400 results about "Pallet fork" patented technology

The invention relates to the technical field of stacking deviation rectification, in particular to a stacking machine pallet fork delivery deviation rectification method and system.The method comprises the steps that coordinates are established with the geometric center of a pallet fork, and a posture vector of goods on the pallet fork and a geometric parameter vector of a goods inlet are obtained; based on the obtained cargo attitude vector and the cargo entrance geometric parameter vector, calculating a coupling deviation metric value between the cargo attitude and the entrance geometric parameter; and comparing and analyzing the deviation degree threshold value and the obtained coupling deviation metric value, and generating a deviation correction instruction. According to the method, the coordinate is established through the geometric center of the pallet fork, the cargo posture vector and the cargo inlet geometric parameter vector are obtained, and the coupling deviation metric value is calculated based on the two vectors, so that coordinated analysis of the overall cargo posture and the cargo space geometric relationship can be realized, a targeted deviation correction instruction is generated, and the limitation of existing unidirectional deviation correction is avoided; and the friction or clamping stagnation between the fork and the edge of the goods in the goods feeding process is reduced.

The utility model discloses a tray contact type redundancy in-place detection device of a bidirectional telescopic pallet fork. The tray contact type redundancy in-place detection device comprises a bottom plate, a left contact plate, a right contact plate, a spring, a pin shaft, an induction type sensor and a contact type sensor. The two ends of the left contact plate and the two ends of the right contact plate are respectively provided with two sets of concentric round holes, one set of holes of the left contact plate and one set of holes of the right contact plate are hinged together through a pin shaft, the whole bottom plate is in a U shape, the two ends of the bottom plate are provided with through kidney-shaped grooves, and the other set of round holes of the left contact plate and the other set of round holes of the right contact plate can move in notches of the bottom plate through pin shafts. And a spring is connected between the two pin shafts for connecting the left contact plate, the right contact plate and the bottom plate to ensure that the pin shafts lean against the inner sides of the two waist-shaped notches of the bottom plate when the tray is not in place. The device is installed at the two ends of the outer side of the fork teeth of the bidirectional telescopic pallet fork and adjusted to the proper height, the left contact plate and the right contact plate can move towards the bottom plate side under extrusion of the pallet, feedback of the two in-place switches is triggered, and whether the pallet is in place or not can be detected.

The invention relates to the related field of electrical engineering, in particular to a combined low-voltage electrical control cabinet which comprises a control cabinet body, a door leaf is hinged to the control cabinet body, a relay is connected to an installation area in the control cabinet body, and a supporting assembly is connected to the bottom of the control cabinet body. The supporting assembly comprises a connecting beam, and the top of the connecting beam is fixedly connected with the bottom of the control cabinet. When a pallet fork moves to the tail end in a limiting frame, the back face of a control cabinet makes contact with a pallet fork goods blocking frame, then a vertical rod on the goods blocking frame is inserted into the middle area of a first arc-shaped frame and a second arc-shaped frame, and when the pallet fork moves upwards, the pallet fork indirectly drives the first arc-shaped frame and the second arc-shaped frame to rotate through a guide plate; the first arc-shaped frame and the second arc-shaped frame are rotationally closed to be clamped and fixed to a vertical rod on the goods blocking frame, so that when the control cabinet is connected with a pallet fork on a forklift for transfer, the bottom and the back of the control cabinet and the pallet fork on the forklift are automatically connected, fixed and automatically detached in a multi-point mode, and operation steps are reduced.

The invention discloses an omni-directional unmanned forklift steering control system and method, and relates to the technical field of unmanned forklifts. The pallet fork is fixed on the frame; the first driving steering wheel and the second driving steering wheel are fixed on the frame and symmetrically arranged on the two sides of the pallet fork; the steering wheel is fixed on the frame and is positioned in a position opposite to the pallet fork; the driving controller is arranged on the frame; and the driving controller is electrically connected with the first driving steering wheel, the second driving steering wheel and the steering wheel. According to the scheme, the target following performance of the steering wheels, the system control accuracy and the unmanned forklift operation smoothness are enhanced.

