A multi-bale shaping intelligent loading robot and a control method thereof

Abstract

The present application relates to a kind of multi-bale shaping intelligent loading robot and its control method, comprising: two forks, left and right movably arranged in the fork frame and driven by the fork driving element;A pair of side clamping arms, respectively left and right movably arranged at the left and right ends of the rail car chassis, for shaping the left and right sides of the goods on the fork;Telescopic barrier device is arranged at the position below the rail car chassis corresponding to the closing of the fork, so that the telescopic barrier device is expanded and blocked in the middle of the two forks, so that the relative surface of the goods on the two forks is shaped by cooperating with the side clamping arm, when the telescopic barrier device is retracted, it is stored below the two forks, so that the portal drive device can walk forward.

Description

Technical Field

[0001] The present 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] Currently, the petrochemical industry uses three loading methods for PE and PP stacked materials: 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 industry's shortcoming in terms of automation and efficiency.

[0003] In the prior art, for example, the existing application with publication number CN113955522A, entitled A Side-Type Intelligent Loading Equipment 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 compacted and the left and right sides of the goods form a flush structure. Its ideal state changes as follows Figure 1 However, the applicant found that materials such as PE and PP are prone to dust generation, which results in the surface of the bagged goods forming a relatively smooth structure. In addition, the bagged goods are soft and easily deformed. In addition, the two piles of goods are located at different positions on the corresponding forks, resulting in a height difference between the two piles. 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 form an upward or downward bending deformation under the action of the clamping, thereby generating compression deformation stress, as shown in FIG. Figure 2 As shown, during the transportation of bagged goods in stacks, the goods in stacks 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 this invention is to design an intelligent loading robot for multi-stack shaping and a control method thereof. Summary of the Invention

[0005] In response to 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 provided on the rail vehicle chassis, and the gantry drive device includes a front and rear drive mechanism;

[0011] A gantry, provided on the gantry driving device, wherein 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 provided on the mast, 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 members 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, movably disposed on the left and right ends of the railcar chassis, for shaping the left and right sides of the cargo on the fork;

[0015] A telescopic barrier device is provided on the chassis of the rail vehicle at a position below the forks when the forks are closed, so that when the telescopic barrier device is expanded, it blocks the middle of the two forks, thereby cooperating with the side clamping arms to shape the opposite surfaces of the goods on the two forks. When the telescopic barrier device is retracted, it is stored under the two forks, allowing the gantry drive device to 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, and the telescopic part makes the airbag tend to shrink downward. The airbag is connected to a corresponding inflation device.

[0017] Furthermore, a guide telescopic rod is provided 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 configured 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. The gantry body is fixedly connected to the gantry driving device, and 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, 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.

[0021] Furthermore, the left and right balancing devices include 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 provided 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 raised portions, which extend to the lower side of the transverse portion of the fork.

[0023] A control method for a multi-stack shaping intelligent loading robot is further provided. The method is based on the multi-stack shaping intelligent loading robot and comprises the following steps:

[0024] Control the retractable barrier device to retract, and control the railcar chassis to move to the 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] Controlling the telescopic barrier device to expand in the space between the cargo on the two forks, and controlling the pair of side clamp arms to move closer, thereby shaping the left and right sides and the opposite sides of the cargo on the two forks;

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

[0028] The railcar chassis is controlled to move to a loading position of goods to be loaded, and the two forks are driven to extend to the front of the railcar chassis to place 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 the form of 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 drive mechanisms, and uses a connection method thereof to balance the upper and lower height differences generated by the forks through the left and right balancing devices, so that the forces acting on the upper and lower drive mechanisms are still maintained in the vertical direction, thereby extending the service life of the upper and lower drive mechanisms.

