Electric drive type lateral loading system

Abstract

The utility model relates to an electric drive type lateral loading system which comprises a set of rails. A railcar chassis; a gantry driving device; the portal frame driving device drives the portal frame to move in the front-back direction, 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 fork arm carrier is arranged on the portal, the up-down driving mechanism drives the fork arm carrier to move up and down, a first distance sensor is arranged below the fork arm carrier, and the first distance sensor is used for obtaining the distance between the fork arm carrier and the side edge of a vehicle body of a corresponding loading vehicle; the pallet fork is arranged on the pallet fork frame, a back plate is arranged on the front side of the vertical portion of the pallet fork in a protruding mode, the left end and the right end of the back plate extend downwards to form protruding portions, and the protruding portions extend to the lower side of the transverse portion of the pallet fork.

Description

Technical Field

[0001] The utility model relates to the field of loading systems, and specifically refers to an electric-driven side loading system. Background Art

[0002] At present, there are three loading methods for palletized materials of PE and PP in the petrochemical industry: top loading, rear loading, and side loading; in these loading processes, a forklift driven by a human is used to load the palletized materials with pallets into the vehicle. Compared with the highly automated petrochemical industry as a whole, this end process 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, it uses an oil cylinder to drive various components, which does not conform to the current trend of electric drive and intelligence. Moreover, in the process of realizing electric drive, there are problems such as left-right imbalance after the forklift forks are stressed, resulting in left-right skew of the forklift forks, the fuselage, etc. in the loading system, thus affecting the stability of the electric-driven loading system.

[0004] Designing an electric-driven side loading system to address the problems existing in the above prior art is the purpose of the research of the present utility model. Summary of the Utility Model

[0005] In view of the problems existing in the above prior art, the present utility model aims to provide an electric-driven side loading system, 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 electric-driven side loading system, 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] A gantry, the gantry driving device drives the gantry to move in the front-back 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, and a left-right balancing device is arranged 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] The forklift carriage is arranged on the mast. The up-and-down driving mechanism drives the forklift carriage to move up and down. A first distance sensor is arranged below the forklift carriage, and the first distance sensor is used to obtain the distance between the forklift carriage and the side of the body of the corresponding loading vehicle.

[0013] The forklift forks are arranged on the forklift carriage. A back plate protrudes from the front side of the vertical part of the forklift forks. The left and right ends of the back plate extend downward to form protruding parts, and the protruding parts extend to the lower side of the horizontal part of the forklift forks.

[0014] Further, the left-and-right balancing device includes 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 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-and-down driving mechanism movable groove is arranged at the top end of the movable frame body. When the movable frame body descends, the up-and-down driving mechanism passes through the up-and-down driving mechanism movable groove.

[0018] Further, a middle position at the lower end of the back plate is recessed to form an avoidance groove. A second distance sensor is arranged at the position corresponding to the avoidance groove at the bottom end of the forklift forks, and the second distance sensor is used to obtain the distance between the vertical part of the forklift forks and the goods.

[0019] Further, a back plate mounting frame is installed on the vertical part of the forklift forks. The back plate mounting frame protrudes from the front end of the vertical part of the forklift forks, and the back plate is installed on the back plate mounting frame.

[0020] Further, a wear-resistant plate is arranged on the front end face of the back plate.

[0021] Further, a slide rail is arranged on the forklift carriage. A plurality of sliders are fixedly arranged at the rear side of the forklift forks. The forklift forks are arranged on the forklift carriage in a left-and-right movable manner through the cooperation of the sliders and the slide rail. A forklift fork driving cylinder is arranged on the forklift carriage.

[0022] Further, a forklift fork mounting plate is arranged at the rear end of the forklift forks. A plurality of bolt holes are arranged on the forklift fork mounting plate and the forklift forks. The forklift fork mounting plate and the forklift forks are locked and set through the bolts, and the sliders are arranged at the rear end of the forklift fork mounting plate.

[0023] Therefore, the present utility model provides the following effects and / or advantages:

[0024] In this application, a left - right balancing device is provided at the top of the up - down driving mechanism and its connection method are used to balance the up - down height difference generated by the forklift forks. In this way, the force on the up - down driving mechanism still remains in the vertical direction, extending the service life of the up - down driving mechanism. Cooperating with the first distance sensor, by being arranged below the forklift carriage, the distance between it and the side of the vehicle body can be obtained, which is used for the intelligent loading robot to calculate the front - rear position of the goods on the vehicle body. Moreover, in this application, the back plate protrudes from and is fixed to the front side of the vertical part of the forklift fork, forming a planar structure, which can push the goods and the pallet forward together, so that the goods and the pallet are placed in the correct front - rear position, thus realizing a stable and intelligent electric - drive side - loading system.

