CN107311081A - A kind of logistics code fetch car suitable for freight container - Google Patents

A kind of logistics code fetch car suitable for freight container Download PDF

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Publication number
CN107311081A
CN107311081A CN201710680538.5A CN201710680538A CN107311081A CN 107311081 A CN107311081 A CN 107311081A CN 201710680538 A CN201710680538 A CN 201710680538A CN 107311081 A CN107311081 A CN 107311081A
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CN
China
Prior art keywords
pallet fork
freight container
hydraulic
support
code fetch
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.)
Pending
Application number
CN201710680538.5A
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Chinese (zh)
Inventor
郝新浦
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Xuzhou DKEC Electrical Technology Co Ltd
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Xuzhou DKEC Electrical Technology Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Xuzhou DKEC Electrical Technology Co Ltd filed Critical Xuzhou DKEC Electrical Technology Co Ltd
Priority to CN201710680538.5A priority Critical patent/CN107311081A/en
Publication of CN107311081A publication Critical patent/CN107311081A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66FHOISTING, 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
    • B66F9/00Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06Devices 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
    • B66F9/075Constructional features or details
    • B66F9/20Means for actuating or controlling masts, platforms, or forks
    • B66F9/22Hydraulic devices or systems
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66FHOISTING, 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
    • B66F9/00Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06Devices 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
    • B66F9/075Constructional features or details
    • B66F9/07504Accessories, e.g. for towing, charging, locking
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66FHOISTING, 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
    • B66F9/00Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06Devices 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
    • B66F9/075Constructional features or details
    • B66F9/20Means for actuating or controlling masts, platforms, or forks
    • B66F9/24Electrical devices or systems

Abstract

The invention discloses a kind of logistics code fetch car suitable for freight container, including vehicle frame, running part, pivoting support, support platform, work department, hydraulic system and electric-control system;Work department includes door frame, goods shelf and pallet fork;Electric-control system includes battery pack, industrial control computer, electric power loop, data input output ports, positioning chip, the elements of a fix and moves control loop, apart from feedback control loop, pallet fork span regulating loop, reprinting control loop, industrial control computer is built-in with the whole geographical location coordinate information of loading/unloading platform, and industrial control computer is electrically connected with the barcode scanning identifying device and range sensor on battery pack, data input output ports, running part, hydraulic system, pallet fork passage part, goods shelf respectively.The logistics code fetch car automaticity that this is applied to freight container is higher, can realize intelligent operation, improve the efficiency of loading and unloading, the handling goods being particularly suitable for use in the container shipping of logistic storage piles up operation.

Description

A kind of logistics code fetch car suitable for freight container
Technical field
The present invention relates to a kind of logistics code fetch car, specifically a kind of logistics code fetch car suitable for freight container belongs to Intelligent logistics technical equipment field.
Background technology
Intelligent logistics are exactly to utilize the advanced Internet of Things such as bar code, REID, sensor, global positioning system Technology is widely used in logistics transport, storage, dispatching, packaging, handling etc. by information processing and network communications technology platform Basic activity link, realizes automatic operation and the high efficiency optimum management of cargo transport process, improves the service of logistic industry Level, reduces cost, reduces natural resources and social resources consumption, and the development of Intelligent logistics will promote the development of regional economy Distributed rationally with world resource, realize socialization.
Logistic storage is the key link in modern Intelligent logistics, is played in links such as connection, transfer, storage, keepings Important function, and warehousing management is also simultaneously that, in occupation of the status of core, accurate warehouse process is generally comprised in logistic storage Receive, restocking, pick up goods, replenish, deliver, several flows of making an inventory, to realize intelligent distribution, occur homing guidance fortune in the prior art Defeated car, that is, be equipped with electricity and magnetically or optically wait homing guidance device, the transport vehicle with safeguard protection and various transfer functions, thing Driver is not required in stream storage application, using rechargeable battery as its power resources, its traveling road can be typically controlled by computer Line and behavior set up its course using electromagnetic path to realize the allocation and transportation of warehoused cargo, but for replenishing or It is still a large amount of using artificial operation, i.e. operator that the handling goods that delivery turnover warehouse is carried out during container shipping piles up operation Member's driving fork truck is loaded and unloaded, and especially for carriage of container cargo, how rational deployment makes the space availability ratio of container It is maximum, how reasonable prestowage layout make container be easy to multi-destination to transport etc. container problem causes the vanning of container or unloaded Carry at present always using artificial operation.
