Load displacement detection device applied to root of fork arm of AGV (Automatic Guided Vehicle) of forklift

Abstract

The utility model relates to the technical field of intelligent logistics, particularly discloses a load displacement detection device applied to the root of a fork arm of a forklift AGV (Automatic Guided Vehicle), and aims to improve the reliability and the accuracy of cargo in-place detection. The device comprises a first displacement detection mechanism and a second displacement detection mechanism which have the same structure and are respectively arranged at the root part of a first fork arm and the root part of a second fork arm of the forklift AGV. By detecting the displacement and / or speed from the target load to the two displacement detection mechanisms at the same time, dual monitoring of the in-place condition of the goods is achieved. According to the design, redundancy guarantee can be provided when the single-point type detection mechanism fails, the problems of dislocation, collision and the like in the carrying process are avoided, and the adaptability and the stability of the detection device are remarkably improved. The load displacement detection device is simple in structure and easy to implement, can be widely applied to multiple fields of factory workshops, warehouse management and the like, and effectively improves the performance and safety of the forklift AGV in an intelligent logistics handling system.

Description

TECHNICAL FIELD

[0001] The utility model relates to intelligent logistics technical field especially, a kind of load displacement detection device applied to fork truck AGV fork arm root. BACKGROUND

[0002] With the continuous progress of fork truck industry and AGV (Automated Guided Vehicle, automated guided vehicle) technology, fork truck AGV has gradually become the key core component in intelligent logistics handling system, and is widely used in factory workshop, warehouse management, circulation center and distribution center and multiple fields.In these scenarios, the goods in-place detection mechanism as a vital part on fork truck AGV undertakes the heavy responsibility of detecting the state of goods.Due to its relatively simple structure and wide scene applicability, the goods in-place detection mechanism has been widely used on fork truck AGV.

[0003] However, the current mainstream fork truck AGV on the market mostly adopts single-point in-place detection mechanism.In the case of failure, this mechanism often cannot timely and accurately detect the actual in-place condition of goods, which may cause misplacement, collision and even goods damage during the handling process of fork truck AGV, seriously affecting the accuracy and safety of logistics handling.In addition, the single-point in-place detection mechanism has relatively insufficient reliability and stability when facing complex and variable logistics environment, and it is difficult to meet the growing intelligent and automated demand.Therefore, how to improve the reliability of fork truck AGV goods in-place detection mechanism has become a technical problem to be solved. UTILITY MODEL CONTENT

[0004] The main purpose of the utility model is to provide a load displacement detection device applied to fork truck AGV fork arm root, to solve the technical problem of insufficient reliability and stability of single-point in-place detection mechanism in the prior art when facing complex and variable logistics environment.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical scheme: a load displacement detection device applied to fork truck AGV fork arm root, comprising:

[0006] The first displacement detection mechanism and the second displacement detection mechanism;

[0007] The first displacement detection mechanism is arranged at the first fork arm root of the target fork truck AGV, for detecting the displacement and / or speed between the target load and the first displacement detection mechanism; the second displacement detection mechanism has the same structure as the first displacement detection mechanism, and the second displacement detection mechanism is arranged at the second fork arm root of the target fork truck AGV, for measuring the displacement and / or speed between the target load and the second displacement detection mechanism.

[0008] Optionally, the first displacement detection mechanism comprises a sensing plate, an elastic member and a displacement sensor.

[0009] The sensing plate is slidably mounted on the first fork arm and can slide linearly along the axial direction of the first fork arm; one end of the elastic member is fixedly connected with the first fork arm, and the other end is fixedly connected with the sensing plate, so as to make the sensing plate move linearly under the joint action of the target load and the elastic member; the displacement sensor is fixedly mounted at the root of the first fork arm, and is used to detect the displacement and / or speed of the sensing plate.

[0010] Optionally, the displacement sensor comprises a telescopic pull rope sensor.

[0011] The base end of the telescopic pull rope sensor is fixedly mounted at the root of the first fork arm, and the pull rope end of the telescopic pull rope sensor is fixedly connected with the sensing plate.

[0012] Optionally, the device further comprises a sliding assembly.

[0013] One end of the sliding assembly is fixedly mounted at the root of the first fork arm, and the other end is connected with the sensing plate, and the extension direction is the same as the axial direction of the first fork arm, so as to make the sensing plate move linearly under the constraint of the sliding assembly.

[0014] Optionally, the sliding assembly comprises a sliding block mounting seat, a sliding block and a sliding rail.

[0015] The sliding block mounting seat is fixedly mounted on the first fork arm, the sliding block is fixedly mounted on the sliding block mounting seat, and the sliding rail is slidably connected with the sliding block, and the first end of the sliding rail is fixedly connected with the sensing plate, so as to make the sliding rail move linearly under the constraint of the sliding block.

[0016] Optionally, the elastic member comprises a compression spring.

[0017] The compression spring connects the sensing plate and the sliding block mounting seat through the sliding rail; one end of the compression spring is fixedly connected with the second end of the sliding rail, and the other end is fixedly connected with the sliding block mounting seat.

