Palletized cargo loading system and control method thereof

Abstract

The present invention relates to a system for loading a palletized cargo and a control method thereof, which are used for loading and unloading the palletized cargo, and transporting the palletized cargo from a delivery position to a storage position on a vehicle. A 180-degree rotating device is arranged on the top of the gantry to drive the attachment to rotate, and the driving wheel and the driven wheel under the bottom beam support the gantry on a track. A vertical pole is arranged in the side frame, and a laser distance measuring sensor and an infrared pairing sensor group are arranged on the vertical pole. The position of the gantry is detected by the sensor to realize the transport and placement of the palletized cargo.

Description

Technical Field

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

[0002] With the development of intelligent manufacturing, the manufacturing and logistics industries have put forward higher requirements for the intelligent and unmanned handling of goods. Palletizing is one of the most widely used shipping methods in the industrial field. In commodity logistics distribution and automated transfer storage, material handling, loading, palletizing and other operations are highly repeated operations. How to improve the intelligence of palletizing, loading and handling, reduce the cost of handling, loading and material circulation, improve the efficiency of material turnover, and eliminate material loss and work-related injury risks in the handling process has become an important topic in the field of intelligent manufacturing. Chinese invention patent CN104590924A discloses a logistics device capable of loading multi-layer box-type materials. The loading device for automatic boxing and palletizing is first parked under the external conveying system. After the external conveying system places the stacked box-type materials, the loading device for automatic boxing and palletizing is driven by the lifting device to rise upward. The lifting platform drives the fork body to hold the materials. The walking mechanism moves along the track in the direction of the cargo compartment flatbed car. When it moves to the farthest cargo position, the lifting platform descends to a certain distance from the flatbed car compartment surface and stops. The push-out device placed on the lifting platform pushes the push plate outward, and the push plate pushes out the materials placed on the fork body. At the same time, the walking mechanism runs in the opposite direction of the push-out device under the action of the control system until the materials leave the fork body and are placed on the flatbed car compartment, completing the loading process of a stack of materials. The pushing device is then retracted to its original position, and the walking mechanism also retreats under the external conveying system. After the external conveying system places the stacked box-type materials, the loading process of the first stack of materials is repeated until the loading operation of the first layer of the compartment is completed. Finally, the upper surface of the first layer of materials in the carriage is used as a reference, and the loading operation of the first layer of materials is repeated to complete the stacking and loading process of the entire carriage. The disadvantage is that the loading is a passive operation and cannot be effectively identified. It is very easy for the stacking of the loaded materials to be skewed or offset, and then the stacking will be scattered during the handling and movement process, and even cause safety accidents. It is not possible to achieve real-time identification and intelligent position adjustment through sensors. Summary of the invention

[0003] In view of this, it is necessary to provide an intelligent palletizing cargo loading system and its control method. In order to solve the above technical problems, the technical solution of the present invention is: a palletizing cargo loading system, which is used to load and unload the palletized cargo, and transport the palletized cargo from the delivery position to the storage position on the vehicle, and is provided with a track, a gantry, a 180-degree rotating device, an accessory frame, and accessories. The gantry is provided with a top frame, a vertical beam, and a bottom beam. The 180-degree rotating device is installed on the top frame. The 180-degree rotating device is provided with a rotating motor and an output rotating disk. The output rotating disk is provided on the lower surface of the top frame, and the output rotating disk can rotate 180 degrees in the horizontal plane under the drive of the rotating motor. The top of the accessory frame is fixed to the lower surface of the output rotating disk. The lower surface of the bottom beam is provided with a driving wheel and a driven wheel. The driving wheel and the driven wheel support the gantry on the track. The vertical beam and the bottom beam are combined to form a side frame, and a side frame is respectively arranged on the left and right sides of the gantry. A vertical pole is arranged in the side frame, and the vertical pole is installed on the upper surface of the bottom beam. A first laser ranging sensor, a first infrared pair tube sensor group, and a second infrared pair tube sensor group are arranged on the vertical pole. A third infrared pair tube sensor group is also arranged on the vertical beam and the vertical pole. The gantry is provided with a front door frame and a rear door frame. The front door frame faces the cargo placement position on the vehicle, and the rear door frame faces the delivery position. The first laser ranging sensor is obliquely pointed to the front door frame. The front door frame is provided with a left front vertical beam and a right front vertical beam. The left front vertical beam and the right front vertical beam are the left and right sides of the front door frame respectively. A fourth infrared pair tube sensor group is also arranged on the left front vertical beam and the right front vertical beam.

[0004] Further preferably, the gantry is provided with a left side frame and a right side frame, a left upright is provided in the left side frame, a right upright is provided in the right side frame, the infrared pair tube sensor group is provided with a sending unit and a receiving unit, the sending units and the receiving units are aligned in pairs, the left upright is provided with a sending unit of the first infrared pair tube sensor group and a receiving unit of the second infrared pair tube sensor group, the right upright is provided with a sending unit of the second infrared pair tube sensor group and a receiving unit of the first infrared pair tube sensor group, the sending units of the first infrared pair tube sensor group and the second infrared pair tube sensor group are arranged at a first height, and the first infrared pair tube sensor The receiving units of the first and second infrared pair tube sensor groups are arranged at a second height, the second height is lower than the first height, the sending unit and the receiving unit of the third infrared pair tube sensor group are respectively arranged on the left front vertical beam and the right vertical pole, the sending unit and the receiving unit of the fourth infrared pair tube sensor group are respectively arranged on the left front vertical beam and the right front vertical beam of the front door frame, the sending unit and the receiving unit of the fourth infrared pair tube sensor group are located at the same height, the left vertical pole and the right vertical pole are both perpendicular to the bottom beam, the left vertical pole and the right vertical pole are located on the longitudinal symmetry plane of the output rotating disk, and the top of the accessory frame is fixed to the edge of the lower surface of the output rotating disk.

