CN110697625A - Cargo handling system of quick-open type side curtain box - Google Patents
Cargo handling system of quick-open type side curtain box Download PDFInfo
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- CN110697625A CN110697625A CN201910870998.3A CN201910870998A CN110697625A CN 110697625 A CN110697625 A CN 110697625A CN 201910870998 A CN201910870998 A CN 201910870998A CN 110697625 A CN110697625 A CN 110697625A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/30—Methods or devices for filling or emptying bunkers, hoppers, tanks, or like containers, of interest apart from their use in particular chemical or physical processes or their application in particular machines, e.g. not covered by a single other subclass
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B66F9/122—Platforms; Forks; Other load supporting or gripping members longitudinally movable
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Abstract
The invention provides a cargo handling system of a quick-opening side curtain box, comprising: conveyor, X axle remove module, support frame, Y axle remove module, Z axle and remove module, fork, first detection device, second detection device, alarm device and controller, constitute the handling system by these, by controller control moves according to preset's orbit to realize automatic handling goods, improve the position precision of parking goods, reduce the number of times that the position was parked in the adjustment, thereby raise the efficiency, and reduce fork truck's frequency of use, practice thrift fork truck's the energy, reduce fork truck exhaust emission, reduce the manpower simultaneously.
Description
Technical Field
The invention relates to the technical field of fast-opening type side curtain box cargo handling, in particular to a cargo handling system of a fast-opening type side curtain box.
Background
There is a new type container: the fast-opening side curtain box is different from traditional container in that it has two side doors for loading and unloading goods. The advantage of such containers is that the efficiency of loading and unloading is increased, but it is not feasible to improve the structure of the container, and the advantages of such containers are exerted by the fact that the remaining supporting loading and unloading systems need to be able to be matched with the containers.
The traditional goods loading and unloading mode is that a driver drives a forklift to load and unload goods, the position of the driver of the forklift needs to be adjusted every time the driver of the forklift loads and unloads the goods, and the position adjustment is carried out by the driver through visual inspection, so that the efficiency of the loading and unloading mode is low, particularly, the position precision is not high enough when the goods are loaded, the last pallet can not be loaded into a container due to the fact that the position in front of the driver of the forklift is not well adjusted when the goods are often loaded, the goods which are loaded into the container in front of the driver of the forklift need to be moved again, and manpower and material resources are wasted.
Disclosure of Invention
The invention aims to provide a cargo handling system of a quick-opening side curtain box, which realizes automatic cargo handling and improves cargo handling efficiency and cargo position precision.
The invention is realized by the following steps: a cargo handling system for a quick-opening side curtain box comprising:
a conveyor arranged linearly along an X-axis;
the X-axis moving module is used for realizing X-axis linear motion;
the support frame is connected to the X-axis moving module;
the Y-axis moving module is movably connected to the support frame;
the Z-axis moving module is connected to the Y-axis moving module;
a fork connected to the Z-axis movement module;
the first detection device is used for detecting whether articles exist in the container or not and detecting the height of the container;
a second detecting device for detecting a parking position of the container or the truck;
an alarm device;
and the controller is respectively in communication connection with the X-axis moving module, the Y-axis moving module, the Z-axis moving module, the alarm device, the conveying device, the second detection device and the first detection device.
Further, the alarm device is installed on the support frame.
Further, the automobile license plate detection device further comprises a third detection device used for collecting the automobile license plate, and the third detection device is in communication connection with the controller.
Further, the X-axis sliding module comprises
The bottom of the wheel seat is provided with a wheel groove, and the wheel seat is connected with the support frame;
a driving rail wheel rotatably mounted in the wheel well with a rotation axis of the driving rail wheel horizontally perpendicular to the X-axis;
the output shaft of the first driving motor is fixedly connected to the driving rail wheel, and the first driving motor is installed on the wheel seat; the first drive motor is also electrically connected to the controller.
Further, the driving rail wheel is arranged on the rail horizontally along the X axis.
Further, the X-axis sliding module further comprises a driven rail wheel which is rotatably installed in the wheel groove, the rotation axis of the driven rail wheel is horizontally vertical to the X axis, and the driven rail wheel is installed on the track.
Further, the Y-axis sliding module comprises
The screw rod is rotatably arranged on the support frame along the Y axis;
the second driving motor is arranged on the supporting frame, and an output shaft of the second driving motor is fixedly connected to the screw rod; the second driving motor is also electrically connected to the controller;
the nut is sleeved on the screw rod through threads;
and the fixing seat is fixedly connected with the nut, is connected with the support frame in a sliding manner, and is horizontally arranged along the Y axis.
Further, the Z-axis sliding module comprises
The first lifting mechanism comprises a first fixing part and a first lifting part, and the first fixing part is fixedly connected to the Y-axis sliding module; the first lifting portion is fixedly or rotatably connected to the fork; the first lifting mechanism is also in communication connection with the controller.
Further, the lifting device also comprises a first fixing frame which is fixedly connected with the first lifting part; the fork is fixedly connected to the first fixing frame, and the fork is horizontally arranged along the Y axis.
Further, also includes
The third driving motor is fixedly connected to the first fixing frame, and an output shaft of the third driving motor is vertically arranged; the third driving motor is also electrically connected to the controller;
and the second fixing frame is fixedly connected with an output shaft of the third driving motor, and the fork is fixedly connected with the second fixing frame.
Further, each conveyor device comprises a conveyor line body, and the conveyor line body is communicatively connected to the controller; a plurality of blocking devices are arranged on the conveying line body at intervals; each of the blocking devices is communicatively connected to the controller;
the blocking device comprises a second lifting mechanism and a limiting piece;
the second lifting mechanism comprises a second fixing part and a second lifting part; the second fixing part is arranged in the conveying line body; the second lifting portion is fixedly connected to the limiting piece, the limiting piece is higher than the top surface of the conveying line body after being lifted, and the limiting piece is lower than the top surface of the conveying line body after being lowered.
Further, the support frame is a portal frame.
Further, one of the support frames;
the number of the X-axis moving modules is four, and the four X-axis moving modules are symmetrically arranged at the bottom of the support frame and are arranged in a rectangular shape;
the two Y-axis moving modules are symmetrically arranged at the top of the supporting frame;
the number of the Z-axis moving modules is two, and the two Z-axis moving modules are symmetrically arranged on the two Y-axis moving modules in a one-to-one correspondence manner;
the two second detection devices are symmetrically arranged at the top of the support frame and are arranged downwards;
the two first detection devices are symmetrically arranged on two inner side surfaces of the support frame and are oppositely arranged;
the conveying devices are symmetrically arranged between two inner side surfaces of the supporting frame, and a space for accommodating a container is formed between the two conveying devices.
