Gantry frame of palletizing cargo loading system and displacement control method thereof

Abstract

The present invention relates to a gantry frame of a palletizing cargo loading system and a displacement control method thereof, which is used for loading, unloading and transporting the palletized cargo. The gantry frame is provided with an infrared tube sensor, a positioning plate, a speed reduction plate and a speed reduction sensor. The bottom beam is provided with a bottom beam body, a driving wheel, a driven wheel and a driving motor. The front and rear end surfaces of the bottom beam body are provided with wheel frames. The driving wheel and the driven wheel are respectively installed on the wheel frames. The driving wheel and the driven wheel support the gantry frame on the upper surface of a track. The driving motor is provided on the side of the wheel frame and drives the driving wheel to rotate, so that the gantry frame is displaced along the track. Accurate intelligent displacement control is achieved through the induction of the infrared tube sensor and the force sensor.

Description

Technical Field

[0001] The present invention relates to the field of intelligent manufacturing, and in particular to a gantry frame of a palletizing cargo loading system and a displacement control method thereof. Background Art

[0002] In the fields of industrial manufacturing, warehousing and logistics, the handling and loading and unloading of palletized materials is a common production link. The handling of palletized materials has evolved from manual forklift handling to automation or semi-automation. With the development of intelligent manufacturing, the handling of palletized materials is further developing in the direction of intelligence. In the palletizing and loading link, the gantry is one of the important loading equipment. How to realize the intelligent displacement control of the gantry is an important topic of intelligent loading equipment based on the gantry. Chinese patents CN104590924A, CN207078757U, and CN208964137U all use a movable gantry equipped with a material handling unit to realize the handling or loading of palletized materials. The disadvantage is that it fails to achieve precise and intelligent control of the displacement of the gantry. Summary of the invention

[0003] In view of this, it is necessary to provide a gantry of a high-displacement and precise stacking cargo loading system and a displacement control method thereof. In order to solve the above technical problems, the technical solution of the present invention is: a gantry of a stacking cargo loading system, which is used to carry accessories to realize the loading and unloading of stacked cargo, and the stacked cargo is transported from the delivery position to the loading position on the vehicle by the gantry performing reciprocating motion along a track installed on the ground. The gantry is provided with a frame and a bottom beam, and the accessories are installed in the frame to follow the displacement of the gantry. It is characterized in that an infrared tube sensor, a positioning plate, a deceleration plate, and a deceleration sensor are also provided. The bottom beam is provided with a bottom beam body, a driving wheel, a driven wheel, and a driving motor. The front and rear end faces of the bottom beam body are provided with wheel frames, and the driving wheel and the driven wheel are respectively installed on the wheel frames. The driving wheel and the driven wheel support the gantry on the upper surface of the track. The driving motor is arranged on the side of the wheel frame and drives the driving wheel to rotate, so that the gantry is displaced along the track.

[0004] The deceleration sensor is provided with a fixing frame, a force sensor, a vertical plate, and a vertical wheel. The end of the fixing frame is locked on the bottom beam body, the force sensor is arranged on the fixing frame, the vertical plate is installed on the force sensor, and the lower end of the vertical plate is provided with a vertical wheel.

[0005] The speed brake is set on the ground and parallel to the track. The speed brake is provided with a slope and a platform. The distance between the speed brake and the track is equal to the distance between the vertical wheel of the deceleration sensor and the track. The vertical distance between the lower end of the vertical wheel and the ground is less than the height of the platform from the ground.

[0006] The wheel frame is provided with a wheel frame end cover, the wheel frame end cover is provided with a rotating shaft ...

[0007] The bottom beam is provided with a left bottom beam and a right bottom beam, and the left bottom beam and the right bottom beam are respectively provided with a driving wheel and a driven wheel.

[0008] Further preferably, the inner side wall of the bottom beam body is provided with a notch bracket, the notch bracket is provided with a door-shaped notch groove facing the ground, the infrared pair tube sensor is provided with a transmitting unit and a receiving unit, the transmitting unit and the receiving unit are respectively installed on the left and right sides of the door-shaped notch groove and are face-to-face aligned.

[0009] The positioning plate is installed on the ground, and the positioning plate is provided with a vertical portion, the vertical portion of the positioning plate is parallel to the track, the vertical portion of the positioning plate and the center line of the gate-shaped notch groove are both located in the same plane parallel to the bottom beam body, the thickness of the vertical portion of the positioning plate is less than the width of the gate-shaped notch groove, and the vertical height of the top surface of the vertical portion of the positioning plate from the ground is between the vertical spacing of the top of the gate-shaped notch groove from the ground and the vertical spacing of the bottom of the gate-shaped notch groove from the ground.

