Collision detection device and cargo handling equipment

Abstract

The utility model provides a collision detection device and cargo handling equipment. The collision detection device is used for being arranged at the fork entering end of a pallet fork of the cargo handling equipment and comprises a fixing base, a collision detection device and a driving device, and the fixing base is fixedly connected with the pallet fork; the touch piece is movably arranged on the fixed seat; the pressure detection piece is arranged on the fixed seat; the pressure detection part is configured to detect the pressure borne by the touch part when the touch part collides with the obstacle and send the pressure detection result to a controller of the cargo handling equipment. The touch piece can collide with an obstacle before the fork entering end of the pallet fork touches the obstacle and move in the direction close to the fork entering end of the pallet fork under the collision effect, and in the moving process, the pressure detection piece can send a pressure detection result to a controller of the cargo handling equipment, so that the cargo handling equipment is controlled. Therefore, a controller of the cargo handling equipment can judge the collision condition according to the pressure, and different measures are taken to deal with different collision conditions in a targeted manner.

Description

Technical Field

[0001] This application relates to the field of cargo handling equipment, specifically to a collision detection device and cargo handling equipment. Background Technology

[0002] Currently, with the development of technology, the application of intelligent technology in production is becoming increasingly widespread. In some industrial scenarios, cargo handling equipment is increasingly used to improve the efficiency of cargo handling. To enhance the intelligence of cargo handling equipment, collision detection devices are installed. During movement, the equipment stops as soon as it collides with an obstacle. However, different handling scenarios may encounter different obstacles, making it difficult to respond specifically based on the detection results of the collision detection device. Summary of the Invention

[0003] This application provides a collision detection device and cargo handling equipment that can respond to different collision situations based on the detection results.

[0004] On one hand, this application provides a collision detection device for installation at the fork insertion end of a cargo handling device, the collision detection device comprising:

[0005] The mounting base is configured to be fixedly connected to the forks;

[0006] A contact element, movably disposed on the fixed base; and

[0007] A pressure detection element is disposed on the fixed base; the pressure detection element is configured to detect the pressure on the contact element when the contact element collides with the obstacle, and send the pressure detection result to the controller of the cargo handling equipment.

[0008] In some embodiments, the pressure sensing element has a pressure-sensitive end; the contact element has a contact end; and one end of the contact element opposite to the contact end abuts against the pressure-sensitive end of the pressure sensing element.

[0009] In some embodiments, a buffer is further included; the buffer is used to mitigate the impact on the pressure detection element when the pressure detection element is subjected to pressure from the contact element.

[0010] In some embodiments, the buffer is located at the end of the pressure sensor that is away from the contact member, and the end of the buffer that is away from the pressure sensor abuts against the fixing seat.

[0011] In some embodiments, the touch member has a touch end; the collision detection device further includes a film-breaking member disposed at the touch end of the touch member, the film-breaking member being used to puncture the packaging film.

[0012] In some embodiments, the membrane breaking member protrudes from the contact end of the contact member;

[0013] And / or, the membrane breaking member is integrally formed with the contact member;

[0014] And / or, the membrane breaking member is detachably connected with the contact member;

[0015] And / or, the number of the membrane breaking members is multiple, and the multiple membrane breaking members are arranged at intervals on the contact end of the contact member.

[0016] In some embodiments, a guide part is further arranged on the fixing seat; the guide part is configured to provide a guiding effect for the movement of the contact member.

[0017] In some embodiments, the fixing seat is provided with an obstacle detection assembly on at least one side in the vertical direction; the obstacle detection assembly is configured to send a contact feedback signal to the controller of the goods handling equipment when the corresponding side of the fixing seat is subjected to an external force in the vertical direction.

[0018] In some embodiments, the obstacle detection assembly comprises a trigger member movably arranged on the fixing seat and a detection member fixedly arranged on the fixing seat; the trigger member is movable when subjected to an external force in the vertical direction; when the trigger member moves to the detection range of the detection member under the action of the external force, the trigger member sends a contact feedback signal to the controller of the goods handling equipment.

[0019] On the other hand, the present application also provides a goods handling equipment comprising the slight collision detection device, the forks and the controller.

