CN212712586U

CN212712586U - Movable unstacking trolley

Info

Publication number: CN212712586U
Application number: CN202020771916.8U
Authority: CN
Inventors: 谢晖; 李茂�; 徐鹏程; 蒋时军
Original assignee: Dajie Intelligent Technology Guangdong Co ltd
Current assignee: Dajie Intelligent Technology Guangdong Co ltd
Priority date: 2020-05-12
Filing date: 2020-05-12
Publication date: 2021-03-16
Anticipated expiration: 2030-05-12

Abstract

The utility model relates to a movable unstacking trolley, which comprises a movable guide rail, a trolley body and a driving device; a lifting device and a separator are arranged in the vehicle body; the driving device drives the vehicle body to horizontally move along the moving guide rail and drives the lifting device to ascend and descend; the tension divider is positioned on one side of the lifting device, and clamping and stretching are respectively realized in the lifting process and the descending process of the lifting device. The utility model provides the high position precision of the platform truck pay-off process of breaking a jam.

Description

Movable unstacking trolley

Technical Field

The utility model relates to a platform truck equipment technical field that breaks a jam especially relates to a portable platform truck that breaks a jam.

Background

Most of the existing unstacking trolley design modes are fixed, and the feeding control mode is usually to compile corresponding control signals on the basis of design requirements so as to realize the lifting control of the trolley. The control mode usually generates errors with the actual position requirement in the using process, and the position precision of feeding is reduced; meanwhile, the program needs to be adjusted continuously along with the actual use process, so that the complexity of corresponding operation is increased.

In addition, current movable platform truck that destacks takes place position error easily at the removal transmission material in-process many times, needs artifical the interference, therefore often the stroke range is less.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to overcome prior art not enough, provide a portable platform truck that breaks a jam, realize the material transmission to the more remote of platform truck that breaks a jam to can guarantee the position precision, reduced operating error.

In order to achieve the purpose, the utility model provides a movable unstacking trolley, which comprises a movable guide rail, a trolley body and a driving device; a lifting device and a separator are arranged in the vehicle body;

the driving device is used for driving the vehicle body to horizontally move along the moving guide rail and driving the lifting device to ascend and descend;

the tension divider is positioned on one side of the lifting device and used for respectively realizing clamping and stretching in the ascending process and the descending process of the lifting device.

Further, the movable unstacking trolley also comprises a vision module and a vision module control end,

the driving device is connected with the vision module control end, and the vision module control end controls the driving device to perform horizontal position compensation on the vehicle body and/or perform vertical position compensation on the lifting device according to difference information between the position information acquired by the vision module and preset position information.

The plurality of the tension dividers are arranged on one side of the lifting device in parallel along the length direction of the moving guide rail.

The driving device comprises a driving motor for driving the vehicle body to horizontally move along the moving guide rail and a lifting pneumatic cylinder for driving the lifting device to ascend and descend.

The utility model discloses a movable unstacking trolley of visual control, through setting up vision device location material loading position to judge the relation between actual material loading position and the initial position through vision module control end, realize carrying out position compensation to unstacking trolley mobility control, thereby realize the real-time adjustment of material loading process; meanwhile, the remote monitoring of the feeding process is realized, and the operation convenience is improved.

Drawings

FIG. 1 is a schematic view of the overall structure of the movable unstacking trolley of the present invention;

fig. 2 is a schematic top view of the movable unstacking trolley of the present invention;

fig. 3 is a schematic view of the internal structure of the movable unstacking trolley of the utility model.

Reference numbers in the figures: the method comprises the following steps of 1-moving guide rails, 2-vision modules, 3-transverse lifting positioning columns, 4-vehicle bodies, 5-lifting devices, 6-feeding plates, 7-positioning plates, 8-piece dividers, 9-supporting frameworks, 10-lifting pneumatic cylinders, 11-driving motors and 12-differentials.

Detailed Description

Reference will now be made in detail to embodiments of the present patent, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present patent and are not to be construed as limiting the present patent.

In the description of this patent, it is to be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for the convenience of describing the patent and for the simplicity of description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the patent.

