CN116216361A - Prefabricated component removes carloader and loading system - Google Patents

Abstract

The invention relates to the technical field of prefabricated parts, in particular to a prefabricated part moving loading machine and a loading system. The prefabricated part moving loader comprises a stacking sub-car and a stacking track; the stacking sub-vehicle comprises an outer door frame device and an inner door frame device; the inner door frame device is connected with the outer door frame device in a lifting manner along the height direction of the outer door frame device; the inner gantry means can be used to hold up the rack on which the preforms are placed from the bottom or to release the rack; the outer gantry means is movable along the palletizing track. The three-dimensional stacking device can realize three-dimensional stacking of the prefabricated members through the stacking sub-vehicle, and meanwhile can realize unstacking and hoisting of the prefabricated members.

Description

Prefabricated component removes carloader and loading system

Technical Field

The invention relates to the technical field of prefabricated parts, in particular to a prefabricated part moving loading machine and a loading system.

Background

The concrete prefabricated part yard usually adopts a single-layer stacking mode, which results in that one prefabricated part factory needs to be provided with a prefabricated part yard with a very large area, so that the occupied area of the prefabricated part factory is very large, and the factory construction cost of the prefabricated part factory is increased.

The floor space of the storage yard can be effectively reduced by adopting the three-dimensional storage yard, the fixed three-dimensional storage yard is also available in the market at present, a multi-layer warehouse is built by using a building or steel structure mode, and prefabricated components are sent to each layer of warehouse by using lifting equipment, so that the effect of the three-dimensional storage yard is achieved. However, the stereoscopic storage yard needs to be built with a fixed stereoscopic warehouse, and the one-time investment is large.

In addition, the existing prefabricated member is generally loaded by a forklift or a crane, but the efficiency is low, the labor intensity is high, and the safety is low. The prefabricated components comprise beam columns, composite floor slabs, bay windows, kitchens and bathrooms, the weights of the prefabricated components are 1t-4t different, the prefabricated components belong to oversized cargos, and the loading mode of the traditional cargos is not suitable for loading of the prefabricated components.

Disclosure of Invention

The invention aims at providing a prefabricated part moving loading machine and loading system, which can realize three-dimensional stacking of prefabricated parts through stacking sub-carts and can realize unstacking and hoisting of the prefabricated parts.

Embodiments of the invention may be implemented as follows:

in a first aspect, the present invention provides a prefabricated part moving loader comprising:

stacking the sub-carts and the stacking tracks;

the stacker crane comprises an outer portal device and an inner portal device; the inner door frame device is connected with the outer door frame device in a lifting manner along the height direction of the outer door frame device;

the inner gantry means can be used to lift a pallet on which preforms are placed from the bottom or to release the pallet; the outer gantry means is movable along the palletising track.

The prefabricated component removal loading machine of this scheme can carry out the removal of big distance along the pile up neatly track to realized transporting flexible removal between hoist and mount district and the pile up neatly district. The inner portal device of the stacking sub-car can clamp a goods shelf for placing prefabricated members, and the inner portal device can lift relative to the outer portal device. The inner door frame device and the outer door frame device are matched with each other, so that the goods shelves can be piled and hoisted. And the structure does not need a large crane to set up and can realize the lifting of the prefabricated member, so that the problem of single-layer arrangement of the prefabricated member in the prior art is solved, the three-dimensional stacking is realized, the stacking space is saved, and the space utilization rate of a stacking area is improved.

In an alternative embodiment, the outer mast apparatus includes an outer frame assembly and a walking assembly;

the outer frame assembly comprises upright post guide rails, lifting beams, connecting beams and walking bottom beams;

the lifting beam and the connecting beam are arranged at the top of the upright post guide rail along the height direction of the upright post guide rail, and the walking bottom beam is arranged at the bottom of the upright post guide rail;

the adjacent lifting beams and the connecting beams are connected with each other, and the connecting beams can be used for being matched with the inner door frame device in a lifting manner;

the walking assembly is arranged on the walking bottom beam and used for driving the outer frame assembly to move along the stacking track.

In an alternative embodiment, the lifting beam is in the same plane as the walking assembly;

the lifting beams and the connecting beams are connected end to end at intervals in sequence so as to form a closed ring shape in a surrounding mode.

In an alternative embodiment, the walking assembly comprises wheels and a gear motor;

the wheels are movably arranged at the bottom of the walking bottom beam, and the gear motor is in transmission connection with the wheels to drive the wheels to rotate.

In an alternative embodiment, the inner mast assembly includes an inner frame assembly, a lift assembly, and a fork arm assembly;

one end of the lifting assembly is connected with the inner frame assembly, the other end of the lifting assembly is connected with the top of the outer door frame device, and the lifting assembly is used for enabling the inner frame assembly to lift relative to the outer door frame device;

the fork arm assemblies are oppositely arranged on two sides of the inner frame assembly to form a fork arm space for the goods shelf to pass through; and the yoke assemblies are adapted to be able to move closer to each other to hold the pallet from the bottom or away from each other to release the pallet.

In alternative embodiments, the inner frame assembly comprises a cross beam, a connecting upper beam, a connecting lower Liang Heli beam;

the cross beam and the connecting upper beam are arranged at the top of the vertical beam along the height direction of the vertical beam, and the connecting lower beam is arranged at the bottom of the vertical beam;

the adjacent cross beams are connected with the connecting upper beam, and the connecting lower beam is connected with the lifting assembly;

the connecting lower beams are oppositely arranged at two sides of the inner frame assembly, and fork arm spaces for the goods shelves to pass through are formed between the opposite connecting lower beams; the fork arm assemblies are respectively arranged on the connecting lower beams.

