610 results about "Pallet fork" patented technology

The invention discloses a stacking machine for a stereoscopic warehouse, and belongs to the field of stacking machines, the stacking machine comprises a stand column, a cargo carrying table and a lifting mechanism, a walking mechanism is arranged on the lower portion of the stand column, and the lifting mechanism is used for driving the cargo carrying table to ascend and descend on the stand column; the pallet fork is used for forking goods on the goods shelf; the device further comprises a supporting mechanism, the supporting mechanism comprises a first rotating plate, the first rotating plate is rotationally connected with the first connecting plate through a rotating rod, the two ends of the first rotating plate are each in pivot joint with a first driving rod, the other end of each first driving rod is in pivot joint with the middle of the sliding base, a supporting arm is arranged on one side of the sliding base, and one end of the supporting arm is connected with an L-shaped lap joint plate. When the stacking machine takes and places goods, the lap joint plate is in lap joint with one side of the goods shelf. By arranging the supporting mechanism, extra supporting is formed for the stand column, the force borne by the stand column is effectively dispersed, the upsetting moment of the stand column is remarkably reduced, and the structural stability and safety of the stacking machine in the running process are improved.

The invention discloses a tray forking method and system, a storage medium and a program product, and relates to the field of general control or adjustment systems.The method comprises the steps that tray area images are collected, and tray position coordinates and cargo distribution data are obtained; carrying out gravity center calculation to obtain a cargo plane gravity center predicted value, calculating a stress compensation coefficient of a scissor fork module, and determining an initial stress value; determining motion track parameters of the robot, and generating a motion control instruction for controlling a pallet fork of the robot to move to a preset position; an initial lifting instruction is generated and used for controlling a scissor fork module of the robot to conduct lifting motion; acquiring real-time stress data of the scissor fork module, determining a horizontal attitude deviation value of the tray, and generating a lifting compensation instruction for adjusting the real-time stress data so that the target tray is adjusted to a horizontal state; and generating a truck body forward moving instruction and a module homing instruction, and controlling the target tray to be placed on the truck body. According to the invention, the tray forking and moving stability of the robot can be improved.

The embodiment of the invention discloses a tray forking control method and device of an unmanned forklift and a medium, and relates to the technical field of path planning, and the method comprises the steps that multi-mode environment data in a target forking environment is collected in real time through a multi-mode sensor, and based on the multi-mode environment data, region segmentation is conducted on the target forking environment, and the target forking environment is obtained; constructing a dynamic risk map, wherein the dynamic risk map comprises a static obstacle, a dynamic obstacle and a tray target position; according to the dynamic risk map, an improved adaptive sampling search algorithm and a preset node expansion constraint condition are adopted to generate a global forklift path; b spline curve fitting is carried out on the global forklift path, a multi-source error compensation item is introduced into the track control point through a pre-obtained multi-source quantization error, a fitted forklift path is determined, and the target tray is forked through the fitted forklift path.

The utility model discloses a large-section multi-fork-body heavy-load telescopic pallet fork which comprises a plurality of fork bodies, every two fork bodies are connected through a universal driving shaft, a driving assembly is installed below one fork body, each fork body comprises an upper fork, a middle fork and a lower fork which are movably connected in sequence, universal flange plates are installed at the two ends of each universal driving shaft, and the universal flange plates are connected with the universal driving shafts. The driving assembly comprises a gear motor and a first chain wheel in driving connection with an output shaft of the gear motor, a gear shaft is installed on the lower fork, a torque limiter is installed at one end of the gear shaft, the other end of the gear shaft is connected with a universal flange plate, a second chain wheel is arranged on the torque limiter and connected with the first chain wheel through a chain, and the gear motor drives the torque limiter through the first chain wheel. And the torque limiter and the gear shaft coaxially transmit power to the transmission gear on the lower fork. The automatic picking and placing device is used in cooperation with the stacking machine so as to achieve automatic picking and placing of large-load long goods in the three-dimensional warehouse.

The invention relates to a rail-mounted automatic guided vehicle provided with a plate folding and stacking station, which belongs to the technical field of automatic warehouse logistics and comprises two groups of guide rail main bodies, and a storing and taking assembly is arranged on the two groups of guide rail main bodies in a sliding manner. The storing and taking assembly comprises a shuttling goods taking assembly arranged on the two guide rail bodies in a sliding mode, a fork assembly arranged in the shuttling goods taking assembly and used for storing and taking goods or trays, and a tray folding and stacking assembly used for stacking the trays. The bottom of the shuttling goods taking assembly is further provided with a plurality of anti-overturning assemblies. When goods are taken, the telescopic pallet forks can quickly fork and move the goods into a vehicle, the goods putting link works according to the types of the goods, the goods circulation time is shortened, the warehouse operation efficiency is improved, tray stacking and tray disassembling work achieves precise operation through cooperation of multiple components, the tray utilization rate is improved, and the safety is guaranteed to be reliable through the rollover prevention mechanism; when the gravity center shifts, the buffer pad is compressed, and the limiting clamping wheel and the forced limiting hook act together, so that rollover is effectively prevented, and the safety of personnel and equipment is guaranteed.