In the description of this patent, it is noted that unless otherwise specifically stated or limited, the terms "mounted," "connected," and "disposed" are to be construed broadly and can include, for example, fixedly connected, disposed, detachably connected, disposed, or integrally connected and disposed. The specific meaning of the above terms in this patent may be understood by those of ordinary skill in the art as appropriate.

In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.

The utility model discloses portable platform truck that breaks a jam's overall structure is shown in 1-3, mainly includes movable guide 1, automobile body 4 to and the drive arrangement who provides power. Wherein the vehicle body 4 is arranged above the moving guide rail 1 and can move back and forth along the moving guide rail 1. The vehicle body 4 is internally provided with a lifting device 5 and a separator 8.

The driving device is used for driving the vehicle body 4 to horizontally move back and forth along the moving guide rail 1 and driving the lifting device 5 to ascend and descend;

the opening divider 8 is positioned at one side of the lifting device 5 and respectively realizes clamping and opening in the lifting process and the descending process of the lifting device 5.

Further, the movable unstacking trolley further comprises a vision module 2 and a vision module control end (not shown), wherein the vision module 2 is arranged above the trolley body 4.

The driving device is connected with the visual module control end, and the visual module control end can control the driving device to perform position compensation in the horizontal direction on the vehicle body 4 and/or perform position compensation in the vertical direction on the lifting device 5 according to the difference value information between the position information acquired by the visual module 2 and the preset position information.

Referring to fig. 3, the main body of the vehicle body 4 is formed by the support frame 9 and the side closure plates. Of course, the car body 4 may also be configured to be composed of a bottom plate and a lateral sealing plate, and the present invention is not particularly limited thereto. The driving means includes a driving motor 11 for driving the vehicle body 4 to move forward and backward along the moving guide 1 and a lift pneumatic cylinder 10 for driving the lift means 5 to ascend and descend, and the lift means 5 is located above the lift pneumatic cylinder 10. The lifting device 5 may further include a lifting table and a feeding plate 6 disposed above the lifting table, and the lifting pneumatic cylinder 10 may be used to drive the lifting table to be raised and lowered, thereby raising and lowering the feeding plate 6.

As shown in fig. 1 and 2, a plurality of tension dividers 8 are disposed on one side of the vehicle body 4 and are distributed in parallel along the length direction of the moving guide rail 1. The upper end of the tension divider 8 has a certain inclination, so that the clamping and the loosening of the lifting platform can be realized. Through setting up and opening ware 8, when the platform truck of breaking a jam carries out the pay-off, can realize pressing from both sides tightly the material at elevating gear 5's the in-process that rises, guarantee the position accuracy of material in the material loading process, after accomplishing the blowing, open at elevating gear 5's decline in-process.

Further, it is preferable to further include a second elevation driving device for driving the vehicle body 4 to ascend and descend as a whole. The second elevation driving device may be an elevation pneumatic cylinder, and the second elevation driving device may individually control the vehicle body 4.

Further, the unstacking trolley further comprises a plurality of transverse lifting positioning columns 3 which are respectively arranged on the front side and the rear side of the trolley body 4 and used for positioning materials with different sizes during feeding.

Further, please refer to fig. 3, a positioning plate 7 is further disposed in the car body 4, and the positioning plate 7 is used for laterally positioning the material when the material is taken.

Furthermore, the driving motor 11 and the lifting pneumatic cylinder 10 are connected with the vision module control end through lines, the driving motor 11 is connected with the differential 12 through the vision module control end, and the front and back movement of the unstacking trolley on the movable guide rail 1 can be realized under the control of the vision module control end, so that the adjustment of the material taking position is realized. The lifting pneumatic cylinder 10 controls the lifting platform to ascend and descend under the regulation of the control end of the vision module, so that the height position regulation of the material loading and unloading is realized.

