CN107311080A - A kind of goods sorting method that center of gravity of goods is detected based on fork truck - Google Patents
A kind of goods sorting method that center of gravity of goods is detected based on fork truck Download PDFInfo
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- CN107311080A CN107311080A CN201710731284.5A CN201710731284A CN107311080A CN 107311080 A CN107311080 A CN 107311080A CN 201710731284 A CN201710731284 A CN 201710731284A CN 107311080 A CN107311080 A CN 107311080A
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- 230000005484 gravity Effects 0.000 title claims abstract description 58
- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000005303 weighing Methods 0.000 claims abstract description 11
- 230000004044 response Effects 0.000 claims abstract description 4
- 229910000831 Steel Inorganic materials 0.000 claims description 3
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 3
- 229910052782 aluminium Inorganic materials 0.000 claims description 3
- 239000004411 aluminium Substances 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 229920003023 plastic Polymers 0.000 claims description 3
- 239000004033 plastic Substances 0.000 claims description 3
- 239000010959 steel Substances 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 5
- 206010039203 Road traffic accident Diseases 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 230000009467 reduction Effects 0.000 description 2
- 125000006850 spacer group Chemical group 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
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- 230000032258 transport Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
- B66F17/003—Safety devices, e.g. for limiting or indicating lifting force for fork-lift trucks
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- Engineering & Computer Science (AREA)
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- Civil Engineering (AREA)
- Pallets (AREA)
Abstract
The invention discloses a kind of goods sorting method that center of gravity of goods is detected based on fork truck, it is related to logistics field, methods described includes：First, load condition is in response to carrying the first fork truck of the first goods, gather the first left side pallet fork of the first fork truck first is weighed value, the second of the second right side pallet fork of the first fork truck of collection weighs value；Secondly, weighed value according to the first value and second of weighing, the first or so barycentre offset of solution；Finally, according to the first or so barycentre offset, first goods is placed in the cargo storage position matched on logistics device.The present invention is weighed value by the left and right pallet fork of fork truck, solve the first or so barycentre offset, it is easy to judge goods whether center of gravity is unbalance, and goods is sorted according to barycentre offset, and the relevant position of logistics device is stored in again, the symmetery degree of goods in cargo instrument is effectively improved using the technical scheme, it is to avoid goods causes to overturn or shipwreck in turning driving, reduces accident rate.
Description
Technical field
The present invention relates to logistics field, more particularly to a kind of goods sorting method that center of gravity of goods is detected based on fork truck.
Background technology
In the prior art, logistics transportation goods is put more arbitrarily, the lorry of Chang Zhaocheng delivery goods or steamer both sides
Weight is unbalanced, easily causes traffic accident or the perils of the sea, particularly in traveling of turning round.
The content of the invention
In view of the drawbacks described above of prior art, the technical problems to be solved by the invention are to provide a kind of based on fork truck inspection
Survey the goods sorting method of center of gravity of goods, it is intended to center of gravity measurement is just carried out according to goods or so gravimetric value in goods sorting, and
Goods is put according to center of gravity situation, the center of gravity for improving shipping is harmonious, reduces traffic accident incidence.
To achieve the above object, the invention provides a kind of goods sorting method that center of gravity of goods is detected based on fork truck, its
It is characterised by, methods described includes：
Step S1, in response to carrying the first fork truck of the first goods load condition is in, gathers the of first fork truck
The first of one left side pallet fork is weighed value, is gathered the second of the second right side pallet fork of first fork truck and is weighed value；
Step S2, value of weighing according to described first and described second are weighed value, solve the first or so barycentre offset；
Step S3, contrast first or so the barycentre offset and the interval relation of default first threshold, if described first
Left and right barycentre offset is satisfied with the first threshold interval, then first goods sorting is uniform to the center of gravity for sorting subregion
Area；If it is interval that first or so the barycentre offset is not content with first threshold, according to first or so the barycentre offset
First goods sorting at least the one of the sorting subregion is based on center of gravity off-sorting station；
Step S4, according to the sorting subregion, by first goods be placed on logistics device and with the sorting point
The cargo storage position that area matches；
Wherein, the step S2 includes：
Described first is obtained to weigh value M1Weighed value M with described second2；
Obtain the first center space D between first left side pallet fork and second right side pallet forkmid_HC；
Solve the first or so barycentre offset E；It is describedThe E is met：
In the technical scheme, weighed value by the left and right pallet fork of fork truck, solve the first or so barycentre offset, be easy to sentence
Running out of goods, whether center of gravity is unbalance for thing, and goods is sorted according to barycentre offset, and is stored in the corresponding positions of logistics device again
Put, the symmetery degree of goods in cargo instrument is effectively improved using the technical scheme, it is to avoid goods is caused in turning driving
Overturn or shipwreck, reduce accident rate.In the technical scheme, by between the center to weigh value and the pallet fork of left and right pallet fork
Away from, carry out barycentre offset solution, be easy to judge goods whether centre-of gravity shift, reach the purpose of reduction traffic accident, reduction friendship
Interpreter's event degree of danger.