[0018] Optionally, the device further comprises a protection mechanism.

[0019] The protection mechanism adopts an open box structure, the protection mechanism is fixedly mounted at the root of the first fork arm, the base end of the telescopic pull rope sensor is arranged inside the protection mechanism, and the sensing plate is arranged outside the protection mechanism and opposite to the opening position of the protection mechanism.

[0020] Optionally, the device further comprises a mounting base.

[0021] The installation base is fixedly installed at the root of the first fork arm; the base end of the telescopic pull rope sensor, the protection mechanism and the sliding block mounting seat are all fixedly installed on the installation base.

[0022] Optionally, the protection mechanism comprises a left baffle and a right baffle.

[0023] The left baffle and the right baffle are respectively detachably installed on the left and right sides of the protection mechanism.

[0024] Optionally, the first displacement detection mechanism comprises a laser displacement sensor.

[0025] The laser displacement sensor sends laser to the target load to detect the displacement and / or speed between the target load and the first displacement detection mechanism.

[0026] The load displacement detection device applied to the root of the fork truck AGV fork arm has at least the following beneficial effects:

[0027] By simultaneously arranging the first displacement detection mechanism and the second displacement detection mechanism with the same structure at the first fork arm root and the second fork arm root, double detection of the displacement and / or speed of the target load is realized. This double detection mechanism can provide redundancy protection when the single-point type in-place detection mechanism fails, timely and accurately detect the actual in-place condition of the goods, effectively avoid the problems such as misplacement, collision and even goods damage that may occur during the handling of the fork truck AGV, and improve the reliability and accuracy of detection. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 A load displacement detection device applied to the root of the fork truck AGV fork arm provided by the utility model is shown in the principle structure schematic view;

[0029] Figure 2 A first displacement detection mechanism installed in the load displacement detection device applied to the root of the fork truck AGV fork arm provided by the utility model is shown in the principle structure schematic view;

[0030] Figure 3 A sliding assembly installed in the load displacement detection device applied to the root of the fork truck AGV fork arm provided by the utility model is shown in the principle structure schematic view;

[0031] Figure 4 A sliding assembly and a protection mechanism installed in the load displacement detection device applied to the root of the fork truck AGV fork arm provided by the utility model are shown in the principle structure schematic view;

[0032] Figure 5 A principle structure schematic view of the protection mechanism provided by the utility model is shown in the principle structure schematic view;

[0033] Figure 6The utility model provides a kind of applied to the load displacement detection device principle structure schematic view of fork truck AGV fork arm root part for the utility model provides a kind of applied to the load displacement detection device principle structure schematic view of fork truck AGV fork arm root part;

[0034] Reference signs:

[0035] Target fork truck-1, first displacement detection mechanism-2, first fork arm-3 and second displacement detection mechanism-4, second fork arm-5, inductive plate-6, elastic member-7, displacement sensor-8, sliding block mounting seat-9, sliding block-10, sliding rail-11, compression spring-12, protection mechanism-13, installation base-14, left baffle-15, right baffle-16. DETAILED DESCRIPTION

[0036] The technical solutions in the embodiments of the present application will be described clearly and completely 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, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work belong to the scope of protection of the present application.

[0037] Reference to "an embodiment" in this text means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application. The phrase appears at various positions in the specification does not necessarily all refer to the same embodiment, nor is it necessarily mutually exclusive or alternative embodiments to other embodiments. Those skilled in the art explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0038] Embodiment one

[0039] Please refer to Figure 1 , Figure 1 The utility model provides a kind of applied to the load displacement detection device principle structure schematic view of fork truck AGV fork arm root part for the utility model provides a kind of applied to the load displacement detection device principle structure schematic view of fork truck AGV fork arm root part, including: first displacement detection mechanism 2 and second displacement detection mechanism 4;

[0040] The first displacement detection mechanism 2 is arranged at the root of the first fork arm 3 of the target fork truck 1, for detecting the displacement and / or speed between the target load and the first displacement detection mechanism 2;The second displacement detection mechanism 4 is the same as the structure of the first displacement detection mechanism 2, the second displacement detection mechanism 4 is arranged at the root of the second fork arm 5 of the target fork truck 1, for measuring the displacement and / or speed between the target load and the second displacement detection mechanism 4.

[0041] Specifically, the load displacement detection device applied to the fork arm root of the forklift AGV disclosed in the present application relates to a device integrating a first displacement detection mechanism 2 and a second displacement detection mechanism 4. Among them, the forklift AGV (Automated Guided Vehicle) refers to an automatic guided vehicle, which is a forklift with automatic navigation function; the fork arm root is a component on the forklift AGV for installing and supporting the fork arm, and the fork arm is directly used for carrying and transporting the load; the first displacement detection mechanism 2 and the second displacement detection mechanism 4 are both sensor assemblies for accurately measuring displacement and / or speed.