[0020] In the multiple embodiments provided by the present application, the contact member can collide with the obstacle before the entry end of the fork collides with the obstacle, and move in the direction close to the entry end of the fork under the action of the collision; in the process of the movement, the pressure detection member can detect the pressure received by the contact member and send the pressure detection result to the controller of the goods handling equipment, so that the controller of the goods handling equipment can judge the collision condition according to the size of the pressure and take different measures to cope with different collision conditions. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 The structure schematic diagram of the collision detection device provided by one embodiment of the present application is installed on the fork.

[0022] Figure 2 The schematic diagram of soft package stacking.

[0023] Figure 3 The structure schematic diagram of the collision detection device. Figure 1 The structure schematic diagram of the collision detection device.

[0024] Figure 4 For Figure 3 Structure diagram of another perspective of the collision detection device.

[0025] Figure 5 For Figure 3 Structure diagram of the collision detection device after removing the fixing seat.

[0026] Figure 6 For Figure 6 Structure diagram of another perspective of the structure shown.

[0027] Figure 7 For Figure 3 M-M direction sectional view of the collision detection device shown after removing the second part.

[0028] Figure 8 For Figure 3 Sectional view of the collision detection device along the N-N direction.

[0029] Figure 9 For Figure 4 Sectional view of the collision detection device along the P-P direction.

[0030] Figure 10 For Figure 3 Sectional view of the collision detection device along the Q-Q direction.

[0031] Explanation of reference signs

[0032] 100, collision detection device; 110, fixing seat; 111, first part; 112, second part; 113, inner cavity; 121, pressure detection piece; 1211, pressure sensitive end; 122, touch piece; 1221, touch end; 123, guide part; 130, film breaking piece; 140, buffer piece; 150, obstacle detection assembly; 151, trigger piece; 152, detection piece; 200, fork; 201, entry fork end; 300, tray; 310, insertion hole; 400, soft package cargo; 410, collapsed part; 420, raised part. DETAILED DESCRIPTION

[0033] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to 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 embodiments.

[0034] In the present application, the drawings are not necessarily drawn to scale, and local features can be enlarged or reduced to more clearly show the details of local features.

[0035] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. All publications, patent applications, patents, and other references mentioned herein are incorporated by reference in their entirety for the teachings relevant to the sentence and / or paragraph in which the reference is presented. The summary of the application does not necessarily describe all necessary features of the application. The terms "and / or" includes any and all combinations of one or more of the associated listed items. Singular herein, "a," "an," and "the" and the like, can refer to both singular and plural portions unless the context dictates otherwise.

[0036] In the description of the application, it should be understood that the terms "first", "second" are used only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the application, the meaning of "multiple" is two or more, unless otherwise specifically limited. In the description of the application, the meaning of "several" is one or more, unless otherwise specifically limited.

[0037] In the description of the application, the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "height", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which is only for the convenience of the simplified description of the application, and does not indicate that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, that is, cannot be understood as limiting the application.

[0038] In the description of the application, unless otherwise specifically limited, the terms "mounting", "connection", "connection", "fixing", "setting" and the like should be broadly understood. For example, "connection" can be fixed connection, or detachable connection, or integral; can be mechanical connection, or electrical connection; can be directly connected, or indirectly connected through intermediate medium, or the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

[0039] In the description of the present application, unless otherwise explicitly defined, the first feature is "on", "over", "above" and "on top of", "under", "below", "under" or "under" the second feature can be the first feature and the second feature directly contact, or the first feature and the second feature indirectly contact through an intermediate medium. Moreover, the first feature is "on", "over" and "above" the second feature can be the first feature directly above or obliquely above the second feature, or just means that the horizontal height of the first feature is higher than the horizontal height of the second feature. The first feature is "below", "below" and "below" the second feature can be the first feature directly below or obliquely below the second feature, or just means that the horizontal height of the first feature is less than the horizontal height of the second feature.

[0040] Referring to Figures 1 to 4 An embodiment of the present application provides a collision detection device 100 for being arranged at the entry end 201 of the fork 200 of the goods handling equipment, the collision detection device 100 comprising a fixing seat 110, a touch piece 122 and a pressure detection piece 121. Wherein the fixing seat 110 is configured to be fixedly connected with the fork 200; the touch piece 122 is movably arranged on the fixing seat 110; the pressure detection piece 121 is arranged on the fixing seat 110; the pressure detection piece 121 is configured to detect the pressure received by the touch piece 122 when the touch piece 122 collides with an obstacle, and send the pressure detection result to the controller of the goods handling equipment.