Furthermore, the step S1 also includes：
Obtain the first tension scale weight values and the second right side raising for the first left side raising chain for being arranged at the fork truck
Second tension scale weight values of chain；Wherein, the fork truck includes truck main body, and first left side pallet fork is left by described first
Side raising chain is connected with the truck main body, and second right side pallet fork passes through the second right side raising chain and the fork
Vehicle main body is connected.
In the technical scheme, measured by pulling force it is simple in construction, simultaneously as it is just that fork truck transports goods in itself
Need to pull, to meet the original topology requirement of fork truck with tension measurement.
Optionally, the first pulling force weighing device be connected to the first left side raising chain and first left side pallet fork it
Between；Second pulling force weighing device is connected between the second right side raising chain and second right side pallet fork.
Optionally, by carrying weigh progress weigh value measurement.
In one embodiment, in the step S3, the first threshold interval is preset value.Obtained by experience
Preset value carry out the setting of first threshold interval, it is fast to perform speed, and actual scene demand of fitting.
In one embodiment, in the step S3, the first threshold interval obtains to solve；First threshold
The interval solution procedure of value includes：
Obtain the first center space D of the pallet forkmid_HC；
Obtain the second center space D of the wooden block prop hole of the goodsmid_MT；
Judge first center space Dmid_HCWith second center space Dmid_MTSize；
If the Dmid_HCWith the Dmid_MTMeet：Dmid_HC≥Dmid_MT, then it is described set the first threshold interval as
If the Dmid_HCWith the Dmid_MTMeet：Dmid_HC＜ Dmid_MT, then it is described set the first threshold interval as
The Dmax_MTFor the maximum spacing of wooden block prop hole of the goods, the Dmin_MTFor the goods wooden block prop hole most
Small spacing；The Dmax_HCFor the maximum spacing of pallet fork of the fork truck, the Dmin_HCFor the pallet fork minimum spacing of the fork truck.
In the technical scheme, by setting tolerance limit, be conducive to judging the accuracy that centre-of gravity shift is solved, it is to avoid due to fork
Car inserts the interference that the fluctuation of picking thing action causes centre-of gravity shift to solve in itself, improves the accuracy that centre-of gravity shift is solved.
In one embodiment, it is described according to first or so the barycentre offset by first goods sorting to institute
State sorting subregion at least one is also included based on center of gravity off-sorting station：
According to the containment relationship of first or so the barycentre offset and an at least threshold interval, by the goods sorting extremely
The center of gravity off-sorting station matched with the threshold interval.
In one embodiment, it is described according to first or so the barycentre offset and at least Second Threshold interval
Containment relationship, by the goods sorting to the center of gravity off-sorting station matched with the threshold interval, in addition to：
First or so the barycentre offset is compared with Second Threshold interval, if first or so the barycentre offset belongs to
It is interval in the Second Threshold, by the goods sorting to the center of gravity off-sorting station matched with the Second Threshold interval；It is described
Second Threshold interval includes：[-kDrx,kDrx]；The k is nonnegative integer；The DrxFor center of gravity offset tolerance, the DrxMeet：
The Dmax_MTFor the maximum spacing of wooden block prop hole of the goods, the Dmin_MTFor the goods wooden block prop hole most
Small spacing；The Dmax_HCFor the maximum spacing of pallet fork of the fork truck, the Dmin_HCFor the pallet fork minimum spacing of the fork truck.
In the technical scheme, by setting multiple intervals, it is easy to user to carry out sort operation according to the actual requirements, simultaneously
Each interval is also to be chosen according to tolerance, is conducive to improving the accuracy that centre-of gravity shift is solved.