[0025] This application is provided with a second distance sensor, which can accurately judge the position of the goods on the forklift fork. Thus, when the goods are put down and the forklift fork drives forward, the back plate cooperates with the convex part to drive the goods and its pallet to move forward together, making the rear end face of the goods flush with the pallet.

[0026] This application realizes the operation of each component through an electric drive method, changing the working mode of driving each structure through an oil cylinder in the prior art, thereby reducing the technical problem of the change in control accuracy caused by the thermal expansion and contraction effect received by the oil cylinder at different temperatures.

[0027] Other features and advantages of the present utility model will be described in the subsequent description, and part of them will be obvious from the description or understood by implementing the present invention. The objectives and other advantages of the present invention are achieved and obtained through the structures specifically pointed out in the description and the drawings.

[0028] It should be understood that the above - mentioned 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

[0029] Figure 1 It is a schematic diagram of one perspective of the embodiment of the present utility model. For the convenience of display, the back plate of one of the forklift forks is hidden.

[0030] Figure 2 It is a schematic diagram of another perspective of the embodiment of the present utility model.

[0031] Figure 3 It is a schematic diagram of the structure of the gantry driving device, the gantry, and the forklift fork.

[0032] Figure 4 It is a schematic diagram of the structure of the back plate.

[0033] Figure 5 It is a schematic diagram of the structure of the gantry of the present utility model. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0034] 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:

[0035] Embodiment 1

[0036] Refer to Figures 1-5 , an electric drive side loading system, including

[0037] A set of tracks 1, arranged in the left - right direction;

[0038] The chassis of the rail vehicle 2, connected between the set of tracks 1;

[0039] The gantry drive device 3, arranged on the chassis of the rail vehicle 2, and the gantry drive device 3 includes a front - rear drive mechanism;

[0040] The gantry 4, arranged on the gantry drive device 3, and the gantry drive device 3 drives the gantry 4 to move in the front - rear direction. The gantry 4 includes an up - down drive mechanism 401, a gantry body 402, and a movable frame body 403. The gantry body 402 is fixedly connected to the gantry drive device 3. The movable frame body 403 can move up and down along the gantry body 402. The telescopic end of the up - down drive mechanism 401 is set vertically upward, and a left - right balancing device is arranged at the telescopic end of the up - down drive mechanism 401. Both sides of the left - right balancing device are connected to the top end of the movable frame body 403;

[0041] The fork rack 5, arranged on the gantry 4, and the up - down drive mechanism 401 drives the fork rack 5 to move up and down. A first distance sensor 501 is arranged below the fork rack 5, and the first distance sensor 501 is used to obtain the distance between the fork rack 5 and the side of the body of the corresponding loading vehicle;

[0042] The fork 6, arranged on the fork rack 5. A back plate 601 protrudes from the front side of the vertical part of the fork 6. The left and right ends of the back plate 601 extend downward to form convex parts 602, and the convex parts 602 extend to the lower side of the transverse part of the fork 6.

[0043] In this embodiment, the tracks 1, the chassis of the rail vehicle 2, the gantry drive device 3, the gantry 4, the fork rack 5, and the fork 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 stacking materials loading vehicles.

[0044] Since there are several forks 6 in this embodiment, 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, causing the up-and-down driving mechanism 401 to deform, etc. Therefore, in this embodiment, a left-right balancing device is provided at the telescopic end of the up-and-down driving mechanism 401. This height difference acts on the left-right balancing device, causing the top of the left-right balancing device to tilt, while the bottom of the left-right balancing device remains unchanged, balancing the biasing force generated by the height difference.

[0045] One of the core improvement points of this embodiment is that a first distance sensor 501 is provided below the fork carriage 5. When the intelligent loading robot drives the fork 6 forward through the fork carriage 5, the fork 6 is located above the body of the corresponding loading vehicle to pick up or load and unload the goods. In order to identify the position of the goods on the vehicle body, a first distance sensor 501 is added in this embodiment. By being provided below the fork carriage 5, the distance between it and the side of the vehicle body can be obtained, so as to calculate the front and back positions of the goods on the vehicle body for the intelligent loading robot.

