Fork tooth driving mechanism

Abstract

The utility model provides a driving mechanism of a fork tooth, which comprises a transverse rail assembly and two transversely-moving fork tooth assemblies, the transversely-moving fork tooth assemblies respectively and independently move transversely along the transverse rail assembly, the transverse rail assembly comprises a long frame, a vertical guide wheel, a limiting rail, a transmission rack and a supporting transverse rail, wing plates are respectively arranged at two ends of the long frame, and the vertical guide wheel is arranged on the wing plates. Each wing plate is provided with a group of vertical guide wheels, and is connected to a vertical guide rail structure through the vertical guide wheels; each transverse moving fork tooth assembly comprises a transverse moving fork tooth, a transverse moving driving motor, a limiting wheel, a transmission gear and a transverse moving sliding block, the limiting wheels are connected with the limiting rails, the transmission gears are in meshing transmission with the transmission racks, and the transverse moving sliding blocks are connected with the supporting transverse rails. According to the fork tooth driving mechanism, a transverse moving carrier can be provided for the two transverse moving fork tooth assemblies, the transverse moving fork tooth assemblies can be stably supported, and therefore the two transverse moving fork tooth assemblies can freely move in the horizontal direction along the transverse rail assembly.

Description

[0001] This application is a divisional application for the utility model patent application with application number 202323326123.8, application date December 7, 2023, and name "fork tooth driving mechanism". Technical Field

[0002] The utility model relates to the technical field of forklifts, in particular to a driving mechanism for the fork teeth of a gate-shaped forklift. Background Art

[0003] Existing forklifts are all wheeled structures, and their fork teeth are also fixed mechanisms, and the distance between the fork teeth cannot be adjusted. Summary of the invention

[0004] The technical problem to be solved by the embodiments of the utility model is to provide a driving mechanism for the fork tine, so as to solve the problem that the fork tine of the existing wheeled forklift cannot move freely laterally.

[0005] The utility model provides a fork tine driving mechanism, comprising a cross rail assembly (43) and a transverse fork tine assembly (44), wherein there are two transverse fork tine assemblies (44) and each of the two transverse fork tine assemblies (44) independently moves transversely along the cross rail assembly (43), wherein:

[0006] The cross rail assembly (43) comprises an elongated frame (431), vertical guide wheels (432), a limiting rail (433), a transmission rack (434) and a supporting cross rail (435); wing plates (430) are respectively provided at both ends of the elongated frame (431); each wing plate (430) is provided with a group of vertical guide wheels (432) and is connected to a vertical guide rail structure via the vertical guide wheels (432); the limiting rail (433), the transmission rack (434) and the supporting cross rail (435) are horizontally and parallelly mounted on the elongated frame (431); the limiting rail (433) is located at the upper part, the supporting cross rail (435) is located at the lower part, and the transmission rack (434) is located between the limiting rail (433) and the supporting cross rail (435);

[0007] Each transverse fork assembly (44) comprises a transverse fork (441), a transverse driving motor (442), a limiting wheel (443), a transmission gear (444) and a transverse sliding block (445), wherein the upper portion of the transverse fork (441) is connected to the limiting rail (433) via the limiting wheel (443), the middle portion is meshed with the transmission rack (434) via the transmission gear (444), and the lower portion is connected to the supporting transverse rail (435) via the transverse sliding block (445); the transverse driving motor (442) drives the transmission gear (444).

[0008] The wing plate (430) is also driven to move along the vertical guide rail structure by a sprocket or pulley structure.

[0009] The wing plate (430) is also provided with a locking member (436) which is locked with the chain or belt.

[0010] There are two or more vertical guide wheels (432) on each side, which are arranged in an upper and lower manner. The height of the upper vertical guide wheel (432) corresponds to the top of the elongated frame (431), and the height of the lower vertical guide wheel (432) corresponds to the bottom of the elongated frame (431).

[0011] The fork driving mechanism provided by the utility model can provide a carrier for lateral movement of the two transverse fork tine assemblies, and can provide stable support for the transverse fork tine assemblies, so that the two transverse fork tine assemblies can move freely in the horizontal direction along the cross rail assembly; when the two transverse fork tine assemblies move to both ends or the same end, the effect of avoiding the goods can be achieved, and the two transverse fork tine assemblies can also move toward each other to reach the working distance, so that the goods can be forked. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 A schematic diagram of loading a container using a forklift in the prior art;

[0013] Figure 2 This is a schematic diagram of the overall structure of the vehicle loader system of the utility model;

[0014] Figure 3 This is a schematic diagram of the structure of the gantry forklift described in the utility model;

[0015] Figure 4 This is a schematic diagram of the structure of the gantry forklift described in the utility model;

[0016] Figure 5 This is a schematic diagram of the structure of the gantry forklift described in the utility model;

[0017] Figure 6 This is a schematic diagram of the exploded structure of the gantry forklift described in the utility model;

