Transfer trolley

Abstract

The utility model provides a transfer trolley which comprises a shell, at least one groove, a transfer trolley body and a transfer trolley body. The at least one lifting plate can move in the preset direction; and the detection device is arranged on at least one of the at least one lifting plate and the shell so as to detect whether foreign matters exist in a gap between the at least one lifting plate and the shell or not. The detection device can be adopted to detect the pressure borne by the components of the transfer trolley and detect whether foreign matters exist or not according to the detection value, so that the foreign matters can be treated in time, and the safety of personnel and equipment is guaranteed.

Description

TECHNICAL FIELD

[0001] The utility model relates to control technical field especially relates to a transfer trolley. BACKGROUND

[0002] In warehouse management, the four-way shuttle belongs to a kind of intelligent mobile robot in automated warehouse, and there are two parallel symmetrical jacking plates in the top of four-way car, for lifting and lowering shelf, since the gap between the jacking plate and the car shell when lifting, if foreign matter falls into the gap at this time, the jacking plate will be pressed when descending, resulting in the deformation of vehicle body structure or safety accident. INVENTION CONTENTS

[0003] The utility model provides a transfer trolley to solve the problems in the prior art.

[0004] The utility model discloses a transfer trolley to solve the problems in the prior art, the transfer trolley provided by the utility model, including shell 1, at least one slot 11 is formed in shell 1;At least one lifting plate 2, at least one lifting plate 2 is movable along preset direction;Detection device 3, detection device 3 is arranged on at least one of at least one lifting plate 2 and shell 1, to detect whether there is foreign matter in the gap between at least one lifting plate 2 and shell 1.

[0005] Further, at least one lifting plate 2 is embedded in at least one slot 11 when being in the first state, and is in the same horizontal plane with shell 1;At least one lifting plate 2 has a gap with shell 1 when being in the second state.

[0006] Further, shell 1 includes top plate 12 and side plate 13, and the preset direction is upward and downward direction, and at least one slot 11 is formed in top plate 12, so that at least one lifting plate 2 is embedded in at least one slot 11 when descending to the lowest point.

[0007] Further, detection device 3 is arranged on the lower bottom surface of at least one lifting plate 2, and / or, detection device 3 is arranged on the lower bottom surface of top plate 12.

[0008] Further, detection device 3 is laser transmission sensor;Or, detection device 3 is pressure sensor.

[0009] Further, in the case that detection device 3 is laser transmission sensor, two laser emitting devices of laser transmission sensor are arranged at two ends of the lower bottom surface of at least one lifting plate 2.

[0010] Further, the pressure sensor is airbag pressure sensor, and the airbag pressure sensor includes anti-collision strip;Or, the pressure sensor is electronic pressure sensor.

[0011] Further, the anti-collision strips are arranged on the lower bottom surface of the at least one lifting plate 2 along the side edges of the at least one lifting plate 2, or the anti-collision strips are arranged on the lower bottom surface of the housing 1 along the side edges of the housing 1.

[0012] Further, the electronic pressure sensor is arranged on the lower bottom surface of the housing 1 centrally, or the electronic pressure sensor is arranged on the lower bottom surface of the housing 1 close to the side edges.

[0013] Further, the transfer trolley further comprises a master controller 4, the master controller 4 is connected with the detection device 3, so that the master controller 4 determines whether there is a foreign matter in the gap according to the detection value output by the detection device 3.

[0014] Further, the transfer trolley further comprises an alarm device 5, the alarm device 5 is connected with the master controller 4, in the case that a foreign matter is detected in the gap, the master controller 4 controls the alarm device 5 to alarm.

[0015] Further, the transfer trolley further comprises a driving device 6, the driving device 6 is connected with the master controller 4, the driving device 6 comprises at least one of a walking driving device 61 and a lifting driving device 62, in the case that a foreign matter is detected in the gap, the master controller 4 controls the walking driving device 61 to make the wheels of the transfer trolley stationary or move, and / or the master controller 4 controls the lifting driving device 62 to make the at least one lifting plate 2 stationary or move.

[0016] Further, in the process that the transfer trolley takes and places goods, the transfer trolley is stationary and the at least one lifting plate 2 moves to take and place goods, when a foreign matter is detected in the gap, the transfer trolley remains stationary, and the at least one lifting plate 2 rises to the highest point or stops moving; in the process that the transfer trolley walks, the at least one lifting plate 2 is in the second state and is stationary, when a foreign matter is detected in the gap, the at least one lifting plate 2 remains stationary or rises to the highest point, and the transfer trolley stops moving.

[0017] The transfer trolley provided by the utility model can add a detection device on the transfer trolley, which is used for monitoring whether there is a foreign matter in the gap between the lifting plate and the housing when the gap exists between the lifting plate and the housing, so that the foreign matter in the gap between the lifting plate and the housing can be treated in time, such as stopping the transfer trolley, alarming, etc., which can avoid causing harm to other equipment or workers and avoid safety accidents, and the safety of the transfer trolley can be improved. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the accompanying drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, the accompanying drawings in the following description only constitute some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor.

