A high-precision loading system

Abstract

The application provides a high-precision loading system, which comprises a platform, a top middle part of which is provided with a guide part extending in an axial direction, and left and right sides of a front end of the platform are respectively provided with clamping parts driven by clamping driving assemblies; a supporting mechanism is arranged at a bottom of the platform, and the supporting mechanism is used for driving the platform to move to coaxially connect with a corresponding carriage, the two clamping parts are used for moving towards each other to clamp and fix the carriage or moving away from each other to separate from the carriage, a loading mechanism for loading goods is arranged on one side and is driven by a transverse driving device to move transversely, a trolley body is provided with front and rear distributed walking wheel groups and swing wheel groups, and front and rear distributed guide wheel groups, the walking wheel groups are driven by walking driving devices to rotate forward and backward, the swing wheel groups are driven by rotating driving devices to swing left and right, the guide wheel groups are arranged at intervals and roll against the left and right sides of the guide part, and distance sensing devices are arranged on the left and right sides of the trolley body. The stability and precision of goods loading can be improved to improve the loading efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of loading system, in particular to a high-precision loading system. BACKGROUND

[0002] The loading system is mainly used for carrying goods into the container to realize the automatic loading function. The loading system mainly comprises a lifting platform for interfacing with the container, a carrying trolley running on the lifting platform, and a gantry carrying mechanism for carrying the stacked goods onto the lifting platform and placing them on the fork carriage of the carrying trolley.

[0003] Due to the volume limitation of the container, the higher the loading precision is, the greater the cargo capacity is, and the more stable the goods transportation process is. Therefore, it is required to meet the requirements of high loading precision and small stacking gap. For example, the existing loading of barrel goods includes two layers of four barrels each, and the width of a stack of goods is 1170mm. The width of the standard container door is 2343mm, and the remaining width of the same row in the carriage after loading a stack of goods is 1173, which is equivalent to a gap of only 3mm between the next stack of goods and the previous stack of goods. Therefore, in the case that the same row of the carriage has been filled with goods, the carrying trolley body needs to be adjusted to be coaxial with the fork carriage and the container, so that the fork carriage can accurately load the goods into the empty space for stacking. Especially when the goods in the last few rows are stacked, the space left for the fork carriage to enter the container is very narrow.

[0004] However, the existing carrying trolley generally only has an obstacle avoidance walking function, and the turning of the trolley body is mainly realized by differential rotation between the two front wheels, which makes it difficult to automatically adjust the trolley body. Manual intervention or multiple adjustments are required. In addition, as the loading proceeds, the lifting platform and the carriage are prone to relative displacement in the transverse direction, and the goods loaded on the carrying trolley on the lifting platform cannot be ensured to be in the middle of the fork carriage, thereby causing the carrying trolley fork carriage to be unable to extend into the empty space in the carriage for stacking when loading the goods, and the trolley body needs to be continuously adjusted to be coaxial, resulting in low loading efficiency.

[0005] In view of the above problems of the prior art, the present application provides a high-precision loading system. SUMMARY

[0006] The present application provides a high-precision loading system which can effectively solve the above problems.

[0007] The present application is implemented as follows:

[0008] A high-precision loading system comprises:

[0009] The platform is provided with a guide member extending along the axial direction at the middle part of the top, and the front end of the platform is provided with clamping members on the left and right sides respectively, which are driven by the clamping and driving assembly to move towards each other or in the opposite direction.

[0010] The support mechanism is arranged at the bottom of the platform, and is used to drive the platform to move coaxially to the corresponding carriage, and the two clamping members are used to clamp and fix the carriage by moving towards each other or to separate from the carriage by moving in the opposite direction.

[0011] The carrier body is provided with a cargo carrying mechanism on one side for carrying cargo and driven to move horizontally by the horizontal moving driving device, and the bottom of the carrier body is provided with front and rear distributed walking wheel groups and swing wheel groups, and front and rear distributed guide wheel groups, the walking wheel groups are driven to rotate forward and backward by the walking driving device, the swing wheel groups are driven to swing left and right by the rotating driving device, each guide wheel group is arranged at a distance and rolls against the left and right sides of the guide member, and the left and right sides of the carrier body are respectively provided with distance sensing devices.

[0012] Further, the number of the walking wheel groups is two and arranged on the left and right sides of the front part of the carrier body, the number of the swing wheel groups is one and arranged on the rear side of the middle part of the carrier body shaft, the swing wheel groups are arranged at a distance and distributed on the left and right sides of the guide member, the number of the guide wheel groups is two, which are respectively front and rear guide wheel groups distributed on the middle part of the carrier body shaft, the front guide wheel group is arranged on the rear side of the two walking wheel groups, and the rear guide wheel group is arranged on the rear side of the swing wheel group.

[0013] Further, the guide member includes a plurality of guide blocks and positioning blocks arranged in sequence against the middle line of the platform shaft from rear to front, the guide blocks and positioning blocks are all screwed to the top of the platform, and the left and right widths of a positioning block gradually decrease towards the direction close to the carriage.

[0014] Further, the bottom of the carrier body is fixedly provided with two guide structures symmetrically distributed front and rear, each guide structure includes a guide seat, a guide rod extending front and rear is arranged in the guide seat, a guide block is slidably arranged on the guide rod, a spring is fixed at one end and connected to the guide block at the other end, a slide rod extending left and right is arranged, two slide blocks are slidably arranged on the slide rod, two connecting rods are hingedly connected to the two slide blocks at one end and hingedly connected to the guide block at the other end, a slide hole extending left and right is arranged at the bottom of the guide seat, the front guide wheel group includes two rotating shafts slidably penetrating the slide holes of the guide seats on the front side and connected to the slide blocks, and two front guide wheels are rotatably arranged on the lower ends of the rotating shafts, and the rear guide wheel group includes two rotating shafts slidably penetrating the slide holes of the guide seats on the rear side and connected to the slide blocks, and two rear guide wheels are rotatably arranged on the lower ends of the rotating shafts.

