Truss moving frame of automatic loader

Abstract

The utility model discloses a truss moving frame of an automatic loader, the truss moving frame comprises a first cross frame, two ends of the first cross frame are provided with first vertical frames, two ends of the first vertical frames are hinged with support driving mechanisms, each support driving mechanism comprises a first support block, a third rack and a fifth driving motor, a first supporting block is arranged at the upper end of the first vertical frame, a first bracket is arranged at the upper end of the first supporting block, the first bracket is hinged to the lower end of the first vertical frame, the fifth driving motor is arranged on the first supporting block, a fourth gear is arranged at the lower end of the fifth driving motor, and the third rack is arranged in the moving frame rail. And the third rack is matched with the fourth gear. According to the truss moving frame of the automatic loading machine, the supporting driving mechanism is hinged to the lower end of the first vertical frame, the situation that when sundries such as broken stones appear on the moving frame track, the truss moving frame cannot guarantee stability of goods is avoided, and the truss moving frame is safer and more reliable.

Description

Technical Field

[0001] The utility model belongs to the technical field of loaders, and particularly relates to a truss moving frame of an automatic loader. Background Art

[0002] Driven by both technology and economy, the logistics industry is rapidly transforming from traditional logistics to modern logistics. During the process of moving goods from the place of production to the place of consumption, the logistics chain involving multiple links such as transportation, storage, and distribution is evolving towards automation, informatization, intelligence, and unmanned operation. In the logistics chain, the warehouse for storing goods is an important link.

[0003] In the patent application for invention with the publication number of "CN111846728B", it discloses a method and device for inbound and outbound of a three-dimensional warehouse, and the three-dimensional warehouse, wherein the three-dimensional warehouse includes a stacker and a storage unit. The storage unit includes four rows of shelves arranged along a first direction, each row of shelves extends along a second direction, the middle two rows of shelves are spaced apart to form a lane, the stacker is located in the lane of the storage unit to be executed for inbound and outbound tasks, the two rows of shelves close to the lane have multiple first storage locations, the two rows of shelves far from the lane have multiple second storage locations, and the storage location allocation method includes: determining the earliest inbound time of all storage locations that meet the outbound conditions in the storage unit; determining all storage locations that meet the outbound conditions within the range from the earliest inbound time to the earliest inbound time plus a preset time period as the set of storage locations that meet the earliest inbound time period; preferentially performing outbound tasks on each storage location in the set of storage locations according to a preset outbound priority order. Although the three-dimensional warehouse outbound system is a relatively mature technology and is widely used, it is generally installed in a factory building, and a door is set at the exit of the three-dimensional warehouse outbound system. It cannot directly place the goods on the truck outside the factory building door. Instead, it can only use a forklift to first pick up the goods at the factory building door and place them outside the factory building door. After the truck arrives, the forklift is used to place the goods placed outside the factory building door on the truck. This requires a large amount of space, and the storage of goods and the subsequent placement of the forklift interfere with each other, which is not conducive to the movement of the forklift and has low efficiency.

[0004] In the patent application of invention with the publication number "CN115783816A", an automatic loading machine and a loading method are disclosed, belonging to the field of logistics transportation. The automatic loading machine of the present utility model includes a belt conveyor transmission system, and also includes a parallel mechanism, a conveying channel, a truss, a truss moving platform, and a lidar. Upper pneumatic opening and closing doors and lower pneumatic opening and closing doors are respectively arranged on the upper and lower parts of the conveying channel; the conveying channel is arranged on the parallel mechanism, the parallel mechanism is arranged on the truss moving platform, the truss moving platform translates on the truss, the end of the belt conveyor transmission system is connected to the upper pneumatic opening and closing door of the conveying channel, and the lidar is arranged below the truss moving platform; the conveying channel is a through box channel composed of multiple sections of boxes hinged together. In the present utility model, the truss moving platform can drive the belt conveyor system, the 3UPU-UP parallel mechanism, the conveying channel, the lidar, etc. to translate on the truss; by translating on the truss to adjust the relative position between the loading mechanism and the vehicle, so as to complete the loading of the whole vehicle. However, it can only move the goods from one end of the truss to the other end through the truss moving platform. It still needs to use a forklift to pick up the goods at the factory door first and place them outside the factory door. After the truck arrives, then use the forklift to place the goods placed outside the factory door on the truck. It still needs to occupy a large space, which is not conducive to the safe storage and placement of goods.

[0005] Among them, during the movement of the truss moving frame in the prior art, if there are gravels on its track, it is easy to cause the truss moving frame to shake, and then it is impossible to ensure the stability of the goods clamped by it, and the safety cannot be guaranteed. Summary of the Invention

[0006] To solve the deficiencies of the prior art, the present utility model provides a truss moving frame for an automatic loader.