The invention discloses a distributed control-based stacker scheduling method, system and device and a medium, the stacker comprises a lifting module, a walking module and a pallet fork module, the lifting module, the walking module and the pallet fork module are each provided with a control module, and the method comprises the following steps of: aiming at a target task, controlling the lifting module, the walking module and the pallet fork module; optimal action sequences are calculated through control modules configured for the lifting module, the walking module and the pallet fork module respectively; based on the optimal action sequence, a scheduling strategy is generated in a bus negotiation conflict mode; and performing scheduling control on the stacker according to the scheduling strategy. By adopting a distributed control mode, each functional module of the stacker is independently configured with a control module, so that each module can autonomously calculate an optimal action sequence, the coupling degree among the modules is greatly reduced, and the scheduling efficiency and reliability of the stacker are improved.

The invention belongs to the technical field of multi-variable measurement, and particularly relates to a forklift structure health state assessment method and system. The method comprises the steps that a plurality of strain type force sensors are symmetrically installed on the root portion of a left pallet fork and the root portion of a right pallet fork of the forklift, and the strain type force sensors are used for collecting stress signals of the left pallet fork and the right pallet fork in the three-dimensional space in real time; the six-degree-of-freedom motion state data of the forklift are collected in real time through an inertia measurement unit installed on a forklift main body, and the six-degree-of-freedom motion state data comprise linear accelerations in three orthogonal axial directions and angular velocities around the three orthogonal axial directions. According to the system, a high-bandwidth strain sensing array is deployed at the root of a pallet fork, the six-degree-of-freedom motion state of the whole vehicle is synchronously obtained, a dynamic disturbing force online decoupling mechanism based on a rigid-flexible coupling dynamic model is constructed, and the dependence of a traditional weighing technology on a static working condition is fundamentally broken through.

The invention provides an intelligent AGV forklift for a narrow space, and relates to the technical field of intelligent logistics equipment. Comprising a body part, a portal part and a sensor system. The portal frame part comprises a portal frame main body, a fork arm carrier and a built-in lateral moving frame; a goods blocking frame and two independent pallet fork assemblies are arranged on the built-in lateral moving frame. The pallet fork assembly comprises a base, a pallet fork arm, a hydraulic driving unit and a position detecting unit and is used for driving the pallet fork arm to be folded and unfolded and detecting the position. The sensor system comprises a top sensing radar, a rear obstacle avoidance radar and two side obstacle avoidance radars which are installed on the top of the door frame, the rear lower portion of the vehicle body and the lower portions of the left side and the right side of the vehicle body respectively. The scheme is compact in structure, accurate in sensing and suitable for operation in a narrow space.

The invention discloses a pallet fork lifting control method. The method comprises the following steps that 1, the load weight and lifting control parameters of a pallet fork are obtained; step 2, inputting a target height; 3, calculating a difference value between the actual height and the target height; 4, judging whether the difference value is smaller than a parking deviation allowable value or not, if yes, ending lifting control, and if not, executing the step 5; 5, judging whether the difference value is smaller than a low-speed deviation allowable value or not, and if yes, setting the low-speed positioning speed as the target speed and executing the step 7; if not, executing the step 6; 6, judging whether the difference value is smaller than the deceleration starting distance, and if yes, setting a target speed according to the height deviation; if not, setting the full-speed running speed as the target speed and executing the step 7; and 7, the pallet fork acts according to the target speed. According to the method, the actual speed, the arrival rate and the precision of fork stroke tail end positioning are obviously high, and the environmental adaptability is high.

The invention discloses a goods accurate positioning detection system and related method and equipment, and aims to solve the problem of collision risk caused by insufficient positioning accuracy in the prior art. According to the method, spatial visual data of a target forking load are collected, an edge detection algorithm is adopted to extract a contour feature point set, and a transverse offset distance delta X and a longitudinal offset distance delta Y of a cargo center relative to a pallet fork are calculated through coordinate transformation. And the system judges whether the offset exceeds a preset threshold value or not in real time, controls the AGV forklift to carry out transverse and / or longitudinal compensation movement, finally gets close to the goods in the vertical direction, and completes the forking action when the safe distance is reached. The system breaks through centimeter-level precision limitation of a traditional navigation positioning system, millimeter-level dynamic detection and real-time compensation are achieved, the collision problem caused by goods stacking deviation and tray displacement is effectively solved, and the operation safety and reliability of the AGV forklift in the complex storage environment are remarkably improved.

