CN211444903U

CN211444903U - Feeding mechanism of container

Info

Publication number: CN211444903U
Application number: CN201921535249.7U
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: 2019-09-16
Filing date: 2019-09-16
Publication date: 2020-09-08
Anticipated expiration: 2029-09-16

Abstract

The utility model provides a feed mechanism of container, include: x axle removes module, support frame, Y axle and removes module, Z axle and removes module and fork, the support frame includes first support frame and second support frame, a flying wing accommodation space has between first support frame and the second support frame for dodge, hold two side doors of flying wing container and the flying wing promptly, thereby not increasing under the condition of the width of support frame and the length of fork, again can not be right the last unloading action of fork causes the interference, feed mechanism can also apply to quick-open side curtain case, at this moment, flying wing accommodation space is vacant can. The feeding mechanism is applied to a cargo handling system of a flying wing container or a quick-opening side curtain box and is controlled by a controller of the cargo handling system of the flying wing container or the quick-opening side curtain box, so that automatic feeding is realized, the position precision of the parked cargos is improved, the number of times of adjusting the parked position is reduced, and the cargo handling efficiency is improved.

Description

Feeding mechanism of container

Technical Field

The utility model relates to a container cargo handling technical field, especially a feed mechanism of container.

Background

The existing flying wing container and the quick-opening side curtain container both adopt two side doors instead of the traditional container which is opened at the back.

The winged container is also called as an expansion wing container, a gull wing container and the like, and compared with a quick-opening side curtain container, if a traditional forklift is adopted for operation and goods are loaded and unloaded, the expansion wing container and the gull wing container are not different, but the traditional goods loading and unloading mode is that a driver opens the forklift to load and unload goods, because the position of the forklift driver is required to be adjusted every time the goods are loaded and unloaded, and the position adjustment is carried out by the driver through visual inspection, the efficiency of the loading and unloading mode is lower, particularly, the position precision is not high enough during loading, when the last pallet goods are loaded, the last pallet can not be loaded into the container due to the fact that the front position is not well adjusted, the goods which are loaded into the container in front need to be moved again, and manpower and material resources are wasted.

For an automatic cargo handling system, a flying wing container is greatly different from a quick-opening side curtain box, and a feeding mechanism of the quick-opening side curtain box cannot be used for the flying wing container. The quick-opening side curtain box is characterized in that the door of the quick-opening side curtain box is a rolling door, when the door is opened, the rolling door is rolled up towards a gap between the container and the cab, the width of the left side and the width of the right side of the container cannot be increased by the rolling door, and the fork for automatic feeding cannot be influenced. For the flying wing container, when the door is opened, the container doors on two sides rotate and open by taking the central line of the length direction as a rotating shaft, just like the wings of a bird are unfolded, the door is in a horizontal state after being opened, so that the doors unfolded on two sides can influence the loading and unloading of the pallet fork, the cargo cannot be forked into the container, if the cargo is to be loaded and unloaded, the loading mechanism of the automatic cargo loading and unloading system of the flying wing container needs to be longer, the length at least needs to be added with the width of the container doors, and on the other hand, a wider space is needed for the pallet fork to move. The total can cause whole feed mechanism's width greatly increased like this to increased area, fork length becomes longer moreover, and fork length becomes long, when being equivalent to fork goods, the swing radius of goods increases, can increase undoubtedly and rock the range, can reduce the stationarity like this.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model lies in providing a feed mechanism of container, can be applicable to two kinds of material loadings of all-wing aircraft container and quick-open side curtain case, and it has an all-wing aircraft accommodation space to can dodge, hold the two sides door of container and all-wing aircraft promptly, finally under the condition that does not increase support frame width and fork length, eliminate the interference of all-wing aircraft to last unloading.

