Automatic box falling positioning detection device for straddle carrier

Abstract

The invention relates to the technical field of motor vehicles, and discloses a straddle carrier automatic box falling positioning detection device which comprises a straddle carrier body, a vertical groove formed in one side of the straddle carrier body, a sliding plate slidably connected to the vertical groove in the vertical direction, a driving mechanism installed in the vertical groove and used for driving the sliding plate to move, and a vertical plate fixedly connected to one side of the sliding plate. The two ends of the side, close to the container truck, of the vertical plate are each provided with a set of laser distance measuring sensors, the number of each set of laser distance measuring sensors is six, and the serial numbers of the six laser distance measuring sensors are S1, S2, S3, S4, S5 and S6 in sequence. A controller is installed on the side, close to the vertical groove, of the straddle carrier body and electrically connected with the two sets of laser distance measuring sensors. According to the invention, the lock positioning of the container truck can be conveniently detected.

Description

Technical Field

[0001] The present application relates to the technical field of motor vehicles, and in particular to an automatic box drop positioning detection device for a straddle carrier. Background Art

[0002] At present, when the straddle carrier hoists the container into the container truck 1, the position of the container needs to be adjusted, such as Figure 1 As shown, the pin hole 21 of the container 2 is aligned with the lock head 11 of the container truck 1, and then the container 2 is dropped into the container truck 1. When the straddle carrier is automatically loaded, the lock head 11 of the container truck 1 needs to be accurately positioned, and whether the loading is successful is detected.

[0003] Currently, the positioning detection of the lock 11 of the container truck 1 is usually performed using visual technology. However, since the visual system is easily affected by external light, it is inconvenient to detect the positioning of the lock 11 of the container truck 1 using a visual system. Summary of the invention

[0004] In order to facilitate the detection of the lock positioning of a container truck, the present application provides a straddle carrier automatic container positioning detection device, which adopts the following technical solutions: A straddle carrier automatic box drop positioning detection device comprises a straddle carrier body, a vertical slot provided on one side of the straddle carrier body, a slide plate vertically slidably connected to the vertical slot, a driving mechanism installed in the vertical slot for driving the slide plate to move, and a vertical plate fixed to one side of the slide plate; a group of laser ranging sensors are respectively installed at both ends of the vertical plate close to a container truck, each group of the laser ranging sensors has six laser ranging sensors, and the six laser ranging sensors are numbered S1, S2, S3, S4, S5 and S6 in sequence; a controller is installed on the side of the straddle carrier body close to the vertical slot, and the controller is electrically connected to the two groups of laser ranging sensors.

[0005] By adopting the above technical solution, a set of laser ranging sensor arrays are installed at the front and rear of the straddle carrier body. The laser ranging sensor arrays move up and down through a driving mechanism. In this application, each laser ranging sensor array is composed of 6 laser ranging sensors. The 6 laser ranging sensors are numbered S1 - S6 from left to right in sequence. The ranging values of each laser ranging sensor are d1 - d6. When the ranging value is within the set range, it is considered that the lock head is detected. In this application, the installation spacing between two adjacent laser ranging sensors in the same array is L = 90 mm, and the width of the lock head in this application is 100 mm. Therefore, at least one laser ranging sensor in the array can irradiate the lock head, and the detection range of the laser ranging sensor array is D = 5×L = 450 mm. When the two laser ranging sensors numbered S3 and S4 in the array simultaneously irradiate the lock head, it can be determined that the straddle carrier body has been aligned with the lock head of the container truck. During formal detection, the height information of the container truck is first transmitted to the controller. The controller adjusts the height of the sliding plate through the driving mechanism according to the height information of the container truck, and then adjusts the height of the laser ranging sensor array to make the laser ranging sensor array and the lock head in the same horizontal position. Then, the position of the lock head is detected. When the laser ranging sensors numbered S1 - S3 detect the lock head, the straddle carrier body is slightly adjusted forward at this time until the two laser ranging sensors numbered S3 and S4 simultaneously detect the lock head. When S4 - S6 detect the lock head, the straddle carrier body is slightly adjusted backward at this time until the two laser ranging sensors numbered S3 and S4 simultaneously detect the lock head. At this time, the ranging values of the two laser ranging sensors numbered S3 and S4 are d. In this application, the actual distance between the laser ranging sensor and the lock head is d0. When d > d0, the straddle carrier body is moved to the right by a distance of d - d0. If d < d0, the straddle carrier body is moved to the left by a distance of d0 - d. The front and rear sides of the straddle carrier body are laterally adjusted simultaneously according to the above principle. After the lateral adjustment of the straddle carrier body is completed, the container is lowered onto the container truck through the straddle carrier body. In this application, the actual distance between the laser ranging sensor and the side wall of the adjacent container is t. When the container is in place and the ranging values of the two laser ranging sensors numbered S3 and S4 are t, it indicates that the container has completely fallen onto the lock head. When the front and rear two arrays simultaneously detect that the container has fallen onto the lock head, it can be determined that the 4 pin holes of the container have all fallen onto the lock head, and at this time the container is successfully lowered. To sum up, by adopting the above solution, it is convenient to detect the positioning of the lock head of the container truck.

