Door machine device for cathode copper loading and loading method

Abstract

The invention discloses a portal crane device for cathode copper loading and a loading method. The portal crane device comprises a first walking part which moves in the length direction of a to-be-loaded vehicle; the second walking part is arranged on the first walking part, and the second walking part can move in the width direction of the to-be-loaded vehicle; the telescopic part is arranged on the side, facing the to-be-loaded vehicle, of the second walking part, and the telescopic part is configured to stretch out and draw back in the direction, facing the to-be-loaded vehicle, of the second walking part; the clamp is arranged at one end, deviating from the second walking part, of the telescopic part, is configured to clamp or put down the cathode copper stacks, and is configured to clamp at least two groups of cathode copper stacks; the conveying line is arranged below the first walking part, and the clamp clamps a cathode copper stack on the ground or the conveying line; the upper computer is used for controlling work of the first walking part, the second walking part, the telescopic part and the clamp. The automatic loading of the cathode copper is realized, the storage space of the cathode copper is expanded, the loading safety is improved, and the loading efficiency and the loading accuracy of the cathode copper are ensured.

Description

Technical Field

[0001] The invention relates to the technical field of cathode copper transportation, and in particular to a gantry crane device and a loading method for cathode copper loading. Background Art

[0002] During copper smelting, after electrolysis of the anode plates, the cathode copper plates are stripped off by the stripping unit, stacked by a stacking robot, and then packaged by a baler to form cathode copper stacks, which are then transported.

[0003] In the related technology, during the copper smelting process, the transportation of cathode copper stacks is always carried out by manual forklifts, sent to the fixed scales on the ground for weighing, and then manually labeled and sent to the yard for storage, or directly loaded; the forklifts are cross-operated throughout the process, and there is a risk of collision; the in and out records are all recorded and issued manually, which is prone to errors and confusion, and requires manual review on the truck, and repetitive work is cumbersome. When the yard is full of cathode copper stacks, a channel for manual forklifts to turn is required; if they are densely placed, the cathode copper stacks in the yard cannot be forked at will, and the outbound order cannot be composed according to demand, which affects the transportation efficiency of cathode copper. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art or related art.

[0005] In view of this, the present invention provides a gantry device and a loading method for cathode copper loading, wherein the gantry device can realize automatic loading of cathode copper, expand the storage space of cathode copper, improve the safety of loading, and ensure the loading efficiency and accuracy of cathode copper.

[0006] Specifically, the following technical solutions are included:

[0007] An embodiment of the first aspect of the present invention provides a door machine device for loading cathode copper, the door machine device comprising:

[0008] A first walking part moves along the length direction of the vehicle to be loaded;

[0009] A second walking part, which is arranged on the first walking part and can move in the width direction of the vehicle to be loaded;

[0010] A telescopic portion, disposed on a side of the second traveling portion facing the vehicle to be loaded, the telescopic portion being configured to telescope in a direction of the second traveling portion toward the vehicle to be loaded;

[0011] A clamp is arranged at one end of the telescopic portion away from the second walking portion, the clamp is configured to clamp or put down the cathode copper stack, and the clamp is configured to clamp at least two groups of cathode copper stacks;

[0012] A conveyor line is arranged below the first walking part, the end of the conveyor line is located below the first walking part, and the conveyor line is arranged in parallel with the vehicle to be loaded, and the clamp clamps the cathode copper stack on the ground or the conveyor line;

[0013] The host computer is used to control the operation of the first walking part, the second walking part, the telescopic part and the clamp.

[0014] Optionally, the door machine device further includes:

[0015] The identification mechanism is arranged in front of or behind the vehicle to be loaded, and is configured to identify the license plate number of the vehicle to be loaded, and the host computer receives the license plate number identified by the identification mechanism.

[0016] Optionally, the door machine device further includes:

[0017] A laser radar is disposed on the first walking part, and the laser radar is configured to swing back and forth in the length direction of the vehicle to be loaded.

[0018] Optionally, the first walking part includes:

[0019] The gantry crane track comprises two tracks, and the two tracks are located on both sides of the width direction of the vehicle to be loaded;

[0020] The gantry crane trolley comprises a cross beam and a support beam arranged below the cross beam, a travel wheel is arranged on a side of the support beam away from the cross beam, the travel wheel is configured to travel in the track, and at least one of the travel wheels is an active travel wheel;

[0021] The first driving motor is connected to the active walking wheel.

[0022] Optionally, the crossbeam includes: a first crossbeam and a second crossbeam, the first crossbeam and the second crossbeam are arranged opposite to each other, and the second walking portion is arranged between the first crossbeam and the second crossbeam; a pair of first linear guides are provided on the side of the first crossbeam facing the second crossbeam, and a pair of first racks are provided between the pair of first linear guides; a pair of second linear guides are provided on the side of the second crossbeam facing the first crossbeam, and a pair of second racks are provided between the pair of second linear guides.

[0023] Optionally, the second walking part includes:

[0024] A support frame, disposed between the first crossbeam and the second crossbeam;

[0025] A second drive motor is disposed on the support frame, the output shaft of the second drive motor faces the pair of the first linear guide rails, the output shaft of the second drive motor is provided with a first gear, and the first gear is meshed with the pair of the first racks;

[0026] The driven shaft is arranged opposite to the second driving motor, the driven shaft faces the pair of second linear guide rails, a second gear is arranged on the driven shaft, and the second gear is meshed with the pair of second racks.

[0027] Optionally, the telescopic portion includes:

[0028] A first square tube is fixedly connected to the support frame, and the first square tube is vertically arranged to the first crossbeam;

[0029] A second square tube, disposed inside the first square tube;

[0030] a third party tube, disposed in the second party tube;

[0031] A mounting plate, fixedly arranged on one end of the third tube away from the second tube, the second mounting plate is provided with a connecting plate, and the connecting plate is extended from the mounting plate toward the supporting frame;

[0032] A drag chain, one end of which is fixedly connected to the connecting plate, and the other end of which is fixedly connected to the supporting frame;

[0033] The telescopic driving member is configured to drive the second square tube to move in the first square tube, and at the same time drive the third square tube to move in the second square tube. The telescopic driving member includes a first component and a second component. The first component is arranged in the support frame, and the second component is arranged on the side of the mounting plate facing the support frame.

[0034] Optionally, the first component includes a plurality of first fixed pulleys, at least one of which is connected to the third drive motor;

[0035] The second assembly includes a plurality of second fixed pulleys, wherein the second fixed pulleys correspond to the first fixed pulleys;

[0036] A steel wire rope is wound around the first fixed pulley, and the free end of the steel wire rope is fixedly connected to the first fixed pulley after passing around the second fixed pulley. The rotation of at least one of the first fixed pulleys is controlled by the third drive motor to realize the retraction and release of the steel wire rope.

[0037] Optionally, the door machine device further includes a rotating connection member, and the rotating connection member includes:

[0038] a fourth drive motor, which is disposed in the mounting plate, and an output shaft of the fourth drive motor passes through the mounting plate and is connected to the fixture,

[0039] An angle sensor is connected to the fixture, and the angle sensor is communicatively connected to the host computer.