[0005] Further preferably, the rotating motor is arranged on the upper surface of the top frame, the accessory frame is provided with a chain mechanism, a fixed frame, and a mobile frame, the chain mechanism drives the mobile frame to move up and down in the fixed frame, the accessory is arranged on the mobile frame, the accessory is provided with an ejector and fork teeth, a fork tooth gap is provided between the fork teeth, a second laser ranging sensor is provided at the bottom of the accessory, the position of the second laser ranging sensor corresponds to the fork tooth gap, the second laser ranging sensor points to the bottom surface of the accessory, the driving wheel is provided with a driving motor, the driving motor is installed on the outer side of the bottom beam, the track is provided with a left track and a right track, and the inner side adjacent to the left track is provided A contact power supply device supplies power to the driving motor, and the driving motor drives the driving wheel to rotate, so that the gantry moves along the track. A positioning plate is arranged on the inner side of the right track, and the bottom beam is arranged with a left bottom beam and a right bottom beam. A proximity sensor is arranged on the inner wall of the right bottom beam, and the proximity sensor is close to the rear door frame. The proximity sensor is provided with a notch groove, and the spacing between the notch groove and the right bottom beam is equal to the spacing between the positioning plate and the right bottom beam. The opening of the notch groove faces the ground, and the positioning plate is installed on the ground. The vertical height of the top surface of the positioning plate from the ground is between the vertical spacing of the top of the notch groove from the ground and the vertical spacing of the bottom of the notch groove from the ground.

[0006] Further preferably, a control module is also provided, the control module is provided with an input port and an output port, the rotating motor is provided with an input port, the input port is connected to the output port of the control module, the driving motor is provided with an input port, the input port is connected to the output port of the control module, the first laser ranging sensor is provided with an output port, the output port is connected to the input port of the control module, the first infrared pair tube sensor group receiving unit is provided with an output port, the output port is connected to the input port of the control module, the second infrared pair tube sensor group receiving unit is provided with an output port, the output port is connected to the input port of the control module The third infrared pair tube sensor group receiving unit is provided with an output port, which is connected to the input port of the control module, the fourth infrared pair tube sensor group receiving unit is provided with an output port, which is connected to the input port of the control module, the chain mechanism is provided with an input port, which is connected to the output port of the control module, the ejector is provided with an input port, which is connected to the output port of the control module, the second laser ranging sensor is provided with an output port, which is connected to the input port of the control module, and the proximity sensor is provided with an output port, which is connected to the input port of the control module.

[0007] A control method for a palletizing cargo loading system is applied to the palletizing cargo loading system. The control method specifically includes:

[0008] Step S101: the gantry moves backward to the cargo pickup position;

[0009] Step S102: the attachment is lifted vertically to pick up the goods, and the attachment frame rotates 180 degrees;

[0010] Step S103: the gantry moves forward to the cargo placement position;

[0011] Step S104: the attachment is lowered vertically into position;

[0012] Step S105: the ejector ejects the pallet, and then the attachment is reset;

[0013] Further preferably, the gantry moves backward to the cargo pickup position, further comprising:

[0014] Each operation of the palletizing cargo loading system starts with the attachment being in a reset state.

[0015] When the attachment is in the reset state, the attachment fork is facing the rear door frame, and the movable frame on the attachment frame is at the initial height. At this initial height, the attachment fork is flush with the bottom of the pallet at the delivery position.

[0016] The control module outputs a control instruction to the drive motor, and the drive motor drives the drive wheel to rotate toward the delivery position, so that the gantry moves along the track toward the delivery position.

[0017] The control module receives the signal sent by the proximity sensor to the control module in real time. When the notch of the proximity sensor moves to the position of the positioning plate, the positioning plate enters the notch, and the proximity sensor sends a deceleration signal to the control module. The control module outputs a deceleration control instruction to the drive motor, and the drive motor reduces the driving speed of the drive wheel.

[0018] The control module receives the signal sent to the control module by the first infrared pair sensor group receiving unit in real time. When the pallet enters the vertical plane where the left and right uprights are located, the infrared light signal sent by the first infrared pair sensor group sending unit is blocked, and the first infrared pair sensor group receiving unit cannot receive the infrared light signal. The first infrared pair sensor group receiving unit sends a stop signal to the control module.

[0019] The control module receives the signal sent to the control module by the receiving unit of the second infrared pair sensor group in real time. When the pallet enters the vertical plane where the left and right uprights are located, the infrared light signal sent by the sending unit of the second infrared pair sensor group is blocked, and the receiving unit of the second infrared pair sensor group cannot receive the infrared light signal. The receiving unit of the second infrared pair sensor group sends a stop signal to the control module.

[0020] When the control module receives any of the above parking signals, the control module outputs a parking control instruction to the drive motor, the drive motor stops the driving wheel, and the gantry reaches the pickup position.

[0021] Further preferably, the attachment is lifted vertically to pick up the goods, and the attachment frame rotates 180 degrees, further comprising:

[0022] The attachment frame is provided with a chain mechanism, a fixed frame, and a mobile frame. The chain mechanism drives the mobile frame to move up and down in the fixed frame. The attachment is arranged on the mobile frame. The chain mechanism is hydraulically driven. The chain mechanism is provided with an input port. The input port is arranged on the chain mechanism solenoid valve of the hydraulic system. The control module outputs a control signal to the chain mechanism solenoid valve of the hydraulic system. The control signal is an electrical signal, wherein a low voltage interval value of 0.5 to 4.5 V corresponds to the rise of the mobile frame, and a high voltage interval value of 5.5 to 9.5 V corresponds to the descent of the mobile frame.

[0023] The control module outputs a control signal to the input port of the chain mechanism, so that the mobile frame drives the attachment installed thereon to rise vertically, and the fork teeth of the attachment lift up the stack.

[0024] The control module outputs a control signal to the rotating motor, so that the attachment frame, the attachments thereon and the palletizer rotate 180 degrees as a whole.