[0007] To achieve the above object, the present utility model provides the following technical solutions:

[0008] A truss moving frame for an automatic loader, the truss moving frame is arranged at the upper end of the moving frame track. The truss moving frame includes a first cross frame, and both ends of the first cross frame are provided with first vertical frames. Support driving mechanisms are hinged at both ends of the first vertical frames. The support driving mechanism includes a first support block, a third rack, and a fifth driving motor. A first bracket is arranged at the upper end of the first support block. The first bracket is hinged to the lower end of the first vertical frame. The fifth driving motor is arranged on the first support block. A fourth gear is arranged at the lower end of the fifth driving motor. The third rack is arranged in the moving frame track, and the third rack is matched with the fourth gear.

[0009] Further, a first partition frame is provided in the middle of the moving frame track. Both ends of the first support block are provided with first support rollers. Both ends of the first support rollers are connected to the first support block through bearings. A first support roller wheel is provided in the middle of the first support rollers. The first support roller wheel matches the first partition frame.

[0010] Further, first limiting grooves are provided at both ends of the moving frame track. Both ends of the first support block are provided with first mounting blocks. First mounting holes are provided on the first mounting blocks. A first support rod is provided in the first mounting holes. A first roller is connected to the lower end of the first support rod through a bearing. The first roller matches the first limiting groove. A first slit is provided on one side of the first mounting hole. First mounting holes are provided at both ends of the first mounting block. The first mounting holes match the first slit.

[0011] Further, first scanning mechanisms are provided at both ends of the first cross frame. The first scanning mechanism includes a first scanning frame, a sixth driving motor, and a first laser scanner. A fourth slide rail is provided at the lower end of the first cross frame. A fourth slider is provided at the upper end of the first scanning frame. The fourth slider matches the fourth slide rail. The sixth driving motor is arranged at the lower end of the first scanning frame. A fifth gear is provided at the upper end of the sixth driving motor. A fourth rack is provided at the lower end of the first cross frame. The fifth gear matches the fourth rack.

[0012] Compared with the prior art, the truss moving frame of the automatic loader disclosed by the present utility model has the beneficial effect that: it is hinged to the lower end of the first vertical frame through the support driving mechanism, avoiding the situation that when there are sundries such as gravel on the moving frame track, the truss moving frame cannot ensure the stability of the goods, and it is safer and more reliable. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 is a schematic structural view of a perspective of the preferred embodiment provided by the present utility model.

[0014] Figure 2 is a schematic structural view of another perspective of the preferred embodiment provided by the present utility model.

[0015] Figure 3 is a schematic structural view of a perspective of the feeding device of the preferred embodiment provided by the present utility model.

[0016] Figure 4 is a schematic structural view of another perspective of the feeding device of the preferred embodiment provided by the present utility model.

[0017] Figure 5 is a schematic structural view of the partial A of the preferred embodiment provided by the present utility model.

[0018] Figure 6 It is a schematic structural diagram of a perspective view of a transfer device provided by the preferred embodiment of the present utility model.

[0019] Figure 7 It is a schematic structural diagram of a perspective view of a transfer trolley provided by the preferred embodiment of the present utility model.

[0020] Figure 8 It is a schematic structural diagram of another perspective view of a transfer trolley provided by the preferred embodiment of the present utility model.

[0021] Figure 9 It is a schematic structural diagram of a trolley track provided by the preferred embodiment of the present utility model.

[0022] Figure 10 It is a schematic structural diagram of a placement device provided by the preferred embodiment of the present utility model.

[0023] Figure 11 It is a schematic structural diagram of part C provided by the preferred embodiment of the present utility model.

[0024] Figure 12 It is a schematic structural diagram of a perspective view of a truss mobile rack provided by the preferred embodiment of the present utility model.

[0025] Figure 13 It is a schematic structural diagram of another perspective view of a truss mobile rack provided by the preferred embodiment of the present utility model.

[0026] Figure 14 It is a schematic structural diagram of a support drive mechanism provided by the preferred embodiment of the present utility model.

[0027] Figure 15 It is a schematic structural diagram of a first bracket provided by the preferred embodiment of the present utility model.

[0028] Figure 16 It is a schematic structural diagram of part D provided by the preferred embodiment of the present utility model.

[0029] Figure 17 It is a schematic structural diagram of a truss intelligent forklift provided by the preferred embodiment of the present utility model.

[0030] Figure 18 It is a schematic structural diagram of a weighing mechanism provided by the preferred embodiment of the present utility model.

[0031] Figure 19 It is a schematic structural diagram of a collision prevention mechanism provided by the preferred embodiment of the present utility model.

[0032] Figure 20 It is a schematic structural diagram of a second scanning mechanism provided by the preferred embodiment of the present utility model.