[0010] The gantry of the palletizing cargo loading system is also provided with a control module, the control module is provided with an input port and an output port, the drive motor is provided with an input port, the input port is connected to the output port of the control module, the force sensor is provided with an output port, the output port is connected to the input port of the control module, and the infrared tube sensor is provided with an output port, the output port is connected to the input port of the control module.

[0011] Further preferably, the notch bracket is provided with two door-shaped notch grooves facing the ground, the first door-shaped notch groove is close to the bottom beam body, and the second door-shaped notch groove is far from the bottom beam body.

[0012] The infrared pair tube sensor is provided with a first infrared pair tube sensor and a second infrared pair tube sensor, the transmitting unit and the receiving unit of the first infrared pair tube sensor are respectively installed on the left and right sides of the first gate-shaped notch groove, and the transmitting unit and the receiving unit of the second infrared pair tube sensor are respectively installed on the left and right sides of the second gate-shaped notch groove.

[0013] The positioning plate is provided with a first positioning plate and a second positioning plate, the vertical portion of the first positioning plate and the center line of the first gate-shaped notch groove are located in a first plane parallel to the bottom beam body, the vertical portion of the second positioning plate and the center line of the second gate-shaped notch groove are located in a second plane parallel to the bottom beam body, and the second positioning plate is arranged between the deceleration plate and the first positioning plate,

[0014] The gantry of the palletizing cargo loading system is also provided with a control module, and the control module is provided with an input port and an output port. The first infrared pair tube sensor is provided with an output port, and the output port is connected to the input port of the control module. The second infrared pair tube sensor is provided with an output port, and the output port is connected to the input port of the control module.

[0015] A gantry displacement control method for a palletizing cargo loading system is applied to the gantry of the above-mentioned palletizing cargo loading system. The displacement control method specifically includes:

[0016] Step S101: The driving wheel drives the gantry to move along the track;

[0017] Step S102: the gate-shaped notch moves to the position of the positioning plate, and the gantry starts to decelerate;

[0018] Step S103: the vertical wheels touch the slope and the gantry stops;

[0019] More preferably, it also includes:

[0020] Step S104: the second gate-shaped notch is displaced to the position of the second positioning plate, and the gantry starts emergency reverse movement.

[0021] Further preferably, the driving wheel drives the gantry to move along the track, further comprising:

[0022] The bottom beam of the gantry is provided with a bottom beam body, a driving wheel, a driven wheel, and a driving motor. The front and rear end faces of the bottom beam body are provided with wheel frames. The driving wheel and the driven wheel are respectively installed on the wheel frames. The driving wheel and the driven wheel support the gantry on the upper surface of the track. The driving motor is arranged on the side of the wheel frame and drives the driving wheel to rotate, so that the gantry moves along the track.

[0023] Further preferably, the gate-shaped notch is displaced to the position of the positioning plate, and the gantry starts to decelerate, further comprising:

[0024] The control module monitors the signal sent by the infrared tube sensor in real time. The infrared tube sensor is provided with a transmitting unit and a receiving unit. When the gate-shaped notch is displaced to the position of the positioning plate, the infrared light emitted by the transmitting unit is blocked by the positioning plate, and the receiving unit cannot receive the infrared light. The infrared tube sensor sends a deceleration signal to the control module.

[0025] The control module sends a control instruction to the drive motor to reduce the speed of the drive motor, and the gantry slows down its moving speed.

[0026] The signal sent by the infrared tube sensor is an electrical signal, and the deceleration signal sent by the infrared tube sensor is a low-level signal.

[0027] Further preferably, the vertical wheel contacts the slope and the gantry stops, further comprising:

[0028] The control module monitors the supporting force value sent by the force sensor in real time, and the control module is provided with a storage unit.

[0029] The deceleration sensor is provided with a fixing frame, a force sensor, a vertical plate, and a vertical wheel. The end of the fixing frame is locked on the bottom beam body, the force sensor is arranged on the fixing frame, the vertical plate is installed on the force sensor, and the lower end of the vertical plate is provided with a vertical wheel.

[0030] The deceleration plate is arranged on the ground and parallel to the track. The deceleration plate is provided with a slope and a platform. The distance between the deceleration plate and the track is equal to the distance between the vertical wheel of the deceleration sensor and the track. The vertical distance between the lower end of the vertical wheel and the ground is less than the height of the platform from the ground.

[0031] When the vertical wheel does not touch the slope, the vertical wheel leaves the ground, the vertical plate is not subjected to force, and the support force value of the force sensor is zero.

[0032] After the vertical wheel contacts the slope, the vertical plate is subjected to the upward supporting force of the slope, and the supporting force value of the force sensor is greater than zero.

