An automated piling machine

Abstract

The application discloses an automatic stacking machine, which is characterized in that the technical scheme comprises a vehicle body, the vehicle body travels on the ground; a hoisting device, the hoisting device is used for realizing grabbing and placing of a container; and a positioning system, the positioning system is used for realizing accurate positioning between the hoisting device and the container and a container stacking site; through the positioning system, the position of the container and the stacking site can be detected to guide the hoisting device to accurately realize container stacking and unstacking operations.

Description

Technical Field

[0001] This invention relates to the field of container stacking technology, and more specifically, to an automated stacker. Background Technology

[0002] Container stackers are key equipment for transshipping containers and are currently widely used in ports, railway and highway border crossings, container yards, and other locations to transport, stack, and destacking containers. Most existing container stackers consist of a vehicle body, a gantry mounted on the front of the vehicle body, and spreaders mounted on the gantry. The spreaders move up and down on the gantry and can secure the container. The vertical movement of the spreaders on the gantry allows the container to move up and down, and the movement of the vehicle body propels the container for transport.

[0003] Most existing forklifts are operated manually. However, with the improvement of automation technology, the automation of forklifts has gradually begun to develop. In order to realize the automation of forklifts, in addition to the automated operation of forklifts, forklifts also need to be able to automatically complete the stacking and destacking of containers. This invention proposes an automated forklift that can automatically complete the stacking and destacking of containers. Summary of the Invention

[0004] In view of the shortcomings of the existing technology, the purpose of this invention is to provide an automated stacker that, through the setting of a positioning system, can detect the position of containers and stacking sites to guide the lifting equipment to accurately perform container stacking and destacking operations.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an automated stacker, comprising a vehicle body that travels on the ground; Lifting equipment, said lifting equipment being used to grasp and place containers; And a positioning system, which is used to achieve precise positioning between the hoisting equipment and the container and the container stacking area.

[0006] The present invention is further configured such that: the hoisting equipment includes a gantry, the gantry being connected to the vehicle body; A lifting device, which is mounted on the gantry; And a swing mechanism, which connects the spreader to the gantry and drives the spreader to swing left and right.

[0007] The present invention is further configured such that: the swing mechanism includes a main frame, and the main frame is connected to the gantry; A rotating frame, which is rotatably connected to the gantry and to the lifting device; And a power assembly for driving the rotating frame to rotate on the main frame.

[0008] The present invention is further configured such that: the lifting device includes a main crossbeam, and the main crossbeam is connected to the rotating frame; And telescopic beams, two of which are provided, each inserted into the main crossbeam from both ends. Twist locks are provided on the parts of the two telescopic beams that extend out of the main crossbeam, and the twist locks can be inserted into the lock holes of the container to lock it.

[0009] The present invention is further configured such that: the positioning system includes a site landmark, which is set on the container palletizing site; A landmark location sensor is installed at the bottom of the telescopic beam and is used to detect the location information of site landmarks. A lock hole position sensor is provided, which is disposed on the clamping part and adjacent to the twist lock. The lock hole position sensor is used to detect the lock hole position of the container. The system is connected to a landmark position sensor and a lock hole position sensor, and is used to control the movement of the lifting device.

[0010] The present invention is further configured such that: the positioning system includes a container arrival detection mechanism, which is disposed below the torsion lock and located on the clamping part near the container; And a container arrival detection sensor, which determines whether the container is in place through a container arrival detection mechanism.

[0011] The present invention is further configured such that: the positioning system also includes a lower lock hole position sensor, the lower lock hole position sensor being used to detect the lock hole position of the next layer of container.

[0012] The present invention is further configured such that: the positioning system includes a force feedback cylinder, a force feedback sensor is provided at the end of the piston rod of the force feedback cylinder, and a displacement sensor is provided inside the cylinder to detect the movement distance of the piston rod. Based on the force signal detected by the force feedback sensor, it is determined whether the piston rod of the force feedback cylinder is in contact with the next layer of container, thereby determining the horizontal distance between the spreader and the next layer of container.

[0013] The present invention is further configured such that: the positioning system includes a door opening detection sensor, two door opening detection sensors are provided and the two door opening detection sensors are respectively provided on the two clamping parts, and the two door opening detection sensors are used to detect whether the doors at both ends of the container are open; And an adjustment mechanism, which is used to adjust the position of the two-door detection sensor according to the model of the container.

[0014] The present invention is further configured such that: a support slider is provided on the main frame, and a bearing surface is provided on the rotating frame, the bearing surface is supported on the support slider and the bearing surface and the support slider can slide relative to each other.

[0015] In summary, the present invention has the following advantages over the prior art: by setting up a positioning system, the present invention can detect the position of containers and stacking sites to guide hoisting equipment to accurately perform container stacking and destacking operations. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of the embodiment; Figure 2 This is a schematic diagram illustrating the swing mechanism in an embodiment; Figure 3 for Figure 2 Enlarged schematic diagram of part A; Figure 4 for Figure 2 Enlarged schematic diagram of part B; Figure 5 A schematic diagram showing how the rotating frame drives the lifting device to swing left and right; Figure 6 This is a schematic diagram illustrating the rotating frame and the main frame in an embodiment; Figure 7 This is a schematic diagram illustrating the upper and lower swing axes in an embodiment; Figure 8 This is a schematic diagram illustrating the support slider in an embodiment; Figure 9 for Figure 7 Enlarged schematic diagram of part C; Figure 10 This is a schematic diagram illustrating the connection between the swing cylinder and the proportional directional valve in an embodiment. Figure 11 This is a front view illustrating the positioning system in an embodiment; Figure 12 Axonometric drawing for use in positioning systems; Figure 13 This is a schematic diagram illustrating the door opening detection sensor in an embodiment; Figure 14 This is a schematic diagram illustrating the sliding-in-position sensor in an embodiment; Figure 15 This is a schematic diagram illustrating the sliding-in-position sensor in an embodiment; Figure 16 for Figure 15 Enlarged schematic diagram of part D; Figure 17 This is a schematic diagram of the stacking detection lifting mechanism in an embodiment. Figure 18The embodiment illustrates a schematic diagram of the keyhole position sensor; Figure 19 This is a schematic diagram illustrating the adjustment mechanism in an embodiment; Figure 20 This is a schematic diagram illustrating the site landmarks for an example. Figure 21 This is a schematic diagram illustrating the limiting block in an embodiment; Figure 22 This is a schematic diagram illustrating the vehicle body structure in an embodiment; Figure 23 This is a schematic diagram illustrating the hydraulic cabinet as an example. Figure 24 This is a schematic diagram of the machine body in the embodiment; Figure 25 This is a schematic diagram illustrating an escalator as an example. Figure 26 This is a schematic diagram of the rear axle in an embodiment; Figure 27 This is a schematic diagram of the front axle in an embodiment; Figure 28 This is a schematic diagram illustrating the hydraulic system in an embodiment; Figure 29 This is a schematic diagram illustrating the steering valve assembly in an embodiment; Figure 30 This is a schematic diagram of the hydraulic oil tank cabinet and hydraulic motor cabinet for an embodiment.

