Forklift truck with anti-rollover structure

Abstract

The application discloses a forklift with a rollover prevention structure, and relates to the technical field of logistics and storage equipment. The forklift comprises a support, the support comprises a portal, a fork assembly which is liftable and connectable to the portal, and a lifting mechanism for driving the fork assembly to lift relative to the portal, the fork assembly comprises at least two tines for supporting and lifting goods, the tines have load-bearing surfaces for supporting the goods, and the load-bearing surfaces of at least two tines are provided with detection pieces for detecting whether the goods contact the load-bearing surfaces. The above scheme sets the detection pieces on the load-bearing surfaces of the tines, monitors the contact state of the goods and the load-bearing surfaces, and judges the rollover risk of the goods.

Description

Technical Field

[0001] This application relates to the field of logistics and warehousing equipment technology, and in particular to a forklift with an anti-tipping structure. Background Technology

[0002] In the logistics and warehousing industry, forklifts, as core equipment for cargo handling, are widely used for loading, unloading, transferring, and stacking goods. Existing forklift fork assemblies typically consist of two or more parallel fork tines, which are raised and lowered via a lifting mechanism to lift and place goods. However, in actual operation, due to irregular shapes, shifted centers of gravity, and improper placement of goods, they are prone to tilting or uneven loading on the fork tines, leading to forklift imbalance and a serious risk of tipping over. Therefore, there is an urgent need for a forklift anti-tipping structure capable of detecting the load-bearing status of goods and providing timely warnings of tipping risk, to address the aforementioned deficiencies in existing technologies. Utility Model Content

[0003] This application addresses the problem in the prior art that forklifts are prone to tipping over due to cargo tilting or uneven loading during cargo handling, and lack an effective real-time detection and early warning mechanism. It provides a forklift with an anti-tipping structure, which monitors the contact state between the cargo and the bearing surface by setting detection components on the bearing surface of the fork teeth, and judges the risk of cargo tipping over.

[0004] To achieve the above objectives, this application adopts the following technical solution: A forklift with an anti-tipping structure includes a bracket, the bracket including a mast, a fork assembly that is liftably connected to the mast, and a lifting mechanism for driving the fork assembly to lift relative to the mast. The fork assembly includes at least two fork teeth for supporting and lifting goods, the fork teeth having a bearing surface for supporting the goods, and at least two of the fork teeth having a detection element on the bearing surface for detecting whether the goods are in contact with the bearing surface.

[0005] In the above technical solution, when the fork tines extend into the bottom of the goods and perform a lifting action, the bearing surface contacts the goods and bears the load. Simultaneously, the goods press against the detection elements on the bearing surface, triggering the detection elements to generate contact signals, which are then fed back to the controller. Based on the signal feedback from each detection element, the controller accurately judges the stability of the goods on the bearing surface: if only one detection element corresponding to one bearing surface triggers a signal while the other does not, it indicates that the goods have tilted and there is a risk of tipping over. In this case, the controller will immediately activate an early warning mechanism (such as issuing an alarm) or limit the lifting mechanism from continuing to rise to prevent the risk from escalating; if both detection elements successfully trigger signals, it means that the goods are stably supported on the fork tines, and the forklift can perform normal handling operations. This design, through real-time monitoring and intervention, significantly improves the safety of forklift operation and the stability of goods handling, reducing the risk of goods tipping over and equipment damage during operation.

[0006] Preferably, the detection element is located at the front part of the bearing surface in the fork tooth extension and retraction direction; Alternatively, the detection element may be located at the center of the bearing surface in the fork tooth extension direction; Alternatively, the detection element may be located at the rear of the bearing surface in the fork tooth extension direction.

[0007] In the first technical solution, the detection component is located at the front, suitable for scenarios where the forks cannot easily support goods from the rear. Goods placed at the front can trigger a detection signal, helping to determine if the goods are tilting forward and providing timely warnings of the risk of tilting. In the second technical solution, the detection component is located in the middle, maximizing coverage of the contact area between the goods and the load-bearing surface, comprehensively detecting the contact situation, significantly improving the accuracy of the detection results, and adapting to most handling scenarios for regular goods. In the third technical solution, the detection component is located at the rear, accurately identifying whether the goods are fully inserted into the root area of ​​the forks, ensuring that the center of gravity of the goods is close to the forklift body, fundamentally improving the overall stability of the handling process; if the detection component does not trigger a signal, it indicates that the goods are not fully inserted, posing a risk of tipping over or falling off. In this case, the controller can automatically limit the fork lifting action, or the operator can adjust the position of the goods in a timely manner based on the signal feedback to avoid safety accidents.

[0008] Preferably, at least two detection elements are provided on the bearing surface of a fork tooth. The first detection element is located at the middle position of the bearing surface in the fork tooth extension direction, and the second detection element is located at the front position of the bearing surface in the fork tooth extension direction. Alternatively, at least two detection elements are provided on the bearing surface of a fork tooth, with the first detection element located at the rear of the bearing surface in the fork tooth extension direction and the second detection element located at the front of the bearing surface in the fork tooth extension direction. Alternatively, at least three detection elements are provided on the bearing surface of a fork tooth. The first detection element is located at the middle of the bearing surface in the fork tooth extension direction, the second detection element is located at the front of the bearing surface in the fork tooth extension direction, and the third detection element is located at the rear of the bearing surface in the fork tooth extension direction.

