CN221115671U - Track capable of being movably detected - Google Patents

Abstract

The utility model discloses a movable detection track, comprising: a moving rail which can move along the ground rail; the guide universal wheel is supported at the lower part of the front end of the movable rail, and the auxiliary adjusting mechanism is supported at the rear end of the movable rail and is in rolling connection with the ground rail through a travelling wheel; the bottom of the movable rail is also provided with a plurality of first distance sensors which are longitudinally arranged and used for detecting the distance between the movable rail at the position of each first distance sensor and the bottom surface of the carriage; and one or more second distance sensors are respectively arranged at two sides of the front end of the movable rail and are used for detecting the distance between the movable rail and the side plate of the carriage where the second distance sensors are located. The movable detection track provided by the utility model can detect the environmental distances on the ground and two sides while moving, so that a reference is provided for the movement of the track to facilitate the timely correction of the track.

Description

Track capable of being movably detected

Technical Field

The utility model relates to the technical field of rail conveying, in particular to a movable detection rail.

Background

The common rail is a top surface support or a side surface support, and is generally only used by one travelling mechanism, cannot move, and cannot detect the ground and the surrounding environment in the moving process.

Disclosure of utility model

The technical problem to be solved by the embodiment of the utility model is to provide a movable detection track, which solves the problem of detecting the ground and the surrounding environment of the movable track in the moving process.

The utility model provides a movable detection track, comprising:

A moving rail (21), the moving rail (21) being movable along the ground rail;

The guiding universal wheel (23) and the auxiliary adjusting mechanism (24), the guiding universal wheel (23) is supported at the lower part of the front end of the moving rail (21), and the auxiliary adjusting mechanism (24) is supported at the rear end of the moving rail (21) and is in rolling connection with the ground rail through the travelling wheel (2411);

The bottom of the movable rail (21) is also provided with a plurality of first distance sensors (25) which are longitudinally arranged and are used for detecting the distance between the movable rail (21) where each first distance sensor (25) is positioned and the bottom surface of the carriage, so as to obtain the included angle between the movable rail (21) and the bottom surface of the carriage;

One or more second distance sensors (26) are respectively arranged at two sides of the front end of the movable rail (21) along the longitudinal direction and are used for detecting the distance between the movable rail (21) and the carriage side plate at the position of each second distance sensor (26) so as to judge whether the front end of the movable rail (21) is centered or not and the included angle between the movable rail (21) and the carriage side plate.

The device also comprises a flat trolley (22), wherein the flat trolley (22) can do reciprocating motion on the moving rail (21).

The movable rail (21) comprises an inner rail (211), an outer rail (212) and an additional rail (213), wherein the inner rail (211) is positioned on the inner side surface of the movable rail (21) to form a rail groove; the outer rail (212) is positioned on the outer side surface of the movable rail (21) and also forms a rail groove; an additional rail (213) is located at the top. The inner rail (211) is used for being in rolling connection with the wheels of the flat trolley (22), the outer rail (212) is used for being in rolling connection with the rollers on the inner side of the door-shaped frame (41), and the additional rail (213) is used for being in rolling connection with the limit guide wheels (4112).

The flat trolley (22) comprises a trolley body (221), traction belts (222) and rotating wheels (223), wherein the trolley body (221) is connected to the moving rail (21) in a rolling mode through rollers, the rotating wheels (223) are provided with two groups and are arranged at two ends of the moving rail (21), the traction belts (222) are lapped between the two rotating wheels (223), and the traction belts (222) are connected with the trolley body (221) to traction the trolley body (221) to move along the moving rail (21).

The auxiliary adjusting mechanism (24) comprises a movable base (241), a transverse sliding seat (242), a horizontal steering seat (243) and a swinging seat (244), wherein the movable base (241) can move along a ground rail, the transverse sliding seat (242) can move transversely along the movable base (241), the horizontal steering seat (243) is rotationally connected to the transverse sliding seat (242), the swinging seats (244) are provided with two swinging seats, the two swinging seats (244) are rotationally connected to two ends of the horizontal steering seat (243) and can swing on a vertical surface, and the two swinging seats (244) are supported at the lower part of the movable rail (21).