[0015] Further, the clamping driving assembly is provided with two groups and is symmetrically arranged at the front end of the platform. One clamping driving assembly comprises a mounting seat fixed to the side of the platform, a clamping oil cylinder with one end hingedly connected to the inner side of the mounting seat and the other end movably penetrating the mounting seat and hingedly connected to the clamping piece, a plurality of sliding sleeves fixedly penetrating the side wall of the mounting seat, a plurality of sleeve rods with one end respectively connected to the clamping piece and the other end respectively slidingly penetrating the sliding sleeves, and a plurality of limiting rods with one end respectively connected to the clamping piece and the other end respectively slidingly penetrating the mounting seat and being limited.

[0016] Further, the clamping driving assembly is provided with two groups and is symmetrically arranged at the front end of the platform. One clamping driving assembly comprises a mounting seat fixed to the side of the platform, a clamping oil cylinder with one end hingedly connected to the inner side of the mounting seat and the other end movably penetrating the mounting seat and hingedly connected to the clamping piece, a plurality of sliding sleeves fixedly penetrating the side wall of the mounting seat, a plurality of sleeve rods with one end respectively connected to the clamping piece and the other end respectively slidingly penetrating the sliding sleeves, and a plurality of limiting rods with one end respectively connected to the clamping piece and the other end respectively slidingly penetrating the mounting seat and being limited.

[0017] Further, the support mechanism is provided with two bottom parts arranged at the front and rear ends of the platform. Each support mechanism comprises a support seat fixed to the ground, two left and right distributed telescopic supports, and a sliding seat connected to the lower ends of the two telescopic supports and slidingly arranged on the support seat. The support seat is provided with a horizontal movement oil cylinder for driving the horizontal movement of the sliding seat. The top middle part of the support seat is provided with a limiting cover covering the outer side of the sliding seat. The side wall of the limiting cover is rollingly provided with a plurality of limiting rollers rolling against the inner wall of the sliding seat. The telescopic supports are driven by lifting oil cylinders to rise and fall.

[0018] Further, the top of the platform comprises an adjustment area located on the left and right sides and the front side of one positioning block, and a positioning area located on the left and right sides of a plurality of guide blocks. The adjustment area is recessed and provided with a plurality of mounting grooves for mounting universal adjusting devices. The universal adjusting device comprises a limiting seat fixed in the mounting groove, a lifting seat slidingly sleeved in the limiting seat, and a ball rotatably embedded in the top of the lifting seat. The lifting seat and the limiting seat are connected by an elastic member. The upper part of the ball is exposed and protrudes above the adjustment area. When the carrier body enters the platform from front to back and the walking wheels pass through a plurality of balls, the carrier body is swung to the left and right sides under the rolling guidance of the balls.

[0019] Further, the top of the platform is provided with two raised tracks with slopes at the front ends on the left and right sides of the guide, the top of a positioning block is obliquely arranged to form a guide surface gradually increasing in height from front to back, and the bottom of the carrier body is transversely rotatably provided with a plurality of steering wheels corresponding to each group of guide wheels; when the carrier body enters the platform from front to back, the guide wheels are positioned by the positioning block to the left and right sides of the guide blocks and roll on the two raised tracks, the guide wheels are rolled against the left and right sides of the guide, and the steering wheels are rolled and lifted to the top of the guide block by the left and right positioning of the guide wheels and the guidance of the guide surface, and the carrier body is lifted as a whole and the walking wheels are suspended.

[0020] Further, the top of the platform includes an adjustment area on the left and right sides of a positioning block and a normal position area on the left and right sides of a plurality of guide blocks, the normal position area is provided with a support pad corresponding to the walking wheel group and having a slope at the front end, and the support height of the raised track and the support pad is the same; after the carrier body is lifted as a whole, the walking wheels are suspended when entering the adjustment area and are rolled against the support pad when entering the normal position area.

[0021] The beneficial effects of the present application are:

[0022] 1. By adding the clamping members, after the support mechanism drives the platform to move coaxially opposite to the corresponding carriage and the front end is connected to the rear end of the carriage, the clamping drive assembly can drive the two clamping members to move towards each other to clamp and fix the carriage, so that the platform and the carriage always remain coaxial during loading, on this basis, the cooperation between the guide and the plurality of groups of guide wheels ensures that the carrier body always remains coaxial with the carriage during the process of the carrier body walking on the platform into the carriage, the feeding mechanism can accurately place the goods in the center of the loading mechanism, and the cooperation between the front and rear rotating walking wheels and the left and right swinging guide wheels and the distance sensing device ensures that when the carrier body enters the carriage and is tilted due to the influence of the concave-convex of the carriage floor, the left and right swinging of the guide wheels can quickly adjust the carrier body to the correct position, thereby ensuring that the carrier body remains coaxial with the carriage during loading, so that when the same row of the carriage has been filled with goods, the carrier body can be moved to the next batch of goods, and after the loading mechanism is transversely moved, the next batch of goods can be loaded into the empty space in the correct direction, and when the last row of goods closest to the carriage door is loaded, the carrier body can be limited by the guide and the plurality of groups of guide wheels to ensure that it is opposite to the carriage, and only the loading mechanism is transversely moved to load the goods, which greatly improves the stability and accuracy of the goods loading, improves the loading efficiency, and avoids the situation that the carrier body is tilted and the loading mechanism collides and damages the goods in the box or the side wall of the container.

[0023] 2. By placing the rear guide wheel assembly and the front guide wheel assembly behind the swing wheel assembly and the travel wheel assembly respectively, during the process of the transport vehicle body retracting from the carriage to the platform, the swing wheel assembly is ensured to move accurately to both sides of the guide assembly through the limiting cooperation between the rear guide wheel assembly and the guide component, and the two travel wheel assemblies are ensured to move accurately to both sides of the guide component through the limiting cooperation between the front guide wheel assembly and the guide component, thereby improving the guiding stability and accuracy of the guide wheel assembly.

[0024] 3. The guide component is divided into several guide blocks and a positioning block, which allows the guide component to be installed and used on existing lifting platforms, greatly reducing the cost of adding the guide component. In addition, through the positioning and guiding function of the positioning block, the rear guide wheel can smoothly roll to the left and right sides of the several guide blocks after contacting it, avoiding the situation of guide jamming and improving the practicality of the guide component.

