Intelligent loading robot stable in carrying

Abstract

The utility model relates to an intelligent loading robot capable of stably carrying, which comprises a group of tracks, a plurality of loading mechanisms and a plurality of loading mechanisms, the rail car chassis is connected between the group of rails; the portal frame driving device is arranged on the rail car chassis, and the portal frame driving device comprises a front-back driving mechanism; the door frame comprises an up-down driving mechanism, a door frame body and a movable frame body, the door frame body is fixedly connected to the door frame driving device, the movable frame body can move up and down along the door frame body, and the telescopic end of the up-down driving mechanism is arranged to be vertically upward; a left-right balancing device is arranged at the telescopic end of the up-down driving mechanism, and the two sides of the left-right balancing device are connected to the top end of the movable frame body; the pallet fork frame is arranged on the portal frame, and the pallet fork frame is provided with a pallet fork driving cylinder; the pallet forks are arranged on the pallet fork frame in a left-right movable mode, and a pallet fork driving cylinder drives the pallet forks to move left and right.

Description

Technical Field

[0001] The utility model relates to the field of intelligent handling robots, in particular to an intelligent loading robot with stable handling. Background Art

[0002] At present, there are three loading methods for PE and PP palletized materials in the petrochemical industry: top loading, rear loading, and side loading; during these loading processes, a forklift driven by a human is used to load the palletized materials with pallets into the vehicle. Compared with the petrochemical industry with extremely high automation, the end operation of loading with a forklift driven by a human is a shortcoming of the entire industry in terms of automation level and efficiency.

[0003] In the prior art, for example, in an existing application with the publication number CN113955522A and the name of a side-position intelligent loading device for palletized material loading, two forklift forks can move bidirectionally and then close together after picking up the goods, realizing a compact side loading system in the left-right direction. However, the applicant found that after the two forklift forks pick up the goods simultaneously, there may be a deviation in the center of gravity or mass of the goods. At this time, there may be a height difference between the two forklift forks. When the forklift fork lifting mechanism drives the forklift forks to rise, the height difference between the forklift forks will generate a biasing force, which may damage the forklift fork lifting mechanism. And after one of the forklift forks descends to the lowest point, the forklift fork lifting mechanism drives the other forklift fork to continue moving downward. At this time, the forklift fork that has descended to the bottom will exert a huge force on the forklift fork lifting mechanism.

[0004] Aiming at the problems existing in the above prior art, designing an intelligent loading robot with stable handling is the purpose of the research of the present utility model. Content of the Utility Model

[0005] Aiming at the problems existing in the above prior art, the present utility model provides an intelligent loading robot with stable handling, which can effectively solve at least one of the problems existing in the above prior art.

[0006] The technical solution of the present utility model is as follows:

[0007] An intelligent loading robot with stable handling, comprising:

[0008] A set of tracks arranged in the left-right direction;

[0009] A track vehicle chassis connected between the set of tracks;

[0010] A gantry driving device arranged on the track vehicle chassis, and the gantry driving device includes a front-back driving mechanism;

[0011] Gantry, the gantry driving device drives the gantry to move in the front - rear direction. The gantry includes an up - down driving mechanism, a gantry body, and a movable frame body. The gantry body is fixedly connected to the gantry driving device. The movable frame body can move up and down along the gantry body. The telescopic end of the up - down driving mechanism is set vertically upward. A left - right balancing device is provided at the telescopic end of the up - down driving mechanism. Both sides of the left - right balancing device are connected to the top end of the movable frame body;

[0012] Fork carriage, which is arranged on the gantry. The fork carriage is provided with a fork driving cylinder;

[0013] A plurality of forks are arranged on the fork carriage so as to be movable left and right. The fork driving cylinder drives the forks to move left and right.

[0014] Further, the left - right balancing device includes a floating joint. The top end of the floating joint is fixedly connected with a connecting plate. Both ends of the connecting plate are connected to the movable frame body.

[0015] Further, both ends of the connecting plate are connected to the movable frame body through chains.

[0016] Further, a tension sensor is arranged between the chain and the movable frame body.

[0017] Further, an up - down driving mechanism activity slot is arranged at the top end of the movable frame body. When the movable frame body descends, the up - down driving mechanism passes through the up - down driving mechanism activity slot.

[0018] Further, the rail vehicle chassis includes a chassis frame. A plurality of driving wheels and a plurality of driven wheels are arranged at the bottom end of the chassis frame. The driving wheels and the driven wheels are respectively connected to corresponding tracks. The driving wheels are driven by a first rotating motor.

[0019] Further, the gantry driving device includes a gantry mounting frame. The front - rear driving mechanism includes a set of racks arranged in the front - rear direction. A gear cooperating with the racks is arranged at the bottom end of the gantry mounting frame. The gear is driven by a second rotating motor.