[0041] In the present application, the entry end 201 of the fork 200 refers to the end of the fork 200 that starts to insert when the fork 200 performs an insertion operation. For example, when the fork 200 is inserted into the insertion hole 310 of the pallet 300, the end that first enters the insertion hole 310 is the entry end 201 of the fork 200.

[0042] The above-mentioned collision detection device 100, the touch piece 122 can collide with the obstacle before the entry end 201 of the fork 200 touches the obstacle, and move in the direction close to the entry end 201 of the fork 200 under the action of collision. During the movement, the pressure detection piece 121 can detect the pressure received by the touch piece 122 and send the pressure detection result to the controller of the goods handling equipment, so that the controller of the goods handling equipment can judge the collision condition according to the size of the pressure and take different measures to cope with different collision conditions. For example, in some handling scenarios, the pressure generated by the collision is small and does not damage the operation of the goods handling equipment, so the goods handling equipment does not need to stop running, improving the handling efficiency. For another example, in some handling scenarios, the pressure generated by the collision is large and may damage the operation of the goods handling equipment, so the goods handling equipment needs to stop running to remove the obstacle in time.

[0043] It can be understood that the collision detection device 100 is arranged at the entry fork end 201 of the fork 200. When the fork 200 performs the insertion operation, the collision detection device 100 is inserted first, as shown in Figure 1 .

[0044] Figure 1 It can be understood that in other embodiments, the number of forks 200 in the goods handling equipment is not limited to two, but can also be one or more than two. Of course, the number of collision detection devices 100 on the goods handling equipment can also be one or more than two. Alternatively, each fork 200 is provided with a collision detection device 100, or only part of the forks 200 are provided with a collision detection device 100.

[0045] Specifically, referring to Figures 5 to 7 In this embodiment, the pressure detection member 121 has a pressure sensitive end 1211; the contact member 122 has a contact end 1221; the side of the contact member 122 away from the contact end 1221 is in abutment with the pressure sensitive end 1211 of the pressure detection member 121. It can be understood that when an obstacle appears on the running path of the goods handling equipment, the contact end 1221 of the contact member 122 first abuts against the obstacle. For ease of description, the pressure of the obstacle acting on the contact member 122 is referred to as the first pressure. The contact member 122 has a tendency to move towards the pressure sensitive end 1211 of the pressure detection member 121 under the action of the first pressure, thereby abutting against the pressure sensitive end 1211. For ease of description, the pressure of the pressure sensitive end 1211 acting on the contact member 122 is referred to as the second pressure. The first pressure and the second pressure are in opposite directions, and the size of the second pressure can be used to feedback the size of the first pressure, that is, the pressure detected by the pressure detection member 121 represents the impact pressure. In addition, it can be understood that the movable direction of the contact member 122 is the same as the first pressure and the second pressure.

[0046] Referring to Figures 5 to 7 In this embodiment, the collision detection device 100 further comprises a buffer member 140. The buffer member 140 is used to alleviate the impact on the pressure detection member 121 when the pressure detection member 121 is subjected to the pressure of the contact member 122, so as to reduce the damage risk of the impact on the pressure detection member 121 and improve the service life of the pressure detection member 121.

[0047] In addition, the impact on the pressure detection member 121 is alleviated by the buffer member 140, thereby reducing the vibration of the pressure detection member 121, and further reducing the vibration of the goods handling equipment, improving the service life of the pressure detection member 121, and improving the service life of the goods handling equipment.

[0048] Specifically, in the embodiment, the buffer 140 is located at one end of the pressure detection member 121 away from the touch member 122, and one end of the buffer 140 away from the pressure detection member 121 abuts against the fixed seat 110. In other words, one end of the buffer 140 abuts against the fixed seat 110, and the other end abuts against one end of the pressure detection member 121 away from the pressure-sensitive end 1211. It can be understood that in other embodiments, the arrangement of the buffer is not limited to this, for example, in some embodiments, the buffer is fixedly arranged at the bottom side of the pressure detection member, and the pressure detection member is arranged on the top end of the buffer.

[0049] Specifically, the buffer 140 can be a rubber buffer or a spring, etc.

[0050] In the embodiment, the pressure detection member 121 is a pressure sensor.