Further, one of the support frames;
the number of the X-axis moving modules is four, and the four X-axis moving modules are symmetrically arranged at the bottom of the support frame and are arranged in a rectangular shape;
the two Y-axis moving modules are symmetrically arranged at the top of the supporting frame;
the number of the Z-axis moving modules is two, and the two Z-axis moving modules are symmetrically arranged on the two Y-axis moving modules in a one-to-one correspondence manner;
the two second detection devices are symmetrically arranged at the top of the support frame and are arranged downwards;
the two first detection devices are symmetrically arranged on two inner side surfaces of the support frame and are oppositely arranged;
the conveying devices are arranged on two outer sides of the support frame symmetrically, and a space for accommodating a container is formed in the support frame.
Further, the X-axis moving module is connected to the ground in a sliding mode, or the X-axis moving module is hoisted above the ground in a sliding mode.
The invention has the following advantages: a cargo handling system for a quick-opening side curtain box comprising: conveyor, X axle remove module, support frame, Y axle remove module, Z axle and remove module, fork, first detection device, second detection device, alarm device and controller, constitute the handling system by these, by controller control moves according to preset's orbit to realize automatic handling goods, improve the position precision of parking goods, reduce the number of times that the position was parked in the adjustment, thereby raise the efficiency, and reduce fork truck's frequency of use, practice thrift fork truck's the energy, reduce fork truck exhaust emission, reduce the manpower simultaneously.
Drawings
The invention will be further described with reference to the following examples with reference to the accompanying drawings.
Fig. 1 is a perspective view of a cargo handling system according to the present invention.
Fig. 2 is a top view of the cargo handling system of the present invention.
Fig. 3 is a side view of the cargo handling system of the present invention.
Fig. 4 is a rear view of the cargo handling system of the present invention.
Fig. 5 to 7 are perspective views illustrating the assembly of the X-axis moving module, the Y-axis moving module, the Z-axis moving module, the support frame and the fork according to the present invention.
FIG. 8 is a front view of the X-axis motion module, Y-axis motion module, Z-axis motion module, carriage and fork assembly of the present invention.
FIG. 9 is a side view of the X-axis motion module, Y-axis motion module, Z-axis motion module, support frame and fork assembly of the present invention.
FIG. 10 is a top view of the X-axis motion module, Y-axis motion module, Z-axis motion module, support frame and fork assembly of the present invention.
Fig. 11 is a schematic structural diagram of an X-axis moving module according to the present invention.
Fig. 12 is a perspective view of a conveying unit in the conveying apparatus according to the present invention.
Fig. 13 is a bottom view of fig. 12.
Fig. 14 is a side view of fig. 12.
Fig. 15 is a front view of fig. 12.
Fig. 16 and 17 are schematic diagrams illustrating the effects of a sixth embodiment of the cargo handling system according to the present invention.
Fig. 18 is a schematic diagram illustrating the fifth embodiment of the cargo handling system according to the present invention.
Fig. 19 is a top view of fig. 18.
Fig. 20 is a side view of fig. 18.
Fig. 21 is a rear view of fig. 18.
Fig. 22 is a control schematic block diagram of the controller according to the present invention.
Description of reference numerals:
the cargo handling system 100 as described herein is,
the conveying device 1, the conveying line body 11, the conveying frame 111, the conveying motor 112, the roller 113, the blocking device 12, the second lifting mechanism 121, the second fixing portion 1211, the second lifting portion 1212, the limiting member 122, the vertical limiting rod 1221, the supporting plate 1222, the position sensor 123, the second gear 13, the first gear 14, the transmission shaft 15, the third gear 16, the chain 17,
the fork (2) is provided with a fork,
the X-axis moving module 3, the wheel base 31, the wheel groove 311, the driving rail wheel 32, the first driving motor 33, the rail 34, the driven rail wheel 35,
the support frame 4, the accommodating space 41,
a Y-axis moving module 5, a screw rod 51, a second driving motor 52, a nut 53, a fixed seat 54,
a Z-axis moving module 6, a first elevating mechanism 61, a first fixing portion 611, a first elevating portion 612, a first fixing frame 62, a third driving motor 63, a second fixing frame 64,
the first detection means 7 are arranged to detect,
the second detection means 8 are arranged to detect,
an alarm device 9;
the third detecting means 10 is arranged to detect,
the goods 200 are transported in a state in which,
a conveyor line 300 for an automated storage system.
Detailed Description
The design concept of the invention is as follows: the existing parts, equipment or modules are combined to form a set of cargo handling system, and the cargo handling system can be designed and combined as required according to the automation degree of a customer storage system, so that the full-automatic use requirement from the loading and unloading of the whole cargo to the storage can be met, the loading and unloading efficiency is higher, but the requirement on users is higher, and the users are required to be matched with the automatic storage system, so that the equipment cost is high; the automation can be realized only when loading and unloading, manual operation is adopted when butt-joint storage is carried out, for example, a forklift is adopted for carrying out secondary conveying, semi-automation is realized, and the price of the whole set of equipment is different in semi-automation relative to full automation. Automation and semi-automation each have advantages, which can be flexibly combined for use according to the economic bearing capacity of the user. Of course, for automation or semi-automation, the invention can be used for loading goods, particularly, because the invention adopts an automatic control technology, the position of the container can be designed and calculated in advance according to the size of the container and the length, the width and the height of the loaded goods, and compared with the traditional forklift or manual transportation, the invention has higher efficiency and higher precision of loading and unloading goods. Thereby the angle of loading and unloading is seen, and is high to large batch loading and unloading efficiency, and the human cost reduces, reduces fork truck's quantity, still has certain environmental protection advantage, because practiced thrift fork truck's use amount, and current fork truck mostly adopts the oil recovery as power, can discharge tail gas. Furthermore, the invention has higher efficiency especially for the scene of loading and unloading goods in large batch by using containers with uniform specification and trays with uniform specification, which is especially suitable for the requirement of users for loading and unloading goods in large batch.