[0017] In the diagram: 1. Lifting equipment; 11. Gantry; 111. Outer gantry; 112. Inner gantry; 1121. Inner top plate; 12. Swinging mechanism; 121. Main frame; 1211. Fitting groove; 1212. Upper swing shaft; 1213. Lower bushing; 1214. Support slider; 122. Rotating frame; 1221. Embedded part; 1222. Upper bushing; 1223. Lower swing shaft; 1224. Bearing surface; 1231. Left swing cylinder; 1232. Right swing cylinder; 124. Proportional directional valve; 13. Lifting device; 131. Main crossbeam; 132. Telescopic beam; 13 21. Extension cylinder; 133. Locking pin; 2. Vehicle body; 21. Engine body; 211. Front section; 2111. Mudguard platform; 2112. Ladder; 212. Middle section; 2121. Support assembly; 21211. L-beam; 21212. Connecting rod; 213. Rear section; 2131. Support platform; 22. Battery pack; 23. Counterweight; 24. Cabinet; 25. Electrical control cabinet; 251. High-voltage cabinet; 252. Low-voltage cabinet; 26. Hydraulic cabinet; 27. Ladder; 28. Front axle; 29. ​​Rear axle; 291. Steering knuckle; 292. Synchronizing cylinder; 2 10. Wheels; 3. Positioning system; 31. Door opening detection sensor; 311. Adjustment mechanism; 3111. Fixing part; 3112. Rotating rod; 3113. Door opening detection cylinder; 32. Lock hole position sensor; 33. Stacking detection sensor; 331. Stacking detection lifting mechanism; 3311. Stacking lifting cylinder; 3312. Outer sleeve; 3313. Inner sleeve; 34. Manual auxiliary monitoring; 35. Slip-out sensor; 36. Container arrival detection sensor; 361. Container arrival detection mechanism; 3611. Contact plate; 3612. Detection rod; 3613, Elastic component; 37, Lower lock hole position sensor; 371, Force feedback cylinder; 372, Force feedback sensor; 38, Landmark position sensor; 39, Limit block position sensor; 101, Torsion lock; 102, Site landmark; 103, Limit block; 4, Hydraulic system; 41, Hydraulic motor cabinet; 411, Piston pump; 412, High-pressure filter; 42, Hydraulic oil tank cabinet; 421, Return oil filter; 43, Vehicle body oil distribution valve block; 44, Lifting valve assembly; 45, Brake valve assembly; 46, Steering valve assembly; 47, Air cooler; 48, Confluence valve; 49, Multi-way valve. Detailed Implementation

[0018] To enable those skilled in the art to better understand the technical solutions of the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Based on the embodiments in this application, other similar embodiments obtained by those skilled in the art without creative effort should all fall within the scope of protection of this application. Furthermore, directional terms mentioned in the following embodiments, such as "up," "down," "left," and "right," are only for reference to the directions in the accompanying drawings; therefore, the directional terms used are for illustrative purposes and not for limiting the invention.

[0019] The present invention will be further described below with reference to the accompanying drawings and preferred embodiments.

[0020] Example: An automated stacker crane, see appendix. Figure 1 -Appendix Figure 30 It includes a vehicle body 2 that travels on the ground, a hoisting device 1 located at the front end of the vehicle body 2, and a positioning system 3 for achieving precise positioning between the hoisting device 1 and the container and the container stacking area.

[0021] Specifically, it includes a gantry 11 connected to the vehicle body 2, a lifting device 13 mounted on the gantry 11, and a swing mechanism 12 for connecting the lifting device 13 to the gantry 11. The swing mechanism 12 drives the lifting device 13 to swing left and right.

[0022] Since the swing mechanism 12 can drive the spreader 13 to swing left and right, when there is an angle between the spreader 13 and the container due to the low positioning accuracy of the vehicle body 2, the swing mechanism 12 drives the spreader 13 to swing, thereby adjusting the angle of the spreader 13 so that the spreader 13 is parallel to the container, thereby reducing the requirements for the automated driving accuracy of the vehicle body 2 and reducing costs.

[0023] Specifically, the swing mechanism 12 includes a main frame 121 connected to the gantry 11, a rotating frame 122 rotatably connected to the main frame 121 and connected to the lifting device 13, and a power assembly for driving the rotating frame 122 to rotate on the main frame 121; such as Figure 5 This is a schematic diagram of the rotating frame 122 driving the spreader 13 to swing left and right. Based on the angular deviation between the spreader 13 and the container, the power component drives the spreader 13 to swing left and right so that the spreader 13 swings to be parallel to the container. This allows the vehicle body 2 to successfully clamp the spreader 13 onto the container even when the positioning accuracy is low.