[0040] Optionally, the fixture comprises:

[0041] A first connecting plate, movably connected to the telescopic portion;

[0042] A second connecting plate is arranged below the first connecting plate, and a telescopic cylinder is arranged between the first connecting plate and the second connecting plate;

[0043] A shear lift assembly, comprising a first link, a second link, a third link and a fourth link, wherein one end of the first link is hinged to one end of the second link, and one end of the first link and the second link is hinged to the first connecting plate, one end of the first link away from the second link is hinged to the third link, one end of the second link away from the first link is hinged to the fourth link, and the third link and the fourth link are arranged crosswise;

[0044] The clamping plate comprises a first clamping plate and a second clamping plate, wherein the first clamping plate is fixedly connected to an end of the third connecting rod away from the first connecting rod, and the second clamping plate is fixedly connected to an end of the fourth connecting rod away from the second connecting rod, and the third connecting rod and the fourth connecting rod can be controlled to approach and move away from each other by the extension and retraction of the telescopic cylinder, so as to realize the clamping and opening of the first clamping plate and the second clamping plate;

[0045] A scanning element is provided on a side of the second connecting plate facing away from the first walking portion, and the scanning element is communicatively connected with the host computer.

[0046] Optionally, the fixture further includes an anti-falling component, and the anti-falling component includes:

[0047] A support rod, wherein a swivel cylinder is arranged inside the support rod, a telescopic rotating end of the swivel cylinder extends out of the support rod, the telescopic rotating end is connected to a baffle, and the baffle is arranged to rotate in a direction perpendicular to or parallel to the cathode copper stack;

[0048] Wherein, the anti-falling component is arranged at the four corners of the second connecting plate.

[0049] Optionally, the first clamping plate and the second clamping plate have the same structure, the first clamping plate comprises a vertically arranged horizontal plate and a vertical plate, the vertical plate is arranged vertically to the cathode copper stack, the horizontal plate is arranged parallel to the cathode copper stack, and a sawtooth bar is provided on the side of the vertical plate facing the cathode copper stack; the two horizontal plates are connected by a movable rod, and bolts are provided at both ends of the movable rod;

[0050] A pressing block is provided under the second connecting plate, and the pressing block is configured to press on the cathode copper stack.

[0051] An embodiment of the second aspect of the present invention provides a method for loading cathode copper, the method comprising the following steps:

[0052] Based on the comparison between the storage data and the collected data of the host computer, the effective information of the vehicle to be loaded and the cathode copper is obtained;

[0053] The vehicle enters the loading station;

[0054] Based on the valid information, it is determined whether the vehicle on the loading station is a vehicle to be loaded. If the vehicle is a vehicle to be loaded, the next step is entered; if the vehicle is not a vehicle to be loaded, the previous step is returned;

[0055] Based on the stored data and the collected data, obtaining coordinate information of the vehicle to be loaded;

[0056] The coordinate information is transmitted to the host computer, and the host computer controls the first walking part, the second walking part, the telescopic part and the clamp to work together to grab the cathode copper;

[0057] Based on the coordinate information and the number of times the clamp grabs, determine whether the loading is completed. If the loading is completed, proceed to the next step. If the loading is not completed, proceed to the previous step.

[0058] The vehicle to be loaded drives away from the loading station.

[0059] The embodiment of the present invention provides a door machine device and a loading method for cathode copper loading, wherein the door machine device includes a first walking part, a second walking part and a telescopic part arranged on the first walking part, the first walking part reciprocates in the length direction of the vehicle to be loaded, and the second walking part reciprocates in the width direction of the vehicle to be loaded, that is, the walking directions of the first walking part and the second walking part are perpendicular, and the telescopic part reciprocates in the height direction of the vehicle to be loaded, that is, the telescopic direction of the telescopic part is respectively perpendicular to the walking direction of the first walking part and the walking direction of the second walking part, and a clamp is arranged at one end of the telescopic part away from the second walking part, so that the clamp can be moved in three-axis directions, avoiding manual loading, improving loading efficiency, and reducing the labor intensity of staff; at the same time, leaving the installation position of the door machine device and the position of the vehicle to be loaded, which can expand the storage space of the cathode copper stack, and can store more cathode copper stacks in a limited space; replacing the existing forklift loading method, saving manpower and energy consumption, and can also avoid the occurrence of safety accidents, and improve the safety and reliability of loading.

[0060] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0062] Figure 1 is a schematic diagram of a door machine device according to an embodiment of the present invention;

[0063] Figure 2 is a schematic diagram of a door machine device according to another embodiment of the present invention from another angle;

[0064] Figure 3 is a schematic diagram of the operation of the second walking unit according to an embodiment of the present invention;

[0065] Figure 4 is a schematic diagram of a telescopic portion according to an embodiment of the present invention;

[0066] Figure 5 is a schematic diagram of a clamp according to an embodiment of the present invention;

[0067] Figure 6 The present invention is a flowchart of the steps of a vehicle loading method according to an embodiment of the present invention.

[0068] in, Figures 1 to 5 The corresponding relationship between the reference numerals and the component names is as follows:

[0069] 100 gantry crane device, 110 first traveling part, 111 gantry crane track, 112 gantry crane trolley, 1121 first crossbeam, 1122 second crossbeam, 113 support beam, 114 traveling wheel, 115 first linear guide, 116 first rack, 117 second linear guide, 118 second rack, 120 second traveling part, 121 support frame, 122 second driving motor, 123 first gear, 124 driven shaft, 125 second gear, 130 telescopic part, 131 first square tube, 132 second square tube, 133 mounting plate, 134 second fixed pulley, 135 wire rope, 140 clamp Tools, 141 first connecting plate, 142 second connecting plate, 143 shear lift assembly, 1431 first connecting rod, 1432 second connecting rod, 1433 third connecting rod, 1434 fourth connecting rod, 145 first splint, 1451 vertical plate, 1452 horizontal plate, 1453 sawtooth bar, 146 second splint, 147 anti-fall assembly, 1471 support rod, 1472 transfer cylinder angle cylinder, 1473 baffle, 148 telescopic cylinder, 149 pressure block, 160 laser radar, 200 conveyor line, 210 first conveyor line, 220 second conveyor line, 300 vehicles to be loaded, 400 cathode copper stack. DETAILED DESCRIPTION

[0070] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions 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. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0071] Before further describing the embodiments of the present invention in detail, the directional nouns involved in the embodiments of the present invention, such as "upper part", "lower part" and "side part", do not have the meaning of limiting the protection scope of the present invention.

[0072] To make the technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0073] Figure 1 is a schematic diagram of a door machine device according to an embodiment of the present invention; Figure 2 It is a schematic diagram from another angle of a door machine device according to an embodiment of the present invention.

[0074] like Figure 1 and Figure 2 As shown, one embodiment of the present invention provides a door machine device for loading cathode copper, and the door machine device 100 includes:

[0075] The first walking unit 110 moves along the length direction of the vehicle 300 to be loaded;

[0076] The second walking part 120 is disposed on the first walking part 110, and the second walking part 120 can move in the width direction of the vehicle 300 to be loaded;

[0077] The telescopic portion 130 is disposed on the side of the second traveling portion 120 facing the vehicle 300 to be loaded, and the telescopic portion 130 is configured to be telescopic in the direction of the second traveling portion 120 toward the vehicle 300 to be loaded;

[0078] The clamp 140 is disposed at one end of the telescopic portion 130 away from the second walking portion 120. The clamp 140 is configured to clamp or put down the cathode copper stack 400. The clamp 140 is configured to clamp at least two groups of cathode copper stacks 400.