[0006] Optionally, the driving mechanism includes a driving motor installed on the top wall of the vertical groove, a lead screw installed on the output shaft of the driving motor, and a vertical rod fixedly connected to the inner wall of the vertical groove; the sliding plate is threadedly connected to the lead screw, and the sliding plate is slidably connected to the vertical rod.

[0007] By adopting the above technical solution, when the height of the laser ranging sensor array needs to be adjusted, the drive motor is started first. At this time, the output shaft of the drive motor drives the lead screw to rotate, the lead screw rotation drives the slide plate to move, the slide plate movement drives the vertical plate to move, and the vertical plate movement drives the laser ranging sensor array to move, so that the height of the laser ranging sensor array can be adjusted; in summary, the set drive mechanism is convenient for adjusting the height of the laser ranging sensor array.

[0008] Optionally, a mounting groove is provided at the bottom of the vertical groove, the bottom of the lead screw passes through the top wall of the mounting groove, and a braking mechanism for emergency braking of the lead screw is installed in the mounting groove.

[0009] By adopting the above technical solution, the provided braking mechanism facilitates emergency braking of the lead screw, thereby preventing the laser ranging sensor array from being damaged.

[0010] Optionally, the braking mechanism includes a first through hole opened on one side of the mounting groove, a movable plate slidably connected to the first through hole, a horizontal rod fixed to one end of the movable plate, a second through hole opened on the other side of the mounting groove for sliding the horizontal rod, a first resetting component installed on the inner wall of the mounting groove for resetting the horizontal rod, a horizontal tube rotatably connected to the inner wall of the mounting groove, a gear sleeved and fixed to the outer wall of the horizontal tube, a rack slidably connected to the inner wall of the mounting groove, a second resetting component installed on the inner wall of the mounting groove for resetting the rack, a braking plate rotatably connected to the inner wall of the mounting groove, and a The third reset component; a driving plate is fixedly connected to the side of the vertical plate close to the mounting groove, and a first inclined surface is provided on the side of the movable plate close to the driving plate, and the first inclined surface matches the side wall of the driving plate; a plurality of spiral blocks are fixedly connected to the side wall of the horizontal rod in sequence along its circumference, and a plurality of spiral grooves are opened in sequence on the inner wall of the horizontal tube along its circumference, and a plurality of spiral blocks match a plurality of spiral grooves in a one-to-one correspondence; the gear is meshed with the rack; one end of the rack abuts against the bottom of the brake plate, a fixing ring is fixedly mounted on the side wall of the lead screw, and an end of the brake plate away from the rack abuts against the top of the fixing ring.

[0011] By adopting the above technical scheme, when the vertical plate moves to the lower limit position, the driving plate drives the movable plate to move into the installation groove under the action of the first inclined surface, and the movement of the movable plate drives the horizontal rod to move, and then the horizontal rod drives the horizontal tube to rotate under the action of the spiral block and the spiral groove, and the rotation of the horizontal tube drives the gear to rotate, and the rotation of the gear drives the rack to move upward, and the upward movement of the rack drives the brake plate to rotate, and the rotation of the brake plate can brake the fixed ring, thereby enabling emergency braking of the lead screw; in summary, the set rotating mechanism is convenient for emergency braking of the lead screw.

[0012] Optionally, the first reset assembly includes a first reset block slidably connected to the inner wall of the mounting groove and a first reset spring fixed to an end of the first reset block away from the movable plate; the first reset block is fixed to the side wall of the horizontal rod, and an end of the first reset spring away from the first reset block is fixed to the inner wall of an end of the mounting groove away from the first through hole.

[0013] By adopting the above technical solution, the movement of the horizontal rod drives the movement of the first reset block, and the movement of the first reset block presses the first reset spring; when the driving plate and the moving plate are reset, the first reset block drives the horizontal rod to reset under the action of the first reset spring, and the horizontal rod reset drives the moving plate to reset; in summary, the first reset component is set to facilitate the reset of the horizontal rod.

[0014] Optionally, the second reset assembly includes a mounting frame installed on the inner wall of the mounting groove, a first guide rod fixed to the mounting frame, a second reset block slidably connected to the first guide rod, and a second reset spring fixed to one side of the second reset block; the second reset block is fixed to one side of the rack, and the second reset spring is fixed to one end of the mounting frame at one end away from the second reset block.

[0015] By adopting the above technical solution, the rack moves upward, driving the second reset block to move upward, and the second reset block moves upward to press the second reset spring; when the horizontal rod is reset, the second reset block drives the rack to reset under the action of the second reset spring; in summary, the second reset assembly is set to facilitate the reset of the rack.

[0016] Optionally, the third return assembly includes a plurality of third return springs fixed to a side of the brake plate away from the rack, and one end of each of the third return springs away from the brake plate is fixed to an inner wall of the mounting groove.

[0017] By adopting the above technical solution, a plurality of third return springs are provided, which facilitates the return of the brake plate.