[0019] Figure 1 A schematic view of a partial structure of a transfer trolley according to the present application is shown in Figure 1.

[0020] Figure 2 A schematic view of another partial structure of a transfer trolley according to the present application is shown in Figure 2.

[0021] Figure 3 A schematic view of a lifting plate mounting method according to the present application is shown in Figure 3.

[0022] Figure 4 A schematic view of another lifting plate mounting method according to the present application is shown in Figure 4.

[0023] Figure 5 A schematic view of a detection device mounting method according to the present application is shown in Figure 5.

[0024] Figure 6 A schematic view of another detection device mounting method according to the present application is shown in Figure 6.

[0025] Figure 7 A schematic view of another detection device mounting method according to the present application is shown in Figure 7.

[0026] Figure 8 A schematic view of a master controller connection method according to the present application is shown in Figure 8. DETAILED DESCRIPTION

[0027] In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure. However, it will be apparent to one skilled in the art that the present disclosure can be practiced without the specific details presented herein. In other instances, well-known methods have not been described in detail in order to avoid obscuring the present disclosure.

[0028] The terminology used in this disclosure of one or more embodiments is for the purpose of describing particular embodiments only and is not intended to be limiting of one or more embodiments of the present disclosure. As used in this disclosure and the appended claims, the singular forms "a," "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0029] It should be understood that, although the terms first, second, etc. can be employed in describing various information in one or more embodiments of the disclosure, such information should not be limited by these terms. These terms are only used to distinguish one category of information from another. For example, without departing from the scope of one or more embodiments of the disclosure, first can be termed second, and, similarly, second can be termed first. Depending on the context, the word "if" as used herein can be interpreted to mean "when" or "in response to determining" or "in response to ascertaining."

[0030] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0031] In addition, the terms "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise specifically limited.

[0032] In the present application, unless otherwise specifically defined and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected or in communication with each other; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication or interaction relationship of two elements, unless otherwise specifically limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0033] In the utility model, unless otherwise expressly provided and limited, the first feature is "on" or "under" the second feature, which can be direct contact of the first and second features, or indirect contact of the first and second features through an intermediate medium. Moreover, the first feature "above", "over" and "on" the second feature can be directly above or obliquely above the first feature, or only indicate that the horizontal height of the first feature is higher than that of the second feature. The first feature "under", "below" and "under" the second feature can be directly below or obliquely below the first feature, or only indicate that the horizontal height of the first feature is less than that of the second feature.

[0034] In the utility model, the terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In the specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, the skilled in the art can combine and combine the different embodiments or examples described in the specification and the features of the different embodiments or examples without contradiction.

[0035] Although the embodiments of the utility model have been shown and described above, it can be understood that the above-mentioned embodiments are exemplary and cannot be understood as limiting the utility model, and the ordinary skilled in the art can change, modify, replace and modify the above-mentioned embodiments within the scope of the utility model.

[0036] The scheme of the utility model is described below in conjunction with examples.

[0037] In many industrial fields such as electric vehicles, numerical control machine tools and intelligent mobile robots, multi-motor drive system solutions have been widely used. The speed synchronization between the multi-motor driven wheels directly affects the dynamic and steady-state performance of the transmission system, as well as product quality and production efficiency.

[0038] Four-way shuttle vehicle belongs to a very important class of intelligent mobile robots in automated warehousing, and four-way shuttle vehicle can be applied to automatic handling and transportation in automated warehouse, which is an intelligent warehousing equipment integrating intelligent control, automatic handling and unmanned guidance.

[0039] The four-way shuttle vehicle usually runs on a three-dimensional stainless steel track without people, controls the four wheels to run on two parallel tracks through a control system and a driving system, and can realize straight-line movement in four directions of front, back, left and right; in the field of warehouse storage, the four-way vehicle can be used to carry goods and deliver the goods to the required position, and two parallel and symmetrical lifting plates (i.e. the lifting plate 2 in the utility model) are arranged above the four-way vehicle, which are used to lift and lower the goods shelf. Since there is a gap of 5-10mm between the lifting plate and the shell (i.e. the shell 1 of the transfer vehicle in the utility model) when the lifting plate is lifted, if foreign matter falls into the gap at this time, the foreign matter will be pressed when the lifting plate is lowered, which may cause deformation of the vehicle body structure or safety accidents. According to research, most of the existing four-way vehicles do not have such anti-pinch detection.

[0040] In view of the above problems, the embodiment of the present disclosure provides a transfer vehicle, a pressure sensor is installed below the lower bottom surface of the lifting plate or the shell around the lifting plate, if foreign matter is pinched when the lifting plate falls, the pressure sensor can accurately and quickly detect that foreign matter has fallen, immediately stop the lowering action, and issue an alarm to remind personnel.

