Transport vehicle and loading mechanism connection regulation and control system
By using a control system that connects the transport vehicle and the loading mechanism, and by employing attitude adjustment and lifting outrigger mechanisms, the stacking and unloading device can be quickly and accurately connected to the transport vehicle. This solves the problem of low loading and unloading efficiency in existing technologies and improves the efficiency of container loading and unloading.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-30
- Publication Date
- 2026-04-03
AI Technical Summary
Existing destacking and unstacking devices cannot directly and accurately dock with poultry transport vehicles, resulting in low loading and unloading efficiency of stacked containers and high equipment costs.
A control system for the connection between a transport vehicle and a loading mechanism was designed, including a transport vehicle, a container stacking device, a lifting support leg mechanism, and a control system. Through the coordinated work of the attitude adjustment mechanism and the lifting support leg mechanism, the three-dimensional spatial adjustment of the container conveying port is realized, ensuring the quick and accurate connection between the container stacking device and the transport vehicle.
It improves the loading and unloading efficiency of stacked containers, has a simple and compact structure, facilitates turnover and transportation, reduces the difficulty of docking control, and realizes smooth and seamless transfer and transportation of containers.
Smart Images
Figure CN121778481A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of connection and control system technology, and in particular to a connection and control system for a transport vehicle and a loading mechanism. Background Technology
[0002] With the continuous development of poultry farming in my country, the scale and scope of farming are constantly expanding, thus necessitating frequent transportation of poultry between different locations. Generally, poultry transportation involves loading poultry from the farm into transport containers (such as turnover boxes or crates), then stacking these containers using a destacking device, and finally loading the stacked containers onto a poultry transport vehicle. The transport vehicle then transports the stacked containers to the slaughterhouse, where they are unloaded and destacking is required. To improve the efficiency of loading and unloading stacked containers, the destacking device needs to be directly connected to the poultry transport vehicle, ensuring accurate connection between the device's input / output ports and the vehicle's input / output ports, allowing for the direct transfer of stacked transport containers in groups. Existing destacking and stacking devices are generally suitable for connection with container conveyor lines, but cannot be directly used for accurate docking with poultry transport vehicles. The conventional method is to use transfer equipment such as forklifts or robotic arms to connect the destacking and stacking devices and poultry transport vehicles to transfer and move stacked containers. However, this method has high equipment operating costs and low efficiency.
[0003] Therefore, how to provide a connection and control system between the transport vehicle and the loading mechanism, which can realize the quick and accurate connection between the stacking container device and the poultry transport vehicle, so as to improve the loading and unloading efficiency of stacked containers, is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention
[0004] In view of this, the present invention proposes a control system for the connection between a transport vehicle and a loading mechanism, which aims to solve at least one of the above-mentioned technical problems.
[0005] To achieve the above objectives, the present invention adopts the following technical solution: This invention provides a control system for the connection between a transport vehicle and a loading mechanism, comprising: A transport vehicle, wherein a container conveying line is provided parallel to the vehicle deck; the container conveying port of the container conveying line is located on the periphery of the transport vehicle; A container stacking device includes an outer frame, a mechanism frame, and a posture adjustment mechanism. The mechanism frame is movable within the outer frame, with its bottom end movably attached to the inner bottom plate of the outer frame. One side wall of the outer frame is open, and the mechanism frame has a container conveying port two corresponding to the open side wall. The posture adjustment mechanism is mounted on the outer frame and is drivenly connected to the mechanism frame, and can drive the mechanism frame to slide and twist on the bottom plate, thereby adjusting the position and conveying direction of the container conveying port two. A lifting outrigger mechanism is installed at the bottom of the outer frame and can adjust the height and tilt of the outer frame. The control system is electrically connected to and controls the attitude adjustment mechanism and the lifting leg mechanism to work together, thereby adjusting the connection between container delivery port one and container delivery port two.
[0006] In the present invention, a vehicle-to-loading mechanism connection and control system is used to move the vehicle so that container conveying port one of the container conveying line is coarsely positioned and connected to container conveying port two of the mechanism frame. Since the road surface where the vehicle is located is not a standard level surface, there will generally be some depressions or inclinations on the road surface. In order to ensure that container conveying port one and container conveying port two can be accurately aligned and connected, under the coordinated control of the control system, the height and tilt of the outer frame are adjusted by the lifting outrigger mechanism, thereby driving the lifting and tilting adjustment of the mechanism frame. The attitude adjustment mechanism directly drives the mechanism frame to slide on the bottom plate and twist around the vertical axis, thereby realizing the three-dimensional spatial adjustment of the position and conveying direction of container conveying port two. This provides a reliable guarantee for the accurate alignment and connection of container conveying port one and container conveying port two, and enables the stacked transport containers (turnover boxes or turnover baskets, etc.) to be smoothly transferred and transported between container conveying port one and container conveying port two, improving the loading and unloading efficiency of stacked containers.