[0018] Optionally, a third through hole is provided on the side of the mounting slot away from the second through hole, a limiting plate is slidably connected in the third through hole, a push plate is fixedly connected to one end of the rack away from the brake plate, a second inclined surface is provided on the side of the limiting plate close to the push plate, and the second inclined surface matches the side wall of the push plate; a fourth reset component for resetting the limit plate is installed in the mounting slot; a limiting slot is provided on the side of the vertical plate close to the third through hole, a horizontal slot is provided on the end of the limiting plate away from the push plate, a horizontal block is slidably connected in the horizontal slot, an end of the horizontal block away from the vertical plate is fixedly connected to a horizontal spring, an end of the horizontal spring away from the horizontal block is fixedly connected to an inner wall of one end of the horizontal slot, a third inclined surface is provided on the side of the horizontal block close to the vertical plate, the third inclined surface matches the side wall of the vertical plate, and an end of the horizontal block away from the horizontal spring is inserted into the limiting slot.

[0019] By adopting the above technical scheme, when the vertical plate moves to the lower limit position, the driving plate drives the movable plate to move into the installation groove under the action of the first inclined plane, and the movement of the movable plate drives the horizontal rod to move, and then the horizontal rod drives the horizontal tube to rotate under the action of the spiral block and the spiral groove, and the rotation of the horizontal tube drives the gear to rotate, and the rotation of the gear drives the rack to move upward, and the rack moves upward to drive the push plate to move upward, and then the push plate drives the limit plate to move out of the third through hole under the action of the second inclined plane, and then the vertical plate drives the horizontal block to move into the horizontal groove under the action of the third inclined plane, and the horizontal block moves to press the horizontal spring; when the horizontal block is aligned with the limit groove, the horizontal block is plugged into the limit groove under the action of the horizontal spring, so that the vertical plate can be emergency braked; in summary, by adopting the above scheme, it is convenient to perform emergency braking on the vertical plate.

[0020] Optionally, the fourth reset assembly includes a fixed frame installed on the inner wall of the mounting groove, a second guide rod fixed to the fixed frame, a third reset block slidably connected to the second guide rod, and a fourth reset spring fixed to one side of the third reset block; the third reset block is fixed to one side of the limit plate, and the fourth reset spring is fixed to one end of the mounting frame at one end away from the third reset block.

[0021] By adopting the above technical solution, the third reset block and the fourth reset spring are provided, which facilitates the resetting of the limit plate.

[0022] In summary, the present application includes at least one of the following beneficial technical effects: 1. A set of laser ranging sensor arrays is installed at the front and rear of the straddle carrier body. The laser ranging sensor arrays can move up and down through a driving mechanism. In this application, each laser ranging sensor array consists of 6 laser ranging sensors, which are numbered S1 - S6 from left to right in sequence. The ranging values of each laser ranging sensor are d1 - d6. When the ranging value is within the set range, it is considered that the lock head is detected. In this application, the installation spacing between two adjacent laser ranging sensors in the same array is L = 90 mm, and the width of the lock head in this application is 100 mm. Therefore, at least one laser ranging sensor in the array can irradiate the lock head, and the detection range of the laser ranging sensor array is D = 5×L = 450 mm. When the two laser ranging sensors numbered S3 and S4 in the array simultaneously irradiate the lock head, it can be determined that the straddle carrier body has been aligned with the lock head of the container truck. During formal detection, first, the height information of the container truck is transmitted to the controller. The controller adjusts the height of the sliding plate according to the height information of the container truck, and then adjusts the height of the laser ranging sensor array to make the laser ranging sensor array and the lock head at the same horizontal position. Then, the position of the lock head is detected. When the laser ranging sensors numbered S1 - S3 detect the lock head, the straddle carrier body is slightly adjusted forward until the two laser ranging sensors numbered S3 and S4 simultaneously detect the lock head. When S4 - S6 detect the lock head, the straddle carrier body is slightly adjusted backward until the two laser ranging sensors numbered S3 and S4 simultaneously detect the lock head. At this time, the ranging values of the two laser ranging sensors numbered S3 and S4 are d. In this application, the actual distance between the laser ranging sensor and the lock head is d0. When d > d0, the straddle carrier body is moved to the right by a distance of d - d0. If d < d0, the straddle carrier body is moved to the left by a distance of d0 - d. The front and rear sides of the straddle carrier body are simultaneously adjusted for lateral movement according to the above principle. When the lateral movement adjustment of the straddle carrier body is completed, the container is lowered onto the container truck through the straddle carrier body. In this application, the actual distance between the laser ranging sensor and the side wall of the adjacent container is t. When the container is in place and the ranging values of the two laser ranging sensors numbered S3 and S4 are t, it indicates that the container has completely fallen onto the lock head. When the front and rear arrays simultaneously detect that the container has fallen onto the lock head, it can be determined that the 4 pin holes of the container have fallen onto the lock head, and at this time, the container dropping is successful. To sum up, by adopting the above scheme, it is convenient to detect the positioning of the lock head of the container truck; 2. When the vertical plate moves to the lower limit position, the driving plate drives the moving plate to move into the installation groove under the action of the first inclined surface, and the movement of the moving plate drives the horizontal rod to move, and then the horizontal rod drives the horizontal tube to rotate under the action of the spiral block and the spiral groove, and the rotation of the horizontal tube drives the gear to rotate, and the rotation of the gear drives the rack to move upward, and the upward movement of the rack drives the brake plate to rotate, and the rotation of the brake plate can brake the fixed ring, so that the lead screw can be emergency braked; in summary, the set rotation mechanism is convenient for emergency braking of the lead screw; 3. When the vertical plate moves to the lower limit position, the driving plate drives the movable plate to move into the installation groove under the action of the first inclined surface, and the movement of the movable plate drives the horizontal rod to move, and then the horizontal rod drives the horizontal tube to rotate under the action of the spiral block and the spiral groove, and the rotation of the horizontal tube drives the gear to rotate, and the rotation of the gear drives the rack to move upward, and the rack moves upward to drive the push plate to move upward, and then the push plate drives the limit plate to move out of the third through hole under the action of the second inclined surface, and then the vertical plate drives the horizontal block to move into the horizontal groove under the action of the third inclined surface, and the horizontal block moves to press the horizontal spring; when the horizontal block is aligned with the limit groove, the horizontal block is plugged into the limit groove under the action of the horizontal spring, so that the vertical plate can be emergency braked; in summary, by adopting the above scheme, it is convenient to perform emergency braking on the vertical plate. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a background technology figure.