[0009] In the first technical solution, the cooperation of the middle and front dual detection points allows for the determination of whether the goods are too far forward or tilted forward when only the front detection point is triggered and the middle one is not. It also helps to locate whether the center of gravity of the goods is too close to the front of the fork tines, avoiding the risk of instability due to excessive load on the front of the forklift and insufficient traction on the rear wheels caused by a shift in the center of gravity. Simultaneously, this layout does not require additional detection components, significantly improving the sensitivity to forward tilting risks while controlling costs, making it particularly suitable for high-frequency handling scenarios involving light and medium-sized goods. In the second technical solution, the front and rear detection points cover the critical boundary areas for goods bearing weight. When only the front detection point is triggered and the rear one is not, it can be determined that the center of gravity of the goods is too far forward, providing an early warning of forward tilting risks. Furthermore, it can determine whether the insertion depth of the goods is insufficient through signal differences, avoiding the risk of goods falling off during handling due to incomplete load-bearing. In the third technical solution, the full coverage of the front, middle, and rear detection points enables a three-dimensional and accurate judgment of the goods' placement status. By combining different detection components, various cargo states can be further categorized: when only the middle part is triggered, it indicates that the cargo is centered; when the front and middle parts are triggered but the rear part is not, it indicates that the cargo is slightly forward but has not reached the forward tilting threshold; when only the front part is triggered, it is directly determined to be a high-risk forward tilting state. These multi-dimensional detection modes can adapt to complex scenarios such as heavy cargo and extra-long cargo, avoiding excessive limitations on operational efficiency while completely preventing safety accidents such as tipping over and falling off, significantly improving the forklift's operational adaptability and reliability.

[0010] Preferably, the detection element includes a first sensor, an elastic element, and a lifting plate floating on the fork teeth. The elastic element is located between the fork teeth and the lifting plate to give it an upward tendency to protrude from the bearing surface, and to make the lifting plate at least partially protrude from the bearing surface. The first sensor is located on the lifting plate or the fork teeth. When the goods are pressed against the lifting plate, the lifting plate moves downward against the elastic force of the elastic element and triggers the first sensor to generate a detection signal.

[0011] In the above technical solution, the lifting platform adopts a floating design. The elastic element exerts an upward force on the lifting platform, keeping it protruding above the bearing surface when there is no cargo load. When cargo is placed on the bearing surface of the fork tines, the cargo exerts pressure on the lifting platform, causing it to move downward against the force of the elastic element. When the downward movement of the lifting platform reaches a preset threshold, the first sensor is triggered and outputs an electrical signal to the controller, confirming that the cargo has made contact with the detection element at that position. By integrating the signals from various detection elements, the controller can determine the center of gravity distribution of the cargo and its stable placement on the bearing surface. This prevents misjudgments caused by accidental contact of the detection elements by dirt or lightweight foreign objects, ensuring that the signal feedback accurately reflects the actual contact state of the cargo.

[0012] Preferably, the lifting plate is slidably disposed on the fork tooth, and the sliding direction of the lifting plate has a component in the vertical direction; Alternatively, one end of the lifting plate is hinged to the fork tooth so that the lifting plate can swing around the hinge end, and the swing direction of the lifting plate has a vertical component.

[0013] In the first technical solution described above, the sliding direction of the lifting plate has a vertical component, allowing it to generate vertical displacement when subjected to cargo pressure. This effectively transmits the cargo pressure to the elastic element and sensor, ensuring accurate signal reception by the sensor. In the second technical solution, the lifting plate is hinged to the fork teeth, and its swing direction also has a vertical component. When compressed, it generates vertical displacement through swinging, triggering the sensor. Both structures allow the lifting plate to move stably while carrying cargo, and, in conjunction with the elastic element, can achieve resetting, making the detection process more reliable.

[0014] Preferably, the lifting plate is provided with a first guide slope on the side facing the suspended end of the fork tooth, and the first guide slope gradually rises from the side close to the suspended end of the fork tooth to the side away from the suspended end of the fork tooth. And / or, the lifting plate is provided with a second guide slope on the side facing the fixed end of the fork tooth, and the second guide slope gradually rises from the side near the suspended end of the fork tooth to the side away from the suspended end of the fork tooth.

[0015] In the first technical solution mentioned above, because the lifting plate protrudes from the bearing surface when unloaded, interference can easily occur between the lifting plate and the bottom of the goods during the insertion of the forks. The first guide ramp can convert the force from the bottom of the goods into a downward component, guiding the lifting plate to move smoothly downwards, avoiding jamming, and ensuring that the forks smoothly enter the bottom of the goods without affecting the work rhythm. In the second technical solution mentioned above, similarly, because the lifting plate protrudes from the bearing surface, the lifting plate may scrape or interfere with the bottom of the goods when the forks retract. The second guide ramp can guide the lifting plate to smoothly detach from the goods during retraction, reducing frictional resistance, avoiding component wear or goods displacement caused by interference, and ensuring a smooth retraction process. In the above technical solutions, the first and second guide ramps can also be used together to simultaneously adapt to the entire process of fork insertion and retraction, comprehensively avoiding interference problems. Both types of guide ramp designs can improve the smoothness and safety of fork operations. In high-frequency loading and unloading scenarios, they can significantly reduce wear on the lifting platform and goods, and reduce equipment failure rate. At the same time, in conjunction with the reset function of the elastic element, it can ensure that the lifting platform quickly returns to the initial position after each operation, further ensuring the stability and accuracy of sensor detection and avoiding abnormal detection signals due to mechanical jamming.