[0032] This application provides a left and right balancing device at the top of the upper and lower drive mechanisms, and uses a connection method to balance the vertical height difference generated by the forks through the left and right balancing devices, so that the force applied to the upper and lower drive mechanisms remains in the vertical direction, thereby extending the life of the upper and lower drive mechanisms. In conjunction with a first distance sensor, which is set below the fork frame, the distance between it and the side of the vehicle body can be obtained, and the intelligent loading robot can calculate the front and rear position of the cargo on the vehicle body. In addition, the back plate of this application protrudes from and is fixed to the front side of the vertical part of the fork, forming a planar structure that can push the cargo and pallet forward together, so that the cargo and pallet are placed in the correct front and rear positions, thereby realizing a stable and intelligent electric-driven side 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 electric drive, which changes the working mode of the prior art of driving various structures by cylinders, thereby reducing the thermal expansion and contraction of the cylinders at different temperatures and thus 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 in part will 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 the ideal state change diagram after the two piles of goods are shaped.

[0038] Figure 2 The following diagram shows the actual state changes of the two piles of goods after shaping.

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

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

[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 easy display.

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

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

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

[0045] Figure 9 Schematic diagram of the backplane structure.

[0046] Figure 10 This is a structural diagram of the door frame.

[0047] Figure 11 This is a schematic diagram of the interior of the telescopic barrier 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 and 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 left and right directions;

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

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

[0053] The 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. The gantry 4 includes an up-and-down driving mechanism 401;

[0054] A fork frame 5 is provided on the mast 4. The up and 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 for driving left and right.

[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 clamping arms 7 are respectively movably provided at the left and right ends of the railcar chassis 2, and are used to shape the left and right sides of the cargo on the 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 clamping arm 7 can all be directly adopted from the existing technology, and reference can be made to the existing application with publication number CN113955522A, entitled A side-type intelligent loading equipment for loading stacked materials.

[0058] The telescopic blocking device 8 is arranged at a position below the railcar chassis 2 corresponding to the position below the forks 6 when they are closed, so that when the telescopic blocking device 8 is expanded, it blocks the middle of the two forks 6, thereby cooperating with the side clamping arm 7 to shape the opposite surfaces of the goods on the two forks 6. When the telescopic blocking device 8 is retracted, it is stored under the two forks 6, allowing the gantry drive device 3 to move forward.

[0059] One of the core improvements of this embodiment is the provision of a telescopic barrier device 8, which can be expanded or contracted. After expansion, it can form a structure similar to a partition 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, so that 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 inserting 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 car chassis 2. The airbag 801 is provided with a telescopic part inside, and the telescopic part makes the airbag 801 tend to shrink downward. The airbag 801 is connected to a corresponding inflation device (not shown).

[0061] In this embodiment, the airbag 801 expands and deploys after being inflated. Once fully deployed, it forms a supporting structure when squeezed by cargo on its left and right sides. This allows the stacked cargo facing the airbag 801 to be squeezed and aligned flush with the side of the stacked cargo facing the airbag 801. Furthermore, to ensure that the telescopic barrier 8 does not obstruct the forward movement of the forks 6, the fork carriage 5, the mast 4, and other structures when the forks 6 are extended, the airbag 801 is pulled downward by a telescopic member after being deflated, causing it to rapidly deflate and contract, storing it in the space beneath the forks 6. The telescopic member may 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 upward and downward movement of the airbag 801 during inflation or deflation. Furthermore, in this embodiment, a base 803 is provided below the airbag 801, the bottom surface of the airbag 801 being fixedly connected to the base 803. The lower portion of the guide telescopic rod 802 is embedded within the base 803, while the upper portion of the guide telescopic rod 802 passes through the upper end surface of the base 803 and extends into the airbag 801. This allows the airbag 801 to be flattened and stored above the base 803 after deflation, preventing the guide telescopic rod 802 from being too long and thus interfering with 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 allows it to 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, thereby preventing 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. 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. 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] Because this embodiment includes multiple forks 6, the center of gravity and mass of the cargo on these forks 6 may vary, and the heights of the forks 6 may also vary. This height difference can act on the top of the vertical drive mechanism 401, causing deformation of the vertical drive mechanism 401. Therefore, in this embodiment, left and right balancing devices are provided at the telescopic ends of the vertical drive mechanism 401. This height difference acts on the left and right balancing devices, causing the top ends of the left and right balancing devices to tilt, while the bottom ends of the left and right balancing devices remain unchanged, thereby balancing the deflection force caused 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, both ends of the connecting plate 407 are connected to the movable frame 403 via a chain 405 .

