Lateral-movement pressure-stabilizing distance-adjusting ejector, intelligent carrying trolley and control method of intelligent carrying trolley

Abstract

The invention discloses a lateral-moving pressure-stabilizing distance-adjusting ejector, an intelligent carrying trolley and a control method of the intelligent carrying trolley, and relates to the technical field of intelligent carrying equipment accessories. The side-moving pressure-stabilizing distance-adjusting ejector comprises a rear hanging assembly, a frame assembly, a panel assembly, a side-moving assembly, a distance-adjusting assembly, an ejecting assembly and a pressure-stabilizing assembly, the rear hanging assembly is assembled on portal channel steel through a roller assembly, and the frame assembly is connected to the rear hanging assembly and loads a side-moving electric cylinder and a guide rail; the panel assembly comprises a first panel assembly, a second panel assembly and a third panel assembly, the first panel assembly is transversely and slidably connected through a guide rail, and the second panel assembly and the third panel assembly are arranged on the two sides of the first panel assembly. The lateral moving assembly drives the first panel assembly to transversely move along the guide rail through a lateral moving electric cylinder. The side moving, distance adjusting, pushing-out and goods stabilizing functions of the accessory are integrated, the structure is simple, the manufacturing cost is low, and various working condition requirements can be met; the electric cylinder and the linear guide rail simplify a complex oil way, control is more reliable, the anti-explosion and intelligent detection control functions are achieved, and the intelligence of accessories is effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent handling equipment accessories, and in particular to a side-shifting, voltage-stabilizing, and distance-adjusting ejector, an intelligent handling trolley, and a control method thereof. Background Art

[0002] Attachments are used for forking cargo on intelligent transport carts. Due to the different sizes of cargo, the spacing and position of the forks often need to be adjusted or shifted sideways. At the same time, when clamping relatively high cargo, it is necessary to have the function of auxiliary clamping and stabilizing the cargo. The ejector can realize the loading and unloading of cargo in areas with relatively small activity space for the forklift. To realize these functions, it is necessary to equip attachments with different functions, which is costly and inefficient. With the maturity of current unmanned driving technology, many unmanned intelligent transport equipment have been born to meet market demand, and higher requirements are also placed on the control accuracy of the attachment grippers at the front end of the transport equipment.

[0003] Traditional hydraulic attachments have complex hydraulic oil circuits and need to be equipped with hydraulic control valves with various functions. They are costly, complex in structure, and have low hydraulic control precision. Traditional hydraulic control attachments can no longer match intelligent handling equipment. At the same time, in some special industries, there are also some special requirements for handling attachments. For example, in the civil explosives industry, due to the flammable and explosive nature of goods, traditional hydraulic attachments need to be equipped with hydraulic systems. Once the hydraulic system leaks, the consequences are disastrous. In addition to the problem of hydraulic leakage, the electric sparks caused by the friction between the metal gripper of the traditional attachment and the goods are also not allowed. Summary of the invention

[0004] The present invention provides a side-shifting, voltage-stabilizing, and distance-adjusting ejector, an intelligent transport trolley, and a control method thereof, which overcome the deficiencies described in the background technology.

[0005] The technical solution adopted by the present invention to solve its technical problem is: A side-shifting, voltage-stabilizing, and distance-adjusting ejector comprises a rear-hook assembly, a frame assembly, a panel assembly, a side-shifting assembly, a distance-adjusting assembly, an ejector assembly, and a voltage-stabilizing assembly. The rear-hook assembly is assembled on a door frame channel steel through a roller assembly. The frame assembly is connected to the rear-hook assembly and is loaded with a side-shifting electric cylinder and a guide rail. The panel assembly comprises a first panel assembly connected by a transverse sliding connection through a guide rail and a second panel assembly and a third panel assembly on both sides of the first panel assembly. The first panel assembly, the second panel assembly, and the third panel assembly are all connected to a mounting fork plate. The side-shifting assembly The first panel assembly is driven to move laterally along the guide rail by the side-shift electric cylinder; the distance-adjusting assembly includes a distance-adjusting electric cylinder and a matching mechanism arranged on the first panel assembly, and the distance between the fork plates is adjusted by linking the second panel assembly and the third panel assembly; the pushing assembly includes an X-shaped connecting rod mechanism and a push plate driven by a push-pull electric cylinder, and the X-shaped connecting rod mechanism and the push plate are arranged above the fork plate; the voltage-stabilizing assembly includes a guide groove bracket, a voltage-stabilizing bracket with rollers, and a voltage-stabilizing electric cylinder that drives the voltage-stabilizing bracket to rise and fall, and the end of the voltage-stabilizing bracket is connected to an upper clamping part with a rubber tube through a connecting part. Among them, the movable end of the side-shift electric cylinder is connected to the first panel assembly, and the movable end of the distance-adjusting electric cylinder is connected to the back side of the corresponding panel assembly. The side-shift electric cylinder and the distance-adjusting electric cylinder are installed in the horizontal direction, and the voltage-stabilizing electric cylinder is installed in the vertical direction. The movable end of the voltage-stabilizing electric cylinder is located at the top and connected to the voltage-stabilizing bracket.

