CN217866230U - Fork and robot - Google Patents
Fork and robot Download PDFInfo
- Publication number
- CN217866230U CN217866230U CN202221385203.3U CN202221385203U CN217866230U CN 217866230 U CN217866230 U CN 217866230U CN 202221385203 U CN202221385203 U CN 202221385203U CN 217866230 U CN217866230 U CN 217866230U
- Authority
- CN
- China
- Prior art keywords
- fork
- trigger
- mounting seat
- collision
- collision detection
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The application provides a fork and a robot, relates to the technical field of intelligent storage and is used for solving the technical problem that the safety and reliability of the fork are low when goods are taken and placed, and the fork comprises a fork body and a collision detection unit arranged on the fork body; the collision detection unit comprises a mounting seat mounted at one end of the fork body, a collision detection assembly is arranged on at least one side of the mounting seat in the vertical direction, and the collision detection assembly sends a touch feedback signal when receiving an external force in the vertical direction. The robot that this application provided includes above-mentioned fork. This application can improve the fail safe nature of fork when getting and put goods.
Description
Technical Field
The application relates to the technical field of intelligent warehousing, in particular to a pallet fork and a robot.
Background
With the rapid development of artificial intelligence technology, automation technology and information technology, the intelligent degree of terminal logistics is also continuously improved, and intelligent logistics terminals have become the inevitable trend of terminal logistics development. The robot is used as one of main devices of the intelligent logistics terminal for realizing automatic carrying operation, and heavy manual labor of human can be greatly reduced.
In the related art, the robot comprises a moving chassis, an upright post, a lifting mechanism and a fork, wherein the upright post is arranged on the moving chassis, the lifting mechanism and the fork are arranged on the upright post, and the lifting mechanism is connected with the fork so that the fork can lift and move along the vertical direction under the driving action of the lifting mechanism.
However, the safety and reliability of the fork are low when the fork takes and places goods.
SUMMERY OF THE UTILITY MODEL
In view of the above problem, the embodiment of the application provides a fork and robot, can detect the collision action of fork in vertical direction to can improve the fail safe nature of fork when getting and putting goods.
In order to achieve the above object, the embodiments of the present application provide the following technical solutions:
in a first aspect, an embodiment of the present application provides a fork, including: the collision detection device comprises a pallet fork body and a collision detection unit arranged on the pallet fork body; the collision detection unit comprises a mounting seat mounted at one end of the fork body, a collision detection assembly is arranged on at least one side of the mounting seat in the vertical direction, and the collision detection assembly sends a collision feedback signal when receiving an external force in the vertical direction.
As an alternative embodiment, the collision detection assembly includes a trigger and a detection component, the trigger is disposed on one side of the mounting seat along the vertical direction and is movably connected with the mounting seat, so that the trigger can move relative to the mounting seat along the vertical direction; the detection piece is positioned between the mounting seat and the trigger piece and is connected with the mounting seat; when the trigger piece moves to the detection range of the detection piece under the action of external force, the detection piece sends out a touch feedback signal.
As an optional implementation manner, the trigger piece is long, and the length direction of the trigger piece is perpendicular to the entering and exiting direction of the goods on the fork body.
As an optional embodiment, the length of the trigger piece is 1/2-2/3 of the size of the fork body along the direction vertical to the goods entering and exiting direction.
As an optional embodiment, the trigger is one of a metal trigger sheet and a metal trigger plate; and/or the detection piece is a metal proximity sensor.
As an optional embodiment, the collision detection assembly further includes at least one elastic member, the elastic member is connected between the trigger member and the mounting seat, and when the external force action on the trigger member is released, the elastic force of the elastic member drives the trigger member to move towards the direction away from the mounting seat.
As an optional implementation manner, the number of the elastic members is two, the two elastic members are symmetrically arranged at two ends of the trigger member along the length direction of the trigger member, and the detection member is located at the symmetric center of the two elastic members.
As an optional implementation manner, the collision detection assembly further includes a guide rod, a through hole for the guide rod to pass through is formed in the trigger, the guide rod penetrates through the through hole and is fixedly connected with the mounting base, and the trigger can move along the extending direction of the guide rod relative to the mounting base.