[0025] The control module receives in real time the signal sent to the control module by the receiving unit of the third infrared pair sensor group, wherein the sending unit and the receiving unit of the third infrared pair sensor group are respectively arranged on the left front vertical beam and the right vertical pole,

[0026] When the stacking machine is rotated 180 degrees, it is aligned with the front door frame.

[0027] The infrared light signal sent by the third infrared pair sensor group sending unit is blocked by the palletizing, and the third infrared pair sensor group receiving unit cannot receive the infrared light signal. The third infrared pair sensor group receiving unit sends a rotation in place signal to the control module.

[0028] The control module outputs a control instruction to the drive motor, and the drive motor drives the drive wheel to rotate toward the cargo placement position, so that the gantry moves along the track toward the cargo placement position.

[0029] Further preferably, the gantry moves forward to the cargo placement position, further comprising:

[0030] The first laser distance measuring sensor is obliquely pointed to the front door frame, and a storage unit is provided in the control module, and a first laser distance measuring threshold is stored in the storage unit. The first laser distance measuring sensor threshold is the distance between the first laser distance measuring sensor and the front end surface of the front door frame.

[0031] The control module receives the distance measurement value sent by the first laser ranging sensor in real time, and when the distance measurement value sent by the first laser ranging sensor is equal to or less than the first laser ranging threshold,

[0032] The control module outputs a deceleration control instruction to the drive motor, and the drive motor reduces the driving speed of the drive wheel.

[0033] The sending unit and the receiving unit of the fourth infrared pair tube sensor group are respectively arranged on the left front vertical beam and the right front vertical beam of the front door frame, and the sending unit and the receiving unit of the fourth infrared pair tube sensor group are located at the same height and are both located in the plane where the front door frame is located.

[0034] The control module receives the signal sent to the control module by the receiving unit of the fourth infrared pair sensor group in real time. When the carriage head in front of the cargo placement position or the front row of stacking enters the front gantry frame, it indicates that the gantry has traveled to the cargo placement position.

[0035] The infrared light signal emitted by the fourth infrared pair sensor group transmitting unit is blocked, and the fourth infrared pair sensor group receiving unit cannot receive the infrared light signal. The fourth infrared pair sensor group receiving unit emits a parking signal to the control module.

[0036] The control module outputs a parking control instruction to the drive motor, and the drive motor stops the driving wheels.

[0037] Further preferably, the attachment is vertically lowered into place, further comprising:

[0038] The control module outputs a control signal to the input port of the chain mechanism, so that the mobile frame drives the accessories and pallets on it to start vertical descent.

[0039] A second laser distance measuring sensor is disposed at the bottom of the attachment. The second laser distance measuring sensor is located at a position corresponding to the gap between the fork teeth. The second laser distance measuring sensor points to the bottom surface of the attachment.

[0040] The control module is provided with a storage unit, and the storage unit stores the cargo release distance, which is the distance value that the second laser distance measuring sensor should measure when the lower surface of the fork tine contacts the bottom surface of the cargo release position.

[0041] The control module receives the distance value sent to the control module by the second laser distance measuring sensor in real time, and when the distance value is equal to the cargo release distance,

[0042] The control module outputs a control signal to the chain mechanism input port, so that the moving frame stops descending.

[0043] Further preferably, the ejector ejects the pallet and then resets the attachment, further comprising:

[0044] The ejector is provided with an input port, and the ejector input port is provided on the ejector solenoid valve of the fluid system. The control module outputs a control signal to the ejector solenoid valve of the fluid system, and the control signal is an electrical signal, wherein a low voltage interval value of 0.5 to 4.5 V corresponds to ejection of the ejector, and a high voltage interval value of 5.5 to 9.5 V corresponds to retraction of the ejector.

[0045] The control module outputs a control signal to the ejector to push it forward and push the stacking from the fork teeth of the attachment. Synchronously, the control module outputs a control instruction to the drive motor, and the drive motor drives the drive wheel to rotate toward the delivery position, so that the gantry moves along the track toward the delivery position.

[0046] The forks are then pulled out from under the pallet and the pallet remains at the loading position.

[0047] The control module receives in real time the signal sent to the control module by the fourth infrared pair sensor group receiving unit. The infrared light signal sent by the fourth infrared pair sensor group sending unit is not blocked. The fourth infrared pair sensor group receiving unit receives the infrared light signal, indicating that the front door frame has retreated to the rear side of the pallet just unloaded.

[0048] The control module outputs a control signal to the ejector to retract it backwards.

[0049] The control module outputs a control signal to the rotating motor, so that the attachment frame and the attachment thereon rotate 180 degrees as a whole.

[0050] The control module outputs a control signal to the chain mechanism input port, causing the mobile frame to rise vertically back to the initial height.

[0051] At the position corresponding to the initial height, a mobile frame proximity sensor is arranged on the side wall of the accessory frame. The mobile frame proximity sensor is provided with an output port, which is connected to the input port of the control module. When the mobile frame rises vertically and returns to the initial height, the mobile frame proximity sensor outputs a stop signal to the control module, and the accessory resetting is completed.

[0052] Compared with the prior art, the present invention has the following beneficial effects: in the process of transporting the stacked goods from the delivery position to the loading position on the vehicle, through the coordination of multiple laser ranging sensors and multiple infrared tube sensor groups, precise positioning is achieved from the links of picking up position determination, deceleration during travel, fire prevention position determination, etc., thereby realizing intelligent operation of the gantry transporting goods.

[0053] 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

[0054] Figure 1 Schematic diagram of a palletized cargo loading system according to an embodiment of the present invention.

[0055] Figure 2 It is a schematic side view of a gantry according to an embodiment of the present invention.

[0056] Figure 3 Based Figure 2 A partial enlarged schematic diagram of area B in the middle.

[0057] Figure 4 It is a partial schematic diagram of a palletized cargo loading system according to an embodiment of the present invention.

[0058] Figure 5 It is a partial bottom view schematic diagram of the gantry according to an embodiment of the present invention.

[0059] Figure 6 It is a partial bottom view schematic diagram of the right bottom beam of an embodiment of the present invention.