Referring to figures 1 through 22 of the drawings,
the first embodiment is as follows:
the present invention provides a cargo handling system 100 for a quick-open side curtain box, comprising:
the conveying device 1 is arranged in a straight line along the X axis; the conveyor 1 is used for conveying goods 200. When loading, the goods 200 can be placed on the conveying device 1 by a forklift, and the conveying device 1 plays a role in transmission, so that the position precision requirement is lower than that of the goods which are forked into a container, the operation is more convenient, and the operation difficulty is reduced; for the automatic degree warehousing system, the conveying device 1 can be butted with the conveying line 300 of the automatic warehousing system, the goods 200 are directly conveyed to the conveying device 1 without being operated by a forklift, automatic butt joint is realized, manpower and material resources are saved, and the conveying efficiency is improved. This can be arranged according to the degree of automation of the customer's warehousing system. When unloading, the cargo 200 is first unloaded from the container onto the conveyor 1 and then transferred from the conveyor 1 to the conveyor line 300 of the automated storage system. If the storage system is not high in automation degree, the storage system can be directly forked away from the conveying device 1 by a forklift, and the storage system is not high in automation degree, and the unloading can be carried out without adopting the unloading device. When loading, the conveying device 1 conveys the goods 200 to be loaded and unloaded to each position, and the fork 2 is made to carry out loading operation. When unloading, the fork 2 transfers the goods 200 from the container inner fork down onto the conveyor 1. The conveying device 1 can adopt the existing equipment and can also be redesigned to have a new structure. In the specific implementation, the height of the conveying device 1 is less than or equal to the height of the bottom surface inside the container, so that the goods can be conveniently loaded and unloaded, and the height of the conveying device is lower than the height of the ground inside the container, so that the fork 2 can be more conveniently withdrawn when the goods are loaded. For example, in the embodiment shown in the drawings, the grooves may be cut in the ground or not, and it is only necessary to ensure that the top surface of the conveying device 1 is lower than the bottom surface of the inner space of the container, so that the pallet fork 2 can be conveniently withdrawn.
The X-axis moving module 3 is used for realizing X-axis linear motion; the X-axis moving module 3 may be mounted on the ground, for example in the form of existing rails and rail wheels; the X-axis moving module 3 may also be suspended above the ground, for example, may be suspended on a ceiling indoors, and adopt an existing crane structure, so the X-axis moving module 3 may be arranged as required or according to a structure of a field, and the X-axis moving module 3 may adopt existing equipment, for example, a crane or a combination structure of a rail and a rail wheel, a rack and pinion, a gear chain, a pulley system, or a combination of a steel cable winch and a motor at both ends of the support frame 4 along the X-axis traction to realize movement, and these may select corresponding equipment according to the weight of the goods 200, and may also design a new structure.
The support frame 4 is connected to the X-axis moving module 3, and the support frame 4 is driven by the X-axis moving module 3 to move in the X-axis direction; the support frame 4 can play a supporting role in hoisting the goods 200, and can also be used as a mounting seat of parts. The support frame 4 can be made in various structures, for example, a conventional portal frame, a crane, etc., and the structures can be arranged as required.
The Y-axis moving module 5 is movably connected to the support frame 4, so that the support frame 4 drives the Y-axis moving module 5 to move in the X-axis direction, and the position change of the Y-axis moving module 5 in the X-axis direction is realized; the Y-axis moving module 5 may also be selected according to the weight of the cargo 200 by using existing devices such as a ball screw nut pair, a rack and pinion, a gear chain, an air cylinder, a hydraulic cylinder, and a pulley system, or may be designed to have a new structure. The Y-axis moving module 5 is used for realizing the movement in the Y-axis direction.
The Z-axis moving module 6 is connected to the Y-axis moving module 5, so that the Y-axis moving module 5 drives the Z-axis moving module 6 to move, and the position change of the Z-axis moving module 6 in the Y-axis direction is realized; the Z-axis moving module 6 is used for realizing the movement in the Z-axis direction.
The pallet fork 2 is connected to the Z-axis moving module 6, so that the pallet fork 2 is driven by the Z-axis moving module 6 to move in the Z-axis direction, and the position change of the pallet fork 2 in the Z axis is realized; the position of the fork 2 is conditioned through the position changes of the X-axis moving module 3, the Y-axis moving module 5 and the Z-axis moving module 6, and the position adjustment is realized, because the position adjustment is controlled by automatic control, the position of the fork 2 can be accurately adjusted, and the accuracy of the position of the goods 200 is finally realized when the goods 200 are loaded and unloaded by the fork 2, so that the problem that the position of the goods needs to be loaded and unloaded and adjusted for many times due to low position accuracy when the goods are loaded and unloaded by a manual operation forklift in the prior art is avoided, and the efficiency of loading and unloading the goods is improved. The fork 2 can be one or two, when one fork is adopted, the goods are loaded and unloaded from one side, when two forks are adopted, the fork is symmetrically arranged on two sides of the container, the two sides are respectively provided with one conveying device 1 and respectively correspond to one group of the X-axis moving module 3, the Y-axis moving module 5 and the Z-axis moving module 6 for position control, so that the goods 200 can be loaded and unloaded on two sides simultaneously, and the efficiency is higher.
A first detecting device 7, wherein the first detecting device 7 is used for detecting whether articles exist in the container or not and detecting the height of the container; since automatic loading and unloading are adopted during loading and unloading, the controller (not shown) cannot see whether the container is filled with articles like a person, so that the first detection device 7 needs to be arranged to detect whether the container is filled with articles in advance, and the situation that the container is filled with the articles 200 when the articles are filled, the articles in the container or the articles 200 to be filled are damaged due to collision is avoided. The controller (not shown) controls the X-axis moving module 3, the Y-axis moving module 5, and the Z-axis moving module 7 to move according to a predetermined trajectory, and thus, the cargo can be loaded only when the first detecting device 7 detects that there is no article in the container. Meanwhile, the first detecting device 7 is also used for detecting the height of the container, so as to feed back to the controller (not shown) to identify the size of the container, and then the controller (not shown) calls the motion track of the cargo 200 corresponding to the container stored in advance. The first detection device 7 may be an existing device, such as a grating sensor or a visual detection device. Because some of the detecting devices can adjust the angle or scan a certain area, the installation position of the first detecting device 7 can be flexibly arranged according to actual requirements as long as the height of the container and whether goods are in the container can be detected.
