CN117566468A

CN117566468A - Loading method

Info

Publication number: CN117566468A
Application number: CN202311669936.9A
Authority: CN
Inventors: 王庆旭; 王忠鹏; 孙健; 张飞宇; 康振国; 李光远
Original assignee: Zhanyi Intelligent Technology Dongtai Co ltd; Zhanyi Intelligent Technology Suzhou Co ltd
Current assignee: Zhanyi Intelligent Technology Dongtai Co ltd; Zhanyi Intelligent Technology Suzhou Co ltd
Priority date: 2023-12-07
Filing date: 2023-12-07
Publication date: 2024-02-20
Also published as: CN118458404A

Abstract

The invention discloses a loading method, which comprises the following steps: step A, driving the front end of a track conveying trolley (2) to enter a truck carriage, and adjusting a movable rail (21) to enable the movable rail (21) to be arranged in the middle of the truck carriage and to be parallel to a carriage bottom plate and a carriage side plate; step B, lifting cargoes and trays at the lower part of the cargoes from a conveying roller way (1) to a flat trolley (22) of a track moving trolley (2) by using a gantry forklift (3); and C, stacking the cargoes on the flat trolley (22) in a truck carriage by utilizing a portal forklift (4). According to the loading method provided by the invention, the goods conveyed by the conveying roller way can be lifted by the gantry forklift and then placed on the reciprocating flat trolley, and then the goods are stacked in the carriage by the gantry forklift, so that loading is finished, the working efficiency is high, and the automation degree is high.

Description

Loading method

Technical Field

The invention relates to the technical field of cargo loading, in particular to a loading method.

Background

The loading of the existing container trucks is mostly carried out by adopting wheel type forklift trucks or manual loading, so that the efficiency is low and the loading is unsafe.

Disclosure of Invention

The technical problem to be solved by the embodiment of the invention is to provide a loading method for solving the problems of poor container stacking precision and low efficiency of a wheel type forklift.

The invention provides a loading method, which comprises the following steps:

step A, driving the front end of a track conveying trolley (2) to enter a truck carriage, and adjusting a movable rail (21) to enable the movable rail (21) to be arranged in the middle of the truck carriage and to be parallel to a carriage bottom plate and a carriage side plate;

step B, lifting cargoes and trays at the lower part of the cargoes from a conveying roller way (1) to a flat trolley (22) of a track moving trolley (2) by using a gantry forklift (3);

and C, stacking the cargoes on the flat trolley (22) in a truck carriage by utilizing a portal forklift (4).

The step A also comprises the step of controlling the height of the lifting platform.

The step A comprises the following steps:

a1, driving the front end of the track moving trolley to enter a truck carriage, and keeping the rear end of the track moving trolley outside the truck carriage;

a2, detecting the distance between the two sides of the conveying track and the carriage side plate of the position where each second distance sensor is positioned by a plurality of second distance sensors which are longitudinally arranged along the two sides of the conveying track and detect the horizontal direction;

a3, transversely adjusting the front end of the conveying rail through a traction mechanism at the front end of the conveying rail, so that the conveying rail at the traction mechanism is positioned at the middle position of the carriage, namely the front end of the conveying rail is centered at the position in the carriage; then, the position of the rear end of the conveying track is transversely adjusted through an auxiliary adjusting mechanism at the rear end of the conveying track, so that data detected by a second distance sensor at a rear position is equal to data detected by a second distance sensor at the front end, namely the conveying track is parallel to the side wall of the carriage;

A4, detecting the distance between the bottom of the conveying track and the carriage bottom plate at the position of each first distance sensor through a plurality of first distance sensors which are longitudinally arranged along the bottom of the conveying track and detect the vertical direction;

and A5, adjusting the auxiliary adjusting mechanism according to the detection result of the step A4 so that the data detected by the first distance sensor at the rear position is equal to the data detected by the first distance sensor at the front end, namely the conveying track is parallel to the carriage bottom plate.

The step B comprises the following steps:

step B1, providing a conveying roller way, a track moving trolley and a gantry forklift, wherein the conveying roller way and the track moving trolley are not directly connected, an empty rail is erected above the conveying roller way and the track moving trolley, and the gantry forklift is arranged on the empty rail so that the gantry forklift can reciprocate between the conveying roller way and the track moving trolley along the empty rail; the rail moving trolley can move relative to the conveying roller way, and the gantry forklift can rotate and transversely move between the empty rails while moving along the empty rails;

step B2, the conveying roller way obtains cargoes and keeps the cargoes motionless on the conveying roller way;

step B3, moving the gantry forklift to the position above the conveying roller way so as to identify cargoes;

Step B4, lifting the goods on the conveying roller table by a gantry forklift, and conveying the goods to the position above the track moving trolley along the empty rail;

and B5, when the rail-mounted trolley is stopped, placing the goods on the rail-mounted trolley by the gantry forklift.

The step C comprises the following steps:

step C1, a track moving trolley (2) is pulled into a position to be loaded in a truck carriage by a traction mechanism;

step C2, acquiring cargoes at the rear end of the moving rail (21) by a flat trolley (22), and conveying the cargoes along the moving rail (21) through a portal forklift (4) to reach the front end of the moving rail (21);

step C3, controlling the gate-shaped forklift (4) to move backwards along the moving rail (21) and enabling the transverse moving fork assembly (44) to be positioned behind the goods;

step C4, the transverse rail assembly (43) is lowered along the vertical rail assembly (42), and the two transverse moving fork tooth assemblies (44) are controlled to move to the tray positions at the bottom of the goods respectively;

step C5, identifying the position to be loaded by the second camera (45), and judging that the position to be loaded is free of cargoes;

step C6, the portal forklift (4) moves forwards along the moving rail (21) to enable the two transverse moving fork assemblies (44) to be inserted into the tray at the bottom of the goods;

step C7, driving the two transverse moving fork tooth assemblies (44) to move to the position to be loaded by a portal forklift (4), and stacking the pallet and the cargoes on the pallet;

And C8, resetting the transverse rail assembly (43) and the transverse moving fork tooth assembly (44) and the flat trolley (22) on the transverse rail assembly.

According to the loading method provided by the invention, the goods conveyed by the conveying roller way can be lifted by the gantry forklift and then placed on the reciprocating flat trolley, and then the goods are stacked in the carriage by the gantry forklift, so that loading is finished, the working efficiency is high, and the automation degree is high.