[0046] Another core improvement point of this embodiment is that a back plate 601 protrudes from the front side of the vertical portion of the fork 6. Among them, the back plate 601 protrudes from the vertical portion of the fork 6 and is fixedly arranged. Among them, the back plate 6021 can limit the minimum distance between the goods and the vertical portion of the fork 6, so that the distance between the fork 6 and the side of the vehicle body can be judged by the first distance sensor 501. The back plate 601 blocks the front of the vertical portion of the fork 6 to form a flat structure. With the cooperation of this structure, if the loading vehicle body is skewed with respect to the track 1, etc., after the intelligent loading robot places the goods below the fork 6, it can further drive the fork 6 to drive the back plate 601 forward, thereby controlling the goods to move further forward and placing them at the preset front and back positions. At the same time, at both left and right ends of the back plate 601 of this embodiment, convex portions 602 extend downward, and the convex portions 602 extend to the lower side of the transverse portion of the fork 6. When the fork 6 picks up the pallet below the goods, the convex portions 602 can correspond to the position of the pallet. Thus, when the fork 6 drives forward, the back plate 601 cooperates with the convex portions 602 to drive the goods and its pallet to move forward together, making the rear end face of the goods flush with the pallet and placing the goods and the pallet at the correct front and back positions.

[0047] Furthermore, the left-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.

[0048] In this embodiment, the length of the connecting plate 407 is greater than the width of the floating joint 404, so that the height difference of the fork 6 can better act on the floating joint 404, causing the upper end of the floating joint 404 to deform.

[0049] Further, both ends of the connecting plate 407 are connected to the movable frame body 403 through chains 405.

[0050] In this embodiment, during the process that the up-and-down driving mechanism 401 drives the movable frame body 403 upward through the chain 405, the chain 405 is straightened. When the up-and-down driving mechanism 401 lowers the movable frame body 403 and one of the forks 6 touches the bottom, while the other fork 6 has not touched the bottom yet, if 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.

[0051] Further, a tension sensor 406 is arranged between the chain 405 and the movable frame body 403.

[0052] 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 fork 6 without load, it can be determined that the goods have been completely lowered at this time, and the up-and-down driving mechanism 401 is stopped from lowering at this time to prevent damage caused by the continuous lowering of the up-and-down driving mechanism 401.

[0053] Further, an up-and-down driving mechanism moving slot is arranged at the top end of the movable frame body 403, and the up-and-down driving mechanism 401 passes through the up-and-down driving mechanism moving slot when the movable frame body 403 descends.

[0054] Further, the fork carrier 5 is provided with a slide rail 502, a plurality of sliders 606 are fixedly arranged at the rear side of the fork 6, and the fork 6 is movably arranged on the fork carrier 5 in a left-right movable manner through the cooperation of the sliders 606 and the slide rail 502. The fork carrier 5 is provided with a fork driving cylinder 503.

[0055] The up-and-down driving mechanism 401 and the fork driving cylinder 503 in this embodiment can be electric cylinders.

[0056] Further, a middle position at the lower end of the back plate 601 is recessed to form an avoidance groove 603, and a second distance sensor 604 is arranged at a position corresponding to the avoidance groove 603 at the bottom end of the fork 6. The second distance sensor 604 is used to obtain the distance between the vertical part of the fork 6 and the goods.

[0057] In this embodiment, based on the data from the second distance sensor 604 and through the calculation of the relative position, the back plate 601 of the vertical part of the forklift fork 6 can be controlled to be flush with the edge of the pallet, thereby further accurately calculating the position of the goods on the vehicle body.

[0058] Further, a back plate mounting bracket 605 is installed on the vertical part of the forklift fork 6. The back plate mounting bracket 605 protrudes from the front end of the vertical part of the forklift fork 6, and the back plate 601 is installed on the back plate mounting bracket 605.

[0059] In this embodiment, by using the protruding structure of the back plate mounting bracket 605, the back plate 601 protrudes from the front end of the vertical part of the forklift fork 6, defining the minimum distance between the goods and the vertical part of the forklift fork 6.

[0060] Further, a wear-resistant plate is provided on the front end face of the back plate 601.

[0061] The wear-resistant plate can be made of materials such as PE, and has characteristics such as wear resistance and low friction coefficient, so as to protect the goods from being damaged when the forklift fork 6 moves.