A second detection device 8, wherein the second detection device 8 is used for detecting the parking position of the container or the truck; the range of the parking position, that is, the position range of the container, may be previously designed according to the sizes of various containers and trucks, and when the device is used, the second detecting device 8 checks whether the position of the container is within the preset range after the truck is parked, and when the position is within the preset range, a signal is fed back to the controller (not shown) to notify the controller that the container is parked in place, so that the next operation can be performed. The second detection device 8 may adopt an existing visual detection device, such as a CCD visual detection device, and compares the taken picture with a pre-stored parking range through a camera thereof, and may arrange the number and the installation position according to the use requirement.
An alarm device 9; used for alarming and prompting. The alarm device 9 is an existing device, for example, the alarm device 9 adopts an alarm lamp, a buzzer, and the like.
And the controller (not shown) is respectively in communication connection with the X-axis moving module 3, the Y-axis moving module 5, the Z-axis moving module 6, the alarm device 9, the conveying device 1, the second detection device 8 and the first detection device 7, and is used for controlling the modules or devices to work so as to realize automatic control. The controller (not shown) may be any available device, commercially available, such as a PLC model FX5U-64 MT/ES. The controller (not shown) may be installed at a desired position, for example, on the support frame 4, or may be installed on the ground or elsewhere.
The first detection device 7 comprises at least one grating sensor, and the number of the grating sensors is set according to the height of the container and the scanning range of the grating sensors, for example, a row of grating sensors can be set along the height direction of the container, so that the container can be scanned completely in the height direction. The first detection device 7 and the second detection device 8 can be independently installed on the ground, and support articles are arranged or not arranged according to requirements, for example, the first detection device 7 can be independently installed on the ground through a support rod, and the first detection devices 7 are symmetrically arranged on two sides of a door of the container; similarly, the second detection device 8 adopts a CCD vision detection device, and the second detection device 8 can also be installed by erecting support articles separately. The first detection device 7 and the second detection device 8 may be mounted on the support frame 4, for example, the first detection device 7 may be mounted on both sides of the support frame 4 and face both doors of the container, and the second detection device 8 may be mounted on the top of the support frame 4 downward to detect the height of the container below.
The use mode when loading goods: the conveying device 1 is butted with a conveying line 300 of an automatic warehousing system through existing conveying equipment, goods 200 are conveyed to the conveying device 1 from a warehouse, the motion tracks of the X-axis moving module 3, the Y-axis moving module 5 and the Z-axis moving module 6 are calculated according to the size of a container and the length, width and height of the loaded goods 200, and the parking range of a truck or the parking range of the container is set in advance, so that the second detection device 8 can detect and feed back to a controller (not shown) to judge whether the parking is in place, the backing is carried out without manual command, and the manpower is saved. For example, the goods are transported by using containers and pallets with uniform specifications, the pallets are the existing intelligent pallets, the stop stations of the goods 200 on the conveying device 1 are set in advance according to the width of each pallet, and the working sequence of the stop stations is set.
When loading, for example, the truck is backed to enter a parking range, two side doors of the container are firstly opened, a truck driver stops the truck in a preset parking range, the second detection device 8 detects the parking position in real time and feeds the parking position back to the controller, the controller is compared with the preset parking range, and when the parking position is not in the preset parking range, the controller controls the alarm device 9 to send out a first alarm prompt, for example, if an alarm lamp is adopted, a red light is turned on, so that the driver is prompted to adjust; when the parking position is within the preset range, the controller controls the alarm device 9 to give a second alarm prompt, for example, if an alarm lamp is used, a green lamp is turned on to prompt the driver to stop in place. Or some alarms and the like have two prompting functions of sound and color.
On the other hand, initially, the position of the support frame 4 is set at the foremost end, which is the position opposite to the side of the container near the end of the cab when the truck is parked in place, thus, when the truck backs up to enter the parking range, the container firstly passes through the first detection device 7 from the tail part, the controller controls the first detection device 7 to detect, starts scanning from the tail part of the container, and after the container is parked in place, namely, the foremost end of the container is scanned, whether articles exist in the container is just detected, so that energy can be saved, of course, it may not be arranged at the front end, and when the truck is parked in place, the controller is required to control the X-axis moving module 3 to move along the X-axis direction, the scanning of the container to detect whether there is any object will certainly consume more energy and make the operation more complicated. When the first detection device 7 feeds back the detection result to the controller, when an article is detected in the container, the controller controls the alarm device 9 to send out a third alarm prompt, a driver takes out the article in the container after waiting for parking, when the detection result is that no article exists, a fourth alarm prompt is sent out or no alarm prompt is sent out, the alarm device 9 can adopt an alarm lamp capable of sending out various prompts, and each alarm prompt can be independently provided with one alarm device 9.
When the parking position is within a preset range and the first detection device 7 detects that no goods are in the container, the controller controls the X-axis moving module 3, the Y-axis moving module 5 and the Z-axis moving module 6 to move and load goods according to a preset track, controls the conveying device 1 to work, conveys the goods 200 conveyed from the warehouse to a preset stop station, controls the X-axis moving module 3, the Y-axis moving module 5 and the Z-axis moving module 6 to move according to the preset track, adjusts the position of the fork 2, controls the fork 2 to fork a pallet and the goods 200, controls the X-axis moving module 3, the Y-axis moving module 5 and the Z-axis moving module 6 to move according to the preset track, loads the goods 200 into the container, then controlling the X-axis moving module 3, the Y-axis moving module 5 and the Z-axis moving module 6 to move according to a preset track, thereby controlling the fork 2 to withdraw, carrying out the loading of the next pallet, when the stop station is full of goods in the width direction, calculating in advance according to the sizes of the containers and the pallets, the number of the pallets which need to be loaded in the width direction and the number of the pallets which need to be loaded in one pallet, when the controller loads the goods in the stop station for a preset number, the controller controls the conveying device 1 to stop the goods at the next adjacent stop station, then carrying out the loading of the goods in the width direction corresponding to the next stop station, and so on, when the preset total loading number is reached, stopping the loading of the containers, and controlling the alarm device 9 to send an alarm prompt, reminding drivers or staff to close the doors of the containers, and opening the trucks to load goods in the containers of the next two trucks. Automatic control is realized in the whole process, so that the position accuracy of the pallet fork is guaranteed, the position calibration time is shortened, and the efficiency is improved. The loading action may be set to: the pallet is moved to the side face of the pallet goods at the stop station, then the pallet and the goods 200 are lifted up by entering the bottom of the pallet, the height of the bottom face of the pallet is higher than that of the bottom face inside the container, the top end of the goods 200 is lower than that of the top face inside the container, the goods 200 and the pallet are forked into the container, then the goods 200 are descended and put down, the forks 2 are separated from the pallet, the descending height can be calculated and set in advance, and finally the forks 2 are withdrawn from the pallet to load the next pallet goods.