[0024] Specifically, the mast 11 includes an outer mast 111 and an inner mast 112. The outer mast 111 is connected to the vehicle body 2, and two tilting cylinders are provided on the vehicle body 2. The cylinder bodies of the two tilting cylinders are hinged to the vehicle body 2, and the piston rods are hinged to the outer mast 111. The rotation axis of the outer mast 111 is horizontal, and the length direction of the outer mast 111 is perpendicular to its own rotation axis. The inner mast 112 is located in the outer mast 111 and can slide on the outer mast 111 along the length direction of the outer mast 111. The main frame 121 in the swing mechanism is connected to the inner mast 112 and can slide on the inner mast 112. The length direction of the inner mast 112 is set along the length direction of the outer mast 111, and the sliding direction of the main frame 121 on the inner mast 112 is set along the length direction of the inner mast 112.

[0025] Specifically, a lifting cylinder is installed on the outer gantry 111, which drives the inner gantry 112 to slide on the outer gantry 111. A sprocket and a chain are installed at one end of the top of the inner gantry 112. One end of the chain is connected to the main frame 121, and the other end is wound around the sprocket. The sprocket winds and unwinds the chain, which drives the main frame 121 to slide on the inner gantry 112.

[0026] Specifically, the main beams on both sides of the outer gantry 111 are F-shaped main beams, and the two F-shaped main beams are connected by a C-shaped beam. Each of the two F-shaped beams has two short sides on the side closest to each other. Pulleys are installed on both sides of the inner gantry 112, with the two short sides of the F-shaped beams serving as their tracks. Specifically, the two sides of the inner gantry 112 are H-shaped main beams, and the two H-shaped main beams are connected by an H-shaped thickened web. An inner top plate 1121 is welded to the top of the two H-shaped main beams, and a sprocket is installed in the inner top plate 1121. Through the cooperation of the sprocket and chain, the main frame 121 slides up and down.

[0027] Specifically, the cylinder bodies of the two tilting cylinders are hinged to the vehicle body 2, and the piston rods of the two tilting cylinders are respectively hinged to the two F-shaped main beams. The extension and retraction of the piston rods of the two tilting cylinders drives the outer mast 111 to rotate.

[0028] Specifically, the rotating frame 122 includes an insert part 1221, and a fitting groove 1211 is provided on the main frame 121 corresponding to the insert part 1221. The insert part 1221 is inserted into the fitting groove 1211. Through the setting of the insert part 1221 and the fitting groove, the rotating frame 122 cannot be displaced on the main frame 121 along the rotation axis direction.

[0029] Specifically, an upper swing shaft 1212 is fixedly connected to the main frame 121. An upper bushing 1222 is provided at the top of the embedded part 1221 corresponding to the upper swing shaft 1212. The upper swing shaft 1212 is inserted into the upper bushing 1222 and cooperates with the upper bushing 1222. A lower swing shaft 1223 is fixedly connected to the bottom of the embedded part 1221. A lower bushing 1213 is fixedly connected to the main frame 121 at the bottom of the fitting groove 1211. The lower swing shaft 1223 is inserted into the lower bushing 1213 and cooperates with the lower bushing 1213. The upper swing shaft 1212, the lower swing shaft 1223, the upper bushing 1222, and the lower bushing 1213 are coaxially arranged.

[0030] Specifically, a support slider 1214 is provided on the main frame 121, and a bearing surface 1224 is provided on the rotating frame 122. The bearing surface 1224 is supported on the support slider 1214, and the bearing surface 1224 and the support slider 1214 can slide relative to each other. By setting the support slider 1214 and the bearing surface 1224, the swing center and the load-bearing surface are separated, so that the main load is borne by the support slider 1214, and the upper swing shaft 1212 and the lower swing shaft 1223 are only subjected to the balancing off-center load moment, which greatly reduces the structural strength requirements of the main frame 121.

[0031] Specifically, the rotation axis of the rotating frame 122 is located near the center of gravity of the lifting device 13, which reduces the torsional deformation of the overall structure when the rotating frame 122 rotates, thereby greatly reducing the requirements for structural rigidity.

[0032] Specifically, there are two support sliders 1214, and correspondingly, there are two bearing surfaces 1224.

[0033] Specifically, the support slider 1214 is far from the rotation axis of the rotating frame 122, and the two support sliders 1214 are respectively located on both sides of the rotation axis of the rotating frame 122. This increases the distance between the support slider 1214 and the rotation axis of the rotating frame 122, thereby generating a larger frictional force between the support slider 1214 and the bearing surface 1224 during the swing process. This frictional force can play a damping role during the movement, thereby improving the stability of the swing. The two support sliders 1214 are located on both sides of the rotation axis of the rotating frame 122, which also increases the distance between the two support sliders 1214, thereby further ensuring the stability of the support.

[0034] Specifically, the power assembly includes two swing cylinders, which are located on both sides of the rotation axis of the rotating frame 122. The cylinder body of the swing cylinder is rotatably connected to the main frame 121, and the piston rod is rotatably connected to the rotating frame 122.

[0035] The two swing cylinders are respectively configured as a left swing cylinder 1231 and a right swing cylinder 1232; the swing mechanism 12 also includes a proportional directional valve 124. The rod chamber of the left swing cylinder 1231 is connected to the rodless chamber of the right swing cylinder 1232, and after being combined into a pipeline, it is connected to the proportional directional valve 124; the rod chamber of the right swing cylinder 1232 is connected to the rodless chamber of the left swing cylinder 1231, and after being combined into a pipeline, it is connected to the proportional directional valve 124.

[0036] The spreader 13 includes a main crossbeam 131 and two telescopic beams 132. The main crossbeam 131 is connected to the rotating frame 122. The two telescopic beams 132 are inserted into the main crossbeam 131 from both ends. Twist locks 101 are provided on the portions of the two telescopic beams 132 extending beyond the main crossbeam 131. The twist locks 101 can be inserted into the lock holes of the container to lock it. Specifically, the two ends of the two telescopic beams 132 that are far apart from each other are configured as clamping parts, which are the portions of the telescopic beams 132 extending beyond the main crossbeam 131. The twist locks 101 are located on the top of the clamping parts on the side away from the vehicle body 2. The twist locks 101 are inserted into the lock holes of the container to lock it, thus achieving connection with the container.

