CN105692502A - Automatic sheet loader with identification function - Google Patents
Automatic sheet loader with identification function Download PDFInfo
- Publication number
- CN105692502A CN105692502A CN201610263096.XA CN201610263096A CN105692502A CN 105692502 A CN105692502 A CN 105692502A CN 201610263096 A CN201610263096 A CN 201610263096A CN 105692502 A CN105692502 A CN 105692502A
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- China
- Prior art keywords
- oil cylinder
- portal frame
- lowering
- identification module
- frame
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Classifications
-
- 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
- B66F9/063—Automatically guided
-
- 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
- B66F9/0755—Position control; Position detectors
-
- 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
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/22—Hydraulic devices or systems
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Carriers, Traveling Bodies, And Overhead Traveling Cranes (AREA)
Abstract
The invention discloses an automatic sheet loader with an identification function, which comprises a frame, a travel driving unit, a portal frame, a clamping device, a first identification module and a central processing unit, wherein the travel driving unit is arranged at one end of the frame; the portal frame is arranged at the other end of the frame; the clamping device is arranged on the portal frame; the first identification module is arranged at the bottom of the frame; the lower end of the portal frame is hinged to the frame; the upper end of the portal frame is a free end; a first oil cylinder is arranged between the frame and the portal frame; one end of the first oil cylinder is hinged to the frame; the other end of the first oil cylinder is hinged to the middle part of the portal frame; the first identification module induces traveling track information on the ground in real time and sends the traveling track information to the central processing unit, and the central processing unit sends out travel instruction information to the travel driving unit according to the received traveling track information so as to drive the frame to travel according to a traveling track on the ground; first lifting devices are arranged on two uprights of the portal frame; the clamping device is connected between the two uprights of the portal frame by the first lifting devices.
Description
Technical field
The present invention relates to a kind of automatic plate loader with recognition function。
Background technology
Stuff (to) is needed to go by sea after the stainless steel materials completion of processing of a lot of big orders。The stainless steel materials weight of packed FCL is general all heavier, it is necessary to spend a lot of manpowers to have helped mobile。Existing way is: adopting artificial container of being pulled on one by one by corrosion resistant plate to need to expend artificial in a large number, and efficiency is at a fairly low, the cupboard filling 27 tons takes the time that four or five people consume one day。
Summary of the invention
The invention provides a kind of automatic plate loader with recognition function, to solve at least one of the problems referred to above。
For drawbacks described above, the invention provides a kind of automatic plate loader with recognition function, including vehicle frame, it is located at the travel driving unit of described vehicle frame one end, it is located at the portal frame of the described vehicle frame other end, it is located at the clamping device on described portal frame, it is located at the first identification module and the central processing unit of described bottom of frame, the lower end of described portal frame is hinged with described vehicle frame, the upper end of described portal frame is free end, the first oil cylinder it is provided with between described vehicle frame and described portal frame, one end of described first oil cylinder is hinged with described vehicle frame, the other end of described first oil cylinder is hinged with the middle part of described portal frame；Described first identification module senses the run trace information on ground in real time, and this run trace information is sent to described central processing unit, described central processing unit is according to the run trace information received, send travel commands information to described travel driving unit, to drive described vehicle frame to travel by the run trace on described ground；Two columns of described portal frame are provided with the first lowering or hoisting gear, and described clamping device is connected between two columns of described portal frame by described first lowering or hoisting gear, and described first lowering or hoisting gear drives described clamping device to move up and down。