Drawings

FIG. 1 is a schematic illustration of a prior art truck for loading containers;

FIG. 2 is a schematic view of the overall structure of the loader system according to the present invention;

fig. 3 is a schematic structural view of the gantry forklift of the present invention;

fig. 4 is a schematic structural view of the gantry forklift of the present invention;

fig. 5 is a schematic structural view of the gantry forklift of the present invention;

fig. 6 is a schematic diagram of an exploded structure of the gantry forklift of the present invention;

FIG. 7 is a schematic view of the structure of the vertical telescopic tine according to the present invention;

FIG. 8 is a schematic view of the structure of the horizontal expansion bracket according to the present invention;

FIG. 9 is a schematic view of the structure of the horizontal telescopic frame according to the present invention;

FIG. 10 is a schematic view of the track-mounted trolley and portal forklift of the present invention;

FIG. 11 is a schematic view of the structure of the rail transit car and portal forklift of the present invention;

Fig. 12 is a schematic structural view of the track-moving trolley according to the present invention (omitting the auxiliary adjusting mechanism);

fig. 13 is a schematic structural view of the track-moving trolley according to the present invention (omitting the auxiliary adjusting mechanism);

FIG. 14 is an exploded view of the auxiliary adjustment mechanism of the present invention;

FIG. 15 is an exploded view of the auxiliary adjustment mechanism of the present invention;

FIG. 16 is a schematic view of the auxiliary adjusting mechanism according to the present invention;

FIG. 17 is a schematic view of a guide castor according to the present invention;

FIG. 18 is a schematic view of a track-moving cart according to the present invention;

FIG. 19 is a schematic view of the track-mounted trolley and portal forklift of the present invention;

fig. 20 is a schematic structural view of a first working state of the portal forklift according to the present invention;

fig. 21 is a schematic structural view of a second working state of the portal forklift of the present invention;

FIG. 22 is a schematic view of an exploded structure of a portal forklift in accordance with the present invention;

FIG. 23 is a schematic view of the structure of the portal frame of the present invention;

FIG. 24 is a schematic view of a vertical rail assembly according to the present invention;

FIG. 25 is a schematic view of a cross rail assembly according to the present invention;

FIG. 26 is a schematic view of a traversing tine assembly according to the present invention;

FIG. 27 is a schematic view of a driving assembly according to the present invention;

FIG. 28 is a schematic view of the structure of the elevating platform in the initial state according to the present invention;

FIG. 29 is a schematic view of the structure of the lifting platform in the working state according to the present invention;

FIG. 30 is a flow chart of the control of the height of the lift table according to the present invention;

FIG. 31 is a flow chart of a method of track adjustment according to the present invention;

FIG. 32 is a flow chart of a method of palletizing using a forklift in accordance with the present invention;

FIG. 33 is a flow chart of a method for transferring cargo using a gantry forklift in accordance with the present invention;

fig. 34 is a flow chart of the loading method according to the present invention.

In the figure:

1-a conveying roller way;

2-a track movement trolley; 21-a moving rail; 22-a flat trolley; 23-guiding a universal wheel; 24-an auxiliary adjustment mechanism; 25-a first distance sensor; 26-a second distance sensor;

211-inner rail; 212-outer rail; 213-additional rails;

221-vehicle body; 222-pulling the belt; 223-turning wheel;

241-a mobile base; 242-transverse slide; 243-horizontal steering seat; 244-pendulum base;

3-a gantry forklift; 31-a longitudinal translation frame; 32-a transverse translation frame; 33-bogie; 34-a camera; 35-a horizontal expansion bracket; 36-vertical telescopic tines; 351—a rail groove; 352-revolving belt; 353-a drive block; 361-L shaped brackets; 362-telescoping tines;

4-portal forklift; 41-a portal frame; 42-vertical rail assembly; 43-cross rail assembly; 44-traversing tine assembly; 45-a second camera; 46-a drive assembly;

411-square frame; 412-a bottom beam; 413-top beam; 414-L-shaped stiffeners; 415-limit guide wheels; 416-running rail wheel;

421-side rail; 422-sprocket drive motor; 423-sprocket sets;

431-an elongate frame; 432-vertical guide wheels; 433-limit rail; 434-a drive rack; 435-supporting rails;

441-traversing tines; 442-a traversing drive motor; 443-limiting wheels; 444-drive gear; 445-traversing the slider;

461-forklift driving motor; 462—drive wheel set;

5-lifting platform; 51-a roll-over plate;

6-base station;

90-container; 91-forklift; 92-cargo; 93-a space in the box where forklift loading is impossible; 94-a tray; 95-compartment floor.

Detailed Description

In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the invention, whereby the invention is not limited to the specific embodiments disclosed below.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.

The present invention provides a loader system comprising:

the conveying roller way 1 adopts a roller way conveying structure, the conveying roller way 1 adopts a fixed roller way structure, the placing position, the direction, the height and the like of the roller way are usually fixed, and the conveying roller way 1 can be arranged on a transverse sliding mechanism when necessary, so that when cargoes on the conveying roller way 1 are identified as abnormal, the conveying roller way 1 is connected with a recovery roller way (not shown in the figure) after transversely sliding under the action of the transverse sliding mechanism, and the cargoes are conveyed along the recovery roller way instead of being lifted by the gantry forklift 3; the recovery roller way can be positioned at the side of the track moving trolley 2 and is parallel to the track moving trolley;

the track moving trolley 2 is arranged on a ground rail (not shown in the figure) connected with the conveying roller way 1 and can move forwards and backwards along the ground rail; the ground rail is arranged on the base station 6; the track moving trolley 2 is used for conveying the pallet loaded with cargoes forwards or backwards; the direction of the track moving trolley 2 is not always identical to the direction of the conveying roller table 1, but is inclined to a certain degree, so that the direction of a truck carriage (container) is consistent; this is because it is difficult to reach exactly the same direction as the rollgang 1 when the truck is parked; the track movement trolley 2 needs to be adjusted to be in the same direction as the truck bed so as to facilitate loading; a certain inclination angle exists between the track moving trolley and the direction of the conveying track 1; in addition, in the loading process of the truck carriage, the carriage has different front and rear bearing due to different front and rear sequences of loading, so that an inclination angle is actually formed between the carriage and the horizontal plane, and the inclination angle can be changed at any time along with loading;

A gantry forklift 3 mounted on an empty rail (not shown in the figure) which spans over the conveying roller way and the ground rail so that the gantry forklift 3 can hoist a pallet from the conveying roller way 1 and place on the track moving trolley 2; the empty rail is usually arranged on the equipment rack or the workshop wall, and is arranged in the air relative to the ground rail, so that the empty rail can bear the pressure action of the gantry forklift; the gantry forklift 3 can hoist the pallet carrying the goods and convey the pallet between the conveying roller table 1 and the track moving trolley 2, and can identify the direction of the goods in the conveying process, so that the placing direction of the goods is adjusted, and the smooth loading is ensured; when the inclination angle is formed between the track moving trolley 2 and the horizontal plane, the gantry forklift 3 can also adjust the heights of the four telescopic fork teeth, so that the tray supported by the telescopic fork teeth also forms an inclination angle with the horizontal plane, and the inclination angle is the same as the inclination angle of the track moving trolley 2, so that the tray is in plane contact with the track moving trolley 2 in the falling process, and is not in contact with one side, collision is avoided, and the telescopic fork teeth are smoothly pulled out from the tray;