[0042] The reason for designing the load displacement detection device is that in the automatic warehouse and logistics system, the forklift AGV needs to accurately control the carrying process of the load, including the displacement and speed of the load, to ensure the safety and efficiency of the carrying operation. By respectively setting the first displacement detection mechanism 2 and the second displacement detection mechanism 4 with the same structure on the two fork arm roots of the forklift AGV, the displacement change of the load relative to the two fork arm roots can be monitored in real time, so as to realize accurate control of the load carrying process and avoid safety hazards such as load deviation or collision.

[0043] In specific implementation, the first displacement detection mechanism 2 is fixedly installed at the root of the first fork arm 3 of the target forklift 1, which is designed to detect the relative displacement and / or speed between the target load (i.e. the goods carried by the forklift AGV) and the detection mechanism. Similarly, the second displacement detection mechanism 4 is installed at the root of the second fork arm 5 with the same structure, and performs the same detection function. The two displacement detection mechanisms can be realized based on laser ranging, ultrasonic ranging, magnetostrictive displacement measurement or other high-precision displacement measurement technologies. Through the data processing unit receiving and analyzing the signals from the two displacement detection mechanisms, the system can calculate the displacement and speed of the load in real time, and then guide the forklift AGV to carry out accurate carrying operation.

[0044] The load displacement detection device described in the present application can significantly improve the operation accuracy and safety of the forklift AGV in the automatic logistics system. By monitoring the displacement and / or speed of the load at the two fork arm roots in real time and accurately, the system can timely find and correct the deviation of the load, effectively prevent collision accidents during the carrying process. In addition, the device also provides technical support for realizing more efficient logistics scheduling and more precise carrying control, which helps to improve the operation efficiency and automation level of the entire logistics system.

[0045] In one possible implementation, the device also includes an execution mechanism that can significantly improve the safety and efficiency of the forklift AGV's handling operations in an automated logistics system. This execution mechanism is connected to the first displacement detection mechanism 2 and the second displacement detection mechanism 4 through electrical connections, and is designed to trigger corresponding response actions according to the following four specific electrical signal combinations:

[0046] When the first displacement detection mechanism 2 sends an electrical signal, and the second displacement detection mechanism 4 does not send a signal;

[0047] When the second displacement detection mechanism 4 sends an electrical signal, and the first displacement detection mechanism 2 does not send a signal;

[0048] When the first displacement detection mechanism 2 and the second displacement detection mechanism 4 send electrical signals at the same time;

[0049] When the first displacement detection mechanism 2 and the second displacement detection mechanism 4 do not send signals.

[0050] In specific implementation, the execution mechanism is connected to the first displacement detection mechanism 2 and the second displacement detection mechanism 4 through precise electrical connections, forming a high-efficiency and precise closed-loop control system. The operation logic of this system is as follows:

[0051] If the first displacement detection mechanism 2 sends an electrical signal independently, and the second displacement detection mechanism 4 remains silent, it usually means that the load has shifted in a specific direction. At this time, the execution mechanism will respond quickly, for example, by adjusting the driving direction of the forklift AGV, accurately correcting the shift of the load, and ensuring the stability and accuracy of the handling operation.

[0052] On the contrary, when the second displacement detection mechanism 4 sends an electrical signal alone, and the first displacement detection mechanism 2 has no signal output, it often indicates that the load has shifted in the opposite direction. In response to this, the execution mechanism will perform corresponding reverse adjustment actions, such as changing the driving direction of the forklift AGV to correct the reverse shift of the load, thereby maintaining the normal progress of the handling operation.

[0053] When both displacement detection mechanisms send electrical signals at the same time, it is usually a positive signal indicating that the load has been successfully lowered to the predetermined position. At this time, the execution mechanism will timely trigger the next handling operation, such as preparing to lift or move the next load, to improve the overall handling efficiency.

[0054] When both displacement detection mechanisms do not send signals, it may mean that the load is currently in a stationary state, or has not yet reached the expected lowered position. In this case, the execution mechanism will choose to enter standby mode according to the actual situation, to maintain reasonable use of energy, or continue to perform the current handling operation until the load reaches the predetermined position.

[0055] It is worth noting that the specific implementation of these response actions is not fixed, but highly dependent on the control system characteristics of the forklift AGV and the type and design of the actuator. Therefore, in actual application, the response logic of the actuator can be flexibly configured and optimized according to the specific handling requirements and performance characteristics of the forklift AGV. The mechanism triggers the corresponding response action according to the four specific electrical signal combinations, and the actuator can identify and respond to the displacement state of the load in real time and accurately, so as to avoid safety hazards such as collision and deviation. In addition, the actuator also helps to optimize the handling path, improve the handling efficiency, and reduce the energy consumption, providing strong technical support for the efficient operation of the automated logistics system.