Further, described first lowering or hoisting gear includes the second oil cylinder, described second oil cylinder is set to two, said two the second oil cylinder is arranged on two columns of described portal frame with being respectively symmetrically, described clamping device includes the first cross bar, vertical with described first cross bar and be fixedly connected on supermedial first arm of described first cross bar, the free end of described first arm is provided with cleft hand, described cleft hand has the 3rd oil cylinder and two pawl arms, described pawl arm is sickleshaped, two described pawl arms are symmetrical arranged and the middle part of described pawl arm is hinged on the free end of described first arm, the cylinder body of described 3rd oil cylinder and described first arm are fixed, one end of two described pawl arms is hinged with the end of the piston rod of described 3rd oil cylinder, the other end of two described pawl arms forms clamping part, the two ends of described first cross bar are slidably disposed on two columns of described portal frame, and the two ends of described first cross bar are respectively hinged at the end of piston rod of said two the second oil cylinder, it is provided with the second cross bar in the bottom of described first cross bar, the two ends of described second cross bar are respectively fixedly connected with on two columns of described portal frame, it is connected to the second lowering or hoisting gear between described first arm and described second cross bar, described second lowering or hoisting gear drives described first arm to rotate around the axis of described first cross bar。
Further, described second lowering or hoisting gear includes the 4th oil cylinder, and the lower end of the cylinder body of described 4th oil cylinder is hinged on the middle part of described second cross bar, and the upper end thereof of the piston rod of described 4th oil cylinder is in the bottom surface of described first arm。
Further, also include the second identification module, described second identification module is arranged on the top of described portal frame, the clamping part of described clamping device is provided with the 3rd identification module, the concrete primary importance information of described second identification module scanning recognition external world gripped object, and the described primary importance information that scanning obtains is sent to described central processing unit, described 3rd identification module identifies the current second position information of the clamping part orienting described clamping device in real time, and described second position information is sent to described central processing unit, described central processing unit carries out comprehensive descision according to the described primary importance information received and second position information, send control instruction to described first lowering or hoisting gear and/or the second lowering or hoisting gear, described first lowering or hoisting gear and/or the second lowering or hoisting gear adjust the position of described clamping part till the position that described second position information is reacted with described primary importance information overlaps in real time according to the control instruction received。
Further, described first identification module is radio frequency sensor, and described second identification module is full-view camera, and described 3rd identification module is GPS position finder。
Further, described central processing unit is intelligent terminal or PLC。
It is an advantage of the current invention that: the present invention by being provided with clamping device on vehicle frame, packed corrosion resistant plate has been clamped by clamping device, thus the problem avoiding the need for spending substantial amounts of manpower just can move corrosion resistant plate, and on vehicle frame, it is provided with the first identification module can automatically identify run trace, and send travelling control instruction to travel driving unit by central processing unit, drive vehicle frame to move along run trace by travel driving unit and the corrosion resistant plate clamped is carried to ad-hoc location, thus realizing unmanned carrying corrosion resistant plate to put into the process of container, realize the intellectuality of carrying, thus save substantial amounts of manually, and improve the efficiency removing plate。
Accompanying drawing explanation
Fig. 1 is the structural representation automatically passing trigger with recognition function of one embodiment of the present invention；
Fig. 2 is the mounting structure schematic diagram of the clamping device with recognition function of one embodiment of the present invention；
Fig. 3 is the structural representation automatically passing trigger portal frame with recognition function of one embodiment of the present invention；
Fig. 4 is the biography trigger Control system architecture schematic diagram automatically with recognition function of one embodiment of the present invention。
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is further detailed explanation。