[0072] In this embodiment, in the process of the upper and lower driving mechanism 401 driving the movable frame 403 upward through the chain 405, the chain 405 is straightened. When the upper and lower 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 upper and lower 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 upper and lower driving mechanism 401.

[0073] In this embodiment, the length of the connecting plate 407 is greater than the width of the floating joint 404, effectively applying the height difference of the forks 6 to the floating joint 404, causing deformation at the upper end of the floating joint 404. The tension sensor senses the weight of the forks 6 and the cargo on them. When the tension sensor 406 reading drops to the reading indicating that the forks 6 are unloaded, it is determined that the cargo has been fully lowered. At this point, the vertical drive mechanism 401 stops descending, preventing further descent and damage to the vertical drive mechanism 401.

[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 provided 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] Further, the portal driving device 3 comprises a set of channel steel 303, which is distributed on the left and right sides of a set of the rack 302, and the left and right sides of the portal mounting frame 301 are provided with rollers 304 matched with the channel steel 303.

[0079] In this embodiment, the rollers 304 are embedded in the channel steel 303 and cannot be separated from the channel steel 303. The channel steel 303 is fixedly arranged on the track vehicle chassis 2, so that the portal driving device 3 will not turn out of the path defined by the channel steel 303 after advancing forward.

[0080] Further, the front side of the vertical part of the fork 6 protrudes and is provided with a back plate 601, the left and right ends of the back plate 601 extend downward to form a protruding part 602, which extends to the lower side of the transverse part of the fork 6. The lower side of the fork frame 5 is provided with a first distance sensor 501, which is used to obtain the distance between the fork frame 5 and the side of the vehicle body of the corresponding loading vehicle.

[0081] The lower side of the fork frame 5 is provided with a first distance sensor 501. When the intelligent loading robot drives the fork 6 to move forward through the fork frame 5, the fork 6 is above the corresponding loading vehicle to fork the goods or load and unload, in order to identify the position of the goods on the vehicle body, the first distance sensor 501 is added in this embodiment, which is arranged below the fork frame 5 to obtain the distance between the fork frame 5 and the side of the vehicle body, so as to calculate the front and rear positions of the goods on the vehicle body for the intelligent loading robot.

[0082] The front side of the vertical part of the fork 6 protrudes and is provided with a back plate 601, wherein the back plate 601 protrudes from the vertical part of the fork 6, and the back plate 601 is fixedly arranged, wherein the back plate 6021 can limit the minimum distance between the goods 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. The front of the vertical part of the fork 6 is shielded by the back plate 601 to form a planar structure. If the loading vehicle body and the track 1 are inclined or other situations, the intelligent loading robot can further drive the fork 6 to drive the back plate 601 to advance forward after placing the goods below the fork 6, so as to control the goods to further move forward and place them at the preset front and rear positions. At the same time, the left and right ends of the back plate 601 of this embodiment extend downward to form a protruding part 602, which extends to the lower side of the transverse part of the fork 6. When the fork 6 forks the pallet below the goods, the protruding part 602 can correspond to the position of the pallet, so that the back plate 601 cooperates with the protruding part 602 to drive the goods and the pallet to move forward when the fork 6 is driven forward, so that the rear end surface of the goods is flush with the pallet, and the goods and the pallet are placed at the correct front and rear positions.

[0083] 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 cargo.

[0084] In this embodiment, the data from the second distance sensor 604 is used to calculate the relative position so as to control the back plate 601 of the vertical portion of the fork 6 to be flush with the edge of the pallet, thereby further accurately calculating the position of the cargo on the vehicle body.

[0085] Furthermore, a back plate mounting bracket 605 is installed on the vertical portion of the fork 6 , and the back plate mounting bracket 605 protrudes from the front end of the vertical portion of the fork 6 . The back plate 601 is installed on the back plate mounting bracket 605 .

[0086] 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 defining the minimum distance between the cargo and the vertical portion of the fork 6 .