[0025] 4. By adding a guide structure, the two front guide wheels and two rear guide wheels can be elastically rolled and clamped on the left and right sides of several guide blocks. Furthermore, through the linkage and limiting of the guide rod, guide block, and two connecting rods, the relative displacement between the two front guide wheels and the two rear guide wheels is the same. This ensures that the front guide wheel group and the rear guide wheel group are always coaxially aligned with the carriage when they are rolled and clamped on both sides of the guide blocks. While ensuring the guiding accuracy of the front guide wheel group and the rear guide wheel group, the rolling clamping distance between the front guide wheels and the rear guide wheels can be adjusted, thus improving the adaptability of the guide wheel group.

[0026] 5. Several sleeve rods provide stable guidance for the opposing or reciprocating movements of the two clamping components. By having the other end of the clamping cylinder movably pass through the mounting base, and through the cooperation between the fixed sliding sleeve and the sleeve rod that slides through the sliding sleeve, as well as the radial contact between several limiting rods and the mounting base, the force on the two clamping components after they are clamped together can be transmitted to the mounting base and dispersed through the radial contact between the sleeve rods and the sliding sleeve. This helps to disperse the force on the extension end of the clamping cylinder, improving the clamping stability and service life of the clamping cylinder. At the same time, the addition of a connecting part for connecting with several sleeve rods and a clamping cylinder arranged side by side increases the number of connection points of the clamping components. When the two clamping blocks are clamped together and the car body is subjected to opposite pressures, causing the two connecting parts to have a tendency to move towards each other and backward, the several sleeve rods, through the radial contact with the sliding sleeve and the radial contact between the several limiting rods and the mounting base, can assist the clamping cylinder in providing multi-point support to the connecting parts from front to back, thereby further improving the clamping stability of the clamping components.

[0027] 6、In the case that the trolley body enters the platform from front to back and the front part of the trolley body is slightly skewed, the rolling abutment limiting between the front guide wheel set and the guide piece makes the walking wheel set walk through several rolling balls and then swing to the left or right, thereby swinging and adjusting the front end of the trolley body, and the several rolling balls are compressed and reset by the elastic piece after the walking wheel set passes. Thus, the rolling guidance of the front part of the trolley body is realized through the setting of the several universal adjusting devices, so that the walking wheel set does not generate friction with the platform, but swings to the left or right in the rolling friction mode between the several rolling balls, avoiding the forced adjustment of the front part of the trolley body by the rolling abutment cooperation between the guide wheel set and the guide piece, which may cause damage to the guide wheel set or the walking wheel set, and the deviation of the guide wheel set or the walking wheel set may cause the trolley body to be unable to be coaxially arranged with the carriage on the platform, improving the stability of the trolley body when reversing from front to back onto the platform and cooperating with the guide piece, ensuring the stable and smooth cooperation between the guide wheel set and the guide piece, ensuring the coaxial arrangement of the trolley body with the carriage on the platform during the next loading, and improving the adaptability of the platform to the coaxial guidance of the trolley body.

[0028] 7、The setting of the several turning wheels and the raised guide rails makes the front end of the trolley body swing to the left or right, the several guide wheel sets roll against the left and right sides of the guide piece, and the several turning wheels are turned and guided by the left and right limiting of the guide wheel set and the guide surface to be lifted to the top of the several guide blocks, so that the front end of the trolley body is lifted and the walking wheel set is suspended. The swinging of the front end of the trolley body is controlled by the rolling abutment limiting and turning of the front guide wheel set and the positioning block, and is not hindered by the suspended walking wheel set, thereby avoiding the forced adjustment of the front part of the trolley body by the rolling abutment cooperation between the guide wheel set and the guide piece, which may cause damage to the guide wheel set or the walking wheel set, and the deviation of the guide wheel set or the walking wheel set may cause the trolley body to be unable to be coaxially arranged with the carriage on the platform, improving the stability of the trolley body when reversing from front to back onto the platform and cooperating with the guide piece, ensuring the stable and smooth cooperation between the guide wheel set and the guide piece, ensuring the coaxial arrangement of the trolley body with the carriage on the platform during the next loading, and improving the adaptability of the platform to the coaxial guidance of the trolley body.

[0029] 8. By adding support pads, the entire transport vehicle body is raised, with the traveling wheels suspended in the air when entering the adjustment zone and rolling against the support pads when entering the positioning zone. Thus, after the front of the transport vehicle body is aligned and enters the positioning zone, the support pads support the traveling wheels, allowing the entire transport vehicle body to be supported by the swing wheels, traveling wheels, and steering wheels together. This improves the stability of the transport vehicle body and ensures its stability when carrying goods, while maintaining the swing orientation of the front of the transport vehicle body. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the vehicle loading system in Example 1.

[0031] Figure 2 for Figure 1 A magnified view of a portion of point A in the middle.

[0032] Figure 3 This is a schematic diagram of the transport vehicle body in Example 1.

[0033] Figure 4 This is a schematic diagram of the oscillating wheel assembly in Example 1.

[0034] Figure 5 This is a schematic diagram of the transport vehicle body in Example 1.

[0035] Figure 6 This is a schematic diagram of the platform structure in Example 1.

[0036] Figure 7 This is a schematic diagram of the clamping drive assembly and clamping member in Embodiment 1.

[0037] Figure 8 This is a schematic diagram of the transport vehicle body in Example 2.

[0038] Figure 9 for Figure 8 Exploded view of the guide wheel assembly.

[0039] Figure 10 This is a schematic diagram of the loading system in Example 3.

[0040] Figure 11 This is a schematic diagram of the platform structure in Example 3.

[0041] Figure 12 This is a schematic diagram of the universal adjustment device in Example 3.

[0042] Figure 13 for Figure 12 A cross-sectional structural diagram.

[0043] Figure 14 This is a schematic diagram of the loading system in Example 4.

[0044] Figure 15 Structure diagram of the platform of the embodiment four.