There is following defect in the mode of production of this traditional artificial operation vanning or unloading:
1. although storage process or outbound process have realized automation mechanized operation, the vanning or unloading of container still use people Work is operated, therefore logistic storage integrated automation degree is reduced, efficiency is low;
2. generally carried out due to being put in storage process or outbound process in the prior art using automatical pilot transportation vehicle or conveyer belt Transmission, the artificial speed for operating vanning or unloading to keep up with storage or the speed of outbound just can guarantee that the efficiency that storage is transported, because This labor intensity of operating staff is larger;
3. influence of the human factors such as the sense of responsibility of operating personnel, mood to progress of cargo work is larger.
The content of the invention
In view of the above-mentioned problems of the prior art, the present invention provides a kind of logistics code fetch suitable for freight container Car, automaticity is higher, can realize intelligent operation, improve the efficiency of loading and unloading, be particularly suitable for use in the container shipping of logistic storage In handling goods pile up operation.
To achieve these goals, this logistics code fetch car for being applied to freight container includes vehicle frame, running part, revolution branch Hold, support platform, work department, hydraulic system and electric-control system;
Described running part, which is arranged on inside the bottom of vehicle frame, running part, is provided with hoofing part, and described support platform is led to Cross pivoting support and set up and be arranged on vehicle frame, described pivoting support is provided with hydraulic gyration driving, described work department, hydraulic pressure System and electric-control system are installed in support platform;
Described work department includes door frame, goods shelf and pallet fork;The bottom of door frame is articulated and connected in the front end of support platform, The support body of door frame is connected by door frame pitching hydraulic cylinder with support platform;The front end that goods shelf passes through crotch guiding mechanism and door frame Face is slided and is fitted and connected, and the support body of goods shelf is connected by crotch lifting hydraulic cylinder with door frame, and barcode scanning knowledge is additionally provided with goods shelf Other device and range sensor;Pallet fork is symmetrical set as two pieces, set up by pallet fork sliding guide mechanism installed in pallet fork On frame, and the pallet fork passage part that pallet fork is set by left and right directions is connected with goods shelf installation;
Described hydraulic system includes hydraulic power unit and control valve group, and hydraulic power unit is connected by fluid pressure line and control valve group Connect, control valve group is connected with hydraulic gyration driving, door frame pitching hydraulic cylinder, crotch lifting hydraulic cylinder respectively by fluid pressure line;
Described electric-control system includes battery pack, industrial control computer, electric power loop, data input output ports, fixed Position chip, the elements of a fix move control loop, apart from feedback control loop, pallet fork span regulating loop, reprinting control loop, work Industry control computer is built-in with the whole geographical location coordinate information of loading/unloading platform, industrial control computer respectively with battery pack, Data input output ports, running part, hydraulic system, pallet fork elapse part, the barcode scanning identifying device on goods shelf and apart from biography Sensor is electrically connected.
Also include pattern-recognition sensor on scheme as a further improvement on the present invention, described goods shelf, it is described Electric-control system also includes fork holding position position control loop, and described industrial control computer is electrically connected with pattern-recognition sensor Connect.
Scheme as a further improvement on the present invention, described data input output ports also include radio receiving transmitting module, Described electric-control system also includes wireless receiving and dispatching control loop.
Scheme as a further improvement on the present invention, described vehicle frame carries auxiliary provided with the support that multiple vertical directions are set Hydraulic cylinder, multiple supports carry auxiliary hydraulic cylinder and are uniformly arranged around pivoting support, and the cylinder body end that support carries auxiliary hydraulic cylinder is fixedly mounted On vehicle frame, support carries the disk roller axis extended line provided with roller arrangement and roller arrangement at the top of the telescopic end of auxiliary hydraulic cylinder Set by the centre of gyration of pivoting support, support carries auxiliary hydraulic cylinder and connected by the control valve group of fluid pressure line and hydraulic system Connect, described electric-control system also includes Auxiliary support loop.
As a kind of embodiment of running part of the present invention, described running part is universal to roller arrangement, and running part is extremely Include four disk rollers less, described hoofing part at least coordinates including four disk rollers drivings, every disk roller respectively with a roller Wheel drive is connected, and the roll outer surface of disk roller is provided with multiple along the spiral spiral salient in roll outer surface and multiple spiral shells Rotation projection is uniformly arranged along the pivot of disk roller, is arranged concentrically per two pieces disk roller and is respectively relative to that vehicle frame is symmetrical to be set Put composition front roller wheel group and rear roll group, and front roller wheel group and rear roll group before and after vehicle frame relative to being symmetrical arranged;Four disk rollers Driving is electrically connected with the industrial control computer of electric-control system respectively.