[0033] Reference numerals include: 1000, loading device; 1100, first gantry; 1110, first slide rail; 1120, first rack; 1200, first support frame; 1210, first drive motor; 1220, second slide rail; 1230, second rack; 1300, second support frame; 1310, second drive motor; 1400, first support frame; 1410, third drive motor; 1420, first screw rod; 1500, second support frame; 1510, third slide rail; 1520, fourth drive motor; 1600, third support frame; 1610, first fork teeth; 1611, first mounting groove; 1612, first distance measuring sensor; 2000, transfer device; 2100, transfer cart; 2110, load platform; 2111, first receiving sensor; 2112, first transmitting sensor; 2113, first stop block; 2120, first drive rod; 2121, second support roller; 2130, first driven rod; 2131, third support roller; 2140, first speed reducer; 2150, first positioning disk; 2151, first tooth; 2160, second connector; 2171, first anti-collision strip; 2172, second anti-collision strip; 2200, first charging box; 2210, first electric cylinder; 2220, first charging column; 2300, cart track; 2310, first positioning column; 2311, first threaded hole; 2320, first bolt; 3000, placing device; 3100, truss moving frame; 3110, first cross frame; 3111, fifth slide rail; 3112, fifth rack; 3113, fourth slide rail; 3114, fourth rack; 3120, first vertical frame; 3300, first support block; 3310, first bracket; 3320, fifth drive motor; 3321, fourth gear; 3330, first support roller; 3331, first support roller; 3340, first support rod; 3341, first roller; 3350, first mounting block; 3351, first slit; 3352, first mounting hole; 3400, third support frame; 3410, seventh drive motor; 3420, first hydraulic cylinder; 3430, second limiting groove; 3500, fourth support frame; 3510, second roller; 3520, first traction belt; 3530, first directional wheel; 3600, intelligent forklift frame; 3610, second support plate; 3620, weighing sensor; 3630, tension sensor; 3640, first support plate; 3641, sixth slide rail; 3650, sixth slider; 3660, first mounting plate; 3661, first guide block; 3662, first spring rod; 3663, first guide rod; 3670, first return plate; 3671, first return roller; 3680, second mounting plate; 3681, first V-shaped notch; 3690, eighth drive motor; 3700, fifth support frame; 3710, second fork teeth; 3720, second internal gear; 4000, truck; 4100, goods. Detailed implementation manners

[0034] The present utility model discloses an automatic loader and an out - warehouse method thereof. The following further describes the detailed implementation manners of the present utility model in combination with preferred embodiments.

[0035] Referring to the Figure 1-20 , Figure 1 is a structural schematic diagram of a perspective of a preferred embodiment provided by the present utility model, Figure 2 is a structural schematic diagram of another perspective of a preferred embodiment provided by the present utility model, Figure 3 is a structural schematic diagram of a perspective of a loading device 1000 of a preferred embodiment provided by the present utility model, Figure 4 is a structural schematic diagram of another perspective of a loading device 1000 of a preferred embodiment provided by the present utility model, Figure 5 is a structural schematic diagram of a partial A of a preferred embodiment provided by the present utility model, Figure 6 is a structural schematic diagram of a perspective of a transfer device 2000 of a preferred embodiment provided by the present utility model, Figure 7 is a structural schematic diagram of a perspective of a transfer trolley 2100 of a preferred embodiment provided by the present utility model, Figure 8 is a structural schematic diagram of another perspective of a transfer trolley 2100 of a preferred embodiment provided by the present utility model, Figure 9 is a structural schematic diagram of a trolley track of a preferred embodiment provided by the present utility model, Figure 10 is a structural schematic diagram of a placement device 3000 of a preferred embodiment provided by the present utility model, Figure 11 is a structural schematic diagram of a partial C of a preferred embodiment provided by the present utility model, Figure 12 is a structural schematic diagram of a perspective of a truss mobile rack 3100 of a preferred embodiment provided by the present utility model, Figure 13 is a structural schematic diagram of another perspective of a truss mobile rack 3100 of a preferred embodiment provided by the present utility model, Figure 14 is a structural schematic diagram of a support driving mechanism of a preferred embodiment provided by the present utility model, Figure 15 is a structural schematic diagram of a first bracket 3310 of a preferred embodiment provided by the present utility model, Figure 16 is a structural schematic diagram of a partial D of a preferred embodiment provided by the present utility model, Figure 17 is a structural schematic diagram of a truss intelligent forklift of a preferred embodiment provided by the present utility model, Figure 18 is a structural schematic diagram of a weighing mechanism of a preferred embodiment provided by the present utility model, Figure 19 is a structural schematic diagram of a collision - proof mechanism of a preferred embodiment provided by the present utility model, Figure 20 is a structural schematic diagram of a second scanning mechanism of a preferred embodiment provided by the present utility model.

