Unmanned forklift detects abnormal device of stacking goods taking and placing

Abstract

The utility model discloses a kind of abnormal device for taking and placing of unmanned forklift detection stacked goods, the device includes unmanned forklift body, pallet fork and two groups of symmetrically fixed to the tip of mechanical induction mechanism of pallet fork, the mechanism is composed of mounting bracket, torsional spring, induction plate and micro switch, and assembly reference plane is coplanar.When pallet fork takes and places goods, if the safety gap with clamping plate is reduced to preset threshold, clamping plate extrudes induction plate to rotate and triggers micro switch, and it outputs abnormal signal to control system, and controller controls pallet fork to stop action immediately and drives body to drive reversely and separate from danger.The utility model belongs to the field of intelligent logistics technology, solves the problem that unmanned forklift lacks effective abnormal detection when taking and placing goods in cold storage stacked goods scene.

Description

Technical Field

[0001] This utility model relates to the field of intelligent logistics technology, specifically to a device for detecting abnormalities in the handling of stacked goods by an unmanned forklift. Background Technology

[0002] In the field of intelligent logistics, unmanned forklifts are widely used in cargo handling operations in various warehousing scenarios. Currently, most unmanned forklifts are suitable for warehouses with racks installed, where goods are typically placed on the ground or on the crossbeams of the pallets. In such scenarios, the pallet inlet is flat, and there is ample vertical space, ensuring that the forklift's forks can smoothly enter without contact, thus enabling normal picking and placing operations.

[0003] However, in cold storage environments, due to limited space, palletized goods are often stacked directly on top of another pallet. Because of the uneven surface of the bottom layer of goods, the upper layer of goods and their pallets are prone to tilting at various angles. This tilting problem is particularly pronounced when goods are stacked in two or more layers, causing friction or even collisions between the forks of the automated forklift and the tilted pallet during the forklift's entry or exit, leading to safety hazards such as the upper layer of goods shifting or falling.

[0004] In existing technologies, there is a lack of effective anomaly detection methods for the aforementioned cargo stacking scenarios, making it impossible to determine in real time whether the safety clearance between the forks and the pallet meets operational requirements. When the pallet is severely tilted, the forks are very likely to come into contact with the pallet during entry or exit, which not only affects the normal handling of goods but may also cause damage to goods and equipment malfunctions, severely restricting the safe application of unmanned forklifts in cold storage cargo stacking scenarios. Summary of the Invention

[0005] To address the lack of anomaly detection methods in existing unmanned forklifts for stacked goods handling scenarios, this invention provides an anomaly detection device for stacked goods handling in unmanned forklifts. By setting up a mechanical sensing mechanism, it can realize real-time monitoring of the safety gap between the forks and the pallet, and promptly trigger an abnormal stop action to ensure operational safety.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0007] This utility model provides a device for detecting abnormal stacking and placing of goods by an unmanned forklift, including the vehicle body, forks, and mechanical sensing mechanisms of the unmanned forklift; the forks are rigidly fixedly connected to the vehicle body; the mechanical sensing mechanisms are in two sets, symmetrically fixed to the tip area of ​​the forks along the axis of the two forks, and the assembly reference surfaces of the two sets of mechanical sensing mechanisms are coplanar.

[0008] The mechanical sensing mechanism consists of a mounting frame, a torsion spring, a sensing plate, and a micro switch. The mounting frame is rigidly fixed to the fork with bolts, and its contact surface is parallel to and tightly fitted to the upper surface of the fork. A cylindrical structure for assembly is integrally formed on the mounting frame, and the axis of the cylindrical structure is perpendicular to the length direction of the fork. The torsion spring and the sensing plate are sequentially sleeved on the cylindrical structure along the axis direction. One end of the torsion spring elastically abuts against the inner wall of the mounting frame, and the other end elastically abuts against the inner wall of the sensing plate. The micro switch is fixed in the internal mounting cavity of the mounting frame by an embedded method, and the trigger end of the micro switch is opposite to the inner wall of the sensing plate, with a preset trigger gap between them.

[0009] When the forks perform the pallet entry or exit action, if the safety gap between the upper surface of the forks and the pallet shrinks to a preset threshold, the pallet exerts a squeezing force on the outer wall of the sensing plate, driving the sensing plate to rotate around the axis of the cylindrical structure and compress the torsion spring until the inner wall of the sensing plate touches the trigger end of the micro switch to trigger the micro switch; after the micro switch is triggered, it outputs an abnormal electrical signal to the control system of the unmanned forklift. After receiving the abnormal electrical signal, the control system outputs a control command to control the unmanned forklift to stop the current action.

[0010] Furthermore, the preset threshold is adapted to the standard thickness of the pallet and the operating accuracy requirements of the forks.