[0024] Figure 2 It is a schematic diagram of the overall structure of an embodiment of the present application.

[0025] Figure 3 It is a structural schematic diagram highlighting the laser ranging sensor array in the embodiment of the present application.

[0026] Figure 4 It is a structural schematic diagram highlighting the laser ranging sensor and the container in the embodiment of the present application.

[0027] Figure 5 It is a structural schematic diagram highlighting the braking mechanism in the embodiment of the present application.

[0028] Figure 6 It is a structural schematic diagram highlighting the first reset component, the second reset component and the third reset component in the embodiment of the present application.

[0029] Figure 7 It is a structural schematic diagram highlighting the spiral block and the spiral groove in the embodiment of the present application.

[0030] Figure 8 It is a structural schematic diagram highlighting the fourth reset component in the embodiment of the present application.

[0031] Figure numerals: 1, container truck; 11, lock; 2, container; 21, pin hole; 3, straddle carrier body; 31, vertical slot; 32, slide plate; 33, vertical plate; 331, limit slot; 34, laser ranging sensor; 35, controller; 36, mounting slot; 361, first through hole; 362, second through hole; 363, third through hole; 4, driving mechanism; 41, driving motor; 42, lead screw; 43, vertical rod; 5, braking mechanism; 51, moving plate; 511, first inclined plane; 52, horizontal rod; 521, spiral block; 53, horizontal tube; 531, spiral slot; 54, gear; 55, rack; 551, push plate; 56. Brake plate; 57. Drive plate; 58. Fixed ring; 6. First reset assembly; 61. First reset block; 62. First reset spring; 7. Second reset assembly; 71. Mounting frame; 72. First guide rod; 73. Second reset block; 74. Second reset spring; 8. Third reset spring; 9. Limit plate; 91. Second inclined plane; 92. Horizontal groove; 93. Horizontal block; 931. Third inclined plane; 94. Horizontal spring; 95. Electric push rod; 96. Pull rod; 97. Bump; 98. Fourth reset assembly; 981. Fixed frame; 982. Second guide rod; 983. Third reset block; 984. Fourth reset spring. DETAILED DESCRIPTION

[0032] Embodiments of the present application are described in detail below, examples of which are shown in the accompanying drawings.

[0033] In the description of this specification, the description with reference to the terms "certain embodiments", "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer 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.