[0060] Figure 7 It is a schematic diagram of the alignment direction of the infrared pair tube sensor group according to an embodiment of the present invention. DETAILED DESCRIPTION

[0061] 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.

[0062] Please refer to Figures 1 to 7, a palletized cargo loading system, used for loading and unloading stacked cargo, and transporting the stacked cargo from the delivery position to the storage position on the vehicle, is provided with a track 1, a gantry 2, a 180-degree rotating device 3, an attachment frame 4, and an attachment 5. The track is installed on the ground, and the gantry 2 is provided with a top frame 21, a vertical beam 22, and a bottom beam 23. The 180-degree rotating device 3 is installed on the top frame 21, and the 180-degree rotating device 3 is provided with a rotating motor 31 and an output rotating disk 32. The output rotating disk 32 is arranged on the lower surface of the top frame 21, and the output rotating disk 32 can rotate 180 degrees in the horizontal plane under the drive of the rotating motor 31. The top of the attachment frame 4 is fixed to the lower surface of the output rotating disk 32, and the lower surface of the bottom beam 23 is provided with a driving wheel 61 and a driven wheel 62. The driving wheel 61 and the driven wheel 62 support the gantry 2 on the track 1. The bottom beam 23 is enclosed to form a side frame, and a side frame is provided on each of the left and right sides of the gantry 2. A vertical pole 7 is provided in the side frame, and the vertical pole 7 is installed on the upper surface of the bottom beam 23. A first laser ranging sensor 81, a first infrared pair tube sensor group 82, and a second infrared pair tube sensor group 83 are provided on the vertical pole 7. A third infrared pair tube sensor group 84 is also provided on the vertical beam 22 and the vertical pole 7. The gantry 2 is provided with a front door frame 24 and a rear door frame. The front door frame 24 faces the cargo placement position on the vehicle, and the rear door frame faces the cargo delivery position. The first laser ranging sensor 81 points obliquely to the front door frame 24. The front door frame 24 is provided with a left front vertical beam 25 and a right front vertical beam 26. The left front vertical beam 25 and the right front vertical beam 26 are the left and right sides of the front door frame 24 respectively. A fourth infrared pair tube sensor group 85 is also provided on the left front vertical beam 25 and the right front vertical beam 26.

[0063] The gantry 2 is provided with a left side frame 27 and a right side frame 28. A left upright pole is provided in the left side frame 27, and a right upright pole 72 is provided in the right side frame 28. The infrared pair sensor group is provided with a sending unit and a receiving unit. The sending unit and the receiving unit are aligned in pairs. Figure 4 and 7As shown, the left upright pole 71 is provided with a sending unit of the first infrared pair tube sensor group 82 and a receiving unit of the second infrared pair tube sensor group 83, and the right upright pole 72 is provided with a sending unit of the second infrared pair tube sensor group 83 and a receiving unit of the first infrared pair tube sensor group 82. The sending units of the first infrared pair tube sensor group 82 and the second infrared pair tube sensor group 83 are arranged at a first height, and the receiving units of the first infrared pair tube sensor group 82 and the second infrared pair tube sensor group 83 are arranged at a second height, and the second height is lower than the first height. The third infrared pair tube sensor group 83 is provided with a sending unit of the second infrared pair tube sensor group 83 and a receiving unit of the first infrared pair tube sensor group 82. 4 are respectively arranged on the left front vertical beam 25 and the right vertical pole 72, the sending unit and the receiving unit of the fourth infrared pair tube sensor group 85 are respectively arranged on the left front vertical beam 25 and the right front vertical beam 26 of the front door frame 24, the sending unit and the receiving unit of the fourth infrared pair tube sensor group 85 are located at the same height, the left vertical pole 71 and the right vertical pole 72 are both perpendicular to the bottom beam 23, the left vertical pole 71 and the right vertical pole 72 are located on the longitudinal symmetry plane of the output rotating disk 32, and the top of the accessory frame 4 is fixed to the edge of the lower surface of the output rotating disk 32.

[0064] The rotating motor 31 is arranged on the upper surface of the top frame 21, the accessory frame 4 is provided with a chain mechanism, a fixed frame, and a mobile frame, the chain mechanism drives the mobile frame to move up and down in the fixed frame, the accessory 5 is arranged on the mobile frame, the accessory 5 is provided with an ejector 51 and a fork tine 52, a fork tine gap is provided between the fork tine 52, a second laser ranging sensor 86 is provided at the bottom of the accessory 5, the position of the second laser ranging sensor 86 corresponds to the fork tine gap, and the second laser ranging sensor 86 points to the bottom surface of the accessory 5, the driving wheel 61 is provided with a driving motor 63, and the driving motor 63 is installed on the outer side of the bottom beam 23, the track 1 is provided with a left track and a right track, and the inner side of the left track adjacent to the left track is provided with a contact type The power supply device supplies power to the driving motor 63, and the driving motor 63 drives the driving wheel 61 to rotate, so that the gantry 2 is displaced along the track 1. A positioning plate 9 is arranged adjacent to the inner side of the right track, and the bottom beam 23 is provided with a left bottom beam and a right bottom beam 232. A proximity sensor 10 is arranged on the inner wall of the right bottom beam 232. The proximity sensor 10 is close to the rear door frame. The proximity sensor 10 is provided with a notch groove. The spacing between the notch groove and the right bottom beam 232 is equal to the spacing between the positioning plate 9 and the right bottom beam 232. The opening of the notch groove faces the ground. The positioning plate 9 is installed on the ground. The vertical height of the top surface of the positioning plate 9 from the ground is between the vertical spacing of the top of the notch groove from the ground and the vertical spacing of the bottom of the notch groove from the ground.

