Pressure contact mechanism, fork and triggering method

Abstract

This invention provides a pressure contact mechanism, forks, and a triggering method, relating to the field of gantry robot cargo handling equipment technology. The pressure contact mechanism includes a sliding assembly with a sensing plate on it. A magnetic proximity switch sensor is located on one side of the sliding assembly. The magnetic proximity switch sensor is electrically connected to the gantry robot controller, and the gantry robot controller is electrically connected to the gantry robot driver. When the sensing plate slides upward, it triggers the magnetic proximity switch sensor. The gantry robot controller receives the signal from the magnetic proximity switch sensor and determines whether to control the gantry robot driver based on the signal. This effectively reduces or avoids situations where the lower end of the forks presses against the pallet or pallet truck, improving logistics efficiency and cargo safety.

Description

Technical Field

[0001] This invention relates to the field of gantry robot cargo handling equipment technology, and in particular to a pressure contact mechanism, forks, and triggering method. Background Technology

[0002] In palletized logistics transportation, using gantry robots for cargo handling is a method of automated handling. Currently, well-known manufacturers of gantry robots include Cimcorp and Gudel from Finland, Parker Automation, Unimation from the United States, and BAHR from Germany.

[0003] Cimcorp's gantry robots can achieve a maximum acceleration of 8 m / s² and a maximum speed of 2.4 m / s when unloaded, with a lateral travel distance of 10 m. In the tire industry, these gantry robots are widely used for sorting and buffering tire blanks and finished tires, primarily for transporting tire blanks from the forming machine to the painting station, and for loading tires onto the vulcanizing machine.

[0004] Guedel (Switzerland) developed its ZP (2-axis) and FP (3-axis) series of gantry robots in 1991, handling payloads exceeding 2700 kg. Currently, the company offers gantry robots with payload capacities ranging from 41 kg to 5303 kg, available with both rack and pinion drives and belt drives. Belt-driven robots (MLB type) are more suitable for general material handling applications, while rack-driven robots are better suited for precision applications. These robots can adjust the position of their support legs according to the position of the gantry. The ZP2 gantry robot has a payload of ≤400 N, a repeatability of ±0.02 mm, a Y-axis travel speed of 75 m / min, a Z-axis travel speed of 45 m / min, and a Y-axis travel of 1550 cm.

[0005] The gantry robot developed by Qingdao Kejie Intelligent Equipment Co., Ltd. has a rated load of 700 kg, adopts a wheeled transmission system, features a lightweight design for moving parts, quick installation, low maintenance costs, and low operating noise (<75dB). It boasts a maximum working speed of 240 m / min, offering high speed and efficiency. With a maximum span of 13 m and a maximum length of 100 m, it has a wide processing range. A mature upper-level WCS system provides flexible scheduling, and it integrates with barcode systems, conveyor systems, automated storage and retrieval systems, and MES systems to achieve seamless real-time information connectivity. Currently, this gantry robot is being used in batches in industries such as rubber tires and new materials for single-item handling, palletizing, and storage. Combined with barcode or RFID scanning, it can achieve intelligent automatic material sorting.

[0006] However, during the gantry robot's picking operation, due to various reasons such as improper operation, cargo center of gravity shift, pallet loading buffer, and height differences between the front, back, left, and right sides of the pallet, the forks may lower during this process. Because the robot cannot sense the relative position between the lower surface of the forks and the lower surface of the pallet fork picking holes, the lower end of the forks may press on the pallet and pallet, causing damage to the pallet and pallet. Alternatively, if the forks are pulled out while pressing on the pallet and pallet, it may cause irreversible damage to the pallet and the gantry robot itself, affecting logistics efficiency and cargo safety. Summary of the Invention

[0007] In view of this, one of the objectives of the present invention is to provide a pressure contact mechanism to solve the technical problem in the prior art where, when the forks of a gantry robot descend, the inability to sense the relative position between the lower surface of the forks and the lower surface of the pallet fork picking hole may cause the lower end face of the forks to press on the pallet and the pallet cart, resulting in damage to the pallet and the pallet cart.

