Truck loading method

Abstract

According to the truck loading method, the inner wall of a truck compartment / container is scanned through a laser radar, a model is constructed, and therefore reference is provided for goods stacking; meanwhile, when the forklift enters the boxcar / container through the movable track and the track forklift on the movable track, the movable track adapts to the inclination change of the boxcar / container and is aligned with the trend of the boxcar / container, and therefore it is guaranteed that goods do not need to be adjusted in the conveying process. According to the loading method provided by the invention, on the basis of the ground rail type loading machine system, the tray and the steel drum fine password on the tray can be placed in a boxcar / container.

Description

Technical Field

[0001] The present invention relates to the field of intelligent loading technology, and in particular to a loading method for stacking goods on a conveyor roller into a truck compartment / container by utilizing loading machine equipment. Background Art

[0002] At present, loading and stacking steel drums carried on pallets into truck compartments / containers requires complex operating procedures. The applicant has also applied for relevant loading equipment, but the specific loading method has been waiting to be optimized. In particular, as the loading progresses, the height of the truck compartment will change accordingly, and the interior of the truck compartment / container will also show different heights from front to back, so conventional loading technology can no longer meet the increasingly high loading requirements.

[0003] Conventional loading technology cannot adjust the loading operation process according to the tilt angle of the carriage.

[0004] In addition, the loading equipment patent previously applied for by the applicant adopts an empty rail structure and a crane structure with double-sided forks. The equipment is bulky and inconvenient to operate. Summary of the invention

[0005] In order to solve the problems existing in the prior art, the present invention provides a loading method to solve the problem of loading pallets carrying steel drums stacked in a van / container.

[0006] In order to achieve the above objectives, the following technical solutions are provided:

[0007] A loading method, comprising:

[0008] Step A10: Open the rear door of the truck compartment / container, reverse the vehicle until it is connected to the base, and adjust the lifting platform at the front end of the base to be level with the height of the truck compartment / container;

[0009] Step A20, driving the mobile support mechanism at the rear end of the mobile track, so that the mobile track carries the rail forklift thereon into the truck compartment / container;

[0010] Step A30: Detect the distance between the two sides of the truck compartment / container using the distance sensors arranged on both sides of the front end of the moving track, determine the fitting center line in the truck compartment / container, and guide the moving track to enter the truck compartment / container along the fitting center line of the truck compartment / container;

[0011] Step A40: Use the laser radar at the front end of the rail forklift to scan the inner wall of the truck compartment / container to obtain the contour of the inner wall of the truck compartment / container and determine the defect position of the inner wall of the truck compartment / container;

[0012] Step A50: The pallet carrying the steel drum is obtained from the conveyor roller, and the pallet and the steel drum on it are moved to the mobile shuttle in the mobile track by the mobile crane;

[0013] Step A60: The mobile shuttle moves the pallet and the steel drum on it forward to the front along the moving track; at the same time, the rail forklift is controlled to move backward to the rear of the pallet and the steel drum on it;

[0014] Step A70, controlling the rail forklift to fork the pallet and the steel drums on it, and stacking them in a truck compartment / container;

[0015] Step A80, repeat steps A50-A70 until the space in front of the rail forklift is full, then control the moving rail to retreat the distance of a pallet, and repeat steps A50-A70 again.

[0016] Step A20 also includes detecting the front and rear inclination angles of the truck compartment / container floor, and controlling the height of the rear end of the moving track by the moving support mechanism so that the moving track is parallel to the truck compartment / container floor.

[0017] Step A20 also includes detecting the left and right inclination angles, i.e., the lateral inclination angles, of the truck compartment / container floor, and controlling the heights of both sides of the rear end of the moving track by the moving support mechanism so that the lateral inclination angle of the moving track is the same as the lateral inclination angle of the truck compartment / container floor.

[0018] Step 30 includes controlling the universal wheel at the front end of the moving track to move along the fitting center line, and controlling the moving support mechanism at the rear end of the moving track to adjust the lateral position of the rear end of the moving track so that the direction angle of the moving track is parallel to the fitting center line.