[0065] A control module is also provided, the control module is provided with an input port and an output port, the rotating motor 31 is provided with an input port, the input port is connected to the output port of the control module, the driving motor 63 is provided with an input port, the input port is connected to the output port of the control module, the first laser ranging sensor 81 is provided with an output port, the output port is connected to the input port of the control module, the first infrared pair tube sensor group 82 receiving unit is provided with an output port, the output port is connected to the input port of the control module, the second infrared pair tube sensor group 83 receiving unit is provided with an output port, the output port is connected to the input port of the control module, the The receiving unit of the third infrared pair sensor group 84 is provided with an output port, which is connected to the input port of the control module. The receiving unit of the fourth infrared pair sensor group 85 is provided with an output port, which is connected to the input port of the control module. The chain mechanism is provided with an input port, which is connected to the output port of the control module. The ejector 51 is provided with an input port, which is connected to the output port of the control module. The second laser ranging sensor 86 is provided with an output port, which is connected to the input port of the control module. The proximity sensor 10 is provided with an output port, which is connected to the input port of the control module.

[0066] A control method for a palletizing cargo loading system is applied to the palletizing cargo loading system. The control method specifically includes:

[0067] Step S101: the gantry 2 moves backward to the cargo pickup position;

[0068] Step S102: the attachment is lifted vertically to pick up the goods, and the attachment frame 4 rotates 180 degrees;

[0069] Step S103: the gantry 2 moves forward to the cargo placement position;

[0070] Step S104: the attachment is lowered vertically into position;

[0071] Step S105: the ejector 51 ejects the pallet, and then the attachment is reset;

[0072] The gantry 2 moves backward to the cargo pickup position, further comprising:

[0073] Each operation of the palletizing cargo loading system starts with the attachment being in a reset state.

[0074] When the attachment is in the reset state, the attachment fork 52 faces the rear door frame, and the movable frame on the attachment frame 4 is at the initial height. At this initial height, the attachment fork 52 is flush with the bottom of the stacking at the delivery position.

[0075] The control module outputs a control instruction to the drive motor 63, and the drive motor 63 drives the drive wheel 61 to rotate toward the delivery position, so that the gantry 2 moves along the track 1 toward the delivery position.

[0076] The control module receives the signal sent by the proximity sensor 10 to the control module in real time. When the notch of the proximity sensor 10 moves to the position of the positioning plate 9, the positioning plate 9 enters the notch, and the proximity sensor 10 sends a deceleration signal to the control module. The control module outputs a deceleration control instruction to the drive motor 63, and the drive motor 63 reduces the driving speed of the drive wheel 61.

[0077] The control module receives the signal sent to the control module by the receiving unit of the first infrared pair sensor group 82 in real time. When the pallet enters the vertical plane where the left upright 71 and the right upright 72 are located, the infrared light signal sent by the sending unit of the first infrared pair sensor group 82 is blocked, and the receiving unit of the first infrared pair sensor group 82 cannot receive the infrared light signal. The receiving unit of the first infrared pair sensor group 82 sends a stop signal to the control module.

[0078] The control module receives the signal sent to the control module by the receiving unit of the second infrared pair sensor group 83 in real time. When the pallet enters the vertical plane where the left upright 71 and the right upright 72 are located, the infrared light signal sent by the sending unit of the second infrared pair sensor group 83 is blocked, and the receiving unit of the second infrared pair sensor group 83 cannot receive the infrared light signal. The receiving unit of the second infrared pair sensor group 83 sends a stop signal to the control module.

[0079] When the control module receives any of the above parking signals, the control module outputs a parking control instruction to the drive motor 63, the drive motor 63 stops the driving wheel 61, and the gantry 2 reaches the cargo pickup position.

[0080] The attachment is lifted vertically to pick up the goods, and the attachment frame 4 rotates 180 degrees, and also includes:

[0081] The attachment frame 4 is provided with a chain mechanism, a fixed frame, and a mobile frame. The chain mechanism drives the mobile frame to move up and down in the fixed frame. The attachment is arranged on the mobile frame. The chain mechanism is hydraulically driven. The chain mechanism is provided with an input port. The input port is arranged on the chain mechanism solenoid valve of the hydraulic system. The control module outputs a control signal to the chain mechanism solenoid valve of the hydraulic system. The control signal is an electrical signal, wherein the low voltage interval value of 0.5-4.5V corresponds to the rise of the mobile frame, and the high voltage interval value of 5.5-9.5V corresponds to the descent of the mobile frame.

[0082] The control module outputs a control signal to the input port of the chain mechanism, so that the mobile frame drives the attachment installed thereon to rise vertically, and the fork teeth 52 of the attachment lift up the stack.

[0083] The control module outputs a control signal to the rotating motor 31, so that the attachment frame 4 together with the attachments and the palletizer thereon rotates 180 degrees as a whole.

[0084] The control module receives in real time the signal sent to the control module by the receiving unit of the third infrared pair sensor group 84. The sending unit and the receiving unit of the third infrared pair sensor group 84 are respectively arranged on the left front vertical beam 25 and the right vertical pole 72.

[0085] When the stacking machine is rotated 180 degrees as a whole and in place, the stacking machine is aligned with the front door frame 24.

[0086] The infrared light signal emitted by the transmitting unit of the third infrared pair sensor group 84 is blocked by the palletizing, and the receiving unit of the third infrared pair sensor group 84 cannot receive the infrared light signal. The receiving unit of the third infrared pair sensor group 84 emits a rotation in place signal to the control module.

[0087] The control module outputs a control instruction to the driving motor 63 , and the driving motor 63 drives the driving wheel 61 to rotate toward the cargo placement position, so that the gantry 2 moves along the track 1 toward the cargo placement position.

[0088] The gantry 2 moves forward to the cargo placement position, and further comprises:

[0089] The first laser distance measuring sensor 81 is obliquely pointed to the front door frame 24. A storage unit is provided in the control module. The storage unit stores a first laser distance measuring threshold. The threshold of the first laser distance measuring sensor 81 is the distance between the first laser distance measuring sensor 81 and the front end surface of the front door frame 24.