In an alternative embodiment, the elastic member is a compression coil spring, and the compression coil spring is sleeved on the guide rod.
As an alternative embodiment, the mounting seat is provided with collision detection assemblies on two opposite sides in the vertical direction.
As an alternative embodiment, the collision detecting unit is provided at the center of symmetry of the front end of the fork body.
As an optional implementation manner, the fork body comprises a support frame and side plates arranged on two opposite sides of the support frame, and a cargo detection unit is arranged on the inner side wall of at least one of the side plates.
As an alternative embodiment, the cargo detection unit comprises a correlation sensor.
As an optional implementation manner, a storage position detection unit is further disposed at the front end of the fork body.
As an optional implementation, the library position detection unit includes one of a laser sensor and an ultrasonic sensor.
As an optional implementation manner, a camera is further disposed at the front end of the fork body.
In a second aspect, an embodiment of the present application provides a robot, including: a robot body and the pallet fork of the first aspect; the fork sets up on the robot body, the robot body includes control system, collision detecting element with control system signal connection.
As above, the present application provides a fork and robot. The application provides a pallet fork, which comprises a pallet fork body and a collision detection unit arranged on the pallet fork body; the collision detection unit comprises a mounting seat mounted at one end of the fork body, a collision detection assembly is arranged on at least one side of the mounting seat in the vertical direction, and the collision detection assembly sends a touch feedback signal when receiving an external force in the vertical direction. Through above-mentioned technical scheme, can detect the collision action of fork on vertical direction to can improve the fail safe nature of fork when getting and put goods.
In addition to the technical problems solved by the embodiments of the present application, the technical features constituting the technical solutions, and the advantages brought by the technical features of the technical solutions described above, other technical problems solved by the forks and the robots provided by the embodiments of the present application, other technical features included in the technical solutions, and advantages brought by the technical features will be further described in detail in the detailed description.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic structural view of a fork according to an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram of a collision detection unit in a fork according to an embodiment of the present application.
Reference numerals:
100-a pallet fork;
110-a fork body;
111-a support;
112-side plate;
120-a collision detection unit;
121-a mounting seat;
122 — a collision detection component;
1221-a trigger;
1222-a detection member;
1223-an elastic member;
1224-a guide bar;
130-cargo detection unit;
140-a bin position detection unit;
150-camera.
Detailed Description
The fork wide application is in trades such as storage, the fork is including fork type fork and fork type fork usually, embrace the type fork with the fork and compare, it is more friendly to the transport object to fork type fork, requirement to the size and the shape of transport object is lower, but fork type fork is adopted the blind mode of getting of fork to get usually and puts the goods, fork type fork is promptly to fork type fork can't obtain storehouse position goods state, and goods self also has no visual identification, get and put the goods in-process, only carry out the gesture correction by the visual identification of storehouse position, deviation when getting and putting the goods is great, lead to getting the risk of getting and putting goods in-process collision goods shelves and increase, there is the technical problem that the fail safe nature is low.
In order to solve the problem, the application provides a fork and robot, can detect the collision action of fork in vertical direction to can improve the fail safe nature of fork when getting and put goods.
In order to make the aforementioned objects, features and advantages of the embodiments of the present application more comprehensible, embodiments of the present application are described in detail below with reference to the accompanying drawings. It is to be understood that the described embodiments are merely a few embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Example one
The structure of the fork will be specifically described below by taking the fork as a fork lifting type fork as an example:
FIG. 1 is a schematic structural view of a fork according to an embodiment of the present disclosure; fig. 2 is a schematic structural diagram of a collision detection unit in a fork according to an embodiment of the present application. Referring to fig. 1 and 2, a fork 100 according to an embodiment of the present disclosure includes: a fork body 110 and a collision detecting unit 120 mounted on the fork body 110.
The collision detection unit 120 is configured to detect a vertical touch behavior of the fork 100 when picking up and putting down goods, so as to reduce a collision risk between the fork 100 and an obstacle such as a shelf in the vertical direction when picking up and putting down goods.
Alternatively, the collision detecting unit 120 may be disposed at the symmetrical center of the front end of the fork body 110.