Set up on scheme as a further improvement on the present invention, described spiral salient and multiple axis are installed along spiral Move towards the deputy roller wheel set.
As the another embodiment of running part of the present invention, described running part is caterpillar belt structure, and running part includes carrying out Band beam, crawler belt, hydraulic-driven wheel and guide roller, described hoofing part include hydraulic motor travel motor, hydraulic motor travel motor with The control valve group of hydraulic system is connected by fluid pressure line.
A kind of embodiment of part is elapsed as pallet fork of the present invention, described pallet fork passage part includes pallet fork passage and watched Take motor and level and set up the bidirectional screw bar being arranged on goods shelf, bidirectional screw bar and pallet fork elapse servomotor be connected, And there is oppositely oriented screw structure on the body of rod of bidirectional screw bar left and right ends, described pallet fork is provided with and two-way spiral shell Swing arm coordinates the industrial control computer electricity of the screw being arranged on bidirectional screw bar, pallet fork passage servomotor and electric-control system Connection.
The another embodiment of part is elapsed as pallet fork of the present invention, described pallet fork passage part is set up including level The two pieces pallet fork passage hydraulic cylinder that on goods shelf, telescopic direction is reversed, two pieces pallet fork elapses stretching for hydraulic cylinder Contracting end is connected with two pieces pallet fork respectively, and two pieces pallet fork elapses control valve group of the hydraulic cylinder respectively with hydraulic system and passes through fluid pressure line Connection.
As the preferred scheme of the present invention, described battery pack is lithium battery group.
Compared with prior art, this logistics code fetch car for being applied to freight container is fully digitalization control unit, can Concentration digital management is realized to be seamlessly connected with the number bus of Intelligent logistics;Because industrial control computer is built-in with handling The whole geographical location coordinate information and positioning chip of platform, and running part, pivoting support and work department use computer completely Auto-control is operated, therefore inputs shipping packaging to the industrial control computer of electric-control system by data input output ports The goods vanning positional information of case, prestowage scheme, goods pile up coordinate position, cargo size, freight container inside dimension etc. After data message, industrial control computer is moved according to the goods information control running part action coordinate inputted, while industrial Control computer controls pallet fork passage component actuation the span between pallet fork is adjusted to cooperation goods according to the goods information of input The setting width dimensions of thing size, and according to the barcode scanning identifying device in the information and goods shelf inputted and range sensor Feedback information, sets up fork holding position and fork dress depth mathematical modeling, then controls hydraulic system door frame is bowed according to mathematical modeling Face upward hydraulic cylinder, the action of crotch lifting hydraulic cylinder and carry out fork dress handling, complete computer auto-control operation can be avoided because of operator The influences of the human factor to manufacturing schedule such as member's sense of responsibility, mood, while can be from operating personnel's operative skill qualification Limitation, it is entirely avoided the drawbacks of artificial operation is present, can realize intelligent operation, improve the efficiency of loading and unloading, be particularly suitable for use in thing The handling goods flowed in the container shipping of storage piles up operation.
Brief description of the drawings
Fig. 1 is the three dimensional structure diagram when present invention carries out handling freight container;
Fig. 2 is the present invention using three dimensional structure diagram during the universal running part to roller arrangement;
Fig. 3 is Fig. 2 bottom view;
Fig. 4 is the present invention using three dimensional structure diagram during caterpillar belt structure running part;
Fig. 5 is the three dimensional structure diagram that the present invention carries out code fetch to freight container.
In figure:1st, vehicle frame, 11, support carry auxiliary hydraulic cylinder, 2, running part, 3, pivoting support, 4, support platform, 5, work Portion, 51, door frame, 52, goods shelf, 53, pallet fork.
Embodiment
The present invention will be further described below in conjunction with the accompanying drawings (is arranged on the direction in support platform 4 with work department 5 below Described for front).
As shown in Figure 1, Figure 2, Figure 4 shows, this logistics code fetch car for being applied to freight container includes vehicle frame 1, running part 2, returned Turn supporting 3, support platform 4, work department 5, hydraulic system and electric-control system.
