Goods transferring method

Abstract

A cargo transferring method comprises the steps that A, a tray loaded with a steel drum is conveyed to a preset position through a horizontal roller way; b, the gantry forklift is moved in the direction of the horizontal roller way, and the pallet on the horizontal roller way is forked and lifted by fork teeth in the direction of the horizontal roller way; c, the included angle between the tray forked by the prongs and the horizontal plane is detected, and then the prongs are finely adjusted to enable the included angle between the tray and the horizontal plane to be 0; d, the top of the steel drum is clamped through a clamping jaw above the fork teeth, and the steel drum is lifted and then placed on a tray; e, the fork teeth are rotated around the center of the clamping jaw to be in the same direction as the conveying platform, and meanwhile the gantry forklift is moved to the position above the conveying platform; and F, the prongs are controlled to lower the trays onto the conveying platform, the trays are driven by the conveying platform to move in the direction away from the horizontal roller way, and therefore the trays are separated from the prongs on the premise that the prongs are kept still. The position precision of the tray and the steel drum on the tray can be guaranteed while the tray is transferred.

Description

Technical Field

[0001] The present invention relates to the field of transportation technology, and in particular to a cargo transferring method. Background Art

[0002] When transferring goods, a conventional forklift cannot turn the direction of the goods. Both the forklift and the forklift must face the goods directly, and the two steps are usually in completely opposite directions (e.g. Figure 1 As shown, to move from position A to position B, forklift C needs to turn, and the usual forklift is a wheeled forklift). In a narrow or short space, this operation cannot be completed using a conventional forklift.

[0003] At the same time, when the forklift moves the goods, the goods are pressed on the fork tines due to their own weight. The fork tines will deform after being subjected to unidirectional force, causing the goods to tilt (usually the goods are placed on a pallet). In this way, the supporting surface between the goods and the surface of the pallet is no longer a flat surface but an inclined surface. At this time, the goods are easily displaced on the pallet, resulting in the goods being in a different state when they are placed than when they are forked. This problem is not a problem in conventional transfer operations, but if high-precision transfer operations such as packing are required, it will cause a bigger problem: the movement of goods will change the relative position between the goods and the pallet. If the positions of multiple goods and pallets are changed, it will cause excessive squeezing and the packing operation will not be completed. Summary of the invention

[0004] In order to solve the problems existing in the prior art, the present invention provides a cargo transfer method to solve the problem of steel drums slipping relative to pallets during the transportation of steel drums.

[0005] In order to achieve the above objectives, the following technical solutions are provided:

[0006] A cargo transfer method for transferring a pallet carrying a steel drum from a horizontal roller conveyor to another conveying platform, comprising:

[0007] Step A: conveying the pallet carrying the steel drum to a predetermined position by a horizontal roller conveyor;

[0008] Step B, move the gantry forklift in the direction of the horizontal roller conveyor, and use the fork teeth to fork and lift the pallet on the horizontal roller conveyor from the direction of the horizontal roller conveyor;

[0009] Step C, detecting the angle between the pallet lifted by the fork tines and the horizontal plane, and then fine-tuning the fork tines to make the angle between the pallet and the horizontal plane 0;

[0010] Step D: Use the clamping claws above the fork teeth to clamp the top of the steel drum, lift the steel drum and then lower it onto the pallet;

[0011] Step E, rotate the fork tine around the center of the clamping jaw to the same direction as the conveying platform, and move the gantry forklift to the top of the conveying platform;

[0012] Step F, control the fork tines to lower the pallet onto the conveying platform, and the conveying platform drives the pallet to move away from the horizontal roller, so that the pallet is separated from the fork tines while the fork tines remain stationary. This not only reduces the space for the fork tines to move, but also allows the pallet and the steel drum on it to be separated from the fork tines while quickly entering the next process link, thereby improving the work efficiency of the entire operation line.