[0006] The side-shifting, pressure-stabilizing, and distance-adjusting ejector in the present invention is an independent accessory, which can be connected to a movable device such as an intelligent transport trolley or a forklift through a rear-mounted assembly. The roller assembly is composed of a plurality of rollers, and four rollers are usually installed on the rear-mounted assembly, so that the rollers can roll along the door frame channel steel, thereby adjusting the overall height of the side-shifting, pressure-stabilizing, and distance-adjusting ejector in the vertical direction on the movable device. The side-shifting assembly and the distance-adjusting assembly share the same guide rail system to save space, and are usually slidably matched with the guide rail through a slider. The push plate is made of stainless steel, which can prevent static electricity generated by friction with the cargo during the loading and unloading process to a certain extent. A rubber tube is installed on the upper clamping part, which can be explosion-proof on the one hand, and reduce the contact surface with the cargo on the other hand, so as to ensure that the cargo can be firmly pressed even if it is uneven.

[0007] A preferred technical solution: The matching mechanism includes a driving gear arranged on the first panel assembly and a driven rack respectively fixed to the second panel assembly and the third panel assembly, and the two driven racks are respectively meshed with the top end and the bottom end of the driving gear.

[0008] A preferred technical solution: The X-type connecting rod mechanism includes a first push rod and a second push rod cross-connected by a central hinge axis, a guide groove is set on the back side of the push plate, one end of the first push rod is hinged to the first panel assembly, and the other end is slidably connected along the guide groove.

[0009] A better technical solution: a sliding table is hingedly set at one end of the second push rod, and a guide rail for the sliding table to slide is set on the first panel assembly, the other end of the second push rod is hinged to the back side of the push plate, two X-shaped connecting rod mechanisms are set, the sliding table and the guide groove are located on the same side, and the movable end of the push-pull electric cylinder controls the displacement of the sliding table.

[0010] A better technical solution: There are four groups of fork plates, two of which are installed on the first panel assembly, and one group of fork plates is installed on the second panel assembly and the third panel assembly respectively. The back of each fork plate is provided with a slider that cooperates with the guide rail of the panel assembly.

[0011] A better technical solution: the side shift assembly, the distance adjustment assembly and the push-out assembly are interlocked and controlled through a control circuit. When the side shift electric cylinder performs lateral displacement, the distance adjustment electric cylinder automatically compensates for the fork plate spacing deviation, and the push-pull electric cylinder synchronously adjusts the initial position of the push plate.

[0012] A better technical solution: Distance measuring sensors and pressure sensors are installed on the upper clamp. By installing and setting sensors together, intelligent detection and loading and unloading of goods can be realized. The pressure sensor can monitor the clamping force in real time, and automatically trigger the voltage-stabilizing electric cylinder to fine-tune when the pressure exceeds the tolerance. The distance measuring sensors are installed at both ends of the upper clamp to detect the distance between the intelligent transport trolley and the carriage wall after entering the carriage. The detection results are fed back to the control system, and the control system adjusts the forward direction of the trolley to ensure that the intelligent transport trolley does not collide with the carriage during the transportation process.

[0013] An intelligent transport trolley comprises a traveling chassis, a gantry and the aforementioned side-shifting, pressure-stabilizing and distance-adjusting ejector. The gantry is installed on the traveling chassis and is provided with a tilting mechanism. The side-shifting, pressure-stabilizing and distance-adjusting ejector is assembled at the front end of the lifting gantry.

[0014] A control method for an intelligent transport vehicle comprises the following steps: S1. The loading system issues tasks upstream; S2. The side-shifting, voltage-stabilizing and distance-adjusting ejector moves sideways according to the forked cargo information, the distance-adjusting cylinder adjusts the distance, the voltage-stabilizing component returns to the topmost and most open position, and the ejector component retracts to the origin. After reaching the position, the magnetic induction signals of each cylinder are fed back to the control system. S3. The gantry of the intelligent transport vehicle lifts and tilts to the pickup position. The photoelectric sensor detects the lifting position signal, stops lifting, and feeds the signal back to the control system. S4. The voltage-stabilizing electric cylinder of the side-shift voltage-stabilizing and distance-adjusting ejector starts to work, driving the voltage-stabilizing bracket to move downward. The preset pressure sensor on the voltage-stabilizing bracket detects that the clamping force has reached the set value, stops applying pressure, and the mast moves upward, and feeds back a signal to the control system; S5. The intelligent transport trolley returns to the travel origin, is lifted and lowered to the travel position, and the side-shift mechanism of the side-shifting pressure-stabilizing and distance-adjusting ejector returns to the middle position; S6. Pick-up is completed and a signal is fed back to the control system.