[0041] The scheme of the present disclosure provides a transfer vehicle, as shown in the accompanying drawings, Figure 1 The transfer vehicle includes a shell 1, the shell 1 has at least one slot 11; at least one lifting plate 2, the at least one lifting plate 2 is movable along a predetermined direction; a detection device 3 arranged on at least one of the at least one lifting plate 2 and the shell 1 to detect whether there is foreign matter in the gap between the at least one lifting plate and the shell.

[0042] The detection device 3 is not shown in the Figure 1 , optionally, the detection device can be installed on at least one of the lifting plate and the shell, further, the detection device can be installed on the lower bottom surface of the lifting plate and / or the shell, as shown in the accompanying drawings, Figure 5 The detection device 3 can be a laser transmission sensor, which can be installed on the lower bottom surface of the lifting plate, as shown in the accompanying drawings, Figure 6 The detection device 3 can be an air bag pressure sensor, which can be installed on the lower bottom surface of the lifting plate, as shown in the accompanying drawings, Figure 7 The detection device 3 can be an electronic pressure sensor, which can be installed on the lower bottom surface of the lifting plate.

[0043] Further, the at least one lifting plate is embedded into the at least one slot and is at the same horizontal plane with the shell when the at least one lifting plate is in a first state; the at least one lifting plate has a gap with the shell when the at least one lifting plate is in a second state.

[0044] The first state can be that the lifting plate is lowered to the lowest position, and the second state can be that the lifting plate is in a lifted state, i.e. the horizontal position of the lifting plate is higher than the top plate, and has a gap with the shell, as shown in the accompanying drawingsFigure 1 As shown, when the lifting plate is raised, there is a gap between the lifting plate and the edge of the slot (i.e., the edge of the housing 1).

[0045] Furthermore, such as Figure 2 As shown, the housing includes a top plate and side plates, with the preset direction being the up-down direction. The top plate has at least one slot so that at least one lifting plate can be embedded into the at least one slot when it descends to the lowest point.

[0046] In other words, the top plate is positioned at the top of the transfer vehicle, meaning it covers the interior structure of the transfer vehicle. The side plates are located on the sides of the transfer vehicle, meaning they wrap around multiple sides of the interior structure. The lifting plate can move along a preset direction. Optionally, in this invention, the lifting plate can move vertically. The lifting plate is connected to the interior structure of the transfer vehicle via a support shaft (not shown in the figure). The lifting plate rises or falls as the support shaft extends and retracts. When the lifting plate reaches its lowest point, it is at the same level as the top plate of the transfer vehicle.

[0047] Furthermore, the detection device is arranged on the lower surface of at least one lifting plate, and / or, the detection device is arranged on the lower surface of the top plate. The detection value output by the detection device is used by the main controller 4 of the transfer vehicle to detect whether there are foreign objects in the gap between the lifting plate and the top plate and / or side plate when the lifting plate is in the second state.

[0048] In warehousing scenarios, transfer vehicles can be used to move goods, boxes, or shelves in the storage area. Foreign objects falling into the gaps can be items being moved by the transfer vehicle, items from surrounding shelves, items falling while staff are operating or inspecting the transfer vehicle, or even clothing or fingers of staff entering the gaps. If the lifting platform descends in this situation, it may damage the equipment or threaten the personal safety of the staff.

[0049] In some embodiments, the lower surface of the top plate is connected to the internal structure of the transfer vehicle, and the lower surface of the lifting plate is connected to the internal structure of the transfer vehicle via a support shaft. The support shaft is telescopic, and when the support shaft telescopic, the lifting plate can rise or fall. The transfer vehicle of this utility model may include at least one lifting plate, such as... Figure 2 As shown, the number of lifting platforms disclosed herein can be, for example, two. These two lifting platforms can be installed at the slotted positions on both sides of the roof of the transfer vehicle, such as... Figure 2 As shown, the top plate portion can include the top plate in the middle section and the top plates on both sides.

[0050] Alternatively, as Figure 3As shown, the two lifting platforms can be installed on both sides of the upper surface of the transfer vehicle, in which case the top plate of the transfer vehicle only includes the middle part; or, as... Figure 4 As shown, there can be only one lifting platform, which can be installed in the middle of the upper surface of the transfer vehicle, in which case the roof of the transfer vehicle only includes the two side portions. Alternatively, there can be more than two lifting platforms, or they can be installed in other positions, etc. Optionally, the shape of the lifting platform can be a regular rectangle, square, or polygon (e.g., ...). Figure 6 (as shown) etc., or it can be an irregular shape, which is not limited by this utility model.

[0051] In some embodiments, when the support shaft is retracted to its shortest position, the lifting plate is lowered to its lowest position. At this time, the upper surface of the lifting plate and the upper surface of the top plate are at the same horizontal plane, and there is no gap or the gap between the lifting plate and the top plate is small, making it difficult for foreign objects to enter. Optionally, when the support shaft extends from the lowest position to a higher position, that is, after the lifting plate begins to rise, the detection device can detect whether there are foreign objects in the gap between the lifting plate and the top plate and / or the side plate. That is, when there is a gap between the lifting plate and the housing, it can detect whether there are foreign objects in the gap.

