CN210504792U - Intelligent unmanned loading system for stacked products - Google Patents
Intelligent unmanned loading system for stacked products Download PDFInfo
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- CN210504792U CN210504792U CN201921301519.8U CN201921301519U CN210504792U CN 210504792 U CN210504792 U CN 210504792U CN 201921301519 U CN201921301519 U CN 201921301519U CN 210504792 U CN210504792 U CN 210504792U
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Abstract
The utility model relates to a buttress dress product intelligence unmanned loading system, it contains the track support, flies fork, loading dolly, lift platform's top surface and container freight train railway carriage floor parallel and level, the track support upper end is provided with the driving track, and slidable mounting has the bridge type driving on the driving track, and bridge type driving lower part is provided with elevating system, flies the fork setting at the elevating system lower extreme, the loading dolly stops on lift platform when no load, flies the fork and gets to wait to load the buttress dress material and place it on the loading dolly from the pile up neatly turner fork under the bridge type driving drive, and the loading dolly will wait to load the buttress dress material and send into in the container freight train railway carriage again, and this system is used for in moving into the container freight train railway carriage from the pile up neatly turner with waiting to load the buttress dress material, can realize intelligent unmanned loading operation.
Description
Technical Field
The utility model relates to a buttress dress product intelligence unmanned loading system belongs to the intelligence field of making.
Background
The operation of loading stacked products is widely applied to the industrial production fields of petrifaction, cement, chemical fertilizer and the like. At present, the main mode for loading stacked products is that a forklift is driven manually or a rail type conveying mode and the like is adopted, and manual intervention is needed in the loading process. Chinese patents CN201620247706.2 and CN201710011197.2 both provide an automatic bagged material stacking and loading system, which has the disadvantage that loading can only be performed from the top of the wagon box of a wagon, and the system cannot be applied to loading of container wagons, and has limited application fields. Chinese patent CN201810512343.3 provides a full-automatic intelligent pile up neatly loading system, adopts the push pedal loading mode, and in the pile up neatly material pushed into the carriage, its shortcoming lies in promoting the in-process and takes place the pile up neatly easily crooked or loose the buttress, needs artifical guard or the buttress type of each buttress of artifical video monitoring, is difficult to unmanned.
SUMMERY OF THE UTILITY MODEL
In view of this, it is necessary to provide a technical solution for realizing intelligent unmanned loading of stacked products.
In order to solve the technical problem, the technical scheme of the utility model is that: the utility model provides an unmanned loading system of buttress dress product intelligence, unmanned loading system of buttress dress product intelligence includes:
the device comprises a track support, a flying fork, a lifting platform, a loading trolley and a control module;
a first traveling crane rail is arranged at the upper end of the rail support, a first bridge type traveling crane is slidably mounted on the first traveling crane rail, a second traveling crane rail is mounted on the first bridge type traveling crane, a second bridge type traveling crane is slidably mounted on the second traveling crane rail, and the direction of the second traveling crane rail is perpendicular to the direction of the first traveling crane rail;
the track support comprises an inlet end and an outlet end, and a wagon box parking space is arranged on the ground outside the outlet end of the track support and used for parking a wagon box to be loaded;
a stacking turner is arranged below the inlet end of the track support, when the stacking turner is in a turning state, stacked materials to be loaded are borne by strip-shaped comb teeth arranged on the stacking turner, and the length direction of the strip-shaped comb teeth is parallel to the long edge direction of the track support;
the lifting platform is arranged below the track support and is positioned at the outlet end of the track support, the long edge of the lifting platform is parallel to the long edge of the wagon box parking space, and the symmetrical center line of the lifting platform parallel to the long edge direction is superposed with the symmetrical center line of the wagon box parking space parallel to the long edge direction;
the flying fork is installed on the second bridge type travelling crane, the top of the flying fork is fixedly connected with the second bridge type travelling crane, an accessory rack is arranged at the bottom of the flying fork, a comb-tooth-type fork mounting accessory is arranged on the accessory rack and is configured with comb-tooth-type fork teeth, an accessory rack transmission mechanism is further arranged on the flying fork, an input port of the accessory rack transmission mechanism is connected with an output port of the control module, the accessory rack transmission mechanism can drive the comb-tooth-type fork mounting accessory to vertically move, an upper limit position is arranged on the accessory rack in the vertical direction, the upper limit position is a lifting position of the accessory rack, the accessory rack has a lower limit position in the vertical direction, and the lower limit position is an initial position of the accessory rack;