The invention discloses a roadway type stacking machine for medicine packaging boxes, and belongs to the technical field of stacking equipment.The roadway type stacking machine for the medicine packaging boxes comprises a walking steel rail, the walking steel rail is slidably connected with a mounting bottom frame, and supporting frames are symmetrically and fixedly connected to the upper end of the mounting bottom frame; a plurality of sets of limiting rails are arranged in the supporting frame, and a portal frame is fixedly connected to the upper end of the supporting frame. A driving assembly is fixedly connected to one side of the mounting bottom frame, lifting auxiliary assemblies are slidably connected to the supporting frame, and a lifting table is fixedly connected between the lifting auxiliary assemblies. By designing the multiple layers of moving assemblies and the telescopic pallet fork assemblies which are matched with each other, the distance between the telescopic pallet fork assemblies can be adjusted according to different heights between goods placing openings of a goods shelf, and the taking and placing efficiency of packaging boxes is greatly improved; and by designing the driving assembly, the lateral force of the whole stacking device is reduced, the road holding force is increased, and therefore stable advancing and retreating of the driving assembly are achieved.

The invention discloses a storage forklift and relates to the technical field of logistics storage, the storage forklift comprises a lifting assembly, a movable base, a movable support and a driving mechanism, the movable support comprises a portal, a fork assembly, a supporting assembly and a lifting mechanism, and the supporting assembly comprises a supporting frame and first supporting wheels installed on the supporting frame; the lifting assembly comprises a lifting part, an abutting part and a floating elastic part, when the supporting frame is in the retraction state, the abutting part abuts against the lifting part, and the floating elastic part is arranged in the mode that when the load of the pallet fork assembly is smaller than a preset value N, the weight of the movable support and the pressure generated by the load of the movable support on the lifting part are smaller than the elastic force of the floating elastic part; when the load of the fork assembly is larger than a preset value N, the weight of the movable support and the pressure generated by the load of the movable support on the lifting piece are larger than the elastic force of the floating elastic piece. According to the storage forklift, through mechanical balance of the floating elastic piece and the load of the pallet fork, self-adaptive switching of the grounding state of the supporting wheels is achieved, and light-load moving flexibility and heavy-load supporting stability are both considered.

The invention relates to the field of automatic balance weight forklifts, in particular to an automatic balance weight forklift control method and system based on multi-source data, and the method comprises the steps that the multi-source data of a sensor are obtained; compensating the weighing value of the left pallet fork and the weighing value of the right pallet fork according to the real-time attitude angle of the forklift, and generating an equivalent left weighing value and an equivalent right weighing value under the horizontal reference system; calculating a static gravity center offset component and a dynamic inertia offset component; performing addition or weighted summation on the static gravity center offset component and the dynamic inertia offset component to obtain a dynamic gravity center offset; inputting the real-time center-of-gravity offset into a balance controller, and judging whether the absolute value of the center-of-gravity offset reaches or exceeds a preset stable safety threshold value or not by the balance controller; and if so, triggering a balance control strategy. Through hierarchical feature construction and physical constraint fusion of multi-source data, high-precision and low-delay dynamic gravity center estimation is realized, so that the effect of dynamically adjusting a forklift control strategy is achieved.

The utility model discloses a multifunctional fork-adjustable hydraulic pallet truck which comprises a carrying mechanism, a stabilizing mechanism is arranged on the side face of the carrying mechanism, the carrying mechanism comprises a carrying truck body, a lifting assembly is arranged on the inner wall of the carrying truck body, and the lifting assembly is arranged on the inner wall of the carrying truck body. A lifting handle is arranged on the surface of the lifting assembly, a first supporting plate is fixedly connected to the surface of the carrier body, a first rotating rod is fixedly connected to the inner wall of the first supporting plate, a second rotating rod is rotationally connected to the surface of the first rotating rod, and a second supporting plate is rotationally connected to the inner wall of the end, away from the first rotating rod, of the second rotating rod. The first rotating rod and the second rotating rod are arranged on the inner wall of the first supporting plate, the second supporting plate can be pulled out by pulling the supporting pad of the second supporting plate from the open groove, the length of the second rotating rod is within the range where the second supporting plate can extend outwards, and the bearing area of the pallet fork can be increased by pulling out the second supporting plate. Goods can be placed on the two first supporting plates and the corresponding second supporting plates respectively.