[0045] Figure 16 Structure diagram of the platform of the embodiment four. DETAILED DESCRIPTION

[0046] Embodiment one

[0047] Refer to Figures 1-7 As shown in the figure, a high-precision loading system comprises:

[0048] A platform 1, a top middle part is provided with a guide 11 extending along the axial direction, and the left and right sides of the front end of the platform 1 are respectively provided with clamping members 12 driven by clamping drive assemblies 13 to move towards each other or move away from each other;

[0049] A support mechanism 2 is arranged at the bottom of the platform 1, and the support mechanism 2 is used to drive the platform 1 to move coaxially to the corresponding carriage 9, and the two clamping members 12 are used to clamp and fix the carriage 9 by moving towards each other or to move away from the carriage 9 by moving away from each other;

[0050] A carrying vehicle body 3 is provided with a cargo carrying mechanism on one side for carrying cargo and driven by a transverse driving device 35 to move transversely, the bottom of the carrying vehicle body 3 is provided with front and rear distributed walking wheel sets 4 and swing wheel sets 5, and front and rear distributed guide wheel sets 6, the walking wheel sets 4 are driven by walking driving devices 41 to rotate forward and backward, the swing wheel sets 5 are driven by rotating driving devices 51 to swing left and right, the distance between each set of guide wheel sets 6 is set and rolls against the left and right sides of the guide 11, and the left and right sides of the carrying vehicle body 3 are respectively provided with distance sensing devices, specifically, the walking driving devices 41 include a motor, a belt connecting the rotating driving end of the motor and the walking wheels, and the distance sensing devices are photoelectric sensors.

[0051] Specifically, the loading system further comprises a gantry 31 carrying mechanism for conveying goods to the platform 1 and placing them on the carrying vehicle body 3 fork frame 32

[0052] The structure is provided by adding the clamping members 12. When the support mechanism 2 drives the platform 1 to be coaxial with the corresponding carriage 9 and the front end is connected with the rear end of the carriage 9, the clamping driving assembly 13 drives the two clamping members 12 to move towards the carriage 9 to clamp and fix the carriage 9, so that the platform 1 and the carriage 9 are coaxial during the loading process. On this basis, through the cooperation between the guide member 11 and the plurality of guide wheel sets 6, the carrying vehicle body 3 of the carrying vehicle body 3 is always coaxial with the carriage 9 during the process of walking into the carriage 9 on the platform 1, and the feeding mechanism can accurately place the goods in the center of the loading mechanism, and through the cooperation between the front and rear rotating walking wheel set 4 and the left and right swinging steering wheel set 5 and the distance sensing device, when the carrying vehicle body 3 of the carrying vehicle body 3 is skewed by the influence of the concave-convex of the carriage 9 bottom plate, the left and right swinging of the steering wheel set 5 can quickly adjust back to normal, thereby ensuring that the carrying vehicle body 3 of the carrying vehicle body 3 is always coaxial with the carriage 9 during the loading process, so as to ensure that the carrying vehicle body 3 of the carrying vehicle body 3 is in place and the next batch of goods can be loaded into the empty space after the loading mechanism is transversely moved, and when the last row of goods closest to the carriage 9 box door is loaded, the carrying vehicle body 3 of the carrying vehicle body 3 can be limited by the guide member 11 and the plurality of guide sets on the platform 1 to ensure that it is opposite to the carriage 9, and only the loading mechanism is transversely moved to load the goods, which greatly improves the stability and accuracy of the goods loading, improves the loading efficiency, and avoids the situation that the carrying vehicle body 3 is skewed to cause the loading mechanism to impact and damage the goods in the box or the side wall of the container during loading.

[0053] In order to improve the adjustment efficiency of the steering wheel set 5 to the carrying vehicle body 3, the number of the walking wheel set 4 is two and is arranged on the left and right sides of the front part of the carrying vehicle body 3, the number of the steering wheel set 5 is one and is arranged on the rear side of the middle part of the carrying vehicle body 3, and the distance between the steering wheel sets 5 is arranged and distributed on the left and right sides of the guide member 11, so that one steering wheel set 5 arranged in the middle part can realize the effect of quickly adjusting the carrying vehicle body 3 of the carrying vehicle body 3 to be right.

[0054] In order to improve the stability of the swing direction of the swing wheel group 5, the swing wheel group 5 comprises two rudders 53 connected by a steering seat 52 and distributed on the left and right sides of the guide 11, the steering seat 52 is rotatably connected to the fixed seat 54 installed on the bottom of the trolley body 3, the outer side of the steering seat 52 is sleeved with an outer gear ring 521, the rotating driving device 51 is arranged on the side of the fixed seat 54 and the driving end is engaged with the outer gear of the outer gear ring 521 through a driving gear 511, and the fixed seat 54 is provided with a walking motor 541 for driving the two rudders 53 to rotate and walk. Specifically, the walking motor 541 is a servo motor. Thus, the rudders 53 are driven to swing through the engagement between the gear 511 and the outer gear ring 521, and the rudders 53 are driven to rotate and walk through the walking motor 541, which improves the swing stability and walking stability of the rudders 53, and further improves the stability of the swing direction of the swing wheel group 5.

[0055] Specifically, the cargo carrying mechanism comprises a portal frame 31 and a fork frame 32, the portal frame 31 is rotatably arranged on the front side of the trolley body 3 and is driven to rotate by a pitch cylinder 33, the portal frame 31 comprises a longitudinal driving device 34 and a transverse driving device 35, and the fork frame 32 is arranged on the front end of the portal frame 31 and is driven to rise and fall by the longitudinal driving device 34 and is driven to transversely move left and right by the transverse driving device 35.

[0056] In order to improve the stability of the transverse movement of the fork frame 32, the longitudinal driving device 34 is connected with a lifting frame 341 at the driving end, the transverse driving device 35 comprises a ball screw arranged on the lifting frame 341 and a screw rod motor for driving the ball screw to rotate, and the fork frame 32 is screwed with the ball screw through screwing members.

[0057] Since the existing loading platform 1 used by the existing loading system is already relatively mature, directly replacing the entire loading platform 1 has high cost, therefore, in order to reduce the additional cost of the guide 11, the guide 11 comprises a plurality of guide blocks 111 and positioning blocks 112 which are sequentially abutted and distributed from rear to front along the axial center line of the platform 1, the guide blocks 111 and the positioning blocks 112 are both screwed to the top of the platform 1, and the left and right widths of a positioning block 112 gradually decrease towards the direction close to the carriage 9. Thus, the guide 11 is divided into a plurality of guide blocks 111 and positioning blocks 112, so that the guide 11 can also be installed and used on the existing loading platform 1, which greatly reduces the additional cost of the guide 11, and through the positioning and guiding effect of the positioning block 112, the rear guide wheel can smoothly roll to the left and right sides of the plurality of guide blocks 111 after contacting the rear guide wheel, avoiding the existence of guide jamming, and improving the practicability of the guide 11.