Described running part 2 is arranged on the bottom of vehicle frame 1, and the inside of running part 2 is provided with hoofing part, described support platform 4 are set up on vehicle frame 1 by pivoting support 3, and described pivoting support 3 drives provided with hydraulic gyration, pivoting support 3 Setting can make the increase of this logistics code fetch car free degree, be suitable for narrow separation space, described work department 5, hydraulic pressure system System and electric-control system are installed in support platform 4.
Described work department 5 includes door frame 51, goods shelf 52 and pallet fork 53;The bottom of door frame 51 is articulated and connected flat in support The front end of platform 4, the support body of door frame 51 is connected by door frame pitching hydraulic cylinder with support platform 4, by controlling door frame pitching hydraulic pressure The flexible of cylinder can realize that door frame 51 is overall along its jointed shaft fore-and-aft direction pitching motion;Goods shelf 52 passes through crotch guiding mechanism Slide and be fitted and connected with the front end face of door frame 51, the support body of goods shelf 52 is connected by crotch lifting hydraulic cylinder with door frame 51, lead to Crossing control crotch lifting hydraulic cylinder flexible, can to realize that goods shelf 52 is moved up and down along crotch guiding mechanism on door frame 51 dynamic Make, barcode scanning identifying device and range sensor are additionally provided with goods shelf 52;Pallet fork 53 is symmetrical set for two pieces, by pallet fork Sliding guide mechanism, which is set up, to be arranged on goods shelf 52, and the pallet fork that pallet fork 53 is set by left and right directions elapses part and pallet fork Frame 52 installs connection, and the regulation of span between pallet fork 53 can be realized by the action for controlling pallet fork to elapse part.
Described hydraulic system includes hydraulic power unit and control valve group, and hydraulic power unit is connected by fluid pressure line and control valve group Connect, control valve group is connected with hydraulic gyration driving, door frame pitching hydraulic cylinder, crotch lifting hydraulic cylinder respectively by fluid pressure line.
Described electric-control system includes battery pack, industrial control computer, electric power loop, data input output ports, fixed Position chip, the elements of a fix move control loop, apart from feedback control loop, pallet fork span regulating loop, reprinting control loop, work Industry control computer is built-in with the whole geographical location coordinate information of loading/unloading platform, positioning chip can using GPS location chip, The satellite fix such as Big Dipper positioning chip chip or use radar fix chip, industrial control computer respectively with battery pack, data Input/output port, running part 2, hydraulic system, pallet fork passage part, the barcode scanning identifying device on goods shelf 52 and Distance-sensing Device is electrically connected.
This is applied to the operation principle of the logistics code fetch car of freight container:Before code fetch operation is carried out, shipping will be loaded with The bottom plate of freight container is docked and position with loading/unloading platform behind the setting position that the vehicle of container is stuck under loading/unloading platform In in same level and opening chamber door, operating personnel by Industry Control meter from data input output ports to electric-control system The goods vanning positional information of calculation machine input freight container, prestowage scheme, goods pile up coordinate position, cargo size, shipping Internal container sized data information;
During incasement operation, the goods that need to be cased is transported to goods successively by automatical pilot transportation vehicle according to prestowage scheme first Thing piles up coordinate position, then this logistics code fetch car start, industrial control computer control the elements of a fix movement control loop and Pallet fork span regulating loop is started working, and industrial control computer is sat according to the goods information control action of running part 2 inputted Mark movement, while industrial control computer according to the cargo size information of input control pallet fork passage component actuation make pallet fork 53 it Between span adjust to coordinate cargo size setting width dimensions;Then industrial control computer control reprint control loop and Started working apart from feedback control loop, industrial control computer piles up coordinate according to the cargo size information and goods that have inputted The feedback identifying information of barcode scanning identifying device in positional information and goods shelf 52 sets up goods fork holding position and fork dress depth number Model is learned, then industrial control computer controls hydraulic system door frame pitching hydraulic cylinder, crotch is lifted liquid according to mathematical modeling Cylinder pressure action carries out fork dress, between the range sensor Real-time Feedback goods shelf 52 and goods during fork is filled on goods shelf 52 Distance fills depth to ensure to pitch;Complete goods fork and fill postindustrial control computer according to prestowage scheme and goods vanning position letter Fork dress will be carried out on goods successively Self-loading-unloading platform for breath, freight container inside dimension data message order and coordinate is moved to goods Fortune container in setting position and pile up completion vanning;
Unload operation when, this logistics code fetch car start, industrial control computer control the elements of a fix movement control loop and Pallet fork span regulating loop is started working, and industrial control computer is believed according to the freight container inside dimension data inputted Breath, cargo size information, goods vanning positional information and the prestowage scheme control action coordinate of running part 2 are moved to freight container It is interior, while industrial control computer controls pallet fork passage component actuation to make between pallet fork 53 according to the cargo size information of input Span is adjusted to the setting width dimensions for coordinating cargo size;Then control loop and distance are reprinted in industrial control computer control Feedback control loop is started working, and industrial control computer piles up coordinate position according to the cargo size information and goods that have inputted The feedback identifying information of barcode scanning identifying device in information and goods shelf 52 sets up goods fork holding position and fork dress depth mathematical modulo Type, then industrial control computer according to mathematical modeling control hydraulic system make door frame pitching hydraulic cylinder, crotch lifting hydraulic cylinder Action carries out fork dress, the distance between range sensor Real-time Feedback goods shelf 52 and goods during fork is filled on goods shelf 52 To ensure fork dress depth;Completion goods fork fills postindustrial control computer control running part 2 action coordinate and is moved to loading/unloading platform On setting coordinate position piled up, while according in prestowage scheme and goods shelf 52 barcode scanning identifying device feed back goods Information carries out record coordinate position, the like, until all fork dress piles up the setting coordinate bit to loading/unloading platform by goods Completion is put to unload.