[0036] Preferred embodiment

[0037] This embodiment provides a method for the automatic loader to leave the warehouse, including the following steps:

[0038] Step S1: The truck 4000 is parked at the exit of the three-dimensional warehouse outbound system. The placement device 3000 moves through the first scanning mechanism and the second scanning mechanism to identify the license plate information, docking position, docking angle, and placement height of the truck 4000. The control system of the automatic loader docks with the three-dimensional warehouse outbound system to analyze and confirm the placement quantity of the goods 4100 and the accurate placement position of each piece of goods 4100;

[0039] Step S2: The three-dimensional warehouse outbound system discharges the goods 4100 one by one to its exit. The three-dimensional warehouse outbound system scans the barcode information of each piece of goods 4100 and transmits it to the control system of the automatic loader. The loading device 1000 grips the corresponding goods 4100 and places the goods 4100 on the upper end of the load platform 2110. The transfer device 2000 transports the goods 4100 to the position of the trolley track 2300 corresponding to its accurate placement position;

[0040] Step S3: After the transfer trolley 2100 stops stably, the placement device 3000 grips the corresponding goods 4100 and places the goods 4100 at the specific position of the truck 4000 corresponding to its accurate placement position. Repeat Step S3 until all the goods 4100 analyzed and confirmed for the corresponding truck 4000 are completely loaded.

[0041] This embodiment also provides an automatic loader, including:

[0042] A loading device 1000, the loading device 1000 includes a first gantry 1100 and a first clamping device. The first gantry 1100 is arranged at the exit of the three-dimensional warehouse outbound system, and the first clamping device is arranged at the lower end of the first gantry 1100;

[0043] A placement device 3000, the placement device 3000 includes a first truss device and a truss intelligent forklift. The first truss device is arranged at the rear end of the first gantry 1100. The first truss device includes a truss moving frame 3100 and a moving frame track. The truss moving frame 3100 is arranged at the upper end of the moving frame track, and the truss intelligent forklift is arranged at the upper end of the truss moving frame 3100;

[0044] Transfer device 2000, the transfer device 2000 includes a transfer trolley 2100 and a trolley track 2300. The trolley track 2300 extends from the factory gate and is arranged outside the factory area. The trolley track 2300 is arranged below the truss moving frame 3100. The transfer trolley 2100 is arranged at the upper end of the trolley track 2300, and the transfer trolley 2100 is matched with the trolley track 2300.

[0045] Further, the first clamping device includes a first X-axis moving mechanism, a first Y-axis moving mechanism, a first Z-axis moving mechanism, a first R-axis moving mechanism and a first fork tooth 1610. The first X-axis moving mechanism includes a first slide rail 1110, a first support frame 1200, a first rack 1120 and a first driving motor 1210. The first slide rail 1110 is arranged at the upper end of the first gantry 1100. A first slider is arranged at the lower end of the first support frame 1200, and the first slider is matched with the first slide rail 1110. The first rack 1120 is arranged at the upper end of the first gantry 1100. The first driving motor 1210 is arranged at the upper end of the first support frame 1200. A first gear is arranged at the lower end of the first driving motor 1210, and the first gear is matched with the first rack 1120;

[0046] The first Y-axis moving mechanism includes a second slide rail 1220, a second support frame 1300, a second rack 1230 and a second driving motor 1310. The second slide rail 1220 is arranged at the upper end of the first support frame 1200. A second slider is arranged at the lower end of the second support frame 1300, and the second slider is matched with the second slide rail 1220. The second rack 1230 is arranged at the upper end of the first support frame 1200. The second driving motor 1310 is arranged at the upper end of the second support frame 1300. A second gear is arranged at the lower end of the second driving motor 1310, and the second gear is matched with the second rack 1230;

[0047] The first Z-axis moving mechanism includes a first support frame 1400, a second support frame 1500, a third slide rail 1510, a first screw rod 1420, and a third driving motor 1410. The first support frame 1400 is fixedly arranged at the upper end of the second support frame 1300. The second support frame 1500 is arranged inside the first support frame 1400. The third slide rail 1510 is arranged outside the second support frame 1500. A third slider is arranged inside the first support frame 1400, and the third slider is matched with the third slide rail 1510. The third driving motor 1410 is arranged at the upper end of the first support frame 1400. The first screw rod 1420 is connected to the lower end of the third driving motor 1410. A first threaded block is arranged at the upper end of the second support frame 1500, and the first screw rod 1420 is matched with the first threaded block;

[0048] The first R-axis moving structure includes a third support frame 1600 and a fourth driving motor 1520. The third support frame 1600 is arranged at the lower end of the second support frame 1500 through a bearing. The fourth driving motor 1520 is arranged at the lower end of the second support frame 1500. A third gear is arranged at the lower end of the fourth driving motor 1520. A first internal gear is arranged at the upper end of the third support frame 1600, and the third gear is matched with the first internal gear. A first fork tooth 1610 is arranged at the lower end of the third support frame 1600.