[0090] The control module receives the distance measurement value sent by the first laser ranging sensor 81 in real time. When the distance measurement value sent by the first laser ranging sensor 81 is equal to or less than the first laser ranging threshold,

[0091] The control module outputs a deceleration control instruction to the drive motor 63, and the drive motor 63 reduces the driving speed of the drive wheel 61.

[0092] The sending unit and the receiving unit of the fourth infrared pair sensor group 85 are respectively arranged on the left front vertical beam 25 and the right front vertical beam 26 of the front door frame 24. The sending unit and the receiving unit of the fourth infrared pair sensor group 85 are located at the same height and are both located in the plane where the front door frame 24 is located.

[0093] The control module receives the signal sent to the control module by the receiving unit of the fourth infrared pair sensor group 85 in real time. When the carriage head in front of the cargo placement position or the front row of stacking enters the front door frame 24, it indicates that the gantry 2 has moved to the cargo placement position.

[0094] The infrared light signal emitted by the transmitting unit of the fourth infrared pair sensor group 85 is blocked, and the receiving unit of the fourth infrared pair sensor group 85 cannot receive the infrared light signal. The receiving unit of the fourth infrared pair sensor group 85 emits a parking signal to the control module.

[0095] The control module outputs a parking control instruction to the drive motor 63 , and the drive motor 63 stops the driving wheel 61 .

[0096] The attachment is lowered vertically into position, and further comprises:

[0097] The control module outputs a control signal to the input port of the chain mechanism, so that the mobile frame drives the accessories and pallets on it to start vertical descent.

[0098] A second laser distance measuring sensor 86 is disposed at the bottom of the attachment. The second laser distance measuring sensor 86 is located at a position corresponding to the gap between the fork teeth. The second laser distance measuring sensor 86 points to the bottom surface of the attachment.

[0099] The control module is provided with a storage unit, and the storage unit stores the cargo release distance, which is the distance value that the second laser distance measuring sensor 86 should measure when the lower surface of the fork tine 52 contacts the bottom surface of the cargo release position.

[0100] The control module receives the distance value sent to the control module by the second laser distance measuring sensor 86 in real time. When the distance value is equal to the cargo release distance,

[0101] The control module outputs a control signal to the chain mechanism input port, so that the moving frame stops descending.

[0102] The ejector 51 ejects the pallet and then resets the attachment, further comprising:

[0103] The ejector 51 is provided with an input port, and the input port of the ejector 51 is provided on the ejector 51 solenoid valve of the liquid circuit system. The control module outputs a control signal to the ejector 51 solenoid valve of the liquid circuit system, and the control signal is an electrical signal, wherein the low voltage interval value of 0.5-4.5V corresponds to the ejector 51 ejecting, and the high voltage interval value of 5.5-9.5V corresponds to the ejector 51 retracting.

[0104] The control module outputs a control signal to the ejector 51 to push it forward and push the stack from the fork tine 52. Synchronously, the control module outputs a control command to the drive motor 63, and the drive motor 63 drives the drive wheel 61 to rotate toward the delivery position, so that the gantry 2 moves along the track 1 toward the delivery position.

[0105] The fork 52 of the attachment is thus pulled out from under the pallet, and the pallet remains at the loading position.

[0106] The control module receives in real time the signal sent to the control module by the receiving unit of the fourth infrared pair sensor group 85. The infrared light signal sent by the sending unit of the fourth infrared pair sensor group 85 is not blocked. The receiving unit of the fourth infrared pair sensor group 85 receives the infrared light signal, indicating that the front door frame 24 has retreated to the rear side of the pallet just unloaded.

[0107] The control module outputs a control signal to the ejector 51 to retract it backwards.

[0108] The control module outputs a control signal to the rotating motor 31, so that the attachment frame 4 and the attachments thereon rotate 180 degrees as a whole.

[0109] The control module outputs a control signal to the chain mechanism input port, causing the mobile frame to rise vertically back to the initial height.

[0110] At the position corresponding to the initial height, a mobile frame proximity sensor is arranged on the side wall of the accessory frame 4, and the mobile frame proximity sensor is provided with an output port, which is connected to the input port of the control module. When the mobile frame rises vertically and returns to the initial height, the mobile frame proximity sensor outputs a stop signal to the control module, and the accessory resetting is completed.

