Photoelectric abnormal state monitoring device, pallet fork and stacking machine

Abstract

The embodiment of the utility model provides a photoelectric abnormal state monitoring device, a pallet fork and a stacking machine. The photoelectric abnormal state monitoring device comprises a lifting mechanism, a distance measuring module and a control module. Wherein the distance measuring module is arranged on the lifting mechanism, and the distance measuring module is used for measuring the distance between the distance measuring module and the tray; the lifting mechanism is used for driving the distance-measuring module to lift so as to change the height of the distance-measuring module. The control module is electrically connected with the lifting mechanism to control the lifting mechanism to act, and the control module is electrically connected with the distance measuring module to obtain measurement data of the distance measuring module. The photoelectric abnormal state monitoring device can detect and judge whether the tray is in an abnormal state or not under the condition that the photoelectric abnormal state monitoring device is not in contact with the tray.

Description

Technical Field

[0001] The present application relates to the technical field of logistics equipment, and in particular to a photoelectric abnormal state monitoring device, a cargo fork and a stacker. Background Art

[0002] In logistics equipment, a fork is a component installed at the end of a stacker or forklift and used to pick up a pallet.

[0003] In the pallet-level pallet storage solution, the pallets are placed on pallets (such as a square pallet), and the pallets are placed in the cargo space of the shelf. The stacker or forklift uses a fork to pick up the pallet and place it on or take it away from the shelf to complete the pallet pick-up and placement.

[0004] However, when the fork is picking up the pallet, the pallet may fall. In the current technical solution, a contact detection device is set on the fork to detect abnormalities. However, if this detection method wants to detect more comprehensively, a large number of sensors need to be set, which increases the manufacturing cost. Utility Model Content

[0005] The embodiments of the present application provide a photoelectric abnormal state monitoring device, a cargo fork and a stacker, so as to solve the problem in the prior art that a large number of contact detection devices need to be provided on the cargo fork.

[0006] In a first aspect, an embodiment of the present application provides a photoelectric abnormal state monitoring device, comprising:

[0007] Lifting mechanism;

[0008] The distance measuring module is arranged on the lifting mechanism, and the lifting mechanism is used to drive the distance measuring module to rise and fall, and the distance measuring module is used to measure the distance between the distance measuring module and the tray;

[0009] The control module is electrically connected to the lifting mechanism to control the lifting mechanism to selectively lift and lower. The control module is electrically connected to the distance measuring module to obtain the measurement data of the distance measuring module. The control module determines whether an abnormal state occurs according to the measurement data.

[0010] In a feasible implementation, the lifting mechanism includes:

[0011] guide;

[0012] A slider is arranged on the guide rail, and drives the distance measuring module to move along the guide rail;

[0013] The power assembly is electrically connected to the control module, and the power assembly drives the slider to move along the guide rail.

[0014] In a feasible implementation, the power assembly includes a first motor and a lead screw;

[0015] The first motor is electrically connected to the control module, the end of the lead screw is connected to the output end of the first motor, the slider is cooperatively connected to the lead screw, and the first motor drives the slider to move along the guide rail through the lead screw.

[0016] In one possible implementation, the power assembly includes a linear motor;

[0017] The linear motor is electrically connected to the control module, and the linear motor drives the slider to move along the guide rail.

[0018] In a feasible implementation, the power assembly includes a second motor, a driving wheel, a driven wheel, a mounting frame and a transmission belt. The second motor is electrically connected to the control module, the driving wheel is fixedly arranged at the output end of the second motor, the driven wheel is rotatably arranged on the mounting frame, the transmission belt is wound around the driving wheel and the driven wheel, the transmission belt is connected to the slider, and the second motor drives the slider to move along the guide rail through the transmission belt.

[0019] In a feasible implementation, the power assembly includes a telescopic assembly, the telescopic assembly is electrically connected to the control module, the slider is connected to the movable end of the telescopic assembly, and the telescopic assembly drives the slider to move along the guide rail.

[0020] In a feasible implementation, the telescopic component is one of a pneumatic cylinder, a hydraulic cylinder or an electric cylinder.

[0021] In a feasible implementation, at least two ranging modules are provided, and the at least two ranging modules are respectively arranged toward two directions to be detected.

[0022] In a feasible implementation, one distance measuring module is provided, and the distance measuring module is arranged on the lifting mechanism through a reversing servo.