[0020] Therefore, the present utility model provides the following effects and / or advantages:

[0021] In this application, a left - right balancing device is provided at the top end of the up - down driving mechanism and its connection method. The up - down height difference generated by the forks is balanced by the left - right balancing device, so that the force on the up - down driving mechanism still remains in the vertical direction, extending the service life of the up - down driving mechanism.

[0022] Both ends of the left - right balancing device of this application are connected to the movable frame body through chains, thereby buffering the reaction force of the fork that touches the bottom first on the up - down driving mechanism.

[0023] Other features and advantages of the present utility model will be described in the subsequent specification, and in part will be obvious from the specification, or understood by implementing the present invention. The objectives and other advantages of the present invention are achieved and obtained by the structures specifically pointed out in the specification and the drawings.

[0024] It should be understood that the above summary and the following detailed description of the present utility model are exemplary and explanatory, and are intended to provide further explanation of the present utility model as claimed. Brief Description of the Drawings

[0025] Figure 1 It is a schematic structural view of one perspective of an embodiment of the present utility model.

[0026] Figure 2 It is a schematic structural view of another perspective of an embodiment of the present utility model.

[0027] Figure 3 It is a schematic structural view of the gantry of the present utility model.

[0028] Figure 4 It is a schematic structural view of the forklift forks. Detailed Description of the Specific Embodiments

[0029] For the convenience of those skilled in the art to understand, the structure of the present utility model will be further described in detail below in conjunction with the accompanying drawings:

[0030] Embodiment 1

[0031] Refer to Figures 1-4 , an intelligent loading robot with stable handling, comprising:

[0032] A set of tracks 1, arranged in the left-right direction;

[0033] The track vehicle chassis 2, connected between the set of tracks 1;

[0034] The gantry driving device 3, arranged on the track vehicle chassis 2, and the gantry driving device 3 includes a front-back driving mechanism;

[0035] The gantry 4, the gantry driving device 3 drives the gantry 4 to move in the front-back direction, the gantry 4 includes an up-down driving mechanism 401, a gantry body 402, and a movable frame body 403. The gantry body 402 is fixedly connected to the gantry driving device 3, the movable frame body 403 can move up and down along the gantry body 402, the telescopic end of the up-down driving mechanism 401 is set vertically upward, and a left-right balancing device is arranged at the telescopic end of the up-down driving mechanism 401, and both sides of the left-right balancing device are connected to the top end of the movable frame body 403;

[0036] The fork carrier 5 is arranged on the mast 4, and a fork driving cylinder 503 is arranged on the fork carrier 5;

[0037] A plurality of forks 6 are arranged on the fork carrier 5 in a left - and - right movable manner, and the fork driving cylinder 503 drives the forks 6 to move left and right.

[0038] In this embodiment, the track 1, the track vehicle chassis 2, the mast driving device 3, the mast 4, the fork carrier 5, and the forks 6 can all be directly adopted from the prior art, and reference can be made to the existing application with the publication number CN113955522A and the name of a side - type intelligent loading equipment for palletizing materials loading vehicles.

[0039] At the same time, since this embodiment includes a plurality of forks 6, there may be differences in the center of gravity, mass, etc. of the goods on the multiple forks 6, and there may be differences in the heights of the forks 6. This height difference will act on the top of the up - and - down driving mechanism 401, thereby deforming the up - and - down driving mechanism 401, etc. Therefore, in this embodiment, a left - and - right balancing device is arranged at the telescopic end of the up - and - down driving mechanism 401. This height difference acts on the left - and - right balancing device, causing the top of the left - and - right balancing device to tilt, while the bottom of the left - and - right balancing device remains unchanged, balancing the biasing force generated by the height difference.

[0040] Furthermore, the left - and - right balancing device includes a floating joint 404. The top of the floating joint 404 is fixedly connected to a connecting plate 407, and both ends of the connecting plate 407 are connected to the movable frame body 403.

[0041] In this embodiment, the length of the connecting plate 407 is greater than the width of the floating joint 404, so as to better act on the floating joint 404 with the height difference of the forks 6, causing the upper end of the floating joint 404 to deform.

[0042] Furthermore, both ends of the connecting plate 407 are connected to the movable frame body 403 through chains 405.

[0043] In this embodiment, during the process that the up - and - down driving mechanism 401 drives the movable frame body 403 upward through the chains 405, the chains 405 are straightened. When the up - and - down driving mechanism 401 lowers the movable frame body 403 and one of the forks 6 touches the bottom, and the other fork 6 has not touched the bottom yet, when the up - and - down driving mechanism 401 continues to contract, the chain 405 on the side of the fork 6 that touches the bottom first can bend, thereby buffering the reaction force of the fork 6 that touches the bottom first on the up - and - down driving mechanism 401.

