912 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 invention relates to the technical field of roadway stacking machines, in particular to a roadway stacking machine which comprises a stacking machine body and a fork for taking goods. The pallet fork comprises a cargo carrying table, a protection plate fixedly installed on the cargo carrying table, a cargo taking assembly for taking cargoes, a weighing table for obtaining cargo weight information and a labeling assembly for labeling different labels according to the cargo information. The bottom plate is fixedly installed on the cargo carrying table, and the weighing table is fixedly installed on the bottom plate. According to the invention, a pressure distribution measuring pad is fixedly installed on the weighing platform, the pressure distribution measuring pad obtains the weight of goods from the weighing platform in the transportation process and feeds back the weight to the electric control cabinet, and the electric control cabinet matches the type of the goods through the weight of the goods according to preset information and matches the position of the goods stacked on the goods shelf. The proper stacking mode and height are selected according to the weight of the goods, more accurate stacking of the goods is facilitated, stability and safety of the stored goods are guaranteed, and the phenomena of sinking, skewing or collapsing are avoided.

The AGV pallet truck comprises a truck body and a pallet fork frame assembly arranged on the truck body, the pallet fork frame assembly comprises a pallet fork body slidably connected with the truck body and a pallet fork body extending to the outside of the truck body, and a middle supporting wheel assembly is arranged at the lower end of the pallet fork body; a bearing wheel assembly is arranged at one end, far away from the truck body, of the pallet fork body, and the bearing wheel assembly is rotationally connected with the pallet fork body through a wheel carrier; a main lifting part and an auxiliary lifting part are arranged between the fork arm carrier assembly and the vehicle body, and a driving transmission assembly is arranged between the main lifting part and the wheel carrier and between the auxiliary lifting part and the wheel carrier. When a tray shaped like a Chinese character'tian 'or goods with bottom stop levers are carried, the weighing wheel at the front end of the vehicle needs to be folded on the inner side of the pallet fork, then the goods are forked, and then the weighing wheel is put down and touches the ground, so that different pallet and goods fork hole styles can be adapted, and the universality is improved.

The utility model discloses a ton barrel transfer device with good protection performance, and relates to the technical field of ton barrel transfer devices, the ton barrel transfer device comprises a forklift structure, two protection structures are arranged on the forklift structure, the two protection structures are symmetrically arranged, each protection structure comprises a lifting part, a protection part is arranged on each lifting part, and each protection part comprises a clamping assembly. The forklift structure comprises a mounting plate, two first metal strips are arranged on one side of the mounting plate, a pallet fork is arranged on the mounting plate, the lifting component comprises two fixing plates fixedly connected with the pallet fork, and a threaded rod is rotationally connected between the two fixing plates. According to the utility model, the ton barrel can be clamped and limited, so that the ton barrel is protected, the stability is improved, the danger during use is reduced, and meanwhile, the position of the protection part can be adjusted according to the height of the ton barrel, so that the protection part is positioned in the middle of the ton barrel, and the protection effect is improved.

The utility model discloses a small-tonnage forklift fork device which comprises an installation assembly, the installation assembly comprises an installation support, and the installation support is connected with a horizontal long shaft. The transverse moving assembly comprises a left-side pallet fork, a right-side pallet fork, a left-side oil cylinder and a right-side oil cylinder; and the hydraulic assembly is respectively communicated with the left oil cylinder and the right oil cylinder. The oil cylinders on the left side and the right side are connected with the pallet forks on the left side and the right side, and then the motion states of the pallet forks can be controlled. The hydraulic assembly is arranged to control the oil cylinders on the left side and the right side to stretch or retract at the same time, so that the distance between the pallet forks on the left side and the right side can be adjusted according to the inserting position distance of a tray. The hydraulic assembly is arranged to control the shortening of the left side oil cylinder and the extension of the right side oil cylinder, so that the left side pallet fork and the right side pallet fork can move leftwards at the same time and can also move rightwards at the same time, the forklift pallet fork device can adapt to different types of pallets and can transversely move cargoes in a narrow space, and the freedom degree of movement of the pallet forks is increased.

The utility model provides an anti-collision mechanism of a lithium battery stacking machine, relates to the technical field of lithium battery storage equipment, and solves the problem that safety accidents easily occur due to the fact that a pallet fork of an existing stacking machine is not provided with safety detection and protection. The anti-collision device comprises a group of bearing mounting seats which are symmetrically arranged, an anti-collision plate is arranged on the left sides of the two bearing mounting seats, the two ends of the anti-collision plate are symmetrically connected with one ends of a group of guide rods, and the other ends of the two guide rods penetrate through the bearing mounting seats on the corresponding sides in a sliding mode. A linear bearing is fixedly installed in the bearing installation base in a left-right penetrating mode, the portion, between the bearing installation base and the anti-collision plate, of the guide rod is sleeved with a spring, an alarm switch fixing plate is arranged on the right side of the bearing installation base, and an alarm switch used for controlling an alarm device is installed at the end, close to the guide rod, of the alarm switch fixing plate. The device has the advantages that effective safety detection is achieved, and safety risks such as material collision or cross beam collision are avoided.