[0056] Embodiment two

[0057] On the basis of the above-mentioned embodiment one, the load displacement detection device applied to the root of the forklift AGV fork arm provided by the application embodiment also provides another load displacement detection device applied to the root of the forklift AGV fork arm, please refer to Figure 2 , Figure 2 A first displacement detection mechanism provided by the utility model is installed in a load displacement detection device applied to the root of a forklift AGV fork arm, and a principle structure schematic view of the load displacement detection device is shown in the figure, which comprises: a first displacement detection mechanism 2 and a second displacement detection mechanism 4.

[0058] The first displacement detection mechanism 2 is arranged at the root of the first fork arm 3 of the target forklift 1 and is used for detecting the displacement and / or speed between the target load and the first displacement detection mechanism 2; the second displacement detection mechanism 4 has the same structure as the first displacement detection mechanism 2, and the second displacement detection mechanism 4 is arranged at the root of the second fork arm 5 of the target forklift 1 and is used for measuring the displacement and / or speed between the target load and the second displacement detection mechanism 4.

[0059] The first displacement detection mechanism 2 comprises: a sensing plate 6, an elastic member 7 and a displacement sensor 8.

[0060] The sensing plate 6 is slidably installed on the first fork arm 3 and can slide linearly along the axial direction of the first fork arm 3; one end of the elastic member 7 is fixedly connected with the first fork arm 3, and the other end is fixedly connected with the sensing plate 6, so as to make the sensing plate 6 move linearly under the joint action of the target load and the elastic member 7; the displacement sensor 8 is fixedly installed at the root of the first fork arm 3 and is used for detecting the displacement and / or speed of the sensing plate 6.

[0061] Specifically, in the present embodiment, the first displacement detection mechanism 2 is a key component, which is composed of three parts: the sensing plate 6, the elastic member 7, and the displacement sensor 8. The sensing plate 6 is designed to be slidably mounted on the first fork arm 3, capable of linear sliding along the axial direction of the first fork arm 3 in response to the displacement of the load. The elastic member 7 serves as a connecting element, one end of which is fixedly connected to the first fork arm 3, and the other end is fixedly connected to the sensing plate 6. It uses its own elastic force to make the sensing plate 6 move linearly under the combined action of the target load and the elastic force. The displacement sensor 8 is fixedly installed at the root of the first fork arm 3, responsible for accurately detecting the displacement and / or speed of the sensing plate 6, thereby realizing real-time monitoring of the load displacement.

[0062] In the present embodiment, in order to realize accurate monitoring of the load displacement of the forklift AGV during the handling operation, a detection device capable of accurately reflecting the load displacement in real time is needed. The combined design of the sensing plate 6 and the elastic member 7 can ensure that the sensing plate 6 can slide linearly along the axial direction of the first fork arm 3 under the action of the load, thereby intuitively reflecting the displacement of the load. The introduction of the displacement sensor 8 can convert this displacement into an electrical signal for output, facilitating subsequent data processing and response of the control system. Through this design, real-time monitoring and accurate control of the load displacement can be achieved, improving the handling efficiency and safety of the forklift AGV.

[0063] In one possible implementation, the sensing plate 6 is installed on the first fork arm 3 through sliding guide rails or sliding bearings, etc. sliding connection elements, ensuring smooth linear sliding along the axial direction of the first fork arm 3. The elastic member 7 can be made of materials with elastic restoring force such as springs, elastic rubber, etc. One end is connected to the first fork arm 3 through bolt, welding, etc. fixed way, the other end is fixedly connected with the sensing plate 6. The displacement sensor 8 is fixedly installed at the root of the first fork arm 3, which can be of photoelectric, magneto-electric, capacitive, etc. type, and the appropriate sensor model and installation method can be selected according to actual needs. When the load acts on the fork arm of the forklift AGV, the sensing plate 6 moves linearly under the combined action of the target load and the elastic member 7, and the displacement sensor 8 detects the displacement and / or speed of the sensing plate 6 in real time, and outputs the detected data to the control system for processing.

[0064] The first displacement detection mechanism 2 described in the embodiment can significantly improve the monitoring accuracy and response speed of the forklift AGV during the handling operation. The combination of the induction plate 6 and the elastic member 7 can ensure smooth linear sliding under the action of the load, thereby realizing real-time and accurate monitoring of the load displacement. The introduction of the displacement sensor 8 converts this displacement condition into an electrical signal for output, facilitating subsequent data processing and rapid response of the control system. Through this design, not only can the handling efficiency and safety of the forklift AGV be improved, but also the risk of damage to goods and accidents caused by inaccurate load displacement can be reduced. At the same time, the displacement detection mechanism has a simple structure, is easy to install and maintain, and has high practicality and reliability.

[0065] In a preferred embodiment, the displacement sensor 8 includes a retractable pull cord sensor. The base end of the retractable pull cord sensor is fixedly installed at the root of the first fork arm 3, and the pull cord end of the retractable pull cord sensor is fixedly connected with the induction plate 6.

[0066] Specifically, in the embodiment, the retractable pull cord sensor is a sensor that measures displacement by using the stretching and deformation of the pull cord. It is usually composed of a base end, a pull cord end, and a sensing element. The base end is fixedly installed at the root of the first fork arm 3 as a fixed support point of the sensor, and the pull cord end is fixedly connected with the induction plate 6 and stretches and contracts with the sliding of the induction plate 6, thereby reflecting the displacement of the load.