In an alternative embodiment, the lifting assembly is a telescoping mechanism;

the fixed end of the lifting assembly is movably arranged on the inner frame assembly, and the movable end of the lifting assembly is movably connected with the outer door frame device.

In an alternative embodiment, the lifting assembly is a lifting cylinder.

In an alternative embodiment, the yoke assembly comprises a yoke mechanism, a clamp arm, a guide sleeve, and a clamp mechanism;

the guide sleeve is arranged on the inner frame assembly; the clamping arms are movably sleeved in the guide sleeve along the length direction of the inner frame assembly so as to be close to or far away from the fork arm space; the fork arm mechanism is arranged at one end of the clamping arm, which is close to the fork arm space;

one end of the clamping mechanism is arranged on the inner frame assembly, and the other end of the clamping mechanism is used for pushing the clamping arm to be close to the fork arm space or far away from the fork arm space.

In an alternative embodiment, the clamping mechanism is a telescoping mechanism;

the fixed end of the clamping mechanism is movably arranged on the inner frame assembly, and the movable end of the clamping mechanism is movably connected with the clamping arm.

In an alternative embodiment, the clamping mechanism is a clamping cylinder.

In an alternative embodiment, the fork arm mechanism comprises a return spring, an arm surface sliding table, a sliding block and a sliding rail;

the sliding rail is arranged on the clamping arm, and the sliding block extends along the length direction of the clamping arm;

the sliding block is slidably arranged on the sliding rail along the length direction of the sliding rail; the arm surface sliding table is arranged on the sliding block and is used for supporting the goods shelf;

and the return springs are respectively arranged at two sides of the arm surface sliding table along the length direction of the sliding rail and are used for providing elastic force for enabling the arm surface sliding table to be positioned at the middle position of the fork arm mechanism.

In an alternative embodiment, the yoke mechanism further comprises an organ cover;

the organ cover is arranged above the sliding rail.

In an alternative embodiment, the prefabricated part moving loader further comprises a ceiling device;

the overhead device is arranged on top of the pallet truck for providing space for power arrangement and observation of the pallet truck.

In an alternative embodiment, the prefabricated part mobile loader further comprises a parent vehicle and a parent vehicle track;

the mother car can be movably arranged on the mother car track, and the mother car track and the stacking track have an included angle;

and the mother trolley can be used to carry the pallet truck.

In an alternative embodiment, the mother truck includes a mother truck frame, a mother truck travel assembly, and a palletizing sub-rail;

the bus walking assembly is arranged on the bus frame to drive the bus frame to move along the bus track;

the stacker crane comprises a mother car frame, a stacker crane and a stacker crane, wherein the stacker crane is arranged on the top of the mother car frame and used for moving onto the mother car together with the stacker crane;

the palletizing sub-rail is matched with the palletizing rail.

In an alternative embodiment, an obstacle detection sensor is provided on the inner gantry device, said obstacle detection sensor being used to detect the distance of the pallet truck from the pallet of the palletizing zone.

In a second aspect, the present invention provides a loading system comprising a control device, a parking device and a prefabricated part moving loader according to any of the preceding embodiments;

the parking equipment is connected with the control equipment, so that after the deviation data of the component transport vehicle is collected in the parking space, the deviation data are transmitted to the control equipment, and the center line of the component in the prefabricated component mobile loading machine is adjusted to coincide with the component transport vehicle by utilizing the deviation correcting function, so that accurate loading of the component is realized.

In an alternative embodiment, the parking device comprises a flange;

the flanges are arranged on the ground row and used for guiding or limiting the stopping position of the component transport vehicle so as to control the difference of stopping positions each time within a preset range.

In an alternative embodiment, the parking apparatus includes a first laser ranging sensor, a second laser ranging sensor, and a third laser ranging sensor;

the first laser ranging sensor and the second laser ranging sensor are sequentially arranged on the ground or the component transport vehicle along the length direction of the component transport vehicle;

the third laser ranging sensor and the second laser ranging sensor are symmetrically arranged on two sides of the component transport vehicle.

In an alternative embodiment, the parking apparatus comprises a first pair of shooting switches and a second pair of shooting switches parallel to each other;

the first correlation switch and the second correlation switch are mutually matched to detect whether the component transport vehicle is parked in place.

The beneficial effects of the embodiment of the invention include, for example:

the prefabricated part removes carloader of this scheme includes pile up neatly sub-car and pile up neatly track. Wherein the inner door frame device is connected with the outer door frame device in a lifting manner; at the same time, the inner gantry device is able to lift the rack on which the preforms are placed from the bottom or release the rack. Compared with a fixed type three-dimensional storage yard, the three-dimensional storage yard built by the equipment can reduce a large amount of input cost. For the prefabricated components which are already loaded into the goods shelf, the pallet truck can realize automatic pallet loading, thereby achieving the effect of a stereoscopic warehouse. Moreover, the pallet truck can also be used for pallet stacking of other heavy goods loaded on standard racks besides prefabricated components.