[0007] As a further improvement to the above technical solution, the attitude adjustment mechanism includes a first telescopic driver, a second telescopic driver, and a third telescopic driver arranged parallel to the surface of the base plate; The telescopic directions of the first telescopic driver and the second telescopic driver are both set along the conveying direction of the container conveying port two; the first telescopic driver and the second telescopic driver are arranged horizontally at intervals along the conveying direction perpendicular to the container conveying port two; the fixed ends of the first telescopic driver and the second telescopic driver are both hinged to the base plate, and the telescopic ends of the first telescopic driver and the second telescopic driver are both hinged to the bottom of the mechanism frame. The telescopic direction of the third telescopic actuator is set perpendicular to the conveying direction of the second container conveying port; the fixed end of the third telescopic actuator is hinged to the base plate, and the telescopic end of the third telescopic actuator is hinged to the bottom of the mechanism frame. The hinge axes of the fixed end and the telescopic end of the first telescopic driver, the second telescopic driver, and the third telescopic driver are all arranged perpendicular to the surface of the base plate.
[0008] The beneficial effects of the above technical solution are: during the connection and control, the third telescopic driver does not move, and only the telescopic movement of the first telescopic driver or the second telescopic driver can drive the mechanism frame to twist and slide on the bottom plate; the first telescopic driver and the second telescopic driver do not move, and only the telescopic movement can drive the mechanism frame to slide laterally on the bottom plate; thus realizing the drive control of the mechanism frame on the bottom plate with two effective degrees of freedom (lateral sliding and torsional sliding).
[0009] As a further improvement to the above technical solution, the first telescopic actuator, the second telescopic actuator, and the third telescopic actuator are all telescopic hydraulic cylinders.
[0010] The advantages of the above technical solution are: the telescopic cylinder structure is simple and can ensure sufficient power.
[0011] As a further improvement to the above technical solution, the lifting outrigger mechanism includes three or more lifting outriggers that can be lifted and lowered independently; the three or more lifting outriggers are spaced apart along the circumference of the outer frame to coordinately adjust the height and tilt of the outer frame.
[0012] As a further improvement to the above technical solution, the external frame is a rectangular frame; there are four lifting legs; the four lifting legs are all perpendicular to the bottom plate and are arranged one-to-one at the four corners of the bottom of the external frame.
[0013] The beneficial effects of the above technical solution are: by designing four lifting legs at the four corners of the bottom of the outer frame, the height of the outer frame can be raised and lowered, and the tilt angles of the front and back and left and right can be easily adjusted, thus reducing the difficulty of control.
[0014] As a further improvement to the above technical solution, the control system includes a controller, a positioning plate, a ranging sensor group, and a tracking sensor group; The positioning plate is disposed on one side of the container conveying port, and the surface of the positioning plate is perpendicular to the conveying direction of the container conveying port; the surface of the positioning plate is a datum surface for alignment, and an alignment datum line is provided on the surface of the positioning plate. Both the distance measuring sensor group and the tracking sensor group are installed on the side wall of the mechanism frame and located on the two sides of the container conveying port, and can be horizontally aligned with the positioning plate when the container conveying port one and the container conveying port two are connected; the distance measuring sensor group can measure and obtain the plate surface distance data from it to the alignment reference surface; the tracking sensor group can obtain the line position data of the alignment reference line by measurement. The controller can drive the distance sensor group and the tracking sensor group to perform movement measurement by controlling the posture adjustment mechanism and the lifting leg mechanism; the controller is electrically connected to the distance sensor group and can determine the parallel state of the conveying direction of container conveying port one and the conveying direction of container conveying port two by receiving the plate distance data; the controller is electrically connected to the tracking sensor group and can determine the connection and alignment state of the conveying direction of container conveying port one and the conveying direction of container conveying port two by receiving the line position data.
[0015] The beneficial effects of the above technical solution are: using a positioning plate as a reference plate to calibrate the conveying direction of container conveying port one, facilitating the measurement of the docking status between container conveying port one and container conveying port two through a simple and reliable range sensor group and tracking sensor group, resulting in low space occupancy, good durability and low cost of the control system.
[0016] As a further improvement to the above technical solution, the ranging sensor group includes ranging sensor one, ranging sensor two, and ranging sensor three; ranging sensor one and ranging sensor two are arranged at intervals along the height direction of the frame; ranging sensor one, ranging sensor two, and ranging sensor three are all arranged at intervals along the horizontal direction.