[0011] Furthermore, the mounting bracket is fixed to the fork by multiple sets of bolts evenly distributed along the length of the fork, the axis of the bolts being perpendicular to the upper surface of the fork; the mounting center axis of the mounting bracket is at a predetermined distance from the tip edge of the fork.

[0012] Furthermore, under the elastic preload of the torsion spring, the sensing plate forms a preset angle with the outer wall of the mounting bracket; the outer edge of the sensing plate extends beyond the preset assembly height of the upper surface of the fork.

[0013] Furthermore, the micro switch is snapped and fixed in the slot of the mounting bracket by a snap-fit ​​connection, and the inner contour dimension of the slot is clearance-fitted with the outer dimension of the micro switch; the trigger end of the micro switch is clearance-fitted with the inner sidewall of the sensing plate.

[0014] Furthermore, the control system of the unmanned forklift includes a controller. After receiving an abnormal electrical signal output by a micro switch, the controller outputs a control command within a preset response time. The control command includes controlling the drive mechanism of the forks to stop moving and driving the walking mechanism of the unmanned forklift to travel a preset distance in the opposite direction.

[0015] Compared with existing technologies, the unmanned forklift detection device for stacked goods handling provided by this utility model addresses the technical deficiency of existing unmanned forklifts lacking effective anomaly detection methods in stacked goods handling scenarios. Through optimized structural design and functional configuration, it achieves multi-dimensional technological breakthroughs, with the specific technical effects as follows:

[0016] Filling the gap in detection capabilities for stacked goods scenarios, this device enables real-time monitoring of safe clearances. In existing technologies, unmanned forklifts operating in cold storage stacked goods scenarios lack monitoring methods for the safe clearance between the forks and the tilting pallet, easily leading to collision risks. This device uses two sets of mechanical sensing mechanisms symmetrically fixed along the axis at the fork tip area, ensuring that the assembly reference surfaces of the two sets of mechanisms are coplanar. This allows for real-time capture of changes in the clearance between the forks and the pallet. When the clearance narrows to a preset threshold during the fork's entry or exit from the pallet, the pallet presses against the sensing plate and triggers a microswitch, enabling immediate identification of potential contact risks. This overcomes the limitation of traditional technologies lacking real-time monitoring in stacked scenarios, providing continuous and reliable monitoring support for operational safety.

[0017] This device establishes a rapid response protection mechanism to significantly reduce the incidence of safety accidents. It forms a closed-loop protection process of "monitoring-triggering-braking" through signal linkage between a microswitch and the unmanned forklift control system. When the microswitch is triggered, it outputs an abnormal electrical signal to the control system. Upon receiving the signal, the controller can output dual control commands within a preset response time. On one hand, it controls the fork drive mechanism to stop moving, preventing the forks from continuing to move and increasing the risk of collision; on the other hand, it drives the travel mechanism to travel a preset distance in the opposite direction, actively avoiding the dangerous contact state. This mechanism transforms the traditional "passive collision absorption" mode into "active risk avoidance," effectively reducing friction and collision between the forks and pallets, thereby reducing the probability of upper-level goods shifting or falling, while also reducing the number of equipment failures, ensuring the safety and stability of stacked goods handling operations in special scenarios such as cold storage.

[0018] Optimized mechanical structure and adaptive design enhance environmental adaptability and versatility. The core sensing component of the device adopts a mechanically coordinated structure of torsion springs, sensing plates, and microswitches, eliminating the need for complex electronic sensing elements. This effectively resists the effects of low temperatures and humidity in cold storage environments, avoiding low-temperature failure of electronic components and ensuring long-term stable operation under special working conditions, thus improving reliability. The mounting frame is rigidly fixed to the forks via multiple sets of bolts evenly distributed along the length of the forks, facilitating later installation, maintenance, and replacement. Simultaneously, the preset threshold can be flexibly adjusted by changing the positioning slot of the microswitch within the mounting cavity of the mounting frame. Utilizing multiple sets of spaced positioning slots distributed along the rotation direction of the sensing plate on the inner wall of the mounting cavity, the relative position of the microswitch trigger end and the inner wall of the sensing plate can be adjusted to accommodate pallets of different thicknesses and different operational precision requirements, making it compatible with various stacking scenarios and enhancing the device's versatility.