[0052] In the scheme disclosed herein, the detection device may be a laser beam sensor; or, the detection device may be a pressure sensor.

[0053] Furthermore, such as Figure 5 As shown, when the detection device 3 is a laser beam sensor, the two laser emitting devices of the laser beam sensor are respectively arranged at both ends of the bottom surface of at least one lifting plate 2. In other words, when the detection device is a laser beam sensor, the two laser emitting devices of the laser beam sensor are installed on the bottom surface of at least one lifting plate, and the laser emitting devices are installed at both ends of the side of at least one lifting plate.

[0054] like Figure 5 As shown, the laser beam sensor can include at least two laser emitting devices, which can be installed on both sides of the lifting plate. Two laser emitting devices form a group, and multiple groups of laser emitting devices can be used in the scheme disclosed herein, such as... Figure 5 As shown, the two laser emitting devices in each group can be symmetrically placed on both sides of the lifting platform. Laser generating devices from different groups can be installed on different sides of the lifting platform, such as... Figure 5As shown, two laser emitting devices can be installed on the upper side and the lower side of the lifting plate, the two laser emitting devices can include a laser emitting end and a laser receiving end, the laser emitting end can emit laser, the laser receiving end can receive laser on the propagation path of the laser emitted by the laser emitting end, when there is a foreign matter between the laser emitting end and the laser receiving end, the laser is blocked, at this time the receiving end cannot receive the laser, since the laser emitting and receiving sensor is installed on the lower bottom surface of the lifting plate 2, it can be determined that there is a foreign matter on the lower bottom surface of the lifting plate, which may be pressed when the lifting plate is lowered, causing the lifting plate or the top plate to deform or be damaged, etc.

[0055] Wherein, when the laser is blocked, the lifting plate 2 and the top plate 12 may be pressed due to the existence of foreign matter between the lifting plate 2 and the top plate 12, the laser emitting and receiving sensor (i.e. the detection device 3) can output a detection value as a first value, the first value can be 1, in other words, when the detection device is a laser emitting and receiving sensor, the detection device can output 0 or 1, which is used to indicate whether the lifting plate and / or the top plate is pressed.

[0056] Further, as shown, Figure 6 The pressure sensor is a gas bag pressure sensor, which includes an anti-collision strip, or the pressure sensor is an electronic pressure sensor, in other words, the detection device can be a pressure sensor, the pressure sensor is a gas bag pressure sensor, which includes an anti-collision strip, the gas bag pressure sensor can determine whether there is pressure according to whether the anti-collision strip is pressed, or the pressure sensor is an electronic pressure sensor, which is used to output a pressure value when pressed.

[0057] Wherein, the anti-collision strip of the gas bag pressure sensor can be, for example, a soft tube material, the soft tube is filled with gas, when the gas is pressed, the gas bag pressure sensor can determine the pressure, or the anti-collision strip can also be other materials, the anti-collision strip of the gas bag pressure sensor can be installed according to the shape of the lifting plate or the top plate of the transfer trolley, optionally, the anti-collision strip of the gas bag pressure sensor can coincide with the edge of the lifting plate or the top plate of the transfer trolley, that is, the anti-collision strip of the gas bag detection device 3 can be installed along the edge of the lifting plate or the top plate of the transfer trolley, therefore, the gas bag pressure sensor can be applied to the edge of the lifting plate or the top plate of the transfer trolley with any shape, and can detect the pressure at any position of the edge of the lifting plate or the top plate of the transfer trolley, with a wider detection range.

[0058] In some embodiments, the anti-collision strip is arranged on the lower bottom surface of the at least one lifting plate along the side edge of the at least one lifting plate, or the anti-collision strip is arranged on the lower bottom surface of the housing along the side edge of the housing.

[0059] For example, when the detection device is an airbag pressure sensor, the anti-collision strip is installed on the bottom surface of at least one lifting plate, and the anti-collision strip coincides with at least two sides of the lifting plate.

[0060] In some embodiments, optionally, such as Figure 6 The diagram shows a schematic of a detection device installed on the underside of a lifting platform. The anti-collision strip of the airbag pressure sensor (i.e., detection device 3) can be installed on the underside of the lifting platform 2. Further, the anti-collision strip can be installed around all sides of the lifting platform, or, optionally, it can be installed only on a portion of the lifting platform's sides. When the anti-collision strip is installed around all sides of the lifting platform, the airbag pressure sensor can detect whether there are foreign objects in the gap between the lifting platform and the top plate, and it can also detect whether there are foreign objects in the gap between the lifting platform and the side plates. When the anti-collision strip is installed around a portion of the lifting platform's sides, for example, only along... Figure 6 When installing the upper and lower sides of the lifting plate 2 shown, it is possible to check only whether there are foreign objects in the gap between the lifting plate and the top plate; for example, only along the... Figure 6 When installing the lifting plate on the left and right sides, you can check only whether there are foreign objects in the gap between the lifting plate and the side plate.