[0058] In order to improve the stability of the clamping of the clamping pieces 12, the clamping driving assembly 13 is provided with two groups and is symmetrically arranged at the front end of the platform 1. One clamping driving assembly 13 includes a mounting seat 131 fixedly arranged on the side of the platform 1, a clamping oil cylinder 132 having one end hingedly connected to the inner side of the mounting seat 131 and the other end movably penetrating the mounting seat 131 and hingedly connected to the clamping piece 12, a plurality of sliding sleeves 133 fixedly penetrating the side wall of the mounting seat 131, a plurality of sleeve rods 134 having one end respectively connected to the clamping piece 12 and the other end respectively slidingly penetrating the sliding sleeves 133, and a plurality of limiting rods 135 having one end respectively connected to the clamping piece 12 and the other end respectively slidingly penetrating the mounting seat 131 and being limitedly arranged. Specifically, the mounting seat 131 is arranged in an L shape with the opening facing inward, and the inner diameter of the through hole of the side wall of the mounting seat 131 is greater than the outer diameter of the clamping oil cylinder 132. The relative movement or opposite movement of the two clamping pieces 12 is stably guided by the plurality of sleeve rods 134. The other end of the clamping oil cylinder 132 movably penetrates the mounting seat 131, and the force borne by the two clamping pieces 12 after being clamped towards each other is conducted to the mounting seat 131 through the radial abutment between the sleeve rod 134 and the sliding sleeve 133 and the radial abutment between the plurality of limiting rods 135 and the mounting seat 131, and is then dispersed, thereby assisting in dispersing the force borne by the extension end of the clamping oil cylinder 132, improving the stability of the clamping of the clamping piece 12, and prolonging the service life of the clamping oil cylinder 132.

[0059] In order to further improve the stability of the clamping of the clamping pieces 12, both the clamping pieces 12 include a connecting portion 121 respectively connected to one end of the plurality of sliding sleeves 133 and the other end of the clamping oil cylinder 132. Both the connecting portions 121 extend towards the front side to protrude from the rear opposite side of the platform 1 and are fixedly arranged with clamping blocks 122. The plurality of sleeve rods 134, the plurality of limiting rods 135, and the clamping oil cylinder 132 are arranged in front and back side by side and are respectively connected to the rear of the connecting portion 121. Both the clamping blocks 122 are clamped and fixed to the left and right sides of the rear end of the carriage 9 after the relative movement of both the clamping pieces 12. Thus, the connecting portion 121 is additionally provided for connection with the plurality of sleeve rods 134 and the clamping oil cylinder 132 arranged in front and back side by side, thereby increasing the connection points of the clamping piece 12. When both the connecting portions 121 have a movement trend towards each other and backwards under the opposite pressure of both the clamping blocks 122 clamping the carriage 9, the plurality of sleeve rods 134 and the plurality of limiting rods 135 can assist the clamping oil cylinder 132 in supporting the connecting portion 121 from front to back at multiple points, thereby further improving the clamping stability of the clamping piece 12.

[0060] In order to accurately dock the carriage 9, the top front end of the platform 1 is provided with a cover plate 19 corresponding to the top of the two mounting seats 131; after the front end of the platform 1 is docked with the rear end of the carriage 9, the cover plate 19 is turned to cover the end and abut on the inner bottom rear end of the carriage 9. The cover plate 19 arranged in a rotating manner can also improve the convenience of maintenance and replacement of the clamping and driving assembly 13.

[0061] Specifically, the support mechanism 2 is provided with two bottom parts arranged at the front and rear ends of the platform 1 respectively, each of the support mechanisms 2 comprises a support base 21 fixed to the ground, two left and right distributed telescopic struts 22, a sliding base 23 connected to the lower ends of the two telescopic struts 22 and arranged on the support base 21 to slide left and right, specifically, the bottom part of the sliding base 23 is provided with a plurality of sliding rollers arranged in a rotating manner, the support base 21 is provided with a horizontal moving oil cylinder 24 for driving the sliding base 23 to move horizontally, the top middle part of the support base 21 is provided with a limiting cover 25 arranged outside the sliding base 23, the side wall of the limiting cover 25 is provided with a plurality of limiting rollers 26 arranged in a rolling manner and abutting on the outer wall of the sliding base 23, and the telescopic struts 22 are arranged to be driven by a lifting oil cylinder 27 to move up and down. Thus, the left and right sliding of the sliding base 23 is limited and guided by the limiting cover 25, and the sliding base 23 and the limiting cover 25 are prevented from being damaged due to friction by the arrangement of the plurality of limiting rollers 26, thereby improving the stability of the left and right sliding of the sliding base 23.

[0062] Embodiment Two

[0063] Reference Figures 8-9 The difference between the present embodiment and the first embodiment is that:

[0064] The guide piece 11 is divided into a plurality of guide blocks 111 and a positioning block 112, which greatly reduces the installation cost of the guide piece 11, but there is a certain error in the production process of the guide block 111, and it is difficult to achieve the width of the guide block 111. Therefore, after the plurality of guide blocks 111 are installed in the middle of the platform 1, the width of the left and right sides will not be uniform, therefore, in order to ensure that the guide wheel set 6 can accurately roll and fit on the side of the plurality of guide blocks 111 for guiding, the bottom of the carrier body 3 is fixedly provided with two guide structures 7 which are symmetrically distributed front and back. Each of the guide structures 7 comprises a guide seat 71, a guide rod 72 extending front and back is arranged in the guide seat 71, a guide block 73 is slidably sleeved on the guide rod 72, a spring 74 is fixed at one end and connected to the guide block 73 at the other end, a slide rod 75 extending left and right, two sliding blocks are slidably sleeved on the slide rod 75, two connecting rods 76 are hingedly connected to the two sliding blocks at one end and hingedly connected to the guide block 73 at the other end. Specifically, the guide rod 72 and the slide rod 75 are perpendicular to each other, one end of the spring 74 is fixed to the inner wall of the guide seat 71, and the other end is fixedly connected to the side of the guide block 73 away from the slide rod 75. The bottom of the guide seat 71 is provided with a slide hole extending left and right, the front guide wheel set 61 comprises two rotating shafts slidably penetrating the slide hole of the guide seat 71 on the front side and connected to the sliding block, and two front guide wheels rotatably sleeved on the lower end of the rotating shaft, the rear guide wheel set 62 comprises two rotating shafts slidably penetrating the slide hole of the guide seat 71 on the rear side and connected to the sliding block, and two rear guide wheels rotatably sleeved on the lower end of the rotating shaft. Thus, by adding the guide structure 7, the two front guide wheels and the two rear guide wheels can be elastically rolled and clamped on the left and right sides of the plurality of guide blocks 111, and by the linkage and positioning of the guide rod 72, the guide block 73 and the two connecting rods 76, the relative displacement between the two front guide wheels and the two rear guide wheels is the same, so that the front guide wheel set 61 and the rear guide wheel set 62 are always coaxial with the carriage 9 when they are rolled and clamped on both sides of the guide block 111. Under the premise of ensuring the guiding accuracy of the front guide wheel set 61 and the rear guide wheel set 62, the rolling and clamping spacing between the front guide wheels and the rear guide wheels is adjusted, and the adaptability of the guide wheel set 6 is improved.