[0111] 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 palletized cargo loading system, used for loading and unloading palletized cargo, and transporting the palletized cargo from the unloading position to the loading position on the vehicle, characterized in that: A track, a gantry, a 180-degree rotating device, an accessory frame, and accessories are provided. The gantry is provided with a top frame, a vertical beam, and a bottom beam. The 180-degree rotating device is installed on the top frame. The 180-degree rotating device is provided with a rotating motor and an output rotating disk. The output rotating disk is provided on the lower surface of the top frame, and the output rotating disk can rotate 180 degrees in the horizontal plane under the drive of the rotating motor. The top of the accessory frame is fixed to the lower surface of the output rotating disk. A driving wheel and a driven wheel are provided on the lower surface of the bottom beam. The driving wheel and the driven wheel support the gantry on the track. The vertical beam and the bottom beam are combined to form a side frame. A side frame is provided on each of the left and right sides of the gantry. A vertical pole is arranged in the side frame, and the vertical pole is installed on the upper surface of the bottom beam. A first laser distance measuring sensor, a first infrared pair tube sensor group, and a second infrared pair tube sensor group are arranged on the vertical pole. A third infrared pair tube sensor group is also arranged on the vertical beam and the vertical pole. The gantry is provided with a front door frame and a rear door frame. The front door frame faces the cargo placement position on the vehicle, and the rear door frame faces the cargo delivery position. The first laser distance measuring sensor points obliquely to the front door frame. The front door frame is provided with a left front vertical beam and a right front vertical beam. The left front vertical beam and the right front vertical beam are the left and right sides of the front door frame respectively. A fourth infrared pair tube sensor group is also arranged on the left front vertical beam and the right front vertical beam. Wherein, the gantry is provided with a left side frame and a right side frame, a left upright pole is provided in the left side frame, a right upright pole is provided in the right side frame, the infrared pair tube sensor group is provided with a sending unit and a receiving unit, the sending units and the receiving units are aligned in pairs, the left upright pole is provided with a sending unit of the first infrared pair tube sensor group and a receiving unit of the second infrared pair tube sensor group, the right upright pole is provided with a sending unit of the second infrared pair tube sensor group and a receiving unit of the first infrared pair tube sensor group, the sending units of the first infrared pair tube sensor group and the second infrared pair tube sensor group are arranged at a first height, the first infrared pair tube sensor group, The receiving unit of the second infrared pair tube sensor group is arranged at a second height, and the second height is lower than the first height. The sending unit and the receiving unit of the third infrared pair tube sensor group are respectively arranged on the left front vertical beam and the right vertical pole. The sending unit and the receiving unit of the fourth infrared pair tube sensor group are respectively arranged on the left front vertical beam and the right front vertical beam of the front door frame. The sending unit and the receiving unit of the fourth infrared pair tube sensor group are located at the same height. The left vertical pole and the right vertical pole are both perpendicular to the bottom beam. The left vertical pole and the right vertical pole are located on the longitudinal symmetry plane of the output rotating disk. The top of the attachment frame is fixed to the edge of the lower surface of the output rotating disk. Wherein, the rotating motor is arranged on the upper surface of the top frame, the accessory frame is provided with a chain mechanism, a fixed frame, and a mobile frame, the chain mechanism drives the mobile frame to move up and down in the fixed frame, the accessory is arranged on the mobile frame, the accessory is provided with an ejector and fork teeth, a fork tooth gap is provided between the fork teeth, a second laser ranging sensor is provided at the bottom of the accessory, the position of the second laser ranging sensor corresponds to the fork tooth gap, the second laser ranging sensor points to the bottom surface of the accessory, the driving wheel is provided with a driving motor, and the driving motor is installed on the outer side of the bottom beam, the track is provided with a left track and a right track, and a connecting rod is provided on the inner side adjacent to the left track The contact power supply device supplies power to the driving motor, and the driving motor drives the driving wheel to rotate, so that the gantry moves along the track. A positioning plate is arranged close to the inner side of the right track, and the bottom beam is arranged with a left bottom beam and a right bottom beam. A proximity sensor is arranged on the inner side wall of the right bottom beam, and the proximity sensor is close to the rear door frame. The proximity sensor is provided with a notch groove, and the spacing between the notch groove and the right bottom beam is equal to the spacing between the positioning plate and the right bottom beam. The opening of the notch groove faces the ground, and the positioning plate is installed on the ground. The vertical height of the top surface of the positioning plate from the ground is between the vertical spacing of the notch groove top from the ground and the vertical spacing of the notch groove bottom from the ground. Among them, a control module is also provided, the control module is provided with an input port and an output port, the rotating motor is provided with an input port, the input port is connected to the output port of the control module, the driving motor is provided with an input port, the input port is connected to the output port of the control module, the first laser ranging sensor is provided with an output port, the output port is connected to the input port of the control module, the first infrared pair tube sensor group receiving unit is provided with an output port, the output port is connected to the input port of the control module, the second infrared pair tube sensor group receiving unit is provided with an output port, the output port is connected to the input port of the control module, The third infrared pair tube sensor group receiving unit is provided with an output port, which is connected to the input port of the control module. The fourth infrared pair tube sensor group receiving unit is provided with an output port, which is connected to the input port of the control module. The chain mechanism is provided with an input port, which is connected to the output port of the control module. The ejector is provided with an input port, which is connected to the output port of the control module. The second laser ranging sensor is provided with an output port, which is connected to the input port of the control module. The proximity sensor is provided with an output port, which is connected to the input port of the control module.

2. A control method for a palletized cargo loading system, applied to the palletized cargo loading system of claim 1, the control method specifically comprising: Step S101: the gantry moves backward to the cargo pickup position; Step S102: the attachment is lifted vertically to pick up the goods, and the attachment frame rotates 180 degrees; Step S103: the gantry moves forward to the cargo placement position; Step S104: the attachment is lowered vertically into position; Step S105: The ejector ejects the pallet and then the attachment is reset.

3. A control method for a palletized cargo loading system according to claim 2, characterized in that: The gantry moves backward to the cargo pickup position, further comprising: Each operation of the palletizing cargo loading system starts with the attachment being in a reset state. When the attachment is in the reset state, the attachment fork is facing the rear door frame, and the movable frame on the attachment frame is at the initial height. At this initial height, the attachment fork is flush with the bottom of the pallet at the delivery position. The control module outputs a control instruction to the drive motor, and the drive motor drives the drive wheel to rotate toward the delivery position, so that the gantry moves along the track toward the delivery position. The control module receives the signal sent by the proximity sensor to the control module in real time. When the notch of the proximity sensor moves to the position of the positioning plate, the positioning plate enters the notch, and the proximity sensor sends a deceleration signal to the control module. The control module outputs a deceleration control instruction to the drive motor, and the drive motor reduces the driving speed of the drive wheel. The control module receives the signal sent to the control module by the first infrared pair sensor group receiving unit in real time. When the pallet enters the vertical plane where the left and right uprights are located, the infrared light signal sent by the first infrared pair sensor group sending unit is blocked, and the first infrared pair sensor group receiving unit cannot receive the infrared light signal. The first infrared pair sensor group receiving unit sends a stop signal to the control module. The control module receives the signal sent to the control module by the receiving unit of the second infrared pair sensor group in real time. When the pallet enters the vertical plane where the left and right uprights are located, the infrared light signal sent by the sending unit of the second infrared pair sensor group is blocked, and the receiving unit of the second infrared pair sensor group cannot receive the infrared light signal. The receiving unit of the second infrared pair sensor group sends a stop signal to the control module. When the control module receives any of the above parking signals, the control module outputs a parking control instruction to the drive motor, the drive motor stops the driving wheel, and the gantry reaches the pickup position.

