CN211643469U

CN211643469U - Goods stacking and correcting system

Info

Publication number: CN211643469U
Application number: CN201921654076.0U
Authority: CN
Inventors: 王毓珩; 邹小青
Original assignee: Fuzhou Guohua Intelligent Technology Co Ltd
Current assignee: Fuzhou Guohua Intelligent Technology Co Ltd
Priority date: 2019-09-30
Filing date: 2019-09-30
Publication date: 2020-10-09
Anticipated expiration: 2029-09-30

Abstract

The utility model provides a goods stacking and correcting system, which comprises a tray positioning device, a first lifting mechanism, a horizontal driving device and at least one correcting group, wherein the tray positioning device is used for positioning a tray at a preset position; the correcting group is connected to the first lifting mechanism in a lifting mode, and the correcting group is connected to the first lifting mechanism in a sliding mode horizontally along a diagonal line of the tray; the horizontal driving device drives the two correcting pieces of each correcting group to synchronously move towards or away from each other horizontally along the diagonal line of the tray. The utility model discloses a tray positioner fixes a position the tray on preset's position to the realization uses the tray as the benchmark, then passes through the horizontal drive device drive it promotes the goods with four face directions of goods in step to rectify the group, thereby finally pushes forward the goods and realize adopting machinery to rectify, replaces artifical the correction, has improved efficiency, precision to and reduce human cost and workman's intensity of labour.

Description

Goods stacking and correcting system

[ technical field ] A method for producing a semiconductor device

The utility model relates to a goods piles up technical field, especially a goods piles up correction system.

[ background of the invention ]

In the process of goods transportation or warehouse storage, goods are usually stacked on the pallet or the tray, the pallet or the tray is used as a support carrier, and transportation or storage is convenient, so that the goods are stacked on the pallet as well as better, and the goods are convenient to load.

However, the conventional goods stacking usually adopts manual operation, the goods are stacked on the pallet or the tray through manpower, and in the process of stacking the goods on the pallet, along with the increase of the height of the stacked goods, the situation of incorrect stacking, namely the situation that the goods above the stacked goods are inclined, is inevitable, because the goods at the bottom are easily put right when the goods are stacked, and the goods at the bottom are difficult to be stacked more above the goods. On the one hand, in the process of loading goods, the goods of a pallet or a tray easily occupy more space on the truck due to the fact that the goods are inclined greatly, and the total amount of the goods loaded by the truck can be reduced, more trucks are needed to transport the goods, or the number of times of transportation needs to be increased, so that the cost is increased invisibly. On the other hand, if the stack is inclined by a large amount, the goods are easy to incline and collapse, the goods are damaged if the stack is light, and the safety of personnel is endangered if the stack is heavy.

Therefore, in the conventional cargo stacking process, the correction is usually performed manually, so as to minimize the skew degree of the cargo on the pallet or tray. This approach is also acceptable for small quantities of goods; however, in mass industrial production, manual correction is adopted, visual inspection is basically adopted, the correction precision is not high, the correction precision of each tray fluctuates greatly, and sometimes even multiple workers are required to perform cooperative operation.

[ Utility model ] content

For overcoming the defect that existing equipment exists, the utility model provides a goods piles up correction system adopts machinery to rectify, replaces artifical the correction, has improved efficiency, precision to and reduce human cost and workman's intensity of labour.

The utility model discloses a realize like this: a system for correcting stacking of goods comprises

A tray positioning device for positioning the tray at a preset position;

at least one correction group, wherein each correction group comprises two correction pieces; each correcting piece comprises a first vertical correcting plane and a second vertical correcting plane which are perpendicular to each other, and an opening is formed between the first vertical correcting plane and the second vertical correcting plane; the two correction pieces of each correction group are symmetrically arranged on two sides of the tray along a diagonal line of the tray, first vertical correction planes of the two correction pieces are oppositely arranged, and second vertical correction planes of the two correction pieces are oppositely arranged respectively;

the first lifting mechanism is connected with the correcting group in a lifting manner, and the correcting group is horizontally and slidably connected with the first lifting mechanism along the diagonal line of the tray;

the horizontal driving device drives the two correcting pieces of each correcting group to synchronously move towards or away from each other horizontally along the diagonal line of the tray.

Further, the tray positioning device comprises a first limiting device, a second limiting device, a horizontal pushing mechanism and a detection device for detecting the position of the tray;

the first limiting device comprises a second lifting mechanism and a limiting piece; the second lifting mechanism comprises a second fixing part and a second lifting part which are connected with each other; the second lifting part is fixedly connected with the limiting part, the limiting part is positioned in front of the tray, and the limiting part is higher than the bottom surface of the tray after being lifted but smaller than the top surface of the tray and is lower than the bottom surface of the tray after being lowered;

the second limiting device is linearly arranged on one side edge of the tray;

the horizontal pushing mechanism comprises a third executing element, and the third executing element is arranged on the other side edge of the tray and vertically faces to one side edge where the second limiting device is located.

Furthermore, the second limiting device comprises a plurality of rotary blocking pieces, each rotary blocking piece comprises a vertically arranged rotating shaft, and a rotating sleeve is sleeved on each rotating shaft;

or the rotating barrier is a roller.

Further, each horizontal driving device comprises a driving group, and the number of the driving groups is equal to that of the correction groups; each driving group comprises two first actuators; the two first executing elements are oppositely and symmetrically arranged on the outer sides of the two correcting parts of the same correcting group along the diagonal line, and each first executing element can separately abut against one correcting part.

Further, the device also comprises a support frame;

the first lifting mechanism comprises a lifting motor, a wire twisting disc, a pulley, a steel rope and a connecting seat; the lifting motor is fixedly connected to the support frame; the pulley can be rotatably connected to the top surface of the connecting seat; the wire twisting disc is fixedly connected to an output shaft of the lifting motor; one end of the steel rope is fixedly connected to the wire winding disc, and the other end of the steel rope penetrates through the pulley groove of the pulley and is fixedly connected with the steel rope; each correction group is horizontally connected to the connecting seat in a sliding mode along the diagonal line.

Further, the device also comprises a sliding group; the number of the sliding groups is equal to that of the correction pieces; each sliding group comprises a sliding rail and a sliding block which are connected in a sliding manner; the sliding rail is fixedly connected to the connecting seat; the slider is fixedly connected to the correcting part.

Further, each horizontal driving device also comprises a horizontal reset driving group,

the number of the horizontal reset driving groups is equal to that of the driving groups;

each horizontal reset driving group comprises two second executive elements; the two second execution elements are arranged along the diagonal line in an anti-parallel mode and fixedly connected to the connecting seat, and meanwhile each second execution element can separately abut against the sliding block.

Further, the first actuator and the second actuator are hydraulic cylinders respectively.

Furthermore, each first execution element is fixedly connected to the support frame.

Further, the device also comprises guide support groups, and the number of the guide support groups is equal to that of the correction groups; each guide support group comprises two rails and two wheels; the two wheels are correspondingly connected to the bottoms of the two correcting pieces of the same correcting group one by one; the two rails are horizontally arranged along the diagonal; each wheel is connected to one rail in a one-to-one rolling manner.