[0017] The beneficial effects of the above technical solution are: the distance from different points on the frame to the positioning plate surface can be detected by the distance sensor 1, distance sensor 2 and distance sensor 3. The parallelism between the side wall of the frame and the positioning plate surface can be determined by the plate surface distance data, thereby providing a basis for judgment to correct the parallelism between the conveying direction of container conveying port 1 and the conveying direction of container conveying port 2.
[0018] As a further improvement to the above technical solution, the tracking sensor group includes tracking sensor one and tracking sensor two; tracking sensor one and tracking sensor two are spaced apart along the direction perpendicular to the surface of the base plate; the alignment reference line is a straight bar-shaped marker that is perpendicular to the vehicle plate and can be measured and sensed by tracking sensor one and tracking sensor two; the distance between tracking sensor one and tracking sensor two corresponds to the length of the alignment reference line.
[0019] The beneficial effects of the above technical solution are as follows: After adjusting the conveying direction of container conveying port one and container conveying port two to be parallel, it is necessary to further align and overlap the conveying directions of the two to ensure smooth connection and unimpeded conveying. Therefore, by driving the mechanism frame to slide laterally through the attitude adjustment mechanism, the tracking sensor one or tracking sensor two is preferentially moved laterally to detect the alignment baseline. Then, by driving the mechanism frame to rise and fall through the lifting support leg mechanism and cooperating with tilt adjustment, the tracking sensor one or tracking sensor two can move along the length of the alignment baseline and detect the endpoint of the alignment baseline. When tracking sensor one and tracking sensor two correspond to the two endpoints of the alignment baseline, the conveying directions of container conveying port one and container conveying port two are aligned and overlapped, completing the precise positioning connection.
[0020] As a further improvement to the above technical solution, both tracking sensor one and tracking sensor two are photoelectric tracking sensors.
[0021] The beneficial effects of the above technical solution are: if the tracking sensor 1 and tracking sensor 2 are photoelectric tracking sensors, then when the straight bar marker is designed as a white reflective marking strip on a dark background, the sensing sensitivity of the photoelectric tracking sensor can be improved.
[0022] As a further improvement to the above technical solution, the control system further includes a mounting plate; the mounting plate is fixed to the side wall of the mechanism frame and located on the side of the container conveying port 2; the surface of the mounting plate is perpendicular to the conveying direction of the container conveying port 2; the first distance measuring sensor, the second distance measuring sensor, the third distance measuring sensor, the first tracking sensor, and the second tracking sensor are all mounted on the mounting plate; when the first container conveying port and the second container conveying port are connected, the surfaces of the mounting plate and the positioning plate are horizontally opposite each other, and a measurement light-blocking area is defined between them.
[0023] The beneficial effects of the above technical solution are: the mounting plate provides a mounting base for the sensor assembly and can improve the installation accuracy of the sensor; by adjusting the parallel alignment of the mounting plate and the positioning plate, the parallelism between the conveying direction of container conveying port one and the conveying direction of container conveying port two can be corrected; when the side wall of the transport vehicle is coarsely positioned and docked with the side wall of the outer frame, the mounting plate and the positioning plate are close to each other, and a measurement light-blocking area is defined between them, which improves the reliability of the working environment of the ranging sensor group and the tracking sensor group.
[0024] As can be seen from the above technical solution, compared with the prior art, the present invention discloses a connection and control system for a transport vehicle and a loading mechanism, which has the following advantages and beneficial effects.
[0025] 1. This invention achieves quick and accurate connection between the stacking container device and the poultry transport vehicle through coarse positioning and docking of the transport vehicle, and then through the cooperation of the attitude adjustment mechanism and the lifting support leg mechanism to achieve three-dimensional control and adjustment of the spatial attitude of the frame, thereby greatly improving the loading and unloading efficiency of stacked containers.
[0026] 2. The design of the folding box device of the present invention is simple, compact, and easy to transport and handle.
[0027] 3. The mechanism frame of the present invention serves as the mounting frame for the destacking mechanism and is movably mounted on the inner base plate of the outer frame. This eliminates the need to move the entire outer frame when docking the destacking device with the transport vehicle, reducing the difficulty of docking control. This allows the container conveying port one of the transport vehicle and the container conveying port two of the destacking device to quickly achieve vertical, horizontal, and straight alignment in the conveying direction. Attached Figure Description
[0028] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.
[0029] Figure 1 This invention provides a three-dimensional schematic diagram of the docking state of a transport vehicle and a stacking / unstacking device in a system for controlling the connection between a transport vehicle and a loading mechanism.
[0030] Figure 2 A schematic diagram of the installation state of the positioning plate in the connection and control system between the transport vehicle and the loading mechanism of the present invention.
[0031] Figure 3 A schematic diagram of the lifting outrigger mechanism of a connection and control system between a transport vehicle and a loading mechanism according to the present invention.