[0023] In a feasible implementation, the two distance measuring modules are respectively arranged on two sides of the fork.

[0024] In a feasible implementation, the ranging module is at least one of a ranging sensor, an ultrasonic module or a single-point laser radar.

[0025] In the second aspect, an embodiment of the present application further provides a cargo fork, comprising at least one fork finger, a cargo platform and the photoelectric abnormal state monitoring device described in the first aspect, wherein the photoelectric abnormal state monitoring device is arranged on the cargo platform to detect whether there is any abnormality in the working state of the fork finger.

[0026] In a third aspect, an embodiment of the present application further provides a stacker, comprising at least one fork according to the second aspect.

[0027] In the first aspect, the embodiment of the present application provides a photoelectric abnormal state monitoring device, including a lifting mechanism, a distance measuring module and a control module. The distance measuring module is arranged on the lifting mechanism, and the distance measuring module is used to measure the distance between it and the pallet; the lifting mechanism is used to drive the distance measuring module to rise and fall, thereby changing the height of the distance measuring module. The control module is electrically connected to the lifting mechanism to control the action of the lifting mechanism, and the control module is electrically connected to the distance measuring module to obtain the measurement data of the distance measuring module. The photoelectric abnormal state monitoring device can detect and determine whether the pallet is in an abnormal state without contacting the pallet.

[0028] In a second aspect, the embodiment of the present application further provides a fork, comprising a fork and the photoelectric abnormal state monitoring device of the first aspect, wherein the photoelectric abnormal state monitoring device is arranged on the fork to detect whether an abnormality occurs in the pallet taken by the fork. Since the fork comprises the photoelectric abnormal state monitoring device described in any of the technical solutions in the above schemes, it has all the beneficial effects of the pallet abnormal state monitoring device of any of the technical solutions, which will not be described in detail here.

[0029] In a third aspect, the embodiment of the present application further provides a stacker, comprising at least one fork according to the first aspect. Since the stacker comprises the fork described in any of the technical solutions in the above schemes, it has all the beneficial effects of the fork in any of the technical solutions, which will not be described in detail here. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The drawings described herein are used to provide further understanding of the present invention and constitute a part of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present application and do not constitute improper limitations on the present invention.

[0031] In the attached picture:

[0032] Figure 1 It is a schematic diagram of the structure of a fork provided in an embodiment of the present application;

[0033] Figure 2 yes Figure 1 Left view of the fork in;

[0034] Figure 3 yes Figure 1 A top view of the forks in FIG.

[0035] Figure 4 1 is a top view of a fork provided in another embodiment.

[0036] Description of reference numerals:

[0037] 100-fork; 200-lifting mechanism; 300-distance measuring module;

[0038] 110-fork finger; 120-cargo platform; 210-guide rail; 220-slider; 230-screw; 240-first motor;

[0039] 111 - first fork arm; 112 - second fork arm; 113 - third fork arm. DETAILED DESCRIPTION

[0040] In order to enable those skilled in the art to better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work should fall within the scope of protection of the present application.

[0041] In the description of the embodiments of the present application, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, for example, two, three, etc., unless otherwise clearly and specifically defined.

[0042] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0043] In the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0044] In logistics equipment, a fork is a component installed at the end of a stacker or forklift and used to pick up a pallet.

[0045] In the pallet-level pallet storage solution, the pallets are placed on pallets (such as a square pallet), and the pallets are placed in the cargo space of the shelf. The stacker or forklift uses a fork to pick up the pallet and place it on or take it away from the shelf to complete the pallet pick-up and placement.

[0046] However, when the fork picks up and places a pallet, it is easy for the pallet to fall. For example, during the process of outbound or inbound storage, the pallet is picked up by the fork of the stacker and taken away from the shelf. During the process of picking up the pallet, if the pallet is damaged, collapsed or offset, or the shelf sinks or is installed misaligned, the fork is easy to pick up the pallet or on the pallet. If the problem is not discovered in time, the pallet is easy to fall off the shelf or fall off the pallet.

[0047] Similarly, when the fork picks up the pallet and takes it away from the shelf, if the pallet interferes with the shelf due to shaking, if there are strips on the pallet and get entangled with the shelf or the fork, or if the pallet and the fork move relative to each other due to inertia, it may cause the pallet or the pallet to fall from a high place. In the current technical solution, abnormality detection is performed by setting a contact detection device on the fork, but if this detection method wants to detect more comprehensively, a large number of sensors need to be set, which increases the manufacturing cost.