[0049] Further, the truss moving frame 3100 includes a first cross frame 3110. Both ends of the first cross frame 3110 are provided with first vertical frames 3120. Support driving mechanisms are hinged at both ends of the first vertical frames 3120. The support driving mechanisms include first support blocks 3300, third racks, and fifth driving motors 3320. A first bracket 3310 is arranged at the upper end of the first support block 3300. The first bracket 3310 is hinged to the lower end of the first vertical frame 3120. The fifth driving motor 3320 is arranged on the first support block 3300. A fourth gear 3321 is arranged at the lower end of the fifth driving motor 3320. The third rack is arranged in the moving frame track, and the third rack is matched with the fourth gear 3321;

[0050] A first partition frame is arranged in the middle of the moving frame track. First support rollers 3331 are arranged at both ends of the first support block 3300. Both ends of the first support rollers 3331 are connected to the first support block 3300 through bearings. First support wheels 3330 are arranged in the middle of the first support rollers 3331, and the first support wheels 3330 are matched with the first partition frame;

[0051] Both ends of the moving frame track are provided with first limiting grooves. Both ends of the first support block 3300 are provided with first mounting blocks 3350. The first mounting blocks 3350 are provided with first mounting holes 3352. A first support rod 3340 is arranged in the first mounting holes 3352. The lower end of the first support rod 3340 is connected with a first roller 3341 through a bearing. The first roller 3341 is matched with the first limiting groove. One side of the first mounting hole 3352 is provided with a first slit 3351. Both ends of the first mounting block 3350 are provided with first mounting holes 3352. The first mounting holes 3352 are matched with the first slit 3351;

[0052] Both ends of the first cross frame 3110 are provided with first scanning mechanisms. The first scanning mechanism includes a first scanning frame, a sixth driving motor and a first laser scanner. A fourth slide rail 3113 is arranged at the lower end of the first cross frame 3110. The upper end of the first scanning frame is provided with a fourth slider. The fourth slider is matched with the fourth slide rail 3113. The sixth driving motor is arranged at the lower end of the first scanning frame. The upper end of the sixth driving motor is provided with a fifth gear. A fourth rack 3114 is arranged at the lower end of the first cross frame 3110. The fifth gear is matched with the fourth rack 3114.

[0053] Further, the truss intelligent forklift includes a second Y-axis moving mechanism, a second Z-axis moving mechanism, a second R-axis moving mechanism and a second fork 3710. The second Y-axis moving mechanism is arranged at the upper end of the first cross frame 3110. The second Z-axis moving mechanism is arranged at the rear end of the second Y-axis moving mechanism. The second R-axis moving mechanism is arranged at the lower end of the second Y-axis. The second fork 3710 is arranged at the lower end of the second R-axis moving mechanism. The second Y-axis moving mechanism includes a third support frame 3400, a seventh driving motor 3410 and a fifth rack 3112. A fifth slide rail 3111 is arranged on the first cross frame 3110. The third support frame 3400 is provided with a fifth slider. The fifth slider is matched with the fifth slide rail 3111. The seventh driving motor 3410 is arranged at the upper end of the third support frame 3400. The lower end of the seventh driving motor 3410 is provided with a sixth gear. The fifth rack 3112 is arranged at the upper end of the first cross frame 3110. The sixth gear is matched with the fifth rack 3112;

[0054] The second Z-axis moving mechanism includes a first traction belt 3520, a fourth support frame 3500, a first hydraulic cylinder 3420 (the first hydraulic cylinder 3420 can also be set as an electric cylinder), and an intelligent forklift frame 3600. Both ends of the third support frame 3400 are provided with second limiting grooves 3430. Both ends of the fourth support frame 3500 are provided with second rollers 3510. The second rollers 3510 are matched with the second limiting grooves 3430. One end of the first hydraulic cylinder 3420 is connected to the third support frame 3400, and the other end of the first hydraulic cylinder 3420 is connected to the fourth support frame 3500. Both ends of the fourth support frame 3500 are provided with third limiting grooves. Both ends of the intelligent forklift frame 3600 are provided with third rollers. The third rollers are matched with the third limiting grooves. The upper end of the fourth support frame 3500 is provided with a first guiding wheel 3530. The first traction belt 3520 is matched with the first guiding wheel 3530. One end of the first traction belt 3520 is connected to the third support frame 3400, and the other end of the first traction belt 3520 is connected to the intelligent forklift frame 3600;