[0061] For example, in the installation method of the lifting platform, such as Figure 2 , Figure 3 , Figure 4 As shown, when the anti-collision strips are installed around all sides of the lifting platform, it is possible to detect whether there are foreign objects in the gap between the lifting platform and the top plate, and whether there are foreign objects in the gap between the lifting platform and the side plates. The installation method of the lifting platform is as follows... Figure 2 , Figure 3 ,or Figure 4 As shown, anti-collision strips can be installed on the bottom surface of the lifting platform and the side adjacent to the top plate. Only the gap between the lifting platform and the top plate needs to be checked for foreign objects, which can save costs.

[0062] In some embodiments, when the detection device is an airbag pressure sensor, the anti-collision strip is installed on the lower bottom surface of the roof of the transport vehicle, the lower bottom surface of the roof of the transport vehicle is connected to the body of the transport vehicle, and the anti-collision strip is installed on at least two sides of the roof of the transport vehicle.

[0063] In some embodiments, the anti-collision strip for the airbag pressure sensor can optionally be installed on the bottom surface of the top plate. Similarly, the anti-collision strip can be installed around all sides of the top plate, or alternatively, it can be installed only on some sides of the top plate, for example, in the installation method of the lifting plate as follows: Figure 2 , Figure 3 ,or Figure 4As shown, anti-collision strips can be installed on the bottom surface of the top plate, on the side adjacent to the lifting plate, to detect whether there are foreign objects in the gap between the lifting plate and the top plate, which can save costs.

[0064] In some embodiments, optionally, the airbag pressure sensor can output a detection value when the anti-collision strip is under pressure. The detection value can be a first value, that is, when the anti-collision strip is under pressure, it can be determined that there is a foreign object between the lifting plate and the top plate, or between the lifting plate and the side plate, causing the lifting plate to be under pressure during the descent process. At this time, the detection value can be output as 0 or 1 to indicate whether the lifting plate and / or the top plate is under pressure.

[0065] In some embodiments, the electronic pressure sensor is centrally located on the bottom surface of the housing, or it is located on the bottom surface of the housing near the side. That is, when the detection device is an electronic pressure sensor, it is mounted on the bottom surface of the roof of the transport vehicle.

[0066] Optionally, such as Figure 7 The image shows an installation method for an electronic pressure sensor (i.e., detection device 3). Optionally, the electronic pressure sensor can be installed in the center of the roof panel 12 of the transfer vehicle. Multiple electronic pressure sensors can be used. Optionally, the installation method on the lifting plate is... Figure 2 In the installation method shown, the electronic pressure sensor can be installed only on the bottom surface of the top plate part between the two lifting plates. Multiple pressure sensors can be installed at the center of the bottom surface, or multiple sensors can be arranged at equal intervals along the edge of the bottom surface.

[0067] Optionally, the installation method of the lifting platform is as follows: Figure 2 In the installation method shown, electronic pressure sensors can be installed in all three parts of the top plate (the top plate part between the two lifting plates, and the two top plate parts on both sides of the two lifting plates). The electronic pressure sensors can be installed by installing multiple pressure sensors at the center of the bottom surface, or by arranging multiple sensors at equal intervals along the edge of the bottom surface. This disclosure does not limit this.

[0068] Optionally, the installation method of the lifting platform is as follows: Figure 3 In the installation method shown, at least one electronic pressure sensor can be installed at the center of the bottom surface of the top plate, or multiple electronic pressure sensors can be installed on the four sides of the top plate, or multiple electronic pressure sensors can be installed only on the side of the top plate adjacent to the lifting plate, etc. This disclosure does not limit this.

[0069] Optionally, the installation method of the lifting platform is as follows: Figure 4The installation mode shown can be that at least one electronic pressure sensor is installed at the center of the two top plates, or multiple electronic pressure sensors are installed at the four sides of the two top plates, or multiple electronic pressure sensors are installed only at the side adjacent to the lifting plate of the two top plates, and the like, and the present disclosure is not limited in this regard.

[0070] Optionally, when the installation mode of the electronic pressure sensor is to be installed at the center of the lower bottom surface of the top plate, if there is a foreign matter in the gap between the edge of the top plate and the lifting plate, the pressure received by the edge of the top plate can be transmitted to the electronic pressure sensor at the center of the top plate, and the electronic pressure sensor can determine the specific pressure value according to the transmitted pressure, that is, the electronic pressure sensor can detect the specific value of the received pressure, and at this time, the detection value can be the specific pressure value detected by the electronic pressure sensor.

[0071] In some embodiments, as shown, Figure 8 As shown, the transfer trolley further comprises a master controller 4 connected with the detection device 3, so that the master controller determines whether there is a foreign matter in the gap according to the detection value output by the detection device. Optionally, the transfer trolley further comprises other components which are not shown in the figure and are not described in detail in the present utility model.