[0051] In the embodiment, the collision detection device 100 further comprises a film breaking member 130, which is arranged at the touch end 1221 of the touch member 122, and the film breaking member 130 is used to break the packaging film, so as to better adapt to the situation that the obstacle is the packaging film, and the packaging film can be broken, such as the soft package stacking scene.

[0052] Specifically, in the soft package stacking scene, in some cases, the goods and the pallet 300 are wrapped together by the packaging film. As a result, the entrance of the insertion hole 310 on the pallet 300 for the insertion of the fork 200 is also covered by the packaging film, which affects the insertion of the fork 200. When the touch member 122 collides with the packaging film, the pressure received is small, and the pressure will not cause damage to the collision detection device and the goods handling equipment, so it is not necessary to stop the handling operation during the handling process. In the embodiment, the film breaking member 130 is arranged, and when the collision detection device continues to move forward, the packaging film at the entrance of the insertion hole 310 of the pallet 300 is broken by the film breaking member 130, so that the fork 200 can be smoothly inserted into the insertion hole 310 of the pallet 300, and the handling efficiency is improved. Therefore, the pressure can be judged according to the received pressure detection result by the controller of the goods handling equipment to judge the collision condition, when the pressure is less than a preset value, it is judged that the obstacle is the packaging film, and the controller controls the goods handling equipment to continue the moving handling operation; when the pressure is greater than the preset value, it is judged that the obstacle may damage the collision detection device and the goods handling equipment, and then the controller controls the goods handling equipment to stop the moving handling operation.

[0053] Of course, it can be understood that in some application scenarios, when the obstacle is not a packaging film, but the pressure on the touching piece 122 during the collision is also small, which will not cause damage to the collision detection device and the goods handling equipment, and the obstacle can be pierced by the film breaking piece 130. When the operation is continued, the carrying operation can also be continued. Of course, it can be understood that when the collision pressure is greater than the preset pressure value, the carrying operation needs to be controlled to stop to remove the obstacle to avoid the risk of impact caused by continuing to travel. The specific control method can refer to the control method in the soft package stacking scene described above, which will not be repeated here.

[0054] In this embodiment, the film breaking piece 130 is arranged protruding from the touching end 1221 of the touching piece 122. When a collision occurs, the film breaking piece 130 first collides with the obstacle to pierce the obstacle more quickly.

[0055] In this embodiment, the film breaking piece 130 is integrally formed with the touching piece 122, so that the structure of the collision detection device 100 is simpler.

[0056] Of course, it can be understood that in some other embodiments, the film breaking piece 130 and the touching piece 122 can also be separately arranged, and the film breaking piece 130 is fixedly connected with the touching piece 122. Alternatively, in some other embodiments, the film breaking piece 130 and the touching piece 122 are detachably connected, so that when the obstacle needs to be pierced in the soft package stacking scene and the like, the film breaking piece 130 is installed on the touching piece 122; when the obstacle does not need to be pierced in other scenes, the film breaking piece 130 is detached from the touching piece 122, so that the collision detection device can be used in more application scenarios.

[0057] In an embodiment, the number of film breaking pieces 130 is multiple, and the multiple film breaking pieces 130 are arranged at intervals on the touching end 1221 of the touching piece 122 to better complete the operation of piercing the packaging film. It can be understood that in this embodiment, the number of film breaking pieces 130 is two, and in some other embodiments, the number of film breaking pieces 130 is not limited to two, but can also be one or three or more than three.

[0058] In the embodiment, the film breaking member 130 is fixedly arranged at the contact end 1221 of the contact member 122. It can be understood that in other embodiments, the film breaking member 130 can also be fixedly connected with other positions of the contact member 122. In addition, the contact member 122 is movably arranged on the fixed seat 110. When encountering an obstacle, the contact member 122 moves relative to the fixed seat 110, cooperates with the pressure detection member to detect the pressure between the contact member 122 and the obstacle, and can also avoid the instantaneous increase of the acting force between the contact member 122 and the obstacle, thereby reducing the risk of damage to the contact member 122. The film breaking member 130 is fixed relative to the contact member 122. When the film breaking member 130 collides with the obstacle, the film breaking member 130 moves together with the contact member 122, thereby reducing the acting force between the film breaking member 130 and the obstacle and reducing the risk of damage to the film breaking member 130 caused by the collision with the obstacle.