[0033] When the supporting force value sent by the force sensor received by the control module is greater than zero, the control module sends a control instruction to the drive motor to stop the rotation of the drive motor, the gantry loses the driving force, and the gantry stops.

[0034] Further preferably, the second gate-shaped notch is displaced to the position of the second positioning plate, and the gantry starts emergency reverse movement, further comprising:

[0035] The transmitting unit and receiving unit of the first infrared pair tube sensor are respectively installed on the left and right sides of the first gate-shaped notch groove, and the transmitting unit and receiving unit of the second infrared pair tube sensor are respectively installed on the left and right sides of the second gate-shaped notch groove.

[0036] The positioning plate is provided with a first positioning plate and a second positioning plate, the vertical portion of the first positioning plate and the center line of the first gate-shaped notch groove are located in a first plane parallel to the bottom beam body, the vertical portion of the second positioning plate and the center line of the second gate-shaped notch groove are located in a second plane parallel to the bottom beam body, and the second positioning plate is arranged between the deceleration plate and the first positioning plate,

[0037] The control module monitors the signals sent by the first infrared pair tube sensor and the second infrared pair tube sensor in real time.

[0038] When the first gate-shaped notch is displaced to the position of the first positioning plate, the infrared light emitted by the first infrared pair sensor emitting unit is blocked by the vertical portion of the first positioning plate, and the first infrared pair sensor receiving unit cannot receive the infrared light. The first infrared pair sensor sends a deceleration signal to the control module, and the control module sends a control instruction to the drive motor to reduce the speed of the drive motor, so that the gantry slows down its movement speed.

[0039] After the vertical wheels touch the slope, the vertical plate is subjected to the upward supporting force of the slope. When the supporting force value sent by the force sensor received by the control module is greater than zero, the control module sends a control instruction to the drive motor to stop the rotation of the drive motor, the gantry loses the driving force, and the gantry stops. After losing the driving force, the gantry will continue to slide forward a certain distance under the action of inertia. As it slides forward, the vertical wheels are subjected to increasing backward supporting force from the slope, forming a reaction force on the gantry, which decelerates its inertial motion until it stops moving forward.

[0040] If the reaction force is not sufficient to stop it, the gantry will continue to move forward. When the second gate-shaped notch moves to the position of the second positioning plate, the infrared light emitted by the second infrared pair tube sensor emitting unit is blocked by the vertical portion of the second positioning plate, and the second infrared pair tube sensor receiving unit cannot receive the infrared light. The second infrared pair tube sensor sends a deceleration signal to the control module, and the control module sends a control instruction to the drive motor to make the drive motor rotate in the opposite direction, and the gantry moves in the opposite direction to prevent the gantry from hitting the object in front.

[0041] Compared with the prior art, the present invention has the following beneficial effects: multi-level displacement control is achieved through the induction of sensors, sensors are arranged from multiple aspects such as early deceleration, parking in place, and preventing inertial overshoot, and the sensing technology of multiple physical quantities such as infrared and mechanical is combined to achieve reliable and accurate gantry and its displacement control.

[0042] In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 The figure is a schematic diagram of a gantry of a palletizing cargo loading system according to the first embodiment of the present invention.

[0044] Figure 2 for Figure 1 A partial enlarged schematic diagram of area A in the middle.

[0045] Figure 3 The figure is a bottom view schematic diagram of a gantry of a palletizing cargo loading system according to the first embodiment of the present invention.

[0046] Figure 4 This is a schematic diagram of the bottom beam structure of Embodiment 1 of the present invention.

[0047] Figure 5 This is a schematic diagram of the end surface structure of the bottom beam of Embodiment 1 of the present invention.

[0048] Figure 6 The figure is a schematic diagram of a gantry of a palletizing cargo loading system according to the second embodiment of the present invention.

[0049] Figure 7 for Figure 6 A partial enlarged schematic diagram of area B in the middle. DETAILED DESCRIPTION

[0050] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the specific implementation mode, structure, characteristics and effects of the present invention are described in detail below in combination with the accompanying drawings and preferred embodiments.

[0051] Embodiment 1

[0052] Please refer to Figures 1 to 5, a gantry of a palletizing cargo loading system is used to carry accessories to realize loading and unloading of the stacked cargo, and the gantry reciprocates along a track installed on the ground to transport the stacked cargo from the delivery position to the storage position on the vehicle. The gantry is provided with a frame 1 and a bottom beam 2. The accessories are installed in the frame 1 and follow the displacement of the gantry. It is characterized in that an infrared tube sensor, a positioning plate 3, a deceleration plate 4, and a deceleration sensor 5 are also provided. The bottom beam 2 is provided with a bottom beam body 21, a driving wheel 6, a driven wheel 7, and a driving motor 61. The front and rear end surfaces of the bottom beam body 21 are provided with a wheel frame 22. The driving wheel 6 and the driven wheel are respectively installed on the wheel frame 22. The driving wheel 6 and the driven wheel support the gantry on the upper surface of the track 8. The driving motor 61 is arranged on the side of the wheel frame 22 and drives the driving wheel 6 to rotate, so that the gantry is displaced along the wheel track 8.