The utility model discloses a realize like this: a loading mechanism for a container, comprising:

the X-axis moving module is used for realizing X-axis linear motion;

the supporting frame comprises a first supporting frame and a second supporting frame which are connected with each other, and a flying wing accommodating space is formed between the first supporting frame and the second supporting frame; the first support frame is connected to the X-axis moving module;

the Y-axis moving module is movably connected to the first support frame;

the Z-axis moving module is connected to the Y-axis moving module;

a fork connected to the Z-axis moving module.

Further, the X-axis moving module comprises

The bottom of the wheel seat is provided with a wheel groove, and the wheel seat is connected to the first support frame;

a driving rail wheel rotatably mounted in the wheel well with a rotation axis of the driving rail wheel horizontally perpendicular to the X-axis;

the output shaft of the first driving motor is fixedly connected to the driving rail wheel, and the first driving motor is installed on the wheel seat.

Further, the driving rail wheel is arranged on the rail horizontally along the X axis.

Further, the X-axis moving module further comprises a driven rail wheel which is rotatably installed in the wheel groove, the rotation axis of the driven rail wheel is horizontally vertical to the X axis, and the driven rail wheel is installed on the track.

Further, the Y-axis moving module comprises

The screw rod is rotatably arranged on the second support frame along the Y axis;

the second driving motor is arranged on the first support frame or the second support frame, and an output shaft of the second driving motor is fixedly connected to the screw rod;

the nut is sleeved on the screw rod through threads;

and the fixed seat is fixedly connected with the nut.

Further, the Z-axis moving module comprises

The first lifting mechanism comprises a first fixing part and a first lifting part, and the first fixing part is fixedly connected to the Y-axis moving module; the first lift portion is fixedly or rotatably connected to the fork.

Further, the lifting device also comprises a first fixing frame which is fixedly connected with the first lifting part; the fork is fixedly connected to the first fixing frame, and the fork is horizontally arranged along the Y axis.

Further, also includes

The third driving motor is fixedly connected to the first fixing frame, and an output shaft of the third driving motor is vertically arranged;

and the second fixing frame is fixedly connected to an output shaft of the third driving motor, and the fork is fixedly connected to the second fixing frame.

Further, the first support frame is a portal frame.

Further, there is one of the first support frames;

the number of the second support frames is two, and the two second support frames are symmetrically connected to the first support frame;

the number of the X-axis moving modules is four, and the four X-axis moving modules are symmetrically arranged at the bottom of the first support frame and are arranged in a rectangular shape;

the two Y-axis moving modules are symmetrically arranged at the tops of the two second supporting frames in a one-to-one correspondence manner;

the number of the Z-axis moving modules is two, and the two Z-axis moving modules are symmetrically arranged on the two Y-axis moving modules in a one-to-one correspondence mode.

Further, the X-axis moving module is connected to the ground in a sliding mode, or the X-axis moving module is hoisted above the ground in a sliding mode.

The utility model has the advantages of as follows: a loading mechanism for a container, comprising: x axle removes module, support frame, Y axle and removes module, Z axle and removes module and fork, the support frame includes first support frame and second support frame, a flying wing accommodation space has between first support frame and the second support frame for dodge, hold two side doors of flying wing container and the flying wing promptly, thereby not increasing under the condition of the width of support frame and fork length, again can not be right the last unloading action of fork causes the interference, feed mechanism can also apply to quick-open side curtain case, at this moment, flying wing accommodation space is vacant can. The feeding mechanism is applied to a cargo handling system of a flying wing container or a quick-opening side curtain box, the X-axis moving module, the Y-axis moving module and the Z-axis moving module are connected to a controller of the cargo handling system of the flying wing container or the quick-opening side curtain box and are controlled by the controller to move according to a preset track, so that automatic feeding is realized, the position precision of parked cargos is improved, the number of times of adjusting the parked positions is reduced, and the cargo handling efficiency is improved.

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 feeding mechanism of the present invention.

Fig. 3 is a front view of the feeding mechanism of the present invention.

Fig. 4 is a side view of the feeding mechanism of the present invention.

Fig. 5 is a top view of the feeding mechanism of the present invention.