[0059] Referring to Figure 7 In the embodiment, the collision detection device 100 further comprises a guide portion 123 arranged on the fixed seat 110. The guide portion 123 is configured to provide a guide function for the movement of the contact member 122. It can be understood that the guide direction is the direction in which the contact member 122 can move.

[0060] Referring to Figures 8 to 10 In the embodiment, the fixed seat 110 is provided with an obstacle detection assembly 150 on both sides in the vertical direction. The obstacle detection assembly 150 is configured to send a contact feedback signal to the controller of the goods handling equipment when the corresponding side of the fixed seat 110 is subjected to an external force in the vertical direction. Thus, after receiving the signal from the obstacle detection assembly 150, the controller of the goods handling equipment adjusts the position or angle of the fork 200 by moving or rotating, so as to avoid the obstacle and move forward, thereby avoiding the mutual scratching of the fork and the obstacle.

[0061] Referring to Figure 2 , Figures 8 to 10 Specifically in the soft package stacking scene, the fork 200 is inserted into the insertion hole 310 of the tray 300. If the height of the fork 200 is too high or too low, the fork 200 can collide or rub against the top wall or the bottom wall of the insertion hole 310. In the embodiment, the obstacle detection assembly 150 is arranged. When the fork 200 collides or rubs against the top wall or the bottom wall of the insertion hole 310, the fork 200 is subjected to the pressure of the top wall or the bottom wall and sends a contact feedback signal to the controller of the goods handling equipment, so as to adjust the position or angle of the fork 200, thereby avoiding the collision or rubbing of the fork 200 against the top wall or the bottom wall of the insertion hole 310.

[0062] In addition, in the soft package stacking scenario, the soft package 400 located on the top side of the tray 300 collapses under the action of gravity or extrusion, etc. When the collapsed part 410 is close to the position of the jack 310 of the tray 300, it may collide or rub with the top side of the fork 200, causing the risk of damage to the packaging of the soft package 400, exposure of the goods, or spilling. In the present embodiment, through the setting of the obstacle detection assembly 150, the fork 200 can be pressed by the collapsed part 410 of the soft package 400 before the fork 200 collides or rubs with the collapsed part 410 of the soft package 400, and a touch feedback signal is sent to the controller of the goods handling equipment, and then the position or angle of the fork 200 is adjusted accordingly to avoid the collision or friction between the fork 200 and the collapsed part 410 of the soft package 400.

[0063] In addition, when a plurality of trays 300 carrying soft packages 400 are stacked, the bottom side of part of the tray 300 also has soft packages 400. The soft package 400 located on the bottom side of the tray 300 is lifted under the pressure of the top side tray 300 and the soft package 400, etc. When the lifted part 420 is close to the position of the jack 310 of the tray 300, it may collide or rub with the bottom side of the fork 200, causing the risk of damage to the packaging of the soft package 400, exposure of the goods, or spilling. In the present embodiment, through the setting of the obstacle detection assembly 150, the fork 200 can be pressed by the lifted part 420 of the soft package 400 before the fork 200 collides or rubs with the lifted part 420 of the soft package 400, and a touch feedback signal is sent to the controller of the goods handling equipment, and then the position or angle of the fork 200 is adjusted accordingly to avoid the collision or friction between the fork 200 and the lifted part 420 of the soft package 400.

[0064] Of course, in some other embodiments, the obstacle detection assembly 150 can also be provided only on one side of the fixed seat 110 in the vertical direction, and specific settings can be made according to needs.

[0065] Specific to the embodiment, the obstacle detection assembly 150 includes a trigger 151 movably arranged on the fixed seat 110 and a detection piece 152 fixedly arranged on the fixed seat 110. The trigger 151 can move when subjected to an external force in the vertical direction; when the trigger 151 moves to the detection range of the detection piece 152 under the action of the external force, a touch feedback signal is sent to the controller of the goods handling equipment. In the soft package stacking scene, when a convexity appears on the hole wall of the top side or the bottom side of the jack 310, and the convexity may scratch the fork 200, the trigger 151 of the corresponding side of the obstacle detection assembly 150 first contacts the convexity and moves under the pressure of the convexity; when the trigger 151 moves to the detection range of the detection piece 152 under the action of the external force, a touch feedback signal is sent to the controller of the goods handling equipment; the controller of the goods handling equipment controls the movement or rotation of the fork according to the received model to adjust the position or angle of the fork 200 to avoid the convexity.