[0037] Specifically, two extension cylinders are connected to the main crossbeam 131, and the two extension cylinders are used to push the two telescopic beams 132 to slide. By setting the two extension cylinders, the two telescopic beams 132 can be pushed to slide, thereby adjusting the distance between the two clamping parts, so that the spreader 13 can clamp different types of containers, thereby realizing the stacking of different containers.

[0038] Specifically, a top extension cylinder 1321 is provided at the bottom of the clamping part on the side away from the vehicle body 2. The top extension cylinder 1321 is located below the twist lock 101. When the twist lock 101 is inserted into the lock hole of the container and locked, the piston rod of the top extension cylinder 1321 can extend towards the container and press against the lower crossbeam of the container. Through the action of the piston rod of the top extension cylinder 1321, the container can be kept horizontal when clamped by the spreader 13.

[0039] Specifically, the positioning system 3 includes a site marker 102 set on the container stacking area, a marker position sensor 38 set at the bottom of the clamping part for detecting the position information of the site marker 102, a locking hole position sensor 32 set on the clamping part and near the twist lock 101, and a control system; the locking hole position sensor 32 is used to detect the locking hole position of the container; the control system is connected to the marker position sensor 38 and the locking hole position sensor 32, and the control system is used to control the movement of the spreader 13.

[0040] By detecting the position of the container lock hole, the control system can adjust the posture of the spreader 13 according to the detected position information, so that the twist lock 101 on the spreader 13 can be aligned with the lock hole, thereby enabling the spreader 13 to automatically clamp the container. By detecting the site landmark 102, the control system can adjust the position of the spreader 13 according to the detection information, thereby aligning the container on the spreader 13 with the site landmark 102, thereby automatically realizing the stacking operation of the container.

[0041] Specifically, the lifting device 13 also includes a locking pin 133, which is set on the clamping part of the telescopic beam 132 and can slide up and down on the clamping part. The twist lock 101 and the upper locking hole position sensor 32 are both set on the locking pin 133.

[0042] Specifically, the positioning system 3 also includes a container arrival detection mechanism 361 and a container arrival detection sensor 36. The container arrival detection mechanism 361 is located below the torsion lock 101 and on the side of the locking pin 133 close to the container. The container arrival detection sensor 36 determines whether the container is in place through the container arrival detection mechanism 361.

[0043] Specifically, the container arrival detection mechanism 361 includes a contact plate 3611, a detection rod 3612, and an elastic element 3613. The contact plate 3611 is located on the side of the locking pin 133 near the container and contacts the container. The detection rod 3612 is fixedly connected to the side of the contact plate 3611 away from the container and passes through the locking pin 133. The other end of the detection rod 3612 can slide to contact the container arrival detection sensor 36. The elastic element 3613 is located between the contact plate 3611 and the locking pin 133. The elastic element 3613 applies elastic force to the contact plate 3611 to push the detection rod 3612 away from the container arrival detection sensor 36. The container pushes the contact plate 3611 to squeeze the elastic element 3613, thereby pushing the detection rod 3612 to contact the container arrival detection sensor 36. The container arrival detection sensor 36 determines whether the container is in place by detecting the contact of the detection rod 3612.

[0044] The spreader 13 approaches the container. When the container contacts the contact plate 3611, the container's action pushes the contact plate 3611 to slide towards the contact plate 3611, thereby compressing the elastic element 3613. This causes the detection rod 3612 to move towards the container positioning detection sensor 36. When the detection rod 3612 contacts the container positioning detection sensor 36, the control system receives the positioning information from the container positioning detection sensor 36, and the spreader 13 stops moving towards the container. At this time, the twist lock 101 of the spreader 13 aligns with the upper locking hole of the container, and then the spreader 13 moves downward, causing the twist lock 101 to insert into the upper locking hole.

[0045] Specifically, the positioning system 3 also includes a slip-in sensor 35, which is located on the side of the clamping part away from the container and below the container positioning detection sensor 36. A detection component is set on the locking pin 133. Under normal conditions, the detection component of the locking pin 133 contacts the top of the clamping part under the gravity of the locking pin 133 and prevents the locking pin 133 from falling further. At this time, the detection component is located below the slip-in sensor 35. When the spreader 13 moves downward and drives the twist lock 101 to insert into the upper locking hole of the container, the spreader 13 gradually moves downward, thereby driving the locking pin 133 to move upward relative to the clamping part until the detection component triggers the slip-in sensor 35. The slip-in sensor 35 transmits the trigger signal to the control system, and the control system controls the spreader 13 to stop moving. Then the twist lock 101 locks with the upper locking hole, and the spreader 13 slowly rises to complete the container grabbing operation.

[0046] Specifically, when stacking containers in the container stacking yard, the spreader 13 moves the containers downwards. After the containers touch the ground or the next layer of containers, the main beam 131 and the two telescopic beams 13 of the spreader 13 will continue to slide a certain distance because the locking pin 133 is blocked from sliding further down the container lock hole end face. This continues until the detection component triggers the sliding position sensor 35. When the control system receives the trigger signal detected by the sliding position sensor 35, it controls the spreader 13 to stop moving downwards.

[0047] Specifically, the container arrival detection mechanism 361 includes two detection rods 3612, which are arranged vertically. One of the detection rods 3612 corresponds to the container arrival detection sensor 36. Each detection rod 3612 corresponds to an elastic element 3613, which is a spring and is sleeved on the corresponding detection rod 3612.

[0048] Specifically, the positioning system 3 also includes a stacking detection sensor 33, which detects the top position of the next layer of containers. This allows the spreader 13 to determine the current positional deviation between itself and the next layer of containers when stacking them. The control system then corrects the position of the spreader 13, facilitating accurate container placement. When the spreader 13 is unstacking containers, the control system determines the relative positional deviation between the spreader 13 and the containers based on the position information of the topmost container detected by the stacking detection sensor 33. After correcting the position of the spreader 13, the system accurately picks up the containers.