[0013] After step F, it also includes:

[0014] Step G: Rotate the fork tines to align with the horizontal roller direction.

[0015] The direction of the horizontal roller conveyor refers to the direction opposite to the direction in which the horizontal roller conveyor conveys the goods;

[0016] The direction of the conveying platform refers to the same direction as the direction in which the conveying platform conveys the goods;

[0017] The angle between the horizontal roller direction and the conveying platform direction is an obtuse angle.

[0018] Before step F, the method also includes detecting the azimuth angle of the conveying platform; correspondingly, adjusting the angle of the fork teeth to be parallel to the conveying platform.

[0019] Before step F, the method also includes detecting the angle between the conveying platform and the horizontal plane, and correspondingly, fine-tuning the angle between the fork teeth and the horizontal plane so that the inclination angle of the pallet on the fork is the same as that of the conveying platform.

[0020] In step D, when the clamping claws clamp the steel drum, the clamping claws are clamped on the convex edge of the top of the steel drum, so that after the steel drum is clamped and lifted, the steel drum remains in a vertical state.

[0021] In step B, a downward identification device is provided on the gantry forklift to detect the position of the pallet and the steel drum thereon, as well as the position of the steel drum relative to the pallet; correspondingly, the lateral position of the fork tines is adjusted so that the fork tines can be inserted into the pallet and are opposite to the center of the pallet.

[0022] Step B also includes the step of sounding an alarm and shutting down the machine when the position of the steel drum relative to the pallet exceeds a preset range.

[0023] Specifically, it includes: detecting the distance of the center of the steel drum from the center of the pallet; when the steel drums are arranged in a 2×2 layout, detecting the center distance between the two steel drums at the diagonal angle, and the distance of the center of the four steel drums from the center of the pallet. A threshold is set for each of the above distances, and when the threshold is exceeded, it is considered to exceed the preset range.

[0024] In step B, the identification device is also used to detect the angle of the pallet relative to the horizontal roller direction;

[0025] Correspondingly, before the fork tines fork up the pallet, the method further includes adjusting the angle between the fork tines and the horizontal roller direction to make it consistent with the pallet;

[0026] And after the pallet is forked, the angle between the fork teeth and the horizontal roller direction is reset to zero.

[0027] The gantry forklift comprises:

[0028] A track structure is arranged on both sides of the horizontal roller conveyor and the conveying platform so as to be able to reciprocate above the horizontal roller conveyor and the conveying platform;

[0029] The gantry frame has rollers and a motor structure for driving the rollers at the bottom to drive the gantry frame to move back and forth along the track structure;

[0030] The transverse movement mechanism is arranged on the gantry frame and can move laterally along the gantry frame;

[0031] A first lifting drive mechanism is installed at the center of the transverse movement mechanism and can be driven vertically;

[0032] A rotary drive mechanism, installed at the bottom of the first lifting drive mechanism, capable of rotary drive;

[0033] The fork tine is connected to the rotary drive mechanism and can rotate along with the rotary drive mechanism, and a pitch fine-tuning structure is provided on the fork tine;

[0034] The clamping jaws are connected to the bottom of the rotary drive mechanism and are located directly above the fork teeth. Each clamping jaw is connected to the bottom of the rotary drive mechanism through a second lifting drive mechanism, and the clamping jaws are kept horizontal and will not move with the fork teeth.

[0035] When the angle between the direction of the tray and the direction of the horizontal roller is not 0, step B further includes:

[0036] At the same time, the feed speed of the transverse movement mechanism in the horizontal direction and the feed speed of the gantry frame in the longitudinal direction are controlled so that the ratio of the feed speed values ​​of the two is equal to the tangent value of the angle.

[0037] In step C, the fork tines are fine-tuned by the pitch fine-tuning structure. The pitch fine-tuning structure is a cam structure designed on the fork tines.