[0044] Furthermore, a tension sensor 406 is arranged between the chain 405 and the movable frame body 403.

[0045] In this embodiment, the tension sensor can sense the weight of the fork 6 and the goods on the fork. When the data of the tension sensor 406 drops to the data of the empty fork 6, it can be determined that the goods have been completely lowered at this time. At this time, the up-and-down driving mechanism 401 is stopped from descending to prevent damage caused by the continuous descent of the up-and-down driving mechanism 401.

[0046] Further, a up-and-down driving mechanism moving slot is provided at the top of the movable frame body 403, and when the movable frame body 403 descends, the up-and-down driving mechanism 401 passes through the up-and-down driving mechanism moving slot.

[0047] Further, the rail vehicle chassis 2 includes a chassis frame, and a plurality of driving wheels and a plurality of driven wheels are provided at the bottom end of the chassis frame. The driving wheels and the driven wheels are respectively connected to corresponding rails, and the driving wheels are driven by a first rotating motor.

[0048] Further, the gantry driving device 3 includes a gantry mounting frame 301. The front-and-back driving mechanism includes a set of racks 302 arranged in the front-and-back direction. A gear matching with the racks is provided at the bottom end of the gantry mounting frame 301, and the gear is driven by a second rotating motor.

[0049] In this embodiment, through the cooperation of the gear and the rack 302 and the driving action of the second rotating motor, an electric drive structure is realized.

[0050] It should be noted that in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in the claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present invention can be implemented by means of hardware including several different elements and by means of a suitably programmed computer. In the unit claims listing several means, several of these means can be embodied by the same item of hardware. The use of the words first, second, and third, etc. does not denote any order. These words can be interpreted as names.

[0051] Although the preferred embodiments of the present invention have been described, those skilled in the art can make additional changes and modifications once they learn the basic creative concept. Therefore, the appended claims are intended to be construed to include the preferred embodiments and all changes and modifications falling within the scope of the present invention.

[0052] In the present utility model, unless otherwise clearly defined and limited, terms such as "installed", "connected", "coupled", "fixed", etc. shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0053] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present utility model. In this specification, the schematic description of the above terms should not be understood as necessarily referring to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

Claims

1. An intelligent loading robot with stable handling, characterized by: include: A set of tracks, arranged in left and right directions; a railcar chassis connected between the set of rails; A gantry drive device is arranged on the rail vehicle chassis, and the gantry drive device includes a front and rear drive mechanism; A gantry, wherein the gantry driving device drives the gantry to move in the front-rear direction, the gantry comprising an up-and-down driving mechanism, a gantry body, and a movable frame body, the gantry body being fixedly connected to the gantry driving device, the movable frame body being movable up and down along the gantry body, the telescopic end of the up-and-down driving mechanism being arranged vertically upward, the telescopic end of the up-and-down driving mechanism being provided with a left-and-right balancing device, and the two sides of the left-and-right balancing device being connected to the top of the movable frame body; A fork frame, arranged on the gantry, and the fork frame is provided with a fork driving cylinder; A plurality of forks are movably arranged on the fork frame, and the fork driving cylinder drives the forks to move left and right.

2. The intelligent loading robot with stable handling according to claim 1, characterized in that: The left and right balancing device comprises a floating joint, the top end of the floating joint is fixedly connected with a connecting plate, and both ends of the connecting plate are connected to the movable frame.

3. The intelligent loading robot with stable handling according to claim 2, characterized in that: Both ends of the connecting plate are connected to the movable frame through chains.

4. The intelligent loading robot with stable handling according to claim 3 is characterized by: A tension sensor is arranged between the chain and the movable frame.

5. The intelligent loading robot with stable handling according to claim 1, characterized in that: The top of the movable frame is provided with an upper and lower driving mechanism movable groove, and when the movable frame descends, the upper and lower driving mechanism passes through the upper and lower driving mechanism movable groove.

6. The intelligent loading robot with stable handling according to claim 1, characterized in that: The rail vehicle chassis comprises a chassis frame, a plurality of driving wheels and a plurality of driven wheels are arranged at the bottom end of the chassis frame, the driving wheels and the driven wheels are respectively connected to corresponding rails, and the driving wheels are driven by a first rotating motor.

7. The intelligent loading robot with stable handling according to claim 1, characterized in that: The gantry driving device includes a gantry mounting frame, the front-rear driving mechanism includes a group of racks arranged along the front-rear direction, and the bottom end of the gantry mounting frame is provided with a gear that matches the rack, and the gear is driven by a second rotating motor.

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