[0067] The retractable pull cord sensor is chosen as the type of displacement sensor 8 mainly based on its high precision, high reliability, and easy installation. In the handling operation of the forklift AGV, the displacement of the load needs to be accurately monitored to ensure the stability and safety of the handling process. The retractable pull cord sensor can measure the displacement of the induction plate 6 in real time and accurately, and convert this displacement condition into an electrical signal for output, facilitating the response of the subsequent data processing and control system. In addition, its simple structure, easy installation and maintenance also improve the practicality and reliability of the entire load displacement detection device.

[0068] In one possible implementation, the base end of the telescopic pull rope sensor is connected to the root of the first fork arm 3 by means of bolts, welding, or other fixing methods to ensure its stability and reliability. The pull rope end is fixedly connected to the sensing plate 6 through a connecting piece (such as a buckle, a clip, etc.) and extends and contracts with the sliding of the sensing plate 6 under the action of the load. The sensing element is responsible for converting the extension and contraction deformation of the pull rope into an electrical signal for output, which is then transmitted to the control system for processing. During installation, it is necessary to ensure that the extension and contraction direction of the pull rope is consistent with the sliding direction of the sensing plate 6 to ensure the accuracy of the measurement. At the same time, the sensor needs to be calibrated and debugged to ensure that its measurement accuracy and response speed meet the design requirements. The use of a telescopic pull rope sensor as a displacement sensor 8 can significantly improve the monitoring accuracy and response speed of the load displacement of the forklift AGV during the handling operation.

[0069] In a preferred embodiment, the device further comprises a sliding assembly, one end of which is fixedly installed at the root of the first fork arm 3, and the other end is connected to the sensing plate 6, with the extension direction being consistent with the axial direction of the first fork arm 3, for enabling the sensing plate 6 to move linearly under the constraint of the sliding assembly.

[0070] Specifically, in this embodiment, the sliding assembly is a newly added key component. One end of it is fixedly installed at the root of the first fork arm 3 as a basis for support and guidance, and the other end is connected to the sensing plate 6 to ensure that the sensing plate 6 can move linearly under its constraint. The extension direction of the sliding assembly is consistent with the axial direction of the first fork arm 3, so that the sensing plate 6 can smoothly and stably slide in this direction, thereby accurately reflecting the displacement of the load.

[0071] In this embodiment, the sliding assembly is used to ensure that the sensing plate 6 can slide in the predetermined straight line direction under the action of the load, while reducing the frictional resistance and wear during sliding, improving the accuracy and stability of displacement detection. The design of the sliding assembly can provide a smooth and low-friction sliding surface, so that the sensing plate 6 maintains a stable motion trajectory during sliding. In addition, the introduction of the sliding assembly can also enhance the structural stability and durability of the entire load displacement detection device, prolonging its service life.

[0072] In a possible implementation manner, the sliding assembly can adopt linear guide rails, sliding bearings or other components with guiding and supporting functions. One end thereof is connected to the root of the first fork arm 3 through a bolt, welding or other fixing modes, so as to ensure stability and reliability. The other end is connected to the induction plate 6 through a connecting piece (such as a buckle, a clip or the like) or is directly integrated with the induction plate 6, so as to ensure that the induction plate 6 can perform linear motion under the constraint of the sliding assembly. The extension direction of the sliding assembly needs to be consistent with the axial direction of the first fork arm 3, so as to ensure that the induction plate 6 can slide in the correct direction. Meanwhile, the material and lubrication mode of the sliding assembly also need to be selected according to the actual application scene, so as to ensure that the sliding assembly has good wear resistance, corrosion resistance and low friction characteristics. After the sliding assembly is adopted, the load displacement detection device can perform higher accuracy and stability in the handling operation of the forklift AGV.

[0073] In a preferred embodiment, the sliding assembly comprises a sliding block mounting seat 9, a sliding block 10 and a sliding rail 11. Figure 3 A load displacement detection device principle structure schematic view applied to a forklift AGV fork arm root is provided in the utility model, as shown in Figure 3 The sliding block mounting seat 9 is fixedly installed on the first fork arm 3, the sliding block 10 is fixedly installed on the sliding block mounting seat 9, the sliding rail 11 is slidably connected with the sliding block 10, and the first end of the sliding rail 11 is fixedly connected with the induction plate 6, so as to enable the sliding rail 11 to perform linear motion under the constraint of the sliding block 10.

[0074] Specifically, in the embodiment, the sliding assembly is specifically composed of the sliding block mounting seat 9, the sliding block 10 and the sliding rail 11. The sliding block mounting seat 9 is stably installed on the first fork arm 3 as a fixed base; the sliding block 10 is fixedly installed on the sliding block mounting seat 9, so as to form a stable sliding support point; the sliding rail 11 is slidably connected with the sliding block 10, so that the sliding rail 11 can slide along a predetermined linear direction under the constraint of the sliding block 10. The first end of the sliding rail 11 is fixedly connected with the induction plate 6, so that, when a load acts on the fork arm, the induction plate 6 performs linear motion under the constraint of the sliding block 10 through the sliding rail 11, thereby realizing detection of the load displacement.