[0079] The conveyor line 200 is arranged below the first walking part 110, the end of the conveyor line 200 is located below the first walking part 110, and the conveyor line 200 is arranged in parallel with the vehicle to be loaded 300, and the clamp 140 clamps the cathode copper stack 400 on the ground or the conveyor line 200;

[0080] The host computer is used to control the operations of the first walking unit 110 , the second walking unit 120 , the telescopic unit 130 and the clamp 140 .

[0081] The door machine device 100 includes a first walking part 110, a second walking part 120 and a telescopic part 130 arranged on the first walking part 110, the first walking part 110 reciprocates in the length direction of the vehicle 300 to be loaded, and the second walking part 120 reciprocates in the width direction of the vehicle 300 to be loaded, that is, the walking directions of the first walking part 110 and the second walking part 120 are perpendicular, and the telescopic part 130 reciprocates in the height direction of the vehicle 300 to be loaded, that is, the telescopic directions of the telescopic part 130 are respectively perpendicular to the walking directions of the first walking part 110 and the second walking part 120. Vertically, the clamp 140 is arranged at one end of the telescopic part 130 away from the second walking part 120, so that the clamp 140 can be moved in three-axis directions, avoiding manual loading, improving the efficiency of loading, and reducing the labor intensity of the staff; at the same time, the installation position of the door machine device 100 and the position of the vehicle 300 to be loaded are left, which can expand the storage space of the cathode copper stack 400, and more cathode copper stacks 400 can be stored in a limited space; it replaces the existing forklift loading method, saves manpower and energy consumption, and can also avoid the occurrence of safety accidents, and improves the safety and reliability of loading.

[0082] Specifically, the first walking part 110 is arranged on the ground, and the first walking part 110 extends away from the ground, so that the first walking part 110 can cross the outside of the vehicle 300 to be loaded and the conveyor line 200, and the second walking part 120 moves on the first walking part 110, and the moving direction of the first walking part 110 is perpendicular to the moving direction of the second walking part 120, and the moving direction of the first walking part 110 and the moving direction of the second walking part 120 are both parallel to the ground, that is, the movement of the clamp 140 in two directions can be realized. At the same time, the telescopic part 130 is arranged below the second walking part 120, so that the clamp 140 can be telescopic perpendicular to the moving direction of the first walking part 110 and the moving direction of the second walking part 120, so as to realize the rise and fall of the clamp 140, that is, the three-way movement of the clamp 140 can be realized. The free movement of the clamp 140 is achieved, and it is ensured that the clamp 140 can move back and forth between the storage place of the cathode copper stack 400 and the vehicle 300 to be loaded, so as to realize the loading of the cathode copper stack 400, improve the safety and reliability of loading, and increase the storage space of the copper stack due to the reduction of the passage for the forklift to move. It can be understood that the distance between two adjacent cathode copper stacks 400 is usually 100mm to 200mm, which improves the safety of storage and transportation of the cathode copper stack 400. At the same time, in order to improve the loading efficiency, the clamp 140 can include two groups of clamp 140 bodies, so that the distance between the two clamp 140 bodies is manufactured and assembled according to the distance between the cathode copper stacks 400. This is a solution known in the art and will not be repeated.

[0083] It should be noted that the host computer is a control system based on programming. After receiving input instructions and collection instructions, the system controls the door machine device 100 to run automatically, further improving the loading efficiency and reducing the labor intensity of the staff.

[0084] In a feasible implementation manner, the door machine device 100 further includes:

[0085] The identification mechanism is arranged in front of or behind the vehicle 300 to be loaded. The identification mechanism is configured to identify the license plate number of the vehicle 300 to be loaded. The host computer receives the license plate number identified by the identification mechanism.

[0086] The identification mechanism is usually a camera, which collects the license plate number of the vehicle entering the loading station and confirms whether the license plate number matches the vehicle assigned by the system. When it is determined that the vehicle is loaded, the door machine device 100 is controlled to work. Otherwise, an alarm is issued, the vehicle exits the loading station, and other vehicles enter the loading work to continue the judgment until the vehicle to be loaded 300 matches the vehicle assigned by the system. The camera can be installed in front of or behind the loading station, and the position of the license plate number can be clearly photographed.

[0087] It should be noted that the camera uploads the collected license plate number to the host computer, and compares it with the vehicle management system and order system in the host computer to determine whether the vehicle on the loading station is the vehicle to be loaded 300. According to the specific content of the sales order, the specific content includes the production batch, weight, number of pieces and other information of the cathode copper stack 400, a loading list is generated, such as the number of cathode copper stacks 400 for each vehicle, the total number of vehicles required, the license plate number of each vehicle, and the transportation address, and matched with the vehicle in the vehicle management system; when the license plate number of the vehicle matches the license plate number on the loading list, loading is carried out, and if the match fails, a new vehicle is re-entered. It can improve the reliability of loading, avoid errors, and cause economic losses.

[0088] In a feasible implementation manner, the door machine device 100 further includes:

[0089] The laser radar 160 is disposed on the first walking unit 110 , and is configured to swing back and forth in the length direction of the vehicle 300 to be loaded.

[0090] Among them, the laser radar 160 is set on the first walking part 110 through the pan-tilt platform, and the laser radar 160 is located above the loading station. The laser radar 160 directly scans the width of the vehicle 300 to be loaded, and the pan-tilt platform drives the laser radar 160 to swing, so as to realize the laser radar scanning the length of the vehicle, and then obtain the specific position of the vehicle 300 to be loaded and the size of the carriage. The specific maintenance of the vehicle 300 to be loaded and the size of the carriage are uploaded to the host computer. The host computer obtains the placement position coordinates of the cathode copper stack 400 each time the vehicle is loaded through the programming algorithm and the loading rules, and then the host computer controls the operation of the door machine device 100 to realize the automatic grabbing of the cathode copper stack 400.

[0091] It should be noted that the loading rule refers to loading a vehicle 300 to be loaded in two columns and multiple rows.

[0092] In a feasible implementation manner, the first walking unit 110 includes:

[0093] The gantry crane track 111 includes two tracks, which are located on both sides of the width direction of the vehicle 300 to be loaded;

[0094] The gantry crane trolley 112 includes a crossbeam and a support beam 113 disposed below the crossbeam. A travel wheel 114 is disposed on a side of the support beam 113 away from the crossbeam. The travel wheel 114 is configured to travel in the track. At least one travel wheel 114 is an active travel wheel 114.

[0095] The first driving motor is connected to the active walking wheel 114 .

[0096] Among them, since the first walking part 110 moves back and forth along the length direction of the vehicle 300 to be loaded, the gantry crane track 111 is required to span the width direction of the vehicle 300 to be loaded, and two tracks are set to make the movement of the gantry crane trolley 112 more stable and reliable. The lower part of the gantry crane trolley 112 is set in the track through the walking wheel 114. Usually, two or three walking wheels 114 are set in one side of the track to ensure the reliability of the movement of the gantry crane trolley 112; at the same time, since the mass of a cathode copper stack 400 reaches 2.5t, we use a double clamp 140 to clamp it, and the weight of each clamping is as high as 5t. Therefore, multiple walking wheels 114 are set in one side to balance the force of the gantry crane trolley 112, improve the stability of the gantry crane trolley 112, and avoid the shaking of the cathode copper stack 400, which causes safety accidents.