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 utility model discloses a lateral-moving single-fork distance-adjusting forklift hydraulic control system with a self-locking function and a forklift. The hydraulic control system comprises an oil pump, a multi-way valve, a right pallet fork distance-adjusting oil cylinder, a left pallet fork distance-adjusting oil cylinder, a bidirectional hydraulic lock and an oil tank. A first working oil port A1 of the multi-way valve is communicated with a rodless cavity of the right pallet fork distance adjusting oil cylinder, a second working oil port B1 of the multi-way valve is communicated with a first connector of the second three-way pipe, a second connector of the second three-way pipe is communicated with a rodless cavity of the left pallet fork distance adjusting oil cylinder, and a third connector of the second three-way pipe is communicated with a fourth working oil port C2 of the two-way hydraulic lock. A third working oil port C1 of the bidirectional hydraulic lock is communicated with a first connector of the first three-way pipe, and a second connector of the first three-way pipe is communicated with a rod cavity of the right pallet fork distance adjusting oil cylinder. According to the utility model, the bidirectional hydraulic lock is arranged on the accessory oil way, so that the problem that the other oil cylinder continues to act after the stroke of one oil cylinder is in place during lateral movement is solved, and the safety of lateral movement operation is improved.

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 mechanical watch tourbillon, in particular to a rotation inertia adjustable double-shaft tourbillon structure which comprises a frame plate, a first direction shaft, an outer tourbillon, a second direction shaft, an inner tourbillon, an escapement mechanism and a transmission wheel train. The inner tourbillon is rotationally connected with the outer tourbillon through a second direction shaft, the escapement mechanism is arranged in the inner tourbillon and comprises an escapement wheel, an escapement fork and a hairspring balance wheel, four adjusting columns are arranged on the surface of the hairspring balance wheel in the circumferential direction of the hairspring balance wheel at equal intervals, the adjusting columns are sleeved with C-shaped weights, and the C-shaped weights are in interference fit with the adjusting columns; the transmission wheel train is used for driving the inner tourbillon to rotate around the second direction shaft while driving the outer tourbillon to rotate around the first direction shaft and driving the escapement wheel to rotate at the same time. The balance wheel has the effect that the rotation inertia of the balance wheel can be flexibly adjusted.

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 invention belongs to the technical field of carrying machinery, and particularly relates to a fork distance adjusting device. A pallet fork distance adjusting device comprises a side shifter, a pallet fork frame connecting piece, two pallet fork mounting plates and two driving assemblies. The side shifter comprises a frame and an oil cylinder, the oil cylinder is installed on the frame, and the two ends of the fork arm carrier connecting piece are connected with the oil cylinder and the forklift respectively. The two pallet fork mounting plates are mounted on the frame in a sliding manner; and each pallet fork mounting plate is connected with a pallet fork. The driving assemblies are mounted in the frame, and the two driving assemblies are connected with the two pallet fork mounting plates correspondingly. The driving assembly comprises a motor, a lead screw, a fixing plate and a nut, and the nut is connected with the pallet fork mounting plate. The adjusting mode of the motor and the lead screw is adopted, multiple oil pipelines do not need to be arranged in the pallet fork distance adjusting device, the structure of the pallet fork distance adjusting device is simplified, meanwhile, the lead screw is adopted, the moving stroke of the pallet fork mounting plate can be increased in the limited space of the frame, the pallet fork distance adjusting device can be suitable for different scenes, and the practicability of the pallet fork distance adjusting device is improved.

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 an intelligent CTU goods shelf and an anti-shake control method and device thereof and a terminal. The method comprises the steps that a goods placing instruction for controlling operation of the intelligent CTU goods shelf is obtained, and a telescopic structure is controlled to clamp a goods shelf body according to the goods placing instruction; the goods placing instruction comprises the initial speed, the final speed and the maximum acceleration of the operation of the intelligent CTU goods shelf; processing the initial speed, the final speed and the maximum acceleration to obtain a speed curve; and according to the speed curve, the extending running speed and running time of the pallet fork in the goods shelf body are controlled, and a goods release instruction that the pallet fork in the goods shelf body extends in place is obtained. According to the method, a telescopic structure is controlled to clamp a goods shelf body to stabilize the goods shelf body of the intelligent CTU goods shelf according to a goods placing instruction, and then the extending running speed and running time of a pallet fork in the goods shelf body are controlled through a speed curve, so that the pallet fork in the goods shelf body extends in place; therefore, the intelligent CTU shelf doubly reduces the impact force generated when the pallet fork stretches out and draws back.