[0016] Preferably, the elastic element is a telescopic spring or a torsion spring.

[0017] Preferably, the first sensor is a pressure sensor, which is fixed to the lifting plate or the fork. When the lifting plate is pressed and moves downward, the lifting plate presses against the detection part of the pressure sensor.

[0018] In the above technical solution, when the goods are placed on the fork tines, the lifting plate presses against the detection part of the first sensor. When the pressure sensor detects a pressure signal, it determines that the goods are completely placed on the forks, triggering load status feedback. Furthermore, by obtaining the specific pressure value from the first sensor and comparing it with the pressure difference value from the second sensor on the two fork tines, it determines whether the center of gravity of the goods has shifted. When the pressure difference exceeds a set threshold, the controller determines that the load distribution is uneven, triggers an alarm, and restricts the forklift's lifting action, thereby effectively preventing tipping accidents caused by tilted goods and ensuring operational safety.

[0019] Preferably, the first sensor is a laser beam sensor, which includes a transmitter and a receiver: When the lifting plate moves downward under pressure, the beam emitted by the transmitting end is blocked. When the lifting plate protrudes from the bearing surface, the beam emitted by the transmitting end can be received by the receiving end. Alternatively, when the lifting plate is pressed downwards, the beam emitted by the transmitting end can be received by the receiving end; when the lifting plate protrudes from the bearing surface, the beam emitted by the transmitting end is blocked.

[0020] In the above technical solution, the controller determines the position of the lifting platform by judging whether the receiving end receives the light beam, and then determines whether the forks are in contact with the goods. When the signals fed back by the laser beam sensors on the two fork teeth are inconsistent, it indicates that the goods are unbalanced. At this time, the system will issue an early warning in time to remind the operator to adjust the position of the goods to avoid the risk of tipping over due to unbalanced loading, and further improve operational safety.

[0021] Preferably, the first sensor is a distance sensor, used to detect the positional change of the lifting plate relative to the fork teeth.

[0022] In the above technical solution, when the cargo presses against the lifting platform, causing it to move downwards against the elastic force of the elastic element, the distance sensor monitors this displacement in real time and feeds the detection signal back to the controller. The controller compares the displacement with a preset threshold to determine whether the cargo is fully positioned, thereby avoiding the risk of tipping over due to load offset or unstable placement, and further improving the response accuracy and reliability of the anti-tip-over structure. The distance sensor can be an ultrasonic sensor, laser rangefinder, infrared rangefinder, inductive displacement sensor, capacitive displacement sensor, resistive displacement sensor, Hall effect displacement sensor, photoelectric encoder, differential transformer displacement sensor, or other sensor types capable of sensing the displacement state of the lifting platform.

[0023] Preferably, the detection element includes a second sensor, which is a pressure sensor, and is mounted on the fork tooth, with the detection portion of the second sensor protruding from the bearing surface.

[0024] In the above technical solution, when the goods are placed on the bearing surface of the fork teeth, they directly press against the detection area of ​​the second sensor. The second sensor can collect pressure data of the contact area between the goods and the fork teeth in real time and transmit the data to the controller. By comparing the pressure difference values ​​of the second sensors on the two fork teeth, the controller can accurately determine whether the center of gravity of the goods has shifted. When the pressure difference value exceeds a preset threshold, it indicates that the load distribution of the goods is uneven and there is a risk of tipping over. At this time, the controller will immediately trigger an alarm and restrict the lifting action of the forklift, thus avoiding safety accidents caused by the misalignment of the goods from the source and ensuring the safety and stability of the operation process.

[0025] Preferably, the detection element includes a third sensor, which is a distance sensor. The bearing surface is provided with a recessed mounting groove, and the third sensor is installed in the mounting groove with the detection end of the third sensor facing upward.

[0026] In the above technical solution, the distance sensor can be an ultrasonic sensor, a laser rangefinder, or an infrared rangefinder. When the third sensor is working, it detects the change in distance between the bottom surface of the cargo and the bottom of the mounting groove in real time. The controller compares the detection distances of the third sensors on the two forks to determine whether the cargo is simultaneously in contact with both bearing surfaces. If the detection distances on both sides are inconsistent, it indicates that the cargo is tilted or not fully positioned. In this case, the controller receives the abnormal signal and prohibits the lifting mechanism from continuing to operate until the operator adjusts the cargo to a stable position, effectively avoiding the risk of tipping over or falling due to cargo tilting and ensuring operational safety.

[0027] Preferably, the system also includes a movable base and a drive mechanism for driving the movable support to move laterally relative to the movable base. The movable support also includes a support assembly fixed to the gantry. The support assembly includes two spaced-apart support frames and a first support wheel mounted on the support frames. The support frames have an extended state relative to the movable base and a retracted state. Two forks are located between the two support frames.