[0053] The deceleration sensor 5 is provided with a fixing frame, a force sensor 51, a vertical plate 52, and a vertical wheel 53. The end of the fixing frame is locked on the bottom beam body 21, the force sensor 51 is arranged on the fixing frame, the vertical plate 52 is installed on the force sensor 51, and the lower end of the vertical plate 52 is provided with a vertical wheel 53.

[0054] The deceleration plate 4 is arranged on the ground and parallel to the wheel track 8. The deceleration plate 4 is provided with a slope 41 and a platform 42. The distance between the deceleration plate 4 and the wheel track 8 is equal to the distance between the vertical wheel 53 of the deceleration sensor 5 and the wheel track 8. The vertical distance between the lower end of the vertical wheel 53 and the ground is less than the height of the platform 42 from the ground.

[0055] The bottom beam 2 is also provided with a horizontal protection wheel 23 and a side guard plate 24. The cross section of the wheel track 8 is an I-shape, comprising a top plate 81, a vertical plate 82, and a bottom plate 83. The bottom plate 83 of the wheel track 8 is installed on the ground. The horizontal protection wheel 23 is provided with a rotating shaft and a guard wheel 231. The wheel frame 22 is provided with a wheel frame 22 end cover. The rotating shaft is provided on the lower surface of the wheel frame 22 end cover and is perpendicular to the top plate 81. The guard wheel 231 is perpendicular to the rotating shaft. The guard wheel 231 is provided on the left and right sides of the top plate 81. The guard wheel 231 rotates around the rotating shaft, and the distance between the axis of the rotating shaft and the top plate 81 is greater than the radius of the guard wheel 231. The side guard plate 24 is provided with a locking plate and an L-shaped bending plate. The locking plate is fixed to the lower surface of the bottom beam body 21 by screws, and the L-shaped bending plate is bent toward the vertical plate 82 along the outer side of the top plate 81. The front and rear sides of the driving wheel 6 are respectively provided with a horizontal guard wheel 23 and a side guard plate 24, and the front and rear sides of the driven wheel are respectively provided with a side guard plate 24 and a horizontal guard wheel 23.

[0056] The bottom beam 2 is provided with a left bottom beam and a right bottom beam, and the left bottom beam and the right bottom beam are respectively provided with a driving wheel 6 and a driven wheel 7.

[0057] The inner side wall of the bottom beam body 21 is provided with a notch bracket 9, and the notch bracket 9 is provided with a door-shaped notch groove 91 facing the ground. The infrared pair tube sensor is provided with a transmitting unit and a receiving unit, and the transmitting unit and the receiving unit are respectively installed on the left and right sides of the door-shaped notch groove 91 and face to face.

[0058] The positioning plate 3 is installed on the ground, and the positioning plate 3 is provided with a positioning plate vertical portion 31, and the positioning plate vertical portion 31 is parallel to the wheel track 8. The center lines of the positioning plate vertical portion 31 and the gate-shaped notch groove 91 are both located in the same plane parallel to the bottom beam body 21. The thickness of the positioning plate vertical portion 31 is less than the width of the gate-shaped notch groove 91. The vertical height of the top surface of the positioning plate vertical portion 31 from the ground is between the vertical spacing of the top of the gate-shaped notch groove 91 from the ground and the vertical spacing of the bottom of the gate-shaped notch groove 91 from the ground.

[0059] The gantry of the palletizing cargo loading system is also provided with a control module, and the control module is provided with an input port and an output port. The drive motor 61 is provided with an input port, and the input port is connected to the output port of the control module. The force sensor 51 is provided with an output port, and the output port is connected to the input port of the control module. The infrared tube sensor is provided with an output port, and the output port is connected to the input port of the control module.

[0060] A gantry displacement control method for a palletizing cargo loading system is applied to the gantry of the above-mentioned palletizing cargo loading system. The displacement control method specifically includes:

[0061] Step S101: the driving wheel 6 drives the gantry to move along the wheel track 8;

[0062] Step S102: the gate-shaped notch groove 91 moves to the position of the positioning plate, and the gantry starts to decelerate;

[0063] Step S103: the vertical wheel 53 contacts the slope 41, and the gantry stops;

[0064] More preferably, it also includes:

[0065] Step S104: the second gate-shaped notch is displaced to the position of the second positioning plate, and the gantry starts emergency reverse movement.