[0034] The present application embodiment discloses a straddle carrier automatic box drop positioning detection device, referring to Figure 2-Figure 4, comprising a straddle carrier body 3, a vertical slot 31 opened on one side of the straddle carrier body 3, a slide plate 32 connected to the vertical slot 31 by vertical sliding, a driving mechanism 4 installed on the vertical slot 31 for driving the slide plate 32 to move, and a vertical plate 33 fixed to one side of the slide plate 32; a group of laser distance measuring sensors 34 are respectively installed at both ends of the vertical plate 33 close to the side of the container truck 1, and the number of each group of laser distance measuring sensors 34 is six, and the six laser distance measuring sensors 34 are numbered S1, S2, S3, S4, S5 and S6 in sequence; a controller 35 is installed on the side of the straddle carrier body 3 close to the vertical slot 31, and the controller 35 is electrically connected to the two groups of laser distance measuring sensors 34; there are four locks 11, and two locks 11 on the same side along the length direction of the container truck 1 form a group, and each group of locks 11 corresponds to two groups of laser distance measuring sensors 34. A group of laser ranging sensor 34 arrays are installed at the front and rear of the straddle carrier body 3, and the laser ranging sensor 34 arrays are moved up and down by the driving mechanism 4. In the present application, each laser ranging sensor 34 array is composed of 6 laser ranging sensors 34, and the 6 laser ranging sensors 34 are numbered S1-S6 from left to right. The ranging value of each laser ranging sensor 34 is d1-d6. When the ranging value is within the set range, it is considered that it detects the lock head 11; in the present application, the installation spacing between two adjacent laser ranging sensors 34 in the same array is L=90mm, and the width of the lock head 11 in the present application is 100mm, so at least one laser ranging sensor 34 in the array can illuminate the lock head 11, and the detection range of the laser ranging sensor 34 array is D=5×L=450mm; when the two laser ranging sensors 34 numbered S3 and S4 in the array illuminate the lock head 11 at the same time, it can be determined that the straddle carrier body 3 has been aligned with the lock head 11 of the container truck 1.During formal detection, first, the height information of the container truck 1 is transmitted to the controller 35. According to the height information of the container truck 1, the controller 35 enables the drive mechanism 4 to adjust the height of the sliding plate 32, and further adjusts the height of the laser ranging sensor 34 array, so that the laser ranging sensor 34 array and the lock head 11 are in the same horizontal position. Then, the position of the lock head 11 is detected. When the laser ranging sensors 34 numbered S1 - S3 detect the lock head 11, at this time, the straddle carrier body 3 is finely adjusted forward until the two laser ranging sensors 34 numbered S3 and S4 simultaneously detect the lock head 11. When the lock head 11 is detected by S4 - S6, at this time, the straddle carrier body 3 is finely adjusted backward until the two laser ranging sensors 34 numbered S3 and S4 simultaneously detect the lock head 11. At this time, the ranging values of the two laser ranging sensors 34 numbered S3 and S4 are d. In this application, the actual distance between the laser ranging sensor 34 and the lock head 11 is d0. When d > d0, the straddle carrier body 3 is moved to the right by a distance of d - d0. If d < d0, the straddle carrier body 3 is moved to the left by a distance of d0 - d. The front side and the rear side of the straddle carrier body 3 are simultaneously adjusted for lateral movement according to the above principle. After the lateral movement adjustment of the straddle carrier body 3 is completed, the container 2 is placed on the container truck 1 through the straddle carrier body 3. In this application, the actual distance between the laser ranging sensor 34 and the side wall of the adjacent container is t. When the container dropping is in place and the ranging values of the two laser ranging sensors 34 numbered S3 and S4 are t, it means that the container 2 has completely fallen onto the lock head 11. When the front and rear two arrays simultaneously detect that the container 2 has fallen onto the lock head 11, it can be determined that the four pin holes 21 of the container 2 have all fallen onto the lock head 11. At this time, the container dropping of the container 2 is successful. In summary, by adopting the above scheme, it is convenient to detect the positioning of the lock head 11 of the container truck 1.

[0035] Refer to Figure 2 , the drive mechanism 4 includes a drive motor 41 installed on the top wall of the vertical groove 31, a lead screw 42 vertically installed on the output shaft of the drive motor 41, and a vertical rod 43 vertically fixed to the inner wall of the vertical groove 31; the sliding plate 32 is threadedly connected to the lead screw 42, and the sliding plate 32 is slidably connected to the vertical rod 43 in the vertical direction, and the vertical rod 43 penetrates through the sliding plate 32. When it is necessary to adjust the height of the laser ranging sensor 34 array, first start the drive motor 41. At this time, the output shaft of the drive motor 41 drives the lead screw 42 to rotate. The rotation of the lead screw 42 drives the sliding plate 32 to move. The movement of the sliding plate 32 drives the vertical plate 33 to move. The movement of the vertical plate 33 drives the laser ranging sensor 34 array to move, so that the height of the laser ranging sensor 34 array can be adjusted. In summary, the provided drive mechanism 4 is convenient for adjusting the height of the laser ranging sensor 34 array.

[0036] Refer to Figure 2 and Figure 5The bottom of the vertical groove 31 is provided with a mounting groove 36, the bottom of the lead screw 42 is arranged through the top wall of the mounting groove 36, and a brake mechanism 5 for emergency braking of the lead screw 42 is installed in the mounting groove 36. The brake mechanism 5 is arranged to facilitate emergency braking of the lead screw 42, thereby preventing the possibility of the laser ranging sensor 34 array being damaged.

[0037] Reference Figure 5-Figure 7 The brake mechanism 5 includes a first through hole 361 provided at one side of the mounting groove 36, a movable plate 51 connected to the first through hole 361 for sliding in the horizontal direction, a horizontal rod 52 fixed to one end of the movable plate 51, a second through hole 362 provided at the other side of the mounting groove 36 for the horizontal rod 52 to slide in the horizontal direction, two sets of first reset components 6 installed on the inner wall of the mounting groove 36 for resetting the horizontal rod 52, a horizontal tube 53 connected to the inner wall of the mounting groove 36 for horizontal rotation through a bearing, a gear 54 sleeved and fixed on the outer wall of the horizontal tube 53, a rack 55 connected to the inner wall of the mounting groove 36 for sliding in the vertical direction, a second reset component 7 installed on the inner wall of the mounting groove 36 for resetting the rack 55, a brake plate 56 connected to the inner wall of the mounting groove 36 for rotation through a short shaft, And a third reset component installed on the inner wall of the mounting groove 36 for resetting the brake plate 56; a driving plate 57 is fixedly connected to the side of the vertical plate 33 close to the mounting groove 36, and a first inclined surface 511 is provided on the side of the movable plate 51 close to the driving plate 57, and the first inclined surface 511 matches the side wall of the driving plate 57; a plurality of spiral blocks 521 are fixedly connected to the side wall of the horizontal rod 52 in sequence along its circumference, and a plurality of spiral grooves 531 are opened in sequence on the inner wall of the horizontal tube 53 along its circumference, and the plurality of spiral blocks 521 match the plurality of spiral grooves 531 in one-to-one correspondence; the gear 54 is meshed with the rack 55; one end of the rack 55 abuts against the bottom of the brake plate 56, and a fixing ring 58 is fixedly mounted on the side wall of the lead screw 42, and one end of the brake plate 56 away from the rack 55 abuts against the top of the fixing ring 58. When the vertical plate 33 moves to the lower limit position, the driving plate 57 drives the movable plate 51 to move into the installation groove 36 under the action of the first inclined surface 511. The movement of the movable plate 51 drives the horizontal rod 52 to move. Then the horizontal rod 52 drives the horizontal tube 53 to rotate under the action of the spiral block 521 and the spiral groove 531. The rotation of the horizontal tube 53 drives the gear 54 to rotate. The rotation of the gear 54 drives the rack 55 to move upward. The rack 55 moves upward and drives the brake plate 56 to rotate. The rotation of the brake plate 56 can brake the fixed ring 58, thereby enabling emergency braking of the screw 42. In summary, the rotating mechanism set up is convenient for emergency braking of the screw 42.