The utility model has the advantages that: a goods stacking correction system comprises a tray positioning device, a first lifting mechanism, a horizontal driving device and at least one correction group, wherein the tray positioning device is used for positioning a tray at a preset position; the correcting group is connected to the first lifting mechanism in a lifting mode, and the correcting group is connected to the first lifting mechanism in a sliding mode horizontally along a diagonal line of the tray; the horizontal driving device drives the two correcting pieces of each correcting group to synchronously move towards or away from each other horizontally along the diagonal line of the tray. The utility model discloses a tray positioner is with the tray location on preset position to realize taking the tray as the benchmark, then through horizontal drive arrangement drive the correction group promotes the goods with four face directions of goods in step, finally pushes up the goods, thereby realizes adopting machinery to rectify, replaces artifical correction, has improved efficiency, precision to and reduced human cost and workman's intensity of labour; and the correction group is lifted by the first lifting mechanism, so that the floor space in the horizontal direction can be saved.

[ description of the drawings ]

The invention will be further described with reference to the following examples with reference to the accompanying drawings.

Fig. 1 and fig. 2 are perspective views of the cargo stack correction system according to the present invention.

Fig. 3 and 4 are schematic diagrams illustrating the effect of the cargo stacking correction system according to the present invention.

Fig. 5 is a perspective view of the cargo stack correction system after a correction member is removed.

Fig. 6 is a schematic structural view of the first limiting device of the present invention.

Fig. 7 to 9 are schematic structural views of the sliding set and the connecting seat according to the present invention.

Fig. 10 is a perspective view of the cargo handling system of the present invention.

Fig. 11 and 12 are perspective views of the assembly of the X-axis moving module, the Y-axis moving module, the Z-axis moving module, the support frame and the fork according to the present invention.

Fig. 13 is a side view of the assembly of the X-axis moving module, the Y-axis moving module, the Z-axis moving module, the supporting frame and the fork of the present invention.

Fig. 14 is a control schematic block diagram of the controller according to the present invention.

Fig. 15 is a top view of the X-axis moving module, the Y-axis moving module, the Z-axis moving module, the supporting frame and the fork assembly.

Fig. 16 is a schematic structural diagram of the X-axis moving module according to the present invention.

Fig. 17 is a perspective view of a conveying unit in the conveying device of the present invention.

Fig. 18 is a bottom view of a conveying unit in the conveying apparatus of the present invention.

Fig. 19 is a side view of a conveying unit of the conveying apparatus according to the present invention.

Fig. 20 is a front view of a conveying unit in the conveying apparatus according to the present invention.

Fig. 21 is an effect schematic diagram of the cargo stacking correction system of the present invention applied to the cargo handling system.

Fig. 22 and 23 are schematic structural views of the correcting element of the present invention.

Description of reference numerals:

the cargo handling system 100 as described herein is,

the conveying device 1, the conveying line body 11, the conveying frame 111, the conveying motor 112, the roller 113, the blocking device 12, the second lifting mechanism 121, the second fixing portion 1211, the second lifting portion 1212, the limiting member 122, the vertical limiting rod 1221, the supporting plate 1222, the position sensor 123, the second gear 13, the first gear 14, the transmission shaft 15, the third gear 16 and the chain 17;

a pallet fork 2;

the X-axis moving module 3, the wheel seat 31, the wheel groove 311, the driving rail wheel 32, the first driving motor 33, the rail 34 and the driven rail wheel 35;

a support frame 4, an accommodating space 41;

the Y-axis moving module 5, a screw rod 51, a second driving motor 52, a nut 53 and a fixed seat 54;

the Z-axis moving module 6, the first lifting mechanism 61, the first fixing portion 611, the first lifting portion 612, the first fixing frame 62, the third driving motor 63, and the second fixing frame 64;

a first detection device 7;

the second detection means 8 are arranged to detect,

an alarm device 9;

the third detecting means 10 is arranged to detect,

the goods 200 are transported in a state in which,

a conveyor line 300 of an automated storage system;

the cargo stack correction system 400;

a tray positioning device 410, a first limit device 4101, a second lifting mechanism 41011, a second fixing part 410111, a second lifting part 410112, a support plate 410113, a guide 410114, a limit part 41012, a second limit device 4102, a horizontal pushing mechanism 4103, a third actuator 41031 and a detection device 4104;

calibration group 420, calibration piece 4201; a first vertical correction plane 42011, a second vertical correction plane 42012, an opening 42013, a rebar grid 42014, a vertical plate 42015, a sliding group mounting plate 42016;

the device comprises a first lifting mechanism 430, a lifting motor 4301, a stranded wire disc 4302, a pulley 4303, a steel rope 4304 and a connecting seat 4305;

a horizontal driving device 440, a driving group 4401, a first actuator 44011, a horizontal reset driving group 4402, a second actuator 44021;

a support frame 450;

a sliding group 460, an i-shaped sliding rail 4601, a roller 4602 and a fixed block 4603;

a guide support group 470, a roller 4701, an I-shaped rail 4702;

a tray 500.

[ detailed description ] embodiments

Referring to fig. 1 to 23, a cargo stack correction system 400 includes

The pallet positioning device 410 is used for positioning the pallet 500 at a preset position, and the pallet positioning device 410 is used for positioning the pallet 500 at the preset position so as to provide a reference for subsequent goods correction by taking the pallet 500 as a reference; the preset position can be set randomly according to actual needs, but after the preset position is set, the preset position cannot be changed in the subsequent correction process. The utility model discloses a tray positioner 410 fixes a position the tray in preset's position to the tray is the benchmark, can be so that follow-up goods rectifies the back, and the goods can not take place the dislocation with the tray, if do not use the tray as the benchmark, then probably takes place the goods and realized the correction, but probably, the goods is not all on the tray, and some positions of possible goods are outstanding tray outside like this, and the effect can not be reached to the regulation rule.

At least one correction group 420, each correction group 420 comprising two correction elements 4201; each of the correction pieces 4201 includes a first vertical correction plane 42011 and a second vertical correction plane 42012 perpendicular to each other, so that the cargo is pushed right by the contact of the first vertical correction plane 42011 and the second vertical correction plane 42012 with the side of the cargo, and an opening 42013 is formed between the first vertical correction plane 42011 and the second vertical correction plane; the two correction pieces 4201 of each correction group 420 are symmetrically arranged on two sides of the tray 500 along a diagonal line of the tray 500, and are arranged along the diagonal line, so that the two correction pieces 4201 of each correction group 420 enclose a rectangular shape, which is not necessarily closed, and may be formed by extending four correction planes, so as to push the cargo right on four sides, taking the tray 500 as a reference, so that the four sides of the cargo are perpendicular to the top surface of the tray 500 as much as possible after the cargo is pushed right, and the four sides of the cargo are equidistant from the four sides of the tray 500, and the first vertical correction planes 42011 of the two correction pieces 4201 are arranged opposite to each other, and the second vertical correction planes 42012 of the two correction pieces 4201 are respectively arranged opposite to each other; it is to be explained that: the diagonal is the diagonal that tray 500 is positioned behind the preset position. As shown in fig. 22 and 23, in a specific embodiment, the correction member 4201 includes two steel skeletons 42014 perpendicularly connected to each other, and then vertical plates 42015 are welded to inner sides of the two steel skeletons 42014, where the inner sides of the two vertical plates 42015 are the first vertical correction plane 42011 and the second vertical correction plane 42012. A sliding set mounting plate 42016 is then welded to the top of the two rebar skeletons 42014 for attaching the sliding sets 460.