[0062] Further, the forklift fork carrier 5 is provided with a slide rail 502. A plurality of sliders 606 are fixedly provided on the rear side of the forklift fork 6. The forklift fork 6 is movably arranged on the forklift fork carrier 5 in a left-right direction through the cooperation of the sliders 606 and the slide rail 502. The forklift fork carrier 5 is provided with a forklift fork driving cylinder 503.

[0063] The up-and-down driving mechanism 401 and the forklift fork driving cylinder 503 in this embodiment can be electric cylinders.

[0064] Further, a forklift fork mounting plate 607 is provided at the rear end of the forklift fork 6. A plurality of bolt holes are provided on the forklift fork mounting plate 607 and the forklift fork 6. The forklift fork mounting plate 607 and the forklift fork 6 are locked by bolts, and the sliders 606 are arranged at the rear end of the forklift fork mounting plate 607.

[0065] With this structure, the installation height of the forklift fork 6 can be adjusted, so as to be applicable to loading vehicle bodies of different heights.

[0066] Further, the rail vehicle chassis 2 includes a chassis frame. 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 the corresponding rails, and the driving wheels are driven by a first rotating motor.

[0067] Further, the gantry driving device 3 includes a gantry mounting bracket 301. The front-and-rear driving mechanism includes a set of racks 302 arranged in the front-and-rear direction. A gear matching with the rack is provided at the bottom end of the gantry mounting bracket 301, and the gear is driven by a second rotating motor.

[0068] In this embodiment, an electric drive structure is realized through the cooperation of a gear and a rack 302 and the driving action of a second rotating motor.

[0069] Further, the gantry driving device 3 includes a group of channel steels 303, the channel steels 303 are distributed on the left and right sides of a group of the racks 302, and rollers 304 matched with the channel steels 303 are arranged on the left and right sides of the gantry mounting frame 301.

[0070] In this embodiment, the rollers 304 are embedded in the channel steels 303 and cannot be separated from the channel steels 303. The channel steels 303 are fixedly arranged on the chassis 2 of the rail vehicle, so that the gantry driving device 3 will not turn out of the path defined by the channel steels 303 after moving forward.

[0071] 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 other 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 a unit claim listing several devices, several of these devices may 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 may be interpreted as names.

[0072] 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 as well as all changes and modifications falling within the scope of the present invention.

[0073] In the present invention, unless otherwise clearly defined and limited, the terms "mounted", "connected", "connected to", "fixed", etc. shall be construed 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 elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0074] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "examples", "specific examples", 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 representations 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 can 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 electric drive side loading system, characterized in that: 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 is arranged on the gantry, the up and down driving mechanism drives the fork frame to move up and down, and a first distance sensor is arranged below the fork frame, and the first distance sensor is used to obtain the distance between the fork frame and the side of the body of the corresponding loading vehicle; A fork is arranged on the fork frame, a back plate is protruding from the front side of the vertical part of the fork, left and right ends of the back plate extend downward to form a raised part, and the raised part extends to the lower side of the transverse part of the fork.

2. The electric drive side loading system 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 electric drive side loading system according to claim 2, characterized in that: Both ends of the connecting plate are connected to the movable frame through chains.

4. The electric drive side loading system according to claim 3, characterized in that: A tension sensor is arranged between the chain and the movable frame.

5. The electric drive side loading system 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 electric drive side loading system according to claim 1, characterized in that: The middle position of the lower end of the back plate is recessed to form an avoidance groove, and a second distance sensor is provided at the bottom end of the fork corresponding to the position of the avoidance groove, and the second distance sensor is used to obtain the distance between the vertical part of the fork and the goods.

7. The electric drive side loading system according to claim 1, characterized in that: A back plate mounting frame is installed on the vertical portion of the fork, the back plate mounting frame protrudes from the front end of the vertical portion of the fork, and the back plate is installed on the back plate mounting frame.

8. The electric drive side loading system according to claim 1, characterized in that: The front end surface of the back plate is provided with a wear-resistant plate.

9. The electric drive side loading system according to claim 1, characterized in that: The fork frame is provided with a slide rail, a plurality of sliders are fixedly provided on the rear side of the fork, the fork can be movably arranged on the fork frame left and right through the cooperation of the sliders and the slide rail, and the fork frame is provided with a fork driving cylinder.

10. The electric drive side loading system according to claim 9, characterized in that: A fork mounting plate is arranged at the rear end of the fork, a plurality of bolt holes are arranged on the fork mounting plate and the fork, the fork mounting plate and the fork are locked by the bolts, and the slider is arranged at the rear end of the fork mounting plate.

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