[0072] Optionally, the connection mode between the master controller and the detection device can be communication connection or wired connection, and the like, and the present utility model is not limited in this regard.

[0073] That is, the detection device can output the detection value to the master controller when detecting the pressure or the foreign matter, and the master controller can determine whether there is a foreign matter according to the detection value, for example, when the detection device is a laser transmission sensor or an air bag pressure sensor, the output detection value can be a first value or a second value, wherein the first value can indicate that the pressure is detected, and the second value can indicate that the pressure is not detected, or the laser transmission sensor or the air bag pressure sensor can only output the first value when the pressure is detected, and does not output the second value when the pressure is not detected, and the like, at this time, the master controller can determine that there is a foreign matter in the gap between the lifting plate and the top plate or the gap between the lifting plate and the side plate when the output detection value is the first value, and optionally, the position of the foreign matter can be determined according to the installation position of the detection device, for example, when the detection device is installed at the side adjacent to the lifting plate and the top plate (for example, installed at the lower bottom surface of the lifting plate or the lower bottom surface of the top plate, near the side adjacent to the lifting plate and the top plate), whether there is a foreign matter between the lifting plate and the top plate can be detected, and it is determined that the position of the foreign matter is between the lifting plate and the top plate; when the detection device is installed at the side adjacent to the lifting plate and the side plate (for example, installed at the lower bottom surface of the lifting plate, near the side adjacent to the lifting plate and the side plate), whether there is a foreign matter between the lifting plate and the side plate can be detected, and it is determined that the position of the foreign matter is between the lifting plate and the side plate.

[0074] In some embodiments, when the detection device is an electronic pressure sensor, the electronic pressure sensor can determine a specific detection value. The main controller can determine whether there is a foreign object in the gap between the lifting plate and the top plate or between the lifting plate and the side plate based on the specific detection value. For example, when the detection value is greater than or equal to a preset threshold, it can be determined that there is a foreign object in the gap between the lifting plate and the top plate or between the lifting plate and the side plate. Or, when the detection value is not 0, it can be determined that there is a foreign object in the gap between the lifting plate and the top plate or between the lifting plate and the side plate, etc. This disclosure does not limit this.

[0075] In some embodiments, optionally, such as Figure 8 As shown, the transfer vehicle also includes an alarm device 5, which is connected to the main controller 4. When a foreign object is detected in the gap, the main controller 4 controls the alarm device 5 to sound an alarm. The alarm device 5 can be, for example, an audible and visual alarm (alarm indicator light) or a buzzer. The main controller can control the alarm indicator light to illuminate or flash, and can control the buzzer to sound an alarm, etc., when it determines that a foreign object exists between the lifting plate and the transfer vehicle's shell. Optionally, when the main controller determines that a foreign object exists between the lifting plate and the transfer vehicle's shell, it can generate a notification message, which can be reported. The notification message can be used for user interface display reminders, such as a pop-up reminder that the transfer vehicle is abnormal, that a foreign object exists in the gap between the lifting plate and the shell, and that an inspection is needed. This disclosure does not limit the scope of the notification.

[0076] Optionally, such as Figure 8 As shown, the transfer vehicle also includes a drive unit 6, which is connected to the main controller 4. The drive unit 6 includes at least one of a walking drive unit 61 and a lifting drive unit 62. When a foreign object is detected in the gap, the main controller 4 controls the walking drive unit 61 to make the wheels of the transfer vehicle stationary or moving, and / or the main controller 4 controls the lifting drive unit 62 to make at least one lifting plate 2 stationary or moving.

[0077] Optionally, during the process of the transfer vehicle picking up and placing goods, the transfer vehicle is stationary and at least one lifting plate 2 moves to pick up and place goods. When a foreign object is detected in the gap, the transfer vehicle remains stationary and at least one lifting plate 2 rises to the highest point or stops moving. During the process of the transfer vehicle moving, at least one lifting plate 2 is in the second state and is stationary. When a foreign object is detected in the gap, at least one lifting plate 2 remains stationary or rises to the highest point and the transfer vehicle stops moving.

[0078] In some embodiments, the host controller can control the lifting plate of the transfer vehicle to stop descending or to ascend when it is determined that there is a foreign object between the lifting plate and the shell of the transfer vehicle, which can avoid the lifting plate from continuing to descend and causing damage to the equipment, safety accidents, and the like. Alternatively, the host controller can control the lifting plate to ascend and descend by controlling the extension and retraction of the support shaft, i.e., the host controller can control the support shaft to stop extending and retracting, or to extend to implement the ascending and stopping of the lifting plate, and the like.