[0038] Reference Figure 5 and Figure 6Each set of first reset components 6 includes a first reset block 61 connected to the inner wall of the mounting slot 36 in a horizontal sliding direction and a first reset spring 62 fixed to the end of the first reset block 61 away from the moving plate 51; the first reset block 61 is fixed to the side wall of the horizontal rod 52, and the end of the first reset spring 62 away from the first reset block 61 is fixed to the inner wall of the mounting slot 36 away from the first through hole 361. The movement of the horizontal rod 52 drives the first reset block 61 to move, and the movement of the first reset block 61 presses the first reset spring 62; when the driving plate 57 and the moving plate 51 are reset, the first reset block 61 drives the horizontal rod 52 to reset under the action of the first reset spring 62, and the reset of the horizontal rod 52 drives the moving plate 51 to reset; in summary, the first reset component 6 is set to facilitate the reset of the horizontal rod 52.

[0039] Reference Figure 5 and Figure 6 The second reset assembly 7 includes a mounting frame 71 mounted on the inner wall of the mounting groove 36, a first guide rod 72 vertically fixed to the mounting frame 71, a second reset block 73 vertically slidably connected to the first guide rod 72, and a second reset spring 74 vertically fixed to one side of the second reset block 73; the first guide rod 72 passes through the second reset block 73, the second reset block 73 is fixed to one side of the rack 55, and the end of the second reset spring 74 away from the second reset block 73 is fixed to one end of the mounting frame 71. The rack 55 moves upward to drive the second reset block 73 to move upward, and the second reset block 73 moves upward to press the second reset spring 74; when the horizontal rod 52 is reset, the second reset block 73 drives the rack 55 to reset under the action of the second reset spring 74; in summary, the second reset assembly 7 is set to facilitate the reset of the rack 55.

[0040] Reference Figure 5 and Figure 6 The third reset assembly includes a plurality of third reset springs 8 fixed to the brake plate 56 away from the rack 55, and one end of each third reset spring 8 away from the brake plate 56 is fixed to the inner wall of the mounting groove 36. The plurality of third reset springs 8 are provided to facilitate the reset of the brake plate 56.

[0041] Reference Figure 5 , Figure 6 as well as Figure 8A third through hole 363 is provided on a side of the mounting groove 36 away from the second through hole 362, and a limit plate 9 is slidably connected in the third through hole 363 in the horizontal direction. A push plate 551 is fixedly connected to one end of the rack 55 away from the brake plate 56, and a second inclined surface 91 is provided on a side of the limit plate 9 close to the push plate 551, and the second inclined surface 91 matches the side wall of the push plate 551; a fourth reset component 98 for resetting the limit plate 9 is installed in the mounting groove 36; a limit groove 331 is provided on one side of the vertical plate 33 close to the third through hole 363, and a horizontal groove 92 is provided on one end of the limit plate 9 away from the push plate 551, and the horizontal groove 92 A horizontal block 93 is connected for internal sliding movement. A horizontal spring 94 is fixedly connected to one end of the horizontal block 93 away from the vertical plate 33. One end of the horizontal spring 94 away from the horizontal block 93 is fixedly connected to an inner wall of one end of the horizontal slot 92. A third inclined surface 931 is provided on the side of the horizontal block 93 close to the vertical plate 33. The third inclined surface 931 matches the side wall of the vertical plate 33. One end of the horizontal block 93 away from the horizontal spring 94 is inserted into the limiting slot 331. An electric push rod 95 is installed in the horizontal slot 92. A pull rod 96 is fixedly connected to the output end of the electric push rod 95. A protrusion 97 is fixedly connected to one end of the horizontal block 93. The pull rod 96 can pull the protrusion 97 to move. When the vertical plate 33 moves to the lower limit position, the driving plate 57 drives the movable plate 51 to move into the installation groove 36 under the action of the first inclined surface 511, and the movement of the movable plate 51 drives the horizontal rod 52 to move, and then the horizontal rod 52 drives the horizontal tube 53 to rotate under the action of the spiral block 521 and the spiral groove 531, and the rotation of the horizontal tube 53 drives the gear 54 to rotate, and the rotation of the gear 54 drives the rack 55 to move upward, and the rack 55 moves upward to drive the push plate 551 to move upward, and then the push plate 551 is in the second The inclined surface 91 drives the limit plate 9 to move out of the third through hole 363, and then the vertical plate 33 drives the horizontal block 93 to move into the horizontal groove 92 under the action of the third inclined surface 931, and the horizontal block 93 moves to press the horizontal spring 94; when the horizontal block 93 is aligned with the limit groove 331, the horizontal block 93 is plugged into the limit groove 331 under the action of the horizontal spring 94, so that the vertical plate 33 can be emergency braked; in summary, by adopting the above scheme, it is convenient to perform emergency braking on the vertical plate 33.