The invention relates to the technical field of forklifts, in particular to an energy-recoverable high-slope lithium battery forklift which comprises a forklift body, a door frame and an inclination mechanism and further comprises a hydraulic cylinder, a lifting frame, a pallet fork, a detection assembly, a push plate, a speed change assembly, a hydraulic motor, a power generator and a storage battery. The lifting frame is connected to the upper end of the hydraulic cylinder, the pallet fork is connected to the lifting frame, the detection assembly is connected to the rear side of the pallet fork, the push plate is connected to the rear side of the detection assembly, the speed change assembly is connected to the rear side of the push plate, the hydraulic motor is connected to the side, close to the door frame, of the speed change assembly, and the hydraulic motor communicates with the hydraulic cylinder. By arranging the speed change assembly, the transmission ratio of the hydraulic motor to the power generator is changed according to the weight of goods, so that the purpose of improving the energy recovery efficiency is achieved, and the endurance of the lithium battery forklift is effectively 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 utility model discloses a pallet fork device and a transfer robot, relates to the technical field of warehouse logistics equipment, and aims to solve the technical problems that the current transfer robot adjusts the position of a telescopic mechanism so as to eliminate a transverse error between the telescopic mechanism and a target warehouse position, and the adjustment process is long in time consumption and low in operation efficiency. The pallet fork device comprises a base plate, a displacement compensation mechanism and a telescopic mechanism. The telescopic mechanism comprises two telescopic assemblies, and the two telescopic assemblies are oppositely arranged on the two sides of the base plate in the first direction; the displacement compensation mechanism is connected with the two telescopic assemblies. The displacement compensation mechanism is configured to slide in the first direction relative to the substrate and change the position of the telescopic mechanism in the first direction relative to the substrate. According to the pallet fork device and the carrying robot, the transverse error between the target bin position and the telescopic mechanism can be rapidly eliminated, and the operation efficiency is improved.

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 discloses a bottom module type stacking machine and an assembling method thereof.The bottom module type stacking machine comprises a bottom module, the bottom module comprises a fixed-height stand column (2) and a variable-height stand column (10), the fixed-height stand column (2) is perpendicularly connected with a bottom frame (1), and a lifting table (3) which ascends and descends along the fixed-height stand column (2) is arranged on the fixed-height stand column (2); a pallet fork (4) for storing and taking materials is arranged on the lifting platform (3), and the lifting platform (3) is driven by a lifting driving device (5); a top beam (6) is arranged at the top of the bottom module; an electric control system device (7) is further arranged on the bottom frame (1). Main components of the stacking machine are integrated into a bottom module, in-plant integral installation, adjustment and on-site integral hoisting are achieved, the lifting quality is controllable, and the on-site implementation quality and efficiency 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 utility model discloses a support combining machine for a photovoltaic module, which comprises a movable pallet fork, the action point of supporting force borne by the movable pallet fork defines a stress area I, and the gravity center of a material module falls in the stress area I; the conveying piece is used for conveying the material assembly to the first stress area; the balance weight part and the movable pallet fork are connected and move in the vertical direction, the directions of the balance weight part and the movable pallet fork are opposite, a second stress area is defined by acting force acting points of the balance weight part on the supporting assembly, and the vertical projection of the second stress area covers the first stress area. The conveying piece is arranged to convey the material assembly to the action range of the movable pallet fork, the first balance weight and the second balance weight are arranged to apply pulling force to the chain and the installation frame, and the second stress area defined by the action points of the pulling force comprises the contact area of the material assembly and the installation frame. The ascending speeds of the connecting points of the mounting frame and the chain in the ascending process are the same, it is guaranteed that the top face of the movable pallet fork is horizontal in the ascending process, and the tray is prevented from horizontally deviating in the ascending process.

The invention discloses a stacking carrying vehicle and application. The stacking carrying vehicle comprises a chassis; a telescopic pallet fork unit, a protection unit and symmetrically arranged lifting pallet fork units are arranged on the chassis; the telescopic pallet fork unit is located between the symmetrically-arranged lifting pallet fork units and comprises a longitudinal displacement assembly, a longitudinal moving frame, a vertical moving frame and a telescopic pallet fork located on the vertical moving frame, the longitudinal displacement assembly is connected with the longitudinal moving frame, and the vertical moving frame is arranged on the longitudinal moving frame in a liftable mode; the lifting pallet fork unit comprises a vertical displacement assembly, a transverse displacement assembly and a lifting pallet fork, the transverse displacement assembly is located on the vertical displacement assembly, and the lifting pallet fork is connected with the transverse displacement assembly. The problem that a forklift driver needs to be equipped for a forklift in existing production is solved, the cost is reduced, particularly, a plurality of stacks can be carried at a time, the carrying efficiency is improved, and the safety and stability during carrying are also guaranteed.

The utility model discloses a workpiece dead head removing device which comprises a base plate, universal wheels are arranged at the bottom of the base plate, a cylinder body of an impact mechanism is hoisted on the top face of the base plate through a lifting frame assembly, an impact rod in the cylinder body is connected with an adapter of a hammer head assembly, and the hammer head assembly can be matched with form relieved teeth of an excavator and a pallet fork of a forklift by replacing the adapter. A pushing handle assembly is arranged at the tail of the base plate, and an anti-collision rod of the pushing handle assembly is matched with the tail of the cylinder body. According to the device, the hammer head assembly is driven by the impact mechanism to remove the risers on the workpieces, the hammer head assembly can be rapidly disassembled, assembled, replaced and adjusted in height, the device can be matched with engineering equipment such as an excavator and a forklift to remove special risers, the device has the advantages of being efficient, capable of saving labor and high in applicability, and the labor intensity of workers is reduced.