The swing seat (244) is provided with a lifting guide rail (2441), a lifting driving mechanism (2442), a lifting driving motor (2443), a lifting connecting block (2444) and a base (2445), wherein the lifting guide rail (2441) is arranged at two sides, the lifting connecting block (2444) can move up and down along the lifting guide rail (2441), and the lifting connecting block (2444) is supported at the lower part of the moving rail (21); the lifting driving mechanism (2442) is driven by the lifting driving motor (2443) to drive the lifting connecting block (2444) to lift; the lifting guide rail (2441) is vertically fixed on the base (2445).

Also comprises an adjusting cylinder (2412) connected between the movable base (241) and the transverse slide (242) to control the position of the transverse slide (242) on the movable base (241).

The guiding universal wheel (23) comprises a wheel body (231), a bracket (232), a wheel driving motor (233), a connecting flange (234), a steering gear (235), a steering driving gear (236) and a steering driving motor (237), wherein the wheel body (231) is rotatably arranged in the bracket (232), and the wheel driving motor (233) is fixedly connected to the side of the bracket and drives the wheel body (231) to rotate; the connecting flange (234) is fixedly connected to the top of the bracket (232), the connecting flange (234) is rotatably connected to the steering gear (235), and the top of the connecting flange (234) is connected to the moving rail (21).

The movable detection track provided by the utility model can detect the environmental distances on the ground and two sides while moving, so that a reference is provided for the movement of the track to facilitate the timely correction of the track.

Drawings

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

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

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

Fig. 4 is a schematic structural view of the gantry forklift of the present utility model;

Fig. 5 is a schematic structural view of the gantry forklift of the present utility model;

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Fig. 20-23 are schematic structural views of a portal forklift truck according to the present utility model.

In the figure:

1-a conveying roller way;

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

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

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

231-wheel body; 232-a bracket; 233-wheel drive motor; 234-a connection flange; 235-steering gear; 236-steering drive gear; 237-steering drive motor;

241-a mobile base; 242-transverse slide; 243-horizontal steering seat; 244-pendulum base; 2411-travelling wheels; 2441-lifting rail; 2412-adjusting a cylinder; 2442-lifting drive mechanism; 2443-lifting drive motor; 2444-lifting connection block; 2445-a base;

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

4-portal forklift; 41-a portal frame; 42-vertical rails; 43-transverse rails; 44-tines; 411-door frame; 412-a cross-tie; 4111-L-shaped reinforcement; 4112-limit guide wheels;

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

6-base station; 61-ground rail;

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

Detailed Description

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

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

The present utility model provides a loader system comprising:

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

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

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

The portal forklift 4 comprises a portal frame 41, a vertical rail 42, a transverse rail 43 and two tines 44, wherein the portal frame 41 is in a portal structure, and a portal is formed in the middle of the portal frame 41 so that a pallet carrying goods can pass through the middle of the portal frame 41, and the portal frame 41 is transversely connected to the rail-moving trolley 2 and can reciprocate along the rail-moving trolley 2; the number of the vertical rails 42 is two, and the vertical rails are arranged on the upright posts at the two sides of the front end of the portal frame 41; the transverse rail 43 is slidably connected between the two vertical rails 42 to enable lifting movement along the vertical rails 42 to drive the tines 44 thereon; the fork teeth 44 are provided with two, and can move to the two ends of the transverse rail 43 respectively and independently so as to avoid the tray and the goods on the tray; the portal forklift 4 can move along the moving rail 21, when the pallet is conveyed forwards along the moving rail 21, the portal forklift 4 passes through the portal forklift 4, the portal forklift 4 moves backwards to the rear of the pallet, then the pallet is forked up, and the pallet is carried to move forwards, so that the pallet is placed at a preset position in front;

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

Referring to fig. 10 to 12, the rail-moving carriage 2 includes a moving rail 21 along which the moving rail 21 can move so as to enable the rail-moving carriage 2 to enter the vehicle compartment, and a pallet 22 capable of reciprocating on the moving rail 21 so as to be able to receive and convey forward the pallet loaded with the goods.