For unloading, the controller (not shown) may first detect whether the truck is stopped within a preset stop range by the second detection device 8, control the first detection device 7 to detect the position of the cargo 200 in the container, and finally control the X-axis movement module 3, the Y-axis movement module 5, and the Z-axis movement module 6 to move, so as to drive the fork 2 to move for unloading, for example, the unloading operation may be: the forks 2 move to the bottom side of the pallet, the forks 2 enter the bottom of the pallet, the forks 2 lift to lift the goods 200 and the pallet, the forks 2 exit the container with the goods 200 and the pallet, the goods 200 and the pallet are placed on the stop station of the conveying device 1, finally the forks 2 exit the pallet to unload the next pallet of goods 200, and the controller opens the stop station to unload the goods, so as to convey the goods away.
In the second embodiment, on the basis of the first embodiment, the alarm device 9 is installed on the supporting frame 4, so that an additional support is not needed to be added for installing the alarm device 9, the space on the ground is saved, and more positions are left.
The automobile license plate detection device further comprises a third detection device 10 used for collecting the automobile license plate, and the third detection device 10 is in communication connection with the controller (not shown). The third detection device 10 is used for detecting the license plate of the truck, can be more conveniently applied to an automatic storage system, and realizes full automation. For example, when in use, the controller is connected to the control device of the automatic warehousing system in a communication manner, so that when loading goods, the license plate of the truck can be detected through the third detection device 100 and then fed back to the controller, the controller transmits the license plate to the control device of the automatic warehousing system, so that the automatic warehousing system can know which truck is, and after loading and unloading the goods, the controller can also transmit the loading and unloading quantity of the truck to the control device, so that the control device can record how many goods are loaded on the truck of the license plate so as to inquire and track the transportation condition of the goods, and if the tray adopts the existing intelligent tray, the information of the goods can be stored in advance on the chip of the intelligent tray, so that the control device of the automatic warehousing system can correspond the goods to the truck so as to conveniently inquire and track which goods are on which truck, the goods tracking and inquiring are more convenient, for example, information such as models, quantities and the like of stored goods is set in advance on the chip of each intelligent tray and stored on the control device, and during goods loading, each intelligent tray is controlled by the control device to be conveyed to the conveying device 1, so that the goods and the license plate can be corresponding to each other by combining the license plate information fed back by the controller and stored on the control device, and the follow-up query and tracking are convenient. The third detection device 10 may be an existing CCD vision detection device, and may be installed behind the parking area, facing the rear license plate, or installed on the side of the truck, or the front end facing the front license plate.
Example three: the X-axis sliding module 3 may be adopted on the basis of the first embodiment or the second embodiment
The bottom of the wheel seat 31 is provided with a wheel groove 311, and the wheel seat 31 is connected to the support frame 4;
the driving rail wheel 32 is rotatably arranged in the wheel groove 311, and the rotation axis of the driving rail wheel 32 is horizontally vertical to the X axis; for example, bearing holes are symmetrically formed at both sides of the wheel groove 311, bearings are installed in the bearing holes, and a rotating shaft of the price driving rail wheel 32 is fitted into an inner ring of the bearing.
A first driving motor 33, an output shaft of the first driving motor 33 is fixedly connected to the driving rail wheel 32, specifically, a rotating shaft of the driving rail wheel 32 is fixedly connected to an output shaft of the first driving motor 33, for example, a shaft coupling is adopted for fixedly connecting, the first driving motor 33 drives the first driving motor 33 to rotate, and the first driving motor 33 is installed on the wheel seat 31; the first driving motor 33 is also electrically connected to the controller, so that the controller controls the first driving motor 33 to work, and the X-axis moving module 3 moves in the X-axis direction.
Also included is a track 34 disposed horizontally along the X-axis, the active rail wheels 32 being mounted on the track 34. The track 34 is arranged to enable the moving direction to be more accurate, play a role in guiding and facilitate the control of the motion track.
The X-axis sliding module 3 further includes a driven rail wheel 35, the driven rail wheel 35 is rotatably installed in the wheel slot 311, the rotation axis of the driven rail wheel 35 is horizontal and perpendicular to the X-axis, and the driven rail wheel 35 is installed on the rail 34. Support through two stress points of initiative rail wheel 32 and driven rail wheel 35 for it is more steady to support, whole when guaranteeing to remove support frame 4 is more steady, guarantees the safety of goods 200.
The Y-axis sliding module 5 comprises
The screw rod 51 is arranged on the support frame 4 along the Y axis in a rotating way;
the second driving motor 52, the second driving motor 52 is installed on the supporting frame 4, and an output shaft of the second driving motor 52 is fixedly connected to the screw rod 51; the second drive motor 52 is also electrically connected to the controller; the controller controls the second driving motor 52 to operate, thereby realizing the movement in the Y-axis direction.
The nut 53 is sleeved on the screw rod 51 through threads;
and the fixed seat 54 is fixedly connected to the nut 53 and is slidably connected to the support frame 4, for example, the fixed seat 54 is slidably connected through a slide rail and a slide block, the slide block is mounted on the fixed seat 54, and the slide rail is mounted on the support frame 4 and is horizontally arranged along the Y axis.
The Z-axis sliding module 6 comprises
A first lifting mechanism 61, wherein the first lifting mechanism 61 comprises a first fixing part 611 and a first lifting part 612, and the first fixing part 611 is fixedly connected to the Y-axis sliding module 5; the first lift portion 612 is fixedly or rotatably connected to the fork 2; the first lifting mechanism 61 is also communicatively connected to the controller, and the controller controls the first lifting mechanism 61 to move in the Z-axis direction. First elevating system 61 can adopt current cylinder, pneumatic cylinder etc. selects according to the weight of goods, and an embodiment of preferred chooses for use the pneumatic cylinder, because the power of pneumatic cylinder is bigger, can hoist heavier goods to can adapt to the application range of more varieties goods. At this time, the cylinder body of the hydraulic cylinder is the first fixing portion 611, and the piston rod of the hydraulic cylinder is the first elevating portion 612. The piston rod of the hydraulic cylinder is vertically arranged downwards.