The invention relates to the technical field of goods conveying, and discloses a water bottle stacking device which comprises a sliding rail fixedly installed on a bearing table, a pallet fork clamped on the sliding rail in a sliding mode and a self-locking type driving mechanism installed on the bearing table and used for driving the pallet fork to slide in a reciprocating mode. The self-locking type driving mechanism drives the sliding fork to slide in a reciprocating mode. A stand column is fixedly installed on the supporting fork. The action of reinforcing the packaging water bottle is achieved in the process that the self-locking type driving mechanism drives the pallet fork to withdraw the packaging water bottle to the bearing table, the two actions are seamlessly connected, operation of an operator is not needed, independent drive is not needed for the downward pressing piece, a control system does not need to be independently arranged for the downward pressing piece, and operation is convenient. Therefore, the cost is saved, the design difficulty of the control system is reduced, and meanwhile, the connection time between the two actions can be effectively shortened so as to improve the working efficiency.

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 utility model relates to a pallet shelf warehousing system which comprises at least one group of shelves, a goods transfer device is arranged on a roadway between two shelves in the same group, the goods transfer device comprises a mother vehicle, and the mother vehicle is connected with a goods carrying table through a lifting belt. The mother vehicle is matched with a walking track arranged on the goods shelf through the first walking mechanism so as to walk in the extending direction of the goods shelf, the goods carrying table is provided with a telescopic pallet fork assembly, the telescopic pallet fork assembly is connected with a lifting mechanism installed on the goods carrying table, and the warehousing system is better in operation safety.

Efficient and portable battery pack warehousing equipment comprises a rail conveying module, a lifting module is arranged at the output end of the rail conveying module, a bearing module is arranged at the output end of the lifting module, a battery pack transplanting module is arranged on the bearing module and comprises a mounting frame, a telescopic pallet fork mechanism is arranged on the mounting frame, and automatic shaping mechanisms are arranged on the two sides of the mounting frame. Photoelectric sensors are arranged at the rear ends of the mounting racks; the bearing module comprises a bearing table arranged at the output end of the lifting module, the upper end of the bearing table is rotationally connected with the bottom of the mounting frame, a telescopic adjusting rod is arranged on one side of the bearing table, and an angle is formed between the telescopic adjusting rod and the output direction of the telescopic pallet fork mechanism. According to the utility model, horizontal movement, vertical lifting and angle rotation can be carried out, and the servo motor is adopted for driving, so that the positioning precision and flexibility during the pick-and-place of the battery pack are ensured; by adopting the design capable of identifying and automatically aligning the cabin space, the posture of the battery pack is laterally corrected by utilizing the fluent strip, and the accuracy and portability of the battery pack entering the cabin are improved.

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 utility model relates to a narrow roadway inserting and taking bearing forklift which comprises a base, four base moving assemblies, a pallet fork assembly, a pallet fork forward pushing assembly and a pallet fork lifting assembly. The four base moving assemblies are arranged on the lower end face of the base, the pallet fork assembly is arranged on the base, and the pallet fork forward pushing assembly is arranged on the base and connected with the pallet fork assembly. The pallet fork lifting assembly is arranged on the base and connected with the pallet fork assembly. The pallet fork assembly comprises a pallet fork frame and two pallet fork front pushing seats, the two pallet fork front pushing seats are connected to the two ends of the pallet fork frame respectively, and the pallet fork frame is arranged on the base and connected with the pallet fork front pushing assembly; the utility model aims to overcome the defects in the prior art, and provides the narrow roadway inserting and taking back-carrying forklift, so that the narrow roadway can pass through, and the narrow roadway inserting and taking back-carrying forklift has the advantage of small working radius.

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 relates to the technical field of material carrying, in particular to multifunctional carrying equipment for concrete guardrails, which comprises a forklift main body, a gantry structure and a working device, the gantry structure is arranged on the forklift main body, a pallet fork is arranged at the lower end of the gantry structure, and the working device is arranged at the upper end of the gantry structure. An angle control mechanism is arranged between the portal structure and the forklift main body; the working device comprises a connecting plate, a frame and an executing mechanism, the connecting plate is fixedly connected with the portal structure, the frame is arranged on the connecting plate in a sliding mode in the transverse direction, and the executing mechanism is arranged on the frame in the longitudinal direction. According to the concrete guardrail carrying device, the concrete guardrail carrying multifunctionality and operation flexibility are remarkably improved. The angle control mechanism is in linkage with the outer portal frame to achieve accurate adjustment of the height of the pallet fork, and in combination with the transverse moving mechanism driven by the lateral moving oil cylinder and the lead screw-thread bushing longitudinal driving system, an executing mechanism can complete accurate three-dimensional space positioning.