[0038] Compared with the prior art, the advantages of the present invention are as follows:

[0039] The cargo transferring method provided by the present invention can identify the pallet and the steel drum thereon in advance, so that the fork teeth can be inserted into the pallet along the direction of the pallet; after the pallet is lifted, the inclination of the pallet caused by the deformation caused by the force applied to the fork teeth can be compensated, and then the position of the steel drum can be adjusted by the clamping claws to keep the steel drum consistent; and the fork teeth can also be rotated according to the direction of the conveying platform, so that the fork teeth can place the pallet along the direction of the conveying platform, providing assistance for the precise connection of the next process link. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 This is a schematic diagram of the structure of a forklift transferring goods as described in the background technology of the present invention;

[0041] Figure 2 It is a structural schematic diagram of the cargo transfer method of the present invention;

[0042] Figure 3 It is a structural schematic diagram of the cargo transfer method of the present invention;

[0043] Figure 4 A step-by-step schematic diagram of a cargo transfer method according to an embodiment of the present invention;

[0044] Figure 5 It is a structural schematic diagram of a gantry forklift according to an embodiment of the present invention;

[0045] Figure 6 The figure is a schematic structural diagram of a gantry forklift according to an embodiment of the present invention.

[0046] In the figure:

[0047] 10-Horizontal roller table;

[0048] 20-gantry forklift; 21-track structure; 22-gantry frame; 23-transverse movement mechanism; 24-first lifting drive mechanism; 25-rotation drive mechanism; 26-fork teeth; 27-gripping claws; 28-second lifting drive mechanism; 29-pitch fine-tuning structure;

[0049] 30- conveying platform;

[0050] 40-Pallets. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0052] Example

[0053] like Figure 2-6 As shown, the present invention provides a cargo transfer method for transferring a pallet carrying a steel drum from a horizontal roller conveyor 10 to another conveying platform 30, comprising:

[0054] Step A, the pallet 40 carrying the steel drum is transported to a predetermined position by the horizontal roller 10 (in order to reach the predetermined position, a photoelectric detection device is usually arranged on both sides of the horizontal roller, and when it is detected that the pallet has reached or is about to reach the predetermined position, the horizontal roller 10 is controlled to stop);

[0055] Step B, moving the gantry forklift 20 toward the horizontal roller conveyor, and causing the fork teeth 26 to fork and lift the pallet 40 on the horizontal roller conveyor 10 from the horizontal roller conveyor direction;

[0056] Step C, detecting the angle between the pallet 40 picked up by the fork tine 26 and the horizontal plane, and then fine-tuning the fork tine 26 to make the angle between the pallet 40 and the horizontal plane 0. During the fine-tuning of the fork tine 26, the clamping jaw 27 is kept vertical, so that the surface of the steel drum on the pallet 40 and the clamping jaw 27 are in a vertical state;

[0057] Step D: Use the clamping claws 27 above the fork teeth 26 to clamp the top of the steel drum, lift the steel drum and then lower it onto the pallet 40; the lifting range of the steel drum is usually 1 cm away from the surface of the pallet, so that the steel drum is in a vertical hanging state, and then when the steel drum is lowered, the position of the steel drum can be automatically adjusted according to the layout of the clamping claws 27; usually, the clamping claws 27 adopt a 2×2 layout (the same as the layout of the steel drum);

[0058] Step E: Rotate the fork teeth 26 around the center of the clamp to the same direction as the conveying platform, and move the gantry forklift 20 to the top of the conveying platform 30; when the clamps are arranged in a 2×2 manner, the “center of the clamps” refers to the center of the four clamps, that is, the rotation center of the rotary drive mechanism 25;

[0059] Step F: Control the fork tine 26 to lower the pallet 40 onto the conveying platform 30, and the conveying platform 30 drives the pallet 40 to move away from the horizontal roller, so that the pallet 40 is separated from the fork tine 26 while the fork tine 26 remains stationary. This not only reduces the space for the fork tine to move, but also allows the pallet and the steel drum on it to be separated from the fork tine while quickly entering the next process link, thereby improving the work efficiency of the entire operation line.