[0018] Figure 7 It is a structural schematic diagram of the vertical telescopic fork teeth of the utility model;

[0019] Figure 8 It is a structural schematic diagram of the horizontal telescopic frame of the utility model;

[0020] Fig. 9 It is a structural schematic diagram of the horizontal telescopic frame of the utility model;

[0021] Fig.10 It is a schematic diagram of the structure of the track-moving trolley and the portal forklift described in the utility model;

[0022] Fig.11 It is a schematic diagram of the structure of the track-moving trolley and the portal forklift described in the utility model;

[0023] Fig.12 This is a schematic diagram of the structure of the track-moving trolley of the utility model (the auxiliary adjustment mechanism is omitted);

[0024] Fig.13 This is a schematic diagram of the structure of the track-moving trolley of the utility model (the auxiliary adjustment mechanism is omitted);

[0025] Fig.14 It is an exploded view of the auxiliary adjustment mechanism of the utility model;

[0026] Fig.15 It is an exploded view of the auxiliary adjustment mechanism of the utility model;

[0027] Fig.16 It is a structural schematic diagram of the auxiliary adjustment mechanism of the utility model;

[0028] Fig.17 This is a schematic diagram of the structure of the guide universal wheel of the utility model;

[0029] Fig.18 This is a schematic diagram of the structure of the track-moving trolley of the utility model;

[0030] Fig.19 It is a schematic diagram of the structure of the track-moving trolley and the portal forklift described in the utility model;

[0031] Fig. 20 It is a structural schematic diagram of the working state 1 of the portal forklift of the utility model;

[0032] Fig.21 It is a structural schematic diagram of the working state 2 of the portal forklift of the utility model;

[0033] Fig. 22 This is a schematic diagram of the exploded structure of the portal forklift of the utility model;

[0034] Fig.23 This is a schematic diagram of the structure of the door-shaped frame of the utility model;

[0035] Fig.24 This is a structural schematic diagram of the vertical rail assembly of the utility model;

[0036] Fig.25 This is a schematic diagram of the structure of the cross rail assembly of the utility model;

[0037] Fig.26 This is a schematic structural diagram of the transverse fork tine assembly of the utility model;

[0038] Fig. 27 It is a structural schematic diagram of the driving assembly of the utility model;

[0039] Fig.28 This is a schematic diagram of the structure of the cross rail assembly of the utility model.

[0040] In the figure:

[0041] 1- conveyor roller;

[0042] 2-track moving trolley; 21-moving rail; 22-flat trolley; 23-guiding universal wheel; 24-auxiliary adjustment mechanism; 25-first distance sensor; 26-second distance sensor;

[0043] 211-inner rail; 212-outer rail; 213-additional rail;

[0044] 221-vehicle body; 222-traction belt; 223-rotating wheel;

[0045] 241-mobile base; 242-lateral sliding seat; 243-horizontal steering seat; 244-swing seat;

[0046] 3-gantry forklift; 31-longitudinal translation frame; 32-lateral translation frame; 33-bogie; 34-camera; 35-horizontal telescopic frame; 36-vertical telescopic fork; 351-guide rail groove; 352-slewing belt; 353-driving block; 361-L-shaped bracket; 362-telescopic fork;

[0047] 4-gantry forklift; 41-gantry frame; 42-vertical rail assembly; 43-transverse rail assembly; 44-transverse fork assembly; 45-second camera; 46-driving assembly;

[0048] 411-square frame; 412-bottom beam; 413-top beam; 414-L-shaped reinforcement; 415-limiting guide wheel; 416-track wheel;

[0049] 421-side rail; 422-sprocket drive motor; 423-sprocket assembly;

[0050] 430-wing plate; 431-long frame; 432-vertical guide wheel; 433-limiting rail; 434-transmission rack; 435-supporting cross rail; 436-locking member;

[0051] 441-transverse fork teeth; 442-transverse driving motor; 443-limiting wheel; 444-transmission gear; 445-transverse sliding block;

[0052] 461-Forklift driving motor; 462-Drive wheel set;

[0053] 5-lifting platform; 51-turning plate;

[0054] 6-Abutment;

[0055] 90-Container; 91-Forklift; 92-Cargo; 93-Space inside the container where forklift cannot be used for loading; 94-Pallet. DETAILED DESCRIPTION

[0056] In order to make the above-mentioned purposes, features and advantages of the utility model more obvious and easy to understand, the specific implementation methods of the utility model are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the utility model. However, the utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the utility model, so the utility model is not limited by the specific embodiments disclosed below.