The front end of the fork body 110 refers to an end of the fork 100 close to the goods when the fork 100 is used for picking and placing the goods, that is, an end of the fork 100 close to the shelf.
It can be understood that, by arranging the collision detection unit 120 at the symmetrical center of the front end of the fork body 110, when the fork 100 takes and puts goods, the collision detection unit 120 can timely detect the collision behavior between the fork 100 and the goods shelf in the vertical direction, thereby improving the safety and reliability of the fork 100 when taking and putting goods.
Optionally, in addition to the collision detection unit 120 arranged at the front end of the fork body 110, the collision detection unit 120 may also be arranged at the rear end of the fork body 110, so as to avoid collision between the fork 100 and other obstacles in the vertical direction when picking and placing goods, and further improve the safety and reliability of the fork 100 when picking and placing goods or moving in the vertical direction.
In fig. 1, the collision detecting unit 120 is disposed at the center of symmetry of the front end of the fork body 110.
In some optional embodiments, the collision detection unit 120 includes a mounting seat 121 mounted at one end of the fork body 110, a collision detection assembly 122 is disposed on at least one side of the mounting seat 121 in the vertical direction, and when the collision detection assembly 122 is acted by an external force in the vertical direction, the collision detection assembly 122 sends out a touch feedback signal.
In the above scheme, through set up collision detecting element 120 on fork body 110, collision detecting element 120 is including installing the mount pad 121 in fork body 110 one end, set up collision detection subassembly 122 along at least one side of vertical direction at mount pad 121, like this, when getting and putting the goods, if collision detection subassembly 122 receives the exogenic action time of following vertical direction, collision detection subassembly 122 sends the feedback signal who takes place the collision action, so that fork 100 in time stop motion, thereby can improve the fail safe nature of fork 100 when getting and putting the goods.
For example, if the collision detecting assembly 122 receives an external force in the vertical direction, a feedback signal of the collision behavior may be sent to the control system of the robot so as to control the fork 100 to stop the pick-and-place operation.
In some optional embodiments, the upper side of the mounting seat 121 in the vertical direction may be provided with a collision detection assembly 122 for detecting a collision behavior between the upper side of the fork 100 and an obstacle such as a shelf in the vertical direction, so as to improve the safety and reliability of the fork 100 when taking or placing goods.
In other alternative embodiments, the lower side of the mounting seat 121 in the vertical direction may be provided with a collision detection assembly 122 for detecting a collision behavior occurring between the lower side of the fork 100 in the vertical direction and an obstacle such as a shelf, so that the safety reliability of the fork 100 in taking and placing goods can be improved.
In still other alternative embodiments, the collision detection assemblies 122 are disposed on two opposite sides of the mounting seat 121 in the vertical direction (i.e., on two upper and lower sides of the mounting seat 121 in the vertical direction), so as to detect the collision behavior of the upper and lower sides of the fork 100 in the vertical direction, thereby further improving the safety and reliability of the fork 100 when taking or placing goods.
In fig. 1, the mount 121 is provided with collision detecting assemblies 122 on both of the upper and lower sides thereof in the vertical direction.
In some alternative embodiments, the collision detecting assembly 122 includes a triggering member 1221 and a detecting member 1222, the triggering member 1221 is disposed on one side of the mounting seat 121 in the vertical direction and movably connected to the mounting seat 121, so that the triggering member 1221 can move in the vertical direction relative to the mounting seat 121; the detecting member 1222 is located between the mounting seat 121 and the triggering member 1221 and connected to the mounting seat 121; when the trigger 1221 moves to a position within the detection range of the detector 1222 by an external force, the detector 1222 generates a touch feedback signal.
It can be understood that the trigger 1221 is located on one side of the mounting seat 121 in the vertical direction and is movable in the vertical direction relative to the mounting seat 121, so that when the trigger 1221 is acted by an external force in the vertical direction, the trigger 1221 moves in the vertical direction toward a direction close to the mounting seat 121, and when the trigger 1221 moves to the detection range of the detector 1222, the detector 1222 sends a touch feedback signal to stop the operation of the fork 100, thereby improving the safety and reliability of the fork 100 in taking and placing goods.