Fig. 1 to Fig. 4 show schematically show the present invention there is recognition function automatically pass trigger, it includes vehicle frame 1, it is located at the travel driving unit 5 of vehicle frame 1 one end, it is located at the portal frame 2 of vehicle frame 1 other end, it is located at the clamping device 6 on portal frame 2, it is located at the first identification module 3 bottom vehicle frame 1 and central processing unit 10, the lower end of portal frame 2 is hinged with vehicle frame 1, portal frame 2 upper end is free end, the first oil cylinder 7 it is provided with between vehicle frame 1 and portal frame 2, one end of first oil cylinder 7 is hinged with vehicle frame 1, the other end of the first oil cylinder 7 is hinged with the middle part of portal frame 2, first oil cylinder 7 can drive portal frame 2 to rotate (along A direction) before and after vehicle frame 1；First identification module 3 senses the run trace information on ground in real time (can according to the needs in place, set run trace on the ground, such as, RFID magnetic stripe is adopted to put up the run trace of banding on the ground, RFID magnetic stripe is loaded with run trace information identify for the first identification module 3), and this run trace information is sent to central processing unit 10, central processing unit 10 is according to the run trace information received, send travel commands information to travel driving unit 5, to drive vehicle frame 1 to travel by the run trace on ground；Two columns 20 of portal frame 2 are provided with the first lowering or hoisting gear 9, and clamping device 6 is connected to by the first lowering or hoisting gear 9 between two columns 20 of portal frame 2, and the first lowering or hoisting gear 9 drives clamping device 6 to move up and down (along B direction)。
Shown in Fig. 1 and Fig. 2, first lowering or hoisting gear 9 includes the second oil cylinder, second oil cylinder is set to two, the two the second oil cylinder is arranged on two columns 20 of portal frame 2 with being respectively symmetrically, clamping device 6 includes the first cross bar 21, vertical with the first cross bar 21 and be fixedly connected on supermedial first arm 64 of the first cross bar 21, the free end of the first arm 64 is provided with cleft hand, cleft hand has the 3rd oil cylinder 61 and two pawl arm (65a, 65b), pawl arm (65a, 65b) in sickleshaped, first arm 64 is fixed with connecting plate 62, two pawl arm (65a, 65b) it is symmetrical arranged and pawl arm (65a, middle part 65b) is hinged on connecting plate 62, cylinder body and first arm 64 of the 3rd oil cylinder 61 are fixed, two pawl arm (65a, connecting rod (66a is passed through in one end 65b), 66b) hinged with the end of the piston rod of the 3rd oil cylinder 61, two pawl arm (65a, other end 65b) forms clamping part 68, 3rd oil cylinder 61 can be released along D direction or retract, thus driving two pawl arm (65a, 65b) close up or open (along E direction), thus realizing the clamping of cleft hand or unclamping object (packed corrosion resistant plate), the two ends of the first cross bar 21 are slidably disposed on two columns 20 of portal frame 2, and first the two ends of cross bar 21 be respectively hinged at the end of piston rod of two the second oil cylinders, it is provided with the second cross bar 22 in the bottom of the first cross bar 21, the two ends of the second cross bar 22 are respectively fixedly connected with on two columns 20 of portal frame 2, it is connected to the second lowering or hoisting gear 8 between first arm 64 and the second cross bar 22, second lowering or hoisting gear 8 drives the first arm 64 to rotate around the axis of the first cross bar 21, second lowering or hoisting gear 8 includes the 4th oil cylinder, the lower end of the cylinder body of the 4th oil cylinder is hinged on the middle part of the second cross bar 22, the upper end thereof of the piston rod of the 4th oil cylinder is in the bottom surface of the first arm 64。
In conjunction with shown in Fig. 1 to Fig. 4, the top of portal frame 2 is provided with the second identification module 4, the clamping part 68 of clamping device 6 is provided with the 3rd identification module 67, the concrete primary importance information of the second identification module 4 scanning recognition external world gripped object, and the primary importance information that scanning obtains is sent to central processing unit 10, 3rd identification module 67 identifies the current second position information of the clamping part 68 orienting clamping device 2 in real time, and second position information is sent to central processing unit 10, central processing unit 10 carries out comprehensive descision according to the primary importance information received and second position information, send control instruction to the first lowering or hoisting gear 9 and/or the second lowering or hoisting gear 8, described first lowering or hoisting gear 9 and/or the second lowering or hoisting gear 8 adjust the position of described clamping part 68 till the position that second position information is reacted with primary importance information overlaps in real time according to the control instruction received。
In above example, central processing unit 10 can be intelligent terminal or PLC, and the first identification module 3 can be radio frequency sensor, and the second identification module 4 is full-view camera, and described 3rd identification module 67 is GPS position finder。
