CN111170034A - Angle-adjustable loading alignment device for container quick loading vehicle and control method thereof - Google Patents
Angle-adjustable loading alignment device for container quick loading vehicle and control method thereof Download PDFInfo
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- CN111170034A CN111170034A CN201911405755.9A CN201911405755A CN111170034A CN 111170034 A CN111170034 A CN 111170034A CN 201911405755 A CN201911405755 A CN 201911405755A CN 111170034 A CN111170034 A CN 111170034A
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- truck
- angle
- arc
- transmission unit
- loading
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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
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
- B65G67/04—Loading land vehicles
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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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
-
- 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
- B65G69/00—Auxiliary measures taken, or devices used, in connection with loading or unloading
- B65G69/22—Horizontal loading or unloading platforms
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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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/0258—Trays, totes or bins
-
- 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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
- B65G2203/044—Optical
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Loading Or Unloading Of Vehicles (AREA)
Abstract
The invention provides an angle-adjustable loading alignment device for a container quick loading vehicle and a control method thereof. The angle-adjustable loading alignment device for the container quick loading truck comprises a detection unit and an arc-shaped angle swing platform; the arc angle swing platform is embedded in the ground, is arranged at an interval with the tail part of the goods transmission unit and is used for bearing a tail wheel of a truck, and can perform fine tuning swing by taking a rotating shaft of a truck carriage as a circle center; the detection unit is used for detecting whether the tail part of the truck is over against the goods transmission unit or not, and when an included angle formed by the truck carriage and the goods transmission unit is larger than a first threshold value, the arc-shaped angle swing platform is controlled to perform fine tuning swing by taking a rotating shaft of the truck carriage as a circle center.
Description
Technical Field
The invention relates to an angle-adjustable loading alignment device for a container quick loading vehicle and a control method thereof.
Background
The container is a tool which can be loaded with packaged or unpackaged goods for transportation and is convenient to load, unload and carry by mechanical equipment. After container vanning is accomplished, need pass through the loading platform with whole container and shift on the freight train, however, the loading platform among the prior art is difficult to realize that freight train and loading platform counterpoint fast and loading.
Disclosure of Invention
The invention provides an angle-adjustable loading alignment device for a container quick loading vehicle and a control method thereof, which can effectively solve the problems.
The invention is realized by the following steps:
an angle-adjustable loading alignment device for a container quick loading vehicle comprises a detection unit and an arc-shaped angle swing platform;
the arc angle swing platform is embedded in the ground, is arranged at an interval with the tail part of the goods transmission unit and is used for bearing a tail wheel of a truck, and can perform fine tuning swing by taking a rotating shaft of a truck carriage as a circle center;
the detection unit is used for detecting whether the tail part of the truck is over against the goods transmission unit or not, and when an included angle formed by the truck carriage and the goods transmission unit is larger than a first threshold value, the arc-shaped angle swing platform is controlled to perform fine tuning swing by taking a rotating shaft of the truck carriage as a circle center.
As a further improvement, the detection unit includes a first laser ranging sensor and a second laser ranging sensor which are arranged at two ends of the tail of the cargo transmission unit at intervals, the first laser ranging sensor and the second laser ranging sensor are respectively used for detecting the distances L1 and L2 from the first laser ranging sensor to the freight car, the distance between the first laser ranging sensor and the second laser ranging sensor is defined as L, and an included angle formed between the freight car and the cargo transmission unit is defined as arctan | L1-L2 |/L.
As a further improvement, the arc angle swing platform comprises an arc track, a bearing platform, a wheel arranged at the bottom of the bearing platform and matched with the arc track, and a driving unit for driving the wheel to rotate.
The invention further provides a control method of the angle-adjustable loading alignment device for the container ultra-fast loading vehicle, which comprises the following steps:
s1, when the truck backs up and the tail wheel of the truck drives the arc angle swing platform, stopping backing up, judging whether the included angle formed by the truck compartment and the cargo transmission unit is larger than a first threshold value through the detection unit, if so, entering the step S2;
and S2, controlling the arc angle swing platform to perform fine tuning swing by taking the rotating shaft of the boxcar as a circle center.