In fig. 2, the upper and lower sides of the mounting seat 121 in the vertical direction are provided with the collision detection assemblies 122, so that the upper and lower sides of the mounting seat 121 in the vertical direction are provided with the triggers 1221, and the detection pieces 1222 are arranged between each trigger 1221 and the mounting seat 121, so that when any trigger 1221 is acted by an external force in the vertical direction, the trigger 1221 moves to the detection range of the detection piece 1222 corresponding to the trigger 1221 under the action of the external force, and the detection piece 1222 sends out a touch feedback signal, when the master control system of the robot receives the touch feedback signal, the fork 100 can be controlled to stop taking and releasing the goods, so as to avoid collision between the fork 100 and obstacles such as a shelf, and thus the safety and reliability of the fork 100 in taking and releasing the goods can be improved.
Optionally, the triggering member 1221 may be long, and a length direction of the triggering member 1221 is perpendicular to an in-out direction of the goods on the fork body 110, so that a detection area of the collision behavior may be increased, and safety and reliability of the fork 100 may be improved.
For example, the trigger 1221 may be a long strip of any shape, such as a rectangle or an ellipse, as long as the detection area can be increased, and the application is not particularly limited.
Optionally, the length of the triggering piece 1221 is 1/2 to 2/3 of the size of the fork body 110 in the direction perpendicular to the entering and exiting direction of the goods.
It should be noted that the dimension of the fork body 110 along the vertical cargo access direction refers to the dimension of the fork body 110 along the vertical cargo access direction in the horizontal plane, i.e., the width dimension between the two opposite side walls of the fork body 110.
Illustratively, the length of the trigger 1221 is 1/2, 2/3, etc. of the dimension of the fork body 110 in the direction perpendicular to the entering and exiting direction of the goods, and the trigger 1221 is located at the central position of the fork body 110 in the direction perpendicular to the entering and exiting direction of the goods, so that when the fork 100 takes in and puts off the goods, if the trigger 1221 on the fork 100 touches an obstacle such as a shelf in the vertical direction, the trigger 1221 moves to the detection range of the detector 1222 under the action of external force, the detector 1222 sends a touch feedback signal to stop the movement of the fork 100, thereby improving the safety and reliability of the fork 100.
Optionally, the trigger 1221 may be one of a metal trigger sheet and a metal trigger plate; alternatively, the triggering member 1221 may also be another triggering structure, and the application is not limited in particular.
In some alternative embodiments, the detecting element 1222 may include, but is not limited to, a metal proximity sensor.
In a specific implementation, when the fork 100 takes in or takes off goods, when a touch action occurs in a vertical direction, the trigger 1221 in the collision detection piece 1222 firstly touches an obstacle such as a shelf, so that the trigger 1221 is subject to an external force action of the obstacle such as the shelf and moves to a side close to the detection piece 1222, when the trigger 1221 is close to the detection piece 1222, the metal trigger 1221 enters a detection range of the metal proximity sensor, and the detection piece 1222 triggers and feeds a trigger signal back to a main control system of the robot, so that the fork 100 stops moving, thereby improving the safety and reliability of taking in or taking off goods by the fork 100.
Of course, the detecting element 1222 may be other sensors as long as the triggering element 1221 moves toward the detecting element 1222 and can sense and trigger the feedback signal by the detecting element 1222, and the embodiment of the present application is not particularly limited.
Alternatively, the detecting member 1222 may be disposed at a position of the mounting seat 121 corresponding to the center of symmetry of the triggering member 1221.
Optionally, with continued reference to fig. 2, the collision detecting assembly 122 further includes at least one elastic member 1223, the elastic member 1223 is connected between the triggering member 1221 and the mounting seat 121, and when the external force on the triggering member 1221 is released, the elastic force of the elastic member 1223 drives the triggering member 1221 to move toward a direction away from the mounting seat 121.
In the present application, by providing the elastic member 1223 between the mounting seat 121 and the triggering member 1221, when the external force on the triggering member 1221 is released, the elastic force of the elastic member 1223 may drive the triggering member 1221 to reset.