Simultaneously, outer portal device can follow pile up neatly track and remove, so is convenient for remove between pile up neatly district and transportation hoist and mount district. The method comprises the steps of firstly placing a plurality of prefabricated component shelves at a designated stacking point. The stacking heads go to the stacking point, one goods shelf can be lifted and then placed on the other goods shelf, and the stacking heads are reciprocated in the way, so that stacking of the multi-layer goods shelf is realized. When the goods are required to be delivered, the pallet truck can go to a stacking point again to perform unstacking operation, and the pallet is removed and then transported to a place where the goods are required to be delivered.

In conclusion, the prefabricated part movable loading machine has the characteristics of three-dimensional integration, high operation efficiency and remarkable economic benefit.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of a prefabricated part mobile loader according to an embodiment of the present invention;

FIG. 2 is a schematic view of an outer gantry apparatus according to an embodiment of the present invention;

FIG. 3 is a schematic view of an inner gantry apparatus according to an embodiment of the present invention;

FIG. 4 is a schematic view of a fork arm assembly according to an embodiment of the present invention;

FIG. 5 is a partial schematic view of a yoke assembly according to an embodiment of the present invention;

FIG. 6 is a schematic illustration of the offset of a prefabricated component mobile loader during lifting in accordance with an embodiment of the present invention;

FIG. 7 is a partial schematic view of FIG. 6;

FIG. 8 is a schematic diagram of a prefabricated part moving loader after secondary positioning during lifting according to an embodiment of the invention;

FIG. 9 is a partial schematic view of FIG. 8;

FIG. 10 is another schematic view of a prefabricated part mobile loader according to an embodiment of the present invention;

FIG. 11 is a schematic diagram of a parent vehicle according to an embodiment of the present invention;

FIG. 12 is a schematic view of a structure of a prefabricated part moving loader during lifting movement according to an embodiment of the invention;

FIG. 13 is a schematic view of another construction of the prefabricated part moving loader according to the embodiment of the present invention during a lifting movement;

FIG. 14 is a schematic view of a parking apparatus according to an embodiment of the present invention;

fig. 15 is a schematic view of a parking apparatus according to an embodiment of the present invention in a lifting state.

Icon: 10-a prefabricated part moving loader; 11-a pallet truck; 12-stacking tracks; 13-an outer portal arrangement; 100-an outer frame assembly; 110-upright guide rails; 120-lifting beams; 130-connecting beams; 140-walking bottom beams; 200-walking components; 210-wheels; 220-a gear motor; 14-an inner gantry means; 300-inner frame assembly; 310-a cross beam; 320-connecting an upper beam; 330-connecting the lower beam; 340-erecting a beam; 400-lifting assembly; 500-yoke assembly; 501-yoke space; 510-a yoke mechanism; 520-a clamping arm; 530-a guide sleeve; 540—a clamping mechanism; 541-a return spring; 542-arm surface sliding table; 543-slider; 544-sliding rails; 550-organ cover; 600-guiding wheel sets; 15-a ceiling device; 16-an obstacle detection sensor; 17-parent vehicle; 711-mother car frame; 712-parent vehicle travel assembly; 713-palletizing sub-rail; 720-parent vehicle track; 20-a loading system; 21-a parking device; 22-flanges; 23-voice broadcasting system; 24-a transport vehicle; 24 a-a first laser ranging sensor; 24 b-a second laser ranging sensor; 24 c-a third laser ranging sensor; 25 a-a first pair of radiation switches; 25 b-a second correlation switch; 31-shelf; 32-preform.

Detailed Description

For the purpose of making 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 clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the invention, as 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 made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.

In the description of the present invention, it should be noted that, if the terms "upper", "lower", "inner", "outer", and the like indicate an azimuth or a positional relationship based on the azimuth or the positional relationship shown in the drawings, or the azimuth or the positional relationship in which the inventive product is conventionally put in use, it is merely for convenience of describing the present invention and simplifying the description, and it is not indicated or implied that the apparatus or element referred to must have a specific azimuth, be configured and operated in a specific azimuth, and thus it should not be construed as limiting the present invention.

Furthermore, the terms "first," "second," and the like, if any, are used merely for distinguishing between descriptions and not for indicating or implying a relative importance.

It should be noted that the features of the embodiments of the present invention may be combined with each other without conflict.

The concrete prefabricated part yard usually adopts a single-layer stacking mode, which results in that one prefabricated part factory needs to be provided with a prefabricated part yard with a very large area, so that the occupied area of the prefabricated part factory is very large, and the factory construction cost of the prefabricated part factory is increased.

The traditional single-layer PC storage yard adopts a three-dimensional storage yard to effectively reduce the floor area of the storage yard, the traditional single-layer PC storage yard also has a fixed three-dimensional storage yard in the market at present, a multi-layer warehouse is built by using a building or steel structure mode, prefabricated components are sent to each layer of warehouse by using equipment capable of lifting, and therefore the effect of the three-dimensional storage yard is achieved. However, the stereoscopic storage yard needs to be built with a fixed stereoscopic warehouse, and the one-time investment is large.

The large-scale goods are loaded by adopting a forklift or a crane generally, but the efficiency is low, the labor intensity is high and the safety is low. The prefabricated components comprise beam columns, composite floor slabs, bay windows, kitchens and bathrooms, the weights of the prefabricated components are 1t-4t different, the prefabricated components belong to oversized cargos, and the loading mode of the traditional cargos is not suitable for loading of the prefabricated components. At this time, a loader suitable for prefabricated components needs to be invented, so that the working efficiency can be improved, the labor cost can be reduced, and the safety can be improved.