the accessory rack transmission mechanism is a liquid path system, the accessory rack transmission mechanism liquid path system comprises a liquid path motor and an accessory rack transmission servo valve, the accessory rack transmission servo valve is arranged on a liquid path for pushing the accessory rack to move, a control signal output to the accessory rack transmission mechanism liquid path system by the control module is a voltage signal and is controlled by 0-10V, a low voltage interval value of 0.5-4.5V corresponds to the rising of the accessory rack, and a high voltage interval value of 5.5-9.5V corresponds to the falling of the accessory rack;
the loading trolley travels back and forth between the lifting platform and the interior of the truck carriage;
a storage unit is also arranged in the control module;
the orbital tip of first driving is provided with first bridge type driving displacement distance measuring sensor, and first bridge type driving displacement distance measuring sensor's output port and control module's input port are connected, and the orbital tip of second driving is provided with second bridge type driving displacement distance measuring sensor, and second bridge type driving displacement distance measuring sensor's output port and control module's input port are connected, control module's output port is connected with the input port of first bridge type driving, second bridge type driving respectively.
The lifting platform comprises a hydraulic transmission mechanism and a top flat plate structure, the hydraulic transmission mechanism is arranged between the ground and the top flat plate structure, and the height of the lifting platform in the vertical direction can be adjusted through the hydraulic transmission mechanism;
the input port of the hydraulic transmission mechanism is connected with the output port of the control module;
the hydraulic transmission mechanism is a hydraulic system, the hydraulic system of the hydraulic transmission mechanism comprises a hydraulic motor and a lifting platform transmission servo valve, the lifting platform transmission servo valve is arranged on the hydraulic system of the hydraulic transmission mechanism, a control signal output by the control module to the hydraulic system of the hydraulic transmission mechanism is a voltage signal and is controlled by 0-10V, a low voltage interval value is 0.5-4.5V and corresponds to the lifting platform to rise, and a high voltage interval value is 5.5-9.5V and corresponds to the lifting platform to fall;
the symmetrical center line of the top flat plate structure parallel to the long edge direction is superposed with the symmetrical center line of the lifting platform parallel to the long edge direction;
a first distance measuring sensor is arranged on the outer side wall of the top flat plate structure, which is close to a parking space of a wagon box of the wagon, and the first distance measuring sensor is arranged on a vertical symmetrical center line of the side wall and is close to the top of the side wall in the vertical direction;
the output port of the first ranging sensor is connected with the input port of the control module;
the flat plate structure at the top of the lifting platform is provided with side baffle plates on three other sides except one side adjacent to a parking space of a wagon box of the wagon, and the side baffle plates exceed the upper surface of the flat plate structure at the top.
The loading trolley is provided with a chassis, the height of the chassis is smaller than the height of the lifting platform side baffle plate exceeding the upper surface of the lifting platform top flat plate structure, a second distance measuring sensor and a third distance measuring sensor are respectively arranged at the front end and the rear end of the right side wall of the chassis, the output ports of the second distance measuring sensor and the third distance measuring sensor are connected with the input port of the control module, and the second distance measuring sensor and the third distance measuring sensor output the distance between the right side wall of the loading trolley and the lifting platform side baffle plate;
a steering wheel and a driven wheel are arranged at the bottom of a chassis of the loading trolley, and an input port of the steering wheel is connected with an output port of the control module;
the top of the loading trolley is provided with a rotary laser ranging sensor, and an output port of the rotary laser ranging sensor is connected with an input port of the control module;
the loading trolley is provided with a pusher attachment, the pusher attachment is provided with a pusher attachment transmission mechanism, and an input port of the pusher attachment transmission mechanism is connected with an output port of the control module;
a fourth distance measuring sensor is arranged on the side wall of the chassis on one side of the back face of the ejector accessory, an output port of the fourth distance measuring sensor is connected with an input port of the control module, and the fourth distance measuring sensor outputs the distance between the side wall of the chassis on one side of the back face of the loading trolley and a side baffle of the lifting platform behind the loading trolley;
the bottom surface of the ejector accessory is provided with second strip-shaped comb teeth, and the second strip-shaped comb teeth are the same as the strip-shaped comb teeth arranged on the stacking turner;
the loading trolley is provided with a side encircling clamping plate.