The number of the elastic members 1223 may be one or more, and when the number of the elastic members 1223 is plural, the plural elastic members 1223 may be arranged at intervals between the mounting base 121 and the triggering member 1221, for example, the plural elastic members 1223 may be arranged at equal intervals between the mounting base 121 and the triggering member 1221.
In fig. 2, the elastic members 1223 are two, and along the length direction of the trigger member 1221, the two elastic members 1223 are symmetrically arranged at two ends of the trigger member 1221, so that the trigger member 1221 can be ensured to be always kept in a horizontal state when the external force action is removed, and the detection precision of the collision detection assembly 122 can be improved.
The elastic member 1223 may be a compression coil spring or an elastic column or an elastic block made of an elastic material.
In fig. 2, the elastic member 1223 is a compression coil spring having a cylindrical shape; of course, the elastic member 1223 may be a truncated cone-shaped compression coil spring or the like.
Alternatively, the detecting member 1222 may be located at the symmetrical center of the two elastic members 1223, so that the detecting range of the detecting member 1222 can cover the range in which the triggering member 1221 moves to the side of the mounting seat 121 under the external force, so as to avoid the detecting member 1222 not being able to detect the triggering member 1221 due to the position deviation, thereby being able to improve the detecting reliability of the collision detecting assembly 122.
Optionally, with continued reference to fig. 2, the collision detecting assembly 122 further includes a guide rod 1224, the triggering element 1221 is provided with a through hole through which the guide rod 1224 passes, the guide rod 1224 passes through the through hole and is fixedly connected to the mounting base 121, and the triggering element 1221 is movable relative to the mounting base 121 along the extending direction of the guide rod 1224.
In the embodiment of the present application, by providing the guide rod 1224, when the triggering member 1221 is acted by an external force, the triggering member 1221 may move along the guide rod 1224 in a direction approaching the mounting seat 121, and when the triggering member 1221 is released from the external force, the triggering member 1221 may move along the guide rod 1224 in a direction away from the mounting seat 121, so that the guide rod 1224 may provide a guiding effect to the triggering member 1221 to prevent the triggering member 1221 from being deflected when moving in a direction approaching or departing from the mounting seat 121.
In fig. 2, the elastic member 1223 is a compression coil spring, and the compression coil spring is sleeved on the guide rod 1224, so that when the triggering member 1221 is acted by an external force, the triggering member 1221 overcomes the elastic force of the elastic member 1223 and moves toward the mounting seat 121 along the extending direction of the guide rod 1224; when the triggering member 1221 is released from the external force, the elastic force of the elastic member 1223 drives the triggering member 1221 to move in the direction away from the mounting seat 121 along the extending direction of the guide rod 1224, so as to improve the guiding reliability of the triggering member 1221 when moving in the direction toward or away from the mounting seat 121.
It will be appreciated that the guide rods 1224 may be rod-like structures having a circular, elliptical, or rectangular cross-section.
In the above embodiment, by providing the collision detection unit 120 at the front end of the fork body 110, when the fork 100 is taking or putting the goods, the collision detection unit 120 can detect the collision behavior of the fork 100 with the obstacles such as the goods shelf in the vertical direction, so that the risk of collision between the fork 100 and the obstacles such as the goods shelf when taking or putting the goods can be reduced, and the safety and reliability of the fork 100 when taking or putting the goods can be improved.
In some optional embodiments, the fork body 110 includes a supporting frame 111 and side plates 112 disposed at opposite sides of the supporting frame 111, and the cargo detection unit 130 is disposed on an inner side wall of at least one of the side plates 112.
It can be understood that, by arranging the goods detection unit 130 on the inner side wall of the side plate 112, whether goods exist on the fork body 110 or not can be detected, so that abnormal risks when the goods are taken or placed by the fork 100 can be avoided, and the reliability when the goods are taken or placed by the fork 100 can be improved.
Optionally, the cargo detecting unit 130 includes, but is not limited to, a correlation sensor, and detects whether cargo exists on the fork body 110 by the correlation sensor.
Illustratively, the correlation sensor includes a set of sensors having laser emitting and receiving functions to detect the presence of a load on the fork body 110.