The utility model discloses a stacker, which relates to the technical field of stackers, and comprises an H-shaped track, the top end of the H-shaped track is rotatably connected with a gear II, the lower part of the H-shaped track is rotatably connected with a gear I, a synchronous toothed belt is jointly meshed and connected between the gear I and a rotating shaft, the outer wall of the synchronous toothed belt is provided with a pallet fork fixing plate, and the pallet fork fixing plate is fixedly connected with the H-shaped track. A detachable driving device is arranged at the bottom end of the first gear, and a cleaning device for cleaning teeth of the H-shaped rail is arranged on the inner wall of the H-shaped rail. The cleaning device is arranged in the H-shaped rail of the stacking machine, teeth of the tooth synchronous belt can be cleaned, abrasion of the synchronous tooth belt caused by metal scraps hidden in the teeth of the tooth synchronous belt is avoided, the stacking machine does not need to be shut down, and automatic cleaning of the cleaning device is achieved during operation.

The invention relates to an electric control hydraulic oil cylinder and an electric forklift with the same. A valve plate is arranged at the lower end of an oil cylinder body, a ball valve assembly is arranged in the middle of the valve plate, pushing assemblies are arranged on the two sides of the valve plate respectively, and the ball valve assembly is used for controlling the pushing assemblies to work; a gravity sensor is arranged on a pallet fork, a first-stage push plate is arranged on the pallet fork in a sliding mode, a second-stage push plate is arranged on the first-stage push plate in a sliding mode, one end of the first-stage push plate is connected with a pushing assembly, a supporting assembly is arranged at the lower end of the second-stage push plate, and the supporting assembly is used for supporting the outer side face of a forklift body when the forklift turns. When goods are lifted through the pallet fork, signals on the two sides of the pallet fork are transmitted to the operation end through the gravity sensor, then the goods are placed in the middle by moving the first-stage sliding plate left and right, meanwhile, when the electric forklift turns, the side with large stress is supported through the supporting assembly, and the situation that the electric forklift topples over due to uneven load is avoided.

Embodiments of this application relate to the field of logistics and warehousing technologies. A picking or placing assembly, a fork, a robot, and a warehousing system are disclosed. The picking or placing assembly includes: a body structure, a telescopic mechanism, and a driving mechanism. The telescopic mechanism includes a first flexible member and a second flexible member. When the telescopic mechanism is in an extended state relative to the body structure, at least part of the first flexible member and at least part of the second flexible member are interlocked to form a rigid arm, where at least part of the rigid arm is configured to extend relative to the body structure. When the telescopic mechanism is in a retracted state relative to the body structure, at least part of the first flexible member and at least part of the second flexible member are separated from each other, and at least part of the first flexible member and at least part of the second flexible member are bent. The driving mechanism is connected to the telescopic mechanism. In the foregoing manner, the picking or placing assembly provided in embodiments of this application is capable of satisfying the requirement of picking up a large-volume container with a reduced volume of the picking or placing assembly, thereby improving space utilization of the warehousing system.

The utility model relates to the technical field of material transportation equipment, and discloses a high portal forward moving type AGV with an intelligent accessory, which comprises a battery, the middle part of the left side of the battery is fixedly connected with a walking driving module, the top of the walking driving module is fixedly connected with a chassis module, and the right side of the walking driving module is provided with a forward moving part. And the right side of the forward moving part is slidably connected with a portal system, the right side of the portal system is slidably connected with an intelligent accessory, the bottom of the front side of the forward moving part is fixedly connected with a valve control part, the outer wall of the walking driving module is provided with a pallet fork, and the rear side of the left side of the pallet fork on the left side is fixedly connected with a servo motor. According to the utility model, map scanning is realized through the laser-guided radar module, so that remote control can be realized, the number of intermediate transmission lines can be reduced, the transmission fault probability can be reduced, and the maintainability can be improved by adopting light and small compact structural design, electric driving and integrated bus modular control.