An intelligent unmanned loading method for stacked products, comprising the following steps:
the truck box is parked into a parking space of the truck box;
the lifting platform moves up and down in the vertical direction to find the minimum value of the measurement value of the first distance measuring sensor and stays at the position corresponding to the minimum value;
judging whether the minimum value of the measurement value of the first distance measuring sensor is smaller than a preset value, if so, carrying out the next step, and if not, carrying out the step of parking the truck box into the parking space of the truck box again;
forking the stacked materials to be loaded from the stacking turner by the flying fork;
placing the stacked materials to be loaded on a loading trolley by using a flying fork;
the loading trolley conveys the stacked materials to be loaded into the truck carriage;
and returning the loading trolley to the initial position.
The lift platform reciprocates in the vertical direction and finds the minimum of first range finding sensor measuring value to stop at the position that this minimum corresponds, still include:
the top flat plate structure of the lifting platform is driven by a hydraulic transmission mechanism to vertically ascend to the highest limit position and then move downwards; the hydraulic transmission mechanism drives the first distance measuring sensor to send a measured value to the control module in real time in the process of driving the top flat plate structure to move; the control module stores the received measured value in the storage unit, continuously compares the relative size between the latest received measured value and the previous measured value, and records the previous measured value as the minimum value when the latest received measured value is larger than the previous measured value; then the control module sends a rising control signal to the hydraulic transmission mechanism, the hydraulic transmission mechanism drives the top flat plate structure to move upwards, and the hydraulic transmission mechanism stops moving until the latest received measured value is equal to the recorded minimum value;
fly to fork and get from pile up neatly turner fork and wait to load a car buttress dress material, still include:
the control module takes the numerical value received from the first bridge type travelling crane displacement distance measuring sensor as the ordinate of the flying fork in a two-dimensional plane and records the numerical value in the storage unit, and the control module takes the numerical value received from the second bridge type travelling crane displacement distance measuring sensor as the abscissa of the flying fork in the two-dimensional plane and records the numerical value in the storage unit;
the control module sends a control signal to the accessory rack transmission mechanism to enable the accessory rack to be at an initial position;
further, a starting position coordinate value of the flying fork in the two-dimensional plane is stored in the control module, and the control module controls the displacement of the second bridge type travelling crane and the displacement of the first bridge type travelling crane in sequence to enable the flying fork to be located at the starting position in the two-dimensional plane;
when the flying fork is in the starting position, comb-tooth-shaped fork teeth of the comb-tooth-shaped fork attachment of the flying fork are just inserted into gaps among the strip-shaped comb teeth on the stacking turner;
further, the control module sends a control signal to the accessory frame transmission mechanism to lift the accessory frame to a lifting position, and the stacked materials to be loaded are separated from the stacking turner.
Fly the fork and will treat that loading stack dress material is placed to the loading dolly on, still include:
the control module takes the numerical value received from the fourth distance measuring sensor as the ordinate of the loading trolley in the two-dimensional plane and records the ordinate in the storage unit, and the control module takes the numerical value received from the second distance measuring sensor as the abscissa of the loading trolley in the two-dimensional plane and records the abscissa in the storage unit;
the control module is internally stored with a parking position abscissa and an ordinate of the loading trolley, when the loading trolley is positioned at the parking position, the numerical values output to the control module by the second distance measuring sensor and the third distance measuring sensor are equal, and the second strip-shaped comb teeth face towards the wagon box;
the control module is internally stored with a vertical coordinate of a folding position of the flying fork, the folding position of the flying fork is different from the lifting position of the flying fork only in the vertical coordinate, and the control module moves the flying fork to the folding position by controlling the displacement of the first bridge type travelling crane; the control module further controls the displacement of the second bridge type travelling crane to transversely move the flying fork to the position right in front of the parking position of the loading trolley; the control module further controls the displacement of the first bridge type traveling crane to longitudinally move the flying fork to the parking position of the loading trolley;
the control module sends a control signal to the accessory rack transmission mechanism, the accessory rack is descended to the initial position of the accessory rack, and the stacked materials to be loaded are separated from the flying fork;
and the flying fork reversely displaces along the original path and returns to the starting position.