It can be understood that only one side plate 112 of the fork body 110 may have a correlation sensor, or two side plates 112 that are disposed opposite to each other may have a correlation sensor.
Optionally, the front end of the fork body 110 is further provided with a storage location detection unit 140, and the storage location detection unit 140 is used for detecting whether goods exist on the storage location corresponding to the fork 100, so that abnormal risks when the fork 100 takes and puts the goods can be further avoided, and reliability when the fork 100 takes and puts the goods is improved.
In some optional embodiments, the library position detection unit 140 includes, but is not limited to, one of a laser sensor and an ultrasonic sensor.
In addition, the front end of the fork body 110 is further provided with a camera 150, and whether goods are in the storage space or not can be further known through the camera 150, or related information of the goods in the storage space and the like can be acquired through the camera 150, and the details are not limited.
Example two
The robot provided by the embodiment of the application comprises a robot body and a pallet fork provided by the embodiment; the fork sets up on the robot body, and the robot body includes control system, and collision detecting element and control system signal connection.
The structure and the working principle of the fork have been explained in detail in the above embodiments, and are not described herein again.
The robot body further comprises a movable base, an upright post and a lifting mechanism, the upright post is arranged on the movable base, the lifting mechanism and the pallet fork are arranged on the upright post, and the lifting mechanism can drive the pallet fork to move up and down along the extending direction of the upright post. Wherein, remove the base and can drive the goods on robot and the robot and remove in the storage space.
The application provides a fork and robot. The application provides a pallet fork, which comprises a pallet fork body and a collision detection unit arranged on the pallet fork body; the collision detection unit comprises a mounting seat mounted at one end of the fork body, a collision detection assembly is arranged on at least one side of the mounting seat along the vertical direction, and the collision detection assembly sends a touch feedback signal when receiving an external force along the vertical direction. Through above-mentioned technical scheme, can detect the collision action of fork on vertical direction to can improve the fail safe nature of fork when getting and put goods.
The embodiments or implementation modes in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other.
In the description of the present specification, reference to the description of "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.
Claims (16)
1. A pallet fork, comprising: the pallet fork comprises a pallet fork body and a collision detection unit arranged on the pallet fork body;
the collision detection unit comprises a mounting seat mounted at one end of the fork body, a collision detection assembly is arranged on at least one side of the mounting seat along the vertical direction, and when the collision detection assembly is acted by an external force along the vertical direction, the collision detection assembly sends a touch feedback signal;
the collision detection assembly comprises a trigger piece and a detection piece, wherein the trigger piece is arranged on one side of the mounting seat in the vertical direction and is movably connected with the mounting seat, so that the trigger piece can move in the vertical direction relative to the mounting seat;
the detection piece is positioned between the mounting seat and the trigger piece and is connected with the mounting seat; when the trigger piece moves to the detection range of the detection piece under the action of external force, the detection piece sends out a touch feedback signal.
2. The fork of claim 1, wherein the trigger is elongated and the length of the trigger is perpendicular to the direction of ingress and egress of cargo on the fork body.
3. The fork of claim 2, wherein the trigger has a length that is 1/2 to 2/3 of a dimension of the fork body in a direction perpendicular to the entry and exit direction of the load.
4. The pallet fork of claim 3, wherein the trigger is one of a metal trigger piece, a metal trigger plate; and/or
The detection piece is a metal proximity sensor.
5. The fork of any of claims 1-4, wherein the collision detection assembly further comprises at least one resilient member coupled between the trigger member and the mounting block, wherein when the external force on the trigger member is removed, the resilient member has a spring force urging the trigger member toward a direction away from the mounting block.
6. The fork of claim 5, wherein the number of the resilient members is two, the two resilient members are symmetrically disposed at opposite ends of the trigger member along a length of the trigger member, and the sensing member is located at a center of symmetry of the two resilient members.
7. The fork of claim 6, wherein the collision detecting assembly further comprises a guide rod, the trigger member is provided with a through hole for the guide rod to pass through, the guide rod penetrates through the through hole and is fixedly connected with the mounting seat, and the trigger member is movable relative to the mounting seat along an extending direction of the guide rod.