[0075] In this embodiment, the combination of slider mounting seat 9, slider 10 and slide rail 11 is designed to ensure that the induction plate 6 can slide along a precise straight line under the action of the load, while reducing friction and wear during sliding, and improving the accuracy and stability of displacement detection. The combination of slider mounting seat 9, slider 10 and slide rail 11 can provide a stable, smooth and low-friction sliding environment, so that the induction plate 6 can maintain a stable motion trajectory during sliding. In addition, this design can also enhance the structural stability and durability of the entire load displacement detection device, ensuring its continuous and accurate operation in long-term and frequent handling operations.

[0076] In one possible implementation, the slider mounting seat 9 is connected to the first fork arm 3 by bolts, welding or other fixing methods to ensure its stability and reliability. The slider 10 is fixedly installed on the slider mounting seat 9 by fasteners or integrated design, forming a stable sliding support structure. The slide rail 11 and the slider 10 are designed with precise cooperation to ensure that the slide rail 11 can move smoothly and stably in a straight line under the constraint of the slider 10. The first end of the slide rail 11 is fixedly connected to the induction plate 6 through a connecting member such as a bolt, a buckle, etc. In this way, when the load acts on the fork arm, the induction plate 6 reflects the displacement of the load through the sliding of the slide rail 11. At the same time, in order to reduce friction and wear during sliding, a lubricant can be added between the slider 10 and the slide rail 11 or made of wear-resistant material. After using the sliding assembly, the load displacement detection device can perform more accurate and stable handling operations in the forklift AGV.

[0077] In a preferred embodiment, the elastic member 7 includes a compression spring 12, the compression spring 12 connects the induction plate 6 and the slider mounting seat 9 through the slide rail 11, one end of the compression spring 12 is fixedly connected to the second end of the slide rail 11, and the other end is fixedly connected to the slider mounting seat 9.

[0078] Specifically, in this embodiment, the compression spring 12 is an element that can elastically deform under the action of external force, and resists the compression of external force through restoring force. The compression spring 12 connects the induction plate 6 and the slider mounting seat 9 through the slide rail 11, one end is fixedly connected to the second end of the slide rail 11, and the other end is fixedly connected to the slider mounting seat 9. In this way, when the load acts on the fork arm, the compression spring 12 can absorb and buffer the impact force generated by the load, and drive the induction plate 6 to move linearly on the slide rail 11 through its elastic deformation, thereby realizing the detection of load displacement.

[0079] In one possible implementation, one end of the compression spring 12 is fixedly connected with the second end of the sliding rail 11 through a fastener (such as a bolt, a nut, etc.), and the other end is connected with the fixed structure on the sliding block mounting seat 9 through a similar fastener or directly. In this way, when a load acts on the fork arm, the compression spring 12 can absorb the impact force generated by the load and drive the sliding rail 11 and the sensing plate 6 to move linearly through its elastic deformation. In order to ensure the stability and reliability of the compression spring 12, a suitable material (such as high-quality spring steel) and manufacturing process are required to manufacture the compression spring 12, and strict detection and testing are required. In addition, the stiffness and pre-tightening force of the compression spring 12 need to be selected according to the actual application scene and load range to ensure that it can meet the detection requirements.

[0080] The load displacement detection device using the compression spring 12 is more accurate and stable in the forklift AGV operation, can reflect the load displacement, drive the sensing plate 6 to move linearly, and provide reliable signals. At the same time, the stability and durability of the device structure are improved, and it is suitable for complex environments. Adjusting the spring stiffness and pre-tightening force can realize flexible detection and improve the applicability and practicality of the device.

[0081] In one preferred embodiment, the device further comprises a protection mechanism 13. Figure 4 A sliding assembly and a protection mechanism provided by the present application are installed in a load displacement detection device principle structure schematic view applied to the root of the forklift AGV fork arm, Figure 5 A principle structure schematic view of a protection mechanism, Figure 6 A principle structure schematic view of a load displacement detection device applied to the root of the forklift AGV fork arm, as Figure 4 、 Figure 5 and Figure 6 shown, the protection mechanism 13 adopts an open box structure, the protection mechanism 13 is fixedly installed at the root of the first fork arm 3, the base end of the telescopic pull rope sensor is arranged inside the protection mechanism 13, and the sensing plate 6 is arranged outside the protection mechanism 13 and opposite the open position of the protection mechanism 13;

[0082] Preferably, the device further comprises a mounting base 14.

[0083] The mounting base 14 is fixedly installed at the root of the first fork arm 3; the base end of the telescopic pull rope sensor, the protection mechanism 13, and the sliding block mounting seat 9 are all fixedly installed on the mounting base 14.