[0097] It should be noted that a first driving motor is usually provided on one of the running wheels 114 to drive the running wheel 114 to move on the track. Then the running wheel 114 provided with the first driving motor is the driving wheel, and the other running wheels 114 are driven wheels. The first driving motor drives all the running wheels 114 to move in the track. The forward and reverse rotation of the first driving motor realizes the reciprocating movement of the gantry crane trolley 112 in the track, thereby improving the grasping accuracy and the loading accuracy.

[0098] In a feasible embodiment, the beam includes: a first beam 1121 and a second beam 1122, the first beam 1121 and the second beam 1122 are arranged opposite to each other, and the second walking part 120 is arranged between the first beam 1121 and the second beam 1122; a pair of first linear guides 115 are provided on the side of the first beam 1121 facing the second beam 1122, a pair of first racks 116 are provided between the pair of first linear guides 115, and a pair of second linear guides 117 are provided on the side of the second beam 1122 facing the first beam 1121, and a pair of second racks 118 are provided between the pair of second linear guides 117.

[0099] Among them, the gantry crane trolley 112 includes a mutual cross beam and a support beam 113. The cross beam is located above the loading station. The end of the support beam 113 away from the cross beam is fixedly connected to the travel wheel 114. Usually, support beams 113 are arranged on both sides of the length direction of the cross beam, and there are two support beams 113 on each side. The ends of the two support beams 113 away from the cross beam are connected by a connecting beam, so that the projection of the gantry crane trolley 112 on the length plane of the vehicle to be loaded 300 is in the shape of an isosceles trapezoid, which improves the stability of the operation of the gantry crane trolley 112. It can be understood that the travel wheel 114 is installed on the side of the connecting beam away from the support beam 113.

[0100] It should be noted that the crossbeam is a rectangular frame structure, so that a accommodating space is formed for placing the second walking part 120. The crossbeam includes a first crossbeam 1121 and a second crossbeam 1122. The second walking part 120 is supported by the two crossbeams, thereby improving the stability and balance of the second walking part 120, and further improving the reliability of the clamp 140 in clamping and placing the cathode copper stack 400.

[0101] Specifically, a first linear guide 115 is provided on the first crossbeam 1121, and a second linear guide 117 is provided on the second crossbeam 1122. The first linear guide 115 and the second linear guide 117 are arranged opposite to each other to realize the control of the travel direction of the second walking part 120. A pair of first racks 116 are provided between the pair of first linear guides 115, and a pair of second racks 118 are provided between the pair of second linear guides 117. The pair of first racks 116 are meshed with the first gear 123 on the second walking part 120, and the second rack 118 is meshed with the second gear 125 on the second walking part 120 to convert the rotational motion of the second driving motor 122 on the second walking part 120 into linear motion, so as to realize the movement of the second walking part 120 on the first walking part 110.

[0102] Figure 3 is a schematic diagram of the operation of the second walking unit according to an embodiment of the present invention;

[0103] In a possible implementation, Figure 3 As shown, the second walking unit 120 includes:

[0104] The support frame 121 is disposed between the first cross beam 1121 and the second cross beam 1122;

[0105] A second driving motor 122 is disposed on the support frame 121, and an output shaft of the second driving motor 122 faces the pair of first linear guide rails 115. A first gear 123 is disposed on the output shaft of the second driving motor 122, and the first gear 123 is meshed with the pair of first racks 116;

[0106] The driven shaft 124 is disposed opposite to the second driving motor 122 . The driven shaft 124 faces the pair of second linear guide rails 117 . A second gear 125 is disposed on the driven shaft 124 . The second gear 125 meshes with the pair of second racks 118 .

[0107] Among them, the support frame of the second walking part 120 is located in the space formed by the first crossbeam 1121 and the second crossbeam 1122, and a second drive motor 122 is provided on the side of the support frame facing the pair of first linear guide rails 115, and a first gear 123 is provided on the output shaft of the second drive motor 122. The first gear 123 is located between the pair of first racks 116, and the first gear 123 is meshed with the pair of first racks 116. In this way, the rotation of the second motor drives the rotation of the first gear 123 to realize the movement of the support frame 121 on the pair of first linear guide rails 115.

[0108] It should be noted that, in order to ensure the smoothness of the linear motion of the support frame 121 and to improve the support strength of the support frame 121, a driven shaft 124 is further provided on the support frame 121, and the driven shaft 124 extends toward the pair of second linear guide rails 117. A second gear 125 is provided on the driven shaft 124, and the second gear 125 is located between the pair of second racks 118, and the second gear 125 is meshed with the pair of second racks 118. The support structure is provided on both sides of the support frame 121, which can improve the smoothness and reliability of the movement of the second walking part 120.

[0109] It can be understood that the output shaft of the second drive motor 122 is connected to the support frame 121 via a bearing, and similarly, the driven shaft 124 is also connected to the support frame 121 via a bearing, so that the rotation of the second electrode output shaft and the driven shaft 124 can be realized, and the reciprocating movement of the second walking part 120 on the first walking part 110 can be realized through the forward and reverse rotation of the second drive motor 122.

[0110] Figure 4 Schematic diagram of a telescopic portion according to an embodiment of the present invention.

[0111] In a feasible implementation manner, the telescopic portion 130 includes:

[0112] The first square tube 131 is fixedly connected to the support frame 121, and the first square tube 131 is vertically arranged with the first crossbeam 1121;

[0113] The second square tube 132 is disposed in the first square tube 131;

[0114] The third square tube is disposed in the second square tube 132;

[0115] The mounting plate 133 is fixedly mounted on one end of the third tube away from the second tube 132. A connecting plate is disposed on the second mounting plate 133, and the connecting plate extends from the mounting plate 133 toward the supporting frame 121.

[0116] A drag chain, one end of which is fixedly connected to the connecting plate, and the other end of which is fixedly connected to the support frame 121;

[0117] The telescopic driving member is configured to drive the second square cylinder 132 to move in the first square cylinder 131, and at the same time drive the third cylinder to move in the second square cylinder 132. The telescopic driving member includes a first component and a second component. The first component is arranged in the support frame 121, and the second component is arranged on the side of the mounting plate 133 facing the support frame 121.

[0118] Among them, through the sleeve connection of multiple square tubes, the telescopic part 130 can be extended and shortened, so that the clamp 140 can reciprocate in the height direction of the vehicle 300 to be loaded, and the cathode copper stack 400 can be grasped and put down. The third tube is extended from the second square tube 132 by the extension of the telescopic drive member, and the second square tube 132 is extended from the first square tube 131 to achieve the downward movement of the clamp 140; and the third tube is retracted into the second square tube 132 by the retraction of the telescopic drive member, and the second square tube 132 is retracted into the first square tube 131 to achieve the lifting of the clamp 140.