[0019] Step A40 includes scanning the inner wall of the truck compartment / container using a laser radar at the front end of the rail forklift, constructing a virtual model of the truck compartment / container based on the scanning record, and marking defect points in the virtual model;

[0020] Obtain the contour of the inner wall of the truck compartment or container at the defect point location or area, and calculate whether the pallet and the steel drum on it can be stacked according to the preset stacking structure within the contour:

[0021] If stacking is possible, the starting coordinates of stacking are sent to the rail forklift in the stacking order;

[0022] If stacking is not possible, an alarm signal is sent.

[0023] Step A50 includes obtaining the front and rear tilt angles and left and right tilt angles of the mobile shuttle; before transferring the pallet and the steel drums on it to the mobile shuttle in the mobile track, fine-tuning the pitch angle of the fork tine on the mobile crane and the height of the left and right fork tine so that the pallet on the fork tine maintains the same front and rear tilt angles and left and right tilt angles as the mobile shuttle.

[0024] The front and rear tilt angles and left and right tilt angles of the mobile shuttle are obtained based on step A20, that is, the mobile shuttle has the same front and rear tilt angles and left and right tilt angles as the mobile track.

[0025] In step A70, before stacking the pallet and the steel drums thereon, the following steps are also included:

[0026] The angle between the moving track and the truck compartment / container floor is detected by the distance sensor at the bottom of the moving track;

[0027] According to the included angle, the inclination angle of the fork tines of the rail forklift is controlled so that the fork tines are parallel to the truck compartment / container floor.

[0028] Alternatively, in step A70, before stacking the pallet and the steel drums thereon, the process further includes:

[0029] The angle between the moving track and the truck compartment / container floor is detected by the distance sensor at the bottom of the moving track;

[0030] Adjust the height of the mobile support mechanism at the rear end of the mobile track so that the mobile track remains parallel to the floor of the truck compartment / container;

[0031] Fine-tune the tilt angle of the rail forklift's tines so that the tines are parallel to the truck bed / container floor.

[0032] In step A70, the actions of controlling the rail forklift to lift the pallet and the steel drum on it include:

[0033] Move the two fork tines of the rail forklift closer to the middle along the transverse track;

[0034] The two fork tines are lowered together with the transverse rails to the height of the pallet;

[0035] The forklift is driven forward along the moving track so that the fork tines are inserted into the pallet;

[0036] The two forks are lifted by the horizontal track, which in turn lifts the pallet and the steel drum on it;

[0037] The pallet is kept level by synchronously controlling the fine adjustment mechanisms on the two fork tines.

[0038] In step A70, the pallet and the steel drums thereon are stacked in a truck compartment / container, including:

[0039] The two forks are driven by the transverse track to continue lifting the pallet and the steel drums on it to the stacking height;

[0040] The two forks are synchronously moved along the transverse track to move the pallet and the steel drums on it transversely to the position corresponding to the stacking position;

[0041] Continue to drive the rail forklift forward along the moving rail, and make the lateral rail exceed the moving rail and reach the code protection position;

[0042] Control the traverse track to move downward, so that the pallet and the steel drum on it are lowered to the code protection position;

[0043] The rail forklift is withdrawn, and the transverse track is lifted to the top of the rail forklift, and at the same time, the two fork teeth are synchronously moved to both sides along the transverse track to the two ends of the transverse track.

[0044] Compared with the prior art, the advantages of the present invention are as follows:

[0045] The loading method provided by the present invention is based on a ground rail type loading machine system and can precisely place a pallet and a steel drum thereon in a truck compartment / container. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 This is a schematic diagram of the process variation of step A20 of the present invention;

[0047] Figure 2 This is a schematic diagram of the process variation of step A50 of the present invention;

[0048] Figure 3 This is a schematic diagram of the process variation of step A60 of the present invention;

[0049] Figure 4 This is a schematic diagram of the process variation of step A70 of the present invention;

[0050] Figure 5 This is a schematic diagram of the process variation of step A80 of the present invention;

[0051] Figure 6 It is a schematic diagram of the structure of the telescopic mechanism for controlling the laser radar on the rail forklift of the present invention;

[0052] Figure 7 It is a structural schematic diagram of the fine adjustment mechanism of the fork teeth of the present invention;

[0053] Figure 8 It is a schematic diagram of the exploded structure of the fine adjustment mechanism of the fork teeth of the present invention;

[0054] Fig. 9 It is a structural schematic diagram of the rail forklift of the present invention;

[0055] Fig.10It is a structural schematic diagram of the mobile support mechanism of the present invention.