[0066] The driving wheel 6 drives the gantry to move along the wheel track 8, and also includes:

[0067] The gantry bottom beam 2 is provided with a bottom beam body 21, a driving wheel 6, a driven wheel 7, and a driving motor 61. The front and rear end faces of the bottom beam body 21 are provided with a wheel frame 22. The driving wheel 6 and the driven wheel 7 are respectively installed on the wheel frame 22. The driving wheel 6 and the driven wheel 7 support the gantry on the upper surface of the wheel track 8. The driving motor 61 is arranged on the side of the wheel frame 22 and drives the driving wheel 6 to rotate, so that the gantry is displaced along the wheel track 8.

[0068] The gate-shaped notch 91 moves to the position of the positioning plate, and the gantry starts to decelerate, and also includes:

[0069] The control module monitors the signal sent by the infrared tube sensor in real time. The infrared tube sensor is provided with a transmitting unit and a receiving unit. When the gate-shaped notch groove 91 moves to the position of the positioning plate, the infrared light emitted by the transmitting unit is blocked by the positioning plate, and the receiving unit cannot receive the infrared light. The infrared tube sensor sends a deceleration signal to the control module.

[0070] The control module sends a control instruction to the drive motor 61 to reduce the speed of the drive motor 61, and the gantry slows down the moving speed.

[0071] The signal sent by the infrared tube sensor is an electrical signal, and the deceleration signal sent by the infrared tube sensor is a low-level signal.

[0072] The vertical wheel 53 contacts the slope 41, and the gantry stops, further comprising:

[0073] The control module monitors the supporting force value sent by the force sensor 51 in real time. The control module is provided with a storage unit.

[0074] The deceleration sensor 5 is provided with a fixing frame, a force sensor 51, a vertical plate 52, and a vertical wheel 53. The end of the fixing frame is locked on the bottom beam body 21, the force sensor 51 is arranged on the fixing frame, the vertical plate 52 is installed on the force sensor 51, and the lower end of the vertical plate 52 is provided with a vertical wheel 53.

[0075] The deceleration plate 4 is arranged on the ground and parallel to the wheel track 8. The deceleration plate 4 is provided with a slope 41 and a platform 42. The distance between the deceleration plate 4 and the wheel track 8 is equal to the distance between the vertical wheel 53 of the deceleration sensor 5 and the wheel track 8. The vertical distance between the lower end of the vertical wheel 53 and the ground is less than the height of the platform 42 from the ground.

[0076] When the vertical wheel 53 does not contact the slope 41, the vertical wheel 53 leaves the ground, the vertical plate 52 is not subjected to force, and the supporting force value of the force sensor 51 is zero.

[0077] After the vertical wheel 53 contacts the slope 41, the vertical plate 52 is supported by the upward support force of the slope 41, and the support force value of the force sensor 51 is greater than zero.

[0078] When the supporting force value sent by the force sensor 51 and received by the control module is greater than zero, the control module sends a control instruction to the drive motor 61 to stop the rotation of the drive motor 61, the gantry loses the driving force, and the gantry stops.

[0079] Embodiment 2

[0080] Please refer to Figure 6 to Figure 7 The notch bracket 9 is provided with two door-shaped notch grooves facing the ground, the first door-shaped notch groove 92 is close to the bottom beam body 21, and the second door-shaped notch groove 93 is far away from the bottom beam body 21.

[0081] The infrared pair tube sensor is provided with a first infrared pair tube sensor and a second infrared pair tube sensor. The transmitting unit and the receiving unit of the first infrared pair tube sensor are respectively installed on the left and right sides of the first gate-shaped notch groove 92, and the transmitting unit and the receiving unit of the second infrared pair tube sensor are respectively installed on the left and right sides of the second gate-shaped notch groove 93.

[0082] The positioning plate is provided with a first positioning plate and a second positioning plate, the center line of the vertical portion 32 of the first positioning plate and the first gate-shaped notch groove 92 is located in a first plane parallel to the bottom beam body 21, the center line of the vertical portion 33 of the second positioning plate and the second gate-shaped notch groove 93 is located in a second plane parallel to the bottom beam body 21, and the second positioning plate is arranged between the deceleration plate 4 and the first positioning plate,

[0083] The gantry of the palletizing cargo loading system is also provided with a control module, and the control module is provided with an input port and an output port. The first infrared pair tube sensor is provided with an output port, and the output port is connected to the input port of the control module. The second infrared pair tube sensor is provided with an output port, and the output port is connected to the input port of the control module.