[0015] A better technical solution: also includes the following steps: S7. The control system receives a pickup completion signal; S8. The intelligent transport vehicle drives to the cargo placement position, and uses the distance measuring sensors on the left and right sides to determine the distance between the cargo on the fork and the compartment wall. The side shift electric cylinder of the side shift voltage stabilizing and distance adjusting ejector makes corresponding displacement control, and stops side shifting after reaching the displacement automatically calculated by the system; S9. The lifting gantry of the intelligent transport vehicle descends to the cargo placement position, and the photoelectric sensor detects the positioning signal and feeds back the signal to the control system; S10. The voltage-stabilizing electric cylinder begins to open, and the gantry begins to tilt downward. The photoelectric sensor measures the arrival of the cargo at the unloading point and then feeds back a signal to the control system. S11. The push-out electric cylinder of the side-shift voltage-stabilizing and distance-adjusting push-out device starts to move, and at the same time controls the intelligent transport trolley to move backward synchronously; when the distance-measuring sensor at the rear of the intelligent transport trolley detects that the push-out is in place and the trolley moves back to the set stroke, a feedback signal is sent to the control system; S12. The side shift of the lateral pressure-stabilizing and distance-adjusting ejector returns to the middle position, the ejector assembly returns to the retracted position, and the gantry of the intelligent transport vehicle is lifted back to the walking position. The retracted position here refers to the position of each assembly of the ejector assembly in the initial state, and the corresponding structure of the ejector assembly is in the retracted state at this time; S13. Unloading is completed.

[0016] By adopting the above technical solution, the beneficial effects of the present invention are: 1. The side-shifting, voltage-stabilizing, distance-adjusting ejector of the present invention integrates the functions of side-shifting, distance-adjusting, ejecting and stabilizing goods. It has a simple structure, low manufacturing cost, simple operation, can adapt to various working conditions, and has broad market prospects. The electric cylinder and linear guide simplify the complex oil circuit, which is more reliable during control. It has anti-riot and intelligent detection and control functions, and effectively improves the intelligence of the accessories.

[0017] 2. The upper clamping part of the voltage stabilizing assembly of the present invention is provided with a rubber tube, which can prevent explosion on the one hand, and reduce the contact surface with the goods on the other hand, so as to ensure that the goods can be firmly pressed even if they are uneven.

[0018] 3. The structure of the side-shifting, pressure-stabilizing, and distance-adjusting ejector in the present invention is simplified, and the overall weight is lighter, so it is convenient to use with the intelligent transport trolley, making the intelligent transport trolley lighter in load and improving the control accuracy; the various components in the side-shifting, pressure-stabilizing, and distance-adjusting ejector cooperate to efficiently adjust the goods, so that it can be accurately adjusted in a small activity space, thereby indirectly improving the loading and unloading efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0020] Figure 1 It is a structural schematic diagram of the present invention; Figure 2 It is a front view of the present invention; Figure 3 is a side view of the present invention; Figure 4 It is a rear view of the present invention; Figure 5 It is a schematic diagram of the three-dimensional structure of the back side of the present invention; Figure 6 It is a structural schematic diagram of another angle of the front side of the present invention; Figure 7 A top view of the present invention; Figure 8 is a structural schematic diagram of the front side of the first panel assembly; Fig. 9 is a structural schematic diagram of the back side of the first panel assembly; Fig.10 It is a schematic diagram of the structure around the first panel assembly after the rear hanging assembly is hidden; Fig.11 It is a schematic diagram of the state when the push plate is pushed out by the push component; Fig.12 It is a schematic diagram of the installation position structure of each panel assembly; Fig.13 A schematic diagram of the structure of the upper clamping part with a distance measuring sensor; Fig.14 for Fig.11 A local enlarged schematic diagram of the middle A; Fig.15 This is a schematic diagram of the structure of an intelligent transport trolley loaded with a side-shifting, pressure-stabilizing, and distance-adjusting ejector.

[0021] Description of main reference numerals: 1. Rear hanging assembly; 101. Roller assembly; 2. Frame assembly; 21. Guide rail; 22. Slider; 3. Side shift assembly; 31. Side shift electric cylinder; 4. Distance adjustment assembly; 41. Distance adjustment electric cylinder; 5. Push assembly; 51. Push-pull electric cylinder; 52. Push plate; 521. Guide groove; 53. First push rod; 54. Second push rod; 55. Central hinge shaft; 6. Voltage stabilizing assembly; 60. Connecting part; 61. Upper clamping part; 611. Rubber tube; 62. Guide groove bracket; 63. Voltage stabilizing bracket; 64. Voltage stabilizing electric cylinder; 7. First panel assembly; 71. Gear shaft; 72. Gear; 73. A rack; 74, a second rack; 75, a sliding table; 76, an articulated frame; 77, a limit rod; 8, a second panel assembly; 81, a limit block; 811, a buffer pad; 9, a third panel assembly; 10, a first fork plate; 11, a second fork plate; 12, a third fork plate; 13, a fourth fork plate; 14, a distance sensor; 15, a tail distance sensor; 16, a first photoelectric sensor; 17, a second photoelectric sensor; 100, an intelligent transport trolley; 1011, a door frame; 102, a walking chassis; 103, a tilt mechanism; 104, a wheel; 200, a side-shifting, pressure-stabilizing, and distance-adjusting ejector. DETAILED DESCRIPTION