Automatically the operation principle passing trigger with recognition function of the present invention is as follows: first, RFID magnetic stripe is adopted to set the run trace of banding on the ground, such as the run trace that RFID magnetic stripe sets banding is adopted to couple together container and packed corrosion resistant plate accumulation area, automatic plate loader is placed in this run trace, the first identification module 3 is made to be placed exactly in the top of this run trace, first identification module 3 will gather run trace information in real time, and it is sent to central processing unit 10, central processing unit 10 is according to the run trace information received, send travel commands information to travel driving unit 5, to drive vehicle frame 1 to travel by the run trace on ground, such as run to corrosion resistant plate accumulation area from container point, walking is stopped when running to corrosion resistant plate accumulation area, now, packed corrosion resistant plate accumulation area will be done panoramic scanning by the second identification module 4, to determine the more specific location information (primary importance information) of clamping target, and primary importance information is sent to central processing unit 10, and the 3rd identification module 67 identifies the current second position information of the clamping part 68 orienting clamping device 2 in real time, and second position information is sent to central processing unit 10, it is likely to due to the position of now clamping part 68 and to clamp the position of target misaligned, central processing unit 10 carries out comprehensive descision according to the primary importance information received and second position information, send control instruction to the first lowering or hoisting gear 9 and the second lowering or hoisting gear 8, described first lowering or hoisting gear 9 and the second lowering or hoisting gear 8 adjust the position of described clamping part 68 till the position that second position information is reacted with primary importance information overlaps in real time according to the control instruction received, being specially the first lowering or hoisting gear 9 drives the first cross bar 21 to move along B direction, to adjust the height and position of clamping part 68, second lowering or hoisting gear 8 drives the first arm 64 to rotate (C direction), clamping part about 68 and front and back position can be adjusted, till the position that second position information is reacted with primary importance information overlaps, in some cases, also only the first lowering or hoisting gear 9 or the second lowering or hoisting gear 8 can individually be controlled to adjust clamping part 68 position, till the position that second position information is reacted with primary importance information overlaps, now, central processing unit 10 sends clamping signal to the 3rd oil cylinder 61, clamping part 68 is made to pick up corrosion resistant plate, then along backtracking to container point；Additionally, when automatic plate loader does not clamp, central processing unit 10 can send returns signal to the first oil cylinder 7, to drive folding regain (the A direction) of portal frame 2 to vehicle frame 1。
By above description, it is an advantage of the current invention that: the present invention by being provided with clamping device on vehicle frame, packed corrosion resistant plate has been clamped by clamping device, thus the problem avoiding the need for spending substantial amounts of manpower just can move corrosion resistant plate, and on vehicle frame, it is provided with the first identification module can automatically identify run trace, and send travelling control instruction to travel driving unit by central processing unit, drive vehicle frame to move along run trace by travel driving unit and the corrosion resistant plate clamped is carried to ad-hoc location, thus realizing unmanned carrying corrosion resistant plate to put into the process of container, realize the intellectuality of carrying, thus save substantial amounts of manually, and improve the efficiency removing plate。
Above-described is only some embodiments of the present invention。For the person of ordinary skill of the art, without departing from the concept of the premise of the invention, it is also possible to making some deformation and improvement, these broadly fall into protection scope of the present invention。
Claims (6)
1. an automatic plate loader with recognition function, it is characterized in that, including vehicle frame, it is located at the travel driving unit of described vehicle frame one end, is located at the portal frame of the described vehicle frame other end, the clamping device being located on described portal frame, the first identification module being located at described bottom of frame and central processing unit
The lower end of described portal frame is hinged with described vehicle frame, the upper end of described portal frame is free end, being provided with the first oil cylinder between described vehicle frame and described portal frame, one end of described first oil cylinder is hinged with described vehicle frame, and the other end of described first oil cylinder is hinged with the middle part of described portal frame；
Described first identification module senses the run trace information on ground in real time, and this run trace information is sent to described central processing unit, described central processing unit is according to the run trace information received, send travel commands information to described travel driving unit, to drive described vehicle frame to travel by the run trace on described ground；