[0084] A gantry displacement control method for a palletizing cargo loading system is applied to the gantry of the above-mentioned palletizing cargo loading system. The displacement control method specifically includes:

[0085] Step S101: the driving wheel 6 drives the gantry to move along the wheel track 8;

[0086] Step S102: the first gate-shaped notch groove 92 moves to the position of the first positioning plate, and the gantry starts to decelerate;

[0087] Step S103: the vertical wheel 53 contacts the slope 41, and the gantry stops;

[0088] Step S104: the second gate-shaped notch 93 is displaced to the position of the second positioning plate, and the gantry starts emergency reverse movement.

[0089] The second gate-shaped notch 93 is displaced to the position of the second positioning plate, and the gantry starts emergency reverse movement, further comprising:

[0090] The transmitting unit and receiving unit of the first infrared pair tube sensor are respectively installed on the left and right sides of the first gate-shaped notch groove 92, and the transmitting unit and receiving unit of the second infrared pair tube sensor are respectively installed on the left and right sides of the second gate-shaped notch groove 93.

[0091] The positioning plate is provided with a first positioning plate and a second positioning plate, the center line of the vertical portion 32 of the first positioning plate and the first gate-shaped notch groove 92 is located in a first plane parallel to the bottom beam body 21, the center line of the vertical portion 33 of the second positioning plate and the second gate-shaped notch groove 93 is located in a second plane parallel to the bottom beam body 21, and the second positioning plate is arranged between the deceleration plate 4 and the first positioning plate,

[0092] The control module monitors the signals sent by the first infrared pair tube sensor and the second infrared pair tube sensor in real time.

[0093] When the first gate-shaped notch 92 moves to the position of the first positioning plate, the infrared light emitted by the first infrared pair sensor emitting unit is blocked by the vertical portion 32 of the first positioning plate, and the first infrared pair sensor receiving unit cannot receive the infrared light. The first infrared pair sensor sends a deceleration signal to the control module, and the control module sends a control instruction to the drive motor 61 to reduce the rotation speed of the drive motor 61, so that the gantry slows down its moving speed.

[0094] After the vertical wheel 53 contacts the slope 41, the vertical plate 52 is supported by the upward support force of the slope 41. When the support force value sent by the force sensor 51 received by the control module is greater than zero, the control module sends a control instruction to the drive motor 61 to stop the rotation of the drive motor 61, the gantry loses the driving force, and the gantry stops.

[0095] After the gantry loses the driving force, it will continue to slide forward a certain distance under the action of inertia. As it slides forward, the vertical wheel 53 is supported by the slope 41 backwards and the force is continuously increased, which forms a reaction force on the gantry, slowing down its inertial motion until it stops moving forward.

[0096] If the reaction force is not sufficient to stop it, the gantry will continue to move forward. When the second gate-shaped notch 93 moves to the position of the second positioning plate, the infrared light emitted by the second infrared pair sensor emitting unit is blocked by the second positioning plate vertical portion 33, and the second infrared pair sensor receiving unit cannot receive the infrared light. The second infrared pair sensor sends a deceleration signal to the control module, and the control module sends a control instruction to the drive motor 61 to make the drive motor 61 rotate in the opposite direction, and the gantry moves in the opposite direction to prevent the gantry from hitting the object in front.

[0097] The rest is the same as that of the first embodiment.