[0022] Example 1 like Figure 1-Figure 6As shown, this embodiment provides a side-shifting, voltage-stabilizing, and distance-adjusting ejector, comprising a rear-hanging assembly 1, a frame assembly 2, a panel assembly, a side-shifting assembly 3, a distance-adjusting assembly 4, an ejector assembly 5, and a voltage-stabilizing assembly 6. The rear-hanging assembly 1 is assembled on a gantry channel steel through a roller assembly 101, wherein the gantry is the gantry 1011 of the intelligent transport trolley 100. The frame assembly 2 is connected to the rear-hanging assembly 1 and is loaded with a side-shifting electric cylinder 31 and a guide rail 21. The panel assembly comprises a first panel assembly 7 connected in a transverse sliding manner through the guide rail 21 and a second panel assembly 8 and a third panel assembly 9 on both sides thereof. The first panel assembly 7, the second panel assembly 8, and the third panel assembly 9 are all connected The fork plate is installed, and the side shift component 3 is driven by the side shift electric cylinder 31 to move the first panel assembly 7 laterally along the guide rail 21; the distance adjustment component 4 includes a distance adjustment electric cylinder 41 and a matching mechanism arranged on the first panel assembly 7, and the fork plate spacing adjustment is achieved by linking the second panel assembly 8 and the third panel assembly 9; the pushing component 5 includes an X-shaped connecting rod mechanism and a push plate 52 driven by a push-pull electric cylinder 51, and the X-shaped connecting rod mechanism and the push plate 52 are arranged above the fork plate; the voltage stabilizing component 6 includes a guide groove bracket 62, a voltage stabilizing bracket 63 with rollers and a voltage stabilizing electric cylinder 64 that drives it to rise and fall, and the end of the voltage stabilizing bracket 63 is connected to the upper clamping part 61 with a rubber tube 611 through a connecting part 60. Among them, the movable end of the side shifting electric cylinder 31 is connected to the first panel assembly 7, the movable end of the distance adjusting electric cylinder 41 is connected to the back side of the corresponding independent fork plate, the side shifting electric cylinder 31 and the distance adjusting electric cylinder 41 are installed in the horizontal direction, and the voltage stabilizing electric cylinder 64 is installed in the vertical direction. The movable end of the voltage stabilizing electric cylinder 64 is located at the top and is connected to the voltage stabilizing bracket 63.

[0023] Reference Figure 1 The fork plate structure includes a horizontal structure for supporting goods and a vertical structure for locking and connecting with the panel assembly. The horizontal structure and the vertical structure are integrally formed, and the front end of the horizontal structure of a single fork plate structure forms a common fork body structure.

[0024] When the voltage stabilizing assembly 6 is in use, the active end of the voltage stabilizing electric cylinder 64 is used to control the vertical displacement of the voltage stabilizing bracket 63 along the guide groove bracket 62. The upper clamping part 61 is connected to the voltage stabilizing bracket 63 through the connecting part 60. When the voltage stabilizing bracket 63 is displaced, the upper clamping part 61 is displaced synchronously to cooperate with the fork plate to clamp the goods, thereby playing an auxiliary clamping role on the goods and preventing the goods from tipping over during transportation.

[0025] Example 2 like Figure 1-Figure 14 As shown, this embodiment provides a side-shifting, voltage-stabilizing, and distance-adjusting ejector 200. The difference between this embodiment and embodiment 1 is that: Reference Fig.10The matching mechanism includes a gear 72 arranged on the first panel assembly 7, which is respectively fixed to the racks of the second panel assembly 8 and the third panel assembly 9. The two racks are respectively meshed with the top and bottom ends of the gear 72. The rack located at the bottom end is the first rack 73, and the rack located at the top end is the second rack 74.

[0026] There are four groups of fork plates, two of which are installed on the first panel assembly 7, and one group of fork plates is installed on the second panel assembly 8 and the third panel assembly 9 respectively. A slider 22 is provided on the back of each fork plate to cooperate with the panel assembly guide rail 21.