[0065] It should be pointed out that the implementation principle and the technical effects of the embodiment are the same as those of the first embodiment, and for the sake of brevity, the embodiment is not mentioned in the embodiment, and the corresponding content can be referred to in the first embodiment.

[0066] Embodiment three

[0067] In order to improve the stability of the straight walking of the trolley body 3, the front walking wheel set 4 does not have a swing function, and due to the unevenness of the inner bottom of the carriage 9, the trolley body 3 is easily tilted when walking from front to back towards the platform 1, and even if the front part of the trolley body 3 is moved back by the swing wheel set 5, it cannot be corrected. At this time, if the front part of the trolley body 3 is forcibly corrected by the rolling abutting cooperation of the guide wheel set 6 and the guide 11, the guide wheel set 6 is easy to damage or the walking wheel set 4 is easy to rub with the top of the platform 1 and damage, and further cause the guide wheel set 6 to deviate or the walking wheel set 4 to walk to one side, so that the trolley body 3 cannot be coaxially arranged with the carriage 9 on the platform 1. Therefore, with reference to Figures 10-13 The difference between the embodiment and the embodiment one, the embodiment two or the embodiment three is:

[0068] In order to correct the front end of the trolley body 3 without damaging the guide wheel set 6 and the walking wheel set 4, the top of the platform 1 comprises an adjusting area 14 on the left and right sides and the front side of the positioning block 112, and a correcting area 15 on the left and right sides of the guide block 111. The adjusting area 14 is recessed and provided with a plurality of mounting grooves for mounting universal adjusting devices 16. The universal adjusting device 16 comprises a limiting seat 161 fixedly arranged in the mounting groove, a lifting seat 162 slidingly arranged in the limiting seat 161, and a ball 163 rotatably arranged in the top of the lifting seat 162. The lifting seat 162 and the limiting seat 161 are connected by an elastic member 164, and the upper part of the ball 163 is exposed and protrudes from the upper side of the adjusting area 14. When the trolley body 3 enters the platform 1 from front to back and the front part of the trolley body 3 is slightly skewed, the rolling abutting limiting between the front guide wheel set 61 and the guide member 11 makes the walking wheel set 4 walk through a plurality of balls 163 and be guided to the side by the rolling of the balls 163, thereby correcting the front end of the trolley body 3, and the balls 163 are compressed and reset by the elastic member 164 after the walking wheel set 4 passes. The rolling guidance of the front part of the trolley body 3 is realized by the universal adjusting devices 16, so that the walking wheel set 4 does not generate friction with the platform 1, but generates rolling friction with the balls 163, thereby avoiding the forced correction of the front part of the trolley body 3 by the rolling abutting cooperation of the guide wheel set 6 and the guide member 11, which may cause damage to the guide wheel set 6 or the walking wheel set 4, and the friction between the walking wheel set 4 and the top of the platform 1, which may cause the guide wheel set 6 to deviate or the walking wheel set 4 to walk to the side, so that the trolley body 3 cannot be coaxially arranged with the carriage 9 on the platform 1. The stability of the trolley body 3 when reversing from front to back onto the platform 1 and cooperating with the guide member 11 is improved, the cooperation between the guide wheel set 6 and the guide member 11 is stable and smooth, the trolley body 3 can be coaxially arranged with the carriage 9 on the platform 1 during the next loading, and the adaptability of the platform 1 to the coaxial guidance of the trolley body 3 is improved.

[0069] It should be pointed out that the implementation principle and technical effects of the present embodiment are the same as those of embodiment one. For brevity, the contents not mentioned in the present embodiment can be referred to the corresponding contents in embodiment one, embodiment two or embodiment three.

[0070] Embodiment four

[0071] In order to improve the stability of the straight walking of the trolley body 3, the front walking wheel set 4 does not have a swing function, and due to the unevenness of the inner bottom of the carriage 9, the trolley body 3 is easily tilted when walking from front to back towards the platform 1, and even if the front part of the trolley body 3 is moved back by the swing wheel set 5, it cannot be corrected. At this time, if the front part of the trolley body 3 is forcibly corrected by the rolling abutting cooperation of the guide wheel set 6 and the guide 11, the guide wheel set 6 is easy to damage or the walking wheel set 4 is easy to rub with the top of the platform 1 and damage, and further cause the guide wheel set 6 to deviate or the walking wheel set 4 to walk to one side, so that the trolley body 3 cannot be coaxially arranged with the carriage 9 on the platform 1. Therefore, with reference to Figures 14-16 The difference between the embodiment and the first embodiment, the second embodiment, the third embodiment or the fourth embodiment is that:

[0072] In order to realize the alignment of the front end of the trolley body 3 without damaging the guide wheel set 6 and the walking wheel set 4, the top of the platform 1 is provided with two raised tracks 17 located on the left and right sides of the guide 11 and having a slope at the front end, and the top of a positioning block 112 is inclined to form a guide surface 1121 that gradually increases in height from front to back. The bottom of the trolley body 3 is transversely rotatable and is provided with a plurality of steering wheels 8 corresponding to each group of guide wheel sets 6, specifically, the front steering wheels 8 are located on the front side of the front guide wheel set 61, and the rear steering wheels 8 are located on the rear side of the rear guide wheel set. When the trolley body 3 reverses onto the platform 1, the front guide wheel set 61 first rolls against the positioning block 112 and then controls the steering of the front steering wheels 8, improving the stability of the steering control of the front guide wheel set 61 on the front steering wheels 8. Thus, by adding the raised guide rails and a plurality of steering wheels 8, when the trolley body 3 enters the platform 1 from front to back and there is a certain inclination at the front of the trolley body 3, the two rudders 53 can be positioned by the positioning block 112 to the left and right sides of the plurality of guide blocks 111 and roll and walk on the two raised tracks 17 to raise the rear end of the trolley body 3. The plurality of guide wheel sets 6 roll against the left and right sides of the guide 11, the plurality of steering wheels 8 are limited in steering by the left and right guide wheel sets 6 and are guided to roll and rise to the top of the plurality of guide blocks 111 by the guide surface 1121, to raise the front end of the trolley body 3 and make the walking wheel set 4 hang. The front end of the trolley body 3 is controlled by the rolling abutment between the front guide wheel set 61 and the positioning block 112, and the steering wheels 8 steer and walk on the positioning block 112, and is not hindered by the hanging walking wheel set 4, thereby avoiding the forced alignment of the front of the trolley body 3 by the rolling abutment of the guide wheel set 6 and the guide 11, which can cause damage to the guide wheel set 6 or damage to the walking wheel set 4 and the top of the platform 1, causing the guide wheel set 6 to deviate or the walking wheel set 4 to deviate, which can cause the trolley body 3 to not be coaxially arranged with the carriage 9 on the platform 1, improving the stability of the trolley body 3 reversing from front to back onto the platform 1 and cooperating with the guide 11, ensuring that the cooperation between the guide wheel set 6 and the guide 11 is stable and smooth, ensuring that the trolley body 3 can be coaxially arranged with the carriage 9 on the platform 1 during the next loading, improving the adaptability of the platform 1 to the coaxial guidance of the trolley body 3.

[0073] In order to improve the limiting strength of the guide wheel set 6, the distal sides of the two raised guide rails are upwardly folded to form limiting portions corresponding to the guide 11. When the trolley body 3 walks on the platform 1, the guide wheel set 6 rolls against the guide 11 and the two limiting portions, and the two rudders 53 roll and walk on the raised tracks 17 and are limited between the guide 11 and the two limiting portions.

[0074] Since the walking wheel set 4 is suspended, the trolley body 3 is only supported by the swing wheel set 5 and the steering wheels 8, and the supporting force is insufficient when the trolley body 3 is loaded. Therefore, in order to ensure the stability of the trolley body 3 while realizing the swing of the front end of the trolley body 3, the top of the platform 1 includes an adjusting area 14 on the left and right sides of the positioning block 112 and a normal position area 15 on the left and right sides of the guide block 111. The normal position area 15 is provided with a support pad 18 corresponding to the walking wheel set 4 and having a slope at the front end. The support height of the lifting track 17 and the support pad 18 is the same, specifically, the support height of the lifting track 17 and the support pad 18 is 1-3mm, preferably 2mm. Therefore, by slightly lifting the height, when the trolley body 3 is tilted up and down on the left and right sides by accident before the walking wheel set 4 is suspended to swing the front end of the trolley body 3, the walking wheel set 4 will be supported by touching the ground, avoiding the situation that the trolley body 3 is tilted and separated from the guide 11. After the trolley body 3 is lifted as a whole, the walking wheel set 4 is suspended when entering the adjusting area 14 and rolls against the support pad 18 when entering the normal position area 15. Therefore, by adding the support pad 18, when the trolley body 3 is swung to the front end and enters the normal position area 15, the walking wheel set 4 can be supported by the support pad 18, so that the trolley body 3 is supported by the swing wheel set 5, the walking wheel set 4 and the steering wheel 8 together, improving the supporting stability of the trolley body 3, and ensuring the supporting stability of the trolley body 3 when loaded under the premise of realizing the swing of the front end of the trolley body 3.

[0075] It should be pointed out that the implementation principle and technical effects of the present embodiment are the same as those of Embodiment One, Embodiment Two, Embodiment Three or Embodiment Four. For brevity, the present embodiment is not mentioned, and the corresponding content in Embodiment One can be referred to.

[0076] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. Those skilled in the art can make various modifications and changes to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A high precision loading system, characterized in that, Include: Platform (1), top middle convex is equipped with the guide (11) extending along the axial direction, the left and right sides of the front end of the platform (1) is equipped with the clamping piece (12) driven by the clamping drive assembly (13) to move towards or move in the opposite direction; Support mechanism (2), provided on the bottom of the platform (1), the support mechanism (2) is used for driving the platform (1) to move to the coaxial interface with the corresponding carriage (9), two clamping pieces (12) are used for moving towards the carriage (9) or moving away from the carriage (9); The guide (11) includes a plurality of guide blocks (111) and a positioning block (112) distributed in sequence from back to front along the axial line of the platform (1), the guide blocks (111) and the positioning block (112) are screwed on the top of the platform (1), the left and right width of a positioning block (112) gradually decreases towards the carriage (9); The clamping drive assembly (13) is provided with two groups and is symmetrically provided on the front end of the platform (1), the clamping drive assembly (13) includes a mounting seat (131) fixed on the side of the platform (1), a clamping oil cylinder (132) hingedly connected to the inner side of the mounting seat (131) and movably penetrating the rear of the mounting seat (131) and hingedly connected to the clamping piece (12), a plurality of sliding sleeves (133) fixedly penetrating the side wall of the mounting seat (131), a plurality of sleeve rods (134) respectively connected to the clamping piece (12) at one end and respectively slidingly penetrating the sliding sleeve (133) at the other end, a plurality of limiting rods (135) respectively connected to the clamping piece (12) at one end and respectively slidingly penetrating the mounting seat (131) at the other end; Two clamping pieces (12) each include a connecting portion (121) connected to one end of a plurality of sliding sleeves (133) and the other end of the clamping oil cylinder (132), two connecting portions (121) extend to the front side and are respectively fixed with clamping blocks (122) protruding from the rear of the platform (1), a plurality of sleeve rods (134), a plurality of limiting rods (135), and a clamping oil cylinder (132) are arranged in front of and behind the connecting portion (121); after moving towards each other, the two clamping blocks (122) are clamped and fixed on the left and right sides of the rear end of the carriage (9); The trolley body (3) is provided with a cargo carrying mechanism on one side for carrying and driven by a horizontal moving drive device (35) to move horizontally, the trolley body (3) is provided with front and rear distributed walking wheel groups (4) and swing wheel groups (5), and a plurality of groups of guide wheel groups (6) are distributed in front and rear, the walking wheel groups (4) are driven by a walking drive device (41) to rotate forward and backward, the swing wheel groups (5) are driven by a rotating drive device (51) to swing left and right, the distance between each group of guide wheel groups (6) is set and rolls against the left and right sides of the guide (11), and the left and right sides of the trolley body (3) are respectively provided with a distance sensing device.