[0057] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art in the technical field of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0058] The utility model provides a vehicle loader system, comprising:

[0059] The conveyor roller 1 adopts a roller conveyor structure. The conveyor roller 1 adopts a fixed roller structure. The placement position, direction, height, etc. of the roller are usually fixed. When necessary, the conveyor roller 1 can be set on a transverse sliding mechanism, so that when the goods on the conveyor roller 1 are identified as abnormal, the conveyor roller 1 slides transversely under the action of the transverse sliding mechanism and connects with the recovery roller (not shown in the figure), so that the goods are transported along the recovery roller instead of being lifted by the gantry forklift 3; the recovery roller can be located on the side of the track moving trolley 2 and parallel to the track moving trolley;

[0060] The track-moving trolley 2 is installed on a ground rail (not shown in the figure) connected to the conveyor roller 1, and can be telescopically moved forward along the ground rail; the ground rail is installed on the base 6; the track-moving trolley 2 is used to transport the pallet carrying the goods forward or backward; the direction of the track-moving trolley 2 is usually not exactly the same as the direction of the conveyor roller 1, but has a certain inclination to adapt to the direction of the truck compartment (container); this is because when the truck is parked, it is difficult to achieve the same direction as the conveyor roller 1; therefore, the track-moving trolley 2 needs to be adjusted to the same direction as the truck compartment to facilitate loading; this also results in a certain inclination angle between the track-moving trolley and the conveyor track 1; furthermore, during the loading process of the truck compartment, the compartment also has different front and rear load-bearing due to the different front and rear loading sequences, so there is actually an inclination angle between the compartment and the horizontal plane, and this inclination angle will change at any time with the loading;

[0061] The gantry forklift 3 is installed on an empty rail (not shown in the figure), and the empty rail spans over the conveyor roller and the ground rail so that the gantry forklift 3 can lift the pallet from the conveyor roller 1 and place it on the rail-moving trolley 2; the empty rail is usually installed on the equipment frame or the wall of the workshop. Compared with the ground rail, the empty rail is placed in the air and can bear the pressure of the gantry forklift; the gantry forklift 3 can lift the pallet carrying goods and transport it between the conveyor roller 1 and the rail-moving trolley 2. During the transportation process, the orientation of the goods can also be identified, so as to adjust the placement orientation of the goods to ensure smooth loading; when there is an inclination between the rail-moving trolley 2 and the horizontal plane, the gantry forklift 3 can also adjust the height of the four telescopic forks, so that the pallet supported by the telescopic forks also forms an inclination with the horizontal plane, and the inclination is the same as the inclination of the rail-moving trolley 2, so that the pallet is in plane contact with the rail-moving trolley 2 during the falling process, rather than one side first contacting, to avoid collision and facilitate the telescopic forks to be smoothly pulled out of the pallet;

[0062] The gantry forklift 4 comprises a gantry frame 41, a vertical rail assembly 42, a horizontal rail assembly 43, a horizontal fork assembly 44, a second camera 45 and a driving assembly 46, wherein the gantry frame 41 is a gantry structure with a door opening formed in the middle so that a pallet carrying goods can pass through the middle of the gantry frame 41, and the gantry frame 41 is cross-connected to the movable rail 21 and can reciprocate along the movable rail 21; there are two vertical rail assemblies 42, which are vertically mounted on the two side columns of the front end of the gantry frame 41; the horizontal rail assembly 43 is slidably connected between the two vertical rail assemblies 42 so that it can move up and down along the vertical rail assembly 42 to drive the horizontal fork assembly 44 thereon to move; there are two horizontal fork assemblies 44, and they can independently move to the two ends of the horizontal rail assembly 43 to avoid the pallet and the goods thereon; the second camera 45 is mounted at the front end of the gantry frame 41; the driving assembly 46 is arranged on the gantry frame 41 to drive the gantry frame 41 to move along the movable rail 21. The gantry forklift 4 can move along the moving rail 21. When the pallet is transported forward along the moving rail 21, it passes through the gantry forklift 4, and the gantry forklift 4 moves backward to the rear of the pallet, then forks up the pallet, and then continues to move forward with the pallet, so as to place the pallet at a predetermined position in front. The gantry forklift provided by the utility model can move forward and backward along the moving rail, and the transverse fork assembly can move up and down along the vertical rail assembly under the drive of the transverse rail assembly, and the two transverse fork assemblies move independently of each other, so that the goods are transported to the front of the gantry forklift along the moving rail (the gantry forklift moves backward), so that the gantry forklift can load and stack the goods.

[0063] The lifting platform 5 is connected with the base platform 6. The front end of the ground rail cannot be placed on the lifting platform. It can be raised and lowered to be level with the bottom height of the carriage to be loaded with the vehicle, so that the rail-moving trolley 2 can enter the carriage from the lifting platform 5.