[0032] Figure 4 A schematic diagram of the vertical projection of the ranging sensor group and the tracking sensor group of the connection and control system between the transport vehicle and the loading mechanism of the present invention on the positioning plate (the arrow in the figure shows a tracking trajectory of tracking sensor one and tracking sensor two).
[0033] Figure 5 This invention provides a schematic diagram of the installation status of the ranging sensor group and the tracking sensor group on the mounting plate of a connection and control system between a transport vehicle and a loading mechanism.
[0034] In the diagram: 1. Transport vehicle; 11. Container conveyor line; 111. Container conveyor port one; 12. Vehicle platform; 2. Stacking container device; 21. External frame; 211. Base plate; 22. Mechanism frame; 221. Container conveyor port two; 23. Attitude adjustment mechanism; 231. First telescopic actuator; 232. Second telescopic actuator; 233. Third telescopic actuator; 3. Lifting outrigger mechanism; 31. Lifting outrigger; 4. Control system; 41. Positioning plate; 411. Alignment reference surface; 412. Alignment reference line; 42. Distance sensor group; 421. Distance sensor one; 422. Distance sensor two; 423. Distance sensor three; 43. Tracking sensor group; 431. Tracking sensor one; 432. Tracking sensor two; 44. Mounting plate; 5. Stacked transport containers. Detailed Implementation
[0035] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.
[0036] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.
[0037] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.
[0038] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.
[0039] According to embodiments of the present invention, such as Figures 1 to 5 As shown, a control system for connecting a transport vehicle and a loading mechanism includes: a transport vehicle 1, a stacking and unstacking device 2, a lifting outrigger mechanism 3, and a control system 4.
[0040] A container conveying line 11 is provided parallel to the platform 12 of the transport vehicle 1; the container conveying port 111 of the container conveying line 11 is located around the transport vehicle 1.
[0041] The stacking container device 2 includes an outer frame 21, a mechanism frame 22, and a posture adjustment mechanism 23. The mechanism frame 22 is movable inside the outer frame 21, and its bottom end is movable and attached to the upper surface of the bottom plate 211 inside the outer frame 21. One side wall of the outer frame 21 is open, and the mechanism frame 22 has a container conveying port 221 corresponding to the open side wall. The posture adjustment mechanism 23 is set on the outer frame 21 and is connected to the mechanism frame 22. It can drive the mechanism frame 22 to slide and twist on the upper surface of the bottom plate 211, thereby adjusting the position and conveying direction of the container conveying port 221.
[0042] The lifting outrigger mechanism 3 is installed at the bottom of the outer frame 21 and can adjust the height and tilt of the outer frame 21.
[0043] The control system 4 is electrically connected to and controls the attitude adjustment mechanism 23 to work in coordination with the lifting outrigger mechanism 3, thereby adjusting the connection between container conveying port 111 and container conveying port 221.
[0044] In this embodiment, when the vehicle-to-loading mechanism connection and control system is used, the container conveying port 111 of the container conveying line 11 is roughly positioned and connected to the container conveying port 221 of the mechanism frame 22 by moving the vehicle 1. Since the road surface where the vehicle is located is not a standard level surface, there will generally be some depressions or inclinations on the road surface. In order to ensure that the container conveying port 111 and the container conveying port 221 are accurately aligned and connected, under the coordinated control of the control system 4, the height and tilt of the outer frame 21 are adjusted by the lifting outrigger mechanism 3, thereby driving the mechanism frame 221. 2. Lifting and tilting adjustment: The attitude adjustment mechanism 23 directly drives the frame 22 to slide on the surface of the base plate 211 and to twist around the vertical axis, thereby realizing the three-dimensional spatial adjustment of the position and conveying direction of the second container conveying port 221. This provides a reliable guarantee for the accurate alignment and connection of the first container conveying port 111 and the second container conveying port 221, thus enabling the stacked transport containers, turnover boxes or turnover baskets to be smoothly transferred and transported between the first container conveying port 111 and the second container conveying port 221, improving the loading and unloading efficiency of stacked containers.
[0045] In some embodiments, the attitude adjustment mechanism 23 includes a first telescopic driver 231, a second telescopic driver 232 and a third telescopic driver 233 arranged parallel to the upper surface of the base plate 211.
[0046] In the initial state, the extension and retraction directions of the first telescopic actuator 231 and the second telescopic actuator 232 are both set along the conveying direction of the container conveying port 221; the first telescopic actuator 231 and the second telescopic actuator 232 are arranged horizontally at intervals along the conveying direction perpendicular to the container conveying port 221; the fixed ends of the first telescopic actuator 231 and the second telescopic actuator 232 are both hinged to the base plate 211, and the extension and retraction ends of the first telescopic actuator 231 and the second telescopic actuator 232 are both hinged to the bottom of the frame 22.