[0008] The second objective of this invention is to provide a method for preventing the lower end face of the forks from pressing against the pallet.

[0009] To achieve one of the above objectives, the present invention provides a pressure contact mechanism, including a sliding assembly, a sensing plate on the sliding assembly, and a magnetic proximity switch sensor on one side of the sliding assembly. The magnetic proximity switch sensor is electrically connected to a gantry robot controller, and the gantry robot controller is electrically connected to a gantry robot driver. During the upward sliding of the sensing plate, the magnetic proximity switch sensor is triggered. The gantry robot controller receives the signal from the magnetic proximity switch sensor and determines whether to control the gantry robot driver to move based on the signal.

[0010] Preferably, the sliding assembly includes a sliding plate, a slider, and a slide rail. The slide rail is vertically arranged, the slider is slidably disposed on the slide rail, and the sliding plate and the sensing sheet are both disposed on the slider.

[0011] Preferably, the sliding plate is L-shaped, and its vertical portion is fixedly mounted on the slide rail along the length of the slide rail.

[0012] Preferably, a reinforcing rib is provided between the vertical and horizontal portions of the sliding plate.

[0013] Preferably, the sensing sheet is L-shaped, with one part fixed on the sliding plate and the other part placed on the outer surface of the slider.

[0014] Preferably, there is a gap between the sensing sheet and the outer surface of the slider.

[0015] Preferably, it further includes a switch plate, which is disposed on one side of the slide rail and spaced at a preset distance from the slide rail, and the magnetic proximity switch sensor is mounted on the switch plate.

[0016] Preferably, the magnetic proximity switch sensor is partially fixed to the switch plate and extends outward to contact the sensing sheet.

[0017] To achieve the second objective mentioned above, the present invention provides a fork, including any of the pressing mechanisms described above, wherein the pressing mechanisms are arranged in pairs on both sides of the fork and are disposed close to the fork.

[0018] To achieve the third objective mentioned above, the present invention provides a pressing method using any of the pressing mechanisms described above, comprising the following steps: detecting the signal of a magnetic proximity switch sensor; determining whether it is necessary to adjust the position and / or attitude of the forks of the gantry robot based on the signal of the magnetic proximity switch sensor; if adjustment is required, adjusting the position and / or attitude of the forks of the gantry robot via a gantry robot driver.

[0019] The pressure contact mechanism provided by this invention has the following technical effects:

[0020] This type of pressure contact mechanism mainly consists of a sliding assembly with a sensing plate on it. A magnetic proximity switch sensor is located on one side of the sliding assembly. The magnetic proximity switch sensor is electrically connected to the gantry robot controller, and the gantry robot controller is electrically connected to the gantry robot driver. When the sensing plate slides upward, it triggers the magnetic proximity switch sensor. The gantry robot controller receives the signal from the magnetic proximity switch sensor and determines whether to control the gantry robot driver to move based on the signal. This can effectively reduce or avoid situations where the lower end of the forks presses on the pallet and the pallet truck, improving logistics efficiency and cargo safety.

[0021] The forklift provided by this invention has the following technical effects:

[0022] This type of fork includes a pressure contact mechanism. Each fork is equipped with a pressure contact mechanism on both sides, and the pressure contact mechanism is installed close to the fork. This allows the fork to adapt to pallets and flatbed trucks of different sizes. The pressure contact mechanisms on both sides of the fork work simultaneously. As long as one of them sends a pressure contact signal, the gantry robot will stop descending to ensure system stability. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a front view of a preferred embodiment of the pressure contact mechanism of the present invention;

[0025] Figure 2 yes Figure 1 Side view of the medium-pressure contact mechanism;

[0026] Figure 3 yes Figure 1 Top view of the medium-pressure contact mechanism;

[0027] Figure 4 It contains Figure 1 A three-dimensional structural diagram of the forks of the medium-pressure contact mechanism;

[0028] Figure 5 yes Figure 4 Side view of the center forklift;

[0029] Figure 6 yes Figure 4 Top view of the center forklift;

[0030] Figure 7 yes Figure 4 Control flow chart for the forks.

[0031] in, Figures 1-7 :

[0032] 0. Pressing mechanism; 1. Sliding assembly; 11. Slide rail; 12. Slider; 13. Sliding plate; 131. Reinforcing rib; 14. Baffle; 15. Adjusting bolt;

[0033] 2. Induction plate; 3. Magnetic proximity switch sensor; 31. Switch board; 4. Gantry robot controller; 5. Gantry robot driver; 6. Forklift. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be described in detail below. Obviously, the described embodiments are merely some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0035] As described in the background section, in the prior art, during the gantry robot's picking operation, due to various reasons such as improper operation, cargo center of gravity shift, pallet loading buffer, and height differences between the front, back, left, and right sides of the pallet, the forks may lower. Because the relative position between the lower surface of the forks and the lower surface of the pallet fork picking hole cannot be sensed, the lower end of the forks may press on the pallet and pallet, causing damage to the pallet and pallet. Alternatively, when the lower end of the forks is pressing on the pallet and pallet, the forks may be pulled out, causing irreversible damage to the pallet and the gantry robot itself, affecting logistics efficiency and cargo safety.

[0036] Based on this, the present invention provides a pressure contact mechanism. As the sensing sheet of the present invention slides up and down with the sliding component, it triggers a magnetic proximity switch sensor. The gantry robot controller receives the signal from the magnetic proximity switch sensor and determines whether to control the gantry robot driver to move based on the signal. This can effectively reduce or avoid the situation where the lower end face of the fork presses on the pallet and the cart, thereby improving logistics efficiency and cargo safety.

[0037] The following is a specific example. Figure 1-7 The technical solution of the present invention will be described in detail.

[0038] A preferred embodiment of the present invention provides a pressure contact mechanism 0, such as... Figure 1-3 As shown, the pressure contact mechanism 0 is used to be installed on both sides of the fork 6. The pressure contact mechanism 0 specifically includes a sliding component 1, a sensing plate 2 on the sliding component 1, and a magnetic proximity switch sensor 3 on one side of the sliding component 1. The sensing plate 2 can generate a sensing signal to the magnetic proximity switch sensor 3. The magnetic proximity switch sensor 3 is electrically connected to the gantry robot controller 4, and the gantry robot controller 4 is electrically connected to the gantry robot driver 5.

[0039] Signal transmission process as follows Figure 7 As shown, during the upward movement of the sensing plate 2, the magnetic proximity switch sensor 3 is triggered, and the magnetic proximity switch sensor 3 generates a sensing signal. The gantry robot controller 4 receives the sensing signal from the magnetic proximity switch sensor 3 and determines whether to control the gantry robot driver 5 to move based on the sensing signal.

[0040] Specifically, such as Figure 1-3 As shown, the sliding assembly 1 includes a sliding plate 13, a slider 12, and a slide rail 11. The slide rail 11 is vertically fixed, meaning that the position of the slide rail 11 does not move. The slider 12 is slidably mounted on the slide rail 11. The sliding plate 13 and the sensing plate 2 are both mounted on the slider 12. Here, the slider 12 can drive the sliding plate 13 and the sensing plate 2 to slide up and down on the slider 12. That is, during the process of the sensing plate 2 moving on the slider 12 relative to the slide rail 11, it will touch the trigger magnetic proximity switch sensor 3.

[0041] In this embodiment, the slider 12 and the slide rail 11 are used together. The baffle 14 is installed at the bottom of the slide rail 11 and fixed by the adjusting bolt 15. The baffle 14 and the adjusting bolt 15 limit the lower limit position of the slider 12. The specific distance of the bottom of the sliding plate 13 below the bottom of the fork 6 is adjusted by the adjusting bolt 15.

[0042] Detailed, such as Figure 1-3 As shown, the sliding plate 13 of this embodiment is L-shaped, and its vertical part is fixedly disposed on the slide rail 11 along the length direction of the slide rail 11. Here, it is disposed on the slide rail 11 by the slider 12. The vertical part of the L-shaped sliding plate 13 is fixedly installed on the slider 12. A reinforcing rib 131 is provided between the vertical part and the horizontal part of the sliding plate 13. The reinforcing rib 131 can enhance the connection strength between the vertical part and the horizontal part of the L-shaped sliding plate 13.

[0043] The sliding plate 13 is L-shaped to match the shape of the fork 6, that is, the horizontal part of the sliding plate 13 can also extend into the bottom of the pallet, thereby increasing the sensitivity of the pressure contact mechanism 0.

[0044] In addition, such as Figure 3 As shown, the sensing plate 2 is also L-shaped. One part of it is fixed on the sliding plate 13, preferably fixed on the top of the sliding plate 13 and connected to the sliding plate 13 by bolts. The other part is placed on the outer surface of the slider 12 (the slider 12 is a column with four corners). There is a gap between the sensing plate 2 and the outer surface of the slider 12 so that the sensing plate 2 can contact the magnetic proximity switch sensor 3.

[0045] To achieve the fixation of the magnetic proximity switch sensor 3, such as Figure 1-3 As shown, it also includes a switch plate 31, which is located on one side of the slide rail 11 and spaced at a preset distance from the slide rail 11. A magnetic proximity switch sensor 3 is mounted on the switch plate 31. The magnetic proximity switch sensor 3 is partially fixed on the switch plate 31 and partially extends outward to contact the sensing plate 2. That is, the sensing plate 2 can contact the magnetic proximity switch sensor 3 during the upward movement.

[0046] The installation position of the switch plate 31 is determined according to the sensing element 2: when the sensing element 2 is raised by 1-2mm, the sensing element 2 can trigger the magnetic proximity switch sensor 3.

[0047] Another preferred embodiment of the present invention also provides a fork 6, such as Figure 4-6 As shown, the forks 6 in this embodiment include two forks, arranged one on the left and one on the right, and each fork 6 includes... Figure 1-3 The pressure contact mechanism 0 shown includes four parts, which are symmetrically arranged in pairs on both sides of each fork 6, placed at the same height, and set close to the fork 6.

[0048] The following advantages are available with this arrangement of the pressure contact mechanism 0:

[0049] (1) Improve system stability. The four pressure contact mechanisms work together to detect the movement. If any one of them sends a pressure contact signal, the gantry robot will stop descending, thus ensuring system stability.

[0050] (2) Adapting to uneven placement. When the placement point is skewed, i.e. at a certain angle, in practical applications, when the gantry robot is placing goods on the pallet, there are height differences in the front, back, left and right sides of the pallet, and the pallet has a buffer when placing goods. Therefore, when the gantry robot descends to place goods, there will be a situation where one side presses on the pallet and the pallet. In the face of this situation, the one-side pressing mechanism 0 will trigger a signal, which will stop the gantry robot from continuing to descend.

[0051] The specific driving process is as follows:

[0052] In actual implementation, when the pallet is in the loading state and the fork 6 descends to the trigger distance of the lower end face, the sliding plate 13, together with the slider 12, rises along the track of the slide rail 11, that is, the sensor 2 rises together, reaching the trigger position of the magnetic proximity switch sensor 3, and giving a signal feedback to the gantry robot controller 4, prompting the fork 6 to press against the pallet plane. Through the control of the gantry robot driver 5, the gantry robot stops the descent operation. When the fork 6 is raised to the safe area, the sliding plate 13, due to gravity, along with the slider 12, descends along the track of the slide rail 11, away from the trigger area of ​​the magnetic proximity switch sensor 3, and the fork 6 is removed from the pallet plane, and the fork removal operation can be performed.

[0053] Another preferred embodiment of the present invention also provides a pressing method using the above-described pressing mechanism 0, comprising the following steps:

[0054] (1) Detect the signal of the magnetic proximity switch sensor 3;

[0055] (2) Determine whether the position and / or attitude of the forks 6 of the gantry robot need to be adjusted based on the signal from the magnetic proximity switch sensor 3;

[0056] (3) If adjustment is required, the position and / or orientation of the forks 6 of the gantry robot can be adjusted by the gantry robot driver 5.

[0057] In the description of this invention, it should be noted that, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "front end," "rear end," "head," "tail," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention. Furthermore, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0058] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0059] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A pressure-contact mechanism, characterized in that, The system includes a sliding assembly with a sensing plate on it and a magnetic proximity switch sensor on one side of the sliding assembly. The magnetic proximity switch sensor is electrically connected to a gantry robot controller, and the gantry robot controller is electrically connected to a gantry robot driver. When the sensing plate slides upward, it triggers the magnetic proximity switch sensor. The gantry robot controller receives the signal from the magnetic proximity switch sensor and determines whether to control the gantry robot driver to move based on the signal. The sliding assembly includes a sliding plate, a slider, and a slide rail. The slide rail is vertically arranged, and the slider is slidably disposed on the slide rail. Both the sliding plate and the sensing sheet are disposed on the slider. The bottom of the sliding plate is below the bottom of the forks; When the pallet is in the loading state and the forks descend to the lower end trigger distance, the sliding plate, along with the aforementioned slider, rises along the slide rail, which in turn moves the sensing plate upwards until it reaches the trigger position of the magnetic proximity switch sensor. This provides a signal feedback to the gantry robot controller, prompting the forks to press against the pallet plane. The gantry robot driver then controls the gantry robot to stop descending. When the forks are raised to a safe area, the sliding plate, due to gravity, descends along the slide rail, along with the slider, away from the trigger area of ​​the magnetic proximity switch sensor. The forks then detach from the pallet plane, allowing for a fork removal operation.

2. The pressure contact mechanism according to claim 1, characterized in that, The sliding plate is L-shaped, and its vertical portion is fixedly mounted on the slide rail along the length of the slide rail.

3. The pressure contact mechanism according to claim 2, characterized in that, The sliding plate is provided with reinforcing ribs between its vertical and horizontal portions.

4. The pressure contact mechanism according to claim 1, characterized in that, The sensing element is L-shaped, with one part fixed on the sliding plate and the other part placed on the outer surface of the slider.

5. The pressure contact mechanism according to claim 4, characterized in that, There is a gap between the sensing sheet and the outer surface of the slider.

6. The pressure contact mechanism according to any one of claims 1-5, characterized in that, It also includes a switch plate, which is located on one side of the slide rail and spaced at a preset distance from the slide rail, and the magnetic proximity switch sensor is mounted on the switch plate.

7. The pressure contact mechanism according to claim 6, characterized in that, The magnetic proximity switch sensor is partially fixed to the switch plate and extends outward to contact the sensing element.

8. A forklift, characterized in that, Includes the pressure contact mechanism as described in any one of claims 1-7, wherein the pressure contact mechanism is provided in pairs on both sides of the fork and is disposed close to the fork.

9. A pressing method using the pressing mechanism according to any one of claims 1-7, characterized in that, Includes the following steps: Detect the signal from the magnetic proximity switch sensor; determine whether the position and / or attitude of the gantry robot's forks need to be adjusted based on the signal from the magnetic proximity switch sensor; If adjustments are required, the position and / or orientation of the gantry robot's forks are adjusted via the gantry robot actuator.

Images