When the correction group 420 is a group, the correction groups are arranged diagonally, at this time, the side lengths of the first vertical correction plane 42011 and the second vertical correction plane 42012 are respectively greater than or equal to two thirds of the side length from the right-angle point of the similar goods to the outermost goods in the side length direction corresponding to the vertical correction plane, and the side length is less than or equal to the total length of the goods in the side length direction. In a specific implementation, in a preferred embodiment, the side lengths of the first vertical correction plane 42011 and the second vertical correction plane 42012 are respectively equal to the total length of the side where the corresponding cargo is located, and the first vertical correction plane 42011 and the second vertical correction plane 42012 are enclosed to be just flush with the side surface of the cargo to form a closed rectangle, so as to correct the cargo.

When the correction groups 420 are two groups, it is preferable that the side lengths of the first vertical correction plane 42011 and the second vertical correction plane 42012 are respectively equal to half of the total length of the side where the corresponding cargo is located, and in this case, the four correction pieces 4201 also need to be moved synchronously, and the four correction pieces 4201 are symmetrically arranged opposite to each other along two diagonal lines of the rectangle.

A first lifting mechanism 430, wherein the calibration set 420 is connected to the first lifting mechanism 430 in a lifting manner, and the calibration set 420 is horizontally connected to the first lifting mechanism 430 in a sliding manner along a diagonal line of the tray 500; through first lift 430 mechanism will correction group 420 goes up and down, can reduce the utility model discloses area at the horizontal direction. This is because, after the correction members 4201 are corrected, the correction members 4201 need to be withdrawn so that the tray 500 and the goods can be transported from the cavity defined by each correction member 4201, and if the first elevating mechanism 430 is not provided, each correction member 4201 needs to be withdrawn completely, and the horizontal dimension needs to be large enough so that there is no space for the end of the correction member 4201 and the goods to overlap, and thus no interference or collision occurs. After the first lifting mechanism 430 is adopted, the correction piece 4201 only needs to be retreated for a certain distance, which is smaller than the horizontal distance required for complete retreating, and at this time, the correction piece 4201 is lifted above the goods by the first lifting mechanism 430, so that the goods can be transported away. This is so because the plan area of the general use site is limited. Adopt the utility model discloses can make full use of direction of height's space, reduce area.

The horizontal driving device 440 drives the two correction members 4201 of each correction group 420 to synchronously move towards or away from each other along the diagonal line of the pallet 500, and the two correction members 4201 of each correction group 420 synchronously move, so that damage to the goods can be reduced, and the correction effect can be ensured, if the two correction members 4201 do not synchronously move, the goods can be pushed to have an adverse effect, or after one correction member 4201 pushes the goods out of the pallet 500, the other correction member is not in place, and the goods on the bottom layer can protrude out of the pallet 500, and after the other correction member 4201 pushes the goods, the goods can be clamped by the edge or corner of the pallet 500 and damaged by clamping.

The tray positioning device 410 may be installed according to an actual use situation, for example, the tray positioning device may be directly installed on the ground, and the tray 500 and the goods may be transported to a predetermined position by using an AGV, or may be installed on a conveying line of an automatic loading and unloading system or a warehousing system of the goods.

The utility model discloses can adopt solitary controller to control, for example adopt current PLC to control, the model is FX5U-64MT ES's PLC to form one set of independent correction system. In other embodiments, the utility model discloses each components and parts are connected to the controller of other systems and are used, carry out supporting use, form an industry line, for example will the utility model discloses when using the auto-control handling system of goods, can with the utility model discloses a components and parts are connected in auto-control handling system's controller.

In specific implementation, in a preferred embodiment, the tray positioning device 410 includes a first limiting device 4101, a second limiting device 4102, a horizontal pushing mechanism 4103, and a detecting device 4104 for detecting the position of the tray 500; the position of the tray is detected by the detecting device 4104, and when the detecting device 4104 detects the tray 500, the second elevating mechanism 41011 raises the stopper 41012 to stop the tray at the front end, and then the horizontal pushing mechanism 4103 pushes the tray 500 to abut one side of the tray 500 against the second stopper, and finally the tray 500 is positioned at a predetermined position as a reference position. In a specific implementation, the horizontal pushing mechanism 4103 employs a hydraulic cylinder, and the axis of the piston rod is coincident with the center line of the tray 500, so that the tray is stressed more evenly when the horizontal pushing mechanism 4103 pushes the tray 500. In order to ensure that the pushing is more balanced, the end part of the piston rod can be provided with a push plate, and the push plate is parallel and opposite to the side surface of the tray, so that the pushing is more stable by adopting surface-to-surface contact. The height of the push plate is less than or equal to the height of the top surface of the tray 500.

The first limit device 4101 includes a second elevation mechanism 41011 and a limit part 41012; the second elevation mechanism 41011 includes a second fixing part 410111 and a second elevation part 410112 connected to each other; the second elevating portion 410112 is fixedly connected to the position limiting element 41012, the position limiting element 41012 is located at the front edge of the tray 500, and the position limiting element 41012 is elevated above the bottom surface of the tray 500 but smaller than the top surface of the tray 500, so as to prevent the position limiting element 41012 from interfering with the correction element 4201 and lowering below the bottom surface of the tray 500; as shown in fig. 6, in a specific embodiment, the second lifting mechanism 41011 is a hydraulic cylinder, which is arranged vertically upward, a supporting plate 410113 is fixedly connected to a top end of a piston rod of the hydraulic cylinder, the limiting member 41012 can be a limiting post, a limiting plate, etc., in the embodiment shown in the drawing, the limiting member 41012 is fixedly connected to the supporting plate 410113, and then a guiding member 410114 is fixedly disposed, the guiding member 410114 is provided with a guiding hole, and the limiting member 41012 can vertically slide through the guiding hole.

The second limiting device 4102 is linearly arranged on one side of the tray 500; the second limiting device can adopt a limiting rod, a limiting plate and the like, and certainly, after the tray leans against the second limiting device, the blocking piece cannot unload force, and the blocking piece is easy to damage. The utility model discloses the drawing only provides the embodiment that adopts the limiting plate, can adopt a steel sheet welding to weld at conveyor's side.

The horizontal pushing mechanism 4103 comprises a third actuator 41031, wherein the third actuator 41031 is disposed on the other side of the tray and faces vertically to the side of the second limiting device 4102.

Of course, in a specific embodiment: the second limiting device 4102 comprises a plurality of rotation blocking members (not shown), the rotation blocking members (not shown) comprise a vertically arranged rotating shaft (not shown), and a rotating sleeve (not shown) is sleeved on the rotating shaft (not shown);

alternatively, the rotary stopper (not shown) may be a drum, and an existing drum may be used. With the rotatable structure, the stopper is rotated (not shown) to reduce the impact of the tray, thereby prolonging the service life of the rotatable stopper (not shown) and preventing damage to the tray 500.

Each horizontal driving device 440 comprises driving groups 4401, and the number of the driving groups 4401 is equal to that of the correction groups 420; each of the driving groups 4401 includes two first actuators 44011; the two first actuators 44011 are symmetrically arranged on the outer sides of the two correction members 4201 of the same correction group 420 along the diagonal line, and each first actuator 44011 is detachably abutted against one correction member 4201.

Further comprises a support bracket 450; the support 450 may be formed in various shapes and designed according to the use requirement. For example, in one embodiment, the support 450 is a gantry structure, although other structures can be designed in other shapes.