The first lifting part 612 is fixedly connected with the first fixing frame 62; the fork 2 is fixedly connected to the first fixing frame 62, and the fork 2 is horizontally arranged along the Y axis. The fork 2 may be fixedly connected to the Z-axis moving module 6, or may be rotatably connected to the Z-axis moving module 6, for example, when rotating, it further includes
The third driving motor 63, the third driving motor 63 is fixedly connected to the first fixing frame 62, and an output shaft of the third driving motor 62 is vertically arranged; the third driving motor 63 is also electrically connected to the controller; the controller controls the third driving motor 63 to work so as to drive the second fixing frame 64 to rotate and finally drive the pallet fork 2 to rotate, so that the angle of the pallet fork 2 can be adjusted, the direction of the pallet fork 2 is corrected when the pallet fork loads and unloads cargos, the angle is more appropriate, the position precision of the cargos to be loaded and unloaded is higher, the use is more flexible, the position requirement for a truck driver to park a container is reduced, and if the pallet fork 2 and the Z-axis moving module 6 are fixedly connected, the parking position is more accurate when the truck driver parks the container.
And the second fixing frame 64 is fixedly connected to an output shaft of the third driving motor 63, and the fork 2 is fixedly connected to the second fixing frame 64. The rotation of the output shaft of the third driving motor 63 drives the second fixing frame 64 to rotate, and finally the rotation of the pallet fork 2 is realized, which has two advantages: firstly, the angle of the fork 2 can be adjusted, so that the fork is more vertical to the side surface of the container, and the position precision of loading and unloading goods is improved; secondly, the action of the fork 2 for loading and unloading goods can be changed more flexibly, and the installation position of the fork 2 is more flexible and changeable, for example, when loading and unloading goods, the fork 2 can be rotated, so that when loading and unloading goods on the conveying device 1, the fork 2 can be entered laterally, or the fork 2 can be entered frontally or backwardly (the lateral side is perpendicular to the side of the container, and the front and rear sides are parallel to the side of the container), and at this time, after the fork is lifted, the third driving motor 63 is controlled to rotate, so that the fork 2 is rotated to be perpendicular to the side of the container, and thus, the installation direction of the fork 2 can be flexible and changeable, and the limitation is lower. In specific implementation, the second fixing frame 64 is also rotatably connected to the first fixing frame 63, so as to increase the firmness of hoisting.
The conveying device 1 can be an existing device or can be redesigned.
Each conveying device 1 comprises a conveying line body 11, and the conveying line body 11 is in communication connection with the controller; a plurality of blocking devices 12 are arranged on the conveyor line body 1 at intervals; each blocking device 12 is in communication connection with the controller, and the controller controls the blocking devices to ascend and descend;
the stopping device 12 includes a second lifting mechanism 121 and a limiting member 122, in this way, the position of the tray is controlled by calculating the running distance in advance, for example, the distance moved by the chain 17 can be calculated in advance by rotating the transmission motor 112 by one turn, then the total displacement of the tray to be moved can be calculated in advance, which is the distance from the starting position of the tray to the stopping position, then the number of turns of the rotation of the transmission motor 112 can be calculated, and the number of turns of the rotation of the transmission motor 112 can be controlled by the controller.
In other embodiments, a position sensor 123 may also be provided, the position sensor 123 being configured to detect the position of the cargo 200 or pallet;
the second lifting mechanism 121 includes a second fixing portion 1211 and a second lifting portion 1212; the second fixing portion 1211 is installed in the conveyor line body 1; the second lifting portion 1212 is fixedly connected to the limiting member 122, and the limiting member 122 is higher than the top surface of the conveyor line body 1 after being lifted up, and is lower than the top surface of the conveyor line body 1 after being lowered down.
In a specific embodiment, the conveyor line body 11 may be an existing conveyor line, for example, the conveyor line body 11 includes a conveying frame 111, a transmission motor 112 is installed in the conveying frame 111, a gear chain system is installed on an output shaft of the transmission motor, the chains are arranged along the length direction of the conveying frame 111, two chains are symmetrically arranged in the width direction, trays are placed on the two chains, the trays are driven by the chains to move to realize cargo conveyance, and the transmission motor 112 is electrically connected to the controller and is controlled by the controller to operate; a row of rollers 113 is further disposed in the middle of the conveying frame 111 along the length direction, and plays a role of auxiliary group support, so as to reduce the stress of the chains, and the blocking devices 12 are installed at intervals according to the intervals between the stop stations, as shown in fig. 12 to 15, which are schematic structural diagrams of a conveying unit of a stop station, the whole conveying device 1 is formed by splicing a plurality of conveying units of stop stations along the X-axis direction, in a specific embodiment, the second lifting mechanism 121 also employs a hydraulic cylinder, which is electrically connected to the controller, and at this time, the cylinder body of the hydraulic cylinder is the second fixing portion 1211, and the piston rod is the second lifting portion 1212; the output shaft of the hydraulic cylinder is arranged vertically upwards, the limiting member 122 comprises two vertical limiting rods 1221, the bottoms of the two vertical limiting rods are fixedly connected to a supporting plate 1222, and the supporting plate 1222 is fixedly connected to the piston rod of the hydraulic cylinder. Each blocking device 12 further comprises a position sensor 123, the position sensor 123 is communicatively connected to the controller and is used for detecting the position of the pallet or the goods and feeding back the position to the controller, then the controller controls the piston rod of the hydraulic cylinder to lift according to a preset degree to block the pallet, the pallet is stopped at the stop station, the pallet 2 is waited to fork for loading, after the goods are loaded at the stop station, the controller controls the hydraulic cylinder of the blocking device 12 to retract, the limiting piece 122 is lowered to be lower than the top surface of the conveyor line body 1 to prevent collision with the pallet, then another blocking device 12 is controlled to lift according to a preset program to continue loading the goods at the stop station, or the pallet is waited to leave the pallet when unloading. The position sensor 123 may be installed at any place as long as it can detect the position of the pallet or the goods.