[0084] Preferably, the protection mechanism 13 comprises a left baffle 15 and a right baffle 16.

[0085] The left baffle 15 and the right baffle 16 are respectively detachably installed on the left and right sides of the protection mechanism 13.

[0086] Specifically, in this embodiment, the protection mechanism 13 is an open box structure designed to protect the retractable cord sensor inside from external environmental interference and physical damage. The protection mechanism 13 is fixedly installed at the root of the first fork arm 3, with its opening position facing the sensing plate 6, ensuring that the sensing plate 6 can accurately perceive the load displacement and transmit signals. In addition, the installation base 14 serves as a fixed support for stably installing the base end of the retractable cord sensor, the protection mechanism 13, and the slider mounting seat 9 on the root of the first fork arm 3. The left and right baffles 15 and 16, as components of the protection mechanism 13, are detachably installed on the left and right sides of the protection mechanism 13, facilitating maintenance and replacement.

[0087] The reason for adopting the protection mechanism 13 is that the fork arm root and the load displacement detection device connected thereto are susceptible to dust, moisture, vibration, and other external environmental factors during the handling operation of the forklift AGV, leading to performance degradation or damage of the sensor. By introducing the protection mechanism 13, these adverse factors can be effectively isolated, protecting the sensor from damage and improving the stability and reliability of the detection device. At the same time, the design of the installation base 14 makes the connection between components more stable, improving the structural strength of the entire device. The detachable design of the left and right baffles 15 and 16 facilitates cleaning and maintenance of the interior of the protection mechanism 13.

[0088] In one possible implementation, the protection mechanism 13 is made of a sturdy and durable material, such as metal or high-strength plastic, to ensure that it can withstand various mechanical stresses and environmental factors during the operation of the forklift AGV. The installation base 14 is connected to the root of the first fork arm 3 through bolting, welding, or other fixed methods, ensuring stability and reliability. The base end of the retractable cord sensor, the protection mechanism 13, and the slider mounting seat 9 are all fixedly installed on the installation base 14 through fasteners or integrated design. The left and right baffles 15 and 16 are detachably connected to the left and right sides of the protection mechanism 13 through buckling, bolting, or other detachable connection methods, facilitating disassembly and replacement. The sensing plate 6 is arranged outside the protection mechanism 13 and faces the opening position, ensuring that it can accurately perceive the load displacement and transmit signals to the sensor.

[0089] After adopting the protection mechanism 13 and the installation base 14, the load displacement detection device exhibits higher stability and reliability during the handling operation of the forklift AGV. The protection mechanism 13 effectively isolates the adverse effects of the external environment on the sensor, prolonging the service life of the sensor. At the same time, the design of the installation base 14 makes the connection between components more stable, improving the structural strength and shock resistance of the entire device. The detachable design of the left and right baffles 15 and 16 facilitates cleaning and maintenance of the interior of the protection mechanism 13, reducing maintenance costs. In addition, this design improves the applicability and flexibility of the detection device, enabling it to adapt to various complex working environments and handling requirements.

[0090] Embodiment Three

[0091] On the basis of the above-mentioned embodiment one, the load displacement detection device applied to the fork arm root of the forklift AGV provided by the embodiment of the application further comprises a first displacement detection mechanism 2 and a second displacement detection mechanism 4. Figure 1

[0092] The first displacement detection mechanism 2 is arranged at the root of the first fork arm 3 of the target forklift 1, and is used for detecting the displacement and / or speed between the target load and the first displacement detection mechanism 2; the second displacement detection mechanism 4 has the same structure as the first displacement detection mechanism 2, and is arranged at the root of the second fork arm 5 of the target forklift 1, and is used for measuring the displacement and / or speed between the target load and the second displacement detection mechanism 4.

[0093] The first displacement detection mechanism 2 comprises a laser displacement sensor 8.

[0094] The laser displacement sensor 8 sends laser to the target load to detect the displacement and / or speed between the target load and the first displacement detection mechanism 2.

[0095] Specifically, in the embodiment, the laser displacement sensor 8 is a non-contact measuring device, which emits a laser beam to the target load and receives the reflected laser signal to accurately measure the displacement and / or speed between the target load and the sensor. Such a sensor has the advantages of high precision, high response speed and long measurement distance.

[0096] The reason for using the laser displacement sensor 8 as the first displacement detection mechanism 2 is that the forklift AGV needs to accurately and real-timely monitor the displacement of the target load during the handling operation. The laser displacement sensor 8 can accurately capture the slight displacement change of the target load due to its high precision and high response speed, and provide reliable input signals for the control system. In addition, the non-contact measurement method of the laser displacement sensor 8 avoids friction and wear caused by contact, prolongs the service life of the sensor, and improves the accuracy of measurement.