[0119] It should be noted that a slide or a connecting strip is provided on the side of the first square cylinder 131 facing the second square cylinder 132, and a connecting strip or a slider is provided on the side of the second square cylinder 132 facing the first square cylinder 131. Through the cooperation of the slide and the connecting strip, the second square cylinder 132 can move stably in the first square cylinder 131. Similarly, a slide or a connecting strip is provided on the side of the second square cylinder 132 facing the third square cylinder, and a connecting strip or a slider is provided on the side of the third square cylinder facing the second square cylinder 132. Through the cooperation of the slide and the connecting strip, the third square cylinder can move stably in the second square cylinder 132.

[0120] It can be understood that the first square tube 131, the second square tube 132 and the third square tube of the present application are only an example. In actual applications, only two square tubes can be used, or four or more square tubes can be used, depending on the height requirements and the length of the square tubes.

[0121] In a feasible implementation, the first component includes a plurality of first fixed pulleys, at least one of which is connected to the third drive motor;

[0122] The second assembly includes a plurality of second fixed pulleys 134, the second fixed pulleys 134 corresponding to the first fixed pulleys;

[0123] A steel wire rope 135 is wound around the first fixed pulley, and the free end of the steel wire rope 135 is fixedly connected to the first fixed pulley after passing around the second fixed pulley 134. The rotation of at least one first fixed pulley is controlled by the third driving motor to realize the retraction and extension of the steel wire rope 135.

[0124] Among them, in this embodiment, when the third driving component rotates forward, the rotation of the first fixed pulley is controlled, thereby lengthening the steel wire rope 135 wound on the first fixed pulley, thereby extending the telescopic part 130; when the third driving component is reversed, the first fixed pulley rotates, thereby retracting the steel wire rope 135 wound on the second fixed pulley 134, thereby retracting the telescopic arm.

[0125] It should be noted that, by setting the second fixed pulley 134, a rolling connection between the wire rope 135 and the second fixed pulley 134 is achieved. If a lifting ring is used, the friction force of the wire rope 135 will increase when it is retracted and released, affecting the service life of the wire rope 135. Therefore, by setting the second fixed pulley 134, the service life of the wire rope 135 can be extended, ensuring the safety of the use of the telescopic part 130.

[0126] In this embodiment, Figure 4 As shown, only two square tubes are provided, a first square tube 131 and a second square tube 132, and the mounting plate 133 is provided below the second square tube 132. The retractable portion 130 is retracted and extended by the forward and reverse rotation of the third driving motor.

[0127] In a feasible implementation manner, the door machine device 100 further includes a rotating connection member, and the rotating connection member includes:

[0128] The fourth driving motor is disposed in the mounting plate 133, and the output shaft of the fourth driving motor passes through the mounting plate 133 and is connected to the fixture 140.

[0129] The angle sensor is connected to the fixture 140 , and the angle sensor is communicatively connected to the host computer.

[0130] Among them, the fourth driving motor is provided to realize the rotation of the clamp 140 on the horizontal plane. In this embodiment, two clamp 140 bodies are provided, and in this embodiment, two conveyor lines 200 are provided, namely, the first conveyor line 210 and the second conveyor line 220. The clamp 140 alternately grabs two cathode copper stacks 400 on the conveyor line 200, and then continues to convey the cathode copper stack 400 toward the door machine device 100. In other words, the clamp 140 first grabs two copper stacks on the first conveyor line 210, places them on the vehicle 300 to be loaded, and then returns to the second conveyor line 220 to grab two cathode copper stacks 400 and place them on the vehicle 300 to be loaded, and repeats this process.

[0131] Specifically, when the clamp 140 clamps the cathode copper stack 400 on the conveyor line 200, the two clamp bodies 140 are arranged along the length direction of the vehicle 300 to be loaded. When the clamp 140 reaches the top of the vehicle to be tested, the angle of the clamp 140 is rotated so that the two clamp bodies 140 are arranged along the width direction of the vehicle to be tested, so that the cathode copper stack 400 is arranged in a row on the vehicle 300 to be loaded. The loading times are obtained according to the calculation of the host computer. When the clamp 140 completes the current grabbing times, the loading is completed. The license plate number of the vehicle on the loading station is re-obtained, and the grabbing times are reset to zero and recalculated.

[0132] It is understandable that an angle sensor can be provided on the clamp 140 so that the two clamp 140 bodies can rotate back and forth in the length direction and the width direction of the vehicle 300 to be loaded, that is, a 90° rotation, to realize the loading of the cathode copper stack 400 on the conveyor line 200. The rotation angle is obtained by the angle sensor and transmitted to the host computer, and the host computer controls the opening and closing and forward and reverse rotation of the fourth drive motor.

[0133] Figure 5 Schematic diagram of a clamp according to an embodiment of the present invention.

[0134] In a possible implementation, Figure 5 As shown, the fixture 140 includes:

[0135] A first connecting plate 141 is movably connected to the telescopic portion 130;

[0136] The second connecting plate 142 is disposed below the first connecting plate 141 , and a telescopic cylinder 148 is disposed between the first connecting plate 141 and the second connecting plate 142 ;

[0137] The shear lift assembly 143 includes a first link 1431, a second link 1432, a third link 1433 and a fourth link 1434, one end of the first link 1431 is hinged to one end of the second link 1432, and one end of the first link 1431 and the second link 1432 is hinged to the first connecting plate 141, one end of the first link 1431 away from the second link 1432 is hinged to the third link 1433, one end of the second link 1432 away from the first link 1431 is hinged to the fourth link 1434, and the third link 1433 and the fourth link 1434 are cross-arranged;

[0138] The clamping plate includes a first clamping plate 145 and a second clamping plate 146. The first clamping plate 145 is fixedly connected to one end of the third connecting rod 1433 away from the first connecting rod 1431, and the second clamping plate 146 is fixedly connected to one end of the fourth connecting rod 1434 away from the second connecting rod 1432. The third connecting rod 1433 and the fourth connecting rod 1434 can be controlled to approach and move away from each other by the extension and contraction of the telescopic cylinder 148, so as to realize the clamping and opening of the first clamping plate 145 and the second clamping plate 146.

[0139] A scanning element is disposed on a side of the second connecting plate 142 facing away from the first walking part 110 , and the scanning element is communicatively connected with the host computer.

[0140] Among them, the clamp 140 includes a first connecting plate 141 and a second connecting plate 142, the second connecting plate 142 is located below the first connecting plate 141, the first connecting plate 141 and the second connecting plate 142 are connected by a telescopic cylinder 148, and the first end of the shear lift assembly 143 is fixedly connected to the first connecting plate 141, and the second end of the shear lift assembly 143 is respectively connected to the first clamping plate 145 and the second clamping plate 146, and the second connecting plate 142 is fixed. The extension of the telescopic cylinder 148 drives the shear lift assembly 143 to lengthen, and then the second end of the shear lift assembly 143 is brought closer to achieve clamping of the first clamping plate 145 and the second clamping plate 146. On the contrary, the shortening of the telescopic cylinder 148 drives the shear lift assembly 143 to compress, so that the second end of the shear lift assembly 143 is moved away, and the first clamping plate 145 and the second clamping plate 146 are opened, thereby achieving the clamping and release of the clamp 140.