The loading dolly will treat in the freight train railway carriage of loading stack dress material transportation, still includes:
the control module sends a control instruction to the steering wheel, and the steering wheel rotates forwards to push the loading trolley to drive to the truck box;
the control instruction sent to the steering wheel by the control module is a digital signal, the steering wheel is provided with a driving module, a motor module and a battery module, the driving module drives the motor module to work according to the control instruction of the control module, and the battery module of the steering wheel is installed on the lower surface of a chassis of the loading trolley;
the rotary laser ranging sensor of the loading trolley sends the distance between the loading trolley and the inner wall of the truck carriage to the control module in real time, the control module enables the loading trolley to run to a specified position in the truck carriage by controlling the advancing direction and the stroke of the steering wheel, and the control module enables the ejector accessory to push out the materials to be stacked from the loading trolley by controlling the ejector accessory transmission mechanism, so that the separation of the materials to be stacked from the loading trolley is realized.
The loading dolly returns initial position, still includes:
the control module controls the advancing direction and the travel of the steering wheel to enable the loading trolley to reversely return to the parking position along the original path.
Compared with the prior art, the utility model discloses following beneficial effect has: can wait to load automatically that the pile up neatly dress material sends into inside the container railway carriage, do not need manual intervention, this system can directly dock the pile up neatly turner, loads to the pile up neatly dress material that removes behind the tray, accords with the operation demand of production line.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
Fig. 1 is a schematic flow chart of an intelligent unmanned loading method for stacked products.
Fig. 2 is a schematic diagram of an intelligent unmanned loading system for stacked products.
Detailed Description
To further illustrate the technical means and effects of the present invention adopted to achieve the intended purpose, the following detailed description of the embodiments, structures, features and effects according to the present invention will be made with reference to the accompanying drawings and preferred embodiments.
As shown in fig. 1-2, an intelligent unmanned loading system for stacked products comprises:
the device comprises a track support 1, a flying fork 2, a lifting platform 3, a loading trolley 4 and a control module;
a first traveling crane track is arranged at the upper end of the track support 1, a first bridge type traveling crane is slidably mounted on the first traveling crane track, a second traveling crane track is mounted on the first bridge type traveling crane 5, a second bridge type traveling crane 6 is slidably mounted on the second traveling crane track, and the direction of the second traveling crane track is perpendicular to the direction of the first traveling crane track;
the track support 1 comprises an inlet end and an outlet end, and a wagon box parking space is arranged on the ground outside the outlet end of the track support and used for parking a wagon box 7 to be loaded;
a stacking turner 8 is arranged below the inlet end of the track support 1, when the stacking turner 8 is in a turning state, stacked materials to be loaded are borne by strip-shaped comb teeth arranged on the stacking turner 8, and the length direction of the strip-shaped comb teeth is parallel to the long edge direction of the track support 1;
the lifting platform 3 is arranged below the track support 1 and is positioned at the outlet end of the track support 1, the long edge of the lifting platform 3 is parallel to the long edge of the wagon box parking space, and the symmetrical center line of the lifting platform 3 parallel to the long edge direction is superposed with the symmetrical center line of the wagon box parking space parallel to the long edge direction;
the flying fork 2 is installed on a second bridge type travelling crane 6, the top of the flying fork 2 is fixedly connected with the second bridge type travelling crane 6, an accessory rack is arranged at the bottom of the flying fork 2, a comb-tooth type fork installation accessory is arranged on the accessory rack and is configured with comb-tooth type fork teeth, the flying fork is further provided with an accessory rack transmission mechanism, an input port of the accessory rack transmission mechanism is connected with an output port of a control module, the accessory rack transmission mechanism can drive the comb-tooth type fork installation accessory to vertically move, the accessory rack is provided with an upper limit position in the vertical direction, the upper limit position is a lifting position of the accessory rack, the accessory rack is provided with a lower limit position in the vertical direction, and the lower limit position is an initial position of the accessory rack;
the accessory rack transmission mechanism is a liquid path system, the accessory rack transmission mechanism liquid path system comprises a liquid path motor and an accessory rack transmission servo valve, the accessory rack transmission servo valve is arranged on a liquid path for pushing the accessory rack to move, a control signal output to the accessory rack transmission mechanism liquid path system by the control module is a voltage signal and is controlled by 0-10V, a low voltage interval value of 0.5-4.5V corresponds to the rising of the accessory rack, and a high voltage interval value of 5.5-9.5V corresponds to the falling of the accessory rack;
the loading trolley 4 travels back and forth between the lifting platform 3 and the interior of the truck carriage 7;
a storage unit is also arranged in the control module;
the orbital tip of first driving is provided with first bridge type driving displacement distance measuring sensor, and first bridge type driving displacement distance measuring sensor's output port and control module's input port are connected, and the orbital tip of second driving is provided with second bridge type driving displacement distance measuring sensor, and second bridge type driving displacement distance measuring sensor's output port and control module's input port are connected, control module's output port is connected with the input port of first bridge type driving, second bridge type driving respectively.