[0047] In the initial state, the extension direction of the third telescopic actuator 233 is set along the conveying direction of the vertical container conveying port 221; the fixed end of the third telescopic actuator 233 is hinged to the base plate 211, and the extension end of the third telescopic actuator 233 is hinged to the bottom of the mechanism frame 22.
[0048] The hinge axes of the fixed ends and telescopic ends of the first telescopic actuator 231, the second telescopic actuator 232, and the third telescopic actuator 233 are all arranged perpendicular to the upper surface of the base plate 211.
[0049] During the connection adjustment, the third telescopic actuator 233 does not operate, and only the telescopic movement of the first telescopic actuator 231 or the second telescopic actuator 232 is controlled to drive the frame 22 to twist and slide on the surface of the base plate 211; the first telescopic actuator 231 and the second telescopic actuator 232 do not operate, and only the telescopic movement is controlled to drive the frame 22 to slide laterally on the surface of the base plate 211; thereby realizing the drive control of the frame 22 to slide laterally and twist and slide with two effective degrees of freedom on the surface of the base plate 211.
[0050] In some embodiments, the first telescopic actuator 231, the second telescopic actuator 232, and the third telescopic actuator 233 are all telescopic hydraulic cylinders.
[0051] The telescopic hydraulic cylinder structure is simple and can ensure sufficient power.
[0052] Specifically, the first telescopic actuator 231 and the second telescopic actuator 232 can be arranged in parallel, and both the first telescopic actuator 231 and the second telescopic actuator 232 are arranged perpendicular to the third telescopic actuator 233.
[0053] In some embodiments, the lifting outrigger mechanism 3 includes three or more lifting outriggers 31 that can be lifted and lowered independently; the three or more lifting outriggers 31 are arranged at intervals along the circumference of the outer frame 21 to coordinately adjust the height and tilt of the outer frame 21.
[0054] In some embodiments, the external frame 21 is a rectangular frame; there are four lifting legs 31; the four lifting legs 31 are all perpendicular to the bottom plate 211 and are arranged one-to-one at the four corners of the bottom of the external frame 21.
[0055] By designing lifting legs 31 at the four corners of the bottom of the corresponding external frame 21, the height of the external frame 21 can be raised and lowered, and the tilt angles of the front and back and left and right can be easily adjusted, reducing the difficulty of control.
[0056] Specifically, the four corners of the outer perimeter of the outer frame 21 have support tubes as main support columns; the lifting outrigger 31 includes a telescopic tube 311 adapted to slide and nest in the support tube and a hydraulic cylinder; the hydraulic cylinder passes through the telescopic tube and the support tube; the fixed end of the hydraulic cylinder is hinged to the inner wall of the support tube, and the telescopic end of the hydraulic cylinder is hinged to the telescopic tube; the lower end of the hydraulic cylinder can extend to the bottom of the support tube to lift the outer frame 21; each hydraulic cylinder is independently controlled by the hydraulic system; the controller of the control system 4 is electrically connected to the hydraulic system to independently control the action of each hydraulic cylinder, thereby driving the telescopic action of each lifting outrigger 31.
[0057] In some embodiments, the control system 4 includes a controller, a positioning plate 41, a ranging sensor group 42, and a tracking sensor group 43.
[0058] The positioning plate 41 is set on one side of the container conveying port 111, and the plate surface of the positioning plate 41 is perpendicular to the conveying direction of the container conveying port 111; the plate surface of the positioning plate 41 is the alignment reference surface 411, and the plate surface of the positioning plate 41 is provided with the alignment reference line 412.
[0059] Both the distance measuring sensor group 42 and the tracking sensor group 43 are installed on the side wall of the mechanism frame 22 and located to the side of the container conveying port 221. They can be horizontally aligned with the positioning plate 41 when the container conveying port 111 and the container conveying port 221 are connected. The distance measuring sensor group 42 can measure and obtain the plate surface distance data from it to the alignment reference surface 411. The tracking sensor group 43 can obtain the line position data of the alignment reference line 412 by measurement.
[0060] The controller can drive the distance sensor group 42 and the tracking sensor group 43 to perform movement measurement by controlling the posture adjustment mechanism 23 and the lifting support leg mechanism 3; the controller is electrically connected to the distance sensor group 42 and can determine the parallel state of the conveying direction of container conveying port 111 and the conveying direction of container conveying port 221 by receiving the plate surface distance data; the controller is electrically connected to the tracking sensor group 43 and can determine the connection and alignment state of the conveying direction of container conveying port 111 and the conveying direction of container conveying port 221 by receiving the line position data.