[0028] In the above technical solution, a traveling mechanism is provided on the mobile base, which can carry the forklift on the ground. The traveling mechanism includes drive wheels, which are connected to a motor to provide propulsion power, and the traveling direction of the traveling mechanism is perpendicular to the lateral movement direction of the support. During operation, the drive mechanism first drives the support to move laterally relative to the mobile base, causing the support frame to switch from a retracted state to an extended state. The first support wheel then abuts the ground, providing lateral support for the forks to support the goods and preventing the forklift's center of gravity from shifting after the forks extend. After the forks insert into the bottom of the goods and lift the goods, the detection device completes the goods placement status detection. After confirming safety, the drive mechanism reverses and drives the support to move laterally, the support frame switches from an extended state to a retracted state, and the traveling mechanism starts to drive the forklift to the target position. In this application, the traveling mechanism, lifting mechanism, and drive mechanism can all adopt corresponding mechanisms commonly used in the art, which can respectively realize the functions of traveling, lifting, and lateral movement. Moreover, the various mechanisms are linked and coordinated through the control system to achieve the orderly connection of support, detection, and travel actions. Attached Figure Description

[0029] Figure 1 This is a structural schematic diagram of the forklift in this application; Figure 2 This is a top view of the forklift in this application; Figure 3 This is a structural diagram of the fork teeth supporting goods in this application; Figure 4 yes Figure 1 A magnified view of a section at point A in the middle; Figure 5 yes Figure 3 A magnified view of a section at point B in the middle; Figure 6 This is a partial structural schematic diagram of Example 3; Figure 7 This is a partial structural schematic diagram of Example 4.

[0030] In the figure: mobile base 1, bracket 2, mast 21, fork assembly 22, fork teeth 221, bearing surface 2211, mounting groove 2212, detection component 222, elastic component 2221, lifting plate 2222, first sensor 2223, second sensor 2224, third sensor 2225, first guide ramp 2226, second guide ramp 2227, support assembly 23, support frame 231, first support wheel 232, lifting mechanism 24, drive mechanism 3. Detailed Implementation

[0031] The present application will now be further described with reference to the accompanying drawings and specific embodiments.

[0032] Example 1: like Figures 1 to 7As shown, a forklift with an anti-tipping structure includes a bracket 2. The bracket 2 includes a mast 21, a fork assembly 22 that is liftably connected to the mast 21, and a lifting mechanism 24 for driving the fork assembly 22 to rise and fall relative to the mast 21. The fork assembly 22 includes at least two fork teeth 221 for supporting and lifting goods. The fork teeth 221 have a bearing surface 2211 for supporting goods. At least two of the fork teeth 221 have a detection element 222 for detecting whether the goods are in contact with the bearing surface 2211.

[0033] In the above technical solution, the detection element 222 is electrically connected to the forklift controller. The connection method can be wired or wireless, ensuring that the detection signal is transmitted to the controller in real time and stably. When the fork tines 221 extend into the bottom of the goods and perform a lifting action, the bearing surface 2211 contacts the goods and bears the load. The goods simultaneously press against the detection element 222 on the bearing surface 2211, triggering the detection element 222 to generate a contact signal and feed it back to the controller. Based on the signal feedback from each detection element 222, the controller accurately judges the placement stability of the goods on the bearing surface 2211: if only one detection element 222 corresponding to one bearing surface 2211 triggers a signal, and the other does not trigger, it indicates that the goods have tilted and there is a risk of tipping over. At this time, the controller will immediately activate the early warning mechanism (such as issuing an alarm) or limit the lifting mechanism 24 from continuing to rise to avoid the risk from escalating; if both detection elements 222 successfully trigger signals, it means that the goods are stably supported on the fork tines 221, and the forklift can perform normal handling operations. This design significantly improves the safety of forklift operation and the stability of cargo handling through real-time monitoring and intervention, reducing the risk of cargo tipping over and equipment damage during operation.

[0034] In this application, Figure 2 In this embodiment, the X-direction is the forward direction of the forklift, and the Y-direction is the extension and retraction direction of the fork tines 221, which are perpendicular to the X-direction. In this embodiment, there are two fork tines 221, arranged side-by-side with a gap along the X-direction. In other embodiments, the number of fork tines 221 can be set to three or more according to actual load-bearing requirements, to improve the load balance and structural stability of the fork assembly 22.

[0035] Specifically, the elastic element 2221 is a telescopic spring or a torsion spring. The forklift also includes a movable base 1 and a drive mechanism 3 for driving the support 2 to move laterally relative to the movable base 1. The support 2 also includes a support assembly 23 fixed to the mast 21. The support assembly 23 includes two spaced-apart support frames 231 and a first support wheel 232 mounted on the support frames 231. The support frames 231 have an extended state relative to the movable base 1 and a retracted state. Two fork teeth 221 are located between the two support frames 231.