the portal forklift 4 comprises a portal frame 41, a vertical rail assembly 42, a transverse rail assembly 43, a transverse fork assembly 44, a second camera 45 and a driving assembly 46, wherein the portal frame 41 is of a portal structure, a portal hole is formed in the middle of the portal frame 41, so that a pallet loaded with cargoes can pass through the middle of the portal frame 41, and the portal frame 41 is transversely connected to the moving rail 21 and can reciprocate along the moving rail 21; the vertical rail assemblies 42 are vertically arranged on the upright posts at the two sides of the front end of the portal frame 41; the transverse rail assembly 43 is slidably connected between the two vertical rail assemblies 42 to enable lifting movement along the vertical rail assemblies 42 to drive the transverse fork assembly 44 thereon to move; the transverse moving fork assembly 44 has two, and can independently move to two ends of the transverse rail assembly 43 to avoid the tray and the goods on the tray; the second camera 45 is mounted at the front end of the door-shaped frame 41; a driving assembly 46 is provided on the door-shaped frame 41 to drive the door-shaped frame 41 to move along the moving rail 21. The portal forklift 4 can move along the moving rail 21, when the pallet is conveyed forwards along the moving rail 21, the portal forklift 4 passes through the portal forklift 4, the portal forklift 4 moves backwards to the rear of the pallet, then the pallet is forked up, and the pallet is carried to move forwards, so that the pallet is placed at a preset position in front; the portal forklift provided by the invention can move back and forth along the moving rail, and the transverse moving fork tooth assemblies can move up and down along the vertical rail assemblies under the drive of the transverse rail assemblies, and the two transverse moving fork tooth assemblies move independently, so that goods can be conveniently conveyed to the front of the portal forklift (the portal forklift backs) along the moving rail, and the portal forklift can conveniently load and stack the goods;

The lifting platform 5 is connected with the base platform 6, and the ground rail positioned at the front end of the ground rail cannot be placed on the lifting platform and can lift to be level with the bottom surface of a carriage of a vehicle to be loaded, so that the track moving trolley 2 can enter the carriage from the lifting platform 5.

The portal frame 41 comprises square frames 411 on two sides, top beams 413 on the top and bottom beams 412 on the bottom, a rail running wheel 416 is arranged on the inner side of the square frame 411 above the bottom beams 412, the rail running wheel 416 is connected to the outer side of the movable rail 21, and the bottom beams 412 are located below the movable rail 21. The square frame 411 forms a square frame structure, so that the whole stability can be kept when the front end lifts cargoes; top beams 413 and bottom beams 412 provide reinforcement to the portal frame 41 from the top and bottom, respectively; since the lower portion of the square frame 411 is supported on the moving rail 21, the bottom structure is kept stable by the bottom beams 412, and the bottom is prevented from being deformed after being subjected to pressure.

The door-shaped frame 41 further includes a limit guide wheel 415, and the limit guide wheel 415 is connected to the inner side surface of the moving rail 21 around the upper or lower side of the moving rail 21, thereby preventing the door-shaped frame 41 from slipping off the moving rail 21. The limit guide wheels 415 are connected to the inner side of the frame 411 through connectors, so that the stability of the whole portal frame 41 during walking is further strengthened, and deformation is reduced.

The square frame 411 of the door-shaped frame 41 is further provided with an L-shaped reinforcing member 414, and the L-shaped reinforcing member 414 is attached to a lateral lower portion of the square frame 411, thereby improving strength and reducing deformation.

The vertical rail assembly 42 includes a side rail 421, a sprocket driving motor 422, and a sprocket set 423, wherein the side rail 421 is mounted at a front end of the door-shaped frame 41, the sprocket set 423 is arranged parallel to the side rail 421, the sprocket driving motor 422 drives the sprocket set 423 to move, and the sprocket set 423 is connected with the horizontal rail assembly 43 to drive the horizontal rail assembly 43 to move along the side rail 421. The vertical rail assembly 42 may ensure that the horizontal rail assembly 43 is driven vertically on the side rail 421. The driving structure of the chain wheel can also ensure the stability of lifting and avoid slipping.

The transverse rail assembly 43 comprises an elongated frame 431, a vertical guide wheel 432, a limiting rail 433, a transmission rack 434 and a supporting transverse rail 445, and two ends of the transverse frame 431 are connected to the side rail 421 through the vertical guide wheel 432; the limit rail 433, the drive rack 434 and the support rail 435 are installed on the elongated frame 431 in parallel, and the limit rail 433 is located at an upper portion, the support rail 435 is located at a lower portion, and the drive rack 434 is located between the limit rail 433 and the support rail 435. The elongated frame 431 is capable of providing stable support in a vertical direction and movement in a vertical direction through the vertical guide wheels 432, and provides horizontal movement support for the traversing tine assembly 44 through the stop rails 433, the drive rack 434, and the support rails 445.

The vertical guide wheels 432 on each side have two or more, arranged one above the other so that the effective tissue rail assembly 43 is inclined in a horizontal direction after carrying the weight of the cargo on the traversing tine assembly 44.

Each traversing fork assembly 44 comprises traversing fork teeth 441, traversing driving motor 442, limiting wheels 443, transmission gears 444 and traversing slide blocks 445, wherein the upper parts of the traversing fork teeth 441 are connected to limiting rails 433 through the limiting wheels 443, the middle parts are meshed with transmission racks 434 through the transmission gears 444 for transmission, and the lower parts are connected to supporting transverse rails 435 through the traversing slide blocks 445; the traversing drive motor 442 drives a transmission gear 444. After the limit wheels 443 are matched with the limit rails 433, the top side tilting can be prevented; after engagement of the traversing slide 445 with the support rail 435, it is ensured that the entire traversing tine assembly 44 can move horizontally along the support rail 435; the drive gear 444 and drive rack 434 cooperate to drive the traversing fork assembly 44 for horizontal movement.

The driving assembly 46 includes a forklift driving motor 461 and a driving wheel set 462, the forklift driving motor 461 is driven by a speed reducer and the driving wheel set 462, and the driving wheel set 462 drives the gantry 41 to move along the moving rail 21 by means of belt transmission or chain transmission. The drive assembly 46 should be located below the rail wheel 416.

The drive assembly 46 is fixedly attached to the bottom beam 412.

The rail traveling car 2 includes a traveling rail 21 along which the traveling rail 21 can travel so that the rail traveling car 2 can be brought into a vehicle compartment, and a pallet car 22 that can reciprocate on the traveling rail 21 so that a pallet carrying goods can be received and conveyed forward.

The track traveling car 2 further includes a guide universal wheel 23 and an auxiliary adjusting mechanism 24, the guide universal wheel 23 is supported at the lower part of the front end of the traveling rail, and the auxiliary adjusting mechanism 24 is supported at the rear end of the traveling rail and is in rolling connection with the ground rail. The guide universal wheels 23 can adjust the transverse position of the track movement trolley 2 so as to center the track movement trolley 2 in the carriage; the auxiliary adjusting mechanism 24 can adjust the height and the lateral position of the rear end of the track moving trolley 2, so that the track moving trolley 2 can adapt to the parking angle of the carriage and the inclination angle of the carriage relative to the ground.