[0066] In the embodiment, the number of obstacle detection assemblies 150 arranged on the top side of the fixed seat 110 is multiple, and the number of obstacle detection assemblies 150 arranged on the bottom side of the fixed seat 110 is multiple, so as to more comprehensively detect the obstacles on the top side and the bottom side.

[0067] Specifically, in the embodiment, the number of obstacle detection assemblies 150 is four, two of which are arranged on the top side of the fixed seat 110 to detect obstacles on the top side of the fixed seat 110, and the other two are arranged on the bottom side of the fixed seat 110 to detect obstacles on the bottom side of the fixed seat 110, so as to more comprehensively detect the obstacles on the top side and the bottom side.

[0068] In the embodiment, the arrangement direction of the two obstacle detection assemblies 150 for detecting obstacles on the top side of the fixed seat 110 is perpendicular to the insertion direction when the fork performs the insertion operation, that is, perpendicular to the moving direction of the touch piece 122. Similarly, in the embodiment, the arrangement direction of the two obstacle detection assemblies 150 for detecting obstacles on the bottom side of the fixed seat 110 is perpendicular to the insertion direction when the fork performs the insertion operation, that is, perpendicular to the moving direction of the touch piece 122.

[0069] In the embodiment, the trigger 151 is arranged at one end of the fixed seat 110 close to the touch end 1331 of the touch piece 122, so that it can be discovered in time when there is an obstacle on the corresponding side.

[0070] Specifically, the trigger 151 on the top side of the fixed seat 110 protrudes from the top wall of the fixed seat 110, so as to first contact the obstacle on the top side when colliding with the obstacle on the top side. Similarly, the trigger 151 on the bottom side of the fixed seat 110 protrudes from the bottom wall of the fixed seat 110, so as to first contact the obstacle on the bottom side when colliding with the obstacle on the bottom side.

[0071] Specifically, in the embodiment, the trigger 151 is movably arranged on the fixed seat 110 in the vertical direction. When the trigger 151 collides with the obstacle, the trigger 151 moves under the action of the obstacle; when the trigger 151 moves to the detection range of the detection member 152, a touch feedback signal is sent to the controller of the goods handling equipment.

[0072] Optionally, the detection member 152 is a proximity switch. When the trigger 151 moves to the detection range of the detection member 152, the opening and closing state of the detection member 152 is changed to send a touch feedback signal to the controller of the goods handling equipment.

[0073] Of course, it can be understood that in other embodiments, the obstacle detection assembly 150 is not limited to the structure, and can detect the obstacle on one side thereof and send a signal to the controller of the goods handling equipment accordingly.

[0074] Referring to Figures 7 to 9 In the embodiment, the fixed seat 110 has an inner cavity 113. Part of the structure, such as the pressure detection member 121 and the detection member 152, is located in the inner cavity 113 to prevent the erosion of moisture in the external environment. In the embodiment, the touch member 122 is partially inserted into the inner cavity 113 of the fixed seat 110, that is, one end of the touch member 122 is accommodated in the inner cavity 113, and the other end is exposed to the inner cavity 113 of the fixed seat 110, so that the fixed seat 110 protects the touch member 122; the trigger 151 is partially inserted into the inner cavity 113 of the fixed seat 110, that is, one end of the trigger 151 is accommodated in the inner cavity 113, and the other end is exposed to the inner cavity 113 of the fixed seat 110, so that the fixed seat 110 protects the touch member 122.

[0075] In the embodiment, the fixed seat 110 includes a first part 111 and a second part 112. The first part 111 and the second part 112 are fixedly connected to form the fixed seat 110. The first part 111 and the second part 112 are fixedly connected to enclose the inner cavity 113. It can be understood that in other embodiments, the structure of the fixed seat is not limited to this, and can also be a one-piece structure, etc.

[0076] Optionally, the fixed seat 110 and the fork 200 are fixedly connected in a manner of snap connection, threaded connection or welding, which is not limited here.

[0077] An embodiment of the present application also provides a goods handling equipment, which includes the collision detection device, the fork and the controller provided by the present application.