The first lifting mechanism 430 comprises a lifting motor 4301, a stranded wire disc 4302, a pulley 4303, a steel rope 4304 and a connecting seat 4305; the lifting motor 4301 is fixedly connected to the supporting frame 450; the pulley 4303 is rotatably connected to the top surface of the connecting seat 4305; the wire twisting disc 4302 is fixedly connected to an output shaft of the lifting motor 4301; one end of the steel rope 4304 is fixedly connected to the wire-stranding disc 4302, and the other end of the steel rope 4304 penetrates through a pulley groove of the pulley 4303 and is fixedly connected with the steel rope 4304; therefore, the lifting motor 4301 drives the wire twisting disc 4302 to rotate positively or reversely, the steel wire 4304 is collected or put down, the pulley 4303 and the connecting seat 4305 are lifted or lowered, and the correcting group 420 connected with the connecting seat 4305 is lifted or lowered. In the specific implementation, as shown in the figure, there are two sets of the first lifting mechanisms 430, which are symmetrically arranged, so that the lifting is more stable in the up-and-down movement, higher in strength and safer. In specific implementation, the side wall of the connecting seat 4305 is further provided with a rolling wheel, the support frame 450 is provided with a rail, and the rolling wheel rolls in the rail to play a guiding role, so that the connecting seat 4305 slides up and down with higher precision.

Each of the calibration sets 420 is horizontally slidably connected to the connection seat 4305 along the diagonal line.

Of course, in other embodiments, the first lifting mechanism 430 may also adopt other structures, for example, the first lifting mechanism 430 includes a first lifting portion (not shown), a connecting seat 4305 and a first fixing portion (not shown); the first fixing portion (not shown) is fixedly connected to the supporting frame 450; the first lifting part (not shown) is fixedly connected to the connecting base 4305; the first elevating unit (not shown) and the first fixing unit (not shown) are hydraulic cylinders, but the elevating height may be different, and this is selected according to the elevating height of the correction member 4201, and may be selected according to actual requirements, for example, a combination of a motor, a chain, and a gear may be used.

Further comprising a sliding group 460; the number of the sliding groups 460 is equal to the number of the correction members 4201; each sliding group 460 comprises a sliding rail (not shown) and a sliding block (not shown) which are connected in a sliding manner; the sliding rail is fixedly connected with the connecting seat 4305; the slider is fixedly connected to the correction member 4201. The slide rail and the slide block can be purchased on the market directly, which is the existing equipment. In other embodiments, the sliding assembly 460 may also adopt other structures, as shown in fig. 8 and 9, the sliding assembly 460 includes an i-shaped sliding rail 4601 symmetrically arranged along a diagonal center, and the cavities on both sides of the i-shaped sliding rail 4601 are provided with rollers 4602 as a guiding and limiting function, so that the rollers on both sides of the i-shaped sliding rail 4601 directly slide, and the rollers are mounted on the bottom surface of the connecting seat 4305; a fixing block 4603 is further disposed on one side of the i-shaped sliding rail 4601, and the fixing block 4603 is further fixedly connected to the correction member 4201; the two second actuators 44021 respectively face one of the fixed blocks 4603, and the second actuators 44021 adopt hydraulic cylinders, and the reset principle is that: the piston rod of the second actuator 44021 extends to abut against the fixing block 4603 to push the i-shaped slide rail 4601 to slide outwards, so as to drive the correction element 4201 to expand and reset.

Each horizontal driving device 440 further includes a horizontal reset driving group 4402, and the correction element 4201 is pushed open by the horizontal reset driving group 4402, so that the correction element 4201 is reset.

The number of the horizontal reset driving groups 4402 is equal to that of the driving groups 4401;

each horizontal reset driving group 4402 comprises two second executive elements 44021; two second executive component 44021 is along diagonal antiparallel arrangement and fixed connection in connecting seat 4305, every second executive component 44021 can separately support against the slider simultaneously.

First executive component 44011 and second executive component 44021 are the pneumatic cylinder respectively, adopt the pneumatic cylinder then thrust is big, satisfy the user demand of heavier goods. In other embodiments, a cylinder or the like may be used to select different actuators depending on the weight of the load. Similarly, a hydraulic cylinder, an air cylinder, or the like may be used as the third actuator 41031.

Each of the first actuator 44011 is fixedly connected to the supporting frame 450. The first actuator 44011 is fixedly mounted on the supporting frame 450, because the first actuator 44011 is also arranged diagonally and symmetrically, and arranged opposite to each other, the supporting frame 450 can be subjected to internal forces in opposite directions, so as to perform a counteracting function. Of course, in other embodiments, the first actuator 44011 may also be installed on the ground, so that the reaction force transmitted by the cargo received by the first actuator 44011 is transmitted to the ground, which is more demanding on the ground, otherwise, the ground is easily damaged.

The number of the guide support groups 470 is equal to that of the correction groups 420; each guide support set 470 includes two rails (not shown) and two wheels (not shown); the two wheels are correspondingly connected to the bottoms of the two correction pieces 4201 of the same correction group 420; the two rails are horizontally arranged along the diagonal; each wheel is connected to one rail in a one-to-one rolling manner.

Of course, in other embodiments, the rails may be i-shaped, as shown in fig. 2, the guiding and supporting set 470 includes two fixedly disposed i-shaped rails 4702 respectively disposed at the bottoms of the two correction members 4201, and rollers 4701 are disposed on both sides of each i-shaped rail 4702, and the rollers 4701 are connected to the correction members 4201 through brackets.

Example (b): will the utility model discloses use the cargo handling system 100 of a quick-open side curtain case.

The utility model provides a cargo handling system 100 of quick-open side curtain case, include:

the utility model discloses a goods piles up correction system 400;

the conveying device 1 is arranged in a straight line along the X axis; the conveyor 1 is used for conveying goods 200. When loading, the goods 200 can be placed on the conveying device 1 by a forklift, and the conveying device 1 plays a role in transmission, so that the position precision requirement is lower than that of the goods which are forked into a container, the operation is more convenient, and the operation difficulty is reduced; for the automatic degree warehousing system, the conveying device 1 can be butted with the conveying line 300 of the automatic warehousing system, the goods 200 are directly conveyed to the conveying device 1 without being operated by a forklift, automatic butt joint is realized, manpower and material resources are saved, and the conveying efficiency is improved. This can be arranged according to the degree of automation of the customer's warehousing system. When unloading, the cargo 200 is first unloaded from the container onto the conveyor 1 and then transferred from the conveyor 1 to the conveyor line 300 of the automated storage system. If the warehouse system that degree of automation is not high, then can directly follow with fork truck conveyor 1 goes up to fork away, and the warehouse system that degree of automation is not high of course also can not adopt the utility model discloses unload, the utility model discloses when unloading, it is higher to the unloading efficiency of automatic warehouse system. When loading, the conveying device 1 conveys the goods 200 to be loaded and unloaded to each position, and the fork 2 is made to carry out loading operation. When unloading, the fork 2 transfers the goods 200 from the container inner fork down onto the conveyor 1. The conveying device 1 can adopt the existing equipment and can also be redesigned to have a new structure. In the specific implementation, the height of the conveying device 1 is less than or equal to the height of the bottom surface inside the container, so that the goods can be conveniently loaded and unloaded, and the height of the conveying device is lower than the height of the ground inside the container, so that the fork 2 can be more conveniently withdrawn when the goods are loaded. For example, in the embodiment shown in the drawings, the grooves may be cut in the ground or not, and it is only necessary to ensure that the top surface of the conveying device 1 is lower than the bottom surface of the inner space of the container, so that the pallet fork 2 can be conveniently withdrawn.