[0064] The door-shaped frame 41 includes square frames 411 on both sides, a top beam 413 on the top and a bottom beam 412 on the bottom. A track wheel 416 is provided inside the square frame 411 above the bottom beam 412. The track wheel 416 is connected to the outside of the moving rail 21. The bottom beam 412 is located below the moving rail 21. The square frame 411 forms a square frame structure, which can maintain overall stability when lifting goods at the front end; the top beam 413 and the bottom beam 412 provide reinforcement for the door-shaped frame 41 from the top and bottom respectively; because the lower part of the square frame 411 is supported on the moving rail 21, the bottom beam 412 maintains the stability of the bottom structure to avoid deformation of the bottom after being subjected to pressure.

[0065] The door-shaped frame 41 further includes a limiting guide wheel 415, which bypasses the upper or lower part of the moving rail 21 and is connected to the inner side of the moving rail 21, thereby preventing the door-shaped frame 41 from slipping off the moving rail 21. The limiting guide wheel 415 is connected to the inner side of the square frame 411 through a connecting piece, thereby further consolidating the stability of the entire door-shaped frame 41 during walking and reducing deformation.

[0066] The square frame 411 of the door-shaped frame 41 is further provided with an L-shaped reinforcement member 414 , which is connected to the lower side of the square frame 411 , thereby increasing the strength and reducing deformation.

[0067] The vertical rail assembly 42 includes a side rail 421, a sprocket drive motor 422 and a sprocket set 423, wherein the side rail 421 is installed at the front end of the door-shaped frame 41, the sprocket set 423 is arranged in parallel with the side rail 421, the sprocket drive motor 422 drives the sprocket set 423 to move, and the sprocket set 423 is connected to the cross rail assembly 43 to drive the cross rail assembly 43 to move along the side rail 421. The vertical rail assembly 42 can ensure that the cross rail assembly 43 is vertically driven on the side rail 421. The drive structure using the sprocket can also ensure the stability of the lifting and avoid slipping.

[0068] like Fig.25 , Fig.28As shown, the cross rail assembly 43 includes an elongated frame 431, a vertical guide wheel 432, a limiting rail 433, a transmission rack 434 and a supporting cross rail 435. The two ends of the elongated frame 431 are respectively provided with wing plates 430, each wing plate 430 is provided with a group of vertical guide wheels 432, and connected to the side rail 421 through the vertical guide wheels 432; the limiting rail 433, the transmission rack 434 and the supporting cross rail 435 are horizontally and parallelly installed on the elongated frame 431, and the limiting rail 433 is located at the upper part, the supporting cross rail 435 is located at the lower part, and the transmission rack 434 is located between the limiting rail 433 and the supporting cross rail 435. The elongated frame 431 can provide stable support in the vertical direction, and realize movement in the vertical direction through the vertical guide wheel 432, and provide horizontal movement support for the transverse fork assembly 44 through the limiting rail 433, the transmission rack 434 and the supporting cross rail 435.

[0069] The wing plate 430 is also driven to move along the vertical guide rail structure by a sprocket (as shown in this embodiment) or a pulley structure.

[0070] The wing plate 430 is also provided with a locking member 436 which is locked with the chain or belt. The locking member 436 can be fixedly connected with the chain or belt described in this embodiment, so that the sprocket or pulley structure drives the cross rail assembly 43 to move up and down.

[0071] There are two or more vertical guide wheels 432 on each side, which are arranged up and down. The height of the upper vertical guide wheel 432 corresponds to the top of the elongated frame 431 , and the height of the lower vertical guide wheel 432 corresponds to the bottom of the elongated frame 431 .

[0072] There are two or more vertical guide wheels 432 on each side, which are arranged up and down, so as to effectively organize the cross-rail assembly 43 to tilt in the horizontal direction after bearing the weight of the goods on the transverse fork assembly 44.

[0073] like Figure 21-22 As shown, there are two transverse fork tine assemblies 44, and each of them moves laterally independently along the transverse rail assembly 43. Fig.26 As shown, each transverse fork assembly 44 includes a transverse fork 441, a transverse driving motor 442, a limiting wheel 443, a transmission gear 444 and a transverse sliding block 445, wherein the upper part of the transverse fork 441 is connected to the limiting rail 433 through the limiting wheel 443, the middle part is meshed with the transmission rack 434 through the transmission gear 444, and the lower part is connected to the supporting cross rail 435 through the transverse sliding block 445; the transverse driving motor 442 drives the transmission gear 444. After the limiting wheel 443 cooperates with the limiting rail 433, the top can be prevented from tilting; after the transverse sliding block 445 cooperates with the supporting cross rail 435, it can ensure that the entire transverse fork assembly 44 can move horizontally along the supporting cross rail 435; the transmission gear 444 cooperates with the transmission rack 434 to drive the transverse fork assembly 44 to move horizontally.

[0074] The fork driving mechanism provided by the utility model can provide a carrier for lateral movement of the two transverse fork tine assemblies, and can provide stable support for the transverse fork tine assemblies, so that the two transverse fork tine assemblies can move freely in the horizontal direction along the cross rail assembly; when the two transverse fork tine assemblies move to both ends or the same end, the effect of avoiding the goods can be achieved, and the two transverse fork tine assemblies can also move toward each other to reach the working distance, so that the goods can be forked.