The lifting platform 3 comprises a hydraulic transmission mechanism and a top flat plate structure, the hydraulic transmission mechanism is arranged between the ground and the top flat plate structure, and the height of the lifting platform in the vertical direction can be adjusted through the hydraulic transmission mechanism;
the input port of the hydraulic transmission mechanism is connected with the output port of the control module;
the hydraulic transmission mechanism is a hydraulic system, the hydraulic system of the hydraulic transmission mechanism comprises a hydraulic motor and a lifting platform transmission servo valve, the lifting platform transmission servo valve is arranged on the hydraulic system of the hydraulic transmission mechanism, a control signal output by the control module to the hydraulic system of the hydraulic transmission mechanism is a voltage signal and is controlled by 0-10V, a low voltage interval value is 0.5-4.5V and corresponds to the lifting platform to rise, and a high voltage interval value is 5.5-9.5V and corresponds to the lifting platform to fall;
the symmetrical center line of the top flat plate structure parallel to the long edge direction is superposed with the symmetrical center line of the lifting platform parallel to the long edge direction;
a first distance measuring sensor is arranged on the outer side wall of the top flat plate structure, which is close to a parking space of a wagon box of the wagon, and the first distance measuring sensor is arranged on a vertical symmetrical center line of the side wall and is close to the top of the side wall in the vertical direction;
the output port of the first ranging sensor is connected with the input port of the control module;
the top flat plate structure of the lifting platform 3 is characterized in that side baffle plates are arranged on the other three sides except one side adjacent to a parking space of a wagon box of the wagon, and the side baffle plates exceed the upper surface of the top flat plate structure.
The loading trolley 4 is provided with a chassis, the height of the chassis is smaller than the height of the lifting platform side baffle plate exceeding the upper surface of the lifting platform top flat plate structure, a second distance measuring sensor and a third distance measuring sensor are respectively arranged at the front end and the rear end of the right side wall of the chassis, the output ports of the second distance measuring sensor and the third distance measuring sensor are connected with the input port of the control module, and the second distance measuring sensor and the third distance measuring sensor output the distance between the loading trolley right side wall and the lifting platform side baffle plate;
a steering wheel and a driven wheel are arranged at the bottom of a chassis of the loading trolley 4, and an input port of the steering wheel is connected with an output port of the control module;
the top of the loading trolley 4 is provided with a rotary laser ranging sensor 9, and an output port of the rotary laser ranging sensor 9 is connected with an input port of the control module;
the loading trolley 4 is provided with a pusher attachment, the pusher attachment is provided with a pusher attachment transmission mechanism, and an input port of the pusher attachment transmission mechanism is connected with an output port of the control module;
a fourth distance measuring sensor is arranged on the side wall of the chassis on one side of the back face of the ejector accessory, an output port of the fourth distance measuring sensor is connected with an input port of the control module, and the fourth distance measuring sensor outputs the distance between the side wall of the chassis on one side of the back face of the loading trolley and a side baffle of the lifting platform behind the loading trolley;
the bottom surface of the ejector accessory is provided with second strip-shaped comb teeth 11, and the second strip-shaped comb teeth 11 are the same as the strip-shaped comb teeth arranged on the stacking turner;
the loading trolley 4 is provided with a side encircling clamp plate 10.