[0049] Specifically, in this embodiment, two stacking detection sensors 33 are provided, and the two stacking detection sensors 33 are respectively installed on the two clamping parts. By acquiring information simultaneously through the two stacking detection sensors 33, the accuracy of information acquisition can be guaranteed.

[0050] Specifically, the positioning system 3 also includes a stacking detection lifting mechanism 331. Each stacking detection sensor 33 corresponds to a stacking detection lifting mechanism 331. The stacking detection lifting mechanism 331 drives the stacking detection sensor 33 to move up and down. With the stacking detection lifting mechanism 331, when dealing with containers of different heights, the stacking detection sensor 33 can move up and down to a suitable observation position. The suitable observation position here refers to a position that is at least not blocked by the container.

[0051] Specifically, in this embodiment, the stacking detection lifting mechanism 331 includes a stacking lifting cylinder 3311, an outer sleeve 3312 fixed on the telescopic beam 132, and an inner sleeve 3313 disposed in the outer sleeve 3312 and capable of sliding up and down. The stacking detection sensor 33 is disposed at the bottom of the inner sleeve 3313. The cylinder body of the stacking lifting cylinder 3311 is fixedly connected to the outer sleeve 3312, and the piston rod is fixedly connected to the inner sleeve 3313 near the bottom. Thus, the stacking detection sensor 33 is moved up and down by the extension and retraction of the piston rod.

[0052] Specifically, the positioning system 3 also includes a lower locking hole position sensor 37, which is used to monitor the position of the locking hole of the next layer of containers during container stacking. The lower locking hole position sensor 37 is located near the bottom of the clamping part.

[0053] Specifically, the positioning system 3 includes a force feedback cylinder 371, with a force feedback sensor 372 installed at the end of the piston rod of the force feedback cylinder 371, and a displacement sensor installed inside the cylinder. Specifically, the force feedback cylinder 371 is positioned outside the lower locking hole position sensor 37. When the lower locking hole position sensor 37 detects the locking hole position of the next layer container, the piston rod of the force feedback cylinder 371 extends towards the next layer container. When the end of the piston rod of the force feedback cylinder 371 contacts the next layer container, the force feedback sensor 372 on the piston rod of the force feedback cylinder 371 detects pressure. After receiving the pressure signal detected by the force feedback sensor 372, the control system controls the piston rod of the force feedback cylinder 371 to stop extending further and reads the displacement distance information of the piston rod detected by the displacement sensor. Based on the displacement distance information, the control system can determine the horizontal distance between the spreader 13 and the next layer container, thereby guiding the subsequent movement distance of the spreader 13 based on the horizontal distance.

[0054] Specifically, the positioning system 3 also includes a limit block position sensor 39, which is used to detect the position of the limit blocks 103 on the AGV (Automated Guided Vehicle) body used to limit the container. Limit blocks 103 are typically installed on the AGV body to limit the container; usually, a set of limit blocks 103 is installed on both sides of each container. When placing a container on the AGV body, the container needs to be placed between the two sets of limit blocks 103 that limit the container. This application uses the limit block position sensor 39 to read the position of the limit blocks 103, and the control system adjusts the position and attitude of the spreader 13 according to the position information, so that the container on the spreader 13 can be accurately placed between the two sets of limit blocks 103.

[0055] Specifically, the positioning system 3 also includes a two-door detection sensor 31, which is respectively installed on the two clamping parts. The two-door detection sensor 31 is used to detect whether the doors at both ends of the container are open. During the process of stacking and destacking containers, it is very easy for the doors at both ends of the container to open. Once the container doors are open, the items inside the container are likely to fall out during the stacking and destacking process, and the shaking of the doors can also cause danger.

[0056] Specifically, the positioning system 3 also includes two adjustment mechanisms 311, which correspond to two door opening detection sensors 31 respectively. The two adjustment mechanisms 311 are used to adjust the position of the two door opening detection sensors 31 according to the model of the container, so that the two door opening detection sensors 31 can be used for different models of containers.

[0057] Specifically, the adjustment mechanism 311 includes a fixed part 3111 fixedly connected to the clamping part, a rotating rod 3112 hinged to the fixed part 3111, and a door opening judgment cylinder 3113 for pushing the rotating rod 3112 to rotate; the door opening judgment sensor 31 is located at the end of the rotating rod 3112 away from the fixed part 3111, the cylinder body of the door opening judgment cylinder 3113 is hinged to the clamping part, and the piston rod is hinged to the rotating rod 3112. By extending and retracting the piston rod of the door opening judgment cylinder 3113, the rotating rod 3112 is driven to rotate on the fixed part 3111.

[0058] Specifically, the positioning system 3 also includes four manual auxiliary monitoring systems 34. Two of these systems are located near the top of the two clamping parts, and the other two are located near the door opening detection sensor 31 on the two rotating rods 3112. These manual auxiliary monitoring systems allow for manual monitoring of the lifting device 13's operating status via video and enable the system to track the operation of the lifting device 13.

[0059] Specifically, the vehicle body 2 includes a body 21, axles, counterweights 23 mounted on the axles, a battery pack 22, an electrical control cabinet 25, and a hydraulic cabinet 26. The body 21 is divided along its length into a front section 211, a middle section 212, and a rear section 213. It has two axles: a front axle 28 and a rear axle 29. The front axle 28 is located at the bottom of the front section 211, and the rear axle 29 is located at the bottom of the rear section 213. Both the front axle 28 and the rear axle 29 have wheels 210 at both ends. The counterweights 23 are connected to the end of the rear section 213 furthest from the front section 211. The battery pack 22 is located on top of the rear section 213, adjacent to the counterweights 23. The electrical control cabinet 25 and the hydraulic cabinet 26 are located on either side of the middle section 212 of the body 21. A gantry 11 and a spreader 13 are located at the end of the front section 211 furthest from the rear section, allowing for the stacking and destacking of containers.