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

The track moving trolley for the loading machine provided by the utility model can move along the ground track, so that the conveying distance is prolonged, and cargoes can be conveyed into a carriage, thereby facilitating loading.

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

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

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

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

The moving rail 21 has a double-rail structure, each single rail comprises an inner rail 211, an outer rail 212 and an additional rail 213, and the inner rail 211 is positioned on the inner side surface of the moving rail 21 to form a rail groove; the outer rail 212 is positioned on the outer side surface of the movable rail 21 and also forms a rail groove; the additional rail 213 is located at the top. The inner rail 211 is adapted to be in rolling connection with the wheels of the trolley 22, the outer rail 212 is adapted to be in rolling connection with the rollers inside the portal frame 41, and the additional rail 213 is adapted to be in rolling connection with the limit guide wheels 4112. The moving rail 21 may have a composite rail structure (a combination of a plurality of rails) or a single rail structure. Both side surfaces and the top surface of the moving rail 21 form a rail or a rail groove, thereby realizing one rail multi-purpose.

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

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

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

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

The swing seat 244 is provided with a lifting guide rail 2441, a lifting driving mechanism 2442, a lifting driving motor 2443, a lifting connecting block 2444 and a base 2445, wherein the lifting guide rail 2441 is arranged on two sides, the lifting connecting block 2444 can move up and down along the lifting guide rail 2441, and the lifting connecting block 2444 is supported at the lower part of the movable rail 21; the lifting driving mechanism 2442 is driven by the lifting driving motor 2443 to drive the lifting connecting block 2444 to lift; the elevation guide 2441 is vertically fixed to the base 2445. The lifting guide rail 2441, the lifting driving mechanism 2442 and the lifting driving motor 2443 are used for controlling the height of the lifting connecting block 2444, the lifting connecting block is supported at the rear end of the movable rail 21, and then the height of the rear end of the movable rail 21 can be adjusted.

The auxiliary adjusting mechanism 24 further comprises an adjusting cylinder 2412 connected between the moving base 241 and the transverse slide 242 to control the position of the transverse slide 242 on the moving base 241, so that the position of the rear end of the moving rail 21 can be adjusted to adjust the conveying direction of the moving rail 21.

The guiding universal wheel 23 comprises a wheel body 231, a bracket 232, a wheel driving motor 233, a connecting flange 234, a steering gear 235, a steering driving gear 236 and a steering driving motor 237, wherein the wheel body 231 is rotatably arranged in the bracket 232, and the wheel driving motor 233 is fixedly connected to the side of the bracket and drives the wheel body 231 to rotate; a connection flange 234 is fixedly coupled to the top of the bracket 232, the connection flange 234 is rotatably coupled in a steering gear 235, and the top of the connection flange 234 is coupled to the supported member. The guiding universal wheel 23 can be driven in any direction in a rotating way, so that the front and back movement and the left and right steering of the track moving trolley are driven.

The supported member is a moving rail 21.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

As shown in fig. 19 to 23, the portal frame 41 of the portal forklift 4 includes a portal frame 411 at the upper part and a lateral pulling plate 412 at the bottom, and rollers are provided on the inner side of the portal frame 411 above the lateral pulling plate 412, and are connected to the inner side of the moving rail 21, and the lateral pulling plate 412 is located below the moving rail 21, so that the pallet and the goods do not affect the passing of the portal frame 41 on the pallet truck 22.

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

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

L-shaped reinforcing members 4111 are also provided on both sides of the door frame 411 to structurally reinforce the door frame.

The inner side of the door-shaped frame 411 is further provided with a limiting guide wheel 4112, the limiting guide wheel 4112 is connected to the inner side surface of the moving rail 21, and the wheel axle of the limiting guide wheel 4112 is vertical, so that the door-shaped frame 411 is limited in the transverse direction, and the door-shaped frame 411 is prevented from being separated from the moving rail 21.