[0075] The driving assembly 46 includes a forklift driving motor 461 and a driving wheel set 462. The forklift driving motor 461 is driven by the driving wheel set 462 through a reducer, and the driving wheel set 462 drives the door frame 41 to move along the moving rail 21 through a belt drive or a chain drive. The driving assembly 46 should be located below the track wheel 416.

[0076] The driving assembly 46 is fixedly connected to the bottom beam 412 .

[0077] The track-moving trolley 2 includes a moving rail 21 and a flatbed trolley 22. The moving rail 21 can move along the ground rail so that the track-moving trolley 2 can enter the carriage. The flatbed trolley 22 can reciprocate on the moving rail 21 so as to receive a pallet loaded with goods and transport it forward.

[0078] The track moving trolley 2 also includes a guide universal wheel 23 and an auxiliary adjustment mechanism 24. The guide universal wheel 23 is supported at the lower front end of the moving rail, and the auxiliary adjustment mechanism 24 is supported at the rear end of the moving rail and is rollingly connected to the ground rail. The guide universal wheel 23 can adjust the lateral position of the track moving trolley 2 so that the track moving trolley 2 is centered in the carriage; the auxiliary adjustment mechanism 24 can adjust the height and lateral position of the rear end of the track moving trolley 2 so that the track moving trolley 2 can adapt to the parking angle of the carriage and the inclination angle of the carriage relative to the ground.

[0079] like Fig.13As shown, a plurality of first distance sensors 25 are also provided at the bottom of the track moving trolley 2 to detect the distance between the moving rail 21 and the bottom surface of the carriage, and when the values ​​of the first distance sensor located in the front and the first distance sensor located in the rear exceed the preset value, the auxiliary adjustment mechanism 24 is controlled to adjust the rear end height of the moving rail, and the moving rail is parallel to the bottom surface of the carriage. A further preferred embodiment can be that the first distance sensors 25 are arranged in two or more rows, so that the data collected by the plurality of first distance sensors 25 arranged horizontally can be compared, so that not only the data of the front and rear first distance sensors 25 can be compared, but also the data of the left and right first distance sensors 25 can be compared. When there is a difference in the data of the left and right first distance sensors 25, and the difference increases with the increase of the front and rear distance, it is judged that there is a roll at the bottom of the carriage, so that the cylinders on both sides of the auxiliary adjustment mechanism 24 are controlled to be lifted to different heights to reduce the difference between the left and right first distance sensors 25, and finally make the moving rail 21 parallel to the carriage.

[0080] One or more second distance sensors 26 are also provided on both sides of the front end of the track moving trolley 2 to detect the distance between the two sides of the front end of the track moving trolley 2 and the side panels of the carriage. When the data detected by the two second distance sensors are not equal, the universal wheel 23 is controlled to roll to adjust the front end of the track moving trolley 2 to be centered in the carriage. The second distance sensors 26 are arranged in pairs on both sides of the track moving trolley 2, so that the data of the second distance sensors 26 on both sides are compared and judged. When the data difference is greater than the preset value, it is judged that the parking direction of the carriage is different from the direction of the track moving trolley 2, so that the lateral position of the adjustment auxiliary adjustment mechanism 24 at the rear end of the moving rail 21 is controlled according to the algorithm, so that the direction of the moving rail 21 is the same as the parking direction of the carriage, thereby ensuring the accuracy of loading and avoiding the formation of an angle between the pallet and the carriage during loading.

[0081] When multiple pairs of second distance sensors 26 are arranged front and rear, the data of the front and rear second distance sensors 26 can be compared. When the data of the front and rear second distance sensors are not equal, it indicates that there is an inclination angle between the movable rail 21 and the direction of the carriage. The auxiliary adjustment mechanism 24 is controlled to move left and right, so that the data of the front and rear second distance sensors 26 are equal.

[0082] In summary, by adjusting the guiding universal wheel 23 and the auxiliary adjustment mechanism 24 together, the movable rail 21 can be kept consistent with the direction of the carriage, and the movable rail 21 can be adjusted to a central position.

[0083] The movable rail 21 is a double-rail structure, and each single rail includes an inner rail 211, an outer rail 212, and an additional rail 213. The inner rail 211 is located on the inner side of the movable rail 21 to form a rail groove; the outer rail 212 is located on the outer side of the movable rail 21 to also form a rail groove; the additional rail 213 is located at the top. The inner rail 211 is used for rolling connection with the wheels of the flatbed trolley 22, the outer rail 212 is used for rolling connection with the rollers on the inner side of the door-shaped frame 41, and the additional rail 213 is used for rolling connection with the limiting guide wheel 415. The movable rail 21 can adopt a composite rail structure with multiple rail combination structures, or a single rail structure. Rails or rail grooves are formed on both side surfaces and the top surface of the movable rail 21, so that one rail can be used for multiple purposes.