Filled to ensure accurately to pitch, as a further improvement on the present invention scheme, also include mould on described goods shelf 52 Formula identification sensor, described electric-control system also includes fork holding position position control loop, described industrial control computer with Pattern-recognition sensor is electrically connected;Industrial control computer is according to the goods of cargo size information and pattern-recognition sensor feedback Positional information sets up goods pattern-recognition data model, and by the goods pattern-recognition data model and the fork holding position set up Correction integration is carried out with fork dress depth mathematical modeling, the mathematical modeling control hydraulic system after being integrated finally according to correction makes door frame Pitching hydraulic cylinder, the action of crotch lifting hydraulic cylinder carry out fork dress.
In order to realize more efficiently Real Data Exchangs and control, improve the efficiency of loading and unloading, further changing for the present invention is used as Enter scheme, described data input output ports also include radio receiving transmitting module, and described electric-control system also includes wireless receiving and dispatching Control loop;Industrial control computer can be before handling using wireless by radio receiving transmitting module and wireless receiving and dispatching control loop The goods vanning positional information, prestowage scheme, goods for being transferred from upper end network reception freight container pile up coordinate position, goods The data messages such as size, freight container inside dimension, and realize to load and unload have to upper end network-feedback in real time in cargo handling process Body situation, on the one hand can realize cooperation automatical pilot transportation vehicle in binning process on Self-loading-unloading platform carry out fixed point fork dress, Fixed point is carried out on loading/unloading platform to pile up, shorten what this logistics code fetch car was walked during fork dress is piled up during unloading Distance, the raising efficiency of loading and unloading;Another aspect operating personnel can carry out real time remote error correct to this logistics code fetch car.
Hard point is located at the front portion of support platform 4 during due to fork dress, in order to prevent the unbalance loading during heavy duty fork dress from causing The damage of pivoting support 3, scheme as a further improvement on the present invention, described vehicle frame 1 is set provided with multiple vertical directions Support carry auxiliary hydraulic cylinder 11, it is multiple support carry auxiliary hydraulic cylinders 11 be uniformly arranged around pivoting support 3, support load auxiliary hydraulic cylinder 11 Cylinder body end be fixedly mounted on vehicle frame 1, support carry auxiliary hydraulic cylinder 11 telescopic end at the top of be provided with roller arrangement and roller arrangement Disk roller axis extended line by pivoting support 3 the centre of gyration set, support carry auxiliary hydraulic cylinder 11 by fluid pressure line with The control valve group connection of hydraulic system, described electric-control system also includes Auxiliary support loop;When goods in the prestowage scheme of input Auxiliary support loop is first begin to work when thing payload ratings information exceedes industrial control computer default heavy load starting weight, Industrial control computer control hydraulic system makes the support load stretching support of auxiliary hydraulic cylinder 11 act against on the baseplane of support platform 4 Carry out auxiliary support to carry, then industrial control computer controls hydraulic system to make door frame pitching hydraulic cylinder, crotch lifting hydraulic cylinder again Action carries out fork dress.