As shown in fig. 13, the bottom of the track moving trolley 2 is further provided with a plurality of first distance sensors 25 for detecting the distance between the moving rail 21 and the bottom surface of the carriage, and when the values of the first distance sensor located in front and the first distance sensor located in rear exceed the preset values, the auxiliary adjusting mechanism 24 is controlled to adjust the rear end height of the moving rail, and the moving rail is parallel to the bottom surface of the carriage. In a further preferred embodiment, the first distance sensors 25 are arranged in two or more rows, so that the data acquired by the plurality of first distance sensors 25 arranged in the lateral direction can be compared, and thus, not only the data of the front and rear first distance sensors 25 but also the data of the left and right first distance sensors 25 can be compared. When there is a difference in the data of the left and right first distance sensors 25 and the difference increases as the front-rear distance increases, it is determined that there is a roll at the bottom of the vehicle cabin, so that the cylinders on both sides of the auxiliary adjusting mechanism 24 are controlled to be lifted to different heights to reduce the difference of the left and right first distance sensors 25 and finally to make the moving rail 21 parallel to the vehicle cabin.

The two sides of the front end of the track moving trolley 2 are also respectively provided with one or more second distance sensors 26 for detecting the distance between the two sides of the front end of the track moving trolley 2 and the side plates of the carriage, and when the data detected by the two second distance sensors are unequal, the guiding universal wheels 23 are controlled to roll so as to adjust the position of the front end of the track moving trolley 2 in the carriage to be centered. The second distance sensors 26 are arranged on two sides of the track moving trolley 2 in a paired mode, so that data of the second distance sensors 26 on two sides are compared and judged, when the data difference value is larger than a preset value, the parking direction of the carriage is judged to be different from the direction of the track moving trolley 2, and the transverse position of the auxiliary adjusting mechanism 24 is adjusted according to the algorithm control rear end of the moving rail 21, so that the direction of the moving rail 21 is identical to the parking direction of the carriage, further the loading accuracy is ensured, and an included angle formed between the tray and the carriage during loading is avoided.

The second distance sensors 26 are provided in a plurality of pairs in the front-rear direction, and the data of the front-rear second distance sensors 26 can be compared, and when the data of the front-rear second distance sensors are different, the inclination angle exists between the moving rail 21 and the direction of the vehicle cabin, and the auxiliary adjusting mechanism 24 is controlled to move left and right, so that the data of the front-rear second distance sensors 26 are equal.

In summary, the guide universal wheel 23 and the auxiliary adjusting mechanism 24 are jointly adjusted, so that the moving rail 21 can be kept consistent with the direction of the vehicle cabin, and the moving rail 21 can be adjusted to a centered position.

The moving rail 21 has a double-rail structure, each single rail comprises an inner rail 211, an outer rail 212 and an additional rail 213, and the inner rail 211 is positioned on the inner side surface of the moving rail 21 to form a rail groove; the outer rail 212 is positioned on the outer side surface of the movable rail 21 and also forms a rail groove; the additional rail 213 is located at the top. The inner rail 211 is adapted to be in rolling connection with the wheels of the trolley 22, the outer rail 212 is adapted to be in rolling connection with the rollers inside the portal frame 41, and the additional rail 213 is adapted to be in rolling connection with the limit guide wheels 415. The moving rail 21 may have a composite rail structure, a combination of a plurality of rails, or a single rail structure. Both side surfaces and the top surface of the moving rail 21 form a rail or a rail groove, thereby realizing one rail multi-purpose.

The front end of the moving rail 21 is supported by the guiding universal wheel 23, the rear end is supported by the auxiliary adjusting mechanism 24, the auxiliary adjusting mechanism 24 horizontally moves along the ground rail, and the auxiliary adjusting mechanism 24 can simultaneously move left and right and move up and down, so that the position of the rear end of the moving rail 21 is controlled and the direction of the whole moving rail 21 is adjusted.

The inner part of the moving rail 21 is used for the reciprocating shuttle motion of the flat trolley 22, and the outer part is used for the front and back movement of the portal forklift 4, so that the moving rail 21 can enter the carriage under the drive of the guiding universal wheels 23, and the moving rail 21 is controlled to be parallel to the carriage and centered in position.

As shown in fig. 12 to 13, the flatbed trolley 22 includes a trolley body 221, a traction belt 222, and wheels 223, the trolley body 221 is rollingly connected to the moving rail 21 by rollers, the wheels 223 have two sets, are provided at both ends of the moving rail 21, the traction belt 222 is overlapped between the two wheels 223, and the traction belt 222 is connected to the trolley body 221 to draw the trolley body 221 to move along the moving rail 21. The pallet truck 22 can reciprocate along the moving rail 21 to convey the pallet loaded with the goods forward or backward, thereby completing loading or unloading.

As shown in fig. 14 to 16, the auxiliary adjusting mechanism 24 includes a moving base 241, a lateral slide 242, a horizontal turning base 243, and a swinging base 244, the moving base 241 being movable along a ground rail, the lateral slide 242 being movable laterally along the moving base 241, the horizontal turning base 243 being rotatably connected to the lateral slide 242, the swinging base 244 having two swinging bases 244 rotatably connected to both ends of the horizontal turning base 243 and being capable of swinging on a vertical plane, the two swinging bases 244 being supported at a lower portion of the moving rail 21.

The swing seat 244 is provided with a lifting guide rail and a lifting cylinder to control the height of a lifting block, the lifting block is supported at the rear end of the movable rail 21, and the height of the rear end of the movable rail 21 can be adjusted, as the swing seat 244 is rotatably connected at two ends of the horizontal steering seat 243, the inclination angle of the movable rail 21 relative to the horizontal plane is adjusted, so that the inclination angle of the movable rail is the same as the inclination angle of the bottom surface of a carriage, the carriage is parallel to the bottom surface of the carriage, the front-rear weight of the carriage is different, the front weight and the rear weight of the carriage are light, the carriage is usually low front and high rear, the inclination angle of the carriage is changed along with the loading process, and therefore, if the inclination angle of the carriage is not detected, the inclination angle of the movable rail and the carriage is matched, an included angle is possibly formed between the bottom surface of the tray and the bottom surface of the carriage, one end of the tray is landed when loading and unloading is caused, and the other end of the tray is suspended.

The auxiliary adjusting mechanism 24 further comprises an adjusting cylinder connected between the moving base 241 and the transverse sliding base 242 to control the position of the transverse sliding base 242 on the moving base 241, so that the position of the rear end of the moving rail 21 can be adjusted, and the conveying direction of the moving rail 21 can be adjusted.