[0141] Specifically, the shear lift assembly 143 includes a first link 1431, a second link 1432, a third link 1433 and a fourth link 1434, one end of the first link 1431 is hinged to one end of the second link 1432, and one end of the first link 1431 and the second link 1432 is hinged to the first connecting plate 141, one end of the first link 1431 away from the second link 1432 is hinged to the third link 1433, one end of the second link 1432 away from the first link 1431 is hinged to the fourth link 1434, and the third link 1433 is cross-arranged with the fourth link 1434. With such an arrangement, through the mutual connection and hinge of the links, under the telescopic action of the telescopic cylinder 148, the third link 1433 and the fourth link 1434 are brought close to and away from each other, thereby achieving the clamping and opening of the first clamping plate 145 and the second clamping plate 146. The above principle is similar to that of scissors, so it is called a shear lift assembly.

[0142] It is understandable that the second connecting plate 142 is provided with an escape opening to facilitate the connection between the shear lift assembly 143 and the clamping plate.

[0143] It should be noted that the scanning element, that is, the scanning gun is used to scan the QR code information on the cathode copper stack 400, obtain the production batch, weight, number of pieces and other information of the cathode copper stack 400, and compare it with the loading list in the host computer. After meeting the requirements of the loading list, the clamp 140 grabs and loads it. If the scanned information does not match the current loading list, an alarm is issued, and the scanning and matching of the next cathode copper stack 400 is carried out to determine whether to grab it. The method is the same and will not be repeated.

[0144] In a feasible implementation manner, the clamp 140 further includes an anti-falling component 147, and the anti-falling component 147 includes:

[0145] A support rod 1471, in which a rotation cylinder 1472 is arranged, a telescopic rotating end of the rotation cylinder 1472 extends out of the support rod 1471, and the telescopic rotating end is connected to a baffle 1473, and the baffle 1473 is arranged to rotate in a direction perpendicular or parallel to the cathode copper stack 400;

[0146] The anti-falling components 147 are disposed at four corners of the second connecting plate 142 .

[0147] It should be noted that the provision of the anti-fall component 147 can provide a protective effect on the cathode copper stack 400 to prevent it from falling during aerial transportation and causing safety accidents. In other words, the provision of the anti-fall component 147 can improve the safety of the clamp 140 working in the air.

[0148] Specifically, when the cathode copper stack 400 is not clamped, the baffle 1473 and the clamp are located in the same straight line. When the clamp clamps the cathode copper stack 400, the upper computer receives a signal and controls the corner oil cylinder 1472 in the support rod 1471 to extend and rotate, so that the baffle 1473 below the corner oil cylinder 1472 turns to one side of the cathode copper stack 400. At the same time, in order to ensure the stability and reliability of the baffle 1473 in receiving the cathode copper stack 400, after the cathode copper stack 400 is clamped, the baffle 1473 is usually arranged vertically with the cathode copper stack 400, and the baffle 1473 is located below the cathode copper stack 400. Before putting down the cathode copper stack 400, the distance sensor can be used to determine the distance between the cathode copper stack 400 and the vehicle 300 to be loaded. When the distance meets the requirements, the upper computer receives a signal and controls the baffle 1473 to rotate back to the initial position, that is, the position located in the same straight line with the clamp, to ensure that the cathode copper stack 400 is smoothly placed on the vehicle 300 to be loaded.

[0149] It can be understood that the corner cylinder 1472 has a rotation angle of 30°, 45°, 60° and 90°. The present embodiment selects a 90° corner cylinder. The rotation of the corner cylinder 1472 has two forms of forward rotation and reverse rotation. Since the rotation directions of the baffles 1473 on both sides of the second connecting plate 142 in the present application are opposite, the present application adopts two forward rotating corner cylinders 1472 and two reverse rotating corner cylinders 1472 to realize the anti-falling scheme of the cathode copper stack 400 with four baffles 1473, thereby improving the reliability and stability of the anti-falling scheme.

[0150] In a feasible embodiment, the first clamping plate 145 and the second clamping plate 146 have the same structure. The first clamping plate 145 includes a vertically arranged horizontal plate 1452 and a vertical plate 1451. The vertical plate 1451 is arranged vertically to the cathode copper stack 400, and the horizontal plate 1452 is arranged parallel to the cathode copper stack 400. A sawtooth bar 1453 is provided on the side of the vertical plate 1451 facing the cathode copper stack 400; the two horizontal plates 1452 are connected by a movable rod, and bolts are provided at both ends of the movable rod;

[0151] A pressing block 149 is disposed under the second connecting plate 142 , and the pressing block 149 is configured to press on the cathode copper stack 400 .

[0152] Among them, after the pressure block 149 contacts the cathode copper stack 400, the upper computer receives a signal and controls the telescopic cylinder 148 to extend, thereby realizing the approach of the first clamp 145 and the second clamp 146. After clamping the cathode copper stack 400, the anti-fall component 147 works, and the four baffles 1473 turn to the direction of the cathode copper stack 400. When the door machine device 100 drives the cathode copper stack 400 to the required position, the anti-fall component 147 is retracted, that is, the baffle 1473 rotates back to the initial position. After the cathode copper stack 400 is implemented, the pressure block 149 continues to abut and controls the telescopic cylinder 148 to retract, so that the first clamp 145 and the second clamp 146 are separated. After putting down the cathode copper stack 400, it retracts through the telescopic part 130, drives the clamp 140 to rise, and after being away from the cathode copper stack 400, another group of cathode copper stacks 400 are hoisted.

[0153] It should be noted that the first clamping plate 145 and the second clamping plate 146 have the same structure. The first clamping plate 145 includes a vertically arranged horizontal plate 1452 and a vertical plate 1451. The vertical plate 1451 is arranged vertically with the cathode copper stack 1451, the horizontal plate 1452 is arranged parallel to the cathode copper stack 400, and a sawtooth bar 1453 is arranged on the side of the vertical plate 1451 facing the cathode copper stack 400; the two horizontal plates 1452 are connected by a movable rod, and bolts are arranged at both ends of the movable rod. In other words, when the first clamping plate 145 and the second clamping plate 146 are close to each other, the two horizontal plates 1452 are close to each other, and when the first clamping plate 145 and the second clamping plate 146 are far away from each other, the two horizontal plates 1452 are far away from each other. By setting the movable rod, a balanced approach and distance effect between the two horizontal plates 1452 is ensured, thereby improving the stability of the movement of the first clamping plate 145 and the second clamping plate 146. The provision of the bolts at both ends has a limiting effect on the distance between the first clamping plate 145 and the second clamping plate 146 , thereby improving the reliability of the clamp 140 .

[0154] It is understandable that a plurality of pressure blocks 149 can be provided, usually 2, 3 or 4, to improve the balance of the contact with the cathode copper stack 400 and prevent the cathode copper stack 400 from tilting. Two movable rods are generally provided, at both ends of the width direction of the cross plate 1452, to improve the stability and balance of the cross plate 1452 in driving the clamp to move. In this embodiment, two clamps 140 are arranged below the telescopic part 130 to improve the loading efficiency of the cathode copper stack 400. The setting of the sawtooth bar 1453 can increase the friction between the clamp and the cathode copper stack 400, ensure further clamping of the clamp 140, prevent the cathode copper stack 400 from falling, and improve the safety of the clamp 140.