[0048] In order to solve the problem in the prior art that a large number of contact detection devices need to be installed on the fork, the embodiment of the present application provides a photoelectric abnormal state monitoring device, a fork and a stacker. The solution provided by the embodiment of the present application will be described in detail below in conjunction with the drawings in the specification.

[0049] Figure 1 It is a schematic diagram of the structure of a fork provided in an embodiment of the present application; Figure 2 yes Figure 1 Left view of the fork in; Figure 3 yes Figure 1 A top view of the forks in FIG. Figure 4 1 is a top view of a fork provided in another embodiment.

[0050] Reference Figures 1 to 4 As shown, the embodiment of the present application provides a fork, including a fork 100 and a photoelectric abnormal state monitoring device. The photoelectric abnormal state monitoring device includes a lifting mechanism 200, a distance measurement module 300 and a control module.

[0051] The fork 100 is used to pick up a pallet. Exemplarily, the fork 100 includes a cargo platform 120 and at least two fork fingers 110, one end of which is fixedly mounted on the cargo platform 120. Each fork finger 110 includes a plurality of fork arms and a plurality of first drive motors 240, the plurality of fork arms are slidably connected in sequence, and the plurality of first drive motors 240 are used to drive the corresponding fork arms to move, so that the fork fingers 110 are extended or shortened as a whole to pick up and place a pallet on the shelf. For example, Figure 1 The fork 100 shown includes a cargo platform 120 and two fork fingers 110, each fork finger 110 includes a first fork arm 111, a second fork arm 112 and a third fork arm 13, the first fork arm 111 is fixed on the cargo platform 120, the second fork arm 112 is slidably mounted on the first fork arm 111, and the third fork arm 113 is slidably mounted on the second fork arm 112, and the second fork arm 112 and the third fork arm 113 can move to both sides along the extension direction of the first fork arm 111. It should be noted that the extension direction of the first fork arm 111 can refer to Figure 1 The x direction is shown in .

[0052] The lifting mechanism 200 is disposed on the cargo platform 120 .

[0053] The distance measuring module 300 is used to measure the distance between it and the pallet. It is fixedly arranged on the lifting mechanism 200. The lifting mechanism 200 can be used to drive the distance measuring module 300 to rise and fall, ensuring that the distance measuring module 300 can avoid collision between the pallet on the fork 100 and the distance measuring module 300.

[0054] In addition, the control module is electrically connected to the lifting mechanism 200 and the control module respectively to control the lifting mechanism 200 to selectively lift and lower, obtain the measurement data of the distance measuring module 300, and then determine the state of the tray according to the measurement data.

[0055] When the fork 100 extends to pick up the pallet, the lifting mechanism 200 drives the distance measuring module 300 to rise, so that the distance measuring module 300 can measure the distance from the pallet; when the pallet approaches the distance measuring module 300, the lifting mechanism 200 drives the distance measuring module 300 to descend below the surface of the fork 100 to avoid collision between the distance measuring module 300 and the pallet. The control module determines the state of the pallet based on the measurement data of the distance measuring module 300. When it is determined that the pallet is in an abnormal state, the fork 100 will stop moving, thereby preventing the pallet from falling from the fork 100 or the shelf.

[0056] Reference Figure 3As shown, a photoelectric abnormal state monitoring device can be provided for the fork. Exemplarily, before forking the pallet, if the pallet is detected to be moving, it means that the pallet is in an abnormal state and it is necessary to stop the vehicle for inspection. When the forked pallet is retracted, if the distance measuring module 300 of the photoelectric abnormal state monitoring device measures that the change in distance between it and the pallet is synchronized with the moving distance of the fork 100, it means that the movement state of the pallet is normal. On the contrary, if the distance measuring module 300 measures that the change in distance between it and the pallet is not synchronized with the moving distance of the fork 100, it means that the pallet is in an abnormal state and it is necessary to stop the vehicle for inspection.

[0057] When multiple photoelectric abnormal state monitoring devices are provided, the multiple photoelectric abnormal state monitoring devices are all provided at both ends of the cargo platform 120 , and the multiple photoelectric abnormal state monitoring devices are spaced apart along the width direction of the cargo fork 100 .