[0042] Reference Figure 5 , Figure 6 as well as Figure 8, the fourth reset component 98 includes a fixing frame 981 installed on the inner wall of the installation groove 36, a second guide rod 982 horizontally fixed to the fixing frame 981, a third reset block 983 slidably connected to the second guide rod 982 in the horizontal direction, and a fourth reset spring 984 fixed to one side of the third reset block 983; the second guide rod 982 penetrates through the third reset block 983, the third reset block 983 is fixed to one side of the limiting plate 9, and one end of the fourth reset spring 984 away from the third reset block 983 is fixed to one end of the mounting frame 71. When it is necessary to reset the limiting plate 9, first start the electric push rod 95, then the output end of the electric push rod 95 pulls the pull rod 96 to move, the movement of the pull rod 96 drives the convex block 97 to move, and the movement of the convex block 97 drives the horizontal block 93 to move, so that the horizontal block 93 can be separated from the limiting groove 331, and then the provided third reset block 983 and the fourth reset spring 984 can reset the limiting plate 9; in summary, the provided fourth reset component 98 facilitates the reset of the limiting plate 9.

[0043] Working principle: During formal detection, first transmit the height information of the container truck 1 to the controller 35. The controller 35 adjusts the height of the slide plate 32 according to the height information of the container truck 1, and then adjusts the height of the laser distance sensor array 34, so that the laser distance sensor array 34 and the lock head 11 are at the same horizontal position, and then detect the position of the lock head 11. When the laser distance sensors 34 numbered S1-S3 detect the lock head 11, at this time, the straddle carrier body 3 is finely adjusted forward until the two laser distance sensors 34 numbered S3 and S4 simultaneously detect the lock head 11. When S4-S6 detect the lock head 11, at this time, the straddle carrier body 3 is finely adjusted backward until the two laser distance sensors 34 numbered S3 and S4 simultaneously detect the lock head 11. At this time, the distance measurement values of the two laser distance sensors 34 numbered S3 and S4 are d. In this application, the actual distance between the laser distance sensor 34 and the lock head 11 is d0. When d>d0, the straddle carrier body 3 is moved to the right by a distance of d-d0. If d<d0, the straddle carrier body 3 is moved to the left by a distance of d0-d. The front and rear sides of the straddle carrier body 3 are simultaneously adjusted laterally according to the above principle; after the lateral adjustment of the straddle carrier body 3 is completed, the container 2 is dropped onto the container truck 1 through the straddle carrier body 3. In this application, the actual distance between the laser distance sensor 34 and the side wall of the adjacent concentrated box is t. When the container dropping is in place and the distance measurement values of the two laser distance sensors 34 numbered S3 and S4 are t, it means that the container 2 has completely fallen onto the lock head 11; when the front and rear two arrays simultaneously detect that the container 2 has fallen onto the lock head 11, it can be judged that the four pin holes 21 of the container 2 have all fallen onto the lock head 11, and at this time, the container dropping of the container 2 is successful; in summary, by adopting the above scheme, it is convenient to detect the positioning of the lock head 11 of the container truck 1.

[0044] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A straddle carrier automatic box drop positioning detection device, characterized in that: The invention comprises a straddle carrier body (3), a vertical slot (31) provided on one side of the straddle carrier body (3), a slide plate (32) connected to the vertical slot (31) in a vertical sliding direction, a driving mechanism (4) installed on the vertical slot (31) for driving the slide plate (32) to move, and a vertical plate (33) fixed to one side of the slide plate (32); a group of laser distance measuring sensors (34) are respectively installed at two ends of the vertical plate (33) close to the side of the container truck (1), and the number of each group of laser distance measuring sensors (34) is six, and the six laser distance measuring sensors (34) are numbered S1, S2, S3, S4, S5 and S6 in sequence; a controller (35) is installed on one side of the straddle carrier body (3) close to the vertical slot (31), and the controller (35) is electrically connected to the two groups of laser distance measuring sensors (34).

2. The automatic box drop positioning detection device for a straddle carrier according to claim 1 is characterized in that: The driving mechanism (4) comprises a driving motor (41) mounted on the top wall of the vertical slot (31), a lead screw (42) mounted on the output shaft of the driving motor (41), and a vertical rod (43) fixed to the inner wall of the vertical slot (31); the sliding plate (32) is threadedly connected to the lead screw (42), and the sliding plate (32) is slidably connected to the vertical rod (43).

3. The automatic box drop positioning detection device for a straddle carrier according to claim 2 is characterized in that: The bottom of the vertical groove (31) is provided with a mounting groove (36), the bottom of the lead screw (42) passes through the top wall of the mounting groove (36), and a braking mechanism (5) for emergency braking of the lead screw (42) is installed in the mounting groove (36).

