75 to rotate in the cover 72. The laser radar sensor 5 rotates synchronously with the rotation of the swing block 75, so as to adjust the angle of the laser radar sensor 5 to the left and right. By starting the expansion and contraction of the electric push rod 63, the first block is pushed to form a nodding action with the hinge as the center point, so as to adjust the angle of the laser radar sensor 5 up and down.

[0052] By adjusting the angle of the laser radar sensor 5, it is possible to detect complex situations in the predetermined area. By moving the left auxiliary component 3 and the right auxiliary component 4 to the outermost side, it is possible to determine whether the width of the predetermined area is sufficient. If cargo dumping occurs in the adjacent area, by continuously adjusting the positions of the left auxiliary component 3 and the right auxiliary component 4, it is possible to determine whether the area occupied by the dumping affects the placement of the cargo.

[0053] The camera assembly 9 drives the base 94 to rotate through the rotating seat 95. The base 94 has a built-in driving motor connected to the driving shaft 92. The driving motor drives the camera shell 93 to swing, and then the angle of the camera 91 of the camera shell 93 is adjusted to achieve the effect of multi-angle rotation of the camera 91. It can be used in conjunction with the central control screen of the unmanned warehouse center or the portable control screen on the manual stacking forklift.

[0054] The basic principles and main features of the present invention and the advantages of the present invention are shown and described above. For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic features of the present invention; therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is limited by the attached claims rather than the above description. Therefore, it is intended to include all changes within the meaning and scope of the equivalent elements of the claims in the present invention, and any figure marks in the claims should not be regarded as limiting the claims involved.

[0055] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A storage cargo transfer auxiliary device, comprising a left fork arm (2) and a right fork arm (1), characterized in that: A left auxiliary component (3) is installed inside the left fork arm (2), and a right auxiliary component (4) is installed inside the right fork arm (1). The right auxiliary component (4) comprises: a laser radar sensor (5), a swing component (7), an extension motor (41) and a detection component (8). The right auxiliary component (4) is divided into two parts, a first part and a second part. The first part and the second part are rotatably connected via an unfolding component (6); The laser radar sensor (5) is located at the end of the first part of the right auxiliary component (4), the extension motor (41) is located at the end of the second part, the extension shaft (42) of the extension motor (41) passes through the right auxiliary component (4) and is connected to the right fork arm (1) through a bearing, and the laser radar sensor (5) extends out of the right fork arm (1) or is stored in the right fork arm (1) as the swing component (7) and the extension motor (41) rotate; The detection component (8) is located in the bottom groove of the right auxiliary component (4); the gas spring (82) of the detection component (8) is connected to a roller (85) through a rotating ring (83); the rotating shaft of the roller (85) is installed with a Hall sensor (86); the shaft of the roller (85) connected to the gas spring (82) is installed with an angle sensor (84); and a pressure sensor (81) is installed inside the gas spring (82); The left auxiliary component (3) includes a camera component (9).

2. The storage cargo transfer auxiliary device according to claim 1, characterized in that: The camera assembly (9) comprises a camera head (91) and a rotating seat (95), a base (94) is rotatably arranged on the rotating seat (95), an opening of the base (94) is rotatably connected to a camera housing (93) via two sets of driving shafts (92), and an outer wall of the camera housing (93) is connected to the camera head (91).

3. The storage cargo transfer auxiliary device according to claim 1, characterized in that: The first part is divided into two parts, a first part and a second part, by a hinge. The laser radar sensor (5) is located on the first part. The first part and the second part nod up and down through an unfolding component (6).

4. The storage cargo transfer auxiliary device according to claim 3, characterized in that: The support rod (61) of the unfolding assembly (6) is fixed to the second block, the other end of the support rod (61) is connected to the electric push rod (63) via a rotating shaft (64), and the electric push rod (63) is connected to the second block via a connecting shaft (62).

5. The storage cargo transfer auxiliary device according to claim 1, characterized in that: The swing assembly (7) comprises a swing motor (71), a cover (72) and a swing block (75); the cover (72) is fixedly connected to the corresponding second block; the swing block (75) is located in the cover (72) and rotates; a fixing hole (74) is provided on the outer wall of the swing block (75); and the swing motor (71) is connected to the fixing hole (74) on the swing block (75) via a fixed shaft (73) on the cover (72).

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