The utility model discloses a material loading control process of portable platform truck that destacks includes following main step:

after the horizontal driving device drives the vehicle body to move along the moving guide rail for a first preset distance, the vision module acquires first position information of the vehicle body and transmits the first position information to the control end of the vision module;

the vision module control end compares the first position information with pre-stored first initial position information, judges whether position compensation needs to be carried out on the vehicle body, and if so, obtains first position compensation information of the vehicle body;

the vision module control end controls the horizontal driving device to drive the vehicle body to perform corresponding horizontal position compensation according to the obtained first position compensation information;

after the vehicle body takes materials, the lifting driving device drives the lifting device to ascend for a second preset distance, and the vision module acquires second position information of the lifting device and transmits the second position information to the control end of the vision module;

the vision module control end compares the second position information with pre-stored second initial position information, judges whether position compensation needs to be carried out on the lifting device, and if so, obtains second position compensation information of the lifting device;

and the control end of the vision module controls the lifting driving device to drive the vehicle body to perform corresponding position compensation in the vertical direction according to the obtained second position compensation information.

Specifically, the vision module may be a camera, a vision sensor, or the like, and may position or acquire actual position information of a specific object, and transmit the actual position information to the control end.

Further, when the vision module control end compares the first position information with the pre-stored first initial position information, the vision module control end judges that the position compensation needs to be carried out on the vehicle body only when the error value exceeds a preset threshold value.

Further, when the vision module control end compares the second position information with the pre-stored second initial position information, the position compensation of the lifting device is determined to be needed only when the error value exceeds the preset threshold value.

Furthermore, after receiving the actual position information, the vision module control end compares the actual position information with the pre-stored initial position information, wherein the pre-stored initial position information can be preset initial position information or stored last position information, and judges whether position compensation is needed or not, if compensation is needed, corresponding position compensation quantity is calculated, and then the corresponding position compensation quantity is converted into a control electric signal for an execution mechanism, and the control execution mechanism (comprising a horizontal driving device and a lifting driving device) compensates the advancing and lifting positions of the unstacking trolley, so that accurate position control of the feeding process is realized.

The utility model provides a portable platform truck that breaks a jam, on the one hand through setting up the ware that opens a sheet, in the in-process that elevating gear drove the material to rise to the blowing position, realize the clamp to the material for the material can not take place the position change at will in the pay-off process, has improved the position precision; on the other hand, the visual module and the visual module control end are arranged, so that the position accuracy of the whole unstacking trolley and the position accuracy of the lifting device are further guaranteed, and the position control of the large-stroke feeding and feeding process of the movable unstacking trolley is realized.

While the preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the appended claims be interpreted as including the preferred embodiment and all such alterations and modifications as fall within the scope of the invention. It will be apparent to those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims and their equivalents, the present invention is also intended to include such modifications and variations.

Claims

1. A movable unstacking trolley is characterized by comprising a movable guide rail (1), a trolley body (4) and a driving device; a lifting device (5) and a tension divider (8) are arranged in the vehicle body (4);

the driving device is used for driving the vehicle body (4) to horizontally move along the moving guide rail (1) and driving the lifting device (5) to ascend and descend;

the opening divider (8) is positioned on one side of the lifting device (5) and is used for realizing clamping and opening in the lifting process and the descending process of the lifting device (5) respectively.

2. The movable destacking trolley according to claim 1, further comprising a vision module (2), and a vision module control terminal,

the driving device is connected with the visual module control end, and the visual module (2) is used for controlling the control end to perform horizontal position compensation on the vehicle body (4) and/or vertical position compensation on the lifting device (5) according to difference value information between position information acquired by the visual module and preset position information.

3. The movable unstacking trolley according to claim 1, wherein the distractor (8) is provided in plurality and arranged in parallel on one side of the lifting device (5) along the length of the moving guide (1).

4. The movable destacking carriage as claimed in claim 1, characterized in that the drive means comprise a drive motor (11) for driving the carriage body (4) horizontally along the moving track (1) and a lift pneumatic cylinder (10) for driving the lifting means (5) up and down.

5. The movable destacking carriage as recited in claim 4, wherein the driving means further comprises a second lift pneumatic cylinder for driving the raising and lowering of the body (4) as a whole.

6. The movable unstacking trolley according to claim 1, characterized in that the trolley body (4) comprises a bottom supporting framework (9) and lateral closing plates on the sides, the drive means and the distractor (8) being arranged on the supporting framework (9).

7. A movable destacking trolley according to claim 1 or 3, wherein the upper end of the distractor (8) is sloped.

8. The movable unstacking trolley according to claim 1, wherein the front side and the rear side of the trolley body (4) are respectively provided with a plurality of transverse lifting positioning columns (3).