Two columns of described portal frame are provided with the first lowering or hoisting gear, and described clamping device is connected between two columns of described portal frame by described first lowering or hoisting gear, and described first lowering or hoisting gear drives described clamping device to move up and down。
2. automatic plate loader according to claim 1, it is characterized in that, described first lowering or hoisting gear includes the second oil cylinder, described second oil cylinder is set to two, said two the second oil cylinder is arranged on two columns of described portal frame with being respectively symmetrically, described clamping device includes the first cross bar, vertical with described first cross bar and be fixedly connected on supermedial first arm of described first cross bar, the free end of described first arm is provided with cleft hand, described cleft hand has the 3rd oil cylinder and two pawl arms, described pawl arm is sickleshaped, two described pawl arms are symmetrical arranged and the middle part of described pawl arm is hinged on the free end of described first arm, the cylinder body of described 3rd oil cylinder and described first arm are fixed, one end of two described pawl arms is hinged with the end of the piston rod of described 3rd oil cylinder, the other end of two described pawl arms forms clamping part, the two ends of described first cross bar are slidably disposed on two columns of described portal frame, and the two ends of described first cross bar are respectively hinged at the end of piston rod of said two the second oil cylinder, it is provided with the second cross bar in the bottom of described first cross bar, the two ends of described second cross bar are respectively fixedly connected with on two columns of described portal frame, it is connected to the second lowering or hoisting gear between described first arm and described second cross bar, described second lowering or hoisting gear drives described first arm to rotate around the axis of described first cross bar。
3. automatic plate loader according to claim 2, it is characterized in that, described second lowering or hoisting gear includes the 4th oil cylinder, and the lower end of the cylinder body of described 4th oil cylinder is hinged on the middle part of described second cross bar, and the upper end thereof of the piston rod of described 4th oil cylinder is in the bottom surface of described first arm。
4. the automatic plate loader according to any one of claims 1 to 3, it is characterized in that, also include the second identification module, described second identification module is arranged on the top of described portal frame, the clamping part of described clamping device is provided with the 3rd identification module, the concrete primary importance information of described second identification module scanning recognition external world gripped object, and the described primary importance information that scanning obtains is sent to described central processing unit, described 3rd identification module identifies the current second position information of the clamping part orienting described clamping device in real time, and described second position information is sent to described central processing unit, described central processing unit carries out comprehensive descision according to the described primary importance information received and second position information, send control instruction to described first lowering or hoisting gear and/or the second lowering or hoisting gear, described first lowering or hoisting gear and/or the second lowering or hoisting gear adjust the position of described clamping part till the position that described second position information is reacted with described primary importance information overlaps in real time according to the control instruction received。
5. automatic plate loader described in 4 required by right, it is characterised in that described first identification module is radio frequency sensor, and described second identification module is full-view camera, and described 3rd identification module is GPS position finder。
6. the automatic plate loader according to claim, it is characterised in that described central processing unit is intelligent terminal or PLC。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610263096.XA CN105692502A (en) | 2016-04-26 | 2016-04-26 | Automatic sheet loader with identification function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610263096.XA CN105692502A (en) | 2016-04-26 | 2016-04-26 | Automatic sheet loader with identification function |
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| Publication Number | Publication Date |
|---|---|
| CN105692502A true CN105692502A (en) | 2016-06-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610263096.XA Pending CN105692502A (en) | 2016-04-26 | 2016-04-26 | Automatic sheet loader with identification function |
Country Status (1)
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| CN (1) | CN105692502A (en) |
Cited By (1)
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| CN108163776A (en) * | 2017-12-29 | 2018-06-15 | 王莉萍 | A kind of pallet fork holds machine |
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Application publication date: 20160622 |