[0084] The front end of the movable rail 21 is supported by the guide universal wheel 23, and the rear end is supported by the auxiliary adjustment mechanism 24. The auxiliary adjustment mechanism 24 moves horizontally along the ground rail. The auxiliary adjustment mechanism 24 can also move left and right and up and down, thereby controlling the position of the rear end of the movable rail 21 and adjusting the direction of the entire movable rail 21.

[0085] The inside of the movable rail 21 is used for the flatbed trolley 22 to do reciprocating shuttle motion, and the outside is used for the gantry forklift 4 to move forward and backward, so that the movable rail 21 can enter the carriage driven by the guiding universal wheel 23, and the movable rail 21 is controlled to be parallel to the carriage and centered.

[0086] like Figure 12-13 The flatbed trolley 22 comprises a vehicle body 221, a traction belt 222, and a rotating wheel 223. The vehicle body 221 is connected to the moving rail 21 by rolling through rollers. The rotating wheels 223 have two groups and are arranged at both ends of the moving rail 21. The traction belt 222 is overlapped between the two rotating wheels 223, and the traction belt 222 is connected to the vehicle body 221 to pull the vehicle body 221 to move along the moving rail 21. The flatbed trolley 22 can reciprocate along the moving rail 21, so as to transport the pallet loaded with goods forward or backward, so as to complete loading or unloading.

[0087] like Figure 14-16 As shown, the auxiliary adjustment mechanism 24 includes a movable base 241, a transverse slide 242, a horizontal steering seat 243, and a swing seat 244. The movable base 241 can move along the ground rail, the transverse slide 242 can move laterally along the movable base 241, the horizontal steering seat 243 is rotatably connected to the transverse slide 242, and the swing seat 244 has two rotatably connected to the two ends of the horizontal steering seat 243 and can swing in the vertical plane. The two swing seats 244 are supported on the lower part of the movable rail 21.

[0088] A lifting guide rail and a lifting cylinder are provided on the swing seat 244 to control the height of the lifting block. The lifting block is supported on the rear end of the moving rail 21, so that the height of the rear end of the moving rail 21 can be adjusted. Since the swing seat 244 is rotatably connected to the two ends of the horizontal steering seat 243, the inclination angle of the moving rail 21 relative to the horizontal plane is adjusted to make it the same as the inclination angle of the bottom surface of the car body and parallel to the bottom surface of the car body. Due to the loading process, the front and rear weights of the car body are different, the front is heavy and the back is light, so the car body is usually low in the front and high in the back, and with the loading process, the inclination angle of the car body also changes at any time. Therefore, if the inclination angle of the car body is not detected to adapt the inclination angle of the moving rail to the car body, it may cause an angle between the bottom surface of the pallet and the bottom surface of the car body, resulting in one end of the pallet touching the ground and the other end hanging in the air during loading and unloading.

[0089] The auxiliary adjustment mechanism 24 also includes an adjustment cylinder connected between the movable base 241 and the transverse slide 242 to control the position of the transverse slide 242 on the movable base 241, so as to adjust the position of the rear end of the movable rail 21 and further adjust the conveying direction of the movable rail 21.

[0090] like Figure 3-9 As shown, the gantry forklift 3 includes a longitudinal translation frame 31, a transverse translation frame 32, a bogie 33, a camera 34, a horizontal telescopic frame 35 and a vertical telescopic fork 36, wherein:

[0091] The longitudinal translation frame 31 is installed on the empty rail and can move back and forth along the empty rail, thereby realizing the transmission of the pallet between the conveyor roller 1 and the rail moving trolley;

[0092] The transverse translation frame 32 is transversely mounted on the longitudinal translation frame 31 and can move transversely along the longitudinal translation frame 31, so as to lift pallets at different transverse positions and place them on the track moving trolleys 2 at different transverse positions;

[0093] The bogie 33 is rotatably mounted on the transverse translation frame 32, and the rotation axis is arranged vertically, so that after the pallet is lifted, the azimuth angle of the pallet can be adjusted through the rotation of the bogie 33, thereby adjusting the orientation of the goods on the pallet;

[0094] The horizontal telescopic frame 35 is installed at the bottom of the bogie 33 and can control the relative movement of two pairs of vertical telescopic fork teeth 36 in the horizontal direction;

[0095] The vertical telescopic fork teeth 36 are arranged in two pairs and can control the movement of the forks in the vertical direction. Each vertical telescopic fork tooth 36 is independently controlled by a separate driving mechanism. Therefore, when the moving rail 21 of the rail moving trolley 2 tilts accordingly due to the inclination angle of the carriage, the driving mechanism of each vertical telescopic fork tooth 36 can be controlled separately, so that the inclination angle of the pallet is the same as the inclination angle of the moving rail 21, so that the bottom surface of the pallet falls on the flatbed trolley 22 after being lowered.