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

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

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

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

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

Claims (7)

1. A moveably detected track, comprising:

a moving rail (21), the moving rail (21) being movable along the ground rail;

The guiding universal wheel (23) and the auxiliary adjusting mechanism (24), the guiding universal wheel (23) is supported at the lower part of the front end of the moving rail (21), and the auxiliary adjusting mechanism (24) is supported at the rear end of the moving rail (21) and is in rolling connection with the ground rail through the travelling wheel (2411);

The bottom of the movable rail (21) is also provided with a plurality of first distance sensors (25) which are longitudinally arranged and are used for detecting the distance between the movable rail (21) where each first distance sensor (25) is positioned and the bottom surface of the carriage;

one or more second distance sensors (26) are respectively arranged at two sides of the front end of the movable rail (21) along the longitudinal direction and are used for detecting the distance between the movable rail (21) and the side plate of the carriage where each second distance sensor (26) is located.

2. The track according to claim 1, wherein the track is configured to receive the track,

The device also comprises a flat trolley (22), wherein the flat trolley (22) can do reciprocating motion on the moving rail (21).

3. The track according to claim 2, wherein the track is configured to receive the track,

The movable rail (21) comprises an inner rail (211), an outer rail (212) and an additional rail (213), wherein the inner rail (211) is positioned on the inner side surface of the movable rail (21) to form a rail groove; the outer rail (212) is positioned on the outer side surface of the movable rail (21) and also forms a rail groove; an additional rail (213) is located at the top; the inner rail (211) is used for being in rolling connection with the wheels of the flat trolley (22), the outer rail (212) is used for being in rolling connection with the rollers on the inner side of the door-shaped frame (41), and the additional rail (213) is used for being in rolling connection with the limit guide wheels (4112).

4. The track according to claim 2, wherein the track is configured to receive the track,

The flat trolley (22) comprises a trolley body (221), traction belts (222) and rotating wheels (223), wherein the trolley body (221) is connected to the moving rail (21) in a rolling mode through rollers, the rotating wheels (223) are provided with two groups and are arranged at two ends of the moving rail (21), the traction belts (222) are lapped between the two rotating wheels (223), and the traction belts (222) are connected with the trolley body (221) to traction the trolley body (221) to move along the moving rail (21).

5. The track according to claim 1, wherein the track is configured to receive the track,

The auxiliary adjusting mechanism (24) comprises a movable base (241), a transverse sliding seat (242), a horizontal steering seat (243) and a swinging seat (244), wherein the movable base (241) can move along a ground rail, the transverse sliding seat (242) can move transversely along the movable base (241), the horizontal steering seat (243) is rotationally connected to the transverse sliding seat (242), the swinging seats (244) are provided with two swinging seats, the two swinging seats (244) are rotationally connected to two ends of the horizontal steering seat (243) and can swing on a vertical surface, and the two swinging seats (244) are supported at the lower part of the movable rail (21).

6. The track according to claim 5, wherein the track is configured to receive the track,

The swing seat (244) is provided with a lifting guide rail (2441), a lifting driving mechanism (2442), a lifting driving motor (2443), a lifting connecting block (2444) and a base (2445), wherein the lifting guide rail (2441) is arranged at two sides, the lifting connecting block (2444) can move up and down along the lifting guide rail (2441), and the lifting connecting block (2444) is supported at the lower part of the moving rail (21); the lifting driving mechanism (2442) is driven by the lifting driving motor (2443) to drive the lifting connecting block (2444) to lift; the lifting guide rail (2441) is vertically fixed on the base (2445).

7. The track according to claim 1, wherein the track is configured to receive the track,

The guiding universal wheel (23) comprises a wheel body (231), a bracket (232), a wheel driving motor (233), a connecting flange (234), a steering gear (235), a steering driving gear (236) and a steering driving motor (237), wherein the wheel body (231) is rotatably arranged in the bracket (232), and the wheel driving motor (233) is fixedly connected to the side of the bracket and drives the wheel body (231) to rotate; the connecting flange (234) is fixedly connected to the top of the bracket (232), the connecting flange (234) is rotatably connected to the steering gear (235), and the top of the connecting flange (234) is connected to the moving rail (21).