[0061] The positioning plate 41 is used as a reference plate to calibrate the conveying direction of container conveying port 111. This facilitates the measurement of the docking status between container conveying port 111 and container conveying port 221 by using a simple and reliable distance sensor group 42 and a tracking sensor group 43. This results in a control system with low space occupancy, good durability, and low cost.
[0062] In some embodiments, the ranging sensor group 42 includes a first ranging sensor 421, a second ranging sensor 422, and a third ranging sensor 423; the first ranging sensor 421 and the second ranging sensor 422 are arranged at intervals along the height direction of the frame 22; the first ranging sensor 421 and the second ranging sensor 422 are arranged at intervals along the horizontal direction with the third ranging sensor 423.
[0063] The distances from different points on the frame 22 to the surface of the positioning plate 41 can be detected by the distance sensors 421, 422, and 423. The parallelism between the side wall of the frame 22 and the surface of the positioning plate 41 can be determined by the distance data, thus providing a basis for correcting the parallelism between the conveying direction of container conveying port 111 and the conveying direction of container conveying port 221.
[0064] Specifically, laser rangefinders can be selected for rangefinder 1 421, rangefinder 2 422, and rangefinder 3 423.
[0065] In some embodiments, the tracking sensor group 43 includes a tracking sensor 431 and a tracking sensor 432; the tracking sensor 431 and the tracking sensor 432 are spaced apart along the direction of the vertical base plate 211; the alignment reference line 412 is a straight bar-shaped marker that is set vertically to the vehicle plate and can be measured and sensed by the tracking sensor 431 and the tracking sensor 432; the distance between the tracking sensor 431 and the tracking sensor 432 corresponds to the length of the alignment reference line 412.
[0066] After adjusting the conveying direction of container conveying port 111 to be parallel to that of container conveying port 221, it is necessary to further align and overlap their conveying directions to ensure smooth connection and unimpeded conveying. Therefore, by driving the mechanism frame 22 to slide laterally through the attitude adjustment mechanism 23, the tracking sensor 1 431 or tracking sensor 2 432 is preferentially moved laterally to detect the alignment baseline 412. Then, by driving the mechanism frame 22 to rise and fall through the lifting support leg mechanism 3 and cooperating with tilt adjustment, the tracking sensor 1 431 or tracking sensor 2 432 can move along the length of the alignment baseline 412, thereby detecting the endpoint of the alignment baseline 412. When the tracking sensor 1 431 and tracking sensor 2 432 correspond one-to-one with the two endpoints of the alignment baseline 412, the conveying directions of container conveying port 111 and container conveying port 221 are aligned and overlapped, completing the precise positioning connection.
[0067] In some embodiments, both tracking sensor 431 and tracking sensor 432 are photoelectric tracking sensors.
[0068] If the tracking sensor 1 431 and the tracking sensor 2 432 are selected as photoelectric tracking sensors, then when the straight bar marker is designed as a white reflective marking strip on a dark background, the sensing sensitivity of the photoelectric tracking sensor can be improved.
[0069] Specifically, after the mobile transport vehicle 1 coarsely positions the container transport port 111 of the container transport line 11 at the container transport port 221 of the mechanism frame 22, both the tracking sensors 431 and 432 are relatively close to the alignment baseline 412. The tracking process is a fine-tuning process. The alignment baseline 412 can be made by attaching white tape to the positioning plate 41 or by painting a white line. The length of the alignment baseline 412 can be 20cm-100cm. The distance between the tracking sensors 431 and 432 can be designed to be the same as the length of the alignment baseline 412. The docking accuracy requirements are met when the tracking sensors 431 and 432 are positioned one-to-one within a small area (1-2cm) at both ends of the alignment baseline 412.
[0070] In some embodiments, the control system 4 further includes a mounting plate 44; the mounting plate 44 is fixed to the side wall of the frame 22 and located to the side of the container conveying port 221; the surface of the mounting plate 44 is perpendicular to the conveying direction of the container conveying port 221; the distance measuring sensor 1 421, the distance measuring sensor 2 422, the distance measuring sensor 3 423, the tracking sensor 1 431, and the tracking sensor 2 432 are all mounted on the mounting plate 44; when the container conveying port 1 111 is connected to the container conveying port 221, the surfaces of the mounting plate 44 and the positioning plate 41 are horizontally opposite each other, and a measurement light-blocking area is defined between them.
[0071] Mounting plate 44 provides a mounting base for the sensor assembly and can improve the installation accuracy of the sensor. By adjusting the mounting plate 44 and the positioning plate 41 to be parallel and opposite, the conveying direction of container conveying port 111 can be corrected to be parallel to the conveying direction of container conveying port 221. When the side wall of the transport vehicle is roughly positioned and docked with the side wall of the outer frame 21, the mounting plate 44 and the positioning plate 41 are close to each other and define a measurement light-blocking area between them, which improves the reliability of the working environment of the ranging sensor group 42 and the tracking sensor group 43.