In order to improve the above technical problems, a prefabricated part moving loader and a loading system are provided in the following embodiments.

Referring to fig. 1, the present embodiment provides a prefabricated part moving loader 10 including a palletizing pallet 11 and a palletizing rail 12.

The palletizer 11 comprises an outer portal device 13 and an inner portal device 14; the inner gantry means 14 is connected to the outer gantry means 13 in a liftable manner in the height direction of the outer gantry means 13 (i.e. in the Z direction in fig. 1);

the inner gantry means 14 can be used to lift the shelf 31, on which the preforms 32 are placed, from the bottom or to release the shelf 31; the outer gantry means 13 are movable along the palletizing rail 12.

The prefabricated part moving loader 10 of the scheme can move along the stacking rail 12 for a large distance, so that flexible movement between a transportation lifting area and a stacking area is realized. The inner gantry means 14 of the palletizer 11 is able to grip the pallet 31 on which the preforms 32 are placed, and the inner gantry means 14 is able to be lifted in relation to the outer gantry means 13. The stacking and lifting of the shelves 31 can be achieved by the cooperation of the inner and outer portal devices 14, 13. And the structure does not need a large crane to set up and can realize the lifting of the prefabricated members 32, so that the problem of single-layer arrangement of the prefabricated members 32 in the prior art is solved, the three-dimensional stacking is realized, the stacking space is saved, and the space utilization rate of a stacking area is improved.

As can be seen from the figure, the palletizing rail 12 extends in the X-direction, and the palletizer is responsible for palletizing or handling the components in the X-direction.

For a clearer description of the details of the prefabricated component mobile loader 10, the prefabricated component mobile loader 10 will be described in detail below, and the accompanying drawings will be described.

Referring to fig. 1 to 2, it can be seen that the outer gantry apparatus 13 includes an outer frame assembly 100 and a traveling assembly 200; the outer frame assembly 100 includes a column guide rail 110, a lifting beam 120, a connecting beam 130, and a walking bottom beam 140; along the height direction of the upright guide rail 110, a lifting beam 120 and a connecting beam 130 are arranged at the top of the upright guide rail 110, and a walking bottom beam 140 is arranged at the bottom of the upright guide rail 110; adjacent lifting beams 120 and connecting beams 130 are interconnected, and the connecting beams 130 are operable to be in liftable engagement with the inner mast assembly 14; the traveling assembly 200 is disposed on the traveling sill 140 for driving the frame assembly 100 along the palletizing rail 12.

Further, as can be seen from fig. 2, in this embodiment, the outer frame assembly 100 includes two lifting beams 120, two connecting beams 130, two walking beams 140 and four upright rails 110, and the lifting beams 120 and the connecting beams 130 are connected end to end at intervals in order to form a closed rectangular frame. The rectangular frame formed by the lifting beam 120 and the connecting beam 130 and the intersections of the four upright guide rails 110 are respectively provided with reinforcing ribs so as to ensure the overall structural stability of the outer frame assembly 100, and ensure the moving stability of the outer door frame device 13 and the moving stability of the inner door frame device 14 on the outer door frame device 13. Four column guide rails 110 are provided on four opposite corners of the rectangular frame, respectively. The two traveling bottom beams 140 are parallel to each other, and the traveling bottom beams 140 are disposed between the two column guide rails 110.

Specifically, the lifting beam 120 is located in the same plane as the walking assembly 200. I.e., in the bottom plane of the column guide 110, an open space is formed between the two walking beams 140. Such open space facilitates the unobstructed and efficient ascent and descent of the inner gantry assembly 14 along the outer frame assembly 100.

Further, the extending direction of the walking beam 140 is the same as the extending direction of the stacking rail 12. This ensures that the outer gantry means 13 can be moved along the palletizing track 12 efficiently and quickly.

Optionally, walking assembly 200 includes wheels 210 and gear motor 220; the wheels 210 are movably arranged at the bottom of the walking beam 140, and the gear motor 220 is in transmission connection with the wheels 210 to drive the wheels 210 to rotate. In use, the palletizing rail 12 is mounted on the ground, and the palletizer can travel on the palletizing rail 12 through the traveling assembly 200.

It should be understood that in other embodiments of the present invention, the traveling assembly 200 may also be moved by hydraulic, magnetic levitation, linear guide, etc., so long as the traveling assembly 200 is capable of driving the inner frame assembly 300 along the stacking rail 12, which is only an example and not limited thereto.

Referring to fig. 3-5, it can be seen that the inner mast assembly 14 includes an inner frame assembly 300, a lift assembly 400, and a yoke assembly 500; one end of the lifting assembly 400 is connected with the inner frame assembly 300, the other end of the lifting assembly 400 is connected with the top of the outer door frame device 13, and the lifting assembly 400 is used for enabling the inner frame assembly 300 to lift relative to the outer door frame device 13; the yoke assembly 500 is oppositely disposed on both sides of the inner frame assembly 300 to form a yoke space 501 for the passage of the shelf 31; and the yoke assemblies 500 are used to be able to approach each other to hold the shelf 31 from the bottom or to be moved away from each other to release the shelf 31.