[0098] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technical personnel in this field can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any brief modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A gantry of a palletizing cargo loading system, used to carry accessories to realize loading and unloading of palletized cargo, and the gantry reciprocates along a track installed on the ground to transport the palletized cargo from the delivery position to the delivery position on the vehicle, the gantry is provided with a frame and a bottom beam, and the accessories are installed in the frame to move with the gantry, characterized in that: It is also provided with an infrared tube sensor, a positioning plate, a deceleration plate, and a deceleration sensor. The bottom beam is provided with a bottom beam body, a driving wheel, a driven wheel, and a driving motor. The front and rear end faces of the bottom beam body are provided with wheel frames. The driving wheel and the driven wheel are respectively installed on the wheel frames. The driving wheel and the driven wheel support the gantry on the upper surface of the track. The driving motor is arranged on the side of the wheel frame and drives the driving wheel to rotate, so that the gantry moves along the track. The deceleration sensor is provided with a fixing frame, a force sensor, a vertical plate, and a vertical wheel. The end of the fixing frame is locked on the bottom beam body, the force sensor is arranged on the fixing frame, the vertical plate is installed on the force sensor, and the lower end of the vertical plate is provided with a vertical wheel. The deceleration plate is arranged on the ground and parallel to the track. The deceleration plate is provided with a slope and a platform. The distance between the deceleration plate and the track is equal to the distance between the vertical wheel of the deceleration sensor and the track. The vertical distance between the lower end of the vertical wheel and the ground is less than the height of the platform from the ground. The bottom beam is also provided with a horizontal protection wheel and a side guard plate. The cross section of the track is an I-shape, comprising a top plate, a vertical plate and a bottom plate. The track bottom plate is installed on the ground. The horizontal protection wheel is provided with a rotating shaft and a guard wheel. The wheel frame is provided with a wheel frame end cover. The rotating shaft is provided on the lower surface of the wheel frame end cover and is perpendicular to the top plate. The guard wheel is perpendicular to the rotating shaft. The guard wheel is provided on the left and right sides of the top plate. The guard wheel rotates around the rotating shaft. The distance between the axis line of the rotating shaft and the top plate is greater than the radius of the guard wheel. The side guard plate is provided with a locking plate and an L-shaped bending plate. The locking plate is fixed to the lower surface of the bottom beam body by screws. The L-shaped bending plate is bent toward the vertical plate along the outer side of the top plate. The front and rear sides of the driving wheel are respectively provided with a horizontal protection wheel and a side guard plate. The front and rear sides of the driven wheel are respectively provided with a side guard plate and a horizontal protection wheel. The bottom beam is provided with a left bottom beam and a right bottom beam, and the left bottom beam and the right bottom beam are respectively provided with a driving wheel and a driven wheel. The inner side wall of the bottom beam body is provided with a notch bracket, and the notch bracket is provided with a door-shaped notch groove facing the ground. The infrared pair tube sensor is provided with a transmitting unit and a receiving unit, and the transmitting unit and the receiving unit are respectively installed on the left and right sides of the door-shaped notch groove and face to face. The positioning plate is installed on the ground, and the positioning plate is provided with a vertical portion, the vertical portion of the positioning plate is parallel to the track, the vertical portion of the positioning plate and the center line of the gate-shaped notch groove are both located in the same plane parallel to the bottom beam body, the thickness of the vertical portion of the positioning plate is less than the width of the gate-shaped notch groove, and the vertical height of the top surface of the vertical portion of the positioning plate from the ground is between the vertical spacing of the top of the gate-shaped notch groove from the ground and the vertical spacing of the bottom of the gate-shaped notch groove from the ground. The gantry of the palletizing cargo loading system is also provided with a control module, the control module is provided with an input port and an output port, the drive motor is provided with an input port, the input port is connected to the output port of the control module, the force sensor is provided with an output port, the output port is connected to the input port of the control module, the infrared tube sensor is provided with an output port, the output port is connected to the input port of the control module, The notch bracket is provided with two door-shaped notch grooves facing the ground, the first door-shaped notch groove is close to the bottom beam body, and the second door-shaped notch groove is far away from the bottom beam body. The infrared pair tube sensor is provided with a first infrared pair tube sensor and a second infrared pair tube sensor, the transmitting unit and the receiving unit of the first infrared pair tube sensor are respectively installed on the left and right sides of the first gate-shaped notch groove, and the transmitting unit and the receiving unit of the second infrared pair tube sensor are respectively installed on the left and right sides of the second gate-shaped notch groove. The positioning plate is provided with a first positioning plate and a second positioning plate, the vertical portion of the first positioning plate and the center line of the first gate-shaped notch groove are located in a first plane parallel to the bottom beam body, the vertical portion of the second positioning plate and the center line of the second gate-shaped notch groove are located in a second plane parallel to the bottom beam body, and the second positioning plate is arranged between the deceleration plate and the first positioning plate.

2. The gantry of the palletizing cargo loading system according to claim 1, wherein: The gantry of the palletizing cargo loading system is also provided with a control module, and the control module is provided with an input port and an output port. The first infrared pair tube sensor is provided with an output port, and the output port is connected to the input port of the control module. The second infrared pair tube sensor is provided with an output port, and the output port is connected to the input port of the control module.

3. A gantry displacement control method for a palletizing cargo loading system, applied to a gantry of a palletizing cargo loading system according to any one of claims 1 to 2, the displacement control method specifically comprising: Step S101: The driving wheel drives the gantry to move along the track; Step S102: the gate-shaped notch moves to the position of the positioning plate, and the gantry starts to decelerate; Step S103: the vertical wheels touch the slope and the gantry stops.

4. The gantry displacement control method of a palletizing cargo loading system according to claim 3 is characterized in that: Also includes, Step S104: the second gate-shaped notch is displaced to the position of the second positioning plate, and the gantry starts emergency reverse movement.

5. The gantry displacement control method of a palletizing cargo loading system according to claim 3 is characterized in that: The driving wheel drives the gantry to move along the track, and also includes: The bottom beam of the gantry is provided with a bottom beam body, a driving wheel, a driven wheel, and a driving motor. The front and rear end faces of the bottom beam body are provided with wheel frames. The driving wheel and the driven wheel are respectively installed on the wheel frames. The driving wheel and the driven wheel support the gantry on the upper surface of the track. The driving motor is arranged on the side of the wheel frame and drives the driving wheel to rotate, so that the gantry moves along the track.