Self-locking gripping device (1) for the vertical transport of cylindrical elements (20), in particular cylindrical mobile vehicle barriers, with a support frame (2), wherein two clamping levers (10, 11) are pivotally coupled to the support frame (2) opposite one another and the clamping levers (10, 11) are each pivotably coupled at their ends to a clamping jaw (14, 15), characterized in that the support frame (2) has two horizontally arranged receiving areas (6, 7) for receiving a pallet fork, wherein the clamping levers (10, 11) are coupled to an upper side (12, 13) of the support frame (2) and the clamping jaws (14, 15) are each connected to a roller (16, 17).

The invention relates to a touch screen gluing mounting machine for an oven operation panel, which comprises a processing table and a PLC (programmable logic controller), a feeding mechanism I, a transfer mechanism I, a feeding mechanism II, a transfer mechanism II, a mounting mechanism and a discharging mechanism are mounted on the processing table, and an operation panel base and a touch screen are respectively conveyed by the feeding mechanism I and the feeding mechanism II; the first transfer mechanism conveys an operation panel base to a gluing station of the mounting mechanism for gluing, then the operation panel base is conveyed to a bonding station through a second conveying plate chain of the mounting mechanism, the second transfer mechanism conveys a touch screen to the operation panel base of the bonding station, and the touch screen is extruded to be bonded with the operation panel base through reciprocating horizontal rolling of a pressing roller on the touch screen. The pallet fork of the discharging mechanism supports the operation panel base from the bonding station and conveys the operation panel base to the discharging plate chain to be output, labor cost is saved, bonding precision and uniformity are improved, and the defective rate of oven touch screen operation panel machining is reduced.

The utility model discloses an eccentrically rotating cross-environment switching mechanism which comprises a first feeding device, a rotating device and a second feeding device, the two sides of the rotating device are connected with the first feeding device and the second feeding device respectively, a rotating module is arranged in the rotating device, and the rotating module is connected with the first feeding device and the second feeding device. A telescopic module and a pallet fork arranged on the telescopic module are arranged on the rotating module, the first feeding device and the second feeding device are each provided with a first bin door, the first bin doors on the first feeding device and the second feeding device are arranged in the opposite directions, and an air shower module is arranged at the top of the first feeding device and the top of the second feeding device. According to the double-fold-line turning stroke conveying device, double-fold-line turning stroke conveying can be achieved, when materials enter a high-grade dust-free environment from a low-grade dust-free environment, the air showering module conducts secondary blowing showering cleaning on the materials, and dust on the surfaces of the materials is prevented from entering a high-grade dust-free workshop.

The anti-falling mechanism comprises a base, the top end of the base is fixedly connected with a stand column, one side of the stand column is provided with a square groove penetrating through the stand column, the two sides of the stand column are each provided with a sliding groove, sliding blocks are connected into the two sliding grooves in a sliding mode, one side of each sliding block is fixedly connected with a mounting plate, and the other side of each sliding block is fixedly connected with a clamping plate. Wherein one side of one sliding block is fixedly connected with a gear motor, a rotating shaft is rotationally connected between the two sliding blocks through a bearing, one end of the rotating shaft penetrates through the sliding blocks to be connected with the gear motor, and ratchet wheels are in key connection with the positions, located at the two ends, of the outer side of the rotating shaft. According to the device, the probability that the pallet fork falls off accidentally can be reduced, the damage rate of goods is reduced, the lifting of the goods can be met, the carrying efficiency of the device is improved, the movement of the goods can be met, and the convenience of the device is improved.