[0096] The camera 34 is mounted on the longitudinal translation frame 31 and can shoot downward videos or images to identify the orientation of the goods. When the orientation of the goods deviates from the preset orientation, the bogie 33 is controlled to rotate to the orientation of the goods according to the deviation value, and then the vertical telescopic fork 36 is controlled to be inserted into the pallet, and after the pallet and the goods on it are lifted, the bogie 33 is reversely controlled to reset, so as to adjust the orientation of the goods to the preset orientation, and then the goods are moved and placed on the flatbed trolley 22 of the track moving trolley 2.

[0097] When the lateral position of the track moving trolley is offset, the conveyor roller 1 and the moving rail 21 are misaligned. At this time, before placing the goods on the flatbed trolley 22, it is necessary to identify the position of the flatbed trolley 22 through the camera 34 to determine the center of the flatbed trolley 22, and then the gantry forklift 3 adjusts the position of the lifted pallet to the center of the flatbed trolley before lowering it.

[0098] During the implementation process, since the direction of the movable rail 21 will also be deflected, the movable rail 21 will also have an inclination relative to the horizontal plane; at this time, before lowering the pallet, it is necessary to further adjust the orientation of the pallet through the gantry forklift 3, and rotate the pallet to point in the direction of the movable rail 21 or parallel to this direction; then, through the four independent telescopic fork teeth 362 of the gantry forklift, adjust the height to be the same as the inclination of the movable rail 21, and then lower the pallet onto the flatbed trolley 22. At this time, it can be ensured that the direction of the pallet is the same as the direction of the movable rail 21, and the inclination of the two is also the same, so that after the pallet is lowered, there is surface contact between the upper surface of the flatbed trolley 22 and safety is ensured.

[0099] In the process of identifying the cargo through the camera 34, the center of the cargo can be identified. When the cargo is arranged in 2×2, the center of the cargo is the center of all the cargo as a whole, so that the center of the bogie 33 is moved to the center of the cargo, so that when the pallet is rotated, the torque effect on the L-shaped brackets 361 at both ends can be ensured to be the same. The camera 34 can also identify the direction and inclination of the flatbed trolley 22, so as to provide data reference for the gantry forklift 3 to adjust the pallet.

[0100] The horizontal telescopic frame 35 is provided with guide rail grooves 351 parallel to each other on both sides, a rotating belt 352 driven by a rotating pulley is provided in the middle, and two driving blocks 353 are provided on the rotating belt 352, and the two driving blocks 353 are respectively connected to a vertical telescopic fork 36. The roller of the L-shaped bracket 361 is connected to the guide rail groove 351 and can move along the guide rail groove 351. The rotating belt 352 drives the two driving blocks 353 to move toward or away from each other, so that the horizontal telescopic adjustment of the two pairs of vertical telescopic forks 36 can be controlled.

[0101] Each vertical telescopic fork tine 36 includes an L-shaped bracket 361 and telescopic forks 362 vertically connected to both sides of the L-shaped bracket 361, and the telescopic forks 362 are connected to the L-shaped bracket 361 through a telescopic mechanism. The two L-shaped brackets 361 are symmetrically arranged so that they can move toward each other. The four vertical telescopic forks 36 use independent driving motors to control the telescopic length of each vertical telescopic fork tine 36, thereby controlling the inclination of the pallet so that the inclination angle of the pallet is the same as the inclination angle of the moving rail 21.

[0102] The telescopic mechanism adopts gear rack transmission, and the telescopic fork 362 is connected to the L-shaped bracket 361 through a linear guide rail.

[0103] The L-shaped bracket 361 is connected to the guide rail groove 351 of the horizontal telescopic frame 35 through rollers, and is connected to the driving block 353 on the horizontal telescopic frame 35 , so as to complete the telescopic movement under the drive of the driving block 353 .

[0104] like Figure 19-23 As shown, the portal frame 41 of the portal forklift 4 includes an upper square frame 411 and a bottom beam 412. Rollers are provided on the inner side of the square frame 411 above the bottom beam 412. The rollers are connected to the inner side of the moving rail 21. The bottom beam 412 is located below the moving rail 21, so as not to affect the pallet and cargo passing through the portal frame 41 on the flatbed trolley 22.

[0105] The bottom beam 412 can ensure the structural stability of the entire portal frame 41 and prevent the portal forklift 4 from being deformed due to pressure when loading goods; a driving mechanism is provided on the bottom beam 412, so that the driving mechanism is located below the moving rail 21 and the flatbed trolley 22, so that the driving of the portal forklift 4 and the driving of the track moving trolley 2 do not interfere with each other.

[0106] The driving mechanism adopts belt drive or chain drive. It is known to those skilled in the art that the corresponding transmission components need to be fixedly connected to the moving rails, so that the portal forklift 4 can move with the movement of the moving rails 21.