Goods and space for lighter in weight narrow and small freight container relatively, in order to realize that this logistics code fetch car is bigger Flexibility, as a kind of embodiment of running part 2 of the present invention, described running part 2 be it is universal to roller arrangement, such as Fig. 2, Shown in Fig. 3, running part 2 includes at least four disk rollers, and described hoofing part at least coordinates including four disk roller drivings, every roller Wheel respectively with a disk roller drive connection, the roll outer surface of disk roller is provided with multiple along the spiral spiral shell in roll outer surface Rotation is raised and multiple spiral salients are uniformly arranged along the pivot of disk roller, spiral salient during disk roller is in rotary moving with Ground friction can provide the component for favouring disk roller moving direction and then can realize steering, be arranged concentrically, simultaneously per two pieces disk roller Be respectively relative to vehicle frame 1 and be symmetrical set composition front roller wheel group and rear roll group, and front roller wheel group and rear roll group relative to It is symmetrical arranged before and after vehicle frame 1;Four disk roller drivings are electrically connected with the industrial control computer of electric-control system respectively;Industry Control meter Calculation machine controls four disk rollers to realize the equidirectional rotation of four disk rollers when driving equidirectional rotation simultaneously, now respectively by two pieces The component for favouring disk roller moving direction that the front roller wheel group and rear roll group that disk roller is constituted are produced cancels each other, and realizes vehicle frame 1 Keep straight line moving;Industrial control computer controls the front and rear two pieces disk roller in the left side of vehicle frame 1 while equidirectional rotation, vehicle frame simultaneously Front and rear two pieces disk roller opposite direction rotation simultaneously on the right side of in the of 1, and before the rotating speed of the front and rear two pieces disk roller in the left side of vehicle frame 1 and the right side of vehicle frame 1 The rotating speed of two pieces disk roller is different afterwards, and the component for favouring disk roller moving direction that now four disk rollers are produced is superimposed, different Rotating speed realize steering of the vehicle frame 1 to Direction of superposition;Industrial control computer controls four disk rollers mutual opposite direction simultaneously simultaneously Rotation, and the rotating speed of four disk rollers is identical, the component for favouring disk roller moving direction that now four disk rollers are produced occurs all Superposition, and then realize translation of the vehicle frame 1 to Direction of superposition;The universal running part 2 to roller arrangement can realize vehicle frame 1 ± Rotated in place in the range of 360 °, coordinate the hydraulic gyration drive actions of pivoting support 3 to be applicable to space narrow and small shipping relatively Container.
It is too early that simple spiral salient easily causes spiral salient during disk roller is in rotary moving with the sliding friction on ground Abrasion, in order to reduce abrasion, extension disk roller service life, scheme, described spiral prominence as a further improvement on the present invention Play upper set up and the deputy roller wheel that multiple axis are moved towards to set along spiral is installed;Deputy roller wheel and ground during disk roller is in rotary moving The rolling friction in face reduces abrasion, extends the service life of disk roller.
The relatively large freight container of goods and space for heavier-weight, in order to reduce this logistics code fetch of heavy duty Injury of the car to freight container chassis, as the another embodiment of running part 2 of the present invention, as shown in figure 4, described row It is caterpillar belt structure to walk portion 2, and running part 2 includes track beam, crawler belt, hydraulic-driven wheel and guide roller, described hoofing part bag Include hydraulic motor travel motor, the control valve group of hydraulic motor travel motor and hydraulic system is connected by fluid pressure line.
Situation about coordinating for the width dimensions inside goods width dimensions and freight container, is pushed away as pallet fork of the present invention A kind of embodiment of part is moved, described pallet fork passage part includes pallet fork passage servomotor and level sets up and is arranged on goods Bidirectional screw bar on crotch 52, bidirectional screw bar is connected and bidirectional screw bar left and right ends bar with pallet fork passage servomotor There is oppositely oriented screw structure, described pallet fork 53, which is provided with to coordinate with bidirectional screw bar, is arranged on two-way spiral shell on body Screw on swing arm, pallet fork passage servomotor is electrically connected with the industrial control computer of electric-control system;Pass through Industry Control meter The rotating of calculation machine control pallet fork passage servomotor can realize the regulation of span between pallet fork 53.
For cargo size it is smaller, need unbalance loading fork dress handling situation, be used as pallet fork of the present invention passage part it is another Embodiment, described pallet fork passage part sets up on goods shelf 52, telescopic direction including level and is reversed Two pieces pallet fork elapses hydraulic cylinder, and the telescopic end of two pieces pallet fork passage hydraulic cylinder is connected with two pieces pallet fork 53 respectively, and two pieces pallet fork is pushed away Liquid relief cylinder pressure is connected with the control valve group of hydraulic system by fluid pressure line respectively;Hydraulic pressure system is controlled by industrial control computer The extension elongation difference that system makes two pieces pallet fork elapse hydraulic cylinder can realize the inclined of the regulation of span and pallet fork 53 between pallet fork 53 Carry position.