The X-axis moving module 3 is used for realizing X-axis linear motion; the X-axis moving module 3 may be mounted on the ground, for example in the form of existing rails and rail wheels; the X-axis moving module 3 may also be suspended above the ground, for example, may be suspended on a ceiling indoors, and adopt an existing crane structure, so the X-axis moving module 3 may be arranged as required or according to a structure of a field, and the X-axis moving module 3 may adopt existing equipment, for example, a crane or a combination structure of a rail and a rail wheel, a rack and pinion, a gear chain, a pulley system, or a combination of a steel cable winch and a motor at both ends of the support mounting seat 4 along the X-axis traction to realize movement, and these may select corresponding equipment according to the weight of the goods 200, and may also design a new structure.

The supporting installation seat 4 is connected to the X-axis moving module 3, and the X-axis moving module 3 drives the supporting installation seat 4 to move in the X-axis direction; the support mounting seat 4 can play a supporting role in hoisting the goods 200, and can also be used as a mounting seat of parts. The support mounting 4 can be made in various structures, for example, by using the existing portal frame, crane, etc., and the structures can be arranged as required.

The Y-axis moving module 5 is movably connected to the supporting and mounting seat 4, so that the supporting and mounting seat 4 drives the Y-axis moving module 5 to move in the X-axis direction, and the position change of the Y-axis moving module 5 in the X-axis direction is realized; the Y-axis moving module 5 may also be selected according to the weight of the cargo 200 by using existing devices such as a ball screw nut pair, a rack and pinion, a gear chain, an air cylinder, a hydraulic cylinder, and a pulley system, or may be designed to have a new structure. The Y-axis moving module 5 is used for realizing the movement in the Y-axis direction.

The Z-axis moving module 6 is connected to the Y-axis moving module 5, so that the Y-axis moving module 5 drives the Z-axis moving module 6 to move, and the position change of the Z-axis moving module 6 in the Y-axis direction is realized; the Z-axis moving module 6 is used for realizing the movement in the Z-axis direction.

The pallet fork 2 is connected to the Z-axis moving module 6, so that the pallet fork 2 is driven by the Z-axis moving module 6 to move in the Z-axis direction, and the position change of the pallet fork 2 in the Z axis is realized; finally pass through X axle removes module 3, Y and removes module 5, the position change condition that comes of 6 three of Z axle removal module the position of fork 2, the position control of realization, owing to all adopt automatic control to control, make the position of fork 2 can accurate regulation, finally realize usefulness during fork 2 goods handling 200, the accurate nature of goods 200's position to when avoiding prior art to adopt manual operation fork truck to load and unload the goods, because the position precision is not high, and need many times load and unload the position of adjusting the goods, thereby the utility model provides high loading and unloading's efficiency. The fork 2 can be one or two, when one fork is adopted, the goods are loaded and unloaded from one side, when two forks are adopted, the fork is symmetrically arranged on two sides of the container, the two sides are respectively provided with one conveying device 1 and respectively correspond to one group of the X-axis moving module 3, the Y-axis moving module 5 and the Z-axis moving module 6 for position control, so that the goods 200 can be loaded and unloaded on two sides simultaneously, and the efficiency is higher.

A first detecting device 7, wherein the first detecting device 7 is used for detecting whether articles exist in the container or not and detecting the height of the container; since automatic loading and unloading are adopted during loading and unloading, the controller (not shown) cannot see whether the container is filled with articles like a person, so that the first detection device 7 needs to be arranged to detect whether the container is filled with articles in advance, and the situation that the container is filled with the articles 200 when the articles are filled, the articles in the container or the articles 200 to be filled are damaged due to collision is avoided. The controller (not shown) controls the X-axis moving module 3, the Y-axis moving module 5, and the Z-axis moving module 7 to move according to a predetermined trajectory, and thus, the cargo can be loaded only when the first detecting device 7 detects that there is no article in the container. Meanwhile, the first detecting device 7 is also used for detecting the height of the container, so as to feed back to the controller (not shown) to identify the size of the container, and then the controller (not shown) calls the motion track of the cargo 200 corresponding to the container stored in advance. The first detection device 7 may be an existing device, such as a grating sensor or a visual detection device. Because some of the detecting devices can adjust the angle or scan a certain area, the installation position of the first detecting device 7 can be flexibly arranged according to actual requirements as long as the height of the container and whether goods are in the container can be detected.

A second detection device 8, wherein the second detection device 8 is used for detecting the parking position of the container or the truck; the range of the parking position, that is, the position range of the container, may be previously designed according to the sizes of various containers and trucks, and when the device is used, the second detecting device 8 checks whether the position of the container is within the preset range after the truck is parked, and when the position is within the preset range, a signal is fed back to the controller (not shown) to notify the controller that the container is parked in place, so that the next operation can be performed. The second detection device 8 may adopt an existing visual detection device, such as a CCD visual detection device, and compares the taken picture with a pre-stored parking range through a camera thereof, and may arrange the number and the installation position according to the use requirement.

An alarm device 9; used for alarming and prompting. The alarm device 9 is an existing device, for example, the alarm device 9 adopts an alarm lamp, a buzzer, and the like.

And the controller (not shown) is respectively in communication connection with the X-axis moving module 3, the Y-axis moving module 5, the Z-axis moving module 6, the alarm device 9, the conveying device 1, the second detection device 8 and the first detection device 7, and is used for controlling the modules or devices to work so as to realize automatic control. The controller (not shown) may be any available device, commercially available, such as a PLC model FX5U-64 MT/ES. The controller (not shown) may be mounted in a desired position, for example, on the support mounting base 4, or may be mounted on the ground or elsewhere.

The controller is also in communication connection with the lifting motor 4301, the detection device 4104, the second lifting mechanism 41011, the third actuator 41031, the first actuator 44011 and the second actuator 44021; the detection device 4101 may employ an inductive switch, a position sensor, or the like. Thereby by the controller passes through signal of telecommunication control the utility model discloses an each components and parts. The support frame 450 is a portal frame. The detection device 4101 is attached to the conveyance device 1.

The conveying device 1 is mounted in the supporting frame 450.

The first detection device 7 comprises at least one grating sensor, and the number of the grating sensors is set according to the height of the container and the scanning range of the grating sensors, for example, a row of grating sensors can be set along the height direction of the container, so that the container can be scanned completely in the height direction. The first detection device 7 and the second detection device 8 can be independently installed on the ground, and support articles are arranged or not arranged according to requirements, for example, the first detection device 7 can be independently installed on the ground through a support rod, and the first detection devices 7 are symmetrically arranged on two sides of a door of the container; similarly, the second detection device 8 adopts a CCD vision detection device, and the second detection device 8 can also be installed by erecting support articles separately. The first and second detecting devices 7 and 8 may be mounted on the support mounting seat 4, for example, the first detecting device 7 may be mounted on both sides of the support mounting seat 4 and face both doors of the container, and the second detecting device 8 may be mounted on the support mounting seat 4 with its top facing downward, so that the height of the container below can be detected.