[0060] After step F, it also includes:

[0061] Step G: Rotate the fork tines to align with the direction of the horizontal roller, so as to facilitate loading the next pallet on the horizontal roller.

[0062] like Figure 2 As shown, the direction of the horizontal roller conveyor refers to the direction opposite to the direction in which the horizontal roller conveyor conveys goods;

[0063] The direction of the conveying platform refers to the same direction as the direction in which the conveying platform conveys the goods;

[0064] The angle between the horizontal roller direction and the conveying platform direction is an obtuse angle, which is usually above 165 degrees.

[0065] Before step F, the method also includes detecting the azimuth of the conveying platform; correspondingly, adjusting the angle of the fork teeth to be parallel to the conveying platform. Specifically, the angle between the track of the conveying platform and the track structure of the gantry forklift 20 can be detected to determine the size of the azimuth. The detection scheme can be to set multiple distance sensors on the track of the conveying platform, and the distance sensors are used to measure the distance between their positions and the track structure of the gantry forklift 20. The azimuth can be calculated by measuring the distance of different sensors.

[0066] Before step F, the method further includes detecting the angle between the conveying platform and the horizontal plane, and correspondingly, fine-tuning the angle between the fork teeth and the horizontal plane so that the inclination angle of the pallet on the pallet is the same as that of the conveying platform, so that when the pallet falls, the contact with the surface of the conveying platform is surface-to-surface contact, avoiding point contact and line contact. The conveying platform can be a track and a flatbed trolley that shuttles back and forth in the middle of the track, and the flatbed trolley is connected to the track using a wheeled structure.

[0067] In step D, when the clamps clamp the steel drum, the clamps are clamped on the convex edge of the top of the steel drum, so that after the steel drum is clamped and lifted, the steel drum remains in a vertical state, so that the steel drum automatically adjusts to completely correspond to the position of the clamps.

[0068] In step B, a downward identification device is provided on the gantry forklift 20 (the identification device is usually arranged on the top of the gantry forklift and performs identification in a vertical downward manner), which is used to detect the position of the pallet and the steel drum thereon, as well as the position of the steel drum relative to the pallet; correspondingly, the lateral position of the fork tines is adjusted so that the fork tines can be inserted into the pallet and relative to the center of the pallet.

[0069] Step B also includes the step of sounding an alarm and shutting down the machine when the position of the steel drum relative to the pallet exceeds a preset range.

[0070] Specifically, it includes: detecting the distance of the center of the steel drum from the center of the pallet; when the steel drums are arranged in a 2×2 layout, detecting the center distance between the two steel drums at the diagonal angle, and the distance of the center of the four steel drums from the center of the pallet. A threshold is set for each of the above distances, and when the threshold is exceeded, it is considered to exceed the preset range.

[0071] In step B, the identification device is also used to detect the angle of the pallet relative to the horizontal roller direction;

[0072] Correspondingly, before the fork tines fork up the pallet, the method further includes adjusting the angle between the fork tines and the horizontal roller direction to make it consistent with the pallet;

[0073] And after the pallet is forked, the angle between the fork teeth and the horizontal roller direction is reset to zero.

[0074] The gantry forklift 20 comprises:

[0075] The track structure 21 is arranged on both sides of the horizontal roller and the conveying platform so as to be able to reciprocate above the horizontal roller and the conveying platform; the position of the track structure 21 is usually fixed, and the track structure 21 can also serve as the X-axis reference direction of the entire system coordinate system;

[0076] The gantry frame 22 has rollers and a motor structure for driving the rollers at the bottom to drive the gantry frame to move back and forth along the track structure 21;