[0036] In the above technical solution, the mobile base 1 is equipped with a traveling mechanism that can carry the forklift on the ground. The traveling mechanism includes drive wheels connected to a motor to provide propulsion, and the traveling direction of the traveling mechanism is perpendicular to the lateral movement direction of the support 2. During operation, the drive mechanism 3 first drives the support 2 to move laterally relative to the mobile base 1, causing the support frame 231 to switch from the retracted state to the extended state. The first support wheel 232 then abuts against the ground, providing lateral support for the fork tines 221 to support the goods, preventing the forklift's center of gravity from shifting after the fork tines 221 extend. After the fork tines 221 insert into the bottom of the goods and lift the goods, the detection element 222 completes the goods placement status detection. After confirming safety, the drive mechanism 3 reverses and drives the support 2 to move laterally, the support frame 231 switches from the extended state to the retracted state, and the traveling mechanism starts to drive the forklift to the target position. In this application, the walking mechanism, lifting mechanism 24 and driving mechanism 3 can all adopt corresponding mechanisms commonly used in the art, which can respectively realize the functions of walking, lifting and lateral movement, and the mechanisms can be linked and coordinated through the control system to realize the orderly connection of support, detection and driving actions.

[0037] Understandably, in the first embodiment, one of the bearing surfaces 2211 is provided with a detection element 222, which is located at the front of the bearing surface 2211 in the extension and retraction direction of the fork 221. The detection element 222 is located at the front, which is suitable for scenarios where it is inconvenient for the fork 221 to support the goods from the rear. Goods placed in front can trigger a detection signal, which can help determine whether the goods are in a forward tilting state and provide timely warning of the risk of forward tilting.

[0038] Understandably, in the second embodiment, one of the bearing surfaces 2211 is provided with a detection element 222, which is located at the center of the bearing surface 2211 in the extension direction of the fork teeth 221. The detection element 222, being located in the center, can cover the contact area between the goods and the bearing surface 2211 to the maximum extent, comprehensively detecting the contact situation of the goods, significantly improving the accuracy of the detection results, and adapting to most handling scenarios for regular goods.

[0039] Understandably, in the third embodiment, one of the bearing surfaces 2211 is equipped with a detection element 222, which is located at the rear of the bearing surface 2211 in the extension and retraction direction of the fork teeth 221. The detection element 222, located at the rear, can accurately identify whether the goods are fully inserted into the root area of ​​the fork teeth 221, ensuring that the center of gravity of the goods is close to the forklift body, thus improving the overall stability of the handling process from the source. If the detection element 222 does not trigger a signal, it indicates that the goods are not fully inserted, posing a risk of tipping over or falling off. In this case, the controller can automatically limit the fork lifting action, or the operator can adjust the position of the goods in a timely manner based on the signal feedback to avoid safety accidents.

[0040] Understandably, in the fourth embodiment, at least two detection elements 222 are provided on the bearing surface 2211 of a fork tooth 221. The first detection element 222 is located at the middle position of the bearing surface 2211 in the extension direction of the fork tooth 221, and the second detection element 222 is located at the front position of the bearing surface 2211 in the extension direction of the fork tooth 221 (i.e., near the tip of the fork tooth 221). The above solution, through the cooperation of the middle and front dual detection points, can determine that the goods are too far forward or have tilted forward when only the front detection element 222 is triggered and the middle one is not triggered. It can also locate whether the center of gravity of the goods is too close to the front end of the fork tooth 221, avoiding the risk of instability due to excessive load on the front of the forklift and insufficient adhesion of the rear wheels caused by the shift of the center of gravity. At the same time, this layout does not require the addition of too many detection elements. Under the premise of controlling costs, it significantly improves the response sensitivity to the risk of tilting forward, and is especially suitable for high-frequency handling scenarios of light and medium-sized goods.

[0041] Understandably, in the fifth embodiment, at least two detection elements 222 are provided on the bearing surface 2211 of a fork tooth 221. The first detection element 222 is located at the rear of the bearing surface 2211 in the extension direction of the fork tooth 221, and the second detection element 222 is located at the front of the bearing surface 2211 in the extension direction of the fork tooth 221 (i.e., near the root of the fork tooth 221). In the above scheme, the detection points at the front and rear cover the critical boundary area of ​​the cargo bearing. When only the front detection element 222 is triggered and the rear one is not triggered, it can be determined that the center of gravity of the cargo is forward. This not only provides an early warning of the risk of forward tilting, but also determines whether the insertion depth of the cargo is insufficient through signal differences, thus avoiding the risk of cargo falling off during handling due to incomplete cargo bearing.

[0042] Understandably, in the sixth embodiment, at least three detection elements 222 are provided on the bearing surface 2211 of a fork tooth 221. The first detection element 222 is located at the middle of the bearing surface 2211 in the extension direction of the fork tooth 221; the second detection element 222 is located at the front of the bearing surface 2211 in the extension direction of the fork tooth 221; and the third detection element 222 is located at the rear of the bearing surface 2211 in the extension direction of the fork tooth 221. In the above scheme, the full coverage of the front, middle, and rear detection points enables a three-dimensional and accurate judgment of the placement status of the goods. Through different triggering combinations of detection elements 222, various goods states can be subdivided: when only the middle is triggered, it indicates that the goods are placed in the center; when the front and middle are triggered but the rear is not triggered, it indicates that the goods are slightly forward but have not reached the forward tilting threshold; when only the front is triggered, it is directly judged as a high-risk forward tilting state. The aforementioned multi-dimensional detection modes can adapt to complex scenarios such as heavy cargo and extra-long cargo, avoiding excessive restrictions on operational efficiency and completely eliminating safety accidents such as tipping over and falling off, thus greatly improving the operational adaptability and reliability of forklifts.