The use mode when loading goods: conveyor 1 and automatic warehouse system's transfer chain 300 dock through current transmission equipment, carry conveyor 1 with goods 200 from the warehouse, then the goods passes through earlier the utility model discloses the goods of transport piles up correction system 400, rectifies. The correction principle is as follows: when the two correction pieces 4201 are in the state of the maximum opening position before starting, the controller controls the lifting motor 4301 to work through electric signals, so that the correction group 420 is lifted, and the bottom end of the correction group 420 is higher than the top end of the cargo 200; when the detection device 4104 detects the tray 500, the controller feeds back the position information of the tray 500 to the controller, the controller controls the second lifting mechanism 41011 to lift the limit part 41012 to block the tray 500 from further advancing, and then the controller controls the third actuator 41031 to push the tray 500 to the second limit device 4102 by an electric signal, so that the tray 500 leans against the second limit device 4102, and after the tray 500 is in place, the controller controls the third actuator 41031 to retract; the controller then controls the lifting motor 4301 to lower the calibration group 420 such that the bottom end of the calibration member 4201 is flush with the bottom surface of the cargo or slightly higher than the bottom surface of the cargo by a certain distance, such as 1cm, 2cm, etc., which may be set in advance according to the height of the single cargo. And the position of the correction member 4201 after being lowered is also preset. Then, the controller controls the operation of the first actuator 44011 through an electric signal, that is, the piston rod of the hydraulic cylinder extends to push the correction member 4201 to move towards each other, so as to push the cargo forward, and the position where the correction member 4201 is located is also preset according to the total length and the total width of the cargo, so that the length and the width of the cavity enclosed by the two correction members 4201 are equal to the total length and the total width of the cargo. When the corrector 4201 is in place, the piston rod of the first actuator 44011 retracts to indicate that the calibration is completed, and at this time, the controller controls the second actuator 44021 to operate, i.e., extend the hydraulic cylinder, so as to push the corrector 4201 open and reset, i.e., move the two away from each other, and re-expand a certain distance to a preset maximum position, which distance may be set according to the needs of the use location, e.g., 10cm, 20cm, 50cm, 1m, etc., so that the first vertical calibration plane 42011 and the second vertical calibration plane 42012 are separated from the goods, respectively, when the piston rod of the second actuator 44021 retracts after resetting, the controller controls the lifting motor 4301 to rotate reversely to lift the calibration group 420, and after lifting to the position, the position can be set by presetting the number of rotations of the lifting motor 4301 to be in the upper and lower positions, and of course, a position sensor can be provided to detect, in any case, the controller may control the second elevating mechanism 41011 to lower and reset the limit part 41012 so that the limit part 41012 is lower than the bottom surface of the tray 500, and the tray 500 and the goods are continuously transported forward to the goods handling station by the transporting device 1. Subsequent cargo loading is then performed. The utility model discloses an each position is all preset.

The movement tracks of the X-axis moving module 3, the Y-axis moving module 5 and the Z-axis moving module 6 are calculated according to the size of the container and the length, width and height of the loaded goods 200, and the parking range of the truck or the parking range of the container is set in advance, so that the second detection device 8 can detect and feed back to a controller (not shown) to judge whether the truck is parked in place, the reverse operation is carried out without manual command, and the labor is saved. For example, the goods are transported by using containers and pallets with uniform specifications, the pallets are the existing intelligent pallets, the stop stations of the goods 200 on the conveying device 1 are set in advance according to the width of each pallet, and the working sequence of the stop stations is set.

When loading, for example, the truck is backed to enter a parking range, two side doors of the container are firstly opened, a truck driver stops the truck in a preset parking range, the second detection device 8 detects the parking position in real time and feeds the parking position back to the controller, the controller is compared with the preset parking range, and when the parking position is not in the preset parking range, the controller controls the alarm device 9 to send out a first alarm prompt, for example, if an alarm lamp is adopted, a red light is turned on, so that the driver is prompted to adjust; when the parking position is within the preset range, the controller controls the alarm device 9 to give a second alarm prompt, for example, if an alarm lamp is used, a green lamp is turned on to prompt the driver to stop in place. Or some alarms and the like have two prompting functions of sound and color.

On the other hand, initially, the position of the supporting mounting seat 4 is set at the foremost end, which is the opposite position of the side surface of the end of the container close to the cab when the truck is parked in place, so that when the truck backs up to enter the parking range, the container passes through the first detection device 7 from the tail part, the controller controls the first detection device 7 to detect, starts scanning from the tail part of the container, and when the truck is parked in place, namely the foremost end of the container is scanned, just detects whether articles are in the container, which can save energy, of course, the controller may not be set at the foremost end, so when the truck is parked in place, the controller is required to control the X-axis moving module 3 to move along the X-axis direction, and scan and detect whether articles are in the container, which undoubtedly consumes more energy, the actions are also more complex. When the first detection device 7 feeds back the detection result to the controller, when an article is detected in the container, the controller controls the alarm device 9 to send out a third alarm prompt, a driver takes out the article in the container after waiting for parking, when the detection result is that no article exists, a fourth alarm prompt is sent out or no alarm prompt is sent out, the alarm device 9 can adopt an alarm lamp capable of sending out various prompts, and each alarm prompt can be independently provided with one alarm device 9.

When the parking position is within a preset range and the first detection device 7 detects that no goods are in the container, the controller controls the X-axis moving module 3, the Y-axis moving module 5 and the Z-axis moving module 6 to move and load goods according to a preset track, controls the conveying device 1 to work, conveys the goods 200 conveyed from the warehouse to a preset stop station, controls the X-axis moving module 3, the Y-axis moving module 5 and the Z-axis moving module 6 to move according to the preset track, adjusts the position of the fork 2, controls the fork 2 to fork a pallet and the goods 200, controls the X-axis moving module 3, the Y-axis moving module 5 and the Z-axis moving module 6 to move according to the preset track, loads the goods 200 into the container, then controlling the X-axis moving module 3, the Y-axis moving module 5 and the Z-axis moving module 6 to move according to a preset track, thereby controlling the fork 2 to withdraw, carrying out the loading of the next pallet, when the stop station is full of goods in the width direction, calculating in advance according to the sizes of the containers and the pallets, the number of the pallets which need to be loaded in the width direction and the number of the pallets which need to be loaded in one pallet, when the controller loads the goods in the stop station for a preset number, the controller controls the conveying device 1 to stop the goods at the next adjacent stop station, then carrying out the loading of the goods in the width direction corresponding to the next stop station, and so on, when the preset total loading number is reached, stopping the loading of the containers, and controlling the alarm device 9 to send an alarm prompt, reminding drivers or staff to close the doors of the containers, and opening the trucks to load goods in the containers of the next two trucks. Automatic control is realized in the whole process, so that the position accuracy of the pallet fork is guaranteed, the position calibration time is shortened, and the efficiency is improved. The loading action may be set to: the pallet is moved to the side face of the pallet goods at the stop station, then the pallet and the goods 200 are lifted up by entering the bottom of the pallet, the height of the bottom face of the pallet is higher than that of the bottom face inside the container, the top end of the goods 200 is lower than that of the top face inside the container, the goods 200 and the pallet are forked into the container, then the goods 200 are descended and put down, the forks 2 are separated from the pallet, the descending height can be calculated and set in advance, and finally the forks 2 are withdrawn from the pallet to load the next pallet goods.

For unloading, the controller (not shown) may first detect whether the truck is stopped within a preset stop range by the second detection device 8, control the first detection device 7 to detect the position of the cargo 200 in the container, and finally control the X-axis movement module 3, the Y-axis movement module 5, and the Z-axis movement module 6 to move, so as to drive the fork 2 to move for unloading, for example, the unloading operation may be: the forks 2 move to the bottom side of the pallet, the forks 2 enter the bottom of the pallet, the forks 2 lift to lift the goods 200 and the pallet, the forks 2 exit the container with the goods 200 and the pallet, the goods 200 and the pallet are placed on the stop station of the conveying device 1, finally the forks 2 exit the pallet to unload the next pallet of goods 200, and the controller opens the stop station to unload the goods, so as to convey the goods away.