In one embodiment, the material of the wooden block includes timber, plastics, aluminium, steel.
The beneficial effects of the invention are as follows：The present invention is weighed value by the left and right pallet fork of fork truck, and the first or so center of gravity of solution is inclined
Shifting amount, is easy to judge goods whether center of gravity is unbalance, and goods is sorted according to barycentre offset, is had using the technical scheme
Effect improves the symmetery degree of goods in cargo instrument, it is to avoid goods causes to overturn or shipwreck in turning driving, reduces accident
Incidence.
Brief description of the drawings
Fig. 1 is a kind of stream of goods sorting method that center of gravity of goods is detected based on fork truck of the embodiment of the invention
Journey schematic diagram；
Fig. 2 is the pallet fork of the embodiment of the invention and the orientation schematic diagram of wooden block；
Fig. 3 is the pallet fork in the case of pallet fork and wooden block hole are equidistant of the embodiment of the invention and the orientation of wooden block
Schematic diagram；
Fig. 4 is the pallet fork being smaller than when pallet fork center under the spacer conditions of prop hole center of the embodiment of the invention
With wooden block orientation schematic diagram；
Fig. 5 is the embodiment of the invention when pallet fork center spacing is more than the pallet fork under the spacer conditions of prop hole center
With wooden block orientation schematic diagram.
Embodiment
The invention will be further described with reference to the accompanying drawings and examples：
As Figure 1-5, there is provided a kind of goods sorting that center of gravity of goods is detected based on fork truck in the first example of the invention
Method, methods described includes：
Step S1, in response to carrying the first fork truck of the first goods load condition is in, gathers the of first fork truck
The first of one left side pallet fork is weighed value, is gathered the second of the second right side pallet fork of first fork truck and is weighed value；
Step S2, value of weighing according to described first and described second are weighed value, solve the first or so barycentre offset；
Step S3, contrast first or so the barycentre offset and the interval relation of default first threshold, if described first
Left and right barycentre offset is satisfied with the first threshold interval, then first goods sorting is uniform to the center of gravity for sorting subregion
Area；If it is interval that first or so the barycentre offset is not content with first threshold, according to first or so the barycentre offset
First goods sorting at least the one of the sorting subregion is based on center of gravity off-sorting station；
Step S4, according to the sorting subregion, by first goods be placed on logistics device and with the sorting point
The cargo storage position that area matches；
Wherein, the step S2 includes：
Described first is obtained to weigh value M1Weighed value M with described second2；
Obtain the first center space D between first left side pallet fork and second right side pallet forkmid_HC；
Solve the first or so barycentre offset E；It is describedThe E is met：
In the present embodiment, the step S1 also includes：
Obtain the first tension scale weight values and the second right side raising for the first left side raising chain for being arranged at the fork truck
Second tension scale weight values of chain；Wherein, the fork truck includes truck main body, and first left side pallet fork is left by described first
Side raising chain is connected with the truck main body, and second right side pallet fork passes through the second right side raising chain and the fork
Vehicle main body is connected.
Optionally, the first pulling force weighing device be connected to the first left side raising chain and first left side pallet fork it
Between；Second pulling force weighing device is connected between the second right side raising chain and second right side pallet fork.
In an optional embodiment, in the step S3, the first threshold interval is preset value.
It is preferred that, in the present embodiment, in the step S3, the first threshold interval obtains to solve；Described
The solution procedure of one threshold interval includes：
Obtain the first center space D of the pallet forkmid_HC；
Obtain the second center space D of the wooden block prop hole of the goodsmid_MT；
Judge first center space Dmid_HCWith second center space Dmid_MTSize；
If the Dmid_HCWith the Dmid_MTMeet：Dmid_HC≥Dmid_MT, then it is described set the first threshold interval as
If the Dmid_HCWith the Dmid_MTMeet：Dmid_HC＜ Dmid_MT, then it is described set the first threshold interval as
The Dmax_MTFor the maximum spacing of wooden block prop hole of the goods, the Dmin_MTFor the goods wooden block prop hole most
Small spacing；The Dmax_HCFor the maximum spacing of pallet fork of the fork truck, the Dmin_HCFor the pallet fork minimum spacing of the fork truck.