[0056] In the figure:

[0057] 10-base; 11-lifting platform; 20-fixed track; 30-conveying roller; 40-mobile crane; 50-mobile support mechanism; 60-mobile track; 70-mobile shuttle; 80-rail forklift; 90-pallet and steel drum on it. DETAILED DESCRIPTION

[0058] 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.

[0059] Example

[0060] Combination Figure 1-10 As shown, an embodiment of the present invention provides a loading method, comprising:

[0061] Step A10, open the rear door of the truck compartment / container (not shown in the figure), reverse the truck until it is connected with the base, and adjust the lifting platform at the front end of the base to be level with the height of the truck compartment / container; open the rear door of the truck compartment / container in advance to facilitate the truck compartment / container to approach the base, avoiding the problem that the door cannot be opened after the truck compartment / container approaches the base;

[0062] Step A20, driving the mobile support mechanism at the rear end of the mobile track, so that the mobile track carries the rail forklift thereon into the truck compartment / container; the universal wheel structure at the front end of the mobile track is located on the lifting platform at the front end of the base, and the lifting platform can be raised and lowered to maintain the same height as the truck compartment / container; both ends of the mobile support mechanism are connected to the mobile track through rollers, and a transversely movable track is provided in the mobile support mechanism, which can be adjusted transversely, and cylinders for lifting and lowering adjustment are provided on both sides, thereby realizing longitudinal, transverse, axial and left-right height movement adjustment of the mobile support mechanism;

[0063] Step A30: Use distance sensors arranged on both sides of the front end of the moving track to detect the distance between the two sides of the truck compartment / container, determine the fitting center line in the truck compartment / container, and guide the moving track to enter the truck compartment / container along the fitting center line of the truck compartment / container; a universal wheel structure is provided at the lower part of the front end of the moving track, and the universal wheel can move along the flip plate at the front end of the base to enter the truck compartment / container;

[0064] Step A40: Use the laser radar at the front end of the rail forklift to scan the inner wall of the truck compartment / container, obtain the contour of the inner wall of the truck compartment / container, and determine the defect position of the inner wall of the truck compartment / container; the laser radar can be extended forward to a position beyond the fork tine of the rail forklift through a retractable and adjustable mechanism, so that the laser radar can scan the inner wall of the entire truck compartment / container to avoid interference from the fork tine;

[0065] Step A50, the pallet carrying the steel drum is obtained by the conveyor roller, and the pallet and the steel drum on it are transferred to the mobile shuttle in the mobile track by the mobile crane; the conveyor roller is located at the rear of the fixed track, the mobile track is located at the front of the fixed track, and the conveyor roller and the mobile track are both located between the fixed track; the mobile crane is installed on the fixed track and can move along the fixed track to above the conveyor roller and the mobile track, wherein the rear end of the mobile track is connected to the inner rail of the fixed track through a mobile support mechanism, and the mobile crane can fork the goods on the conveyor roller and hoist them to the mobile shuttle on the mobile track; the mobile shuttle drives the goods to be transported forward along the mobile track to the front end of the mobile track, so that the rail forklift can fork and stack the goods;

[0066] Step A60, the mobile shuttle moves the pallet and the steel drum on it forward to the front end along the mobile track; at the same time, the rail forklift is controlled to move backward to the rear of the pallet and the steel drum on it; the mobile shuttle and the rail forklift are both driven along the mobile track, wherein the mobile shuttle is located in the mobile track, and the rail forklift is erected on the mobile track, and the two can move relatively independently without interfering with each other, wherein the rail forklift forms a "door"-shaped frame structure as a whole, so that the mobile shuttle can carry the pallet and the steel drum on it through the rail forklift and move to the front of the rail forklift, while the rail forklift retreats backward along the mobile track to the rear of the mobile shuttle, and then further controls the fork teeth and the transverse track on the rail forklift, so as to fork the pallet and the steel drum on it;

[0067] Step A70: Control the rail forklift to pick up the pallet and the steel drums on it, and stack them in a truck compartment / container;

[0068] Step A80, repeat steps A50-A70 until the space in front of the rail forklift is full, then control the moving rail to retreat the distance of a pallet, and repeat steps A50-A70 again.