[0060] Since the machine body 21 is used in an automated forklift, and the battery pack 22 is a key functional component of the forklift, it is relatively heavy to ensure sufficient energy storage. To make efficient use of its weight, the battery pack 22 is incorporated as part of the counterweight of the machine body 21, thereby reducing the weight of the counterweight block 23 located at the rear of the machine body 21. Furthermore, by placing the electrical control cabinet 25 and the hydraulic cabinet 26 on either side of the middle section 212 of the machine body 21, the balance of the left and right sides of the machine body 21 is ensured, thus guaranteeing the stability of the machine body 21 during operation.

[0061] The wheels 210 at both ends of the axle are located on both sides of the body 21; two support platforms 2131 are fixedly connected to both sides of the tail section 213 of the body 21, and the battery pack 22 is fixed to the tail section 213 of the body 21 and the top of the two support platforms 2131; the two support platforms 2131 are respectively located above the wheels 210 at both ends of the rear axle 29, and are used as mudguards for the wheels 210. The support platforms 2131 not only provide stable support for the battery pack 22, but also serve as mudguards for the wheels 210.

[0062] Specifically, the rear axle 29 is configured as a steering axle, with one wheel 210 at each end; the front axle 28 is configured as a drive axle, with two tires at each end. After the forklift grabs a container, its center of gravity shifts to the front section 211 of the machine body 21, primarily acting on the tires on the front axle 28. By installing two tires at each end of the front axle 28, the stability and load-bearing capacity of the machine body 21 when grabbing a container are improved.

[0063] Specifically, the rear axle 29 is connected to two steering knuckles 291 at both ends. The rear axle 29 is connected to the two wheels 210 through the two steering knuckles 291. An angle encoder is installed at the steering knuckle 291 to control and monitor the turning angle of the wheels 210. By setting the angle encoder, the turning path of the machine body 21 can be controlled more accurately.

[0064] Specifically, a synchronizing cylinder 292 is installed at the rear axle 29. The synchronizing cylinder 292 connects two steering knuckles 291 to ensure the synchronous rotation of the two steering knuckles 291. By controlling the synchronous rotation of the tires at both ends of the rear axle 29, the turning path of the forklift can be controlled more precisely, thereby improving the automation control accuracy of the forklift.

[0065] Specifically, support components 2121 are provided on both sides of the middle section 212 of the body 21. Each support component 2121 includes multiple L-shaped beams 21211. One side of each L-shaped beam 21211 is vertically mounted and fixed to the body 21, while the other side is horizontal to support the electrical control cabinet 25 or the hydraulic cabinet 26. Specifically, two support components 2121 are provided on each side of the middle section 212 of the body 21, and multiple L-shaped beams 21211 of the same support component 2121 are connected together by connecting rods 21212. Each support component 2121 includes two L-shaped beams 21211. The electrical control cabinet 25 includes a low-voltage cabinet 252 and a high-voltage cabinet 251, which are mounted on the two support components 2121 on one side of the body 21. Two hydraulic cabinets 26 are provided on the other side of the middle section 212 of the body 21, respectively mounted on the two support components 2121 on the other side of the body 21.

[0066] The support component 2121 facilitates the fixing of the electrical control cabinet 25 and the hydraulic cabinet 26 on both sides of the body 21. The electrical control cabinet 25 and the hydraulic cabinet 26 are respectively set on both sides of the middle section 212 of the body 21, so that the vehicle body 2 can maintain a certain degree of balance in the left and right directions.

[0067] Specifically, two mudguard platforms 2111 are fixedly connected to both sides of the front section 211 of the body 21. The two mudguard platforms 2111 cover the wheels 210 at both ends of the front axle 28. A downward-extending ladder 2112 is provided on the side of the two mudguard platforms 2111 near the front section 211 of the body 21. The ladder 2112 extends downward to allow operators to go up and down the mudguard platforms 2111.

[0068] Specifically, a driver's cab 24 is located at the top of the middle section 212 of the machine body 21. The driver's cab 24 contains operating components for temporary operation of the forklift by the operator, specifically an MCD manual control box. For automated forklifts, automated driving is achieved through program control, eliminating the need for manual operation and typically rendering a driver's cab 24 unnecessary. However, when the automated equipment malfunctions, a driver's cab 24 is required on the machine body 21 to allow temporary operation. Traditional driver's cabs 24 typically include steering wheels, accelerator pedals, gear shifters, and other operating devices. These devices are designed for the engine and are not suitable for operating automated forklifts. In this embodiment, an MCD manual control box is installed in the driver's cab 24 to replace the traditional steering wheel, accelerator pedals, gear shifters, and other manual controls for driving the automated forklift.

[0069] Specifically, to facilitate the operation of the automated stacker crane by the operator in the cab 24, a driver's seat is installed in the cab 24 to facilitate the operation of the MCD manual control box by the operator in the cab 24.

[0070] Specifically, a camera is also installed on the machine body 21. In this embodiment, the camera is at least located on the top of the cab 24 to collect images of the surroundings of the forklift. Specifically, a display screen is installed in the automated control terminal of the forklift, i.e., the automated control room. These displays show the image information of the surroundings of the machine body 21 collected by the camera during the forklift's operation, allowing personnel to observe the automated operation of the forklift through the images on the display screen.

[0071] Specifically, a display screen is also installed in the cab 24. The display screen in the cab 24 can also display the image information around the machine body 21 collected by the camera during the operation of the forklift. This allows the operator to observe the situation around the forklift through the display screen when manually driving the forklift in the cab 24, thus broadening the operator's field of vision and improving the safety of forklift operation.

[0072] Specifically, a lighting fixture is installed on the top of the cab 24, which can provide illumination at night or in dim lighting conditions.