4. A control method for a palletized cargo loading system according to claim 2, characterized in that: The attachment is lifted vertically to pick up the goods, and the attachment frame rotates 180 degrees, and also includes: The attachment frame is provided with a chain mechanism, a fixed frame, and a mobile frame. The chain mechanism drives the mobile frame to move up and down in the fixed frame. The attachment is arranged on the mobile frame. The chain mechanism is hydraulically driven. The chain mechanism is provided with an input port. The input port is arranged on the chain mechanism solenoid valve of the hydraulic system. The control module outputs a control signal to the chain mechanism solenoid valve of the hydraulic system. The control signal is an electrical signal, wherein a low voltage interval value of 0.5-4.5V corresponds to the rise of the mobile frame, and a high voltage interval value of 5.5-9.5V corresponds to the descent of the mobile frame. The control module outputs a control signal to the input port of the chain mechanism, so that the mobile frame drives the attachment installed thereon to rise vertically, and the fork teeth of the attachment lift up the stack. The control module outputs a control signal to the rotating motor, so that the attachment frame, the attachments thereon and the palletizer rotate 180 degrees as a whole. The control module receives in real time the signal sent to the control module by the receiving unit of the third infrared pair sensor group, wherein the sending unit and the receiving unit of the third infrared pair sensor group are respectively arranged on the left front vertical beam and the right vertical pole, When the stacking machine is rotated 180 degrees, it is aligned with the front door frame. The infrared light signal sent by the third infrared pair sensor group sending unit is blocked by the palletizing, and the third infrared pair sensor group receiving unit cannot receive the infrared light signal. The third infrared pair sensor group receiving unit sends a rotation in place signal to the control module. The control module outputs a control instruction to the drive motor, and the drive motor drives the drive wheel to rotate toward the cargo placement position, so that the gantry moves along the track toward the cargo placement position.

5. A control method for a palletized cargo loading system according to claim 2, characterized in that: The gantry moves forward to the cargo placement position, and further comprises: The first laser distance measuring sensor is obliquely pointed to the front door frame, and a storage unit is provided in the control module, and a first laser distance measuring threshold is stored in the storage unit. The first laser distance measuring sensor threshold is the distance between the first laser distance measuring sensor and the front end surface of the front door frame. The control module receives the distance measurement value sent by the first laser ranging sensor in real time, and when the distance measurement value sent by the first laser ranging sensor is equal to or less than the first laser ranging threshold, The control module outputs a deceleration control instruction to the drive motor, and the drive motor reduces the driving speed of the drive wheel. The sending unit and the receiving unit of the fourth infrared pair tube sensor group are respectively arranged on the left front vertical beam and the right front vertical beam of the front door frame, and the sending unit and the receiving unit of the fourth infrared pair tube sensor group are located at the same height and are both located in the plane where the front door frame is located. The control module receives the signal sent to the control module by the receiving unit of the fourth infrared pair sensor group in real time. When the carriage head in front of the cargo placement position or the front row of stacking enters the front gantry frame, it indicates that the gantry has traveled to the cargo placement position. The infrared light signal emitted by the fourth infrared pair sensor group transmitting unit is blocked, and the fourth infrared pair sensor group receiving unit cannot receive the infrared light signal. The fourth infrared pair sensor group receiving unit emits a parking signal to the control module. The control module outputs a parking control instruction to the drive motor, and the drive motor stops the driving wheels.

6. A control method for a palletized cargo loading system according to claim 2, characterized in that: The attachment is lowered vertically into position, and further comprises: The control module outputs a control signal to the input port of the chain mechanism, so that the mobile frame drives the accessories and pallets on it to start vertical descent. A second laser distance measuring sensor is disposed at the bottom of the attachment. The second laser distance measuring sensor is located at a position corresponding to the gap between the fork teeth. The second laser distance measuring sensor points to the bottom surface of the attachment. The control module is provided with a storage unit, and the storage unit stores the cargo release distance, which is the distance value that the second laser distance measuring sensor should measure when the lower surface of the fork tine contacts the bottom surface of the cargo release position. The control module receives the distance value sent to the control module by the second laser distance measuring sensor in real time, and when the distance value is equal to the cargo release distance, The control module outputs a control signal to the chain mechanism input port, so that the moving frame stops descending.

7. A control method for a palletized cargo loading system according to claim 2, characterized in that: The ejector ejects the stack and then the attachment is reset, and further includes: The ejector is provided with an input port, and the ejector input port is provided on the ejector solenoid valve of the fluid system. The control module outputs a control signal to the ejector solenoid valve of the fluid system, and the control signal is an electrical signal, wherein the low voltage interval value 0.5~4.5V corresponds to the ejector ejecting, and the high voltage interval value 5.5~9.5V corresponds to the ejector retracting. The control module outputs a control signal to the ejector to push it forward and push the stacking from the fork teeth of the attachment. Synchronously, the control module outputs a control instruction to the drive motor, and the drive motor drives the drive wheel to rotate toward the delivery position, so that the gantry moves along the track toward the delivery position. The forks are then pulled out from under the pallet and the pallet remains at the loading position. The control module receives in real time the signal sent to the control module by the fourth infrared pair sensor group receiving unit. The infrared light signal sent by the fourth infrared pair sensor group sending unit is not blocked. The fourth infrared pair sensor group receiving unit receives the infrared light signal, indicating that the front door frame has retreated to the rear side of the pallet just unloaded. The control module outputs a control signal to the ejector to retract it backwards. The control module outputs a control signal to the rotating motor, so that the attachment frame and the attachment thereon rotate 180 degrees as a whole. The control module outputs a control signal to the chain mechanism input port, causing the mobile frame to rise vertically back to the initial height. At the position corresponding to the initial height, a mobile frame proximity sensor is arranged on the side wall of the accessory frame. The mobile frame proximity sensor is provided with an output port, which is connected to the input port of the control module. When the mobile frame rises vertically and returns to the initial height, the mobile frame proximity sensor outputs a stop signal to the control module, and the accessory resetting is completed.

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