As shown in fig. 3-9, the gantry forklift 3 comprises a longitudinal translation frame 31, a transverse translation frame 32, a bogie 33, a camera 34, a horizontal telescopic frame 35 and vertical telescopic tines 36, wherein:

The longitudinal translation frame 31 is arranged on the empty rail and can reciprocate along the empty rail, so that the tray is transmitted between the conveying roller table 1 and the track moving trolley;

the transverse translation frame 32 is transversely arranged on the longitudinal translation frame 31, and can transversely move along the longitudinal translation frame 31, so that trays with different transverse positions are lifted and placed on the track moving trolleys 2 with different transverse positions;

the bogie 33 is rotatably arranged on the transverse translation frame 32, and the rotating shaft is vertically arranged, so that the azimuth angle of the pallet can be adjusted through the rotation action of the bogie 33 after the pallet is lifted, and the direction of goods on the pallet can be adjusted;

the horizontal telescopic frame 35 is installed at the bottom of the bogie 33 and can control the opposite movement of the two pairs of vertical telescopic tines 36 in the horizontal direction;

the vertical telescopic tines 36 are arranged in two pairs, and the movement of the tines can be controlled along the vertical direction, each vertical telescopic tine 36 is independently controlled by a single driving mechanism, so that when the moving rail 21 of the track moving trolley 2 is correspondingly inclined due to the inclination angle of the carriage, the driving mechanisms of the vertical telescopic tines 36 can be independently controlled, the inclination angle of the tray is the same as the inclination angle of the moving rail 21, and the bottom surface of the tray just falls on the flat trolley 22 after the tray is lowered.

The camera 34 is mounted on the longitudinal translation frame 31 and is capable of capturing a video or image downwardly to identify the orientation of the cargo. When the direction of the goods deviates from the preset direction, the steering frame 33 is controlled to rotate to the direction of the goods according to the deviation value, then the vertical telescopic fork teeth 36 are controlled to be inserted into the tray, after the tray and the goods on the upper portion of the tray are lifted, the steering frame 33 is reversely controlled to reset, so that the direction of the goods is adjusted to the preset direction, and then the goods are moved and then placed on the flat trolley 22 of the track moving trolley 2.

When the transverse position of the rail moving trolley is deviated, the conveying roller table 1 and the moving rail 21 form dislocation, at the moment, before goods are placed on the flat plate trolley 22, the position of the flat plate trolley 22 is required to be identified through the camera 34, the center of the flat plate trolley 22 is judged, and then the lifted tray position is adjusted to the center of the flat plate trolley by the gantry forklift 3 and then the flat plate trolley is placed.

In the implementation process, the direction of the moving rail 21 is deflected, so that the moving rail 21 has an inclination angle relative to the horizontal plane; at this time, before the pallet is lowered, the orientation of the pallet is further adjusted by the gantry forklift 3, and the pallet is rotated to be directed in the direction of the moving rail 21 or parallel to the direction; the four independent telescopic fork teeth 362 of the gantry forklift are used for adjusting the height to be the same as the inclination angle of the movable rail 21, then the pallet is lowered onto the flat-plate trolley 22, at the moment, the direction of the pallet is ensured to be the same as the direction of the movable rail 21, and the inclination angles of the pallet and the movable rail are the same, so that the pallet is in surface contact with the upper surface of the flat-plate trolley 22 after being lowered, and the safety is ensured.

In the process of identifying the goods through the camera 34, the center of the goods can be identified, when the goods are arranged in a 2×2 mode, the center of the goods is the center of the whole goods, so that the center of the bogie 33 is determined to be moved to the center of the goods, and the fact that the torque actions born by the L-shaped brackets 361 at the two ends are identical when the tray rotates can be guaranteed. The camera 34 can also identify the direction and inclination of the pallet truck 22, thereby providing a data reference for the pallet adjustment by the gantry forklift 3.

The two sides of the horizontal telescopic frame 35 are provided with guide rail grooves 351 which are parallel to each other, the middle part is provided with a rotary belt 352 driven by a rotary belt wheel, and two driving blocks 353 are arranged on the rotary belt 352, and the two driving blocks 353 are respectively connected with one vertical telescopic fork tooth 36. The rollers of the L-shaped bracket 361 are connected to the guide rail groove 351 and are movable along the guide rail groove 351. The two driving blocks 353 are driven to move in opposite directions or in opposite directions by the rotary belt 352, so that the horizontal telescopic adjustment of the two pairs of vertical telescopic tines 36 can be controlled.

Each of the vertical telescopic tines 36 includes an L-shaped bracket 361 and telescopic tines 362 vertically connected to both sides of the L-shaped bracket 361, the telescopic tines 362 being connected to the L-shaped bracket 361 by a telescopic mechanism. The two L-shaped brackets 361 are symmetrically arranged so as to be movable toward each other. The four vertical telescopic tines 36 adopt mutually independent driving motors, so that the telescopic length of each vertical telescopic tine 36 can be controlled, and the inclination of the tray is controlled, so that the inclination angle of the tray is the same as the inclination angle of the movable rail 21.

The telescopic mechanism adopts a gear-rack transmission, and the telescopic fork 362 is connected to the L-shaped bracket 361 through a linear guide rail.

The L-shaped bracket 361 is connected in the guide rail groove 351 of the horizontal expansion bracket 35 by rollers and is connected with the driving block 353 on the horizontal expansion bracket 35, thereby completing the expansion and contraction movement under the driving of the driving block 353.

As shown in fig. 19-23, the portal frame 41 of the portal forklift 4 includes an upper frame 411 and a bottom beam 412, rollers are disposed on the inner side of the frame 411 above the bottom beam 412, the rollers are connected on the inner side of the moving rail 21, and the bottom beam 412 is located below the moving rail 21, so that the pallet and the goods passing through the portal frame 41 on the pallet truck 22 are not affected.

The bottom beam 412 can ensure the structural stability of the whole portal frame 41 and avoid deformation caused by bearing pressure when the portal forklift 4 loads goods; the bottom beam 412 is provided with a driving mechanism, so that the driving mechanism is also positioned below the movable rail 21 and the pallet truck 22, and the driving of the portal forklift 4 and the driving of the rail movable trolley 2 are not interfered with each other.

The driving mechanism adopts belt transmission or chain transmission. Those skilled in the art will appreciate that the corresponding transmission members need to be fixedly connected to the moving rail so that the portal fork truck 4 can move with the movement of the moving rail 21.

L-shaped stiffeners 414 are also provided on both sides of the square frame 411 to structurally strengthen the door-shaped frame.

The inner side of the square frame 411 is also provided with a limit guide wheel 415, the limit guide wheel 415 is connected to the inner side surface of the movable rail 21, and the wheel axle of the limit guide wheel 415 is vertical, so that the square frame 411 is limited transversely, and the square frame 411 is prevented from being separated from the movable rail 21.