[0058] Reference Figure 4 As shown, the fork includes two photoelectric abnormal state monitoring devices, which are respectively arranged on the outside of the fork 100 and at the far end of the fork 100 in two directions, that is, the two distance measuring modules are respectively arranged on the two sides of the fork 100. In one of the application scenarios, after the pallet is deflected, the side end of the pallet is more offset, so it is easier to detect if it is arranged on the outside of the fork 100, and it is arranged at the far end of the fork in the extension direction, so that the entire fork picking and retraction process can be monitored as much as possible.

[0059] For example, in some bidirectionally extending forks, each photoelectric abnormal state monitoring device may be provided with two distance measuring modules 300, and the two distance measuring modules 300 are arranged on the lifting mechanism 200 in opposite directions or facing each other, so that the status of the pallets in the two directions in which the forks 100 are extended can be monitored respectively. The photoelectric abnormal state monitoring device may also include a reversing servo, and the distance measuring module 300 is arranged on the lifting mechanism 200 through the reversing servo, and the reversing servo can adjust the direction of the distance measuring module 300 according to the direction in which the forks 100 are extended, thereby monitoring the status of the pallet in the target direction.

[0060] In addition, illustratively, the control module may be a PLC controller or a single-chip microcomputer controller. The distance measurement module 300 may be a distance measurement sensor, an ultrasonic module or a single-point laser radar.

[0061] Continue to refer to Figure 1 and Figure 2 As shown, in some examples, the lifting mechanism 200 includes a guide rail 210, a slider 220 and a power assembly. The guide rail 210 is vertically arranged at the first end of the fork 100, and specifically, the guide rail 210 is vertically fixedly installed on the cargo platform 120 of the fork 100.

[0062] The slider 220 is arranged on the guide rail 210, and the slider 220 can move along the guide rail 210. The distance measuring module 300 is fixedly arranged on the slider 220, so that the slider 220 drives the distance measuring module 300 to move along the guide rail 210. The power assembly is electrically connected to the control module and is fixedly arranged on the fork 100. The output end of the power assembly is connected to the slider 220, and the power assembly drives the slider 220 to move along the guide rail 210. When the height of the distance measuring module 300 needs to be adjusted, the control module controls the power assembly to move, thereby driving the slider 220 to move along the guide rail 210.

[0063] Regarding the power assembly, a variety of feasible implementations will be listed below.

[0064] In a first feasible implementation, the power assembly includes a first motor 240 and a lead screw 230. The first motor 240 is electrically connected to the control module, the first motor 240 is fixedly arranged on the fork 100, the end of the lead screw 230 is connected to the output end of the first motor 240, and the slider 220 is cooperatively connected with the lead screw 230, so that the first motor 240 drives the slider 220 to move along the guide rail 210 through the lead screw 230, so as to facilitate the adjustment of the height of the ranging module 300.

[0065] In a second feasible implementation, the power assembly includes a linear motor. The linear motor is electrically connected to the control module and is fixed to the fork 100. The movable end of the linear motor is fixedly connected to the slider 220, thereby driving the slider 220 to move along the guide rail 210 to adjust the height of the distance measurement module 300.

[0066] In a third feasible implementation, the power assembly includes a second motor, a driving wheel, a driven wheel, a mounting frame and a transmission belt. The second motor is electrically connected to the control module and is fixedly mounted on the fork 100. In addition, the driving wheel is fixedly arranged at the output end of the second motor, the mounting frame is fixedly arranged on the fork 100, the driven wheel is rotatably arranged on the mounting frame, the transmission belt is wound around the driving wheel and the driven wheel, and the transmission belt is connected to the slider 220, so that the second motor drives the slider 220 to move along the guide rail 210 through the transmission belt to adjust the height of the ranging module 300.

[0067] In a fourth feasible implementation, the power assembly includes a telescopic assembly, the telescopic assembly is electrically connected to the control module, the fixed end of the telescopic assembly is fixed to the fork 100, the slider 220 is connected to the movable end of the telescopic assembly, and the telescopic assembly drives the slider 220 to move along the guide rail 210. Exemplarily, the telescopic assembly is a cylinder, a hydraulic cylinder or an electric cylinder. It is understandable that if the telescopic assembly is a cylinder or a hydraulic cylinder, the telescopic assembly needs to be connected to the control module through a solenoid valve, which is a prior art and will not be described in detail here.

[0068] On the other hand, an embodiment of the present application further provides a stacker, comprising the above-mentioned fork.