As shown in fig. 13, the transmission of each conveying unit: two second gears 13 are fixedly installed on an output shaft of the transmission motor 112, a transmission shaft 15 is arranged in parallel with the output shaft of the transmission motor 112, a third gear 16 is fixedly installed on the transmission shaft 15, the second gears 13 are meshed with the third gear 16, two first gears 14 are respectively installed at two ends of the transmission shaft 15, and the first gears 14 are meshed with the chain 17. During operation, the output shaft of the transmission motor 112 rotates to drive the second gear 13 to rotate, so as to drive the third gear 16 to rotate through meshing transmission, further drive the transmission shaft 15 to rotate, drive the first gear 14 to rotate through the transmission shaft 15, finally drive the chain 17 to operate, and further convey trays and goods on the chain 17.
Example four: on the basis of the first, second or third embodiment, the support frame 4 is a portal frame, so that it has a receiving space 41 for receiving trucks and containers and facilitates the arrangement of a predetermined parking range. It is of course also possible to use a ceiling mounted support, whereby the support 4 forms a space with the ground for the purpose of parking a truck and a container. Therefore, the support frame 4 can be set to different structures, and the installation position can be flexibly selected according to the producing area of the user.
The relative positions of the support frame 4, the parking range and the conveying device 1 can be flexible and changeable. For example, example five and example six follow.
As shown in fig. 16 and 17, embodiment five: on the basis of the fourth embodiment, there is one support frame 4;
the number of the X-axis moving modules 3 is four, and the four X-axis moving modules 3 are symmetrically arranged at the bottom of the support frame 4 and are arranged in a rectangular shape;
the number of the Y-axis moving modules 5 is two, and the two Y-axis moving modules 5 are symmetrically arranged at the top of the support frame 4;
two Z-axis moving modules 6 are arranged, and the two Z-axis moving modules 6 are symmetrically arranged on the two Y-axis moving modules 5 in a one-to-one correspondence manner;
the number of the second detection devices 8 is two, the two second detection devices 8 are symmetrically arranged at the top of the support frame 4 and are arranged in a downward direction, in the specific implementation, for example, a CCD vision detection device is adopted, and the angle of a camera of the CCD vision detection device can be adjusted according to actual requirements;
two groups of first detection devices 7 are arranged, and the two first detection devices 7 are symmetrically arranged on two inner side surfaces of the support frame 4 and are oppositely arranged; in a specific implementation, for example, each group of said first detection devices 7 comprises a plurality of grating sensors vertically aligned in a row.
The number of the conveying devices 1 is two, the two conveying devices 1 are symmetrically arranged between two inner side surfaces of the supporting frame 4, and a space for accommodating a container is formed between the two conveying devices 1.
The X-axis moving module 3 is connected to the ground in a sliding mode, or the X-axis moving module 3 is hoisted above the ground in a sliding mode. Realize carrying out the material loading simultaneously in container both sides, compare one side material loading, improve material loading efficiency.
As shown in fig. 18 to 21, embodiment six: on the basis of the fourth example:
one of the support frames 4 is provided;
the number of the X-axis moving modules 3 is four, and the four X-axis moving modules 3 are symmetrically arranged at the bottom of the support frame 4 and are arranged in a rectangular shape;
the number of the Y-axis moving modules 5 is two, and the two Y-axis moving modules 5 are symmetrically arranged at the top of the support frame 4;
two Z-axis moving modules 6 are arranged, and the two Z-axis moving modules 6 are symmetrically arranged on the two Y-axis moving modules 5 in a one-to-one correspondence manner;
the number of the second detection devices 8 is two, and the two second detection devices 8 are symmetrically arranged at the top of the support frame 4 and are arranged in a downward direction; in specific implementation, for example, a CCD vision detection device is adopted, and the angle of a camera thereof can be adjusted according to actual requirements;
two groups of first detection devices 7 are arranged, and the two first detection devices 7 are symmetrically arranged on two inner side surfaces of the support frame 4 and are oppositely arranged; in a specific implementation, for example, each group of said first detection devices 7 comprises a plurality of grating sensors vertically aligned in a row.
The conveying devices 1 are two, the two conveying devices 1 are symmetrically arranged on two outer sides of the supporting frame 4, so that the supporting frame 4 is positioned between the two conveying devices 1, and a space for accommodating a container is arranged in the supporting frame 4. Realize carrying out the material loading simultaneously in container both sides, compare one side material loading, improve material loading efficiency.
The X-axis moving module 3 is connected to the ground in a sliding mode, or the X-axis moving module 3 is hoisted above the ground in a sliding mode. This allows to carry out the installation according to the needs of the user and to select the structure of the support 4.
Although specific embodiments of the invention have been described above, it will be understood by those skilled in the art that the specific embodiments described are illustrative only and are not limiting upon the scope of the invention, and that equivalent modifications and variations can be made by those skilled in the art without departing from the spirit of the invention, which is to be limited only by the appended claims.
Claims (15)
1. The utility model provides a cargo handling system of quick-open side curtain case which characterized in that: the method comprises the following steps:
a conveyor arranged linearly along an X-axis;
the X-axis moving module is used for realizing X-axis linear motion;
the support frame is connected to the X-axis moving module;
the Y-axis moving module is movably connected to the support frame;
the Z-axis moving module is connected to the Y-axis moving module;
a fork connected to the Z-axis movement module;
the first detection device is used for detecting whether articles exist in the container or not and detecting the height of the container;
a second detecting device for detecting a parking position of the container or the truck;
an alarm device;
and the controller is respectively in communication connection with the X-axis moving module, the Y-axis moving module, the Z-axis moving module, the alarm device, the conveying device, the second detection device and the first detection device.
2. The cargo handling system of a quick-opening side curtain box as recited in claim 1, further comprising: the alarm device is installed on the support frame.
3. The cargo handling system of a quick-opening side curtain box as recited in claim 1, further comprising: the automobile license plate detection device is characterized by further comprising a third detection device used for collecting automobile license plates, and the third detection device is in communication connection with the controller.
4. The cargo handling system of a quick-opening side curtain box as recited in claim 1, further comprising: the X-axis sliding module comprises
The bottom of the wheel seat is provided with a wheel groove, and the wheel seat is connected with the support frame;
a driving rail wheel rotatably mounted in the wheel well with a rotation axis of the driving rail wheel horizontally perpendicular to the X-axis;
the output shaft of the first driving motor is fixedly connected to the driving rail wheel, and the first driving motor is installed on the wheel seat; the first drive motor is also electrically connected to the controller.