[0077] The transverse movement mechanism 23 is arranged on the gantry frame 22 and can move transversely along the gantry frame. Correspondingly, a transversely arranged track or guide rail structure needs to be provided on the gantry frame 22. The transverse movement mechanism 23 is usually in a square frame shape, and is hollow in the middle so as to be connected with the first lifting drive mechanism 24. The transverse movement mechanism can be driven by a cylinder or a gear rack structure, so that the transverse movement mechanism can move transversely along the track or guide rail on the gantry frame 22. In order to facilitate the movement of the transverse movement mechanism, rollers are usually provided between the transverse movement mechanism and the track or guide rail to reduce friction resistance;

[0078] The first lifting drive mechanism 24 is installed at the center of the transverse movement mechanism and can be driven vertically; the first lifting drive mechanism 24 can adopt a conventional drive mechanism such as a sprocket drive, a belt drive or a cylinder;

[0079] The rotary drive mechanism 25 is installed at the bottom of the first lifting drive mechanism 24 and can be driven to rotate. The rotary drive mechanism 25 usually adopts a turntable structure, and the circumference of the turntable is designed as a large gear structure. The small gear is driven by the motor to drive the large gear structure to rotate.

[0080] The fork tine 26 is connected to the rotary drive mechanism and can rotate with the rotary drive mechanism. The fork tine is provided with a pitch fine adjustment structure. The fork tine 26 is C-shaped as a whole, and the top is fixedly connected to the bottom of the turntable of the rotary drive mechanism.

[0081] The clamping jaws 27 are connected to the bottom of the rotary drive mechanism and are located directly above the fork teeth. Each clamping jaw is connected to the bottom of the rotary drive mechanism through a second lifting drive mechanism 28, and the clamping jaws remain horizontal and will not move with the fork teeth.

[0082] When the angle between the direction of the tray 40 and the direction of the horizontal roller is not 0, step B further includes:

[0083] At the same time, the feed speed of the transverse movement mechanism in the horizontal direction and the feed speed of the gantry frame in the longitudinal direction are controlled so that the ratio of the feed speed values ​​of the two is equal to the tangent value of the angle.

[0084] In step C, the fork tines are finely adjusted by the pitch fine-tuning structure 29. The pitch fine-tuning structure is a cam structure designed on the fork tines.

[0085] Compared with the prior art, the advantages of the present invention are as follows:

[0086] The cargo transferring method provided by the present invention can identify the pallet and the steel drum thereon in advance, so that the fork teeth can be inserted into the pallet along the direction of the pallet; after the pallet is lifted, the inclination of the pallet caused by the deformation caused by the force applied to the fork teeth can be compensated, and then the position of the steel drum can be adjusted by the clamping claws to keep the steel drum consistent; and the fork teeth can also be rotated according to the direction of the conveying platform, so that the fork teeth can place the pallet along the direction of the conveying platform, providing assistance for the precise connection of the next process link.

[0087] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A cargo transfer method for transferring a pallet carrying a steel drum from one horizontal roller conveyor to another conveying platform, characterized in that: include: Step A: conveying the pallet carrying the steel drum to a predetermined position by a horizontal roller conveyor; Step B, move the gantry forklift toward the horizontal roller conveyor, and use the fork teeth to fork and lift the pallet on the horizontal roller conveyor from the horizontal roller conveyor; Step C, detecting the angle between the pallet lifted by the fork tines and the horizontal plane, and then fine-tuning the fork tines to make the angle between the pallet and the horizontal plane 0; Step D: Use the clamping claws above the fork teeth to clamp the top of the steel drum, lift the steel drum and then lower it onto the pallet; Step E, rotate the fork teeth around the center of the clamping jaws to the same direction as the conveying platform, and move the gantry forklift to the top of the conveying platform; Step F: Control the fork tines to lower the pallet onto the conveying platform, and the conveying platform drives the pallet to move away from the horizontal roller conveyor, so that the pallet is separated from the fork tines while the fork tines remain stationary.

2. The method according to claim 1, characterized in that After step F, it also includes: Step G: Rotate the fork tines to align with the horizontal roller direction.