[0069] The loading method provided by the present invention is based on a ground rail type loading machine system and can precisely place a pallet and a steel drum thereon in a truck compartment / container.

[0070] The front and rear tilt and left and right tilt of the moving track can be adaptively adjusted according to the front and rear tilt and left and right tilt of the carriage, so that the two can be kept in the same state, which is convenient for the pallet and the steel drums on it to be stacked;

[0071] It can identify defect points and defect areas in the truck compartment / container, and then design the pallet and the stacking of the steel drums on it according to the defects, thereby avoiding the problem of collision and damage between the pallet and the steel drums on it and the inner wall of the truck compartment / container during the stacking process, and also avoid the problem of loading being unable to proceed due to serious defects, and can alarm in advance;

[0072] Step A20 also includes detecting the front and rear inclination angles of the truck compartment / container floor, and controlling the height of the rear end of the moving track by the moving support mechanism so that the moving track is parallel to the truck compartment / container floor.

[0073] Step A20 also includes detecting the left and right inclination angles, i.e., the lateral inclination angles, of the truck compartment / container floor, and controlling the heights of both sides of the rear end of the moving track by the moving support mechanism so that the lateral inclination angle of the moving track is the same as the lateral inclination angle of the truck compartment / container floor.

[0074] Step 30 includes controlling the universal wheel at the front end of the moving track to move along the fitting center line, and controlling the moving support mechanism at the rear end of the moving track to adjust the lateral position of the rear end of the moving track so that the direction angle of the moving track is parallel to the fitting center line.

[0075] Step A40 includes scanning the inner wall of the truck compartment / container using a laser radar at the front end of the rail forklift, constructing a virtual model of the truck compartment / container based on the scanning record, and marking defect points in the virtual model;

[0076] Obtain the contour of the inner wall of the truck compartment or container at the defect point location or area, and calculate whether the pallet and the steel drum on it can be stacked according to the preset stacking structure within the contour:

[0077] If stacking is possible, the starting coordinates of stacking are sent to the rail forklift in the stacking order;

[0078] If stacking is not possible, an alarm signal is sent.

[0079] Step A50 includes obtaining the front and rear tilt angles and left and right tilt angles of the mobile shuttle; before transferring the pallet and the steel drums on it to the mobile shuttle in the mobile track, fine-tuning the pitch angle of the fork tine on the mobile crane and the height of the left and right fork tine so that the pallet on the fork tine maintains the same front and rear tilt angles and left and right tilt angles as the mobile shuttle.

[0080] The fine-tuning action is achieved through the fine-tuning mechanism on the fork teeth. As shown in the reference figure, the fine-tuning mechanism mainly includes a supporting shaft structure located at the bottom and a cam driving structure located at the top. The camshaft drives the reducer through the driving motor, thereby controlling the displacement of the top of the fork teeth to achieve fine-tuning of the fork tooth inclination angle.

[0081] This equipment innovatively applies a fork tine fine-tuning structure, which is not available in previous similar equipment. The fork tine fine-tuning structure can be used to fine-tune the inclination angle of the fork tine, thereby ensuring that the pallet and the steel drums on it can remain level during movement, and during stacking, they can maintain the same front, rear, left, and right inclination angles as the truck compartment / container at the stacking position, thus ensuring the smooth progress of both the moving process and the stacking process.

[0082] The front and rear tilt angles and left and right tilt angles of the mobile shuttle are obtained based on step A20, that is, the mobile shuttle has the same front and rear tilt angles and left and right tilt angles as the mobile track.

[0083] In step A70, before stacking the pallet and the steel drums thereon, there are two options, one of which is:

[0084] The angle between the moving track and the truck compartment / container floor is detected by the distance sensor at the bottom of the moving track;

[0085] According to the included angle, the inclination angle of the fork tines of the rail forklift is controlled so that the fork tines are parallel to the truck compartment / container floor.