[0073] Specifically, the components in the hydraulic cabinet 26 are heavier than those in the electrical control cabinet 25, and the hydraulic cabinet 26 also stores liquid. This makes the overall weight of the hydraulic cabinet 26 greater than that of the electrical control cabinet 25. Consequently, while the machine body 21 can maintain a certain balance from a left-right perspective, the center of gravity shifts towards the side of the machine body 21 where the hydraulic cabinet 26 is located. To keep the center of gravity as close as possible to the center of gravity in the left-right direction of the machine body 21, the ladder 27 for accessing the upper and lower cabs 24 is positioned on the side of the cab 24 closer to the electrical control cabinet 25, increasing the weight of the side of the machine body 21 where the electrical control cabinet 25 is located.

[0074] Specifically, the top of the escalator 27 extends to the side of the operator's cab 24 near the electrical control cabinet 25, and the bottom extends to the mudguard platform on the side of the machine body 21 near the electrical control cabinet 25.

[0075] Specifically, this embodiment also includes a hydraulic system 4, which includes two hydraulic cabinets 26 located on the same side of the machine body 21. The two hydraulic cabinets 26 are respectively configured as a hydraulic oil tank cabinet 42 and a hydraulic motor cabinet 41. The hydraulic system 4 also includes a hydraulic motor, a plunger pump 411, a confluence valve 48, and a multi-way valve 49 located in the hydraulic oil tank cabinet 42, all located within the hydraulic motor cabinet 41. Specifically, a hydraulic oil tank is provided in the hydraulic oil tank cabinet 42, and the multi-way valve 49 is located on top of the hydraulic oil tank. Two plunger pumps 411, namely a first plunger pump 411 and a second plunger pump 411, are provided in the hydraulic motor cabinet 41. The first plunger pump 411 and the second plunger pump 411 are connected to the hydraulic oil tank in the hydraulic oil tank cabinet 42 to draw hydraulic oil from the hydraulic oil tank. The hydraulic oil drawn by the first plunger pump 411 and the second plunger pump 411 is combined in the confluence valve 48, and then delivered to various parts of the forklift through the multi-way valve 49 for the operation of the forklift.

[0076] The hydraulic oil tank cabinet 42 has its lower half configured as a hydraulic oil tank, while the upper half contains space to accommodate the multi-way valve 49. Both the upper half of the hydraulic oil tank cabinet 42 and the hydraulic motor cabinet 41 have upward-opening doors for easy maintenance of the plunger pump 411, multi-way valve 49, and other components. Gas springs are installed at the connection points between the doors and the cabinet body to keep the doors open.

[0077] By setting up the multi-way valve 49, the lifting, tilting and oil supply of the spreader 13 of the forklift are centrally arranged, simplifying the pipeline layout and thus facilitating the inspection and maintenance of the hydraulic system 4.

[0078] Specifically, the confluence valve 48 is provided with a confluence valve P port and a confluence valve T port, the multi-way valve 49 is provided with a multi-way valve P port and a multi-way valve T port, the confluence valve P port and the confluence valve T port are respectively connected to the multi-way valve P port and the multi-way valve T port, the multi-way valve 49 is provided with a multi-way valve A1 port, the multi-way valve A1 port is connected to the lifting valve assembly 44 through a hydraulic line, and the lifting valve assembly 44 is connected to the oil ports of the left and right lifting cylinders through a hydraulic line.

[0079] Specifically, when the forklift needs the gantry 11 spreader 13 to perform lifting and lowering actions, hydraulic oil passes through the multi-way valve 49 and pipelines to the lifting valve group 44, and then the lifting valve group 44 supplies oil to the left and right lifting cylinders, thereby realizing the lifting action of the gantry 11 spreader 13. When the gantry 11 spreader 13 lowers, it relies on the gravity of the gantry 11 spreader 13 itself.

[0080] Specifically, this embodiment also includes a vehicle body oil distribution valve block 43, which is provided with an inclined A port and an inclined B port. The multi-way valve 49 is provided with a multi-way valve A2 port and a multi-way valve B2 port. The multi-way valve A2 port and the multi-way valve B2 port are respectively connected to the inclined A port and the inclined B port through hydraulic lines. The vehicle body oil distribution valve block 43 is also provided with an inclined P port and an inclined T port. The inclined P port and the inclined T port are connected to the balance valve block on the inclined cylinder through hydraulic lines. The balance valve block is connected to the two oil ports of the inclined cylinder.

[0081] When the forklift needs to tilt the gantry 11, the high-pressure oil flows through the multi-way valve 49 and the corresponding pipeline to the vehicle body oil distribution valve block 43. Then, through the vehicle body oil distribution valve block 43, it reaches the balance valve block through the hydraulic pipeline. The high-pressure oil is supplied to the rod chamber of the tilting cylinder through the balance valve block, so as to realize the forward and backward tilting action of the gantry 11.

[0082] Specifically, the merging valve 48 is provided with a merging valve A1 port, and the vehicle body oil distribution valve block 43 is provided with a brake steering P port and a brake steering T port. The merging valve A1 port is connected to the brake steering P port through a hydraulic pipeline, and the brake steering T port is connected to the hydraulic oil tank cabinet 42 through a hydraulic pipeline. The hydraulic oil tank cabinet 42 is provided with a return oil filter 421, and the brake steering T port is connected to the hydraulic oil tank cabinet 42 through the return oil filter 421.

[0083] Specifically, the vehicle body oil distribution valve block 43 is equipped with a steering P port and a steering T port. The steering P port and the steering T port are connected to the steering valve assembly 46 through hydraulic lines. The steering valve assembly 46 is connected to the two oil ports of the steering cylinder through hydraulic lines.

[0084] When the forklift needs to be turned, the high-pressure oil passes through the confluence valve 48 and the corresponding hydraulic line to the body oil distribution valve block 43. Then, from the body oil distribution valve block 43, it passes through the hydraulic line to the steering valve assembly 46. The high-pressure oil is supplied to the double-acting steering cylinder through the steering valve assembly 46. The steering cylinder is reversed by the proportional directional valve 124 installed on the steering valve assembly 46, thus realizing the reversing action of the forklift.