[0107] L-shaped reinforcement members 414 are also provided on both sides of the square frame 411 to strengthen the structure of the door-shaped frame.

[0108] A limiting guide wheel 415 is also provided on the inner side of the square frame 411 . The limiting guide wheel 415 is connected to the inner side surface of the movable rail 21 . The wheel axle of the limiting guide wheel 415 is vertical, thereby limiting the lateral direction of the square frame 411 to prevent the square frame 411 from detaching from the movable rail 21 .

[0109] The front end of the lifting platform 5 is provided with a flip plate 51 that can be flipped open, and a torque sensor is provided on the rotating shaft of the flip plate 51. When the truck compartment approaches the lifting platform, the lifting platform 5 is controlled to rise as a whole, so that the height of the upper surface of the lifting platform is higher than the height of the inner bottom surface of the compartment, and the flip plate 51 is controlled to open to a vertical state; after the truck compartment door is opened and stopped, the flip plate 51 is adjusted to flip forward to a horizontal state, and then the lifting platform 5 is controlled to descend as a whole; when the signal of the torque sensor is received and reaches the threshold, the lifting platform 5 is controlled to stop and maintain the height.

[0110] When the carriage is lowered due to loading, the signal of the torque sensor continues to be detected. When the signal of the torque sensor is 0 or below the threshold, the lifting platform 5 continues to be controlled to descend. When the signal of the torque sensor reaches the threshold again, the lifting platform 5 is controlled to stop.

[0111] The loader system provided by the utility model can drive a gantry forklift to extend into the compartment of a truck or the interior of a container through a track-moving trolley, so as to stack the pallet with goods conveyed on the conveyor roller; wherein the gantry forklift can identify the placement orientation of the goods, and adjust the pallet after lifting so that the orientation of the goods is the same as the preset orientation; after the track-moving trolley enters the interior of the compartment, the distance between the inner walls of the compartment on both sides can be detected by a second distance sensor, so as to adjust the track-moving trolley to a central position; by comparing the values ​​of the first distance sensor, the inclination angle of the compartment is obtained, and then by adjusting the auxiliary adjustment mechanism, the inclination angle of the moving rail is the same as that of the compartment, and the moving rail is parallel to the bottom surface of the compartment, so that the bottom surface angle of the pallet when the gantry forklift loads the vehicle is the same as the inclination angle of the bottom surface of the compartment, thereby ensuring a smooth loading process.

[0112] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0113] The above-mentioned embodiments only express several implementation methods of the utility model, and the description is relatively specific and detailed, but it cannot be understood as limiting the scope of the utility model patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the utility model, which all belong to the protection scope of the utility model. Therefore, the protection scope of the utility model patent shall be based on the attached claims.

Claims

1. The driving mechanism of the fork teeth is characterized in that: It comprises a cross rail assembly (43) and a transverse fork assembly (44). There are two transverse fork assemblies (44), and each of them independently moves laterally along the cross rail assembly (43), wherein: The cross rail assembly (43) comprises an elongated frame (431), vertical guide wheels (432), a limiting rail (433), a transmission rack (434) and a supporting cross rail (435); wing plates (430) are respectively provided at both ends of the elongated frame (431); each wing plate (430) is provided with a group of vertical guide wheels (432) and is connected to a vertical guide rail structure via the vertical guide wheels (432); the limiting rail (433), the transmission rack (434) and the supporting cross rail (435) are horizontally and parallelly mounted on the elongated frame (431); the limiting rail (433) is located at the upper part, the supporting cross rail (435) is located at the lower part, and the transmission rack (434) is located between the limiting rail (433) and the supporting cross rail (435); Each transverse fork assembly (44) comprises a transverse fork (441), a transverse driving motor (442), a limiting wheel (443), a transmission gear (444) and a transverse sliding block (445), wherein the upper portion of the transverse fork (441) is connected to the limiting rail (433) via the limiting wheel (443), the middle portion is meshed with the transmission rack (434) via the transmission gear (444), and the lower portion is connected to the supporting transverse rail (435) via the transverse sliding block (445); the transverse driving motor (442) drives the transmission gear (444).

2. The driving mechanism of the fork tine according to claim 1, characterized in that: The wing plate (430) is also driven to move along the vertical guide rail structure by a sprocket or pulley structure.

3. The driving mechanism of the fork tine according to claim 1, characterized in that: The wing plate (430) is also provided with a locking member (436) which is locked with the chain or belt.

4. The driving mechanism of the fork tine according to claim 1, characterized in that: There are two or more vertical guide wheels (432) on each side, which are arranged in an upper and lower manner. The height of the upper vertical guide wheel (432) corresponds to the top of the elongated frame (431), and the height of the lower vertical guide wheel (432) corresponds to the bottom of the elongated frame (431).

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