3. The method according to claim 1, characterized in that The horizontal roller direction refers to the direction opposite to the direction in which the horizontal roller conveys the goods; The conveying platform direction refers to the same direction as the direction in which the conveying platform conveys the goods; The angle between the horizontal roller direction and the conveying platform direction is an obtuse angle.

4. The method according to claim 1, characterized in that Before step F, the method also includes detecting the azimuth angle of the conveying platform; correspondingly, adjusting the angle of the fork teeth to be parallel to the conveying platform.

5. The method according to claim 4, characterized in that Before step F, the method also includes detecting the angle between the conveying platform and the horizontal plane, and correspondingly, fine-tuning the angle between the fork teeth and the horizontal plane so that the inclination angle of the pallet on the fork is the same as that of the conveying platform.

6. The method according to claim 1, characterized in that In step D, when the clamping claws clamp the steel drum, the clamping claws are clamped on the convex edge of the top of the steel drum, so that after the steel drum is clamped and lifted, the steel drum remains in a vertical state.

7. The method according to claim 1, characterized in that In step B, a downward identification device is provided on the gantry forklift to detect the position of the pallet and the steel drum thereon, as well as the position of the steel drum relative to the pallet; correspondingly, the lateral position of the fork tines is adjusted so that the fork tines can be inserted into the pallet and are opposite to the center of the pallet.

8. The method according to claim 7, characterized in that Step B also includes the step of sounding an alarm and shutting down the machine when the position of the steel drum relative to the pallet exceeds a preset range.

9. The method according to claim 8, characterized in that Specifically, it includes: detecting the distance of the center of the steel drum from the center of the pallet; when the steel drums are arranged in a 2×2 layout, detecting the center distance between the two steel drums at the diagonal angle, and the distance of the center of the four steel drums from the center of the pallet. A threshold is set for each of the above distances, and when the threshold is exceeded, it is considered to exceed the preset range.

10. The method according to claim 1, characterized in that In step B, the identification device is also used to detect the angle of the pallet relative to the horizontal roller direction; Correspondingly, before the fork tines fork up the pallet, the method further includes adjusting the angle between the fork tines and the horizontal roller direction to make it consistent with the pallet; And after the pallet is forked, the angle between the fork teeth and the horizontal roller direction is reset to zero.

11. The method according to claim 1, characterized in that The gantry forklift comprises: A track structure is arranged on both sides of the horizontal roller conveyor and the conveying platform so as to be able to reciprocate above the horizontal roller conveyor and the conveying platform; The gantry frame has rollers and a motor structure for driving the rollers at the bottom to drive the gantry frame to move back and forth along the track structure; The transverse movement mechanism is arranged on the gantry frame and can move laterally along the gantry frame; A first lifting drive mechanism is installed at the center of the transverse movement mechanism and can be driven vertically; A rotary drive mechanism, installed at the bottom of the first lifting drive mechanism, capable of rotary drive; The fork tine is connected to the rotary drive mechanism and can rotate along with the rotary drive mechanism, and a pitch fine-tuning structure is provided on the fork tine; The clamping jaws are connected to the bottom of the rotary drive mechanism and are located directly above the fork teeth. Each clamping jaw is connected to the bottom of the rotary drive mechanism through a second lifting drive mechanism, and the clamping jaws are kept horizontal and will not move with the fork teeth.

12. The method according to claim 11, characterized in that When the angle between the direction of the tray and the direction of the horizontal roller is not 0, step B further includes: At the same time, the feed speed of the transverse movement mechanism in the horizontal direction and the feed speed of the gantry frame in the longitudinal direction are controlled so that the ratio of the feed speed values ​​of the two is equal to the tangent value of the angle.

13. The method according to claim 11, characterized in that In step C, the fork tines are fine-tuned by the pitch fine-tuning structure. The pitch fine-tuning structure is a cam structure designed on the fork tines.

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