The utility model discloses a forklift driving safety control device which comprises a cab and a vehicle-mounted safety driving host arranged on a center console in the cab. A portal frame is mounted in front of the outside of the cockpit, and a pallet fork is mounted on the portal frame; the vehicle-mounted camera is mounted right above a driver's seat, a mounting seat is fixed on the inner wall of a cab close to the driver's seat, an alcohol detector is arranged in the mounting seat, and the seat pressure sensor is mounted below the driver's seat; the safety prompt module is installed in a cockpit, and the alarm module is installed outside the cockpit. The vehicle-mounted safe driving host is integrated with a microprocessor, the signal output ends of the vehicle-mounted camera, the alcohol detector, the seat pressure sensor and the speed measurement sensor are respectively connected to the signal input end of the microprocessor, and the control end of the microprocessor is respectively connected to the controlled ends of the safety prompt module, the alarm module and the vehicle brake module.

An escapement fork for a timepiece escapement mechanism (10, 10 '), comprising a fork (400, 400'); according to the invention, the fork has two first portions (411a, 421a; 411a ', 421a'), i.e. Pulse portions, which are arranged opposite one another and are arranged so as to generate a pulse from at least one escape wheel (1, 2; 1 ', 2') to an inertia member, characterized in that the fork member (400; 400 ') comprises two second portions (411b, 421b; 411b ', 421b'), i.e. A stop portion, which second portions are arranged opposite each other, each second portion being arranged relative to the first portion (411a, 421a; 411a ', 421a'), and each second portion is arranged to abut against the inertial member when the timepiece movement is impacted in a stationary phase.

The invention provides a steel structure cold storage plate mounting device and method. The device comprises a movable frame, a pallet fork is arranged at one end of the movable frame, the pallet fork is detachably connected with a transfer frame, and the top of the end, away from the pallet fork, of the transfer frame is rotationally connected with a pushing part. By arranging the movable frame, the transfer frame and the pushing piece, the posture of the warehouse plate can be quickly, simply and conveniently adjusted, the labor intensity and the workload of workers are reduced, and the safety risk of high-place operation is avoided; the device is simple in overall structure, easy to manufacture, low in cost, convenient to mount and demount, convenient to use, suitable for mounting warehouse plates of various specifications and capable of being used in a turnover mode.

The utility model relates to a kind of forklift gantry structure, including pallet fork structure, blocking goods board and buffer structure;It is connected with pallet fork structure on inner gantry, it is simultaneously provided with a blocking goods board on the gantry board of inner gantry inboard top, blocking goods board is perpendicular to gantry board and is set and blocking goods board covers up the window in the upper portion of inner gantry and outer gantry, after goods are taken by pallet fork, since goods are inclined to inner gantry inboard, blocking goods rack blocks goods from falling from window;Buffer structure is arranged on inner gantry, and buffer structure includes elastic member and airbag layer;The lower surface of the top plate of inner gantry is provided with multiple elastic members, and the lower surface of multiple elastic members is connected with airbag layer;When working, airbag layer is inflated, inner gantry is lowered to its top plate is close to the upper end of outer gantry and is adhered, airbag layer and elastic member buffer the two, to avoid collision damage.The utility model reaches the beneficial effect is: avoid goods slide and the collision caused by buffer lifting, improve structural stability.

The utility model relates to the technical field of forklift forks, and discloses an adjustable forklift fork structure which comprises two fixing frames, lifting frames are connected to the front sides of the outer walls of the two fixing frames in a sliding mode, and a plurality of connecting plates are fixedly connected to the left sides and the right sides of the rear ends of the two fixing frames. The bottoms of the rear sides of the two fixing frames are fixedly connected with first pushing rods, the top ends of the two first pushing rods are fixedly connected with the rear sides of the tops of the two lifting frames, the bottoms of the front sides of the two lifting frames are fixedly connected with first connecting blocks, and the adjacent sides of the two first connecting blocks are rotationally connected with second pushing rods. According to the utility model, the fixed frame provides support, the push rod I transmits power to realize the vertical sliding of the lifting frame and adapt to different cargo heights, the connecting block I serves as a fulcrum, the push rod II and the connecting block II drive the cargo carrying frame to move back and forth to assist in accurately forking cargoes, and the buffer strip can buffer collision impact force.