An intelligent unmanned loading method for stacked products, comprising the following steps:
s101: the wagon box 7 of the wagon is parked into a wagon box parking space;
s102: the lifting platform 3 moves up and down in the vertical direction to find the minimum value of the measurement value of the first distance measuring sensor and stays at the position corresponding to the minimum value;
s103: judging whether the minimum value of the measurement value of the first distance measuring sensor is smaller than a preset value, if so, carrying out the next step, and if not, carrying out the step of parking the truck box into the parking space of the truck box again;
s104: the flying fork 2 forks the stacking turner 8 to take stacked materials to be loaded;
s105: the flying fork 2 places the stacked materials to be loaded on the loading trolley 4;
s106: the loading trolley 4 conveys the materials to be loaded and stacked into a truck carriage 7;
s107: the loading trolley 4 returns to the starting position.
the top flat plate structure of the lifting platform 3 is driven by a hydraulic transmission mechanism to vertically ascend to the highest limit position and then move downwards; the hydraulic transmission mechanism drives the first distance measuring sensor to send a measured value to the control module in real time in the process of driving the top flat plate structure to move; the control module stores the received measured value in the storage unit, continuously compares the relative size between the latest received measured value and the previous measured value, and records the previous measured value as the minimum value when the latest received measured value is larger than the previous measured value; then the control module sends a rising control signal to the hydraulic transmission mechanism, the hydraulic transmission mechanism drives the top flat plate structure to move upwards, and the hydraulic transmission mechanism stops moving until the latest received measured value is equal to the recorded minimum value;
fly fork 2 to fork from pile up neatly turner 8 and wait to load the buttress material, still include:
the control module takes the numerical value received from the first bridge type travelling crane displacement distance measuring sensor as the ordinate of the flying fork in a two-dimensional plane and records the numerical value in the storage unit, and the control module takes the numerical value received from the second bridge type travelling crane displacement distance measuring sensor as the abscissa of the flying fork in the two-dimensional plane and records the numerical value in the storage unit;
the control module sends a control signal to the accessory rack transmission mechanism to enable the accessory rack to be at an initial position;
further, a starting position coordinate value of the flying fork 2 in the two-dimensional plane is stored in the control module, and the control module controls the displacement of the second bridge type traveling crane and the displacement of the first bridge type traveling crane in sequence to enable the flying fork to be located at the starting position in the two-dimensional plane;
when the flying fork 2 is in the starting position, comb-tooth-shaped fork teeth of the comb-tooth-shaped fork attachment of the flying fork are just inserted into gaps of strip-shaped comb teeth on the stacking turner 8;
further, the control module sends a control signal to the accessory rack transmission mechanism to lift the accessory rack to a lifting position, and the stacked materials to be loaded are separated from the stacking turner 8.
Fly fork 2 will treat that loading stack dress material is placed to loading dolly 4 on, still include:
the control module takes the numerical value received from the fourth distance measuring sensor as the ordinate of the loading trolley 4 in the two-dimensional plane and records the ordinate in the storage unit, and the control module takes the numerical value received from the second distance measuring sensor as the abscissa of the loading trolley 4 in the two-dimensional plane and records the abscissa in the storage unit;
the control module is internally stored with the parking position abscissa and ordinate of the loading trolley 4, when the loading trolley is positioned at the parking position, the numerical values output to the control module by the second distance measuring sensor and the third distance measuring sensor are equal, and the second strip-shaped comb teeth 11 face towards the truck box;
the control module is internally stored with a vertical coordinate of the folding position of the flying fork 2, the folding position of the flying fork 2 is different from the lifting position of the flying fork 2 only in the vertical coordinate, and the control module controls the displacement of the first bridge type travelling crane 5 to move the flying fork to the folding position; the control module further controls the displacement of the second bridge type traveling crane 6 to transversely move the flying fork 2 to the position right in front of the parking position of the loading trolley 4; the control module further controls the displacement of the first bridge type traveling crane 5 to longitudinally move the flying fork 2 to the parking position of the loading trolley 4;
the control module sends a control signal to the accessory rack transmission mechanism, the accessory rack is descended to the initial position of the accessory rack, and the materials to be loaded and stacked are separated from the flying fork 2;
the flyer 2 is reversely displaced along the original path to return to the starting position.