[0155] Specifically, from the electrolysis workshop, the cathode copper stack 400 is transported from the factory to the outside of the factory after being weighed, labeled, and counted. In order to increase the transportation efficiency, two conveyor lines 200 are set up to alternately grab and load; the two production lines should extend to the coverage area of ​​the intelligent door machine. The clamp 140 adopts the form of a double clamp 140 body, which can clamp two cathode copper stacks 400 at a time. At the same time, in order to ensure the accuracy of the positioning of the clamp 140, the telescopic part 130 composed of a rigid square tube is connected to the clamp 140 to ensure that the clamp 140 grabs and places the cathode copper stack 400 accurately each time. A laser radar 160 is installed on the second walking part 120 to scan the position and compartment size of the upper opening vehicle or flatbed vehicle parked in the loading area; the data is sent to the host computer, and after algorithm calculation and loading rules, the placement coordinate value of the cathode copper stack 400 at each loading can be obtained, and then the gantry device 100 is dispatched to grab the cathode copper stack 400 and load it through the WCS (warehouse scheduling system). After the loading times are completed, that is, the number of grabbing times reaches the number calculated by the host computer according to the compartment size, it proves that the loading is completed, then the current vehicle 300 to be loaded will leave, re-enter the new vehicle, and repeat the operation. WMS (Warehouse Management System) is used to generate loading orders, which will be sorted according to the number of cathode copper stacks 400 to be loaded on the vehicle, and specify which conveyor line 200 to grab in order; WCS is a program used to schedule and manage the conveyor line 200 and the actions of the gantry device 100. A license plate recognition camera is installed at the front end (or rear end) of the loading station. Whenever a vehicle enters the loading station, the license plate recognition starts to read the license plate information and sends it to the host computer for comparison with the vehicle management system and order system to determine and identify whether the vehicle is to be loaded. According to the WCS and WMS systems in the host computer, in conjunction with PLC control, the automatic loading of the gantry crane device 100 is realized, reducing the labor intensity of the staff.

[0156] Figure 6 The present invention is a flowchart of the steps of a vehicle loading method according to an embodiment of the present invention.

[0157] Another embodiment of the present invention provides a loading method for loading cathode copper, using the door machine device of any one of claims 1 to 10, the loading method comprises the following steps:

[0158] Step 1, based on the comparison between the storage data and the collected data of the host computer, obtain the valid information of the vehicle to be loaded and the cathode copper;

[0159] Step 2, the vehicle enters the loading station;

[0160] Step 3: Based on the valid information, determine whether the vehicle on the loading station is a vehicle to be loaded. If the vehicle is a vehicle to be loaded, proceed to the next step; if the vehicle is not a vehicle to be loaded, return to the previous step;

[0161] Step 4, based on the stored data and the collected data, obtaining the coordinate information of the vehicle to be loaded;

[0162] Step 5, the coordinate information is transmitted to the host computer, and the host computer controls the first walking part, the second walking part, the telescopic part and the clamp to work together to grab the cathode copper;

[0163] Step 6: Based on the coordinate information and the number of times the fixture grabs, determine whether the loading is completed. If the loading is completed, proceed to the next step; if the loading is not completed, proceed to the previous step;

[0164] Step 7: The vehicle to be loaded leaves the loading station.

[0165] Specifically, in the electrolysis workshop, the cathode copper stack 400 is weighed, labeled, and counted, and then affixed with a QR code for scanning and matching by the scanner on the subsequent fixture 140. The conveyor line 200 arranges the qualified cathode copper stack 400 according to the required spacing, and conveys it to the area of ​​the door machine device 100 through the conveyor line 200, continuously providing the cathode copper stack 400 for the door machine device 100, and at the same time, improving the loading efficiency. The door machine device 100 spans both sides of the conveyor line 200 and the vehicle to be loaded 300. According to the WMS, a loading order is generated according to the outbound order. After the vehicle stops in the loading station, the license plate recognition mechanism is first triggered to recognize the vehicle's license plate, and then it is checked with the vehicle management system, the outbound order, and the sales order to see whether the vehicle is loaded. After confirmation, it is ready for loading. The laser radar 160 scans the position and size of the vehicle 300 to be loaded, and sends the data to the host computer. The host computer automatically calculates the coordinate value of each cathode copper stack 400 according to the number of cathode copper stacks 400 to be loaded on the vehicle 300 to be loaded, and converts it into the moving position of the gantry crane trolley 112, the second walking part 120 and the telescopic part 130, and starts to grab the cathode copper stack 400. When the number of times the clamp grabs is the same as the number of cathode copper stacks 400 loaded calculated by the host computer, the vehicle 300 to be loaded is loaded and can be driven away, and the next vehicle 300 to be loaded is loaded, and the above steps are repeated.

[0166] Among them, the upper computer software includes: the calculation of the position and size coordinate values ​​of the vehicle to be loaded 300 scanned by the laser radar 160, and the conversion into the starting value of the movement of the gantry device 100; WCS is used as the logical control of the dispatching conveyor line 200 to transport the cathode copper stack 400, radar scanning, license plate recognition to identify vehicle information, and the loading of the gantry device 100; WMS realizes the decomposition of the outbound order, the generation of the loading order, inventory management, and the management of the outbound process data information.

[0167] It should be noted that, based on the above-mentioned gantry device 100 and loading method, the gantry device 100 can automatically identify the vehicle 300 to be loaded, and load a certain number of cathode copper stacks 400 into the vehicle 300 to be loaded in order according to the delivery order, thereby improving the degree of automation, reducing the degree of manual participation, saving labor costs, and improving economic efficiency; replacing the traditional manual forklift loading, counting copper stacks, and manual recording of information, which are prone to errors, and using WMS for information management, which is more intelligent, paperless, and improves environmental protection. The position and size of the vehicle 300 to be loaded are identified by the laser radar 160, and the coordinate value is calculated by the algorithm in the upper computer, and converted into the starting position value of the movement of the gantry device 100. The identification method is more intelligent, fast and efficient, and the loading efficiency is improved. The calculation method is realized by PLC and will not be repeated. The license plate recognition can timely confirm the accuracy of the vehicle 300 to be loaded, prevent the occurrence of wrong loading, and reduce economic losses. WMS decomposes the outbound order into the loading order; WCS performs logical control over the conveyor line, gantry crane, laser radar, and license plate recognition, which is safe, efficient, and highly intelligent.

[0168] It is understandable that when it is necessary to load a van, an additional adapter device needs to be set up. The door machine device 100 places the cathode copper stack 400 on the adapter device in the same way as described above, and then pushes it into the van through the adapter device and then pulls it out to achieve the loading of the cathode copper stack 400.

[0169] In the present invention, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance. The term "plurality" refers to two or more than two, unless otherwise clearly defined.

[0170] Those skilled in the art will readily appreciate other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art that are not disclosed by the present invention. The description and examples are to be considered exemplary only.

[0171] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A door machine device for loading cathode copper, characterized in that: The door machine device comprises: A first walking part moves along the length direction of the vehicle to be loaded; A second walking part, which is arranged on the first walking part and can move in the width direction of the vehicle to be loaded; A telescopic portion, disposed on a side of the second traveling portion facing the vehicle to be loaded, the telescopic portion being configured to telescope in a direction of the second traveling portion toward the vehicle to be loaded; A clamp is arranged at one end of the telescopic portion away from the second walking portion, the clamp is configured to clamp or put down the cathode copper stack, and the clamp is configured to clamp at least two groups of cathode copper stacks; A conveyor line is arranged below the first walking part, the end of the conveyor line is located below the first walking part, and the conveyor line is arranged in parallel with the vehicle to be loaded, and the clamp clamps the cathode copper stack on the ground or the conveyor line; The host computer is used to control the operation of the first walking part, the second walking part, the telescopic part and the clamp.