[0027] Reference Fig.12 , the structure shown from the front side perspective of the side-shifting, voltage-stabilizing, and distance-adjusting ejector 200 is explained, and the fork plates are respectively the first fork plate 10, the second fork plate 11, the third fork plate 12, and the fourth fork plate 13 from right to left, wherein the second fork plate 11 and the third fork plate 12 are installed on the first panel assembly 7 located in the middle, the second panel assembly 8 is on the left side of the first panel assembly 7, and only the fourth fork plate 13 is installed on it, and the third panel assembly 9 is on the right side of the first panel assembly 7, and only the first fork plate 10 is installed on it.

[0028] Reference Fig.10 , the gear 72 is installed on the first panel assembly 7 through the gear shaft 71. When the active end of the side-shifting electric cylinder 31 controls the displacement of the first panel assembly 7 along the guide rail 21 on the frame assembly 2, when the distance-adjusting component 4 is not started, the first panel assembly 7 forms a community with the second panel assembly 8 through the distance-adjusting component 4. At this time, the active end of the side-shifting electric cylinder 31 will synchronously control the first panel assembly 7 and the second panel assembly 8 to move in the same direction, such as moving to the right together, to achieve lateral control of the fork plates on the corresponding panel assemblies; since the fixed end of the distance-adjusting electric cylinder 41 is connected to the first panel assembly 7, the active end of the distance-adjusting electric cylinder 41 is connected to the second panel assembly 8, when the distance-adjusting component 4 is started, the second panel assembly 8 is controlled to move away from the first panel assembly 7, thereby achieving flexible adjustment of the distance between the fourth fork plate 13 and the third fork plate 12.

[0029] Reference Figure 10-12 as well as Fig.14 The X-shaped linkage mechanism includes a first push rod 53 and a second push rod 54 cross-connected by a central hinge shaft 55, a guide groove 521 is set on the back side of the push plate 52, one end of the first push rod 53 is hinged to the first panel assembly 7, and the other end is slidably connected along the guide groove 521.

[0030] A sliding table 75 is hingedly set at one end of the second push rod 54, and a guide rail 21 for the sliding table 75 to slide is set on the first panel assembly 7. The other end of the second push rod 54 is hinged to the back side of the push plate 52. Two X-shaped connecting rod mechanisms are set. The sliding table 75 and the guide groove 521 are located on the same side, and the movable end of the push-pull electric cylinder 51 controls the displacement of the sliding table 75.

[0031] One end of the first push rod 53 is specifically hinged to the hinge frame 76 on the first panel assembly 7, and the other end is slidably connected along the guide groove 521. One end of the second push rod 54 is hinged to the sliding table 75, and the other end is directly hinged to the back side of the push plate 52. The hinge is mostly assembled in the form of a shaft rod, and the push rod uses the shaft rod as the rotation base point; when the movable end of the push-pull electric cylinder 51 controls the displacement of the sliding table 75, the sliding table 75 slides and displaces along the corresponding guide rail 21 on the first panel assembly 7 through the slider 22, and cooperates with the guide groove 521 and various hinge structures to achieve the change of the angle between the first push rod 53 and the second push rod 54, thereby achieving the push-out or retraction of the push plate 52. After the forklift moves to the corresponding loading and unloading position, the state of clamping the goods is directly released, and the goods on the fork plate are efficiently pushed out through the push-out assembly 5; indirectly improving the operating range of the forklift and effectively improving the loading and unloading efficiency of the forklift.

[0032] Furthermore, a limit block 81 is installed at the outer edge of the second panel assembly 8 and the third panel assembly 9, and a buffer pad 811 made of polyurethane is installed on the limit block 81. The buffer pad 811 is used to prevent the corresponding panel assembly from colliding with the frame assembly 2 when moving to the extreme position.

[0033] The side shift assembly 3, the distance adjustment assembly 4 and the push-out assembly 5 are interlocked and controlled through a control circuit. When the side shift electric cylinder 31 performs lateral displacement, the distance adjustment electric cylinder 41 automatically compensates for the fork plate spacing deviation, and the push-pull electric cylinder 51 synchronously adjusts the initial position of the push plate 52.

[0034] The distance sensor 14 and the pressure sensor are installed on the upper clamping part 61. The installation position of the distance sensor 14 is as shown in FIG. Fig.13 . By installing and setting up sensors, intelligent detection and loading and unloading of goods can be realized. The pressure sensor is installed at the bottom of the upper clamp 61, which can monitor the clamping force in real time. When the pressure exceeds the tolerance, it will automatically trigger the voltage-stabilizing electric cylinder 64 to make fine adjustments. The distance measuring sensor 14 is installed at both ends of the upper clamp 61 to detect the distance between the intelligent transport trolley and the carriage wall after entering the carriage. The detection result is fed back to the control system, and the control system adjusts the forward direction of the trolley to ensure that the intelligent transport trolley does not collide with the carriage during the transportation process. This distance measuring sensor 14 is specifically a laser distance measuring sensor.