4. The automatic container drop positioning detection device for a straddle carrier according to claim 3 is characterized in that: The braking mechanism (5) comprises a first through hole (361) provided on one side of the mounting groove (36), a movable plate (51) slidably connected to the first through hole (361), a horizontal rod (52) fixed to one end of the movable plate (51), a second through hole (362) provided on the other side of the mounting groove (36) for allowing the horizontal rod (52) to slide, a first resetting component (6) installed on the inner wall of the mounting groove (36) for resetting the horizontal rod (52), a horizontal tube (53) rotatably connected to the inner wall of the mounting groove (36), a gear (54) sleeved and fixed to the outer wall of the horizontal tube (53), a rack (55) slidably connected to the inner wall of the mounting groove (36), a second resetting component (7) installed on the inner wall of the mounting groove (36) for resetting the rack (55), a braking plate (56) rotatably connected to the inner wall of the mounting groove (36), and a gear (54) installed on the inner wall of the mounting groove (36) for resetting the braking plate (56). The third reset component; a driving plate (57) is fixedly connected to one side of the vertical plate (33) close to the mounting groove (36); a first inclined surface (511) is provided on one side of the movable plate (51) close to the driving plate (57); the first inclined surface (511) matches the side wall of the driving plate (57); a plurality of spiral blocks (521) are fixedly connected to the side wall of the horizontal rod (52) in sequence along its circumference; a plurality of spiral grooves (531) are opened in sequence on the inner wall of the horizontal tube (53) in sequence along its circumference; the plurality of spiral blocks (521) match the plurality of spiral grooves (531) in one-to-one correspondence; the gear (54) is meshed with the rack (55); one end of the rack (55) abuts against the bottom of the brake plate (56); a fixing ring (58) is fixedly sleeved on the side wall of the lead screw (42); and one end of the brake plate (56) away from the rack (55) abuts against the top of the fixing ring (58).

5. The automatic container drop positioning detection device for a straddle carrier according to claim 4, characterized in that: The first reset assembly (6) comprises a first reset block (61) slidably connected to the inner wall of the mounting groove (36) and a first reset spring (62) fixedly connected to one end of the first reset block (61) away from the movable plate (51); the first reset block (61) is fixedly connected to the side wall of the horizontal rod (52), and one end of the first reset spring (62) away from the first reset block (61) is fixedly connected to the inner wall of one end of the mounting groove (36) away from the first through hole (361).

6. The automatic container drop positioning detection device for a straddle carrier according to claim 4, characterized in that: The second reset assembly (7) comprises a mounting frame (71) mounted on the inner wall of the mounting groove (36), a first guide rod (72) fixedly connected to the mounting frame (71), a second reset block (73) slidably connected to the first guide rod (72), and a second reset spring (74) fixedly connected to one side of the second reset block (73); the second reset block (73) is fixedly connected to one side of the rack (55), and one end of the second reset spring (74) away from the second reset block (73) is fixedly connected to one end of the mounting frame (71).

7. The automatic container drop positioning detection device for a straddle carrier according to claim 4, characterized in that: The third return assembly comprises a plurality of third return springs (8) fixed to a side of the brake plate (56) away from the rack (55), and one end of each of the third return springs (8) away from the brake plate (56) is fixed to the inner wall of the mounting groove (36).

8. The automatic container drop positioning detection device for a straddle carrier according to claim 4, characterized in that: A third through hole (363) is provided on a side of the installation groove (36) away from the second through hole (362); a limiting plate (9) is slidably connected in the third through hole (363); a push plate (551) is fixedly connected to one end of the rack (55) away from the brake plate (56); a second inclined surface (91) is provided on a side of the limiting plate (9) close to the push plate (551); the second inclined surface (91) matches the side wall of the push plate (551); a fourth reset component (98) for resetting the limiting plate (9) is installed in the installation groove (36); a limiting groove (331) is provided on a side of the vertical plate (33) close to the third through hole (363) A horizontal groove (92) is provided at one end of the limit plate (9) away from the push plate (551), a horizontal block (93) is slidably connected in the horizontal groove (92), a horizontal spring (94) is fixedly connected to one end of the horizontal block (93) away from the vertical plate (33), one end of the horizontal spring (94) away from the horizontal block (93) is fixedly connected to an inner wall of one end of the horizontal groove (92), a third inclined surface (931) is provided on one side of the horizontal block (93) close to the vertical plate (33), the third inclined surface (931) matches the side wall of the vertical plate (33), and one end of the horizontal block (93) away from the horizontal spring (94) is inserted into the limit groove (331).

9. The automatic container drop positioning detection device for a straddle carrier according to claim 8, characterized in that: The fourth reset assembly (98) comprises a fixing frame (981) mounted on the inner wall of the mounting groove (36), a second guide rod (982) fixedly connected to the fixing frame (981), a third reset block (983) slidably connected to the second guide rod (982), and a fourth reset spring (984) fixedly connected to one side of the third reset block (983); the third reset block (983) is fixedly connected to one side of the limiting plate (9), and one end of the fourth reset spring (984) away from the third reset block (983) is fixedly connected to one end of the mounting frame (71).

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