[0043] Example 2: like Figures 1 to 5 As shown, based on Embodiment 1, the detection element 222 includes a first sensor 2223, an elastic element 2221, and a lifting plate 2222 floating on the fork tooth 221. The elastic element 2221 is disposed between the fork tooth 221 and the lifting plate 2222 to have an upward tendency to protrude from the bearing surface 2211, and to make the lifting plate 2222 at least partially protrude from the bearing surface 2211. The first sensor 2223 is disposed on the lifting plate 2222 or the fork tooth 221. When the goods are pressed against the lifting plate 2222, the lifting plate 2222 moves downward against the elastic force of the elastic element 2221, and triggers the first sensor 2223 to generate a detection signal.

[0044] In the above technical solution, the lifting plate 2222 adopts a floating design. The elastic element 2221 exerts an upward force on the lifting plate 2222, keeping it protruding from the bearing surface 2211 when there is no cargo load. When cargo is placed on the bearing surface 2211 of the fork tines 221, the cargo exerts pressure on the lifting plate 2222, causing it to move downward against the force of the elastic element 2221. When the downward movement of the lifting plate 2222 reaches a preset threshold, the first sensor 2223 is triggered and outputs an electrical signal to the controller, thereby confirming that the cargo has contacted the detection element 222 at that position. By integrating the signals fed back from each detection element 222, the controller can determine the center of gravity distribution of the cargo and its stable placement on the bearing surface 2211. This prevents misjudgments caused by accidental contact of the detection components by dirt or lightweight foreign objects, ensuring that the signal feedback accurately reflects the actual contact state of the cargo.

[0045] Preferably, the lifting plate 2222 is provided with a first guide slope 2226 on the side facing the suspended end of the fork tooth 221, and the first guide slope 2226 gradually rises from the side close to the suspended end of the fork tooth 221 to the side away from the suspended end of the fork tooth 221; the lifting plate 2222 is provided with a second guide slope 2227 on the side facing the fixed end of the fork tooth 221, and the second guide slope 2227 gradually rises from the side close to the suspended end of the fork tooth 221 to the side away from the suspended end of the fork tooth 221.

[0046] In the above technical solution, because the lifting plate 2222 protrudes from the bearing surface 2211 when unloaded, it is prone to interference with the bottom of the goods during the insertion of the fork 221 into the goods. The first guide ramp 2226 can convert the force from the bottom of the goods into a downward component, guiding the lifting plate 2222 to move smoothly downward, avoiding jamming, and ensuring that the fork 221 smoothly enters the bottom of the goods without affecting the work rhythm. Similarly, because the lifting plate 2222 protrudes from the bearing surface 2211, it may scrape or interfere with the bottom of the goods when the fork 221 exits from the bottom. The second guide ramp 2227 can guide the lifting plate 2222 to smoothly detach from the goods during exit, reducing frictional resistance, avoiding component wear or goods displacement caused by interference, and ensuring a smooth exit process. The first guide ramp 2226 and the second guide ramp 2227 can be used together to simultaneously adapt to the entire process of the fork 221 inserting into and exiting the goods, completely avoiding interference problems.

[0047] Understandably, in the first embodiment, as Figure 4 and Figure 5 As shown, the lifting plate 2222 is slidably disposed on the fork tooth 221, and the sliding direction of the lifting plate 2222 has a vertical component. In the above technical solution, the sliding direction of the lifting plate 2222 has a vertical component, which allows it to generate a vertical displacement when subjected to the pressure of the cargo, thereby effectively transmitting the pressure of the cargo to the elastic element 2221 and the sensor, ensuring that the sensor can accurately receive the signal. Preferably, the lifting plate 2222 slides up and down relative to the fork tooth 221, and the fork tooth 221 is provided with a limiting structure for limiting the sliding stroke of the lifting plate 2222 to prevent the lifting plate 2222 from disengaging from the fork tooth 221.

[0048] Understandably, in the second embodiment, one end of the lifting plate 2222 is hinged to the fork tooth 221, allowing the lifting plate 2222 to swing around the hinged end. The swing direction of the lifting plate 2222 has a vertical component. In the second technical solution described above, the lifting plate 2222 is mounted on the fork tooth 221 by a hinge, and the swing direction also has a vertical component. When compressed, it will generate a vertical displacement through swinging, thereby triggering the sensor to work. Preferably, the lifting plate 2222 swings up and down relative to the fork tooth 221, and the fork tooth 221 is provided with a limiting structure for limiting the swing stroke of the lifting plate 2222 to prevent the lifting plate 2222 from disengaging from the fork tooth 221.

[0049] Understandably, in the first embodiment, the first sensor 2223 is a pressure sensor, which is fixed to the lifting plate 2222 or the fork 221. When the lifting plate 2222 is pressed down, the lifting plate 2222 presses against the detection part of the pressure sensor.