[0035] Furthermore, a limit rod 77 is installed on the front side of the first panel assembly 7, that is, the side of the first panel assembly 7 where the push-pull electric cylinder 51 is installed. A buffer pad 811 made of polyurethane is also installed on the limit rod 77. The buffer pad 811 here is used to buffer and limit the push plate 52, so that when the push plate 52 returns to its initial position, its inner side collides with structures such as the articulated frame 76 and the push-pull electric cylinder 51.

[0036] Example 3 like Fig.15As shown, this embodiment provides an intelligent transport trolley. To meet the transport needs, the intelligent transport trolley 100 includes a gantry 1011, a walking chassis 102, and a tilting mechanism 103. The gantry 1011 is installed at the front end of the walking chassis 102. The gantry 1011 is connected and matched with the rear hanging assembly 1 of the side-shifting, pressure-stabilizing, and distance-adjusting ejector 200, that is, the rear hanging assembly 1 of the side-shifting, pressure-stabilizing, and distance-adjusting ejector 200 is assembled on the channel steel structure of the gantry 1011 through the roller assembly 101; a transverse bracket is provided in the rear hanging assembly 1. A lifting electric cylinder is provided on the traveling chassis 102 that can transport the trolley 100. The top end of the lifting electric cylinder is connected to the transverse bracket, thereby indirectly controlling the lifting and lowering displacement of the side-shifting, voltage-stabilizing, and distance-adjusting ejector 200 as a whole on the intelligent transport trolley 100. The bottom end of the gantry 1011 and the traveling chassis 102 are hinged at a certain rotation base point, and the gantry 1011 and the side-shifting, voltage-stabilizing, and distance-adjusting ejector 200 on the gantry 1011 are controlled by the tilt mechanism 103 to realize the tilt adjustment as a whole. The tilt mechanism 103 can also be realized by an electric cylinder.

[0037] The common intelligent transport vehicle chassis 102 is provided with a plurality of wheels 104 with independent drive devices. If a steering function is required, the rear end of the chassis 102 can be set as a steering wheel. Doppler radar can also be used for auxiliary positioning, and a frequency modulated continuous wave with a transmission frequency of 24 GHz is usually used for real-time monitoring.

[0038] Example 4 This embodiment provides a control method for an intelligent transport vehicle, comprising the following steps: S1. The loading system issues tasks upstream; S2. The side-shifting, voltage-stabilizing and distance-adjusting ejector 200 moves the side-shifting electric cylinder 31 sideways, the distance-adjusting electric cylinder 41 adjusts the distance, the voltage-stabilizing component 6 returns to the topmost and most open position, and the ejector component 5 retracts to the origin. After it is in place, the magnetic induction signal of each electric cylinder is fed back to the control system; S3. The door frame of the intelligent transport trolley is lifted and tilted to the pickup position. The photoelectric sensor detects the lifting position signal, stops lifting, and feeds the signal back to the control system. The photoelectric sensor here is installed in the middle and upper part of the side of the channel steel of the door frame of the intelligent transport trolley. Fig.15 A first photoelectric sensor 16; S4. The voltage-stabilizing electric cylinder 64 of the side-shifting voltage-stabilizing and adjustable-distance ejector 200 starts to work and drives the voltage-stabilizing bracket 63 to move downward. The preset pressure sensor on the voltage-stabilizing bracket 63 detects that the clamping force reaches the set value, stops applying pressure, and the mast is tilted up, and feedback signals are sent to the control system. The pressure sensor is specifically installed at the bottom end of the upper clamp 61; S5. The intelligent transport trolley returns to the travel origin, is lifted and lowered to the travel position, and the side-shift mechanism of the side-shifting pressure-stabilizing and distance-adjusting ejector 200 returns to the middle position; S6. Pick-up is completed and a signal is fed back to the control system; S7. The control system receives a pickup completion signal.

[0039] Example 5 This embodiment provides a control method for an intelligent transport vehicle, which further includes the following steps based on Embodiment 4: S8. The intelligent transport trolley 100 travels to the cargo placement position, and the distance between the cargo on the fork and the compartment wall is determined by the distance measuring sensors 14 on the left and right sides. The side shift electric cylinder 31 of the side shift stabilizer and distance adjuster 200 makes corresponding displacement control, and stops side shifting after reaching the displacement automatically calculated by the system; S9. The lifting gantry of the intelligent transport trolley 100 descends to the cargo placement position, and the photoelectric sensor detects the in-position signal and feeds back the signal to the control system. The photoelectric sensor here is installed in the middle and lower part of the side of the channel steel of the gantry of the intelligent transport trolley 100, which is Fig.15 The second photoelectric sensor 17; S10. The voltage-stabilizing electric cylinder 64 begins to open, and the gantry begins to tilt downward. The photoelectric sensor measures the arrival of the cargo at the unloading point and then feeds back a signal to the control system; S11. The push-pull electric cylinder 51 of the side-shifting voltage-stabilizing and distance-adjusting ejector 200 starts to move, and at the same time controls the intelligent transport trolley 100 to move backward synchronously; when the distance-measuring sensor at the tail of the intelligent transport trolley 100 detects that the push-out is in place and the trolley moves back to the set stroke, a feedback signal is sent to the control system. The distance-measuring sensor here is Fig.15 The tail distance sensor 15; S12. The side-shifting pressure-stabilizing and adjustable-distance ejector 200 is moved back to the neutral position, and the ejector assembly 5 is returned to the retracted position, while the gantry of the intelligent transport vehicle 100 is lifted back to the walking position; S13. Unloading is completed.