2. The door machine device for cathode copper loading according to claim 1, characterized in that: The door machine device also includes: The identification mechanism is arranged in front of or behind the vehicle to be loaded, and is configured to identify the license plate number of the vehicle to be loaded, and the host computer receives the license plate number identified by the identification mechanism.

3. The door machine device for cathode copper loading according to claim 1, characterized in that: The door machine device also includes: A laser radar is disposed on the first walking part, and the laser radar is configured to swing back and forth in the length direction of the vehicle to be loaded.

4. The door machine device for cathode copper loading according to claim 1, characterized in that: The first walking part comprises: The gantry crane track comprises two tracks, and the two tracks are located on both sides of the width direction of the vehicle to be loaded; The gantry crane trolley comprises a cross beam and a support beam arranged below the cross beam, a travel wheel is arranged on a side of the support beam away from the cross beam, the travel wheel is configured to travel in the track, and at least one of the travel wheels is an active travel wheel; The first driving motor is connected to the active walking wheel.

5. The door machine device for cathode copper loading according to claim 4, characterized in that: The crossbeam includes: a first crossbeam and a second crossbeam, the first crossbeam and the second crossbeam are arranged opposite to each other, and the second walking part is arranged between the first crossbeam and the second crossbeam; a pair of first linear guides are provided on the side of the first crossbeam facing the second crossbeam, and a pair of first racks are provided between the pair of first linear guides; a pair of second linear guides are provided on the side of the second crossbeam facing the first crossbeam, and a pair of second racks are provided between the pair of second linear guides.

6. The door machine device for cathode copper loading according to claim 5, characterized in that: The second walking part comprises: A support frame, disposed between the first crossbeam and the second crossbeam; A second drive motor is disposed on the support frame, the output shaft of the second drive motor faces the pair of the first linear guide rails, the output shaft of the second drive motor is provided with a first gear, and the first gear is meshed with the pair of the first racks; The driven shaft is arranged opposite to the second driving motor, the driven shaft faces the pair of second linear guide rails, a second gear is arranged on the driven shaft, and the second gear is meshed with the pair of second racks.

7. The door machine device for cathode copper loading according to claim 6, characterized in that: The telescopic portion comprises: A first square tube is fixedly connected to the support frame, and the first square tube is vertically arranged to the first crossbeam; A second square tube, disposed inside the first square tube; a third party tube, disposed in the second party tube; A mounting plate, fixedly arranged on one end of the third tube away from the second tube, the second mounting plate is provided with a connecting plate, and the connecting plate is extended from the mounting plate toward the supporting frame; A drag chain, one end of which is fixedly connected to the connecting plate, and the other end of which is fixedly connected to the supporting frame; The telescopic driving member is configured to drive the second square tube to move in the first square tube, and at the same time drive the third square tube to move in the second square tube. The telescopic driving member includes a first component and a second component. The first component is arranged in the support frame, and the second component is arranged on the side of the mounting plate facing the support frame.

8. The door machine device for cathode copper loading according to claim 7, characterized in that: The first component includes a plurality of first fixed pulleys, at least one of which is connected to the third drive motor; The second assembly includes a plurality of second fixed pulleys, wherein the second fixed pulleys correspond to the first fixed pulleys; A steel wire rope is wound around the first fixed pulley, and the free end of the steel wire rope is fixedly connected to the first fixed pulley after passing around the second fixed pulley. The rotation of at least one of the first fixed pulleys is controlled by the third drive motor to realize the retraction and release of the steel wire rope.

9. The door machine device for cathode copper loading according to claim 7, characterized in that: The door machine device also includes a rotating connection member, and the rotating connection member includes: a fourth drive motor, which is disposed in the mounting plate, and an output shaft of the fourth drive motor passes through the mounting plate and is connected to the fixture, An angle sensor is connected to the fixture, and the angle sensor is communicatively connected to the host computer.

10. The door machine device for cathode copper loading according to any one of claims 1 to 9, characterized in that: The fixture comprises: A first connecting plate, movably connected to the telescopic portion; A second connecting plate is arranged below the first connecting plate, and a telescopic cylinder is arranged between the first connecting plate and the second connecting plate; A shear lift assembly, comprising a first link, a second link, a third link and a fourth link, wherein one end of the first link is hinged to one end of the second link, and one end of the first link and the second link is hinged to the first connecting plate, one end of the first link away from the second link is hinged to the third link, one end of the second link away from the first link is hinged to the fourth link, and the third link and the fourth link are arranged crosswise; The clamping plate comprises a first clamping plate and a second clamping plate, wherein the first clamping plate is fixedly connected to an end of the third connecting rod away from the first connecting rod, and the second clamping plate is fixedly connected to an end of the fourth connecting rod away from the second connecting rod, and the third connecting rod and the fourth connecting rod can be controlled to approach and move away from each other by the extension and retraction of the telescopic cylinder, so as to realize the clamping and opening of the first clamping plate and the second clamping plate; A scanning element is provided on a side of the second connecting plate facing away from the first walking portion, and the scanning element is communicatively connected with the host computer.

11. The door machine device for cathode copper loading according to claim 10, characterized in that: The clamp also includes an anti-falling component, which includes: A support rod, wherein a swivel cylinder is arranged inside the support rod, a telescopic rotating end of the swivel cylinder extends out of the support rod, the telescopic rotating end is connected to a baffle, and the baffle is arranged to rotate in a direction perpendicular to or parallel to the cathode copper stack; Wherein, the anti-falling component is arranged at the four corners of the second connecting plate.

12. The door machine device for cathode copper loading according to claim 10, characterized in that: The first clamping plate and the second clamping plate have the same structure. The first clamping plate includes a vertically arranged horizontal plate and a vertical plate. The vertical plate is arranged vertically to the cathode copper stack, the horizontal plate is arranged parallel to the cathode copper stack, and a sawtooth bar is arranged on the side of the vertical plate facing the cathode copper stack; the two horizontal plates are connected by a movable rod, and bolts are arranged at both ends of the movable rod; A pressing block is provided under the second connecting plate, and the pressing block is configured to press on the cathode copper stack.

13. A method for loading cathode copper, using the gantry crane device according to any one of claims 1 to 10, characterized in that: The loading method comprises the following steps: Based on the comparison between the storage data and the collected data of the host computer, the effective information of the vehicle to be loaded and the cathode copper is obtained; The vehicle enters the loading station; Based on the valid information, it is determined whether the vehicle on the loading station is a vehicle to be loaded. If the vehicle is a vehicle to be loaded, the next step is entered; if the vehicle is not a vehicle to be loaded, the previous step is returned; Based on the stored data and the collected data, obtaining coordinate information of the vehicle to be loaded; The coordinate information is transmitted to the host computer, and the host computer controls the first walking part, the second walking part, the telescopic part and the clamp to work together to grab the cathode copper; Based on the coordinate information and the number of times the clamp grabs, determine whether the loading is completed. If the loading is completed, proceed to the next step. If the loading is not completed, proceed to the previous step. The vehicle to be loaded drives away from the loading station.

Images