[0072] Specifically, tracking sensor 1 431 is located above tracking sensor 2 432; ranging sensor 1 421 is located above ranging sensor 2 422, and the line connecting ranging sensor 1 421 and ranging sensor 2 422 is parallel to the line connecting tracking sensor 1 431 and tracking sensor 2 432; ranging sensor 3 423 is located on one side of the line connecting ranging sensor 1 421 and ranging sensor 2 422 and corresponds to the line between ranging sensor 1 421 and ranging sensor 2 422.
[0073] Specifically, the surfaces of the mounting plate 44 and the positioning plate 41 are both flat. The detection ends of the distance sensors 421, 422, and 423 are located on the same plane parallel to the surface of the mounting plate 44. When the distance data obtained by the distance sensors 421, 422, and 423 are the same (within a certain error range), the surfaces of the mounting plate 44 and the positioning plate 41 are parallel and opposite.
[0074] Specifically, the mounting plate 44 is fixed to the upper and lower ends of the side wall of the mechanism frame 22 by a bracket. The mounting plate 44 and the side wall of the mechanism frame 22 are positioned opposite each other and spaced apart. The side wall of the outer frame 21 is open at the location corresponding to the mounting plate 44 to allow for clearance. The mounting plate 44 will not interfere with the outer frame 21 during movement and will not interfere with the stacking mechanism inside the mechanism frame 22.
[0075] The tracking process of tracking sensor 431 and tracking sensor 432 is as follows: First, adjust the mounting plate 44 to be parallel to the positioning plate 41; then, move tracking sensor 431 and tracking sensor 432 horizontally. Assuming that tracking sensor 431 finds the alignment reference line 412 first, while tracking sensor 432 does not, move tracking sensor 431 along the length of the alignment reference line 412. If the upward movement deviates from the alignment reference line 412... The lifting outrigger mechanism 3 corrects the left and right tilt of the outer frame 21 to ensure that the tracking sensor 431 does not deviate from the alignment reference line 412. When the tracking sensor 432 reaches the lower end of the alignment reference line 412, it senses the alignment reference line 412. At this time, the tracking sensors 431 and 432 are positioned at the upper and lower ends of the alignment reference line 412 respectively, and the tracking process is completed. The conveying direction of container conveying port 111 is aligned with the conveying direction of container conveying port 221. If the tracking sensor 432 finds the alignment reference line 412 first, it moves downward along the length of the alignment reference line 412 until the tracking sensor 431 finds the upper end of the alignment reference line 412.
[0076] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. In addition, those skilled in the art can combine and integrate the different embodiments or examples described in this specification.
[0077] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.
Claims
1. A control system for the connection between a transport vehicle and a loading mechanism, characterized in that, include: The transport vehicle (1) has a container conveying line (11) arranged parallel to the vehicle plate; the container conveying port of the container conveying line (11) is located on the periphery of the transport vehicle (1). The stacking container device (2) includes an outer frame (21), a mechanism frame (22), and a posture adjustment mechanism (23). The mechanism frame (22) is movable inside the outer frame (21), and its bottom end is movable and attached to the upper surface of the inner bottom plate (211) of the outer frame (21). One side wall of the outer frame (21) is open, and the mechanism frame (22) has a container conveying port two corresponding to the open side wall. The posture adjustment mechanism (23) is set on the outer frame (21) and is connected to the mechanism frame (22) in a transmission manner. It can drive the mechanism frame (22) to slide and twist on the upper surface of the bottom plate (211), thereby adjusting the position and conveying direction of the container conveying port two. Lifting outrigger mechanism (3), which is installed at the bottom of the outer frame (21) and can adjust the height and tilt of the outer frame (21); The control system (4) is electrically connected to and controls the attitude adjustment mechanism (23) and the lifting support leg mechanism (3) to work together, thereby adjusting the connection between the container conveying port one and the container conveying port two.
2. The control system for the connection between a transport vehicle and a loading mechanism according to claim 1, characterized in that, The attitude adjustment mechanism (23) includes a first telescopic driver (231), a second telescopic driver (232) and a third telescopic driver (233) arranged parallel to the upper surface of the base plate (211). The telescopic directions of the first telescopic driver (231) and the second telescopic driver (232) are both set along the conveying direction of the second container conveying port; the first telescopic driver (231) and the second telescopic driver (232) are arranged horizontally at intervals along the conveying direction perpendicular to the second container conveying port; the fixed ends of the first telescopic driver (231) and the second telescopic driver (232) are both hinged to the base plate (211), and the telescopic ends of the first telescopic driver (231) and the second telescopic driver (232) are both hinged to the bottom of the mechanism frame (22); The telescopic direction of the third telescopic actuator (233) is set perpendicular to the conveying direction of the second container conveying port; the fixed end of the third telescopic actuator (233) is hinged to the base plate (211), and the telescopic end of the third telescopic actuator (233) is hinged to the bottom of the mechanism frame (22). The hinge axes of the fixed end and the telescopic end of the first telescopic actuator (231), the second telescopic actuator (232) and the third telescopic actuator (233) are all arranged perpendicular to the upper surface of the base plate (211).