[0087] Furthermore, a wear-resistant plate is provided on the front end surface of the back plate 601 .

[0088] The wear-resistant plate can be made of a material such as PE, which has the characteristics of wear resistance and low friction coefficient, so as to protect the goods from being damaged when the fork 6 moves.

[0089] 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 moved left and right on the fork frame 5 through the cooperation of the slider 606 and the slide rail 502. The fork frame 5 is provided with a fork drive cylinder 503.

[0090] In this embodiment, the upper and lower driving mechanism 401 and the fork driving cylinder 503 may be electric cylinders.

[0091] 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 fastened by the bolts, and the slider 606 is provided at the rear end of the fork mounting plate 607.

[0092] Through this structure, the installation height of the fork 6 can be adjusted, so that it is suitable for loading bodies of different heights.

[0093] A control method for a multi-stack shaping intelligent loading robot is further provided. The method is based on the multi-stack shaping intelligent loading robot and comprises the following steps:

[0094] S1, controlling the retractable barrier device 8 to retract, and controlling the railcar chassis 2 to move to the pickup position corresponding to the goods to be loaded;

[0095] In this step, the telescopic barrier device 8 is retracted so as to avoid the fork 6 and the mast 4 during the process of extending or retracting the fork 6 in the subsequent steps.

[0096] S2, driving the two forks 6 to extend to the front of the railcar chassis 2 to fork the corresponding goods, and then driving the two forks 6 to separate and retract to the rear end of the railcar chassis height 2;

[0097] In this embodiment, the two forks 6 can be separated and retracted to the rear end of the railcar chassis level 2. These two actions can be performed simultaneously or sequentially. When the forks 6 are retracted to the rear end of the railcar chassis level 2, the telescopic barrier 8 is located below and between the two forks 6. At the same time, the forks 6 are in the separated state, forming a longitudinal passage between the two stacks of cargo on the forks 6.

[0098] S3, controlling the telescopic barrier device 8 to expand in the space between the cargo on the two forks 6, and controlling the pair of side clamping arms 7 to move closer, thereby shaping the left and right surfaces and the opposite surfaces of the cargo on the two forks 6;

[0099] The schematic diagram of this step can be referred to Figure 6 .

[0100] S4, controlling the telescopic barrier device 8 to retract, driving the two forks 6 to move closer;

[0101] 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.

[0102] In this method, steps S1-S4 can be repeated multiple times to complete the loading of all goods.

[0103] It should be noted that in the claims, any reference signs placed between parentheses 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 can 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 one and the same item of hardware. The use of the words first, second, third etc. does not indicate any order. These words may be interpreted as names.

[0104] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional 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.

[0105] In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they may refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0106] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean 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 expressions 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 can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

Claims

1. An intelligent loading robot for multi-stack shaping, characterized by: 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 provided on the rail vehicle chassis, and the gantry drive device includes a front and rear drive mechanism; A gantry, provided on the gantry driving device, wherein 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 provided on the mast, 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 members 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, movably disposed on the left and right ends of the railcar chassis, for shaping the left and right sides of the cargo on the fork; A telescopic barrier device is provided on the chassis of the rail vehicle at a position below the forks when the forks are closed, so that when the telescopic barrier device is expanded, it blocks the middle of the two forks, thereby cooperating with the side clamping arms to shape the opposite surfaces of the goods on the two forks. When the telescopic barrier device is retracted, it is stored under the two forks, allowing the gantry drive device to 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, which makes the airbag tend 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 provided 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 devices include 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 provided 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 raised portions, which extend 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, comprising the following steps: Control the retractable barrier device to retract, and control the railcar chassis to move to the 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; Controlling the telescopic barrier device to expand in the space between the cargo on the two forks, and controlling the pair of side clamp arms to move closer, thereby shaping the left and right sides and the opposite sides of the cargo on the two forks; Controlling the retractable barrier device to retract, driving the two forks to move closer together; The railcar chassis is controlled to move to a loading position of goods to be loaded, and the two forks are driven to extend to the front of the railcar chassis to place the corresponding goods.

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