The inner gantry means 14 is thus able to lift or lower the pallet, and the inner gantry means 14 is able to move along the palletising track 12 to a predetermined position via the outer gantry means 13, thereby facilitating palletising of the preforms to the predetermined position via the pallet, or moving the preforms from the pallet 31 to the transport vehicle. Further, in the present embodiment of the invention, the inner frame assembly 300 includes the cross members 310, the connecting upper beams 320, the connecting lower beams 330 and the vertical beams 340; along the height direction of the vertical beams 340, the cross beams 310, the connecting upper beams 320 are arranged at the top of the vertical beams 340, and the connecting lower beams 330 are arranged at the bottom of the vertical beams 340; adjacent cross beams 310 and connecting upper beams 320 are connected to each other, and connecting lower beams 330 are connected to the elevating assembly 400; the connecting lower beams 330 are located at opposite sides of the inner frame assembly 300, and a yoke space 501 for the passage of the shelf 31 is formed between the opposite connecting lower beams 330; the yoke assemblies 500 are respectively provided on the connection lower beams 330. The shelves positioned in the yoke space 501 can be clamped by the inner frame assembly 300 to ensure stability and reliability of the shelves 31 as they move within the inner gantry assembly 14.

Further, as can be seen from the drawings, the outer frame assembly 100 further includes guide wheel sets 600, and the guide wheel sets 600 are disposed at both ends of the vertical beam 340 in the height direction. The set of guide rollers may clasp the upright rail 110 to slide up and down so that the inner mast assembly 14 does not deflect when it is lifted.

Optionally, the lifting assembly 400 is a telescopic mechanism; the fixed end of the lifting assembly 400 is movably disposed on the inner frame assembly 300, and the movable end of the lifting assembly 400 is movably coupled with the outer door frame device 13.

Specifically, in the present embodiment, the lifting assembly 400 is a lifting cylinder. The end of the piston rod of the lifting cylinder, which is far away from the cylinder body, is arranged on the outer portal device 13, and the cylinder body of the lifting cylinder is arranged on the connecting lower beam 330. The lifting of the inner gantry unit 14 can be achieved by the extension and retraction of the piston rod.

It is to be understood that in other embodiments of the invention, the lifting assembly 400 may also be a cylinder, screw motor, etc., as just one example and not limiting.

As can also be seen in fig. 2 and 3, in this embodiment of the invention, the yoke assembly 500 includes a yoke mechanism 510, a clamp arm 520, a guide sleeve 530, and a clamp mechanism 540;

the guide sleeve 530 is disposed on the inner frame assembly 300; the clamping arm 520 is movably sleeved in the guide sleeve 530 along the length direction of the inner frame assembly 300 to be close to or far from the fork arm space 501; the fork arm mechanism 510 is arranged at one end of the clamping arm 520 close to the fork arm space 501;

one end of the clamping mechanism 540 is provided on the inner frame assembly 300 and the other end of the clamping mechanism 540 is adapted to be able to push the clamping arm 520 closer to the yoke space 501 to clamp the shelf or farther from the yoke space 501 to release the shelf. Therefore, the clamping of the goods shelf can be accurately and stably realized in a telescopic clamping mode, so that the stability and the reliability of the goods shelf (and prefabricated members in the goods shelf) in the moving process are ensured.

Optionally, the clamping mechanism 540 is a telescoping mechanism; the fixed end of the clamping mechanism 540 is movably disposed on the inner frame assembly 300, and the movable end of the clamping mechanism 540 is movably coupled to the clamping arm 520.

Specifically, in the present embodiment of the present invention, the clamping mechanism 540 is a clamping cylinder. The piston rod of the clamping cylinder is extended or shortened along the length direction (i.e., the Y direction in the drawing) of the inner frame assembly 300, thereby achieving clamping or releasing of the shelf. It is understood that in other embodiments of the invention, the clamping mechanism 540 may also be a cylinder, screw motor, etc., as just one example and not limiting.

Further, in the present embodiment, the yoke mechanism 510 includes a return spring 541, an arm surface slide table 542, a slider 543, a slide rail 544, and an organ cover 550; the sliding rail 544 is disposed on the clamping arm 520, and the sliding block 543 extends along the length direction of the clamping arm 520; the organ cover 550 is disposed above the slide rail 544;

the sliding block 543 is slidably disposed on the sliding rail 544 along the length direction of the sliding rail 544; the arm surface sliding table 542 is arranged on the sliding block 543, and the arm surface sliding table 542 is used for supporting the shelf 31;

the return springs 541 are disposed on both sides of the arm surface sliding table 542 along the length direction of the sliding rail 544, and the return springs 541 are configured to provide an elastic force for positioning the arm surface sliding table 542 at the middle position of the fork arm mechanism 510.

The arm surface slide table 542 is fixed to the slider 543 and can slide smoothly on the slide rail 544. The return spring 541 can ensure that the arm surface sliding table 542 always stops at the stroke intermediate position of the sliding rail 544 under the condition of no external force. The organ cover 550 can prevent sundries from falling near the sliding rail 544, so that the arm surface sliding table 542 is blocked. When the external force is used to push the sliding table, the arm surface sliding table 542 can smoothly slide on the sliding rail 544, and when the external force is released, the sliding table returns to the middle position of the sliding rail 544. The reset spring 541, the arm surface sliding table 542, the sliding block 543 and the sliding rail 544 cooperate to ensure stable clamping of the goods shelf, and can provide movable allowance along the Y direction to ensure that the goods shelf can be accurately clamped.