In the present embodiment, it is described according to first or so the barycentre offset by first goods sorting to described point
Pick subregion at least one is also included based on center of gravity off-sorting station：
According to the containment relationship of first or so the barycentre offset and an at least threshold interval, by the goods sorting extremely
The center of gravity off-sorting station matched with the threshold interval.
In the present embodiment, it is described according to first or so the barycentre offset and the interval containing of an at least Second Threshold
Relation, by the goods sorting to the center of gravity off-sorting station matched with the threshold interval, in addition to：
First or so the barycentre offset is compared with Second Threshold interval, if first or so the barycentre offset belongs to
It is interval in the Second Threshold, by the goods sorting to the center of gravity off-sorting station matched with the Second Threshold interval；It is described
Second Threshold interval includes：[-kDrx,kDrx]；The k is nonnegative integer；The DrxFor center of gravity offset tolerance, the DrxMeet：
As shown in Fig. 2 the Dmax_MTFor the maximum spacing of the prop hole of wooden block 100 of the goods, the Dmin_MTFor the goods
The prop hole minimum spacing of wooden block 100 of thing；The Dmax_HCFor 200 maximum spacing of the fork truck, the Dmin_HCFor the fork truck
200 minimum spacings.
As shown in figure 3, working as Dmid_HC=Dmid_MTWhen, when moving left and right 200,200 can touch the both sides prop hole of wooden block 100
Inner side and outer side,And as shown in figure 4, working as
Dmid_HC＜ Dmid_MTWhen, when moving left and right 200,200 are only capable of touching the inner side of wooden block 100,
As shown in figure 5, working as Dmid_HC＞ Dmid_MTWhen, when moving left and right 200,200 are only capable of touching the outside of wooden block 100,
It is noted that the material of the wooden block 100 includes but is not limited to timber, plastics, aluminium, steel.
Present invention seek to address that in the prior art, center of gravity assessment is not carried out to goods, causes cargo instrument center of gravity asymmetric,
Traffic accident or fire are easily caused, this is directed to, in carrying fork truck goods, center of gravity balanced goods in left and right is collected, by weight
The unbalanced goods of the heart is classified, and can directly be transported for uniform goods, for the uneven goods of left and right center of gravity, then
Goods arrangement should be readjusted, or combines to correct center of gravity by multiple goods.Based on the invention thought, the present invention is provided
A kind of goods sorting method that center of gravity of goods is detected based on fork truck, goods is judged by the weighing data of the left and right 200 of fork truck
Center of gravity, and tolerance is taken into full account, in range of tolerable variance, goods can be determined that center of gravity is balanced, meanwhile, in a preferred embodiment,
It is unbalance to center of gravity of goods to be classified, so that follow-up goods is integrated, reach center of gravity of goods purpose in a balanced way.
Preferred embodiment of the invention described in detail above.It should be appreciated that one of ordinary skill in the art without
Need creative work just can make many modifications and variations according to the design of the present invention.Therefore, all technologies in the art
Personnel are available by logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Technical scheme, all should be in the protection domain being defined in the patent claims.
Claims (7)
1. a kind of goods sorting method that center of gravity of goods is detected based on fork truck, it is characterised in that methods described includes：
Step S1, the first fork truck in response to carrying the first goods gather first left side of first fork truck in load condition
The first of side pallet fork is weighed value, is gathered the second of the second right side pallet fork of first fork truck and is weighed value；
Step S2, value of weighing according to described first and described second are weighed value, solve the first or so barycentre offset；
Step S3, contrast first or so the barycentre offset and the interval relation of default first threshold, if described first or so
Barycentre offset is satisfied with the first threshold interval, then by first goods sorting to the center of gravity homogeneity range for sorting subregion；
If to be not content with first threshold interval for first or so the barycentre offset, according to first or so the barycentre offset by institute
The first goods sorting is stated at least the one of the sorting subregion based on center of gravity off-sorting station；
Step S4, according to the sorting subregion, by first goods be placed on logistics device and with the sorting subregion phase
The cargo storage position of matching；
Wherein, the step S2 includes：
Described first is obtained to weigh value M1Weighed value M with described second2；
Obtain the first center space D between first left side pallet fork and second right side pallet forkmid_HC；
Solve the first or so barycentre offset E；It is describedThe E is met：
2. a kind of goods sorting method that center of gravity of goods is detected based on fork truck as claimed in claim 1, it is characterised in that described
Step S1 also includes：
Obtain the first tension scale weight values and the second right side raising chain for the first left side raising chain for being arranged at the fork truck
The second tension scale weight values；Wherein, the fork truck includes truck main body, and first left side pallet fork is risen by the described first left side
Rise chain to be connected with the truck main body, second right side pallet fork passes through the second right side raising chain and the fork truck master
Body is connected.