The loading dolly 4 will treat in the freight train railway carriage 7 of loading stack dress material transportation, still include:
the control module sends a control instruction to the steering wheel, and the steering wheel rotates forwards to push the loading trolley 4 to drive to the truck box;
the control instruction sent to the steering wheel by the control module is a digital signal, the steering wheel is provided with a driving module, a motor module and a battery module, the driving module drives the motor module to work according to the control instruction of the control module, and the battery module of the steering wheel is installed on the lower surface of the chassis of the loading trolley 4;
the rotary laser ranging sensor 9 of the loading trolley 4 sends the distance between the loading trolley 4 and the inner wall of the truck carriage 7 to the control module in real time, the control module enables the loading trolley 4 to run to the designated position in the truck carriage by controlling the advancing direction and the stroke of the steering wheel, and the control module enables the ejector accessory to push the materials to be stacked to be loaded out of the loading trolley 4 by controlling the ejector accessory transmission mechanism, so that the materials to be stacked to be loaded are separated from the loading trolley 4.
The loading trolley 4 returns to the initial position, and further comprises:
the control module controls the advancing direction and the travel of the steering wheel to enable the loading trolley 4 to reversely return to the parking position along the original path.
The above description is only a preferred embodiment of the present invention, and the present invention is not limited to the above description, and although the present invention has been disclosed by the preferred embodiment, it is not limited to the present invention, and any person skilled in the art can make modifications or changes equivalent to the equivalent embodiments by utilizing the above disclosed technical contents without departing from the technical scope of the present invention, but all the modifications, changes and changes of the technical spirit of the present invention made to the above embodiments are also within the scope of the technical solution of the present invention.
Claims (3)
1. The utility model provides an unmanned loading system of buttress dress product intelligence which characterized in that, unmanned loading system of buttress dress product intelligence includes:
the device comprises a track support, a flying fork, a lifting platform, a loading trolley and a control module;
a first traveling crane rail is arranged at the upper end of the rail support, a first bridge type traveling crane is slidably mounted on the first traveling crane rail, a second traveling crane rail is mounted on the first bridge type traveling crane, a second bridge type traveling crane is slidably mounted on the second traveling crane rail, and the direction of the second traveling crane rail is perpendicular to the direction of the first traveling crane rail;
the track support comprises an inlet end and an outlet end, and a wagon box parking space is arranged on the ground outside the outlet end of the track support and used for parking a wagon box to be loaded;
a stacking turner is arranged below the inlet end of the track support, when the stacking turner is in a turning state, stacked materials to be loaded are borne by strip-shaped comb teeth arranged on the stacking turner, and the length direction of the strip-shaped comb teeth is parallel to the long edge direction of the track support;
the lifting platform is arranged below the track support and is positioned at the outlet end of the track support, the long edge of the lifting platform is parallel to the long edge of the wagon box parking space, and the symmetrical center line of the lifting platform parallel to the long edge direction is superposed with the symmetrical center line of the wagon box parking space parallel to the long edge direction;
the flying fork is installed on the second bridge type travelling crane, the top of the flying fork is fixedly connected with the second bridge type travelling crane, an accessory rack is arranged at the bottom of the flying fork, a comb-tooth-type fork mounting accessory is arranged on the accessory rack and is configured with comb-tooth-type fork teeth, an accessory rack transmission mechanism is further arranged on the flying fork, an input port of the accessory rack transmission mechanism is connected with an output port of the control module, the accessory rack transmission mechanism can drive the comb-tooth-type fork mounting accessory to vertically move, an upper limit position is arranged on the accessory rack in the vertical direction, the upper limit position is a lifting position of the accessory rack, the accessory rack has a lower limit position in the vertical direction, and the lower limit position is an initial position of the accessory rack;
the loading trolley travels back and forth between the lifting platform and the interior of the truck carriage;
a storage unit is also arranged in the control module;
the orbital tip of first driving is provided with first bridge type driving displacement distance measuring sensor, and first bridge type driving displacement distance measuring sensor's output port and control module's input port are connected, and the orbital tip of second driving is provided with second bridge type driving displacement distance measuring sensor, and second bridge type driving displacement distance measuring sensor's output port and control module's input port are connected, control module's output port is connected with the input port of first bridge type driving, second bridge type driving respectively.