2. A high precision loading system as claimed in claim 1, wherein, The number of walking wheel groups (4) is two groups and is arranged on the left and right sides of the front part of the carrier body (3), the number of swing wheel groups (5) is one group and is arranged on the rear side of the middle part of the shaft of the carrier body (3), the swing wheel groups (5) are arranged with a spacing between them and are distributed on the left and right sides of the guide (11), the number of guide wheel groups (6) is two groups and is respectively a front guide wheel group (61) and a rear guide wheel group (62) which are distributed in front and behind the middle part of the shaft of the carrier body (3), the front guide wheel group (61) is arranged on the rear side of the two walking wheel groups (4), and the rear guide wheel group (62) is arranged on the rear side of the swing wheel group (5).

3. A high precision loading system as claimed in claim 2, wherein, The bottom of the carrier body (3) is fixedly provided with two guide structures (7) which are symmetrically distributed in front and behind, each guide structure (7) comprises a guide seat (71), a guide rod (72) extending in front and behind is arranged in the guide seat (71), a guide block (73) is slidingly arranged on the guide rod (72), a spring (74) is fixed at one end and connected to the guide block (73) at the other end, a slide rod (75) extending left and right, two slide blocks slidingly arranged on the slide rod (75), two connecting rods (76) hingedly connected to the two slide blocks at one end and hingedly connected to the guide block (73) at the other end, a slide hole extending left and right is arranged in the bottom of the guide seat (71), the front guide wheel group (61) comprises two rotating shafts slidingly penetrating the slide holes of the guide seats (71) on the front side and connected to the slide blocks, and two front guide wheels rotatingly arranged on the lower ends of the rotating shafts, and the rear guide wheel group (62) comprises two rotating shafts slidingly penetrating the slide holes of the guide seats (71) on the rear side and connected to the slide blocks, and two rear guide wheels rotatingly arranged on the lower ends of the rotating shafts.

4. A high precision loading system as claimed in claim 1, wherein, The support mechanism (2) is provided with two and arranged at the bottom of the front and rear ends of the platform (1), each support mechanism (2) comprises a support seat (21) fixedly arranged on the ground, two left and right distributed telescopic supports (22), a sliding seat (23) connected to the lower ends of the two telescopic supports (22) and slidingly arranged on the support seat (21), a transverse moving oil cylinder (24) arranged on the support seat (21) for driving the left and right transverse movement of the sliding seat (23), a limiting cover (25) arranged on the outer side of the sliding seat (23) is arranged on the top middle part of the support seat (21), a plurality of limiting rollers (26) rolling through the side wall of the limiting cover (25) and rolling against the outer wall of the sliding seat (23) are arranged, and the telescopic supports (22) are driven by lifting oil cylinders (27) to ascend and descend.

5. A high precision loading system as claimed in claim 1, wherein, The top of the platform (1) includes an adjustment area (14) on the left and right sides and the front side of a positioning block (112), and a normal position area (15) on the left and right sides of a plurality of guide blocks (111), the adjustment area (14) is recessed and provided with a plurality of mounting grooves for mounting a universal adjusting device (16), the universal adjusting device (16) includes a limiting seat (161) fixedly arranged in the mounting groove, a lifting seat (162) slidingly arranged in the limiting seat (161), and a ball (163) rotatably arranged in the top of the lifting seat (162), the lifting seat (162) and the limiting seat (161) are connected by an elastic element (164), and the upper part of the ball (163) is exposed and protrudes from the upper side of the adjustment area (14); when the carrier body (3) enters the platform (1) from front to back and the walking wheel set (4) walks through a plurality of balls (163), it is swung to the left and right after being guided and rolled by the plurality of balls (163).

6. A high accuracy loading system as claimed in claim 1, wherein, The top of the platform (1) is provided with two raised tracks (17) on the left and right sides of the guide member (11) and having a slope at the front end, and the top of a positioning block (112) is inclined to form a guide surface (1121) gradually increasing in height from front to back, and the carrier body (3) is horizontally rotatably provided with a plurality of steering wheels (8) corresponding to each group of guide wheels (6) between the steering wheels (8); when the carrier body (3) enters the platform (1) from front to back, the swing wheel set (5) is positioned by the positioning block (112) to the left and right sides of a plurality of guide blocks (111) and rolls on the two raised tracks (17), a plurality of guide wheel sets (6) are abutted and rolled on the left and right sides of the guide member (11), a plurality of steering wheels (8) are limited to steer left and right by the guide wheel set (6) and are guided and rolled to rise to the top of a plurality of guide blocks (111) by the guide surface (1121), and the carrier body (3) is lifted as a whole and the walking wheel set (4) is suspended.

7. A high accuracy loading system as claimed in claim 6, wherein, The top of the platform (1) includes an adjustment area (14) on the left and right sides of a positioning block (112), and a normal position area (15) on the left and right sides of a plurality of guide blocks (111), the normal position area (15) is provided with a support pad (18) corresponding to the walking wheel set (4) and having a slope at the front end, and the support height of the raised track (17) and the support pad (18) is the same; after the carrier body (3) is lifted as a whole, the walking wheel set (4) is suspended when entering the adjustment area (14) and is abutted and rolled on the support pad (18) when entering the normal position area (15).

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