Optionally, the first pulling force weighing device is connected between the first left side raising chain and first left side pallet fork；
Second pulling force weighing device is connected between the second right side raising chain and second right side pallet fork.
3. a kind of goods sorting method that center of gravity of goods is detected based on fork truck as claimed in claim 1, it is characterised in that in institute
State in step S3, the first threshold interval is preset value.
4. a kind of goods sorting method that center of gravity of goods is detected based on fork truck as claimed in claim 1, it is characterised in that in institute
State in step S3, the first threshold interval obtains to solve；The interval solution procedure of the first threshold includes：
Obtain the first center space D of the pallet forkmid_HC；
Obtain the second center space D of the wooden block prop hole of the goodsmid_MT；
Judge first center space Dmid_HCWith second center space Dmid_MTSize；
If the Dmid_HCWith the Dmid_MTMeet：Dmid_HC≥Dmid_MT, then it is described set the first threshold interval as
If the Dmid_HCWith the Dmid_MTMeet：Dmid_HC＜ Dmid_MT, then it is described set the first threshold interval as
The Dmax_MTFor the maximum spacing of wooden block prop hole of the goods, the Dmin_MTFor between the wooden block prop hole minimum of the goods
Away from；The Dmax_HCFor the maximum spacing of pallet fork of the fork truck, the Dmin_HCFor the pallet fork minimum spacing of the fork truck.
5. a kind of goods sorting method that center of gravity of goods is detected based on fork truck as claimed in claim 1, it is characterised in that described
According to first or so the barycentre offset by least the one of first goods sorting to the sorting subregion based on center of gravity point
Sorting zone also includes：
According to the containment relationship of first or so the barycentre offset and an at least threshold interval, by the goods sorting to institute
State the center of gravity off-sorting station that threshold interval matches.
6. a kind of goods sorting method that center of gravity of goods is detected based on fork truck as claimed in claim 5, it is characterised in that described
According to the containment relationship that first or so the barycentre offset and an at least Second Threshold are interval, by the goods sorting to institute
The center of gravity off-sorting station that threshold interval matches is stated, in addition to：
First or so the barycentre offset is compared with Second Threshold interval, if first or so the barycentre offset belongs to institute
State the center of gravity off-sorting station that Second Threshold is interval, and the goods sorting is extremely matched with the Second Threshold interval；Described second
Threshold interval includes：[-kDrx,kDrx]；The k is nonnegative integer；The DrxFor center of gravity offset tolerance, the DrxMeet：
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The Dmax_MTFor the maximum spacing of wooden block prop hole of the goods, the Dmin_MTFor between the wooden block prop hole minimum of the goods
Away from；The Dmax_HCFor the maximum spacing of pallet fork of the fork truck, the Dmin_HCFor the pallet fork minimum spacing of the fork truck.
7. a kind of goods sorting method that center of gravity of goods is detected based on fork truck as claimed in claim 4, it is characterised in that described
The material of wooden block includes timber, plastics, aluminium, steel.
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| CN201710731284.5A CN107311080B (en) | 2017-08-23 | 2017-08-23 | A kind of goods sorting method based on fork truck detection center of gravity of goods |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111056493A (en) * | 2019-12-16 | 2020-04-24 | 广东瑞仕格科技有限公司 | Stacker and fork positioning method thereof |
| CN111825023A (en) * | 2020-07-07 | 2020-10-27 | 马敏全 | Method for judging gravity center of goods and safely transferring goods by using forklift |
| CN111825024A (en) * | 2020-07-07 | 2020-10-27 | 马敏全 | Forklift transfer safety device |
| CN112093671A (en) * | 2020-09-24 | 2020-12-18 | 闽江学院 | Cooperative control method and device for double-door crane and computer equipment |
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| CN111825024A (en) * | 2020-07-07 | 2020-10-27 | 马敏全 | Forklift transfer safety device |
| CN112093671A (en) * | 2020-09-24 | 2020-12-18 | 闽江学院 | Cooperative control method and device for double-door crane and computer equipment |
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