3. The control system for the connection between a transport vehicle and a loading mechanism according to claim 2, characterized in that, The first telescopic actuator (231), the second telescopic actuator (232) and the third telescopic actuator (233) are all telescopic hydraulic cylinders.
4. The control system for the connection between a transport vehicle and a loading mechanism according to claim 1, characterized in that, The lifting outrigger mechanism (3) includes three or more lifting outriggers (31) that can be lifted independently; the three or more lifting outriggers (31) are arranged circumferentially along the outer frame (21) to coordinately adjust the height and tilt of the outer frame (21).
5. The control system for the connection between a transport vehicle and a loading mechanism according to claim 4, characterized in that, The external frame (21) is a rectangular frame; there are four lifting legs (31); the four lifting legs (31) are all perpendicular to the bottom plate (211) and are arranged one by one at the four corners of the bottom of the external frame (21).
6. The control system for the connection between a transport vehicle and a loading mechanism according to claim 1, characterized in that, The control system (4) includes a controller, a positioning plate (41), a ranging sensor group (42), and a tracking sensor group (43). The positioning plate (41) is disposed on one side of the container conveying port, and the plate surface of the positioning plate (41) is perpendicular to the conveying direction of the container conveying port; the plate surface of the positioning plate (41) is the alignment reference surface (411), and the plate surface of the positioning plate (41) is provided with alignment reference line (412). The distance measuring sensor group (42) and the tracking sensor group (43) are both installed on the side wall of the frame (22) and located on the side of the container conveying port 2, and can be horizontally aligned with the positioning plate (41) when the container conveying port 1 and the container conveying port 2 are connected; the distance measuring sensor group (42) can measure and obtain the plate surface distance data from it to the alignment reference surface (411); the tracking sensor group (43) can obtain the line position data of the alignment reference line (412) by measurement; The controller can drive the distance sensor group (42) and the tracking sensor group (43) to perform movement measurement by controlling the posture adjustment mechanism (23) and the lifting support leg mechanism (3); the controller is electrically connected to the distance sensor group (42) and can determine the parallel state of the conveying direction of the first container conveying port and the conveying direction of the second container conveying port by receiving the plate distance data; the controller is electrically connected to the tracking sensor group (43) and can determine the connection and alignment state of the conveying direction of the first container conveying port and the conveying direction of the second container conveying port by receiving the line position data.
7. The control system for the connection between a transport vehicle and a loading mechanism according to claim 6, characterized in that, The ranging sensor group (42) includes ranging sensor one (421), ranging sensor two (422), and ranging sensor three (423); ranging sensor one (421) and ranging sensor two (422) are arranged at intervals along the height direction of the frame (22); ranging sensor one (421) and ranging sensor two (422) are arranged at intervals along the horizontal direction with ranging sensor three (423).
8. The control system for the connection between a transport vehicle and a loading mechanism according to claim 7, characterized in that, The tracking sensor group (43) includes tracking sensor one (431) and tracking sensor two (432); tracking sensor one (431) and tracking sensor two (432) are spaced apart along the direction perpendicular to the upper surface of the base plate (211); the alignment reference line (412) is a straight bar mark that is perpendicular to the vehicle plate and can be measured and sensed by tracking sensor one (431) and tracking sensor two (432); the distance between tracking sensor one (431) and tracking sensor two (432) corresponds to the length of the alignment reference line (412).
9. The control system for the connection between a transport vehicle and a loading mechanism according to claim 8, characterized in that, Tracking sensor 1 (431) and tracking sensor 2 (432) are both photoelectric tracking sensors.
10. The control system for the connection between a transport vehicle and a loading mechanism according to claim 8, characterized in that, The control system (4) also includes a mounting plate (44); the mounting plate (44) is fixed to the side wall of the frame (22) and located on the side of the container conveying port 2; the plate surface of the mounting plate (44) is perpendicular to the conveying direction of the container conveying port 2; the first distance sensor (421), the second distance sensor (422), the third distance sensor (423), the first tracking sensor (431) and the second tracking sensor (432) are all mounted on the mounting plate (44); when the first container conveying port is connected to the second container conveying port, the plate surface of the mounting plate (44) and the positioning plate (41) are horizontally opposite each other, and a measurement shading area is defined between them.