[0019] Balancing safety detection with operational efficiency and avoiding interference with routine operations, this device's structural layout and parameter design fully consider operational efficiency requirements. Two sets of symmetrically arranged mechanical sensing mechanisms ensure that the detection range covers the critical areas of the forks without occupying additional working space. Under the elastic preload of the torsion spring, the sensing plate opens at a preset angle with the outer wall of the mounting frame. The height of its outer edge extending beyond the upper surface of the forks is optimized to ensure both sensitivity in detecting gap changes and prevent interference when the forks normally enter or exit the pallet. Simultaneously, the mounting frame's contact surface is parallel and tightly fitted to the upper surface of the forks, and the bolt axis is perpendicular to the upper surface of the forks, ensuring the stability of the mechanism while not affecting the forks' normal load-bearing and loading / unloading actions on the pallet, achieving a balance between "safety protection" and "operational efficiency." Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the overall structure of the unmanned forklift detection device for abnormal stacking of goods in this embodiment of the present invention.

[0022] Figure 2 This is an enlarged view of region A in an embodiment of this utility model.

[0023] Figure 3 This is a schematic diagram of the induction plate in an embodiment of the present invention.

[0024] Figure 4 This is a schematic diagram of the internal structure of the mounting bracket in an embodiment of this utility model.

[0025] In the diagram: 1-vehicle body, 2-forks, 3-mechanical sensing mechanism, 4-mounting bracket, 5-torsion spring, 6-sensor plate, 7-micro switch, 8-bolt, 9-cylindrical structure. Detailed Implementation

[0026] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0027] In the description of this utility model, it should be understood that the terms "upper", "lower", "left", "right", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0028] The specific embodiments of this utility model will be further described in detail below with reference to the accompanying drawings.

[0029] refer to Figure 1 and Figure 2 An unmanned forklift detection device for abnormal stacking of goods includes a forklift body 1, forks 2, and mechanical sensing mechanisms 3. The forks 2 are rigidly fixed to the body 1 and serve as the execution mechanism for the unmanned forklift to pick up and place goods, and are used to insert pallets to realize the handling of goods. There are two sets of mechanical sensing mechanisms 3, which are symmetrically installed on the tip of the two forks 2 to ensure comprehensive monitoring of safety gaps from the width direction of the forks.

[0030] refer to Figure 3 and Figure 4 The mechanical sensing mechanism 3 includes a mounting frame 4, a torsion spring 5, a sensing plate 6, a micro switch 7, and bolts 8. The mounting frame 4 is made of high-strength alloy material to adapt to the low-temperature environment of cold storage. It is detachably fixed to the upper surface of the tip of the fork 2 by bolts 8. A cylindrical structure 9 is integrally formed on one side of the mounting frame 4. The torsion spring 5 and the sensing plate 6 are both sleeved on the cylindrical structure 9 of the mounting frame 4. One end of the torsion spring 5 abuts against the side wall of the mounting frame 4, and the other end abuts against the inner side wall of the sensing plate 6. In its natural state, it provides elastic support for the sensing plate 6, so that the sensing plate 6 and the upper surface of the fork 2 are opened at a preset angle. This preset angle can be adaptively adjusted according to the specifications of the fork and the size of the pallet to ensure that the sensing plate can effectively contact the inclined pallet.

[0031] The microswitch 7 is fixedly installed in the mounting slot inside the mounting bracket 4 by screws. The trigger end of the microswitch 7 faces the inside of the sensing plate 6 and maintains a preset distance from the inside of the sensing plate 6, which matches the safety gap threshold. When the unmanned forklift is performing a picking operation, if the upper pallet tilts due to unevenness of the lower goods during the insertion of the forks 2 into the upper pallet, causing the safety gap between the upper surface of the forks 2 and the pallet to shrink to about 3mm, the tilted pallet will contact the outside of the sensing plate 6 and apply pressure, causing the sensing plate 6 to rotate around the cylindrical structure 9 against the elastic force of the torsion spring 5. As the sensing plate 6 rotates, its inner side gradually approaches and touches the trigger end of the microswitch 7, triggering the microswitch 7 to operate.

[0032] Microswitch 7 is electrically connected to the main control system of the unmanned forklift via a wire. When microswitch 7 is triggered, it immediately sends a high-level abnormal signal to the main control system. Upon receiving the abnormal signal, the main control system immediately executes the emergency stop procedure, controlling the unmanned forklift's traveling mechanism and fork drive mechanism to stop operating, preventing further friction and collision between the forks and the pallet. Once the pallet tilting fault is resolved by the operator, the sensor plate 6 resets under the elastic force of the torsion spring 5, microswitch 7 returns to its initial state, and the unmanned forklift can restart operation.

[0033] During the unmanned forklift's unloading operation, if the pallet is tilted and the safety gap is less than 3mm during the process of the forks 2 being pulled out of the pallet, the sensor plate 6 will be squeezed in the same way and trigger the micro switch 7 to realize the emergency stop of the unmanned forklift and ensure the safety of the unloading process.