[0050] In the above technical solution, when the goods are placed on the fork tines 221, the lifting plate 2222 presses against the detection part of the first sensor 2223. When the pressure sensor detects a pressure signal, it determines that the goods are completely placed on the forks, triggering a load-bearing status feedback. Furthermore, by obtaining the specific pressure value of the first sensor 2223 and comparing the pressure difference value of the second sensor 2224 on the two fork tines 221, it determines whether the center of gravity of the goods has shifted. When the pressure difference value exceeds a set threshold, the controller determines that the load distribution is uneven, triggers an alarm, and restricts the forklift's lifting action, thereby effectively preventing tipping accidents caused by skewed goods placement and ensuring operational safety.

[0051] Understandably, in the second embodiment, the first sensor 2223 is a laser beam sensor, which includes a transmitter and a receiver: when the lifting plate 2222 is pressed downwards, the light beam emitted by the transmitter is blocked; when the lifting plate 2222 protrudes from the bearing surface 2211, the light beam emitted by the transmitter can be received by the receiver; or, when the lifting plate 2222 is pressed downwards, the light beam emitted by the transmitter can be received by the receiver; when the lifting plate 2222 protrudes from the bearing surface 2211, the light beam emitted by the transmitter is blocked. In the above technical solution, the controller can determine the position state of the lifting plate 2222 by judging whether the receiver receives the light beam, and then determine whether the forks are in contact with the goods. When the signals fed back by the laser beam sensors on the two fork teeth 221 are inconsistent, it indicates that the goods are unevenly loaded. At this time, the system will issue a warning in time to remind the operator to adjust the position of the goods to avoid the risk of tipping over due to uneven loading, and further improve the safety of operation.

[0052] Understandably, in the third embodiment, the first sensor 2223 is a distance sensor used to detect the positional change of the lifting plate 2222 relative to the fork 221.

[0053] In the above technical solution, when the cargo presses against the lifting plate 2222, causing it to move downwards against the elastic force of the elastic element 2221, the distance sensor monitors this displacement in real time and feeds the detection signal back to the controller. The controller compares the displacement with a preset threshold to determine whether the cargo is fully positioned, thereby avoiding the risk of tipping over due to load offset or unstable placement, and further improving the response accuracy and reliability of the anti-tip-over structure. The distance sensor can be an ultrasonic sensor, laser rangefinder, infrared rangefinder, inductive displacement sensor, capacitive displacement sensor, resistive displacement sensor, Hall effect displacement sensor, photoelectric encoder, differential transformer displacement sensor, or other sensor types capable of sensing the displacement state of the lifting plate 2222.

[0054] Example 3: like Figure 6As shown, based on Embodiment 1, the detection component 222 includes a second sensor 2224, which is a pressure sensor. The second sensor 2224 is mounted on the fork tooth 221, and the detection part of the second sensor 2224 protrudes from the bearing surface 2211.

[0055] In the above technical solution, when the goods are placed on the bearing surface 2211 of the fork tines 221, they directly press against the detection area of ​​the second sensor 2224. The second sensor 2224 can collect pressure data of the contact area between the goods and the fork tines 221 in real time and transmit the data to the controller. By comparing the pressure difference between the two fork tines 221 and the second sensor 2224, the controller can accurately determine whether the center of gravity of the goods has shifted. When the pressure difference exceeds a preset threshold, it indicates that the load distribution of the goods is uneven and there is a risk of tipping over. At this time, the controller will immediately trigger an alarm and restrict the lifting action of the forklift, thereby avoiding safety accidents caused by the tilting of the goods from the source and ensuring the safety and stability of the operation process.

[0056] Example 4: like Figure 7 As shown, based on Embodiment 1, the detection component 222 includes a third sensor 2225, which is a distance sensor. The bearing surface 2211 is provided with a recessed mounting groove 2212. The third sensor 2225 is installed in the mounting groove 2212, and the detection end of the third sensor 2225 is set upward.

[0057] In the above technical solution, the distance sensor can be an ultrasonic sensor, a laser rangefinder, or an infrared rangefinder. When the third sensor 2225 is working, it will detect the change in distance between the bottom surface of the cargo and the bottom of the mounting groove 2212 in real time. The controller determines whether the cargo is simultaneously in contact with the two bearing surfaces 2211 by comparing the detection distances of the third sensor 2225 on the two forks 221. If the detection distances on both sides are inconsistent, it indicates that the cargo is tilted or not fully positioned. At this time, the controller will receive the abnormal signal and prohibit the lifting mechanism 24 from continuing to operate until the operator adjusts the cargo to a stable position, effectively avoiding the risk of tipping or falling off due to cargo tilting and ensuring operational safety.

Claims

1. A forklift with an anti-tipping structure, comprising a support (2), the support (2) including a mast (21), a fork assembly (22) liftably connected to the mast (21), and a lifting mechanism (24) for driving the fork assembly (22) to rise and fall relative to the mast (21), the fork assembly (22) including at least two fork teeth (221) for supporting and lifting goods, characterized in that, The fork teeth (221) have a bearing surface (2211) for supporting the cargo, and at least two of the fork teeth (221) have a detection element (222) for detecting whether the cargo is in contact with the bearing surface (2211).