The front end of the lifting table 5 is provided with a turnover plate 51 capable of being turned over and opened, and a torque sensor is provided on a rotating shaft of the turnover plate 51. When the carriage of the truck approaches the lifting platform, the lifting platform 5 is controlled to be integrally lifted, the height of the upper surface of the lifting platform is higher than the height of the inner bottom surface of the carriage, and the overturning plate 51 is controlled to be opened to a vertical state; after the truck carriage door is opened and stopped, the adjusting overturning plate 51 overturning forwards to be horizontal, and then controlling the lifting platform 5 to descend integrally; when the signal of the torque sensor is to be received and the threshold value is reached, the control lift table 5 is stopped and the height is maintained.

When the carriage descends due to loading in the carriage, the signals of the torque sensor are continuously detected, when the signals of the torque sensor are 0 or lower than a threshold value, the lifting table 5 is continuously controlled to descend, and when the signals of the torque sensor reach the threshold value again, the lifting table 5 is controlled to stop.

According to the car loader system, the portal forklift can be driven by the track moving trolley to extend into a carriage or a container of a truck, so that pallets with cargoes conveyed on a conveying roller way are piled; the gantry forklift can identify the placement direction of the goods, and adjust the tray after lifting so that the direction of the goods is the same as the preset direction; after the track moving trolley enters the carriage, the distance between the inner walls of the carriage at two sides can be detected through the second distance sensor, so that the center position of the track moving trolley is adjusted; the numerical value through the first distance sensor compares to obtain the inclination of carriage, and then through the regulation of supplementary adjustment mechanism, make the inclination who removes rail and carriage the same, remove the bottom surface parallel of rail and carriage, thereby make the tray bottom surface angle when portal fork truck loading the same with the bottom surface inclination of carriage, guarantee the steady of loading process.

28-30, an embodiment of the present invention further provides a method for controlling a height of a lifting platform, including:

step one, judging that a wheel type structure at the front end of a conveying track is positioned on a lifting platform 5; if the wheel type structure is not positioned on the lifting platform 5, the lifting platform cannot be controlled to lift, and only after the wheel type structure is determined to be positioned on the lifting platform, the lifting platform 5 drives the wheel type structure to lift;

Step two, lifting the lifting platform 5 (usually to the highest position, or to a height higher than the carriage bottom plate when the height of the carriage is obtained in advance), and driving the overturning plate 51 at the front end of the lifting platform 5 to overturn forward to the horizontal position so as to be leveled with the lifting platform 5, so that when the carriage bottom plate is positioned below the overturning plate 51, the overturning plate 51 is controlled to descend until abutting against the carriage bottom plate;

driving the truck to retreat to enable the carriage to be close to the lifting platform 5, stopping the truck when the distance between the truck and the lifting platform 5 is larger than the width of the carriage back door, and opening the carriage back door to enable the carriage bottom plate to be exposed; this step is to enable the floor of the vehicle to be lowered by the turnover plate 51 and abutted against it;

step four, driving the truck to retreat again to enable the carriage to continuously approach the lifting platform 5, and controlling the lifting platform 5 to descend when the distance between the carriage and the lifting platform 5 is smaller than the width of the turnover plate 51 (but the carriage should not collide with the lifting platform 5 to avoid damaging the collision), and controlling the turnover plate 51 to descend along with the descending of the lifting platform 5;

step five, detecting the torque of the rotating shaft of the turnover plate 51, judging that the turnover plate 51 is connected with the bottom plate of the carriage when the torque is larger than a first preset value, and controlling the lifting platform 5 to stop descending; when the torque of the rotating shaft of the turnover plate 51 generates a signal change, which indicates that the turnover plate is in contact with the carriage bottom plate, the first preset value is set to protect the turnover plate 51 and the lifting mechanism inside the lifting platform 5.

And step six, continuing to timely detect the torque of the rotating shaft of the turnover plate 51:

when the torque is smaller than a second preset value or the torque is 0, the lifting table is controlled to descend, and when the torque is larger than the first preset value again, the lifting table is controlled to stop; the second preset value is smaller than the first preset value;

when the torque is larger than a third preset value, the lifting platform is controlled to ascend, and when the torque is smaller than the third preset value or the second preset value but larger than the first preset value, the lifting platform is controlled to stop; the third preset value is greater than the first preset value.

The sixth step is that after loading the carriage, the height of the carriage will descend, so the height of the carriage needs to be detected timely, and then the height of the lifting platform is adjusted adaptively; in the unloading process, the opposite movement is performed, namely the carriage height can rise along with the unloading, and the second preset value and the third preset value are further set, so that the lifting platform can be ensured to detect the height change of the carriage bottom plate at any time to follow up adjustment.

And a step seven of driving the truck forward to disengage the carriage from the roll-over plate 51 when loading is completed.

And step eight, detecting whether the conveying track is borne on the lifting platform 5, and when the conveying track is borne on the lifting platform 5, controlling the overturning plate 51 to be folded towards the lifting platform 5 and controlling the lifting platform 5 to fall back.

The conveying track in this embodiment is the track-moving trolley 2 provided in the above embodiment, wherein the wheel structure is a guiding universal wheel 23 or a crawler wheel structure.

According to the method for controlling the height of the lifting platform, the torque sensor of the rotating shaft of the turnover plate is used for detecting the height of the carriage bottom plate, so that the height of the whole lifting platform is controlled; in addition, the height of the lifting platform can be adjusted in time according to the loading, so that the conveying track can smoothly enter the carriage through the lifting platform and can be retracted from the carriage to the lifting platform.

As shown in fig. 2-34, the present invention provides a loading method, comprising:

step A, driving the front end of the track conveying trolley 2 to enter a truck carriage, and adjusting the movable rail 21 to enable the movable rail 21 to be arranged in the truck carriage in a centered manner and parallel to a carriage bottom plate and a carriage side plate;

step B, lifting cargoes and trays at the lower part of the cargoes from the conveying roller table 1 to the flat trolley 22 of the track moving trolley 2 by using a gantry forklift 3;

and C, stacking the cargoes on the flat trolley 22 in a truck carriage by utilizing the portal forklift 4.