The invention has the beneficial effects that: the angle-adjustable loading aligning device for the container ultra-fast loading vehicle can quickly and accurately adjust and calibrate the angle of a truck to be loaded, so that the intelligent unmanned fast loading system for the container loading vehicle can quickly load the truck.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a perspective view of an intelligent unmanned rapid loading system for container loading according to an embodiment of the present invention.
Fig. 2 is a side view of an intelligent unmanned rapid loading system for container loading according to an embodiment of the present invention.
Fig. 3 is an enlarged view of a part of the structure of the intelligent unmanned rapid loading system for loading containers, provided by the embodiment of the invention.
Fig. 4 is a top view of an angle-adjustable loading alignment device for extremely fast loading of a container in the intelligent unmanned rapid loading system for loading a container provided by the embodiment of the invention.
Fig. 5 is a schematic view of a partial structure of an angle-adjustable loading alignment device for extremely fast loading of a container in the intelligent unmanned rapid loading system for loading a container provided by the embodiment of the invention.
Fig. 6 is a flowchart of a control method of the intelligent unmanned rapid loading system for container loading according to the embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings of the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
Referring to fig. 1 to 6, an embodiment of the invention provides a control method of an intelligent unmanned rapid loading system for container loading. The loading system comprises a lifting and horizontal moving unit 11, a cargo transmission unit 10 arranged on the lifting and horizontal moving unit 11 and a detection unit 12.
The cargo transmission unit 10 comprises brackets 102 arranged on the tail part 101 of the cargo transmission unit, the brackets 102 are symmetrically arranged on the tail part 101, and the distance between the brackets 102 is larger than the whole width of the container by 20-40 cm. The tail 101 is also provided with a gantry 103.
The detection unit 12 includes a first laser emitting and sensing device 120 and a reflector 121 symmetrically disposed on the bracket 102. And the first laser emitting and the sensor 120 and the mirror 121 are at a distance L from the tail 101 of the cargo transferring unit 10. The detecting unit 12 further includes a first laser ranging sensor 122 disposed at the tail 101 of the cargo transmission unit 10, and the first laser ranging sensor 122 is flush with the transmission surface of the cargo transmission unit 10. The detecting unit 12 further includes a second laser ranging sensor 123 and a third laser ranging sensor 124 symmetrically disposed on the bracket 102.
The intelligent unmanned rapid loading system for loading containers can further comprise: the angle-adjustable loading alignment device for the container quick loading truck comprises a first laser ranging sensor 128, a second laser ranging sensor 129 and an arc-shaped angle swing platform 13;
the arc angle swing platform 13 is embedded in an arc groove 131 on the ground, is arranged at an interval with the tail part 101 of the cargo transmission unit 10, and is used for bearing the tail wheel of the truck 14. The arc-angle swing platform 13 can perform fine tuning swing by taking the rotating shaft O of the wagon 14 as a circle center.
The first laser ranging sensor 128 and the second laser ranging sensor 129 are configured to detect whether the tail of the truck 14 is directly facing the cargo transmission unit 10, and when an included angle formed between the carriage of the truck 14 and the cargo transmission unit 10 is greater than a first threshold value, control the arc-shaped angle swing platform 13 to perform fine tuning swing with the rotation shaft O of the carriage of the truck 14 as a center of a circle.
Specifically, the first laser ranging sensor 128 and the second laser ranging sensor 129 are respectively used for detecting the distances L1 and L2 from the truck 14 to the compartment. The first laser ranging sensor 128 and the second laser ranging sensor 129 are defined to be spaced apart by a distance L, and the wagon box of the wagon 14 forms an included angle arctan | L1-L2|/L with the cargo drive unit 10. Therefore, the angle formed by the wagon box of the wagon 14 and the cargo drive unit 10 can be obtained through the first laser ranging sensor 128 and the second laser ranging sensor 129.