[0040] By means of the control method of the intelligent transport trolley in Examples 4 and 5, loading and unloading are carried out in a coordinated and efficient manner. The overall structure of the side-shifting, pressure-stabilizing, and distance-adjusting ejector 200 is simple and compact, and there is no complicated hydraulic oil circuit, so that the overall weight of the side-shifting, pressure-stabilizing, and distance-adjusting ejector 200 is lighter, which is convenient for the efficient movement of the intelligent transport trolley 100. The side-shifting, pressure-stabilizing, and distance-adjusting ejector 200 on the intelligent transport trolley 100 can simultaneously realize the functions of side-shifting, distance-adjusting, ejecting, and stabilizing goods; the bottom end of the guide groove bracket 62 is connected and installed on the first panel assembly 7, that is, when the first panel assembly 7 is displaced, the pressure-stabilizing component 6 is also displaced synchronously as a whole. Therefore, when the upper clamping portion 61 in the pressure-stabilizing component 6 cooperates with the second fork plate 11 and the third fork plate 12 on the first panel assembly 7 to clamp the goods, there is coordination between the side-shifting component 3 and the pressure-stabilizing component 6, which is convenient for adjusting the relative position of the goods in the horizontal direction; when reaching the predetermined position, the pressure-stabilizing component 6 is in the downward pressure state, and the ejection component 5 on the first panel assembly 7 further cooperates to push the goods out. When the distance adjustment electric cylinder 41 in the distance adjustment component 4 is not started, the first panel assembly 7 cooperates with the second panel assembly 8 through the distance adjustment component 4 to form a displacement community. When the distance adjustment electric cylinder 41 in the distance adjustment component 4 is started, the distance between the second panel assembly 8 and the fork plate on the first panel assembly 7 is adjusted. Similarly, when the side shift electric cylinder 31 in the side shift component 3 is started, the distance between the first panel assembly 7 and the fork plate on the third panel assembly 9 is adjusted through the cooperation of the gear 72 and the rack. It can be seen that there is a mutual cooperation relationship between the various components in the side shift voltage stabilizing distance adjustment ejector 200, while maintaining the structure simplification, the relative state of the goods is adjusted efficiently through cooperation.

[0041] The above description is only a preferred embodiment of the present invention, and therefore cannot be used to limit the scope of the present invention. That is, equivalent changes and modifications made according to the patent scope of the present invention and the contents of the specification should still fall within the scope of the present invention.

Claims

1. A side-shifting, voltage-stabilizing and distance-adjusting ejector, characterized in that: include: The rear hanging assembly is assembled on the mast channel steel through the roller assembly; A frame assembly, which is connected to the rear hanging assembly and carries a side shift electric cylinder and a guide rail; A panel assembly, comprising a first panel assembly connected by transverse sliding of the guide rail and a second panel assembly and a third panel assembly on both sides of the first panel assembly, wherein the first panel assembly, the second panel assembly and the third panel assembly are all connected to a mounting fork plate; A side shift assembly, which drives the first panel assembly to move laterally along the guide rail through the side shift electric cylinder; The distance adjustment component includes a distance adjustment electric cylinder and a matching mechanism arranged on the first panel assembly, and realizes the adjustment of the distance between the fork plates by linking the second panel assembly and the third panel assembly; A push-out assembly, which includes an X-shaped connecting rod mechanism and a push plate driven by a push-pull electric cylinder, wherein the X-shaped connecting rod mechanism and the push plate are arranged above the fork plate; The voltage stabilizing component comprises a guide groove bracket, a voltage stabilizing bracket with a roller and a voltage stabilizing electric cylinder for driving the voltage stabilizing bracket to rise and fall. The end of the voltage stabilizing bracket is connected to an upper clamping part with a rubber tube through a connecting part.

2. The side-shifting, voltage-stabilizing and distance-adjusting ejector according to claim 1 is characterized in that: The matching mechanism includes a driving gear arranged on the first panel assembly and driven racks respectively fixed to the second panel assembly and the third panel assembly, and the two driven racks are respectively meshed with the top end and the bottom end of the driving gear.