As shown in fig. 31, and in combination with fig. 1 to 27, the present invention further provides a method for adjusting a track, that is, a step a of a loading method, including:

a2, detecting the distance between the two sides of the conveying track and the carriage side plate of the position where each second distance sensor is positioned by a plurality of second distance sensors which are longitudinally arranged along the two sides of the conveying track and detect the horizontal direction; the second distance sensors on the two sides are preferably arranged symmetrically left and right, so that the distances on the left and right sides are correspondingly detected, the second distance sensors are usually only arranged in the middle part and the front end of the conveying track, and the second distance sensors are not required to be arranged at the rear end of the conveying track because the second distance sensors are arranged outside a truck carriage;

a3, transversely adjusting the front end of the conveying rail through a traction mechanism at the front end of the conveying rail, so that the conveying rail at the traction mechanism is positioned at the middle position of the carriage, namely the front end of the conveying rail is centered at the position in the carriage; the traction mechanism is the guiding universal wheel 23 in the embodiment, or a crawler wheel structure or a steering wheel mechanism of a front-drive automobile can be adopted;

Then, the position of the rear end of the conveying track is transversely adjusted through an auxiliary adjusting mechanism at the rear end of the conveying track, so that data detected by a second distance sensor at a rear position is equal to data detected by a second distance sensor at the front end, namely the conveying track is parallel to the side wall of the carriage; the auxiliary adjusting mechanism can be driven to rotate in the horizontal direction, rotated in the vertical direction, moved in the lateral direction, and lifted in the vertical direction, and the auxiliary adjusting mechanism 24 described in the above embodiment can be employed;

and A5, judging the data of each first distance sensor according to the detection result of the step A4, and if the data of the first distance sensors at the front and rear positions are unequal, indicating that an inclination angle exists between the conveying track and the carriage bottom plate, so as to adjust the auxiliary adjusting mechanism, wherein the method specifically comprises the following steps:

when the data detected by the first distance sensor at the rear position is larger than the data detected by the first distance sensor at the front end, controlling the auxiliary regulating mechanism to reduce the height of the rear end of the conveying track;

When the data detected by the first distance sensor at the rear position is smaller than the data detected by the first distance sensor at the front end, controlling the auxiliary adjusting mechanism to lift the rear end of the conveying track;

so that the data detected by the first distance sensor at the rear position is equal to the data detected by the first distance sensor at the front end, i.e., the conveying track is parallel to the floor of the carriage.

The sequence of steps A2, A3, A4, and A5 may be interchanged, that is, the track adjustment method described in this embodiment may also be the sequence of steps A1, A4, A5, A2, and A3.

During loading of the truck carriage, the data are detected in real time through the first distance sensor and the second distance sensor, and the operations of the steps A2 to A5 are repeated. Because the front and rear weight of the carriage can be changed in proportion along with the loading in the loading process, the center of the whole carriage is changed continuously, and the gravity distribution born by the front and rear axles is changed at any time, so that the height of the carriage can be reduced along with the loading, the reduction amplitude of the front and rear axles is different, the inclination angle between the carriage and the horizontal plane is changed timely, and the included angle between the conveying track with the front end positioned in the carriage and the carriage bottom plate is changed.

In step A3, when the second distance sensor is used to detect the distance between the conveying track and the side plate of the carriage, the conveying track is moved back and forth, so as to obtain an extreme value of the distance between the second distance sensor and the side plate of the carriage, and whether the maximum value or the minimum value of the distance is equal or whether the time of occurrence of the two extreme values is the same is compared, so that a basis is provided for judging in step A3.

The rail-mounted trolley is a moving rail 21 of the rail-mounted trolley 2 in the above embodiment, and the rail-mounted trolley 2 is used for conveying cargoes, and the moving rail 21 is simultaneously used for being connected with a forklift for forklift fork loading cargoes and stacking.

The rear end of the conveying rail is movably connected to a fixed rail (i.e., a ground rail fixed to the base 6) through an auxiliary adjusting mechanism, so that the fixed rail can provide stable support for the auxiliary adjusting mechanism.

The track adjusting method provided by the invention can timely adjust the direction and pitching of the track moving trolley so as to be parallel to the two side plates and the bottom plate of the truck carriage, thereby ensuring that the fork truck is parallel to the bottom plate of the carriage and the position is centered in the process of loading and stacking cargoes by fork truck.

As shown in fig. 32, in combination with the embodiments of fig. 1 to 27 and above, the present invention provides a method of palletizing by a forklift for transporting goods into a truck bed by a rail-moving cart 2 and palletizing the goods in the truck bed by a portal forklift 4 movably mounted on a moving rail 21, i.e., step C in the loading method, comprising:

Step C1, a track moving trolley 2 is pulled into a position to be loaded in a truck carriage by a traction mechanism;

step C2, acquiring cargoes at the rear end of the moving rail 21 by the flat trolley 22, and conveying the cargoes along the moving rail 21 through the portal forklift 4 to reach the front end of the moving rail 21;

step C3, controlling the door-shaped forklift 4 to move backwards along the moving rail 21, and enabling the transverse moving fork assembly 44 to be positioned behind the goods;

step C4, the transverse rail assembly 43 is lowered along the vertical rail assembly 42, and the two transverse moving fork tooth assemblies 44 are controlled to move to the tray positions at the bottom of the goods respectively;

step C5, identifying the position to be loaded by the second camera 45, judging that the position to be loaded is free of cargoes, and prompting and alarming if cargoes exist or the cargoes are abnormal, and processing by staff;

step C6, the portal forklift 4 moves forwards along the moving rail 21, so that the two transverse moving fork assemblies 44 are inserted into the tray at the bottom of the goods;

step C7, driving the two transverse moving fork tooth assemblies 44 to the position to be loaded by the portal forklift 4, and stacking the pallet and the cargoes on the pallet;

and C8, resetting the transverse rail assembly 43, the transverse moving fork assembly 44 and the flat trolley 22.

The traction mechanism in the step C1 is a driving wheel mechanism for guiding a universal wheel, a crawler wheel structure or a front-drive automobile.

The goods in the step C2 are placed on a tray, and the tray is lifted by a gantry forklift to move the goods onto the flat trolley.

The second camera 45 in step C5 is mounted on the portal frame 41, and when the rail assembly 43 is lowered, the photographing of the second camera 45 is not blocked by the rail assembly 43.

Step C7 includes: the transverse rail assembly 43 moves upwards along the vertical rail assembly 42, and the goods are lifted by the two transverse moving fork tooth assemblies 44;

synchronously traversing along the transverse rail assembly 43 to the front of the position to be loaded by the two traversing fork tooth assemblies 44;

the gantry fork truck 4 continues to move forwards, and the two transverse moving fork assemblies 44 drive the tray to move above the position to be loaded;

the control cross rail assembly 43 descends along the vertical rail assembly 42 and drops the tray;

the gate-shaped fork truck 4 is controlled to retract along the travel rail 21 to remove the traversing tine assembly 44 from the pallet.

Step C8 includes lifting the rail assembly 43 up to the top along the rail assembly 42, and moving the two traversing tine assemblies 44 laterally along the rail assembly 43 to one or both ends of the rail assembly 43; specifically, the width of the traversing fork tooth assembly 44 is determined, if the width is smaller, the traversing fork tooth assembly can be placed at one end without affecting the passing of goods from the portal forklift, and then the two traversing fork tooth assemblies 44 can be moved to the same end along the transverse rail assembly 43, otherwise, the two traversing fork tooth assemblies 44 are moved to two sides to two ends of the transverse rail assembly 43.

The control trolley 22 moves along the moving rail 21 to the rear end of the moving rail 21 so as to prepare for the next goods stacking.

The method for stacking by using the forklift provided by the invention can take down cargoes from the track moving trolley and stack the cargoes in the carriage, the operation process is quick and convenient, the stacking efficiency is high, and the stacking precision can be ensured.