[0055] The lower end of the intelligent forklift frame 3600 is provided with an anti-collision mechanism. The anti-collision mechanism includes a first spring rod 3662, a first support plate 3640, a first return plate 3670, a first mounting plate 3660, and a second mounting plate 3680. The lower end of the intelligent forklift frame 3600 is provided with a sixth slider 3650. The upper end of the first support plate 3640 is provided with a sixth slide rail 3641. The sixth slider 3650 is matched with the sixth slide rail 3641. The first mounting plate 3660 is arranged at the lower end of the intelligent forklift frame 3600. Both ends of the first mounting plate 3660 are provided with first guiding blocks 3661. A first guiding rod 3663 is arranged in the first guiding blocks 3661. Both ends of the first return plate 3670 are hinged to the lower ends of the first guiding rods 3663. The lower end of the first return plate 3670 is provided with a first return roller 3671. The second mounting plate 3680 is arranged at the upper end of the first support plate 3640. The upper end of the second mounting plate 3680 is provided with a first V-shaped opening 3681. The first V-shaped opening 3681 is matched with the first return roller 3671. One end of the first spring rod 3662 is hinged to the first mounting plate 3660, and the other end of the first spring rod 3662 is hinged to the intelligent forklift frame 3600;

[0056] The second R-axis moving mechanism includes an eighth driving motor 3690 and a fifth support frame 3700. The fifth support frame 3700 is arranged at the lower end of the first support plate 3640 through a bearing. The eighth driving motor 3690 is arranged at the upper end of the first support plate 3640. A seventh gear is arranged at the lower end of the eighth driving motor 3690. A second internal gear 3720 is arranged at the upper end of the fifth support frame 3700. The seventh gear is matched with the second internal gear 3720. A first relief opening is arranged at the lower end of the intelligent forklift frame 3600. The first relief opening is matched with the eighth driving motor 3690. The second fork 3710 is arranged on the fifth support frame 3700;

[0057] A weighing mechanism is arranged at the upper end of the intelligent forklift frame 3600. The weighing mechanism includes a second support plate 3610 and a plurality of weighing sensors 3620. The second support plate 3610 is arranged above the intelligent forklift frame 3600. One end of the weighing sensor 3620 is connected to the second support plate 3610. The other end of the weighing sensor 3620 is connected to the intelligent forklift frame 3600; The weighing mechanism further includes a tension sensor 3630. One end of the tension sensor 3630 is connected to the second support plate 3610. The other end of the tension sensor 3630 is connected to the intelligent forklift frame 3600;

[0058] A second scanning mechanism is arranged at the lower end of the fifth support frame 3700. The second scanning mechanism includes a first mounting rod and a second laser scanner. The first mounting rod is arranged at the lower end of the second support plate 3610. The second laser scanner is arranged at the lower end of the first mounting rod. A second relief opening is arranged at the upper end of the fifth support frame 3700. The second relief opening is matched with the first mounting rod.

[0059] Further, a first driving rod 2120 and a first driven rod 2130 are arranged at the lower end of the transfer trolley. Both ends of the first driving rod 2120 and the first driven rod 2130 are arranged at the lower end of the transfer trolley through bearings. The first driving rod 2120 is arranged at the front end of the transfer trolley. Second support rollers 2121 are arranged at both ends of the first driving rod 2120. Third support rollers 2131 are arranged at both ends of the first driven rod 2130. Both the second support rollers 2121 and the third support rollers 2131 are matched with the trolley track 2300. A first speed reducer 2140 is arranged at the lower end of the transfer trolley. The first speed reducer 2140 is arranged at the lower end of the transfer trolley. The first speed reducer 2140 is connected to the first driving rod 2120;

[0060] On the outer side of the second support roller 2121, there is a first positioning disk 2150. On the outer side of the first positioning disk 2150, first teeth 2151 are evenly arranged. On the outer side of the trolley track 2300, a number of first positioning posts 2310 are evenly arranged. On the first positioning post 2310, there is a first threaded hole 2311. In the first threaded hole 2311, there is a first bolt 2320, and the first bolt 2320 is matched with the first teeth 2151;

[0061] On the upper end of the transfer trolley, there is a load platform 2110. On the upper end of the load platform 2110, a first emission sensor 2112 and a first reception sensor 2111 are symmetrically arranged. The first emission sensor 2112 and the first reception sensor 2111 are oppositely arranged at the left and right ends of the load platform 2110. At the front and rear ends of the load platform 2110, there are first stoppers 2113;

[0062] At the front end of the transfer trolley, there is a first charging box 2200. In the first charging box 2200, there is a first electric cylinder 2210 and a first charging post 2220. The first charging post 2220 is arranged on the first electric cylinder 2210. At the rear end of the first charging box 2200, there is a third relief opening, and the third relief opening is matched with the first charging post 2220. At the rear end of the first charging post 2220, there is a first connector. At the front end of the transfer trolley, there is a second connector 2160, and the first connector is matched with the second connector 2160;

[0063] At the front end of the transfer trolley, there is a first anti-collision strip 2171. At the rear end of the transfer trolley, there is a second anti-collision strip 2172.