[0085] Specifically, the vehicle body oil distribution valve block 43 is equipped with a brake P port and a brake T port. The brake P port and the brake T port are connected to the brake valve assembly 45 through hydraulic lines. The brake valve assembly 45 is connected to a parking brake oil port and left and right service brake oil ports through hydraulic lines.

[0086] When the forklift needs to brake, high-pressure hydraulic fluid passes through the confluence valve 48, then through the hydraulic line to the vehicle body distribution valve block 43, and then from the vehicle body distribution valve block 43 through the hydraulic line to the brake valve assembly 45. The hydraulic fluid is supplied to the left and right service brakes through the brake valve assembly 45 to achieve service braking. By controlling the two-position three-way solenoid directional valve on the brake circuit of the brake valve assembly 45, the hydraulic fluid passes through the pressure reducing valve to reduce the pressure on the brake accumulator to the set value, thereby achieving parking brake of the forklift.

[0087] Specifically, the multi-way valve 49 is provided with multi-way valve A3 port and multi-way valve B3 port, the vehicle body oil distribution valve block 43 is provided with lifting device A port and lifting device B port, the multi-way valve A3 port and multi-way valve B3 port are respectively connected to the lifting device A port and lifting device B port, the vehicle body oil distribution valve block 43 is also provided with lifting device P port and lifting device T port, the lifting device P port and lifting device T port are connected to the corresponding lifting device 13 through hydraulic pipelines.

[0088] Specifically, this embodiment also includes an air cooler 47. The confluence valve 48 is provided with a confluence valve A2 port, the air cooler 47 is provided with an air cooler P port, the confluence valve A2 port is connected to the air cooler P port, the air cooler 47 is also provided with an air cooler T port, and the air cooler T port is connected to the hydraulic oil tank cabinet 42 through a hydraulic pipeline.

[0089] Specifically, this embodiment also includes a high-pressure filter 412. Two high-pressure filters 412 are provided. Two plunger pumps 411 are respectively connected to the two high-pressure filters 412. The two high-pressure filters 412 are connected to the confluence valve 48.

[0090] In this embodiment, the design of the two-part oil block in the vehicle body allows the oil supply for lifting, tilting, hoisting 13, steering and braking from the multi-way valve 49 and the confluence valve 48 to be concentrated in one place. Each oil circuit then goes from the two-part oil block in the vehicle body to each branch valve group, reducing the arrangement of pipeline joints and oil leakage points, thereby simplifying the layout of the hydraulic system 4 and facilitating maintenance.

[0091] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. An automated stacker, characterized in that: Includes a vehicle body (2), which travels on the ground; Lifting equipment (1), said lifting equipment (1) is used to grab and place containers; And a positioning system (3), which is used to achieve precise positioning between the hoisting equipment (1) and the container and the container stacking site; The hoisting equipment (1) includes a gantry (11), which is connected to the vehicle body (2); A lifting device (13) is mounted on a gantry (11); And a swing mechanism (12), which connects the lifting device (13) to the gantry (11) and drives the lifting device (13) to swing left and right; The swing mechanism (12) includes a main frame (121), which is connected to the gantry (11); A rotating frame (122) is rotatably connected to the main frame (121) and connected to the lifting device (13); and a power assembly for driving the rotating frame (122) to rotate on the main frame (121); The positioning system (3) includes a site landmark (102), which is set on the container palletizing site; Landmark position sensor (38), which is installed at the bottom of the telescopic beam (132) and is used to detect the position information of the site landmark (102); Lock hole position sensor (32), the lock hole position sensor (32) is disposed on the clamping part and adjacent to the twist lock (101), the lock hole position sensor (32) is used to detect the lock hole position of the container; The system is connected to a landmark position sensor (38) and a lock hole position sensor (32), and is used to control the movement of the lifting device (13).

2. The automated stacker according to claim 1, characterized in that: The lifting device (13) includes a main crossbeam (131), which is connected to the rotating frame (122); And telescopic beams (132), two telescopic beams (132) are provided, the two telescopic beams (132) are inserted into the main crossbeam (131) from both ends respectively, and twist locks (101) are provided on the parts of the two telescopic beams (132) that extend out of the main crossbeam (131), and the twist locks (101) can be inserted into the lock hole of the container to complete the locking.

3. An automated stacker according to claim 2, characterized in that: The positioning system (3) includes a container arrival detection mechanism (361), which is located below the torsion lock (101) and on the side of the clamping part close to the container. And a container arrival detection sensor (36), which determines whether the container is in place through a container arrival detection mechanism (361).

4. An automated stacker according to claim 3, characterized in that: The positioning system (3) also includes a lower lock hole position sensor (37), which is used to detect the lock hole position of the next layer of container.

5. An automated stacker according to claim 4, characterized in that: The positioning system (3) includes a force feedback cylinder (371). A force feedback sensor (372) is provided at the end of the piston rod of the force feedback cylinder (371). A displacement sensor is provided inside the cylinder to detect the movement distance of the piston rod. Based on the force signal detected by the force feedback sensor (372), it is determined whether the piston rod of the force feedback cylinder (371) is in contact with the next layer of container, thereby determining the horizontal distance between the spreader (13) and the next layer of container.

6. An automated stacker according to claim 5, characterized in that: The positioning system (3) includes a door opening detection sensor (31). Two door opening detection sensors (31) are provided and the two door opening detection sensors (31) are respectively provided on the two clamping parts. The two door opening detection sensors (31) are used to detect whether the doors at both ends of the container are open. And an adjustment mechanism (311) for adjusting the position of the two-door judgment sensor (31) according to the model of the container.

7. An automated stacker according to claim 6, characterized in that: The main frame (121) is provided with a support slider (1214), and the rotating frame (122) is provided with a bearing surface (1224). The bearing surface (1224) is supported on the support slider (1214), and the bearing surface (1224) and the support slider (1214) can slide relative to each other.

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