With reference to fig. 2-9, the present invention further provides a method for transferring goods by using a forklift, i.e. step B in the loading method, including:

step B2, the conveying roller way obtains cargoes, and the cargoes are kept motionless on the conveying roller way so as to be convenient for identifying and judging the cargoes;

step B3, the gantry forklift is moved above the conveying roller way to identify cargoes, and the identified characteristics comprise the number, the placement, the arrangement direction and the like of the cargoes;

The method for transferring the goods by utilizing the forklift provided by the invention can transfer the goods from the fixed conveying platform (conveying roller way) to the movable conveying platform (rail moving trolley), and can identify the goods during transfer, so that the characteristics of the movable conveying platform are adapted to matching.

Wherein, before the step B5, the height, the conveying direction and the gradient of the track moving trolley are obtained; correspondingly, the placing direction of the goods regulated by the gantry forklift is consistent with the conveying direction of the rail-mounted trolley, the gradient of the goods regulated by the forklift mechanism of the gantry forklift is consistent with the gradient of the rail-mounted trolley, and then the goods are controlled to be placed on the rail-mounted trolley when the height of the rail-mounted trolley is equal. The step solves the problem of placement when the conveying directions and the inclinations of the two platforms are different.

In the step B3, identifying the goods, namely identifying the direction of the goods and determining the center and the placing direction of the goods; when the placing direction of the goods is different from the direction of the conveying roller way or the initial direction of the gantry forklift, the forklift mechanism rotating the gantry forklift is the same as or perpendicular to the placing direction of the goods.

Step B3 further includes moving the fork truck mechanism of the gantry fork truck to the center of the cargo.

In the step B3, when the goods are judged to be abnormal after the goods are identified, the conveying roller way is transversely moved or the goods are reversely conveyed, so that the abnormal goods are prevented from being lifted by the gantry forklift. The goods abnormality includes shape abnormality, kind abnormality, state abnormality, quantity abnormality, layout abnormality of the goods on the tray, and the like of the goods, but does not include placement direction abnormality of the goods.

The fork truck mechanism is vertical flexible prong, as described in the above embodiment, vertical flexible prong has four, two pair-wise arrangements, and every vertical flexible prong is driven by independent actuating mechanism and carries out vertical flexible motion to can be through the difference in height of vertical flexible prong around controlling, form the inclination, thereby with the gradient adaptation of track movement dolly.

The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.

Claims

1. A loading method, comprising:

2. The loading method according to claim 1, wherein,

the step A comprises the following steps:

3. The loading method according to claim 2, wherein,

the sequence of the step A2, the step A3, the step A4 and the step A5 can be interchanged.

During loading of the truck carriage, the data are detected in real time through the first distance sensor and the second distance sensor, and the operations of the steps A2 to A5 are repeated.

4. The loading method according to claim 2, wherein,

in step A5, the adjusting method for the auxiliary adjusting mechanism is as follows:

and when the data detected by the first distance sensor at the rear position is smaller than the data detected by the first distance sensor at the front end, controlling the auxiliary adjusting mechanism to lift the rear end of the conveying track.

The track travelling car is the movable rail (21) of track travelling car (2) to track travelling car (2) are used for carrying goods, and movable rail (21) are used for being connected with fork truck simultaneously for fork truck fork dress goods and stacking.

5. The loading method according to claim 2, wherein,

the step A also comprises the step of controlling the height of the lifting platform, and specifically comprises the following steps:

step one, judging that a wheel type structure at the front end of a conveying track is positioned on a lifting table (5);

step two, controlling the lifting platform (5) to lift, and driving the turnover plate (51) at the front end of the lifting platform (5) to turn forward to a horizontal position so as to be leveled with the lifting platform (5);

driving the truck to retreat to enable the carriage to be close to the lifting platform (5), stopping the truck when the distance between the truck and the lifting platform (5) is larger than the width of the carriage back door, and opening the carriage back door to enable the carriage bottom plate to be exposed;

Driving the truck to retreat again to enable the carriage to be continuously close to the lifting platform (5), controlling the lifting platform (5) to descend when the distance between the carriage and the lifting platform (5) is smaller than the width of the overturning plate (51), and enabling the overturning plate (51) to descend along with the descending of the lifting platform (5);

and fifthly, detecting the torque of the rotating shaft of the turnover plate (51), judging that the turnover plate (51) is connected with the bottom plate of the carriage when the torque is larger than a first preset value, and controlling the lifting platform (5) to stop descending.

6. The loading method according to claim 5, wherein,

and step six, continuously and timely detecting the torque of the rotating shaft of the turnover plate (51):

And step seven, when loading is completed, the truck is driven to advance so as to separate the carriage from contact with the turnover plate (51).

And step eight, detecting whether the conveying track is borne on the lifting platform (5), and controlling the overturning plate (51) to be folded towards the lifting platform (5) and controlling the lifting platform (5) to fall back when the conveying track is borne on the lifting platform (5).

7. The loading method according to claim 1, wherein,

the step B comprises the following steps:

8. The loading method according to claim 7, wherein,

wherein, before the step B5, the height, the conveying direction and the gradient of the track moving trolley are obtained; correspondingly, the placing direction of the goods regulated by the gantry forklift is consistent with the conveying direction of the rail-mounted trolley, the gradient of the goods regulated by the forklift mechanism of the gantry forklift is consistent with the gradient of the rail-mounted trolley, and then the goods are controlled to be placed on the rail-mounted trolley when the height of the rail-mounted trolley is equal.

The fork truck mechanism is vertical flexible prong, and vertical flexible prong has four, two opposite arrangement, and every vertical flexible prong carries out vertical flexible motion by independent actuating mechanism drive.

9. The loading method according to claim 1, wherein,

the step C comprises the following steps:

10. The loading method according to claim 9, wherein,

The second camera (45) in the step C5 is installed on the door-shaped frame (41), and when the transverse rail assembly (43) is lowered, shooting of the second camera (45) is not blocked by the transverse rail assembly (43).

Step C7 includes: the transverse rail assembly (43) moves upwards along the vertical rail assembly (42), and the goods are driven to be lifted through the two transverse moving fork tooth assemblies (44);

synchronously traversing the two traversing fork tooth assemblies (44) to the front of the position to be loaded along the transverse rail assembly (43);

the portal forklift (4) continues to move forwards, and the two transverse moving fork tooth assemblies (44) drive the tray to move to the position above the position to be loaded;

controlling the transverse rail assembly (43) to descend along the vertical rail assembly (42) and putting down the tray;

the portal fork truck (4) is controlled to retract along the travel rail (21) to remove the traversing tine assembly (44) from the pallet.

Step C8 includes lifting the cross rail assembly (43) up to the top along the vertical rail assembly (42), and moving the two traversing tine assemblies (44) laterally along the cross rail assembly (43) to one or both ends of the cross rail assembly (43);

the control trolley (22) moves along the moving rail (21) to the rear end of the moving rail (21).