The alarm device 9 is arranged on the support mounting seat 4, so that the alarm device 9 can be arranged without adding an additional support, the space on the ground is saved, and more positions are left.

The automobile license plate detection device further comprises a third detection device 10 used for collecting the automobile license plate, and the third detection device 10 is in communication connection with the controller (not shown). The third detection device 10 is used for detecting the license plate of the truck, can be more conveniently applied to an automatic storage system, and realizes full automation. For example, when in use, the controller is connected to the control device of the automatic warehousing system in a communication manner, so that when loading goods, the license plate of the truck can be detected through the third detection device 100 and then fed back to the controller, the controller transmits the license plate to the control device of the automatic warehousing system, so that the automatic warehousing system can know which truck is, and after loading and unloading the goods, the controller can also transmit the loading and unloading quantity of the truck to the control device, so that the control device can record how many goods are loaded on the truck of the license plate so as to inquire and track the transportation condition of the goods, and if the tray adopts the existing intelligent tray, the information of the goods can be stored in advance on the chip of the intelligent tray, so that the control device of the automatic warehousing system can correspond the goods to the truck so as to conveniently inquire and track which goods are on which truck, the goods tracking and inquiring are more convenient, for example, information such as models, quantities and the like of stored goods is set in advance on the chip of each intelligent tray and stored on the control device, and during goods loading, each intelligent tray is controlled by the control device to be conveyed to the conveying device 1, so that the goods and the license plate can be corresponding to each other by combining the license plate information fed back by the controller and stored on the control device, and the follow-up query and tracking are convenient. The third detection device 10 may be an existing CCD vision detection device, and may be installed behind the parking area, facing the rear license plate, or installed on the side of the truck, or the front end facing the front license plate.

The X-axis sliding module 3 comprises

The bottom of the wheel seat 31 is provided with a wheel groove 311, and the wheel seat 31 is connected to the support mounting seat 4;

the driving rail wheel 32 is rotatably arranged in the wheel groove 311, and the rotation axis of the driving rail wheel 32 is horizontally vertical to the X axis; for example, bearing holes are symmetrically formed at both sides of the wheel groove 311, bearings are installed in the bearing holes, and a rotating shaft of the price driving rail wheel 32 is fitted into an inner ring of the bearing.

A first driving motor 33, an output shaft of the first driving motor 33 is fixedly connected to the driving rail wheel 32, specifically, a rotating shaft of the driving rail wheel 32 is fixedly connected to an output shaft of the first driving motor 33, for example, a shaft coupling is adopted for fixedly connecting, the first driving motor 33 drives the first driving motor 33 to rotate, and the first driving motor 33 is installed on the wheel seat 31; the first driving motor 33 is also electrically connected to the controller, so that the controller controls the first driving motor 33 to work, and the X-axis moving module 3 moves in the X-axis direction.

Also included is a track 34 disposed horizontally along the X-axis, the active rail wheels 32 being mounted on the track 34. The track 34 is arranged to enable the moving direction to be more accurate, play a role in guiding and facilitate the control of the motion track.

The X-axis sliding module 3 further includes a driven rail wheel 35, the driven rail wheel 35 is rotatably installed in the wheel slot 311, the rotation axis of the driven rail wheel 35 is horizontal and perpendicular to the X-axis, and the driven rail wheel 35 is installed on the rail 34. Support through two stress points of initiative rail wheel 32 and driven rail wheel 35 for it is more steady to support, whole when guaranteeing to remove support mount pad 4 is more steady, guarantees the safety of goods 200.

The Y-axis sliding module 5 comprises

The screw rod 51 is rotatably arranged on the support mounting seat 4 along the Y axis;

the second driving motor 52, the second driving motor 52 is installed on the support installation seat 4, and an output shaft of the second driving motor 52 is fixedly connected to the screw rod 51; the second drive motor 52 is also electrically connected to the controller; the controller controls the second driving motor 52 to operate, thereby realizing the movement in the Y-axis direction.

The nut 53 is sleeved on the screw rod 51 through threads;

and the fixed seat 54 is fixedly connected to the nut 53 and is slidably connected to the support mounting seat 4, for example, by a slide rail and a slide block, the slide block is installed on the fixed seat 54, and the slide rail is installed on the support mounting seat 4 and is horizontally arranged along the Y axis.

The Z-axis sliding module 6 comprises

A first lifting mechanism 61, wherein the first lifting mechanism 61 comprises a first fixing part 611 and a first lifting part 612, and the first fixing part 611 is fixedly connected to the Y-axis sliding module 5; the first lift portion 612 is fixedly or rotatably connected to the fork 2; the first lifting mechanism 61 is also communicatively connected to the controller, and the controller controls the first lifting mechanism 61 to move in the Z-axis direction. First elevating system 61 can adopt current cylinder, pneumatic cylinder etc. selects according to the weight of goods, and an embodiment of preferred chooses for use the pneumatic cylinder, because the power of pneumatic cylinder is bigger, can hoist heavier goods to can adapt to the application range of more varieties goods. At this time, the cylinder body of the hydraulic cylinder is the first fixing portion 611, and the piston rod of the hydraulic cylinder is the first elevating portion 612. The piston rod of the hydraulic cylinder is vertically arranged downwards.

The first lifting part 612 is fixedly connected with the first fixing frame 62; the fork 2 is fixedly connected to the first fixing frame 62, and the fork 2 is horizontally arranged along the Y axis. The fork 2 may be fixedly connected to the Z-axis moving module 6, or may be rotatably connected to the Z-axis moving module 6, for example, when rotating, it further includes

The third driving motor 63, the third driving motor 63 is fixedly connected to the first fixing frame 62, and an output shaft of the third driving motor 62 is vertically arranged; the third driving motor 63 is also electrically connected to the controller; the controller controls the third driving motor 63 to work so as to drive the second fixing frame 64 to rotate and finally drive the pallet fork 2 to rotate, so that the angle of the pallet fork 2 can be adjusted, the direction of the pallet fork 2 is corrected when the pallet fork loads and unloads cargos, the angle is more appropriate, the position precision of the cargos to be loaded and unloaded is higher, the use is more flexible, the position requirement for a truck driver to park a container is reduced, and if the pallet fork 2 and the Z-axis moving module 6 are fixedly connected, the parking position is more accurate when the truck driver parks the container.

And the second fixing frame 64 is fixedly connected to an output shaft of the third driving motor 63, and the fork 2 is fixedly connected to the second fixing frame 64. The rotation of the output shaft of the third driving motor 63 drives the second fixing frame 64 to rotate, and finally the rotation of the pallet fork 2 is realized, which has two advantages: firstly, the angle of the fork 2 can be adjusted, so that the fork is more vertical to the side surface of the container, and the position precision of loading and unloading goods is improved; secondly, the action of the fork 2 for loading and unloading goods can be changed more flexibly, and the installation position of the fork 2 is more flexible and changeable, for example, when loading and unloading goods, the fork 2 can be rotated, so that when loading and unloading goods on the conveying device 1, the fork 2 can be entered laterally, or the fork 2 can be entered frontally or backwardly (the lateral side is perpendicular to the side of the container, and the front and rear sides are parallel to the side of the container), and at this time, after the fork is lifted, the third driving motor 63 is controlled to rotate, so that the fork 2 is rotated to be perpendicular to the side of the container, and thus, the installation direction of the fork 2 can be flexible and changeable, and the limitation is lower. In specific implementation, the second fixing frame 64 is also rotatably connected to the first fixing frame 63, so as to increase the firmness of hoisting.