With continued reference to fig. 6-9, it can be seen that when the pallet 31 is positioned by the equipment upstream of the pallet truck 11 or manually, there may be a large deviation between the actual position of the pallet 31 and the theoretical position in the system due to positioning errors. At this point, the secondary positioning function on the yoke assembly 500 needs to be activated. The specific mode is as follows:

when the center of the shelf 31 deviates from the center of the stacker crane, as shown in fig. 6 and 7, X1 is not equal to X2, and the centers deviate from X. The clamping mechanism 540 extends out to push the shelf 31 to the center against the bottom of the shelf 31, and the shelf 31 can easily move due to the arm surface sliding table 542. When all the 4 clamping mechanisms 540 are extended, the shelf 31 is forced to be pushed to the center to coincide with the stacker crane, and the secondary positioning of the shelf 31 is completed, and the effect is as shown in fig. 8 and 9.

After the secondary positioning is completed, the positioning of the shelf 31 in the storage yard is very accurate, and a precondition is provided for further stacking into the storage yard. The double positioning can ensure stable, safe and reliable clamping of the shelf 31, compared to the case of only single positioning, thereby ensuring reliability in the moving process of the prefabricated part moving loader 10.

As can be seen from fig. 1 to 9, in the present embodiment, the prefabricated part moving loader 10 further includes a ceiling device 15; a ceiling mounted device 15 is provided on top of the pallet truck 11 for providing space for power arrangement and observation of the pallet truck 11. The system specifically comprises the functions of an electric cabinet, a hydraulic system, an observation table and the like.

Further, in the present embodiment, an obstacle detecting sensor 16 is provided on the inner gantry device 14, and the obstacle detecting sensor 16 is configured to detect a distance between the palletized pallet 11 and the pallet 31 in the palletizing region.

When the automatic stacker crane operates, the yard system plans the forward path in advance according to the loading condition of each bin, so as to avoid collision between the palletizer crane and the palletized goods shelf 31 during operation. Meanwhile, if the palletized shelves 31 are arranged at the target height in front of the palletizer, the palletized shelves can be sensed by the obstacle detection sensor 16, so that the mutual check with the system data is realized, if the differences occur, the machine can be stopped to avoid collision accidents, and an alarm is given to manually correct the system data.

With continued reference to fig. 10 and 11, it can be seen that in this embodiment of the present invention, the prefabricated component mobile loader 10 further includes a parent truck 17 and a parent truck track 720; the parent car 17 can be movably arranged on a parent car track 720, and the parent car track 720 and the stacking track 12 form an included angle; and the parent 17 can be used to carry the palletized child 11.

Alternatively, in this embodiment, the parent track 720 is perpendicular to the palletizing track 12.

Further, the mother truck 17 includes a mother truck frame 711, a mother truck travel assembly 712, and a palletizing sub rail 713; the bus running assembly 712 is disposed on the bus frame 711 to drive the bus frame 711 to move along the bus rail 720; the palletizer rail 713 is disposed atop the parent truck frame 711 for movement with the palletizer truck 11 onto the parent truck 17; the palletizing rail 713 mates with the palletizing rail 12. Optionally, the palletizing sub rail 713 is perpendicular to the parent rail 720.

The function of the parent 17 is to carry the palletizer, providing it with the freedom to walk in the Y direction. As shown in fig. 11, the parent vehicle travel assembly 712 includes the drive gear motor 220, the wheels 210, the electric cabinet, and its rain cover. The electric control cabinet and the rain cover are arranged on the bus frame 711, the wheels 210 are rotatably arranged at the bottom of the bus frame 711, and the driving gear motor 220 is in transmission connection with the wheels 210. The palletizing rail 12 and the palletizing sub rail 713 are used for carrying a palletizer for the palletizer to travel thereon.

With the mother truck 17, the pallet truck 11 has the freedom of traveling in both directions X, Y. Specifically, through the transportation of the parent car 17, the pallet truck 11 can be connected with a plurality of loading positions in series, so that 1 pallet truck 11 can serve 2 or more loading positions, and the idle time of the prefabricated part moving loader 10 is reduced. It is theoretically possible to reach any location of the site.

As shown in fig. 12, the case where the automatic loading master and slave machine arrives at the Y coordinate corresponding to the place is shown, and as shown in fig. 13, the case where the stacker slave machine exits from the master car 17 and arrives at the corresponding X coordinate is shown.

In use, referring to figures 1 to 13, the pallet truck 11 is able to automatically pallet prefabricated components already loaded on the pallet 31, thereby achieving the effect of a stereoscopic warehouse. Moreover, the palletizer 11 may also be used for palletizing heavy goods that are loaded into standard racks 31, in addition to prefabricated components.

In practice, a plurality of prefabricated component shelves 31 are first placed at designated stacking points. The palletizer 11 goes to the stacking point, lifts one pallet 31 and then places it on another pallet 31, thus reciprocating, and stacking of the multi-layer pallet 31 is achieved. When the pallet 31 is to be delivered, the pallet truck 11 is moved to the stacking point again, and the pallet truck is moved to a place where the pallet 31 is to be delivered after the pallet is detached.

When the first pallet 31 is placed, the four holding mechanisms 540 need to be retracted before the second pallet 31 is placed on the first pallet 31, and the arm surface sliding table 542 does not return to the neutral position because the pallet 31 is pressed against the arm surface sliding table 542. At this time, the second layer shelf 31 is slowly put down, and the second layer shelf 31 is forcibly guided due to the upright column guide above the first layer shelf 31, and the arm surface sliding table 542 is arranged below the second layer shelf 31, so that the friction force is not large, and the second layer shelf 31 can be easily guided to be coincident with the central line of the bottom layer shelf 31. By repeating the steps, stacking of the three-dimensional storage yard can be completed (please refer to fig. 12 and 13 in combination).