[0064] Furthermore, at the lower end of the first fork tooth 1610, there is a first installation groove 1611. In the first installation groove 1611, there is a first distance measuring sensor 1612, and the first distance measuring sensor 1612 is arranged at the front end of the first fork tooth 1610.

[0065] Working principle: First, reverse the truck 4000 between the moving frame tracks. After the truck 4000 is stopped steadily, the fifth driving motor 3320 drives the fourth gear 3321 to rotate. Through cooperation with the third rack, it drives the first support block 3300 to move. The first support roller 3330 supports on the upper end of the first partition frame, playing the roles of support and movement. At the same time, the first roller 3341 moves in the first limit groove, playing the roles of support and movement, and can limit the movement of the first support block 3300 to ensure the stable movement of the first support block 3300. Among them, the first bracket 3310 is hinged to the first vertical frame 3120. When there are sundries such as gravel in the moving frame tracks, it will not cause the first vertical frame 3120 to tilt, that is, it can ensure the smooth movement of the first cross frame 3110. Therefore, driven by the fifth driving motor 3320, the truss moving frame 3100 is driven to move along the moving frame tracks. The first laser scanner in the first scanning mechanism and the second laser scanner in the second scanning mechanism follow the truss moving frame 3100 and can scan the angle, position and height of the truck 4000, so as to calculate the quantity of the goods 4100 placed and the specific placement positions of each goods 4100.

[0066] Then, the automated storage and retrieval system in the factory area can send out the goods 4100 one by one. The first X-axis moving mechanism, the first Y-axis moving mechanism, the first Z-axis moving mechanism and the first R-axis moving mechanism drive the first fork 1610 to move under the pallet of the goods 4100. Among them, the first distance measuring sensor 1612 can detect the position and angle of the goods 4100 before inserting under the goods 4100, so as to ensure that the first fork 1610 can fork out the goods 4100 and ensure that the position and angle of each goods 4100 on the first fork 1610 are the same (due to the original design of the automated storage and retrieval system for manual unloading by forklift, during the conveying process, there will be small vibrations, resulting in certain deviations in the position and angle of each goods 4100, and it is impossible to ensure precise positioning). Then, the first X-axis moving mechanism, the first Y-axis moving mechanism, the first Z-axis moving mechanism and the first R-axis moving mechanism drive the first fork 1610, and then move the goods 4100 to the upper end of the loading platform 2110. Then, in cooperation with the first emission sensor 2112 and the first receiving sensor 2111, it can ensure that the goods 4100 are accurately placed on the upper end of the loading platform 2110 and ensure that the goods 4100 are placed neatly each time.

[0067] Finally, according to the position where each cargo 4100 should be placed, the first speed reducer 2140 drives the first drive rod 2120 to rotate, then the second support roller 2121 moves along the trolley track 2300, and the third support roller 2131 also moves along the trolley track 2300, cooperating with the second support roller 2121 to support the transfer trolley. At the same time, the first positioning disk 2150 also rotates following the second support roller 2121. The first positioning disk 2150 is matched with the first bolt 2320, which can play a role in positioning and limiting during the movement of the transfer trolley, avoiding the problem of the transfer trolley sliding, and ensuring that the displacement distance of the transfer trolley can be controlled more precisely. Then, through the second Y-axis movement mechanism, second Z-axis movement mechanism and second R-axis movement mechanism, the second fork 3710 is driven to move to the position of the transfer trolley. The second fork 3710 forks up the cargo 4100 from the load platform 2110, and then the second Y-axis movement mechanism, second Z-axis movement mechanism and second R-axis movement mechanism drive the second fork 3710 to place the cargo 4100 at the corresponding position; then repeat the operation until all the cargo 4100 is completely placed.