The utility model relates to an assembled cargo carrying table structure for an intelligent storage vertical conveying and stacking system. Comprising a lifting guide mechanism used for guiding a cargo carrying table to vertically lift along a preset track; the pallet fork mounting table is a rigid platform and is used for mounting and fixing a pallet fork; the connecting piece is fixedly connected with the base through a bolt or a fastener; and the pull rod is fixedly connected with the pallet fork mounting table, is used for enhancing the stability of the pallet fork mounting table and serves as an auxiliary positioning element to ensure the mounting precision of the pallet fork mounting table. According to the assembly type cargo carrying table structure, the split type structural design is adopted, all the components are easy to machine and assemble, the precise machining technology and the high-precision assembling technology are combined, and it is ensured that a cargo carrying table has excellent stability and precision; meanwhile, the structure is flexible, transportation and installation are convenient, and the requirements of different warehousing systems are met.

The utility model provides an in-place detection assembly and carrying equipment, the in-place detection assembly comprises an installation main body, a trigger piece and a detection piece, the installation main body is used for being arranged on a pallet fork of the carrying equipment, and the installation main body is provided with an installation groove; the trigger part is partially contained in the mounting groove, the trigger part can move relative to the mounting main body so as to be switched between a first state and a second state when goods are switched from a state that the goods are not forked to the pallet fork to a state that the goods are forked to the pallet fork, the trigger part is provided with a trigger part, the trigger part is contained in the mounting groove, and the detection part is arranged in the mounting groove and is used for detecting whether the goods are forked to the pallet fork. When the trigger part is driven by the forked goods to be switched to the second state, an in-place signal is sent to the carrying equipment according to the detected position of the trigger part, and therefore in-place detection of the goods is achieved; the situation that when goods are in place on a goods shelf or a goods fork, carrying equipment continues to act, the goods shelf, the goods and the like are damaged, potential safety hazards are generated, or economic losses are caused is avoided.

The efficient cargo carrying structure of the heavy stacker comprises a cargo carrying platen, a rail groove is formed in the top face of the cargo carrying platen, a pallet fork is arranged in the rail groove, a hydraulic rod is fixed to the end of the inner wall of the rail groove, and the tail end of the hydraulic rod is fixedly connected with the end of the interior of a mounting hole. The mounting hole is formed in one end of the pallet fork, the resistance reducing roller is mounted at the other end of the pallet fork, the limiting column is fixed to one end of the bottom face of the pallet fork and penetrates through the limiting groove, the limiting groove is formed in the bottom of the rail groove, and the connecting plate is fixed to one end of the top face of the pallet fork. According to the efficient cargo carrying structure of the heavy stacker, the novel structural design is adopted, the extending distance of the pallet fork is increased, the working stability of the pallet fork is improved, meanwhile, the two sides of cargoes of different sizes are blocked and protected through the limiting mechanisms with the height adjustable on the two sides, and the top limiting mechanism is matched, so that the cargo carrying efficiency is improved. And the stability in the cargo carrying process is further improved.

The utility model discloses a lateral movement control circuit for automatic goods picking and placing of an AGV. The lateral movement control circuit comprises a lithium battery, a pump electric controller, a pump motor, a DCDC converter, a VCU controller and a lateral movement encoder. The lithium battery is electrically connected with the pump electric controller and the DCDC converter, and the output end of the DCDC converter is electrically connected with the VCU controller so as to supply 24V power to the VCU controller. And the VCU controller is respectively in communication connection with the side shift encoder and the pump electric control through a CAN (Controller Area Network) bus. The lateral movement encoder is arranged on the pallet fork lateral movement frame so as to detect the lateral movement position of the pallet fork in real time and feed the lateral movement position back to the VCU controller and the pump electric controller through the CAN bus. And the VCU controller sends a fork lateral movement message to the pump electric controller according to the fork lateral movement position. And the pump electric controller is in signal connection with a pump motor and controls operation or stop of the pump motor according to the pallet fork lateral movement message so as to control the lateral movement distance of the pallet fork of the AGV. According to the utility model, the intelligence of the AGV can be improved, and the operation safety can be enhanced.