[0079] For example, in a warehouse scenario, the transfer vehicle can be used to carry goods, and when the transfer vehicle is in front of a goods shelf to take or place goods, the transfer vehicle is in a stationary state, i.e., the wheels of the transfer vehicle are stationary, and the taking and placing mechanism (not shown in the figure) of the transfer vehicle can take or place goods from the goods shelf. At this time, if the lifting plate of the transfer vehicle is in the second state and there is a foreign object between the lifting plate and the shell, the host controller can control the lifting drive device to stop the movement of the lifting plate or to ascend to the highest point, e.g., the host controller can control the lifting plate to stop descending, or can control the lifting plate to ascend to the highest position, so as to avoid the lifting plate from continuing to descend and causing damage to the transfer vehicle or causing the goods to fall and cause danger.

[0080] For another example, when the lifting plate is in the second state and there is a foreign object between the lifting plate and the shell during the movement of the transfer vehicle, e.g., when the transfer vehicle is carrying goods from a goods shelf to another area, the host controller can control the lifting drive device, which can also achieve the stopping of the movement of the lifting plate or the ascending of the lifting plate to the highest position; and / or, the host controller can control the walking drive device to stop the movement of the transfer vehicle. In other words, when it is determined that there is a foreign object in the gap between the lifting plate and the shell during the movement of the transfer vehicle, the lifting plate can be controlled to stop moving or to ascend to the highest position for safety considerations, and the transfer vehicle can be controlled to stop moving, which can avoid the transfer vehicle from moving with the foreign object and causing damage to the transfer vehicle or causing danger.

[0081] Alternatively, in the above embodiments, when it is determined that there is a foreign object in the gap between the lifting plate and the shell during the movement of the transfer vehicle, the lifting plate can be controlled to stop moving or to ascend to the highest position, and at this time, the transfer vehicle is still in a moving state, i.e., in a relatively safe case, the transfer vehicle can not need to be controlled to stop when there is a foreign object, which can improve the working efficiency of the transfer vehicle, e.g., when the body of the transfer vehicle is low and the goods carried are light, the transfer vehicle can not need to be controlled to stop.

[0082] The following is a transfer vehicle safety control method applicable to the above-mentioned transfer vehicle. The method of the present scheme can be executed by a multi-directional vehicle (e.g., a full-drive four-directional vehicle) or by a host controller of a multi-directional vehicle. The method comprises the following steps: obtaining a detection value output by a detection device; and performing safety control on the transfer vehicle when the detection value meets a preset condition.

[0083] In some embodiments, the master controller of the transfer trolley can acquire the detection value output by the detection device, wherein the detection value can indicate that the lifting plate or the top plate of the transfer trolley is subjected to pressure, for example, a first value, or the detection value can be a specific data value of the pressure to which the lifting plate or the top plate of the transfer trolley is subjected.

[0084] In some embodiments, the preset condition includes at least one of the following: the detection value is the first value; and the detection value is greater than or equal to a preset threshold value.

[0085] Optionally, the preset threshold value can be determined according to an actual use scenario, and the present disclosure does not limit this.

[0086] In some embodiments, the safety control includes at least one of the following: controlling the support shaft of the transfer trolley to stop moving; controlling the support shaft of the transfer trolley to rise; and outputting an alarm signal.

[0087] In some embodiments, when the output detection value is the first value, the master controller can determine that there is a foreign object in the gap between the lifting plate and the top plate or between the lifting plate and the side plate. The master controller can determine whether there is a foreign object in the gap between the lifting plate and the top plate or between the lifting plate and the side plate according to a specific detection value. For example, when the detection value is greater than or equal to a preset threshold value, it can be determined that there is a foreign object in the gap between the lifting plate and the top plate or between the lifting plate and the side plate. Or, when the detection value is not 0, it can be determined that there is a foreign object in the gap between the lifting plate and the top plate or between the lifting plate and the side plate.

[0088] In some embodiments, when the master controller determines that there is a foreign object between the lifting plate and the shell of the transfer trolley, it can control the lifting plate to stop descending or control the lifting plate to rise, which can avoid the equipment from being damaged, safety accidents, etc. caused by the continuous descent of the lifting plate. Optionally, the master controller can control the support shaft to extend or retract to control the lifting plate to rise and descend. That is, the master controller can control the support shaft to stop extending or retracting, or control the support shaft to extend to realize the rising and stopping of the lifting plate, etc. The master controller can control the alarm signal lamp to light or flash when it determines that there is a foreign object between the lifting plate and the shell of the transfer trolley, and can control the buzzer to alarm, etc.

[0089] In summary, the transfer trolley provided by the present application can control the lifting plate to stop moving or rise when the detection device of the transfer trolley detects pressure, and can also alarm to remind the staff to handle it, which can avoid the equipment from being damaged, safety accidents, etc. caused by the continuous descent of the lifting plate, and can protect the safety of the equipment and the staff, and realize the safety control of the transfer trolley.

[0090] The present application will be further described in detail below in combination with specific application embodiments.