In this way, the accuracy of the pile type being palletized by the palletizing trolley 11 is very regular. The stacking sub-trolley 11 can stack one layer of goods shelves 31 each time, can stack multiple layers of goods shelves 31, and can stack two layers of goods shelves 31 at most at one time according to the height of the goods shelves 31 and the requirements.

Referring to fig. 14 and 15, it can also be seen that the present embodiment provides a loading system 20 including a control device, a parking device 21 and a prefabricated part moving loader 10 of any of the foregoing embodiments;

the parking device 21 is connected with the control device to transmit the deviation data of the component carrier 24 to the control device after the deviation data is collected by the parking space, so that the center line of the component in the prefabricated component moving and loading machine 10 is adjusted to be coincident with the component carrier 24 by utilizing the deviation correcting function, and accurate loading of the component is realized.

Further, the parking device 21 comprises a flange 22 and a voice broadcasting system 23; the flanges 22 are provided on the ground for guiding or limiting the stopping position of the component carrier 24 so that each stopping position difference is controlled within a preset range. The voice broadcast system 23 is electrically connected with the control device system and is used for prompting a driver or a staff to adjust the position of the trailer.

As can also be seen from the figure, the parking device 21 comprises a first laser ranging sensor 24a, a second laser ranging sensor 24b and a third laser ranging sensor 24c; the first laser ranging sensor 24a and the second laser ranging sensor 24b are sequentially disposed on the ground or on the component carrier vehicle 24 along the length direction of the component carrier vehicle 24; the third laser ranging sensor 24c is disposed symmetrically to the second laser ranging sensor 24b on both sides of the component carrier vehicle 24.

In this embodiment, the first laser ranging sensor 24a is used for detecting the offset in front of the vehicle, the second laser ranging sensor 24b is used for detecting the offset in rear of the vehicle, and the two data are calculated to obtain the position offset and the angle offset of the vehicle body. The vehicle body width data may be derived by comparing the second laser ranging sensor 24b with the third laser ranging sensor 24c for checking the entering vehicle width specification.

Further, the parking apparatus 21 includes a first pair of radiation switches 25a and a second pair of radiation switches 25b that are parallel to each other; the first and second correlation switches 25a and 25b cooperate with each other to detect whether the component carrier vehicle 24 is parked in place.

The two sets of opposite-injection switches are used for detecting whether the front and the rear of the vehicle are in place, and the front and the rear of the vehicle are considered to be in place when the rear of the vehicle blocks the first opposite-injection switch 25a but does not block the second opposite-injection switch 25 b.

After the vehicle offset data is collected by the parking space, the offset data is transmitted to the master control system, and when needed, a deviation correcting function is started to adjust the center line of the component to be coincident with the component transport vehicle 24. Thereby realizing accurate loading of the components.

In order to facilitate the service of one prefabricated part moving loader 10 to one or more loading areas, the prefabricated part moving loader 10 may be provided with a parent car 17, so as to implement the Y-direction movement of the prefabricated part moving loader 10, and may be connected between several loading areas in series, thereby reducing the waiting time of incapable loading caused by stopping the transport vehicle 24.

When the device is used, in order to improve the operability of a driver, the left-right deviation rectifying function is provided, the driver only needs to ensure that the trailer is parallel to the loader, and the device is very easy to operate for the driver.

The deviation correcting principle is that the vehicle deviation is detected through the sensors (a first laser ranging sensor 24a, a second laser ranging sensor 24b and a third laser ranging sensor 24 c) of the parking space, then after the data analysis is carried out by the master control system, all the transverse hydraulic cylinder clamping mechanisms 540 are controlled to move synchronously, so that the left and right transverse movement of the component is realized, and the deviation between the component and the vehicle body is eliminated. When the vehicle is too far deflected beyond the ability to rectify the deviation, the voice broadcast system 23 will prompt the driver to adjust the trailer position.

In summary, embodiments of the present invention provide a prefabricated component mobile loading machine 10 and loading system 20 having at least the following advantages:

in the whole process of loading and unloading, the loading machine realizes the overall effects of high automation degree, high working efficiency, safety, convenience, high applicability, high operability and the like.

1. After the prefabricated components are placed as required at the designated locations, the component transport vehicle 24 is stopped at the designated locations. The mobile loader is moved to the preform placement position and the forks lift the preform, carry it onto the table of the component carrier 24 and drop it down (the mobile loader may also transport the component before the carrier 24 is stopped and wait for the carrier 24). The whole process can realize unmanned, and the loading progress is high, compares the form comprehensive benefits of traditional manual operation portal crane and promotes by a wide margin.

2. The unloading process and the loading process are reciprocal, and the method is convenient and quick.

The present invention is not limited to the above embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present invention are intended to be included in the scope of the present invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.

Claims (10)

1. A prefabricated component mobile loader, comprising:

a palletizing sub-vehicle (11) and a palletizing track (12);

the pallet truck (11) comprises an outer portal device (13) and an inner portal device (14); the inner door frame device (14) is connected with the outer door frame device (13) in a lifting manner along the height direction of the outer door frame device (13);

the inner gantry means (14) can be used to lift a pallet (31) on which preforms (32) are placed from the bottom or to release the pallet (31); the outer gantry means (13) are movable along a palletizing track (12).