[0086] Another solution is:

[0087] The angle between the moving track and the truck compartment / container floor is detected by the distance sensor at the bottom of the moving track;

[0088] Adjust the height of the mobile support mechanism at the rear end of the mobile track so that the mobile track remains parallel to the floor of the truck compartment / container;

[0089] Fine-tune the tilt angle of the rail forklift's tines so that the tines are parallel to the truck bed / container floor.

[0090] In step A70, the actions of controlling the rail forklift to lift the pallet and the steel drum on it include:

[0091] Move the two fork tines of the rail forklift closer to the middle along the transverse track;

[0092] The two fork tines are lowered together with the transverse rails to the height of the pallet;

[0093] The forklift is driven forward along the moving track so that the fork tines are inserted into the pallet;

[0094] The two forks are lifted by the horizontal track, which in turn lifts the pallet and the steel drum on it;

[0095] The pallet is kept level by synchronously controlling the fine adjustment mechanisms on the two fork tines.

[0096] Correspondingly, a pallet level detection device is also provided, for example, a level detector provided on the fork tine, or the horizontal inclination of the fork tine is obtained by a camera mechanism through camera analysis, or by a distance sensor structure detection, and then the fine adjustment mechanism is operated to keep the bottom surface of the fork tine horizontal, that is, the pallet is kept horizontal. The level of the pallet is conducive to the rail forklift to move the pallet and the steel drum on it, ensuring the smoothness of the moving process, especially during the acceleration and deceleration process, so that the pallet and the steel drum on it remain relatively stable.

[0097] In step A70, the pallet and the steel drums thereon are stacked in a truck compartment / container, including:

[0098] The two forks are driven by the transverse rails (on the rail forklift) to continue to lift the pallet and the steel drums on it to the stacking height. The stacking height refers to the height corresponding to the installation position of the pallet and the steel drums on it. The stacking height is determined according to the stacking position: when it needs to be stacked directly on the floor of the truck compartment / container, the stacking height is slightly higher than the height of the truck compartment / container floor; when it needs to be stacked on other steel drums, the stacking height is slightly higher than the height of the steel drum;

[0099] The two forks are synchronously moved along the transverse track to move the pallet and the steel drum on it transversely to the position corresponding to the stacking position, that is, directly in front of the stacking position;

[0100] Continue to drive the rail forklift forward along the moving rail, and make the lateral rail exceed the moving rail and reach the top of the code protection position;

[0101] Control the traverse track to move downward, so that the pallet and the steel drum on it are lowered to the code protection position;

[0102] The rail forklift is withdrawn, and the transverse track is lifted to the top of the rail forklift, and at the same time, the two fork teeth are synchronously moved to both sides along the transverse track to the two ends of the transverse track.

[0103] 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 loading method, characterized in that: include: Step A10: Open the rear door of the truck compartment / container, reverse the vehicle until it is connected to the base, and adjust the lifting platform at the front end of the base to be level with the height of the truck compartment / container; Step A20, driving the mobile support mechanism at the rear end of the mobile track, so that the mobile track carries the rail forklift thereon into the truck compartment / container; Step A30: Detect the distance between the two sides of the truck compartment / container using the distance sensors arranged on both sides of the front end of the moving track, determine the fitting center line in the truck compartment / container, and guide the moving track to enter the truck compartment / container along the fitting center line of the truck compartment / container; Step A40: Use the laser radar at the front end of the rail forklift to scan the inner wall of the truck compartment / container to obtain the contour of the inner wall of the truck compartment / container and determine the defect position of the inner wall of the truck compartment / container; Step A50: The pallet carrying the steel drum is obtained from the conveyor roller, and the pallet and the steel drum on it are moved to the mobile shuttle in the mobile track by the mobile crane; Step A60: The mobile shuttle moves the pallet and the steel drum on it forward to the front along the moving track; at the same time, the rail forklift is controlled to move backward to the rear of the pallet and the steel drum on it; Step A70, controlling the rail forklift to fork the pallet and the steel drums on it, and stacking them in a truck compartment / container; Step A80, repeat steps A50-A70 until the space in front of the rail forklift is full, then control the moving rail to retreat the distance of a pallet, and repeat steps A50-A70 again.