The invention relates to the technical field of forklifts, and discloses a three-stage full-free gantry lifting hydraulic system for a forklift, which adopts a three-stage full-free gantry design, and realizes stable lifting of a pallet fork through cooperative work of a free cylinder and a side cylinder. The core of the system is a control valve set, the flow direction, flow and pressure of hydraulic oil can be accurately adjusted, and it is ensured that the gantry acts coordinately without impact. The forklift is mainly characterized in that a three-stage full-free portal frame design is adopted, the lifting flexibility of a pallet fork is improved, a free cylinder and a side cylinder are matched for use, synchronous lifting of the portal frame is achieved, a control valve set achieves stable lifting and descending through pressure compensation and proportional control, the emergency release function and stop valve protection are achieved, and operation safety is ensured; according to the invention, the impact and vibration in the lifting process of the pallet fork can be effectively reduced, the working efficiency of the forklift is improved, the service life of equipment is prolonged, and the operation safety is improved.

The utility model provides an unmanned forklift and belongs to the technical field of logistics, the unmanned forklift is used for forking trays and comprises a chassis and a telescopic fork, the telescopic fork comprises a door frame and a pallet fork, the door frame is installed on the chassis, the pallet fork is arranged on the door frame, a notch is formed in the chassis, the pallet fork is configured to move in the notch in the goods taking and placing direction, and the telescopic fork is arranged on the chassis. Mecanum wheels are arranged on the chassis.

The invention relates to the field of logistics storage, and discloses an intelligent accessory and an application method thereof.The intelligent accessory comprises a forklift used for bearing a controlled module and a basic component, the controlled module comprises a clamp, a pallet fork and a sensing module, and the sensing module is installed on the clamping face of the clamp and the bearing portion of the pallet fork and used for monitoring and generating point cloud data of the surrounding environment; the control framework module is installed in the forklift and used for completing double-line control combining driving control of the forklift and action control of the controlled module; and the communication module is used for realizing high-speed data transmission and intercommunication between the controlled module and equipment including a warehouse management system, a production scheduling system and adjacent forklifts. According to the invention, multi-sensor fusion of the laser radar, the visual camera, the IMU and the millimeter-wave radar is adopted, perception and positioning of cargo positions, categories and motion states are achieved, and inventory management efficiency is improved through sensor data complementary fusion.

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 relates to the technical field of forklift loading and unloading equipment, in particular to a fork arm carrier system capable of forking goods bidirectionally. The hanging frame is arranged on the fork arm carrier in a lateral sliding manner; the sliding frame is arranged on the hanging frame in a front-back sliding manner; and the pallet fork is arranged on the sliding frame. The pallet fork is arranged at the bottom of the sliding frame in a lateral sliding mode. The driving mechanism drives the pallet fork to transversely move and slide in two directions relative to the sliding frame so as to adjust the extending position of the pallet fork relative to the sliding frame, and loading areas in different directions are formed; the fixing device is used for pressing the pallet fork after the pallet fork moves in place to prevent displacement; the sliding direction of the hanging frame is parallel to the pallet fork, and the hanging frame moves to control advancing and retreating of the pallet fork loading area. The scheme has the effects of improving the narrow channel operation efficiency and optimizing the storage space utilization rate.

The novel light-weight double-stand-column stacking machine comprises a base, a first stand column, a second stand column, a cross beam, a cargo carrying platform, a lifting driving mechanism, two telescopic pallet fork mechanisms and a pallet fork width adjusting mechanism, the base is connected with the first stand column and the second stand column, and the upper end of the first stand column and the upper end of the second stand column are jointly connected with the cross beam; the cargo carrying platform is connected with the first stand column and the second stand column in a sliding mode, the lifting driving mechanism is connected with the cargo carrying platform and drives the cargo carrying platform to vertically move, the two telescopic pallet fork mechanisms are installed on the cargo carrying platform through the pallet fork width adjusting mechanism, and pallet forks on the telescopic pallet fork mechanisms can stretch and retract front and back. The pallet fork width adjusting mechanism drives the two telescopic pallet fork mechanisms to move close to or away from each other. The fork width adjusting mechanism can be controlled to accurately adjust the using positions of the two forks according to the size information of a container, the two telescopic fork mechanisms synchronously drive the forks on the telescopic fork mechanisms to stretch forwards to the designated position to conduct forking operation, and the forking efficiency of goods is improved.

The utility model discloses a photovoltaic module installation robot, and relates to the technical field of automation, the photovoltaic module installation robot comprises a moving unit, an overturning positioning unit and a grabbing installation unit, the moving unit is used for moving on the ground to achieve transferring of the photovoltaic module installation robot, and the overturning positioning unit and the grabbing installation unit are both arranged on the moving unit to achieve grabbing installation of the photovoltaic module installation robot. The overturning positioning unit can move along with the moving unit and comprises an overturning mechanism and a pallet fork, the overturning mechanism is arranged on the moving unit, the pallet fork is arranged on the overturning mechanism and used for bearing the photovoltaic module, and the overturning mechanism is used for driving the pallet fork to overturn and enabling the photovoltaic module on the pallet fork to incline towards the direction where the grabbing mounting unit is located. And the grabbing and mounting unit is used for grabbing the photovoltaic module on the pallet fork and transferring the photovoltaic module to a specified mounting position. According to the invention, the automatic transfer of the photovoltaic module from the ground to the mounting bracket is realized, the production efficiency is improved, the production cost is reduced, and the production period is shortened. And meanwhile, the high-place operation risk existing in manual installation is avoided.

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.