Referring to fig. 5, the arc-angle swinging platform 13 may include an arc-shaped rail 132, a bearing platform 133, a wheel 134 disposed at the bottom of the bearing platform 133 and engaged with the arc-shaped rail 132, and a driving unit (not shown) for driving the wheel 134 to rotate. The drive unit may be a motor or other drive structure.
Referring to fig. 6, the control method includes the following steps:
s1, when the truck backs up to approach the loading system, the detection unit 12 judges whether the distance from the tail of the truck to the loading system reaches a first preset distance L, and if so, the truck is informed to stop;
s2, controlling the cargo transmission unit 10 to lift through the lifting and horizontal moving unit 11, so that the height of the cargo transmission unit 10 reaches the height of the boxcar;
s3, controlling the cargo transmission unit 10 to move horizontally by the lifting and horizontal moving unit 11, so that the difference between the distances from the two sides of the cargo transmission unit 10 to the boxcar on the same side is within a predetermined range;
and S4, reminding the truck to continuously back to approach the loading system, judging whether the distance from the tail of the truck to the loading system reaches a second preset distance through the detection unit 12, and if so, informing the truck to stop.
In step S1, the step of determining whether the distance from the tail of the truck to the loading system reaches a first predetermined distance by the detection unit 12 includes:
and controlling the first laser emission and sensor 120 to emit laser, emitting the laser back to the first laser emission and sensor 120 through the reflector 121, and judging that the distance from the tail part of the truck to the loading system reaches the first preset distance L when the truck backs up and blocks between the first laser emission and sensor 120 and the reflector 121. At this time, the driver can be prompted to stop by the indicator light 127 arranged on the gantry 103.
In step S2, the step of controlling the lifting of the cargo transferring unit 10 by the lifting and horizontal moving unit 11 includes:
and controlling the first laser ranging sensor 122 to perform ranging on the tail of the truck along the horizontal direction, and controlling the lifting and horizontal moving unit 11 to stop lifting when the ranging of the first laser ranging sensor 122 changes suddenly. Generally, the height of the lifting and horizontally moving unit 11 is generally lower than that of the truck, so that the distance obtained by the first laser ranging sensor 122 is not changed during the lifting process of the lifting and horizontally moving unit 11 until the height of the first laser ranging sensor 122 is higher than the loading surface of the truck, and the obtained distance is changed suddenly.
In step S3, the step of controlling the cargo transferring unit 10 to move horizontally by the elevating and horizontally moving unit 11 includes:
and controlling the second laser ranging sensor 123 and the third laser ranging sensor 124 to range the truck carriages along the horizontal direction, and controlling the lifting and horizontal moving unit 11 to stop moving horizontally when the difference between the distances from the second laser ranging sensor 123 and the third laser ranging sensor 124 to the truck carriages is within a predetermined range. The difference value is 5-10 cm.
In step S3, the step of determining again by the detecting unit 12 whether the distance from the tail of the truck to the loading system reaches a second predetermined distance includes:
when the tail of the truck touches the limit switch 125, the distance from the tail of the truck to the loading system is judged to reach a second preset distance.
As a further improvement, the control method further includes:
and S5, controlling the locking unit 126 to lock the tail of the truck and the loading system. The driver can confirm whether the locking unit 126 is locked through the camera 127 provided on the stand 102.