The conveying device 1 can be an existing device or can be redesigned.

Each conveying device 1 comprises a conveying line body 11, and the conveying line body 11 is in communication connection with the controller; a plurality of blocking devices 12 are arranged on the conveyor line body 1 at intervals; each blocking device 12 is in communication connection with the controller, and the controller controls the blocking devices to ascend and descend;

the stopping device 12 includes a second lifting mechanism 121 and a limiting member 122, in this way, the position of the tray is controlled by calculating the running distance in advance, for example, the distance moved by the chain 17 can be calculated in advance by rotating the transmission motor 112 by one turn, then the total displacement of the tray to be moved can be calculated in advance, which is the distance from the starting position of the tray to the stopping position, then the number of turns of the rotation of the transmission motor 112 can be calculated, and the number of turns of the rotation of the transmission motor 112 can be controlled by the controller.

In other embodiments, a position sensor 123 may also be provided, the position sensor 123 being configured to detect the position of the cargo 200 or pallet;

the second lifting mechanism 121 includes a second fixing portion 1211 and a second lifting portion 1212; the second fixing portion 1211 is installed in the conveyor line body 1; the second lifting portion 1212 is fixedly connected to the limiting member 122, and the limiting member 122 is higher than the top surface of the conveyor line body 1 after being lifted up, and is lower than the top surface of the conveyor line body 1 after being lowered down.

In a specific embodiment, the conveyor line body 11 may be an existing conveyor line, for example, the conveyor line body 11 includes a conveying frame 111, a transmission motor 112 is installed in the conveying frame 111, a gear chain system is installed on an output shaft of the transmission motor, the chains are arranged along the length direction of the conveying frame 111, two chains are symmetrically arranged in the width direction, trays are placed on the two chains, the trays are driven by the chains to move to realize cargo conveyance, and the transmission motor 112 is electrically connected to the controller and is controlled by the controller to operate; a row of rollers 113 is further disposed in the middle of the conveying frame 111 along the length direction, and plays a role of auxiliary group support, so as to reduce the stress of the chains, and the blocking devices 12 are installed at intervals according to the intervals between the stop stations, as shown in fig. 12 to 15, which are schematic structural diagrams of a conveying unit of a stop station, the whole conveying device 1 is formed by splicing a plurality of conveying units of stop stations along the X-axis direction, in a specific embodiment, the second lifting mechanism 121 also employs a hydraulic cylinder, which is electrically connected to the controller, and at this time, the cylinder body of the hydraulic cylinder is the second fixing portion 1211, and the piston rod is the second lifting portion 1212; the output shaft of the hydraulic cylinder is arranged vertically upwards, the limiting member 122 comprises two vertical limiting rods 1221, the bottoms of the two vertical limiting rods are fixedly connected to a supporting plate 1222, and the supporting plate 1222 is fixedly connected to the piston rod of the hydraulic cylinder. Each blocking device 12 further comprises a position sensor 123, the position sensor 123 is communicatively connected to the controller and is used for detecting the position of the pallet or the goods and feeding back the position to the controller, then the controller controls the piston rod of the hydraulic cylinder to lift according to a preset degree to block the pallet, the pallet is stopped at the stop station, the pallet 2 is waited to fork for loading, after the goods are loaded at the stop station, the controller controls the hydraulic cylinder of the blocking device 12 to retract, the limiting piece 122 is lowered to be lower than the top surface of the conveyor line body 1 to prevent collision with the pallet, then another blocking device 12 is controlled to lift according to a preset program to continue loading the goods at the stop station, or the pallet is waited to leave the pallet when unloading. The position sensor 123 may be installed at any place as long as it can detect the position of the pallet or the goods.

As shown in fig. 13, the transmission of each conveying unit: two second gears 13 are fixedly installed on an output shaft of the transmission motor 112, a transmission shaft 15 is arranged in parallel with the output shaft of the transmission motor 112, a third gear 16 is fixedly installed on the transmission shaft 15, the second gears 13 are meshed with the third gear 16, two first gears 14 are respectively installed at two ends of the transmission shaft 15, and the first gears 14 are meshed with the chain 17. During operation, the output shaft of the transmission motor 112 rotates to drive the second gear 13 to rotate, so as to drive the third gear 16 to rotate through meshing transmission, further drive the transmission shaft 15 to rotate, drive the first gear 14 to rotate through the transmission shaft 15, finally drive the chain 17 to operate, and further convey trays and goods on the chain 17.

The support mounting 4 is a portal frame, so that it has a receiving space 41 for receiving a truck and a container, and facilitates the arrangement of a predetermined parking range. It is of course also possible to use a ceiling mounted support, the support mounting 4 and the ground forming a space for the purpose of parking the truck and the container. Therefore, the support mounting seat 4 can be set to different structures, and the mounting position can be flexibly selected according to the producing area of the user.

Although specific embodiments of the present invention have been described, it will be understood by those skilled in the art that the specific embodiments described are illustrative only and are not limiting upon the scope of the invention, and that equivalent modifications and variations can be made by those skilled in the art without departing from the spirit of the invention, which is to be limited only by the claims appended hereto.

Claims

1. A cargo stack correction system, characterized by: comprises that

A tray positioning device for positioning the tray at a preset position;

2. The cargo stack correction system of claim 1, wherein: the tray positioning device comprises a first limiting device, a second limiting device, a horizontal pushing mechanism and a detection device for detecting the position of the tray;

the second limiting device is linearly arranged on one side edge of the tray;

3. The cargo stack correction system of claim 2, wherein: the second limiting device comprises a plurality of rotary blocking pieces, each rotary blocking piece comprises a vertically arranged rotating shaft, and a rotating sleeve is sleeved on each rotating shaft;

or the rotating barrier is a roller.

4. A cargo stack correction system according to any of claims 1 to 3, wherein: each horizontal driving device comprises driving groups, and the number of the driving groups is equal to that of the correction groups; each driving group comprises two first actuators; the two first executing elements are oppositely and symmetrically arranged on the outer sides of the two correcting parts of the same correcting group along the diagonal line, and each first executing element can separately abut against one correcting part.

5. The system of claim 4, wherein: the device also comprises a supporting frame;

6. The system of claim 5, wherein: the device also comprises a sliding group; the number of the sliding groups is equal to that of the correction pieces; each sliding group comprises a sliding rail and a sliding block which are connected in a sliding manner; the sliding rail is fixedly connected to the connecting seat; the slider is fixedly connected to the correcting part.

7. The system of claim 6, wherein: each horizontal driving device further comprises a horizontal reset driving group,

8. The cargo stack correction system of claim 7, wherein: the first actuating element and the second actuating element are respectively hydraulic cylinders.

9. The system of claim 5, wherein: each first execution element is fixedly connected to the support frame.

10. The cargo stack correction system of claim 1, wherein: the number of the guide support groups is equal to that of the correction groups; each guide support group comprises two rails and two wheels; the two wheels are correspondingly connected to the bottoms of the two correcting pieces of the same correcting group one by one; the two rails are horizontally arranged along the diagonal; each wheel is connected to one rail in a one-to-one rolling manner.