[0078] The above cargo handling equipment, the touching part can collide with the obstacle before the entry end of the fork touches the obstacle, and move in the direction close to the entry end of the fork under the action of collision, and in the moving process, the pressure detection part can detect the pressure received by the touching part and send the pressure detection result to the controller of the cargo handling equipment, so that the controller of the cargo handling equipment can judge the collision condition according to the size of the pressure and take different measures to cope with different collision conditions.

[0079] Optionally, the controller is configured to compare the detection result with a preset pressure value, and control the fork to stop moving forward when the detection result is greater than the preset pressure value. Of course, it can be understood that in some other embodiments, the control logic of the controller can also be different, which can be set according to the needs, and is not limited here.

[0080] Optionally, in some embodiments, the preset pressure value is adjustable. Therefore, in other handling scenarios, the preset pressure value can be reduced, or even set to 0, so as to reduce the response time of the impact detection, reduce the degree of impact, and reduce the damage of the impact to the obstacle and the cargo handling equipment.

[0081] The cargo handling equipment can be, but is not limited to, an intelligent forklift (also known as a unmanned forklift), a pallet truck, a lifting truck, an AGV (Automated Guided Vehicle), and the like.

[0082] Optionally, when the fixed seat is provided with an obstacle detection assembly on one side in the vertical direction, the controller is further configured to receive a detection signal of the obstacle detection assembly, and control the fork to move or tilt, etc. to avoid the top side obstacle after receiving the signal of the top side encountering the obstacle.

[0083] It can be understood that in various embodiments in the present application, the size of the serial number of each process does not mean the order of execution, and the execution order of each process should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0084] It can be understood that the various embodiments described in the present application can be implemented alone or in combination, and the embodiments of the present application do not limit this.

[0085] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the above-described system, device and unit can refer to the corresponding process in the foregoing method embodiments, which will not be repeated here.

[0086] The above merely provides the specific embodiments of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art can easily think of the changes or replacements within the technical range disclosed by the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A collision detection device, used to be installed at the fork insertion end of a cargo handling equipment, characterized in that, The collision detection device includes: The mounting base is configured to be fixedly connected to the forks; A contact element, movably disposed on the fixed base; and A pressure detection element is disposed on the fixed base; the pressure detection element is configured to detect the pressure on the contact element when the contact element collides with the obstacle, and send the pressure detection result to the controller of the cargo handling equipment.

2. The collision detection device according to claim 1, characterized in that, The pressure sensing element has a pressure-sensitive end; the contact element has a contact end; the end of the contact element opposite to the contact end abuts against the pressure-sensitive end of the pressure sensing element.

3. The collision detection device according to claim 2, characterized in that, It also includes a buffer; the buffer is used to mitigate the impact on the pressure detection element when the pressure detection element is subjected to pressure from the contact element.

4. The collision detection device according to claim 3, characterized in that, The buffer is located at the end of the pressure detection element that is opposite to the contact element, and the end of the buffer that is opposite to the pressure detection element abuts against the fixed base.

5. The collision detection device according to claim 1, characterized in that, The contact element has a contact end; the collision detection device further includes a film-breaking element, which is disposed at the contact end of the contact element and is used to puncture the packaging film.

6. The collision detection device according to claim 5, characterized in that, The membrane-breaking component protrudes from the touch end of the touch component; And / or, the membrane breaking component is integrally formed with the contact component; And / or, the membrane breaking component is detachably connected to the contact component; And / or, the number of the film-breaking elements is multiple, and the multiple film-breaking elements are spaced apart at the contact end of the contact element.

7. The collision detection device according to claim 1, characterized in that, It also includes a guide portion disposed on the fixed base; the guide portion is configured to provide guidance for the movement of the contact member.

8. The collision detection device according to any one of claims 1 to 7, characterized in that, An obstacle detection component is provided on at least one side of the fixed base along the vertical direction. The obstacle detection component is used to send a touch feedback signal to the controller of the cargo handling equipment when the corresponding side of the fixed base is subjected to an external force along the vertical direction.

9. The collision detection device according to claim 8, characterized in that, The obstacle detection component includes a trigger movably mounted on the fixed base and a detection component fixedly mounted on the fixed base; the trigger can move when subjected to an external force in the vertical direction; when the trigger moves to the detection range of the detection component under the action of the external force, it sends a touch feedback signal to the controller of the cargo handling equipment.

10. A cargo handling device, characterized in that, Includes the collision detection device, fork, and controller as described in any one of claims 1 to 9.

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