[0097] In a possible implementation manner, the laser displacement sensor 8 is fixedly installed at a proper position of the fork arm root of the forklift AGV to ensure that its laser beam can accurately irradiate on the target load. The sensor emits a laser beam to the target load through the built-in optical system and signal processing circuit, and receives the reflected laser signal. By processing and analyzing the received signal, the sensor can calculate the displacement and / or speed between the target load and the sensor, and transmit the information to the control system in real time. In order to further improve the accuracy of measurement, the laser displacement sensor 8 can also be calibrated and debugged to ensure the accuracy of the measurement results.​

[0098] After adopting the laser displacement sensor 8 as the first displacement detection mechanism 2, the load displacement detection device shows higher precision and stability in the handling operation of the forklift AGV. The laser displacement sensor 8 can accurately and timely monitor the displacement change of the target load, and provide reliable input signals for the control system, so as to realize accurate control of the handling operation of the forklift AGV. In addition, the non-contact measurement mode of the laser displacement sensor 8 avoids errors and wear caused by contact, improves the accuracy of measurement and the service life of the sensor.

[0099] The above is only the preferred embodiment of the present application, and does not limit the patent range of the present application, and any equivalent structure or equivalent process transformation using the content of the present application specification and drawings, or direct or indirect application in other related technical fields, are also included in the patent protection range of the present application.

Claims

1. A load displacement detection device applied to the root of the fork arm of a forklift AGV, characterized in that, include: First displacement detection mechanism and second displacement detection mechanism; The first displacement detection mechanism is disposed at the root of the first fork arm of the target forklift AGV and is used to detect the displacement and / or speed between the target load and the first displacement detection mechanism; the second displacement detection mechanism has the same structure as the first displacement detection mechanism and is disposed at the root of the second fork arm of the target forklift AGV and is used to measure the displacement and / or speed between the target load and the second displacement detection mechanism.

2. The load displacement detection device applied to the root of the fork arm of a forklift AGV as described in claim 1, characterized in that, The first displacement detection mechanism includes: a sensing plate, an elastic element, and a displacement sensor; The sensing plate is slidably mounted on the first fork arm and can slide linearly along the axial direction of the first fork arm; one end of the elastic element is fixedly connected to the first fork arm and the other end is fixedly connected to the sensing plate, so as to make the sensing plate move linearly under the combined action of the target load and the elastic element; the displacement sensor is fixedly mounted at the root of the first fork arm and is used to detect the displacement and / or speed of the sensing plate.

3. The load displacement detection device applied to the root of the fork arm of a forklift AGV as described in claim 2, characterized in that, The displacement sensor includes: a retractable pull rope sensor; The base end of the retractable pull rope sensor is fixedly installed at the root of the first fork arm, and the pull rope end of the retractable pull rope sensor is fixedly connected to the sensing plate.

4. The load displacement detection device applied to the root of the fork arm of a forklift AGV as described in claim 3, characterized in that, Also includes: Sliding component; One end of the sliding component is fixedly installed at the root of the first fork arm, and the other end is connected to the sensing plate. The extension direction is in the same direction as the axial direction of the first fork arm, so that the sensing plate can move linearly under the constraint of the sliding component.

5. The load displacement detection device applied to the root of the fork arm of a forklift AGV as described in claim 4, characterized in that, The sliding assembly includes: a slider mounting base, a slider, and a slide rail; The slider mounting base is fixedly mounted on the first fork arm, the slider is fixedly mounted on the slider mounting base, the slide rail is slidably connected to the slider, and the first end of the slide rail is fixedly connected to the sensing plate, so that the slide rail can move linearly under the constraint of the slider.

6. The load displacement detection device applied to the root of the fork arm of a forklift AGV as described in claim 5, characterized in that, The elastic element includes: a compression spring; The compression spring connects the sensing plate and the slider mounting base via the slide rail; one end of the compression spring is fixedly connected to the second end of the slide rail, and the other end is fixedly connected to the slider mounting base.

7. A load displacement detection device applied to the root of the fork arm of a forklift AGV as described in claim 5, characterized in that, Also includes: Protective facilities; The protective mechanism adopts an open box-shaped structure. The protective mechanism is fixedly installed at the root of the first fork arm. The base end of the retractable pull rope sensor is located inside the protective mechanism. The sensing plate is located outside the protective mechanism and faces the opening of the protective mechanism.

8. The load displacement detection device applied to the root of the fork arm of a forklift AGV as described in claim 7, characterized in that, Also includes: Mounting base; The mounting base is fixedly installed at the root of the first fork arm; the base end of the retractable pull rope sensor, the protective mechanism, and the slider mounting seat are all fixedly installed on the mounting base.

9. A load displacement detection device applied to the root of the fork arm of a forklift AGV as described in claim 7, characterized in that, The protective mechanism includes: a left baffle and a right baffle; The left baffle and the right baffle are detachably installed on the left and right sides of the protective mechanism, respectively.

10. The load displacement detection device applied to the root of the fork arm of a forklift AGV as described in claim 1, characterized in that, The first displacement detection mechanism includes: a laser displacement sensor; The laser displacement sensor detects the displacement and / or velocity between the target load and the first displacement detection mechanism by sending a laser beam to the target load.

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