[0091] The following is an anti-pinch device based on pressure sensor technology for four-way vehicles during the descent of the lifting mechanism, provided by this utility model. The device of this solution can accurately detect whether the lifting plate of the four-way vehicle is stuck on a foreign object during the up and down movement of the vehicle while transporting goods on the track, and promptly stop the vehicle operation and report the fault information, effectively preventing the occurrence of safety accidents.

[0092] like Figure 1 The two lifting platforms shown (i.e., lifting platform 2 mentioned above) can move up and down to lift shelves, boxes, or goods; such as Figure 1 As shown, when the lifting platform is raised, there is a gap between it and the vehicle body shell (i.e., the aforementioned shell 1), which poses a risk of foreign objects getting stuck; as Figure 7 As shown, a pressure sensor (i.e., the detection device 3) is installed in the area below the top outer shell (i.e., the top plate 12 mentioned above). When subjected to pressure, the sensor transmits data to the main controller. Figure 1 (Not shown in the figure), the main controller processes and judges the data, then issues a command to stop the lifting plate movement and controls the buzzer (not shown in the figure) to sound an alarm.

[0093] In summary, this utility model addresses the safety hazard of foreign objects getting stuck during the vertical movement of a four-way vehicle's lifting mechanism. By utilizing a high-precision sensor, it can achieve highly sensitive (millisecond-level) fault response, effectively preventing safety accidents.

Claims

1. A transfer cart, characterized by, The utility model relates to a transport vehicle, comprising: a shell (1) with at least one slot (11) on the shell (1); at least one lifting plate (2) movable along a preset direction; a detection device (3) arranged on at least one of the at least one lifting plate (2) and the shell (1) to detect whether there is a foreign object in the gap between the at least one lifting plate (2) and the shell (1).

2. The transport vehicle according to claim 1, wherein the at least one lifting plate (2) is embedded in the at least one slot (11) and is at the same level as the shell (1) when the at least one lifting plate (2) is in a first state; and the at least one lifting plate (2) has the gap with the shell (1) when the at least one lifting plate (2) is in a second state.

3. The transport vehicle according to claim 1, wherein the shell (1) comprises a top plate (12) and a side plate (13), the preset direction is the up-down direction, and the top plate (12) has the at least one slot (11) so that the at least one lifting plate (2) is embedded in the at least one slot (11) when the at least one lifting plate (2) is lowered to the lowest point.

4. The transport vehicle according to claim 3, wherein the detection device (3) is arranged on the lower bottom surface of the at least one lifting plate (2), and / or the detection device (3) is arranged on the lower bottom surface of the top plate (12).

5. The transport vehicle according to any one of claims 1 to 4, wherein the detection device (3) is a laser transmission sensor; or the detection device (3) is a pressure sensor.

6. The transport vehicle according to claim 5, wherein in the case where the detection device (3) is a laser transmission sensor, two laser emitting devices of the laser transmission sensor are arranged at two ends of the lower bottom surface of the at least one lifting plate (2), respectively.

7. The transport vehicle according to claim 5, wherein the pressure sensor is an airbag pressure sensor comprising an anti-collision strip; or the pressure sensor is an electronic pressure sensor.

8. The transport vehicle according to claim 7, wherein the anti-collision strip is arranged on the lower bottom surface of the at least one lifting plate (2) along the side edge of the at least one lifting plate (2), or the anti-collision strip is arranged on the lower bottom surface of the shell (1) along the side edge of the shell (1).

9. The transport vehicle according to claim 7, wherein the electronic pressure sensor is arranged centrally on the lower bottom surface of the shell (1), or the electronic pressure sensor is arranged on the lower bottom surface of the shell (1) close to the side edge.

10. The transport vehicle according to claim 1, further comprising a master controller (4) connected to the detection device (3) so that the master controller (4) determines whether there is a foreign object in the gap according to the detection value output by the detection device (3).

11. The transport vehicle according to claim 10, wherein ​ The transfer trolley further comprises an alarm device (5) connected with the main controller (4), and the main controller (4) controls the alarm device (5) to alarm when detecting that there is a foreign matter in the gap.

12. The transfer trolley according to claim 10, characterized in that, The transfer trolley further comprises a driving device (6) connected with the main controller (4), and the driving device (6) comprises at least one of a walking driving device (61) and a lifting driving device (62), the main controller (4) controls the walking driving device (61) to make the wheels of the transfer trolley stationary or move, and / or the main controller (4) controls the lifting driving device (62) to make the at least one lifting plate (2) stationary or move when detecting that there is a foreign matter in the gap.

13. The transfer trolley according to claim 12, characterized in that, In the process of taking and placing goods by the transfer trolley, the transfer trolley is stationary and the at least one lifting plate (2) moves to take and place goods, and when detecting that there is a foreign matter in the gap, the transfer trolley remains stationary, and the at least one lifting plate (2) rises to the highest point or stops moving; In the process of walking of the transfer trolley, the at least one lifting plate (2) is in the second state and is stationary, and when detecting that there is a foreign matter in the gap, the at least one lifting plate (2) remains stationary or rises to the highest point, and the transfer trolley stops moving.

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