2. The intelligent unmanned carloading system for stacked products according to claim 1, wherein the lifting platform comprises a hydraulic transmission mechanism and a top flat plate structure, the hydraulic transmission mechanism is arranged between the ground and the top flat plate structure, and the hydraulic transmission mechanism can adjust the height of the lifting platform in the vertical direction;
the input port of the hydraulic transmission mechanism is connected with the output port of the control module;
the symmetrical center line of the top flat plate structure parallel to the long edge direction is superposed with the symmetrical center line of the lifting platform parallel to the long edge direction;
a first distance measuring sensor is arranged on the outer side wall of the top flat plate structure, which is close to a parking space of a wagon box of the wagon, and the first distance measuring sensor is arranged on a vertical symmetrical center line of the side wall and is close to the top of the side wall in the vertical direction;
the output port of the first ranging sensor is connected with the input port of the control module;
the flat plate structure at the top of the lifting platform is provided with side baffle plates on three other sides except one side adjacent to a parking space of a wagon box of the wagon, and the side baffle plates exceed the upper surface of the flat plate structure at the top.
3. The intelligent unmanned loading system for stacked products according to claim 1, wherein the loading trolley is provided with a chassis, the height of the chassis is less than the height of the lifting platform side baffle plate exceeding the upper surface of the lifting platform top flat plate structure, the front end and the rear end of the right side wall of the chassis are respectively provided with a second distance measuring sensor and a third distance measuring sensor, the output ports of the second distance measuring sensor and the third distance measuring sensor are connected with the input port of the control module, and the second distance measuring sensor and the third distance measuring sensor output the distance between the right side wall of the loading trolley and the lifting platform side baffle plate;
a steering wheel and a driven wheel are arranged at the bottom of a chassis of the loading trolley, and an input port of the steering wheel is connected with an output port of the control module;
the top of the loading trolley is provided with a rotary laser ranging sensor, and an output port of the rotary laser ranging sensor is connected with an input port of the control module;
the loading trolley is provided with a pusher attachment, the pusher attachment is provided with a pusher attachment transmission mechanism, and an input port of the pusher attachment transmission mechanism is connected with an output port of the control module;
a fourth distance measuring sensor is arranged on the side wall of the chassis on one side of the back face of the ejector accessory, an output port of the fourth distance measuring sensor is connected with an input port of the control module, and the fourth distance measuring sensor outputs the distance between the side wall of the chassis on one side of the back face of the loading trolley and a side baffle of the lifting platform behind the loading trolley;
the bottom surface of the ejector accessory is provided with second strip-shaped comb teeth, and the second strip-shaped comb teeth are the same as the strip-shaped comb teeth arranged on the stacking turner;
the loading trolley is provided with a side encircling clamping plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921301519.8U CN210504792U (en) | 2019-08-12 | 2019-08-12 | Intelligent unmanned loading system for stacked products |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921301519.8U CN210504792U (en) | 2019-08-12 | 2019-08-12 | Intelligent unmanned loading system for stacked products |
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| CN210504792U true CN210504792U (en) | 2020-05-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201921301519.8U Withdrawn - After Issue CN210504792U (en) | 2019-08-12 | 2019-08-12 | Intelligent unmanned loading system for stacked products |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110356872A (en) * | 2019-08-12 | 2019-10-22 | 龙合智能装备制造有限公司 | Pile fills the unmanned loading system of product intelligent and method |
| CN114516549A (en) * | 2022-02-24 | 2022-05-20 | 哈工大机器人（合肥）国际创新研究院 | Material loading system with translation mechanism |
-
2019
- 2019-08-12 CN CN201921301519.8U patent/CN210504792U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110356872A (en) * | 2019-08-12 | 2019-10-22 | 龙合智能装备制造有限公司 | Pile fills the unmanned loading system of product intelligent and method |
| CN110356872B (en) * | 2019-08-12 | 2024-02-23 | 龙合智能装备制造有限公司 | Intelligent unmanned stacked product loading system and method |
| CN114516549A (en) * | 2022-02-24 | 2022-05-20 | 哈工大机器人（合肥）国际创新研究院 | Material loading system with translation mechanism |
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