3. The side-shifting, voltage-stabilizing, and distance-adjusting ejector according to claim 1 is characterized in that: The X-type linkage mechanism includes a first push rod and a second push rod cross-connected by a central hinge axis, a guide groove is arranged on the back side of the push plate, one end of the first push rod is hinged to the first panel assembly, and the other end is slidably connected along the guide groove.

4. The side-shifting, voltage-stabilizing, and distance-adjusting ejector according to claim 3 is characterized in that: A sliding table is hingedly set at one end of the second push rod, and a guide rail for the sliding table to slide is set on the first panel assembly, the other end of the second push rod is hinged to the back side of the push plate, two X-shaped connecting rod mechanisms are set, the sliding table and the guide groove are located on the same side, and the movable end of the push-pull electric cylinder controls the displacement of the sliding table.

5. The side-shifting, voltage-stabilizing, and distance-adjusting ejector according to claim 1 is characterized in that: There are four groups of fork plates, two of which are installed on the first panel assembly, and one group of fork plates is installed on the second panel assembly and the third panel assembly respectively. A slider is provided on the back of each fork plate to cooperate with the guide rail of the panel assembly.

6. The side-shifting, voltage-stabilizing, and distance-adjusting ejector according to claim 1, characterized in that: The side shift assembly, the distance adjustment assembly and the push-out assembly are interlocked and controlled through a control circuit. When the side shift electric cylinder performs lateral displacement, the distance adjustment electric cylinder automatically compensates for the fork plate spacing deviation, and the push-pull electric cylinder synchronously adjusts the initial position of the push plate.

7. The side-shifting, voltage-stabilizing, and distance-adjusting ejector according to claim 1 is characterized in that: The upper clamping part is equipped with a distance sensor and a pressure sensor.

8. An intelligent transport vehicle, characterized in that: include: Walking chassis; The gantry is installed on the walking chassis and is equipped with a tilting mechanism; The side-shifting, voltage-stabilizing, and distance-adjusting ejector as described in any one of claims 1 to 7 is mounted at the front end of the portal frame.

9. A control method of an intelligent transport vehicle, applied to the intelligent transport vehicle as claimed in claim 8, characterized in that: The following steps are involved: S1. The loading system issues tasks upstream; S2. The side-shifting, voltage-stabilizing and distance-adjusting ejector moves sideways according to the forked cargo information, the distance-adjusting cylinder adjusts the distance, the voltage-stabilizing component returns to the topmost and most open position, and the ejector component retracts to the origin. After reaching the position, the magnetic induction signals of each cylinder are fed back to the control system. S3. The gantry of the intelligent transport vehicle lifts and tilts to the pickup position. The photoelectric sensor detects the lifting position signal, stops lifting, and feeds the signal back to the control system. S4. The voltage-stabilizing electric cylinder of the side-shift voltage-stabilizing and distance-adjusting ejector starts to work, driving the voltage-stabilizing bracket to move downward. The preset pressure sensor on the voltage-stabilizing bracket detects that the clamping force has reached the set value, stops applying pressure, and the mast moves upward, and feeds back a signal to the control system; S5. The intelligent transport trolley returns to the travel origin, is lifted and lowered to the travel position, and the side-shift mechanism of the side-shifting pressure-stabilizing and distance-adjusting ejector returns to the middle position; S6. Pick-up is completed and a signal is fed back to the control system.

10. The control method of the intelligent transport vehicle according to claim 9, characterized in that: The following steps are also included: S7. The control system receives a pickup completion signal; S8. The intelligent transport vehicle drives to the cargo placement position, and uses the distance measuring sensors on the left and right sides to determine the distance between the cargo on the fork and the compartment wall. The side shift electric cylinder of the side shift voltage stabilizing and distance adjusting ejector makes corresponding displacement control, and stops side shifting after reaching the displacement automatically calculated by the system; S9. The lifting gantry of the intelligent transport vehicle descends to the cargo placement position, and the photoelectric sensor detects the positioning signal and feeds back the signal to the control system; S10. The voltage-stabilizing electric cylinder begins to open, and the gantry begins to tilt downward. The photoelectric sensor measures the arrival of the cargo at the unloading point and then feeds back a signal to the control system. S11. The push-out electric cylinder of the side-shift voltage-stabilizing and distance-adjusting push-out device starts to move, and at the same time controls the intelligent transport trolley to move backward synchronously; when the distance-measuring sensor at the rear of the intelligent transport trolley detects that the push-out is in place and the trolley moves back to the set stroke, a feedback signal is sent to the control system; S12. The side-shifting pressure-stabilizing and distance-adjusting ejector moves back to the middle position, the ejector assembly returns to the retracted position, and the gantry of the intelligent transport trolley is lifted back to the walking position; S13. Unloading is completed.

Images