Before step S1, the control method may further include:
s11, when the truck backs up and the tail wheel of the truck drives the arc-shaped angle swing platform 13, stopping backing up, and judging whether an included angle formed by the carriage of the truck 14 and the cargo transmission unit 10 is larger than a first threshold value through the first laser ranging sensor 128 and the second laser ranging sensor 129, if so, entering the step S12;
and S12, controlling the arc angle swing platform 13 to perform fine tuning swing by taking the rotating shaft O of the carriage of the truck 14 as a circle center.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. An angle-adjustable loading alignment device for a container quick loading vehicle is characterized by comprising a detection unit (12) and an arc-shaped angle swing platform (13);
the arc angle swing platform (13) is embedded in the ground, is arranged at an interval with the tail part of the cargo transmission unit (10) and is used for bearing a tail wheel of a truck (14), and the arc angle swing platform (13) can perform fine tuning swing by taking a rotating shaft (O) of a carriage of the truck (14) as a circle center;
the detection unit (12) is used for detecting whether the tail part of the truck (14) is over against the goods transmission unit (10), and when an included angle formed by the carriage of the truck (14) and the goods transmission unit (10) is larger than a first threshold value, the arc-shaped angle swing platform (13) is controlled to perform fine adjustment swing by taking a rotating shaft (O) of the carriage of the truck (14) as a circle center.
2. The angle adjustable loading alignment device for the container rapid loading machine according to claim 1, wherein the detection unit (12) comprises a first laser ranging sensor (128) and a second laser ranging sensor (129) which are arranged at two ends of the tail portion (101) of the cargo transmission unit (10) at intervals, the first laser ranging sensor (128) and the second laser ranging sensor (129) are respectively used for detecting the distances L1 and L2 from the wagon compartment (14), the distance between the first laser ranging sensor (128) and the second laser ranging sensor (129) is defined as L, and the included angle formed by the wagon compartment (14) and the cargo transmission unit (10) is defined as arctan | L1-L2 |/L.
3. The angle adjustable loading alignment device for the container quick loading car according to claim 1, wherein the arc angle swing platform (13) comprises an arc rail (132), a bearing platform (133), a wheel (134) disposed at the bottom of the bearing platform (133) and engaged with the arc rail (132), and a driving unit for driving the wheel (134) to rotate.
4. The control method of the angle adjustable loading alignment device for the container quick loading vehicle according to claim 1, characterized in that the control method comprises the following steps:
s1, when the truck backs up and the tail wheel of the truck drives the arc-shaped angle swing platform (13), stopping backing up, and judging whether an included angle formed by the carriage of the truck (14) and the cargo transmission unit (10) is larger than a first threshold value through the detection unit (12), if so, entering the step S2;
and S2, controlling the arc angle swing platform (13) to finely swing by taking the rotating shaft (O) of the carriage of the truck (14) as a circle center.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911405755.9A CN111170034B (en) | 2019-12-31 | 2019-12-31 | Angle-adjustable loading alignment device for container quick loading vehicle and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911405755.9A CN111170034B (en) | 2019-12-31 | 2019-12-31 | Angle-adjustable loading alignment device for container quick loading vehicle and control method thereof |
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| CN111170034A true CN111170034A (en) | 2020-05-19 |
| CN111170034B CN111170034B (en) | 2021-07-23 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111924550A (en) * | 2020-08-10 | 2020-11-13 | 哈尔滨博实自动化股份有限公司 | Integral loading method |
| CN112249740A (en) * | 2020-09-24 | 2021-01-22 | 意欧斯物流科技(上海)有限公司 | Automatic loading method and system after automatic ex-warehouse of intelligent warehousing project tray |
| CN112268512A (en) * | 2020-09-24 | 2021-01-26 | 意欧斯物流科技(上海)有限公司 | Automatic measuring equipment, system and method for automatic loading |
| CN115535654A (en) * | 2022-11-28 | 2022-12-30 | 龙合智能装备制造有限公司 | Embedded automatic container loading and unloading vehicle system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111924550A (en) * | 2020-08-10 | 2020-11-13 | 哈尔滨博实自动化股份有限公司 | Integral loading method |
| CN112249740A (en) * | 2020-09-24 | 2021-01-22 | 意欧斯物流科技(上海)有限公司 | Automatic loading method and system after automatic ex-warehouse of intelligent warehousing project tray |
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| CN115535654A (en) * | 2022-11-28 | 2022-12-30 | 龙合智能装备制造有限公司 | Embedded automatic container loading and unloading vehicle system |
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|---|---|
| CN111170034B (en) | 2021-07-23 |
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