2. The loading method according to claim 1, characterized in that: Step A20 also includes detecting the front and rear inclination angles of the truck compartment / container floor, and controlling the height of the rear end of the moving track by the moving support mechanism so that the moving track is parallel to the truck compartment / container floor.

3. The loading method according to claim 1, characterized in that: Step A20 also includes detecting the left and right inclination angles, i.e., the lateral inclination angles, of the truck compartment / container floor, and controlling the heights of both sides of the rear end of the moving track by the moving support mechanism so that the lateral inclination angle of the moving track is the same as the lateral inclination angle of the truck compartment / container floor.

4. The loading method according to claim 1, characterized in that: Step 30 includes controlling the universal wheel at the front end of the moving track to move along the fitting center line, and controlling the moving support mechanism at the rear end of the moving track to adjust the lateral position of the rear end of the moving track so that the direction angle of the moving track is parallel to the fitting center line.

5. The loading method according to claim 1, characterized in that: Step A40 includes scanning the inner wall of the truck compartment / container using a laser radar at the front end of the rail forklift, constructing a virtual model of the truck compartment / container based on the scanning record, and marking defect points in the virtual model; Obtain the contour of the inner wall of the truck compartment or container at the defect point location or area, and calculate whether the pallet and the steel drum on it can be stacked according to the preset stacking structure within the contour: If stacking is possible, the starting coordinates of stacking are sent to the rail forklift in the stacking order; If stacking is not possible, an alarm signal is sent.

6. The loading method according to claim 1, characterized in that: Step A50 includes obtaining the front and rear tilt angles and left and right tilt angles of the mobile shuttle; before transferring the pallet and the steel drums on it to the mobile shuttle in the mobile track, fine-tuning the pitch angle of the fork tine on the mobile crane and the height of the left and right fork tine so that the pallet on the fork tine maintains the same front and rear tilt angles and left and right tilt angles as the mobile shuttle.

7. The loading method according to claim 1, characterized in that: The front and rear tilt angles and left and right tilt angles of the mobile shuttle are obtained based on step A20, that is, the mobile shuttle has the same front and rear tilt angles and left and right tilt angles as the mobile track.

8. The loading method according to claim 1, characterized in that: In step A70, before stacking the pallet and the steel drums thereon, the following steps are also included: The angle between the moving track and the truck compartment / container floor is detected by the distance sensor at the bottom of the moving track; According to the included angle, the inclination angle of the fork tines of the rail forklift is controlled so that the fork tines are parallel to the truck compartment / container floor. Alternatively, in step A70, before stacking the pallet and the steel drums thereon, the process further includes: The angle between the moving track and the truck compartment / container floor is detected by the distance sensor at the bottom of the moving track; Adjust the height of the mobile support mechanism at the rear end of the mobile track so that the mobile track remains parallel to the floor of the truck compartment / container; Fine-tune the tilt angle of the rail forklift's tines so that the tines are parallel to the truck bed / container floor.

9. The loading method according to claim 1, characterized in that: In step A70, the actions of controlling the rail forklift to lift the pallet and the steel drum on it include: Move the two fork tines of the rail forklift closer to the middle along the transverse track; The two fork tines are lowered together with the transverse rails to the height of the pallet; The forklift is driven forward along the moving track so that the fork tines are inserted into the pallet; The two forks are lifted by the horizontal track, which in turn lifts the pallet and the steel drum on it; The pallet is kept level by synchronously controlling the fine adjustment mechanisms on the two fork tines.

10. The loading method according to claim 1, characterized in that: In step A70, the pallet and the steel drums thereon are stacked in a truck compartment / container, including: The two forks are driven by the transverse track to continue lifting the pallet and the steel drums on it to the stacking height; The two forks are synchronously moved along the transverse track to move the pallet and the steel drums on it transversely to the position corresponding to the stacking position; Continue to drive the rail forklift forward along the moving rail, and make the lateral rail exceed the moving rail and reach the code protection position; Control the traverse track to move downward, so that the pallet and the steel drum on it are lowered to the code protection position; The rail forklift is withdrawn, and the transverse track is lifted to the top of the rail forklift, and at the same time, the two fork teeth are synchronously moved to both sides along the transverse track to the two ends of the transverse track.

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