2. The prefabricated component mobile loader according to claim 1, wherein:

the inner mast assembly (14) includes an inner frame assembly (300), a lift assembly (400) and a yoke assembly (500);

one end of the lifting assembly (400) is connected with the inner frame assembly (300), the other end of the lifting assembly (400) is connected with the top of the outer door frame device (13), and the lifting assembly (400) is used for enabling the inner frame assembly (300) to lift relative to the outer door frame device (13);

the fork arm assemblies (500) are oppositely disposed on both sides of the inner frame assembly (300) to form a fork arm space (501) for the passage of the shelf (31); and the yoke assemblies (500) are adapted to be able to be moved closer to each other to lift the shelf (31) from the bottom or moved away from each other to release the shelf (31).

3. The prefabricated component moving loader according to claim 2, wherein:

the inner frame assembly (300) comprises a cross beam (310), a connecting upper beam (320), a connecting lower beam (330) and a vertical beam (340);

the cross beam (310) and the connecting upper beam (320) are arranged at the top of the vertical beam (340) along the height direction of the vertical beam (340), and the connecting lower beam (330) is arranged at the bottom of the vertical beam (340);

the adjacent cross beams (310) and the connecting upper beams (320) are connected with each other, and the connecting lower beams (330) are connected with the lifting assembly (400);

the connecting lower beams (330) are oppositely arranged at two sides of the inner frame assembly (300), and fork arm spaces (501) for the goods shelves (31) to pass are formed between the opposite connecting lower beams (330); the yoke assemblies (500) are respectively arranged on the connecting lower beams (330).

4. The prefabricated component moving loader according to claim 2, wherein:

the fork arm assembly (500) comprises a fork arm mechanism (510), a clamping arm (520), a guide sleeve (530) and a clamping mechanism (540);

the guide sleeve (530) is arranged on the inner frame assembly (300); the clamping arms (520) are movably sleeved in the guide sleeve (530) along the length direction of the inner frame assembly (300) so as to be close to or far from the fork arm space (501); the fork arm mechanism (510) is arranged at one end of the clamping arm (520) close to the fork arm space (501);

one end of the clamping mechanism (540) is arranged on the inner frame assembly (300), and the other end of the clamping mechanism (540) is used for pushing the clamping arm (520) to be close to the fork arm space (501) or far away from the fork arm space (501).

5. The prefabricated component moving loader according to claim 4, wherein:

the fork arm mechanism (510) comprises a return spring (541), an arm surface sliding table (542), a sliding block (543) and a sliding rail (544);

the sliding rail (544) is arranged on the clamping arm (520), and the sliding block (543) extends along the length direction of the clamping arm (520);

the sliding block (543) is slidably arranged on the sliding rail (544) along the length direction of the sliding rail (544); the arm surface sliding table (542) is arranged on the sliding block (543), and the arm surface sliding table (542) is used for supporting the goods shelf (31);

along the length direction of the sliding rail (544), the return springs (541) are respectively arranged at two sides of the arm surface sliding table (542), and the return springs (541) are used for providing elastic force for enabling the arm surface sliding table (542) to be located at the middle position of the fork arm mechanism (510).

6. The prefabricated component mobile loader according to claim 1, wherein:

the prefabricated part movable loading machine further comprises a mother car (17) and a mother car track (720);

the parent vehicle (17) can be movably arranged on the parent vehicle track (720), and the parent vehicle track (720) and the stacking track (12) form an included angle;

and the mother trolley (17) can be used to carry the pallet truck (11).

7. The prefabricated component moving loader according to claim 6, wherein:

the mother car (17) comprises a mother car frame (711), a mother car travelling assembly (712) and a stacking sub-rail (713);

the bus walking assembly (712) is arranged on the bus frame (711) to drive the bus frame (711) to move along the bus track (720);

-the pallet sub rail (713) is arranged on top of the pallet truck frame (711) for movement with the pallet sub truck (11) onto the pallet truck (17);

the palletizing sub-rail (713) is matched with the palletizing rail (12).

8. A loading system, characterized in that:

comprising a control device, a parking device (21) and a prefabricated part mobile loader according to any of claims 1-7;

the parking equipment (21) is connected with the control equipment, so that after the deviation data of the component transport vehicle (24) are collected in the parking space, the deviation data are transmitted to the control equipment, and the center line of the component in the prefabricated component moving and loading machine is adjusted to coincide with the component transport vehicle (24) by utilizing the deviation correcting function, so that accurate loading of the component is realized.

9. The loading system of claim 8, wherein:

the parking device (21) comprises a first laser ranging sensor (24 a), a second laser ranging sensor (24 b) and a third laser ranging sensor (24 c);

the first laser ranging sensor (24 a) and the second laser ranging sensor (24 b) are sequentially arranged on the ground or the component carrier vehicle (24) along the length direction of the component carrier vehicle (24);

the third laser distance measuring sensor (24 c) and the second laser distance measuring sensor (24 b) are symmetrically arranged at two sides of the component transport vehicle (24).

10. The loading system of claim 8, wherein:

the parking device (21) comprises a first pair of shooting switches (25 a) and a second pair of shooting switches (25 b) which are parallel to each other;

the first and second pair of shooting switches (25 a, 25 b) cooperate with each other to detect whether the component carrier vehicle (24) is parked in place.

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