Fig. 6 is a schematic structural diagram of the X-axis moving module according to the present invention.

Fig. 7 is a perspective view of a conveying unit in the conveying device of the present invention.

Fig. 8 is a bottom view of a conveying unit in the conveying apparatus of the present invention.

Fig. 9 is a side view of a conveying unit of the conveying apparatus according to the present invention.

Fig. 10 is a front view of a conveying unit in the conveying apparatus according to the present invention.

Fig. 11 is a top view of a cargo handling system according to the present invention in use.

Fig. 12 is a side view of a cargo handling system according to the present invention in use.

Fig. 13 is a rear view of a cargo handling system according to the present invention in use.

Fig. 14 is a perspective view showing a use state of the cargo handling system according to the present invention.

Fig. 15 is a control schematic block diagram of the controller according to 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, the chain 17,

the fork (2) is provided with a fork,

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

a support frame 4, a containing space 41, a first support frame 42, a second support frame 43, a flying wing containing space 44,

the Y-axis moving module 5, a screw rod 51, a second driving motor 52, a fixed seat 53, a slide rail 54 and a slide block 55;

a Z-axis moving module 6, a first elevating mechanism 61, a first fixing portion 611, a first elevating portion 612, a first fixing frame 62, a third driving motor 63, a second fixing frame 64,

the first detection means 7 are arranged to detect,

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 for an automated storage system.

Detailed Description

The design concept of the utility model is that: the feeding mechanism is formed by combining the existing parts, equipment or modules, and is provided with the flying wing accommodating space 44 for avoiding and accommodating two side doors, namely flying wings, of a flying wing container, so that interference on feeding and discharging actions of the fork 2 can be avoided under the condition that the width of the support frame 4 and the length of the fork 2 are not increased. The feed mechanism can also be applied to a quick-opening side curtain box, and at the moment, the flying wing accommodating space 44 is empty. The feeding mechanism is applied to the automatic cargo handling system 100 of a flying wing container or a quick-opening side curtain box, is used as the feeding mechanism of the automatic cargo handling system, is controlled by a controller of the automatic cargo handling system, realizes automatic feeding, and has higher efficiency and higher cargo handling accuracy compared with the traditional forklift or manual handling.

Referring to figures 1 through 15 of the drawings,

the first embodiment is as follows:

a cargo handling system 100 of a flying wing container or a quick-opening side curtain box comprises a feeding mechanism, a conveying device 1, a first detection device 7, a second detection device 8, an alarm device 9 and a controller;

the feeding mechanism comprises an X-axis moving module 3, a support frame 4, a Y-axis moving module 5, a Z-axis moving module 6 and a pallet fork 7.

The conveying device 1 is arranged in a straight line along an 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 warehousing system with high automation degree, the conveying device 1 can be butted with the conveying line 300 of the automatic warehousing system to directly convey the goods 200 to the conveying device 1 without operation of a forklift, so that 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 frame 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 support frames 4 comprise a first support frame 42 and a second support frame 43 which are connected with each other, a flying wing accommodating space 44 is arranged between the first support frame 42 and the second support frame 43, and the flying wing accommodating space 44 is used for avoiding and accommodating two side doors, namely flying wings, of a flying wing container, so that interference on the feeding and discharging actions of the pallet fork 2 can be avoided under the condition that the width of the first support frame 42 is not increased; the first supporting frame 42 is connected to the X-axis moving module 3, so that the X-axis moving module 3 moves to drive the first supporting frame 42 to move and the second supporting frame 43 to move along the X-axis; the first support frame 42 can be made into various structures, for example, an existing portal frame, a traveling crane and the like can be adopted, and the structures can be arranged as required. In specific embodiments, the second support frame 43 may be made in various forms as long as the flying wing accommodating space 44 can be ensured, for example, a tripod structure shown in the drawings.