[0068] Among them, the seventh drive motor 3410 drives the sixth gear to rotate. Through cooperation with the fifth rack 3112, it drives the third support frame 3400 to move left and right; the first hydraulic cylinder 3420 pushes the fourth support frame 3500, enabling the fourth support frame 3500 to move up and down. And through the traction of the first traction belt 3520, the intelligent forklift frame 3600 moves along. Since the first directional wheel 3530 is arranged at the upper end of the fourth support frame 3500 and moves with the fourth support frame 3500, the moving distance of the fifth support frame 3700 is twice the pushing distance of the first hydraulic cylinder 3420. That is, by reducing the traveling distance of the first hydraulic cylinder 3420, the size of the truss intelligent forklift can be effectively reduced. Then, the eighth drive motor 3690 drives the seventh gear to rotate. Through the cooperation of the seventh gear and the second internal gear 3720, it drives the fifth support frame 3700 to rotate, that is, drives the second fork 3710 to rotate. In addition, the second support plate 3610 and the intelligent forklift frame 3600 are fixedly connected through the weighing sensor 3620. After the second fork 3710 inserts the goods 4100, the weight of the goods 4100 can be weighed, and it can be judged whether it meets the standard. Only the qualified goods 4100 can be placed on the truck 4000. When an error occurs in the goods 4100 and the weight exceeds the standard, reaching the warning value of the tension sensor 3630, an alarm will be given. And when placing the goods 4100, if the second fork 3710 collides with the truck 4000 or other objects, the second support plate 3610 supports the second fork 3710 to move along the sixth slide rail 3641, playing a buffering role to avoid direct hard contact resulting in hard damage, such as the occurrence of situations where the goods 4100 are dumped. At this time, the second mounting plate 3680 and the first return roller 3671 have a relative position change. The first return roller 3671 leaves the central low position of the first V-shaped opening 3681, then the first return plate 3670 moves upward, and the first spring rod 3662 is compressed; when the second fork 3710 leaves the collision position, the elastic force of the first spring rod 3662 pushes the first return plate 3670 to move downward, pushing the first return roller 3671 to the central low position of the first V-shaped opening 3681, ensuring that the second support plate 3610 moves back to its original position, that is, the automatic reset is completed.

[0069] Moreover, when the truck 4000 enters below the automatic loader, its license plate is photographed and recorded. And when the goods 4100 are taken out of the three-dimensional warehouse storage system, the bar code information of each goods 4100 is recorded. That is, the goods 4100 loaded on each truck 4000 can be recorded, and each goods 4100 can be traced back to the truck 4000.

[0070] It is worth mentioning that the technical features such as sensors involved in the patent application of the present utility model should be regarded as the prior art. For the specific structures, working principles, and possible control methods and spatial arrangement methods of these technical features, conventional selections in the art can be adopted, and they should not be regarded as the innovative points of the patent of the present utility model. The present utility model patent will not be further specifically elaborated.

[0071] For those skilled in the art, it is still possible to modify the technical solutions described in the foregoing embodiments or perform equivalent replacements on some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. A truss moving frame of an automatic loader, characterized in that, The truss moving frame (3100) is arranged at the upper end of the moving frame track. The truss moving frame (3100) includes a first cross frame (3110). Both ends of the first cross frame (3110) are provided with first vertical frames (3120). Support driving mechanisms are hinged at both ends of the first vertical frames (3120). The support driving mechanisms include first support blocks (3300), third racks, and fifth driving motors (3320). A first bracket (3310) is arranged at the upper end of the first support block (3300). The first bracket (3310) is hinged to the lower end of the first vertical frame (3120). The fifth driving motor (3320) is arranged on the first support block (3300). A fourth gear (3321) is arranged at the lower end of the fifth driving motor (3320). The third rack is arranged in the moving frame track. The third rack is matched with the fourth gear (3321).

2. The truss moving frame of the automatic loader according to claim 1, characterized in that, A first partition frame is arranged in the middle of the moving frame track. First support rollers (3331) are arranged at both ends of the first support block (3300). Both ends of the first support rollers (3331) are connected to the first support block (3300) through bearings. A first support roller wheel (3330) is arranged in the middle of the first support rollers (3331). The first support roller wheel (3330) is matched with the first partition frame.

3. The truss moving frame of the automatic loader according to claim 1, characterized in that, First limit grooves are arranged at both ends of the moving frame track. First mounting blocks (3350) are arranged at both ends of the first support block (3300). First mounting holes (3352) are arranged on the first mounting blocks (3350). A first support rod (3340) is arranged in the first mounting holes (3352). A first roller (3341) is connected to the lower end of the first support rod (3340) through a bearing. The first roller (3341) is matched with the first limit groove.

4. The truss moving frame of the automatic loader according to claim 3, characterized in that A first slit (3351) is arranged on one side of the first mounting hole (3352). First mounting holes (3352) are arranged at both ends of the first mounting block (3350). The first mounting holes (3352) are matched with the first slit (3351).

5. The truss moving frame of the automatic loader according to claim 1, characterized in that, First scanning mechanisms are arranged at both ends of the first cross frame (3110). The first scanning mechanisms include first scanning frames, sixth driving motors, and first laser scanners. A fourth slide rail (3113) is arranged at the lower end of the first cross frame (3110). Fourth sliders are arranged at the upper ends of the first scanning frames. The fourth sliders are matched with the fourth slide rail (3113). The sixth driving motors are arranged at the lower ends of the first scanning frames. Fifth gears are arranged at the upper ends of the sixth driving motors. A fourth rack (3114) is arranged at the lower end of the first cross frame (3110). The fifth gears are matched with the fourth rack (3114).

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