Described battery pack can be fuel cell unit, batteries or lithium battery group, because lithium battery has high store Energy density, service life length, the features such as possess high power endurance, lightweight, small volume, therefore preferably lithium battery, i.e. make For the preferred scheme of the present invention, described battery pack is lithium battery group.
This logistics code fetch car for being applied to freight container coordinates what is be adapted in the case of with enough bearing capacitys Fork dress frock may be equally applicable for the code fetch to freight container, as shown in figure 5, can be adopted for 40 feet of freight containers The form Synchronization Control movement at two head end bottoms or two furred ceiling is carried out to freight container with two frame this logistics code fetch cars or is enumerated Load, can carry out traditional side to freight container using frame this logistics code fetch car for 20 feet of freight containers pitches The mode of dress controls to move or enumerates loading.
This logistics code fetch car for being applied to freight container is fully digitalization control unit, number that can be with Intelligent logistics Word bus, which is seamlessly connected, realizes concentration digital management;Because industrial control computer is built-in with the whole geographical position of loading/unloading platform Coordinate information and positioning chip are put, and running part 2, pivoting support 3 and work department 5 are completely using computer auto-control behaviour Make, therefore the goods for inputting freight container to the industrial control computer of electric-control system by data input output ports is cased Positional information, prestowage scheme, goods are piled up after the data messages such as coordinate position, cargo size, freight container inside dimension, work Industry control computer is according to the goods information control action coordinate movement of running part 2 inputted, while industrial control computer root The span between pallet fork 53 is set to adjust setting to cooperation cargo size according to the goods information control pallet fork passage component actuation of input Determine width dimensions, and according to the barcode scanning identifying device and the feedback letter of range sensor in the information and goods shelf 52 inputted Breath, sets up fork holding position and fork dress depth mathematical modeling, then controls hydraulic system to make door frame pitching hydraulic pressure according to mathematical modeling Cylinder, the action of crotch lifting hydraulic cylinder carry out fork dress handling, and complete computer auto-control operation can be avoided because of operating personnel's responsibility Influence of the human factors such as the heart, mood to manufacturing schedule, at the same can from operating personnel's operative skill qualification limitation, it is complete It is complete to avoid the drawbacks of artificial operation is present, intelligent operation can be realized, the efficiency of loading and unloading is improved, logistic storage is particularly suitable for use in Handling goods in container shipping piles up operation.

Claims (10)

1. a kind of logistics code fetch car suitable for freight container, it is characterised in that including vehicle frame (1), running part (2), revolution Support (3), support platform (4), work department (5), hydraulic system and electric-control system;
Described running part (2), which is arranged on inside the bottom of vehicle frame (1), running part (2), is provided with hoofing part, and described support is put down Platform (4) is set up by pivoting support (3) and is arranged on vehicle frame (1), and described pivoting support (3) drives provided with hydraulic gyration, Described work department (5), hydraulic system and electric-control system is installed in support platform (4);
Described work department (5) includes door frame (51), goods shelf (52) and pallet fork (53);The bottom of door frame (51) be articulated and connected in The front end of support platform (4), the support body of door frame (51) is connected by door frame pitching hydraulic cylinder with support platform (4);Goods shelf (52) slided and be fitted and connected by the front end face of crotch guiding mechanism and door frame (51), the support body of goods shelf (52) passes through crotch liter Descending liquid cylinder pressure is connected with door frame (51), and goods shelf is additionally provided with barcode scanning identifying device and range sensor on (52);Pallet fork (53) is left The right side is symmetrical arranged as two pieces, set up by pallet fork sliding guide mechanism on goods shelf (52), and pallet fork (53) passes through a left side The pallet fork passage part that right direction is set is installed with goods shelf (52) to be connected;
Described hydraulic system includes hydraulic power unit and control valve group, and hydraulic power unit is connected by fluid pressure line with control valve group, Control valve group is connected with hydraulic gyration driving, door frame pitching hydraulic cylinder, crotch lifting hydraulic cylinder respectively by fluid pressure line;
Described electric-control system includes battery pack, industrial control computer, electric power loop, data input output ports, locating core Piece, the elements of a fix move control loop, apart from feedback control loop, pallet fork span regulating loop, reprinting control loop, industry control Built-in computer processed has a whole geographical location coordinate information of loading/unloading platform, industrial control computer respectively with battery pack, data Input/output port, running part (2), hydraulic system, pallet fork passage part, barcode scanning identifying device and distance on goods shelf (52) Sensor is electrically connected.