2. A forklift with an anti-tipping structure according to claim 1, characterized in that, The detection element (222) is located at the front of the bearing surface (2211) in the extension and retraction direction of the fork tooth (221); Alternatively, the detection element (222) may be located at the middle of the bearing surface (2211) in the extension and retraction direction of the fork tooth (221); Alternatively, the detection element (222) may be located at the rear of the bearing surface (2211) in the extension direction of the fork tooth (221).

3. A forklift with an anti-tipping structure according to claim 1, characterized in that, At least two detection elements (222) are provided on the bearing surface (2211) of a fork tooth (221). The first detection element (222) is located at the middle position of the bearing surface (2211) in the extension direction of the fork tooth (221), and the second detection element (222) is located at the front position of the bearing surface (2211) in the extension direction of the fork tooth (221). Alternatively, at least two detection elements (222) are provided on the bearing surface (2211) of a fork tooth (221), the first detection element (222) is located at the rear part of the bearing surface (2211) in the extension direction of the fork tooth (221), and the second detection element (222) is located at the front part of the bearing surface (2211) in the extension direction of the fork tooth (221); Alternatively, at least three detection elements (222) are provided on the bearing surface (2211) of a fork tooth (221). The first detection element (222) is located at the middle position of the bearing surface (2211) in the extension direction of the fork tooth (221), the second detection element (222) is located at the front position of the bearing surface (2211) in the extension direction of the fork tooth (221), and the third detection element (222) is located at the rear position of the bearing surface (2211) in the extension direction of the fork tooth (221).

4. A forklift with an anti-tipping structure according to claim 1, characterized in that, The detection component (222) includes a first sensor (2223), an elastic element (2221), and a lifting plate (2222) floating on the fork tooth (221). The elastic element (2221) is located between the fork tooth (221) and the lifting plate (2222) to have an upward tendency to protrude from the bearing surface (2211) and to make the lifting plate (2222) at least partially protrude from the bearing surface (2211). The first sensor (2223) is located on the lifting plate (2222) or the fork tooth (221). When the goods are pressed against the lifting plate (2222), the lifting plate (2222) moves downward against the elastic force of the elastic element (2221) and triggers the first sensor (2223) to generate a detection signal.

5. A forklift with an anti-tipping structure according to claim 4, characterized in that, The lifting plate (2222) is slidably disposed on the fork tooth (221), and the sliding direction of the lifting plate (2222) has a component in the vertical direction; Alternatively, one end of the lifting plate (2222) is hinged to the fork tooth (221) so that the lifting plate (2222) can swing around the hinge end, and the swing direction of the lifting plate (2222) has a vertical component.

6. A forklift with an anti-tipping structure according to claim 4, characterized in that, The lifting plate (2222) is provided with a first guide slope (2226) on the side facing the suspended end of the fork tooth (221). The first guide slope (2226) gradually rises from the side close to the suspended end of the fork tooth (221) to the side away from the suspended end of the fork tooth (221). And / or, the lifting plate (2222) is provided with a second guide slope (2227) on the side facing the fixed end of the fork tooth (221), and the second guide slope (2227) gradually rises from the side near the suspended end of the fork tooth (221) to the side away from the suspended end of the fork tooth (221).

7. A forklift with an anti-tipping structure according to claim 4, characterized in that, The first sensor (2223) is a pressure sensor, which is fixed to the lifting plate (2222) or the fork (221). When the lifting plate (2222) is pressed down, the lifting plate (2222) presses the detection part of the pressure sensor.

8. A forklift with an anti-tipping structure according to claim 4, characterized in that, The first sensor (2223) is a laser beam sensor, which includes a transmitter and a receiver: When the lifting plate (2222) is pressed and moves downward, the light beam emitted by the transmitting end is blocked. When the lifting plate (2222) protrudes from the bearing surface (2211), the light beam emitted by the transmitting end can be received by the receiving end. Alternatively, when the lifting plate (2222) is pressed downward, the beam emitted by the transmitting end can be received by the receiving end; when the lifting plate (2222) protrudes from the bearing surface (2211), the beam emitted by the transmitting end is blocked.

9. A forklift with an anti-tipping structure according to claim 4, characterized in that, The first sensor (2223) is a distance sensor used to detect the positional change of the lifting plate (2222) relative to the fork tooth (221).

10. A forklift with an anti-tipping structure according to claim 1, characterized in that, The detection component (222) includes a second sensor (2224), which is a pressure sensor. The second sensor (2224) is mounted on the fork tooth (221), and the detection part of the second sensor (2224) protrudes from the bearing surface (2211).

11. A forklift with an anti-tipping structure according to claim 1, characterized in that, The detection component (222) includes a third sensor (2225), which is a distance sensor. The bearing surface (2211) is provided with a recessed mounting groove (2212). The third sensor (2225) is installed in the mounting groove (2212), and the detection end of the third sensor (2225) is set upward.

12. A forklift with an anti-tipping structure according to claim 1, characterized in that, It also includes a movable base (1) and a drive mechanism (3) for driving the movable support (2) to move laterally relative to the movable base (1). The movable support (2) also includes a support assembly (23) fixed to the gantry (21). The support assembly (23) includes two spaced support frames (231) and a first support wheel (232) mounted on the support frame (231). The support frame (231) has an extended state relative to the movable base (1) and a retracted state. Two forks (221) are located between the two support frames (231).

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