The Y-axis moving module 5 is movably connected to the second support frame 43, so that the second support frame 43 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 installed at a desired position, for example, on the support frame 4, or may be installed on the ground or elsewhere.

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 detection device 7 and the second detection device 8 may be mounted on the support frame 4, for example, the first detection device 7 may be mounted on both sides of the support frame 4 and face both doors of the container, and the second detection device 8 may be mounted on the top of the support frame 4 downward to detect the height of the container below.

The use mode when loading goods: the conveying device 1 is butted with a conveying line 300 of an automatic warehousing system through existing conveying equipment, goods 200 are conveyed to the conveying device 1 from a warehouse, the motion 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 a container and the length, width and height of the loaded goods 200, and the parking range of a 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 parking is in place, the backing is carried out without manual command, and the manpower is saved. The driver of the truck opens the doors at the two sides of the container first, then backs up the container, and when the container is a flying wing container, the doors at the two sides of the container enter the flying wing accommodating space 44 so as to avoid and accommodate the two sides, namely the flying wings; the container body enters the receiving space 41 below; in the case of the quick-opening side curtain container, the container is inserted into the lower accommodation space 41, and the upper flying wing accommodation space 44 is empty. 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 two side doors of the container enter the flying wing accommodating space 44, the parking position is detected in real time by the second detection device 8 in the parking process and fed 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 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 support frame 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, the controller controls the first detection device 7 to detect, starts scanning from the tail of the container, and when the truck is parked in place, namely the foremost end of the container is scanned, whether articles are in the container is detected, which can save energy, of course, the controller is not set at the foremost end, so that 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, so as to 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 mounted on the first support frame 42, so that no additional support is needed to mount the alarm device 9, 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 moving module 3 includes a wheel seat 31, a wheel groove 311 is formed at the bottom of the wheel seat 31, and the wheel seat 31 is connected to the first support frame 42;

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 moving 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 horizontally 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 frame 4 is more steady, guarantees the safety of goods 200.

The Y-axis moving module 5 comprises

The screw rod 51 is rotatably arranged on the second supporting frame 43 along the Y axis;

a second driving motor 52, wherein the second driving motor 52 is mounted on the first supporting frame 42 or the second supporting frame 43, for example, as shown in the embodiment of the drawings, the second driving motor 52 is mounted on the first supporting frame 42 through a supporting member, which may be arranged according to the structure of the first supporting frame 42 or the second supporting frame 43; and the 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.

A nut (not shown) that is screwed onto the lead screw 51;

a fixed seat 53, the fixed seat 53 is fixedly connected to the nut (not shown) and is slidably connected to the second supporting frame 43, for example, by a sliding rail 54 and a sliding block 55, the sliding block 55 is installed on the fixed seat 53, and the sliding rail 54 is installed on the second supporting frame 43 and is horizontally arranged along the Y axis.

The Z-axis moving 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 moving 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 first support frame 4 is a portal frame having a receiving space 41 for receiving a truck and a container and facilitating the arrangement of a predetermined parking range. It is of course also possible to use a ceiling mounted support, whereby the support 4 forms a space with the ground for the purpose of parking a truck and a container. Therefore, the support frame 4 can be set to different structures, and the installation position can be flexibly selected according to the producing area of the user.

The relative positions of the support frame 4, the parking range and the conveying device 1 can be flexible and changeable. For example, there is one of the first support frames 42;

two second support frames 43 are provided, and the two second support frames 43 are symmetrically connected to the first support frame 42;

the number of the X-axis moving modules 3 is four, and the four X-axis moving modules 3 are symmetrically installed at the bottom of the first support frame 42 and are arranged in a rectangular shape;

two Y-axis moving modules 5 are arranged, and the two Y-axis moving modules 5 are symmetrically arranged at the tops of the two second supporting frames 43 in a one-to-one correspondence manner;

two Z-axis moving modules 6 are arranged, and the two Z-axis moving modules 6 are symmetrically arranged on the two Y-axis moving modules 5 in a one-to-one correspondence manner;

two second detection devices 8 are provided, the two second detection devices 8 are symmetrically installed on the top of the first support frame 42 and are arranged in a downward direction, in the specific implementation, for example, a CCD vision detection device is adopted, and the camera angle thereof can be adjusted according to the actual requirement;

two groups of the first detection devices 7 are provided, and the two first detection devices 7 are symmetrically arranged on two inner side surfaces of the first support frame 42 and are oppositely arranged; in a specific implementation, for example, each group of said first detection devices 7 comprises a plurality of grating sensors vertically aligned in a row.