6. The gantry displacement control method of a palletizing cargo loading system according to claim 3 is characterized in that: The gate-shaped notch moves to the position of the positioning plate, and the gantry begins to decelerate, including: The control module monitors the signal sent by the infrared tube sensor in real time. The infrared tube sensor is provided with a transmitting unit and a receiving unit. When the gate-shaped notch is displaced to the position of the positioning plate, the infrared light emitted by the transmitting unit is blocked by the positioning plate, and the receiving unit cannot receive the infrared light. The infrared tube sensor sends a deceleration signal to the control module. The control module sends a control instruction to the drive motor to reduce the speed of the drive motor, and the gantry slows down its moving speed. The signal sent by the infrared tube sensor is an electrical signal, and the deceleration signal sent by the infrared tube sensor is a low-level signal.

7. The gantry displacement control method of a palletizing cargo loading system according to claim 3 is characterized in that: The vertical wheel touches the slope, the gantry stops, and also includes: The control module monitors the supporting force value sent by the force sensor in real time, and the control module is provided with a storage unit. The deceleration sensor is provided with a fixing frame, a force sensor, a vertical plate, and a vertical wheel. The end of the fixing frame is locked on the bottom beam body, the force sensor is arranged on the fixing frame, the vertical plate is installed on the force sensor, and the lower end of the vertical plate is provided with a vertical wheel. The deceleration plate is arranged on the ground and parallel to the track. The deceleration plate is provided with a slope and a platform. The distance between the deceleration plate and the track is equal to the distance between the vertical wheel of the deceleration sensor and the track. The vertical distance between the lower end of the vertical wheel and the ground is less than the height of the platform from the ground. When the vertical wheel does not touch the slope, the vertical wheel leaves the ground, the vertical plate is not subjected to force, and the support force value of the force sensor is zero. After the vertical wheel contacts the slope, the vertical plate is subjected to the upward supporting force of the slope, and the supporting force value of the force sensor is greater than zero. When the supporting force value sent by the force sensor received by the control module is greater than zero, the control module sends a control instruction to the drive motor to stop the rotation of the drive motor, the gantry loses the driving force, and the gantry stops.

8. The gantry displacement control method of a palletizing cargo loading system according to claim 4, characterized in that: The second gate-shaped notch is displaced to the position of the second positioning plate, and the gantry starts emergency reverse movement, further comprising: The transmitting unit and receiving unit of the first infrared pair tube sensor are respectively installed on the left and right sides of the first gate-shaped notch groove, and the transmitting unit and receiving unit of the second infrared pair tube sensor are respectively installed on the left and right sides of the second gate-shaped notch groove. The positioning plate is provided with a first positioning plate and a second positioning plate, the vertical portion of the first positioning plate and the center line of the first gate-shaped notch groove are located in a first plane parallel to the bottom beam body, the vertical portion of the second positioning plate and the center line of the second gate-shaped notch groove are located in a second plane parallel to the bottom beam body, and the second positioning plate is arranged between the deceleration plate and the first positioning plate, The control module monitors the signals sent by the first infrared pair tube sensor and the second infrared pair tube sensor in real time. When the first gate-shaped notch is displaced to the position of the first positioning plate, the infrared light emitted by the first infrared pair sensor emitting unit is blocked by the vertical portion of the first positioning plate, and the first infrared pair sensor receiving unit cannot receive the infrared light. The first infrared pair sensor sends a deceleration signal to the control module, and the control module sends a control instruction to the drive motor to reduce the speed of the drive motor, so that the gantry slows down its movement speed. After the vertical wheel contacts the slope, the vertical plate is subjected to the upward supporting force of the slope. When the supporting force value sent by the force sensor received by the control module is greater than zero, the control module sends a control instruction to the drive motor to stop the rotation of the drive motor, the gantry loses the driving force, and the gantry stops. After the gantry loses its driving force, it will continue to slide forward a certain distance due to inertia. As it slides forward, the vertical wheels are supported backward by the slope and the force exerted on them increases, which creates a reaction force on the gantry, slowing down its inertial motion until it stops moving forward. If the reaction force is not sufficient to stop it, the gantry will continue to move forward. When the second gate-shaped notch moves to the position of the second positioning plate, the infrared light emitted by the second infrared pair tube sensor emitting unit is blocked by the vertical portion of the second positioning plate, and the second infrared pair tube sensor receiving unit cannot receive the infrared light. The second infrared pair tube sensor sends a deceleration signal to the control module, and the control module sends a control instruction to the drive motor to make the drive motor rotate in the opposite direction, and the gantry moves in the opposite direction to prevent the gantry from hitting the object in front.

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