[0034] Through the above specific embodiments, the unmanned forklift detection device for stacked goods handling provided by this utility model has the following significant advantages: By symmetrically setting a mechanical sensing mechanism consisting of a torsion spring and a sensing plate at the tip of the fork, the safety gap between the fork and the pallet can be detected in real time during the handling process. Once the gap becomes too small due to the tilting of the goods, a micro switch can be triggered instantaneously through mechanical linkage to achieve millisecond-level emergency stop, effectively avoiding the risks of friction, collision and tipping. This purely mechanical detection mechanism is not affected by environmental interference such as light and dust, has high reliability, and the trigger angle is adjustable. The structure is robust and resistant to low temperatures, and it can adapt to various complex working conditions. At the same time, the device has bidirectional detection, automatic reset and modular installation characteristics, which significantly improves the continuous operation capability and maintenance convenience of the equipment while ensuring the safety of the whole process, and achieves reliable protection with high cost performance.

[0035] The above description is merely a preferred embodiment of this utility model and is not intended to limit the scope of this utility model. For those skilled in the art, this utility model can have various improvements and variations. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A device for detecting abnormalities in the handling of stacked goods by an unmanned forklift, characterized in that, The unmanned forklift includes a vehicle body (1), forks (2), and mechanical sensing mechanisms (3); the forks (2) are rigidly fixed to the vehicle body (1); the mechanical sensing mechanisms (3) are in two sets, symmetrically fixed to the tip area of ​​the forks (2) along the axis of the two forks (2), and the assembly reference surfaces of the two sets of mechanical sensing mechanisms (3) are coplanar. The mechanical sensing mechanism (3) consists of a mounting frame (4), a torsion spring (5), a sensing plate (6), and a micro switch (7). The mounting frame (4) is rigidly fixed to the fork (2) by bolts (8), and its contact surface is parallel to and tightly fitted to the upper surface of the fork (2). A cylindrical structure (9) for assembly is integrally formed on the mounting frame (4), and the axis of the cylindrical structure (9) is perpendicular to the length direction of the fork (2). The torsion spring (5) and the sensing plate (6) are sequentially sleeved on the cylindrical structure (9) along the axis direction of the cylindrical structure (9). One end of the torsion spring (5) elastically abuts against the inner wall of the mounting frame (4), and the other end elastically abuts against the inner wall of the sensing plate (6). The micro switch (7) is fixed in the internal mounting cavity of the mounting frame (4) by embedding, and the trigger end of the micro switch (7) is opposite to the inner wall of the sensing plate (6), with a preset trigger gap reserved between them. When the fork (2) performs the action of entering or exiting the pallet, if the safety gap between the upper surface of the fork (2) and the pallet is reduced to a preset threshold, the pallet exerts a squeezing force on the outer wall of the sensing plate (6), driving the sensing plate (6) to rotate around the axis of the cylindrical structure (9) and compress the torsion spring (5) until the inner wall of the sensing plate (6) touches the trigger end of the micro switch (7) to trigger the micro switch (7); after the micro switch (7) is triggered, it outputs an abnormal electrical signal to the control system of the unmanned forklift. After receiving the abnormal electrical signal, the control system outputs a control command to control the unmanned forklift to stop the current action.

2. The apparatus according to claim 1, characterized in that, The preset threshold is adapted to the standard thickness of the card and the operating accuracy requirements of the forks (2).

3. The apparatus according to claim 1, characterized in that, The mounting bracket (4) is fixed to the fork (2) by multiple sets of bolts (8) evenly distributed along the length of the fork (2), the axis of the bolts (8) being perpendicular to the upper surface of the fork (2); the mounting center axis of the mounting bracket (4) is at a preset distance from the tip edge of the fork (2).

4. The apparatus according to claim 1, characterized in that, Under the elastic preload of the torsion spring (5), the sensing plate (6) forms a preset angle with the outer wall of the mounting bracket (4); the outer edge of the sensing plate (6) extends beyond the preset assembly height of the upper surface of the fork (2).

5. The apparatus according to claim 1, characterized in that, The micro switch (7) is snapped and fixed in the slot of the mounting bracket (4) by a snap-fit ​​connection. The inner contour dimension of the slot is in clearance fit with the outer dimension of the micro switch (7). The trigger end of the micro switch (7) is in clearance fit with the inner sidewall of the sensing plate (6).

6. The apparatus according to claim 1, characterized in that, The control system of the unmanned forklift includes a controller. After receiving an abnormal electrical signal from the micro switch (7), the controller outputs a control command within a preset response time. The control command includes controlling the drive mechanism of the forks (2) to stop moving and driving the walking mechanism of the unmanned forklift to travel a preset distance in the opposite direction.

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