[0069] It is easy to understand that those skilled in the art can combine, split, reorganize, etc. the embodiments of the present application to obtain other embodiments based on the several embodiments provided in the present application, and these embodiments do not exceed the protection scope of the present application.

[0070] The above specific implementation methods further explain in detail the purpose, technical solutions and beneficial effects of the embodiments of the present application. It should be understood that the above are only specific implementation methods of the embodiments of the present application and are not used to limit the protection scope of the embodiments of the present application. Any modifications, equivalent substitutions, improvements, etc. made on the basis of the technical solutions of the embodiments of the present application should be included in the protection scope of the embodiments of the present application.

Claims

1. A photoelectric abnormal state monitoring device, characterized in that: include: Lifting mechanism (200); A distance measuring module (300) is arranged on the lifting mechanism (200), the lifting mechanism (200) is used to drive the distance measuring module (300) to rise and fall, and the distance measuring module (300) is used to measure the distance between itself and the tray; A control module is electrically connected to the lifting mechanism (200) to control the lifting mechanism (200) to selectively lift and lower. The control module is electrically connected to the distance measuring module (300) to obtain measurement data of the distance measuring module (300). The control module determines whether an abnormal state occurs based on the measurement data.

2. The photoelectric abnormal state monitoring device according to claim 1, characterized in that: The lifting mechanism (200) comprises: Guide rail (210); A slider (220) is cooperatively arranged on the guide rail (210), and the slider (220) drives the distance measurement module (300) to move along the guide rail (210); A power assembly is electrically connected to the control module, and the power assembly drives the slider (220) to move along the guide rail (210).

3. The photoelectric abnormal state monitoring device according to claim 2, characterized in that: The power assembly comprises a first motor (240) and a lead screw (230); The first motor (240) is electrically connected to the control module, the end of the lead screw (230) is connected to the output end of the first motor (240), the slider (220) is cooperatively connected to the lead screw (230), and the first motor (240) drives the slider (220) to move along the guide rail (210) through the lead screw (230).

4. The photoelectric abnormal state monitoring device according to claim 2, characterized in that: The power assembly includes a linear motor; The linear motor is electrically connected to the control module, and the linear motor drives the slider (220) to move along the guide rail (210).

5. The photoelectric abnormal state monitoring device according to claim 2, characterized in that: The power assembly comprises a second motor, a driving wheel, a driven wheel, a mounting frame and a transmission belt, the second motor is electrically connected to the control module, the driving wheel is fixedly arranged at the output end of the second motor, the driven wheel is rotatably arranged on the mounting frame, the transmission belt is wound around the driving wheel and the driven wheel, the transmission belt is connected to the slider (220), and the second motor drives the slider (220) to move along the guide rail (210) through the transmission belt.

6. The photoelectric abnormal state monitoring device according to claim 2, characterized in that: The power assembly comprises a telescopic assembly, the telescopic assembly is electrically connected to the control module, the slider (220) is connected to the movable end of the telescopic assembly, and the telescopic assembly drives the slider (220) to move along the guide rail (210).

7. The photoelectric abnormal state monitoring device according to claim 6, characterized in that: The telescopic component is one of a pneumatic cylinder, a hydraulic cylinder or an electric cylinder.

8. The photoelectric abnormal state monitoring device according to claim 1, characterized in that: At least two distance measuring modules (300) are provided, and the at least two distance measuring modules (300) are respectively arranged towards two directions to be detected.

9. The photoelectric abnormal state monitoring device according to claim 1, characterized in that: One distance measuring module (300) is provided, and one distance measuring module (300) is arranged on the lifting mechanism (200) via a reversing steering gear.

10. The photoelectric abnormal state monitoring device according to claim 8, characterized in that: At least two distance measuring modules (300) are respectively arranged on two sides of the fork.

11. The photoelectric abnormal state monitoring device according to claim 1, characterized in that: The distance measurement module (300) is at least one of a distance measurement sensor, an ultrasonic module or a single-point laser radar.

12. A fork, characterized in that: It comprises at least one fork finger, a cargo platform and a photoelectric abnormal state monitoring device as described in any one of claims 1 to 11, wherein the photoelectric abnormal state monitoring device is arranged on the cargo platform to detect whether an abnormality occurs in the working state of the fork finger.

13. A stacker, characterized in that: Comprising at least one fork as claimed in claim 12.

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