2. the logistics code fetch car according to claim 1 suitable for freight container, it is characterised in that described goods shelf (52) pattern-recognition sensor is also included on, described electric-control system also includes fork holding position position control loop, described work Industry control computer is electrically connected with pattern-recognition sensor.
3. the logistics code fetch car according to claim 2 suitable for freight container, it is characterised in that described data are defeated Entering output port also includes radio receiving transmitting module, and described electric-control system also includes wireless receiving and dispatching control loop.
4. the logistics code fetch car according to claim 3 suitable for freight container, it is characterised in that described vehicle frame (1) auxiliary hydraulic cylinder (11) is carried provided with the support that multiple vertical directions are set, multiple supports carry auxiliary hydraulic cylinder (11) around revolution Supporting (3) is uniformly arranged, and the cylinder body end that support carries auxiliary hydraulic cylinder (11) is fixedly mounted on vehicle frame (1), and support carries auxiliary hydraulic cylinder (11) disk roller axis extended line the returning by pivoting support (3) provided with roller arrangement and roller arrangement at the top of telescopic end Turn centrally disposed, support carries auxiliary hydraulic cylinder (11) and connected by the control valve group of fluid pressure line and hydraulic system, and described is automatically controlled System also includes Auxiliary support loop.
5. the logistics code fetch car suitable for freight container according to Claims 1-4 any claim, its feature exists In described running part (2) is universal to roller arrangement, and running part (2) at least includes four disk rollers, and described hoofing part is extremely It is few coordinate include four disk rollers and drive, every disk roller respectively with a disk roller drive connection, set on the roll outer surface of disk roller Have it is multiple be uniformly arranged along the spiral spiral salient in roll outer surface and multiple spiral salients along the pivot of disk roller, It is arranged concentrically per two pieces disk roller and is respectively relative to vehicle frame (1) and is symmetrical set composition front roller wheel group and rear roll group, and it is preceding Roller set and rear roll group before and after vehicle frame (1) relative to being symmetrical arranged;Industry of four disk roller drivings respectively with electric-control system is controlled System calculates mechatronics.
6. the logistics code fetch car according to claim 5 suitable for freight container, it is characterised in that described spiral prominence Play upper set up and the deputy roller wheel that multiple axis are moved towards to set along spiral is installed.
7. the logistics code fetch car suitable for freight container according to Claims 1-4 any claim, its feature exists In described running part (2) is caterpillar belt structure, and running part (2) includes track beam, crawler belt, hydraulic-driven wheel and guide roller, institute The hoofing part stated includes hydraulic motor travel motor, and the control valve group of hydraulic motor travel motor and hydraulic system is connected by fluid pressure line Connect.
8. the logistics code fetch car suitable for freight container according to Claims 1-4 any claim, its feature exists In described pallet fork passage part includes pallet fork and elapses the two-way spiral shell of servomotor and level erection on goods shelf (52) Swing arm, bidirectional screw bar is connected and had on the body of rod of bidirectional screw bar left and right ends oppositely oriented with pallet fork passage servomotor Screw structure, described pallet fork (53) is provided with coordinates the screw being arranged on bidirectional screw bar with bidirectional screw bar, Pallet fork passage servomotor is electrically connected with the industrial control computer of electric-control system.
9. the logistics code fetch car suitable for freight container according to Claims 1-4 any claim, its feature exists In described pallet fork passage part includes level and sets up on goods shelf (52), the two pieces that telescopic direction is reversed Pallet fork elapses hydraulic cylinder, and the telescopic end of two pieces pallet fork passage hydraulic cylinder is connected with two pieces pallet fork (53) respectively, the passage of two pieces pallet fork Hydraulic cylinder is connected with the control valve group of hydraulic system by fluid pressure line respectively.
10. the logistics code fetch car suitable for freight container according to Claims 1-4 any claim, its feature It is, described battery pack is lithium battery group.
CN201710680538.5A 2017-08-10 2017-08-10 A kind of logistics code fetch car suitable for freight container Pending CN107311081A (en)

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