5. The cargo handling system of a quick-open side curtain box of claim 4 wherein: the driving rail wheel is arranged on the rail and comprises a driving rail wheel and a driving rail wheel.
6. The cargo handling system of a quick-opening side curtain box as recited in claim 5, further comprising: the X-axis sliding module further comprises a driven rail wheel which is rotatably installed in the wheel groove, the rotation axis of the driven rail wheel is horizontally perpendicular to the X axis, and the driven rail wheel is installed on the rail.
7. The cargo handling system of a quick-opening side curtain box as recited in claim 1, further comprising: the Y-axis sliding module comprises
The screw rod is rotatably arranged on the support frame along the Y axis;
the second driving motor is arranged on the supporting frame, and an output shaft of the second driving motor is fixedly connected to the screw rod; the second driving motor is also electrically connected to the controller;
the nut is sleeved on the screw rod through threads;
and the fixing seat is fixedly connected with the nut, is connected with the support frame in a sliding manner, and is horizontally arranged along the Y axis.
8. The cargo handling system of a quick-opening side curtain box as claimed in claim 1 or 7, wherein: the Z-axis sliding module comprises
The first lifting mechanism comprises a first fixing part and a first lifting part, and the first fixing part is fixedly connected to the Y-axis sliding module; the first lifting portion is fixedly or rotatably connected to the fork; the first lifting mechanism is also in communication connection with the controller.
9. The cargo handling system of a quick-open side curtain box of claim 8 wherein: the first lifting part is fixedly connected with the first fixing frame; the fork is fixedly connected to the first fixing frame, and the fork is horizontally arranged along the Y axis.
10. The cargo handling system of a quick-open side curtain box of claim 9, wherein: also comprises
The third driving motor is fixedly connected to the first fixing frame, and an output shaft of the third driving motor is vertically arranged; the third driving motor is also electrically connected to the controller;
and the second fixing frame is fixedly connected with an output shaft of the third driving motor, and the fork is fixedly connected with the second fixing frame.
11. The cargo handling system of a quick-opening side curtain box as recited in claim 10, further comprising: each conveying device comprises a conveying line body which is in communication connection with the controller; a plurality of blocking devices are arranged on the conveying line body at intervals; each of the blocking devices is communicatively connected to the controller;
the blocking device comprises a second lifting mechanism and a limiting piece;
the second lifting mechanism comprises a second fixing part and a second lifting part; the second fixing part is arranged in the conveying line body; the second lifting portion is fixedly connected to the limiting piece, the limiting piece is higher than the top surface of the conveying line body after being lifted, and the limiting piece is lower than the top surface of the conveying line body after being lowered.
12. The cargo handling system of a quick-opening side curtain box as recited in any one of claims 1 to 7, wherein: the support frame is a portal frame.
13. The cargo handling system of a quick-opening side curtain box as recited in claim 12, further comprising:
one of the supporting frames is provided;
the number of the X-axis moving modules is four, and the four X-axis moving modules are symmetrically arranged at the bottom of the support frame and are arranged in a rectangular shape;
the two Y-axis moving modules are symmetrically arranged at the top of the supporting frame;
the number of the Z-axis moving modules is two, and the two Z-axis moving modules are symmetrically arranged on the two Y-axis moving modules in a one-to-one correspondence manner;
the two second detection devices are symmetrically arranged at the top of the support frame and are arranged downwards;
the two first detection devices are symmetrically arranged on two inner side surfaces of the support frame and are oppositely arranged;
the conveying devices are symmetrically arranged between two inner side surfaces of the supporting frame, and a space for accommodating a container is formed between the two conveying devices.
14. The cargo handling system of a quick-opening side curtain box as recited in claim 12, further comprising:
one of the supporting frames is provided;
the number of the X-axis moving modules is four, and the four X-axis moving modules are symmetrically arranged at the bottom of the support frame and are arranged in a rectangular shape;
the two Y-axis moving modules are symmetrically arranged at the top of the supporting frame;
the number of the Z-axis moving modules is two, and the two Z-axis moving modules are symmetrically arranged on the two Y-axis moving modules in a one-to-one correspondence manner;
the two second detection devices are symmetrically arranged at the top of the support frame and are arranged downwards;
the two first detection devices are symmetrically arranged on two inner side surfaces of the support frame and are oppositely arranged;
the conveying devices are arranged on two outer sides of the support frame symmetrically, and a space for accommodating a container is formed in the support frame.
15. The cargo handling system of a quick-opening side curtain box as recited in claim 1, wherein: the X-axis moving module is connected to the ground in a sliding mode, or the X-axis moving module is hoisted above the ground in a sliding mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910870998.3A CN110697625A (en) | 2019-09-16 | 2019-09-16 | Cargo handling system of quick-open type side curtain box |
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| CN201910870998.3A CN110697625A (en) | 2019-09-16 | 2019-09-16 | Cargo handling system of quick-open type side curtain box |
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| CN111186795A (en) * | 2020-02-27 | 2020-05-22 | 龙合智能装备制造有限公司 | Intelligent top-speed side loading and unloading system and loading method |
| WO2021051293A1 (en) * | 2019-09-18 | 2021-03-25 | 福州国化智能技术有限公司 | Cargo loading and unloading system of quick-open curtain-sided container |
| CN112551184A (en) * | 2020-12-15 | 2021-03-26 | 中车株洲车辆有限公司 | Roller conveying line |
| CN112591494A (en) * | 2020-11-10 | 2021-04-02 | 山东伟豪思智能仓储装备有限公司 | Positioning mechanism for box internal goods machine |
| WO2022011973A1 (en) * | 2020-07-17 | 2022-01-20 | 扬州中欧工业机器人有限公司 | Automatic unloading system |
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| WO2023151266A1 (en) * | 2022-02-08 | 2023-08-17 | 北京极智嘉科技股份有限公司 | Workstation, container loading and unloading system and container loading and unloading method |
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| CN110697626A (en) * | 2019-09-16 | 2020-01-17 | 福州国化智能技术有限公司 | Feeding mechanism of container |
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| WO2022011973A1 (en) * | 2020-07-17 | 2022-01-20 | 扬州中欧工业机器人有限公司 | Automatic unloading system |
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| US20220301045A1 (en) * | 2021-03-16 | 2022-09-22 | Honda Motor Co., Ltd. | Wagon rental system |
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