The number of the conveying devices 1 is two, the two conveying devices 1 are symmetrically arranged between two inner side surfaces of the first support frame 42, and a space for accommodating a container is arranged between the two conveying devices 1.

The X-axis moving module 3 is connected to the ground in a sliding mode, or the X-axis moving module 3 is hoisted above the ground in a sliding mode. Wherein the embodiment shown in the drawings is an embodiment slidably connected to the ground; when suspended from the ceiling, i.e. above the ground, the first support 42 is also located above the second support 43.

Adopt two forks 2, realize carrying out the material loading simultaneously in container both sides, compare one side material loading, improve material loading efficiency.

As another example of the present invention,

one of the first support frames 42;

the number of the second detection devices 8 is two, and the two second detection devices 8 are symmetrically arranged at the top of the support frame 4 and are arranged in a downward direction; in specific implementation, for example, a CCD vision detection device is adopted, and the angle of a camera thereof can be adjusted according to actual requirements;

The number of the conveying devices 1 is two, the two conveying devices 1 are symmetrically arranged at two outer sides of the first support frame 42, so that the first support frame 4 is positioned between the two conveying devices 1, and a space for accommodating a container is arranged in the first support frame 4. Realize carrying out the material loading simultaneously in container both sides, compare one side material loading, improve material loading efficiency.

The X-axis moving module 3 is connected to the ground in a sliding mode, or the X-axis moving module 3 is hoisted above the ground in a sliding mode. This allows to carry out the installation according to the needs of the user and to select the structure of the support 4.

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. The utility model provides a feed mechanism of container which characterized in that: the method comprises the following steps:

the X-axis moving module is used for realizing X-axis linear motion;

the Y-axis moving module is movably connected to the first support frame;

the Z-axis moving module is connected to the Y-axis moving module;

a fork connected to the Z-axis moving module.

2. A loading mechanism for a container as claimed in claim 1, wherein: the X-axis moving module comprises

3. A loading mechanism for a container as claimed in claim 2, wherein: the driving rail wheel is arranged on the rail and comprises a driving rail wheel and a driving rail wheel.

4. A loading mechanism for a container as claimed in claim 3, wherein: the X-axis moving module further comprises a driven rail wheel which is rotatably installed in the wheel groove, the rotation axis of the driven rail wheel is horizontally perpendicular to the X axis, and the driven rail wheel is installed on the rail.

5. A loading mechanism for a container as claimed in claim 1, wherein: the Y-axis moving module comprises

the nut is sleeved on the screw rod through threads;

and the fixed seat is fixedly connected with the nut.

6. A loading mechanism of a container as claimed in claim 1 or 5, wherein: the Z-axis moving module comprises

7. A loading mechanism of a container as claimed in claim 6, wherein: the first lifting part is fixedly connected with the first fixing frame; the fork is fixedly connected to the first fixing frame, and the fork is horizontally arranged along the Y axis.

8. A loading mechanism of a container as claimed in claim 7, wherein: also comprises

9. A loading mechanism for a container as claimed in any one of claims 1 to 5, wherein: the first support frame is a portal frame.

10. A loading mechanism for a container as claimed in claim 9, wherein:

one of the first support frames;

11. A loading mechanism for a container as claimed in claim 1, wherein: the X-axis moving module is connected to the ground in a sliding mode, or the X-axis moving module is hoisted above the ground in a sliding mode.