8. The fork of claim 7, wherein the resilient member is a compression coil spring that is sleeved over the guide rod.
9. The fork of any of claims 1-4, wherein the mount is provided with collision detection assemblies on vertically opposite sides.
10. The fork of any of claims 1-4, wherein the collision detecting unit is disposed at a center of symmetry of a front end of the fork body.
11. The fork of any of claims 1-4, wherein the fork body comprises a support frame and side plates disposed on opposite sides of the support frame, at least one of the side plates having a load detection unit disposed on an inner side wall thereof.
12. The pallet fork of claim 11, wherein the load detection unit comprises a correlation sensor.
13. The fork of any of claims 1-4, wherein the front end of the fork body is further provided with a magazine level detection unit.
14. The pallet fork of claim 13, wherein the magazine level detection unit comprises one of a laser sensor, an ultrasonic sensor.
15. The fork of any one of claims 1-4, wherein a camera is further provided at the front end of the fork body.
16. A robot, comprising: a robot body and a pallet fork according to any of the preceding claims 1-15; the fork sets up on the robot body, the robot body includes control system, collision detecting element with control system signal connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221385203.3U CN217866230U (en) | 2022-06-01 | 2022-06-01 | Fork and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221385203.3U CN217866230U (en) | 2022-06-01 | 2022-06-01 | Fork and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217866230U true CN217866230U (en) | 2022-11-22 |
Family
ID=84093283
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221385203.3U Active CN217866230U (en) | 2022-06-01 | 2022-06-01 | Fork and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217866230U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116674910A (en) * | 2023-06-25 | 2023-09-01 | 浙江钱塘机器人及智能装备研究有限公司 | Robot material taking and placing box device with collision detection function |
-
2022
- 2022-06-01 CN CN202221385203.3U patent/CN217866230U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116674910A (en) * | 2023-06-25 | 2023-09-01 | 浙江钱塘机器人及智能装备研究有限公司 | Robot material taking and placing box device with collision detection function |
| CN116674910B (en) * | 2023-06-25 | 2024-04-26 | 浙江钱塘机器人及智能装备研究有限公司 | Robot material taking and placing box device with collision detection function |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN217866230U (en) | Fork and robot | |
| JP6511278B2 (en) | Transport carriage | |
| CN109704237B (en) | AGV pulls fork truck with intelligence is judged discernment perception function | |
| CN209922808U (en) | AGV fork truck of multisensor | |
| CN220105565U (en) | Obstacle avoidance detection device and mobile robot | |
| KR20130045877A (en) | Rack post impact absorption device | |
| CN211226213U (en) | Prevent AGV dolly that emptys | |
| CN111142517A (en) | Fork-entering assisting method and device for intelligent AGV forklift | |
| KR102249308B1 (en) | Ground test apparatus for multicopter | |
| CN218538210U (en) | Unmanned carrying vehicle with eccentric detection function | |
| CN210258314U (en) | A collision avoidance device of qxcomm technology and AGV dolly for AGV dolly | |
| CN210683098U (en) | Protection device and forklift | |
| CN215402895U (en) | Tray stacking inclination recognition device | |
| CN112141553B (en) | Material storage device, material conveying equipment and control method of material conveying equipment | |
| CN108483353A (en) | Carrier-and-stacker with anti-barrier function | |
| CN214568185U (en) | Butt-joint goods shelf and warehousing system | |
| CN116583802A (en) | Methods, systems, and computer program products for controlling movement of a plurality of container handling vehicles | |
| CN212173398U (en) | Storage goods shelf and transfer robot | |
| CN211978189U (en) | Safe edge touching device, AGV and robot | |
| CN209853664U (en) | Wallboard carrier | |
| CN218345097U (en) | In-position detection device and underground AMR with same | |
| CN208745948U (en) | Collision avoidance device for chassis, unmanned vehicle and robot | |
| CN217625556U (en) | Anti-collision device for one-rail double stacking machine | |
| CN210593653U (en) | Warehouse combined three-dimensional goods shelf | |
| CN206735726U (en) | Fork truck rear anti-collision device and AGV fork trucks |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |