Multi-stack shaping intelligent loading robot and control method thereof

Abstract

The invention relates to a multi-stack shaping intelligent loading robot and a control method thereof.The multi-stack shaping intelligent loading robot comprises two pallet forks which are arranged on a pallet fork frame in a left-right moving mode and driven by a pallet fork driving part; the side clamping arms are arranged at the left end and the right end of the rail car chassis in a left-right moving mode and used for shaping the left face and the right face of the goods on the pallet fork. The telescopic blocking device is arranged at the position, corresponding to the lower portion of the rail car chassis when the pallet forks are closed, of the rail car chassis, so that the telescopic device is blocked between the two pallet forks when unfolded, and therefore the telescopic device is matched with the side clamping arms to shape the opposite faces of cargoes on the two pallet forks. And the telescopic device is stored below the two pallet forks when being retracted, so that the portal frame driving device can walk forwards.

Description

Technical Field

[0001] The invention relates to the field of intelligent loading robots, and in particular to an intelligent loading robot for multi-stack shaping and a control method thereof. Background Art

[0002] At present, there are three loading methods for PE and PP stacked materials in the petrochemical industry: top loading, rear loading, and side loading. During these loading processes, manually driven forklifts are used to load the stacked materials with pallets into the vehicles. Compared with the highly automated petrochemical industry, this end-point manually driven forklift loading is the shortcoming of the entire industry in terms of automation and efficiency.

[0003] In the prior art, for example, the existing application with publication number CN113955522A, entitled A side-positioned intelligent loading device for loading stacked materials, uses two forks that can move left and right to form a closure, thereby bringing two stacks of bagged goods together and then clamping the two sides of the two stacks of bagged goods by side clamping arms, so that the goods are close to each other and compact, and the left and right sides of the goods form a flush structure. The ideal state changes as follows Figure 1 However, the applicant found that materials such as PE and PP are prone to generate dust, which makes the surface of the bagged goods form a relatively smooth structure. The bagged goods are soft and easily deformed. In addition, the positions of the two piles of goods on the corresponding forks are different, and there will be a height difference between the two piles of goods. At this time, when the two sides of the two piles of bagged goods are clamped, the two piles of bagged goods will be inserted into the adjacent gaps, and will bend upward or downward under the action of clamping, thereby generating extrusion deformation stress, such as Figure 2 As shown, during the transportation of stacked bagged goods, the stacked goods are easily twisted and deformed under the action of stress.

[0004] In view of the above problems existing in the prior art, the purpose of the present invention is to design an intelligent loading robot for multi-stack shaping and a control method thereof. Summary of the invention

[0005] In view of the problems existing in the above-mentioned prior art, the present invention provides an intelligent loading robot for multi-stack shaping and a control method thereof, which can effectively solve at least one problem existing in the above-mentioned prior art.

[0006] The technical solution of the present invention is:

[0007] An intelligent loading robot for multi-stack shaping, comprising:

[0008] A set of tracks, arranged in left and right directions;

[0009] a railcar chassis connected between the set of rails;

[0010] A gantry drive device is arranged on the rail vehicle chassis, and the gantry drive device includes a front and rear drive mechanism;

[0011] A gantry, arranged on the gantry driving device, the gantry driving device drives the gantry to move in the front-rear direction, and the gantry includes an up-and-down driving mechanism;

[0012] A fork frame is arranged on the gantry, the up and down driving mechanism drives the fork frame to move up and down, and the fork frame is provided with a pair of fork driving parts driving in left and right directions;

[0013] Two forks are movably arranged on the fork frame and driven by the fork driving member;

[0014] A pair of side clamping arms are respectively disposed at the left and right ends of the rail vehicle chassis so as to be movable left and right, and are used to shape the left and right sides of the cargo on the cargo fork;

[0015] A telescopic blocking device is arranged on the chassis of the rail vehicle at a position below the forks when the forks are closed, so that the telescopic device is blocked between the two forks when it is unfolded, thereby cooperating with the side clamping arm to shape the opposite surfaces of the goods on the two forks. When the telescopic device is retracted, it is stored under the two forks, so that the gantry drive device can move forward.

[0016] Furthermore, the telescopic barrier device includes an airbag, which has a rectangular structure when inflated. The bottom end of the airbag is fixed to the rail car chassis. The airbag is provided with a telescopic part inside. The telescopic part makes the airbag have a tendency to shrink downward. The airbag is connected to a corresponding inflation device.

[0017] Furthermore, a guide telescopic rod is arranged in the airbag, and the telescopic direction of the guide telescopic rod is up and down.

[0018] Furthermore, the left and right sides of the airbag are arranged as corrugated foldable structures.

[0019] Furthermore, the airbag is provided with a pressure-maintaining valve.

[0020] Furthermore, the gantry includes a gantry body and a movable frame body, the gantry body is fixedly connected to the gantry driving device, the movable frame body can move up and down along the gantry body, the telescopic end of the up and down driving mechanism is set to be vertically upward, and the telescopic end of the up and down driving mechanism is provided with a left and right balancing device, and the two sides of the left and right balancing device are connected to the top of the movable frame body.

[0021] Furthermore, the left and right balancing device includes a floating joint, the top end of the floating joint is fixedly connected to a connecting plate, both ends of the connecting plate are connected to the movable frame, both ends of the connecting plate are connected to the movable frame through a chain, and a tension sensor is arranged between the chain and the movable frame.

[0022] Furthermore, a back plate is protruding from the front side of the vertical portion of the fork, and left and right ends of the back plate extend downward to form a raised portion, and the raised portion extends to the lower side of the transverse portion of the fork.

[0023] A control method of a multi-stack shaping intelligent loading robot is further provided, based on the multi-stack shaping intelligent loading robot, comprising the following steps:

[0024] Control the telescopic barrier device to retract, and control the rail vehicle chassis to move to a pickup position corresponding to the goods to be loaded;

[0025] Driving the two forks to extend to the front of the railcar chassis to pick up corresponding goods, and then driving the two forks to separate and retract to the rear end of the railcar chassis;

[0026] Control the telescopic barrier device to expand in the space between the goods on the two forks, and control the pair of side clamp arms to move closer, so as to shape the left and right sides and the opposite sides of the goods on the two forks;

[0027] Controlling the telescopic barrier device to retract, and driving the two forks to move closer;

[0028] The railcar chassis is controlled to move to a loading position of the goods to be loaded, and the two cargo forks are driven to extend to the front of the railcar chassis to put down the corresponding goods.

[0029] Therefore, the present invention provides the following effects and / or advantages:

[0030] The present application is provided with a telescopic barrier device with changeable state. When the telescopic barrier device is unfolded, it can be filled and blocked between two piles of goods in a rigid structure, thereby preventing the goods from being inserted into adjacent gaps to form an internally twisted and stressed structure during the process of the side clamping arm shaping the goods. When the telescopic barrier device is retracted, it can be stored under the fork, thereby not hindering the fork from extending and lowering or forking the goods.

[0031] The present application provides left and right balancing devices at the top of the upper and lower driving mechanisms, and connects them so that the up and down height difference generated by the forks is balanced through the left and right balancing devices, so that the force of the upper and lower driving mechanisms is still maintained in the vertical direction, thereby extending the life of the upper and lower driving mechanisms.

[0032] The present application provides a left-right balancing device at the top of the upper and lower driving mechanism, and the connection method thereof, so that the upper and lower height differences generated by the fork are balanced by the left-right balancing device, so that the force of the upper and lower driving mechanism is still maintained in the vertical direction, thereby extending the life of the upper and lower driving mechanism. In conjunction with the first distance sensor, by being provided below the fork frame, the distance between it and the side of the vehicle body can be obtained, and the front and rear positions of the goods on the vehicle body can be calculated by the intelligent loading robot. In addition, the back plate of the present application protrudes from and is fixed to the front side of the vertical part of the fork, forming a planar structure, which can push the goods and the pallet forward together, so that the goods and the pallet are placed in the correct front and rear positions, thereby realizing a stable and intelligent electric-driven lateral loading system.

[0033] The present application is provided with a second distance sensor, which can accurately determine the position of the goods on the fork, so that after the goods are put down and the fork is driven forward, the back plate cooperates with the raised part to drive the goods and its pallet to move forward together, so that the rear end surface of the goods is flush with the pallet.

[0034] The present application realizes the operation of various components by means of electric drive, which changes the working mode of the prior art in which the driving of various structures is realized by means of oil cylinders, thereby reducing the thermal expansion and contraction effect of the oil cylinder at different temperatures, thereby reducing the technical problem of controlling the change in accuracy.

[0035] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description and the drawings.

[0036] It is to be understood that both the foregoing general description and the following detailed description of the present invention are exemplary and explanatory and are intended to provide further explanation of the invention as claimed. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 This is a diagram showing the ideal state changes after the two piles of goods are shaped.

[0038] Figure 2 This is a diagram of the actual state changes of the two piles of goods after shaping.

[0039] Figure 3 It is a structural schematic diagram of the telescopic blocking device of an embodiment of the present invention in an expanded state.

[0040] Figure 4 This is a schematic structural diagram of the telescopic barrier device in the embodiment of the present invention when it is expanded and retracted.

[0041] Figure 5 This is a schematic diagram of the structure after the rail car chassis moves forward. Part of the structure is hidden for ease of display.

[0042] Figure 6 The following is a diagram showing the state changes of two piles of goods after being shaped by this application.

[0043] Figure 7 It is a structural schematic diagram of the gantry drive device.

[0044] Figure 8 This is a schematic diagram of the structure of the gantry drive device, gantry, and fork (for ease of display, one of the back panels is hidden in the figure).

[0045] Fig. 9 A schematic diagram of the structure of the backplane.

[0046] Fig.10 This is a schematic diagram of the structure of the door frame.

[0047] Fig.11 It is the internal schematic diagram of the telescopic partition device. DETAILED DESCRIPTION

[0048] In order to facilitate understanding by those skilled in the art, the structure of the present invention is further described in detail with reference to the embodiments in conjunction with the accompanying drawings:

[0049] refer to Figure 3-11 , an intelligent loading robot for multi-stack shaping, comprising:

[0050] A set of tracks 1, arranged in a left-right direction;

[0051] A railcar chassis 2 connected between the set of rails 1;

[0052] A gantry driving device 3 is arranged on the rail vehicle chassis 2, and the gantry driving device 3 includes a front and rear driving mechanism;

[0053] A gantry 4 is provided on the gantry driving device 3, and the gantry driving device 3 drives the gantry 4 to move in the front-rear direction, and the gantry 4 includes an up-and-down driving mechanism 401;

[0054] A fork frame 5 is arranged on the gantry 4. The up-down driving mechanism 401 drives the fork frame 5 to move up and down. The fork frame 5 is provided with a pair of fork driving members 503 driving in left and right directions.

[0055] Two forks 6 are movably arranged on the fork frame 5 and driven by the fork driving member 503;

[0056] A pair of side clamp arms 7 are respectively disposed at the left and right ends of the rail vehicle chassis 2 so as to be movable left and right, and are used to shape the left and right sides of the cargo on the cargo fork 6;

[0057] In this embodiment, the track 1, the rail car chassis 2, the gantry drive device 3, the gantry 4, the fork frame 5, the fork 6, and the side clamp arm 7 can all be directly adopted from the prior art, and reference can be made to the existing application with publication number CN113955522A and the name of a side-type intelligent loading equipment for loading stacked materials.

[0058] The telescopic blocking device 8 is arranged at a position below the rail vehicle chassis 2 corresponding to the closed position of the forks 6, so that the telescopic device 8 is blocked in the middle of the two forks 6 when it is unfolded, thereby cooperating with the side clamp arm 7 to shape the opposite surfaces of the goods on the two forks 6. When the telescopic device 8 is retracted, it is stored under the two forks 6, so that the gantry drive device 3 can move forward.

[0059] One of the core improvements of the present embodiment is that a telescopic barrier device 8 is provided. The telescopic barrier device 8 can be expanded or contracted. After expansion, a structure similar to a partition can be formed to block the middle of the two forks 6. When the two forks 6 pick up stacks of goods, the expanded telescopic barrier device 8 separates the two stacks of goods. Therefore, when the two stacks of goods are clamped by the side clamping arms 7 and the left side of the left goods and the right side of the right goods are shaped, the telescopic barrier device 8 can prevent the opposite sides of the two stacks of goods from contacting each other, thereby preventing the opposite sides of the two stacks of goods from being inserted into adjacent gaps with each other. At the same time, the side surface of the telescopic barrier device 8 after expansion is a planar structure. Through the clamping action of the side clamping arms 7, the two stacks of goods move closer to the telescopic barrier device 8, and the opposite sides of the two stacks of goods contact and are squeezed with the expanded side surface of the telescopic barrier device 8, thereby shaping the opposite sides of the two stacks of goods to form a flush structure.

[0060] Furthermore, the telescopic barrier device 8 includes an airbag 801, which has a rectangular structure when inflated. The bottom end of the airbag 801 is fixed to the rail vehicle chassis 2. The airbag 801 is provided with a telescopic part inside, and the telescopic part makes the airbag 801 have a tendency to shrink downward. The airbag 801 is connected to a corresponding inflation device (not shown).

[0061] In this embodiment, the airbag 801 can expand and unfold after being inflated. After being fully unfolded, the airbag 801 can form a structure with a supporting function when being squeezed by the goods on its left and right sides, so that the goods in the pile facing the airbag 801 are squeezed and shaped into a flush structure. At the same time, in order to prevent the telescopic barrier device 8 from hindering the forward movement of the fork 6, the fork frame 5, the mast 4 and other structures when the fork 6 is extended forward, the airbag 801 is pulled downward by the telescopic member after being deflated, so that the airbag 801 is quickly deflated and contracted and stored in the space below the fork 6. The telescopic member can be a spring.

[0062] Furthermore, a guide telescopic rod 802 is provided in the airbag 801, and the telescopic direction of the guide telescopic rod 802 is up and down.

[0063] In this embodiment, the extension or retraction of the guide telescopic rod 802 limits the moving direction of the airbag 801 when it is inflated or deflated to up and down. In addition, in this embodiment, a base 803 is provided below the airbag 801, the bottom surface of the airbag 801 is fixed to the base 803, the lower part of the guide telescopic rod 802 is buried in the base 803, and the upper part of the guide telescopic rod 802 passes through the upper end surface of the base 803 and extends into the airbag 801, so that the airbag 801 can be better flattened and stored above the base 803 after contraction, preventing the guide telescopic rod 802 from being too long and affecting the storage of the airbag 801.

[0064] Furthermore, the left and right sides of the airbag 801 are configured as corrugated foldable structures.

[0065] In this embodiment, the airbag 801 has a corrugated foldable structure, which can be better folded when stored, thereby deflated and contracted to form a flat structure.

[0066] Furthermore, the airbag 801 is provided with a pressure-maintaining valve.

[0067] In this embodiment, after the airbag 801 is inflated and expanded, the pressure-maintaining valve can maintain the internal air pressure of the airbag 801 to prevent the airbag 801 from being deflated during the squeezing process and losing its function of forming a rigid structure and isolating between two stacks of goods.

[0068] Furthermore, the gantry 4 includes a gantry body 402 and a movable frame 403. The gantry body 402 is fixedly connected to the gantry driving device 3, and the movable frame 403 can move up and down along the gantry body 402. The telescopic end of the up and down driving mechanism 401 is set to be vertically upward, and the telescopic end of the up and down driving mechanism 401 is provided with a left and right balancing device, and the two sides of the left and right balancing device are connected to the top of the movable frame 403.

[0069] Since the present embodiment includes a plurality of forks 6, the center of gravity and mass of the goods on the plurality of forks 6 may be different, and the height of the forks 6 may be different, and the height difference will act on the top of the up-and-down driving mechanism 401, thereby deforming the up-and-down driving mechanism 401, etc. Therefore, the present embodiment is provided with a left-and-right balancing device at the telescopic end of the up-and-down driving mechanism 401, and the height difference acts on the left-and-right balancing device, causing the top of the left-and-right balancing device to be skewed, while the bottom of the left-and-right balancing device remains unchanged, thereby balancing the deflection force generated by the height difference.

[0070] Furthermore, the left and right balancing device includes a floating joint 404, the top of which is fixedly connected to a connecting plate 407, and both ends of the connecting plate 407 are connected to the movable frame 403. A tension sensor 406 is provided between the chain 405 and the movable frame 403.

[0071] Furthermore, two ends of the connecting plate 407 are connected to the movable frame 403 through a chain 405 .

[0072] In this embodiment, in the process of the up-down driving mechanism 401 driving the movable frame 403 upward through the chain 405, the chain 405 is straightened, and when the up-down driving mechanism 401 lowers the movable frame 403 and one of the forks 6 touches the bottom but the other fork 6 has not yet touched the bottom, the up-down driving mechanism 401 continues to contract, and the chain 405 on the side of the fork 6 that touches the bottom first can bend, thereby buffering the reaction force of the fork 6 that touches the bottom first on the up-down driving mechanism 401.

[0073] In this embodiment, the length of the connecting plate 407 is greater than the width of the floating joint 404, so that the height difference of the fork 6 can be better applied to the floating joint 404, causing deformation of the upper end of the floating joint 404. The tension sensor can sense the weight of the fork 6 and the cargo on the fork. When the data of the tension sensor 406 drops to the data of the fork 6 being empty, it can be determined that the cargo has been completely lowered. At this time, the upper and lower driving mechanisms 401 are stopped from descending to prevent the upper and lower driving mechanisms 401 from continuing to descend and being damaged.

[0074] Furthermore, a vertical driving mechanism movable groove is provided at the top of the movable frame 403, and the vertical driving mechanism 401 passes through the vertical driving mechanism movable groove when the movable frame 403 descends.

[0075] Furthermore, the rail vehicle chassis 2 includes a chassis frame, and a plurality of driving wheels and a plurality of driven wheels are arranged at the bottom end of the chassis frame. The driving wheels and the driven wheels are respectively connected to corresponding rails, and the driving wheels are driven by a first rotating motor.

[0076] Furthermore, the gantry driving device 3 includes a gantry mounting frame 301, the front and rear driving mechanism includes a group of racks 302 arranged along the front and rear directions, and the bottom end of the gantry mounting frame 301 is provided with a gear that matches the rack, and the gear is driven by a second rotating motor.

[0077] In this embodiment, the electric drive structure is realized through the cooperation of the gear and the rack 302 and the driving action of the second rotating motor.

[0078] Furthermore, the gantry driving device 3 includes a gantry mounting frame 301, the front and rear driving mechanism includes a group of racks 302 arranged along the front and rear directions, and the bottom end of the gantry mounting frame 301 is provided with a gear that matches the rack, and the gear is driven by a second rotating motor.

[0079] In this embodiment, the electric drive structure is realized through the cooperation of the gear and the rack 302 and the driving action of the second rotating motor.

[0080] Furthermore, the gantry driving device 3 includes a group of channel steels 303 , and the channel steels 303 are distributed on the left and right sides of a group of racks 302 . The left and right sides of the gantry mounting frame 301 are provided with rollers 304 that match the channel steels 303 .

[0081] In this embodiment, the roller 304 is embedded in the channel steel 303 and cannot be separated from the channel steel 303. The channel steel 303 is fixedly arranged on the rail vehicle chassis 2, so that the gantry driving device 3 will not fall out of the path defined by the channel steel 303 after moving forward.

[0082] Furthermore, a back plate 601 is protruding from the front side of the vertical portion of the fork 6, and the left and right ends of the back plate 601 extend downward to form a raised portion 602, and the raised portion 602 extends to the lower side of the transverse portion of the fork 6. A first distance sensor 501 is provided below the fork frame 5, and the first distance sensor 501 is used to obtain the distance between the fork frame 5 and the side of the body of the corresponding loading vehicle.

[0083] A first distance sensor 501 is provided below the fork frame 5. When the intelligent loading robot drives the fork 6 to move forward through the fork frame 5, the fork 6 is located above the body of the corresponding loading vehicle to fork or load and unload the goods. In order to identify the position of the goods on the body, the present embodiment adds a first distance sensor 501. By being provided below the fork frame 5, the distance between the fork frame 5 and the side of the body can be obtained, so that the intelligent loading robot can calculate the front and rear positions of the goods on the body.

[0084] A back plate 601 is protruded from the front side of the vertical part of the fork 6, wherein the back plate 601 protrudes from the vertical part of the fork 6 and is fixedly arranged, wherein the back plate 6021 can limit the minimum distance between the cargo and the vertical part of the fork 6, so that the distance between the fork 6 and the side of the vehicle body can be judged by the first distance sensor 501, and the back plate 601 blocks the front of the vertical part of the fork 6 to form a planar structure. With the cooperation of this structure, if the loading vehicle body and the track 1 are skewed, etc., the intelligent loading robot can further drive the fork 6 to drive the back plate 601 forward after the fork 6 puts down the cargo, thereby controlling the cargo to move further forward and place it to the preset front and rear positions. At the same time, the left and right ends of the back plate 601 of the present embodiment extend downward to form a protrusion 602, and the protrusion 602 extends to the lower side of the transverse portion of the fork 6. When the fork 6 forks the pallet under the goods, the protrusion 602 can correspond to the position of the pallet, so that when the fork 6 drives forward, the back plate 601 cooperates with the protrusion 602 to drive the goods and its pallet to move forward together, so that the rear end surface of the goods is flush with the pallet, so that the goods and the pallet are placed in the correct front and rear positions.

[0085] Furthermore, the middle position of the lower end of the back plate 601 is recessed to form an avoidance groove 603, and a second distance sensor 604 is provided at the bottom end of the fork 6 corresponding to the position of the avoidance groove 603, and the second distance sensor 604 is used to obtain the distance between the vertical part of the fork 6 and the goods.

[0086] In this embodiment, the back plate 601 of the vertical portion of the fork 6 can be controlled to be flush with the edge of the pallet through the data of the second distance sensor 604 and the calculation of the relative position, so as to further accurately calculate the position of the goods on the vehicle body.

[0087] Furthermore, a back plate mounting frame 605 is installed on the vertical portion of the fork 6 , the back plate mounting frame 605 protrudes from the front end of the vertical portion of the fork 6 , and the back plate 601 is installed on the back plate mounting frame 605 .

[0088] In this embodiment, the raised structure of the back plate mounting frame 605 is utilized so that the back plate 601 is raised at the front end of the vertical portion of the fork 6 , thereby limiting the minimum distance between the cargo and the vertical portion of the fork 6 .

[0089] Furthermore, a wear-resistant plate is provided on the front end surface of the back plate 601 .

[0090] The wear-resistant plate can be made of materials such as PE, and has the characteristics of wear resistance and low friction coefficient, so as to protect the goods from being damaged when the fork 6 moves.

[0091] Furthermore, the fork frame 5 is provided with a slide rail 502, and a plurality of sliders 606 are fixedly provided on the rear side of the fork 6. The fork 6 can be movably arranged on the fork frame 5 left and right through the cooperation of the sliders 606 and the slide rail 502. The fork frame 5 is provided with a fork driving cylinder 503.

[0092] The up-and-down driving mechanism 401 and the fork driving cylinder 503 of this embodiment may be electric cylinders.

[0093] Furthermore, a fork mounting plate 607 is provided at the rear end of the fork 6, and a plurality of bolt holes are provided on the fork mounting plate 607 and the fork 6. The fork mounting plate 607 and the fork 6 are locked by the bolts, and the slider 606 is provided at the rear end of the fork mounting plate 607.

[0094] Through this structure, the installation height of the fork 6 can be adjusted, so it is suitable for loading bodies of different heights.

[0095] A control method of a multi-stack shaping intelligent loading robot is further provided, based on the multi-stack shaping intelligent loading robot, comprising the following steps:

[0096] S1, controlling the telescopic barrier device 8 to retract, and controlling the rail vehicle chassis 2 to move to a pickup position corresponding to the goods to be loaded;

[0097] In this step, the telescopic barrier device 8 is retracted so as to avoid the fork 6 and the mast 4 when the fork 6 is extended or retracted in the subsequent steps.

[0098] S2, driving the two forks 6 to extend to the front of the railcar chassis 2 to fork corresponding goods, and then driving the two forks 6 to separate and retract to the rear end of the railcar chassis 2;

[0099] In this embodiment, the two actions of separating the two forks 6 and retracting them to the rear end of the rail vehicle chassis height 2 can be performed simultaneously or sequentially. When the forks 6 are retracted to the rear end of the rail vehicle chassis height 2, the telescopic barrier device 8 is located below the middle of the two forks 6, and the forks 6 are in a separated state, and a longitudinal channel is formed between the two piles of goods on the forks 6.

[0100] S3, controlling the telescopic barrier device 8 to expand in the space between the goods on the two forks 6, and controlling the pair of side clamp arms 7 to move closer, so as to shape the left and right sides and the opposite sides of the goods on the two forks 6;

[0101] The schematic diagram of this step can be referred to Figure 6 .

[0102] S4, controlling the telescopic barrier device 8 to retract, driving the two forks 6 to move closer;

[0103] S5, controlling the railcar chassis 2 to move to the loading position of the goods to be loaded, driving the two forks 6 to extend to the front of the railcar chassis 2 to put down the corresponding goods.

[0104] In this method, steps S1-S4 can be repeated multiple times to complete the loading of all goods.

[0105] It should be noted that in the claims, any reference signs placed between brackets shall not be construed as limiting the claims. The word "comprising" does not exclude the presence of components or steps not listed in the claim. The word "a" or "an" preceding a component does not exclude the presence of a plurality of such components. The invention may be implemented by means of hardware comprising several different components and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third etc. does not indicate any order. These words may be interpreted as names.

[0106] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0107] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0108] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms should not be understood as necessarily referring to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

Claims

1. An intelligent loading robot for multi-stack shaping, characterized in that: include: A set of tracks, arranged in left and right directions; a railcar chassis connected between the set of rails; A gantry drive device is arranged on the rail vehicle chassis, and the gantry drive device includes a front and rear drive mechanism; A gantry, arranged on the gantry driving device, the gantry driving device drives the gantry to move in the front-rear direction, and the gantry includes an up-and-down driving mechanism; A fork frame is arranged on the gantry, the up and down driving mechanism drives the fork frame to move up and down, and the fork frame is provided with a pair of fork driving parts driving in left and right directions; Two forks are movably arranged on the fork frame and driven by the fork driving member; A pair of side clamping arms are respectively disposed at the left and right ends of the rail vehicle chassis so as to be movable left and right, and are used to shape the left and right sides of the cargo on the cargo fork; A telescopic blocking device is arranged on the chassis of the rail vehicle at a position below the forks when the forks are closed, so that the telescopic device is blocked between the two forks when it is unfolded, thereby cooperating with the side clamping arm to shape the opposite surfaces of the goods on the two forks. When the telescopic device is retracted, it is stored under the two forks, so that the gantry drive device can move forward.

2. The intelligent loading robot for multi-stack shaping according to claim 1, characterized in that: The telescopic barrier device includes an airbag, which has a rectangular structure when inflated. The bottom end of the airbag is fixed to the rail car chassis. The airbag is provided with a telescopic part inside. The telescopic part makes the airbag have a tendency to shrink downward. The airbag is connected to a corresponding inflation device.

3. The intelligent loading robot for multi-stack shaping according to claim 2, characterized in that: A guide telescopic rod is arranged in the airbag, and the telescopic direction of the guide telescopic rod is up and down.

4. The intelligent loading robot for multi-stack shaping according to claim 2, characterized in that: The left and right sides of the airbag are arranged as corrugated foldable structures.

5. The intelligent loading robot for multi-stack shaping according to claim 2, characterized in that: The airbag is provided with a pressure-maintaining valve.

6. The intelligent loading robot for multi-stack shaping according to claim 1, characterized in that: The gantry includes a gantry body and a movable frame. The gantry body is fixedly connected to the gantry driving device. The movable frame can move up and down along the gantry body. The telescopic end of the up and down driving mechanism is set to be vertically upward. The telescopic end of the up and down driving mechanism is provided with a left and right balancing device. The two sides of the left and right balancing device are connected to the top of the movable frame.

7. The intelligent loading robot for multi-stack shaping according to claim 6, characterized in that: The left and right balancing device includes a floating joint, the top of the floating joint is fixedly connected to a connecting plate, both ends of the connecting plate are connected to the movable frame, both ends of the connecting plate are connected to the movable frame through a chain, and a tension sensor is arranged between the chain and the movable frame.

8. The intelligent loading robot for multi-stack shaping according to claim 1, characterized in that: A back plate is protruding from the front side of the vertical portion of the fork, and left and right ends of the back plate extend downward to form a raised portion, and the raised portion extends to the lower side of the transverse portion of the fork.

9. A control method for an intelligent loading robot for multi-stack shaping, characterized in that: An intelligent loading robot for multi-stack shaping according to any one of claims 1 to 8 comprises the following steps: Control the telescopic barrier device to retract, and control the rail vehicle chassis to move to a pickup position corresponding to the goods to be loaded; Driving the two forks to extend to the front of the railcar chassis to pick up corresponding goods, and then driving the two forks to separate and retract to the rear end of the railcar chassis; Control the telescopic barrier device to expand in the space between the goods on the two forks, and control the pair of side clamp arms to move closer, so as to shape the left and right sides and the opposite sides of the goods on the two forks; Controlling the telescopic barrier device to retract and driving the two forks to move closer together; The railcar chassis is controlled to move to a loading position of the goods to be loaded, and the two cargo forks are driven to extend to the front of the railcar chassis to put down the corresponding goods.

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