Intelligent truss forklift

Abstract

The truss intelligent forklift is characterized in that a second Y-axis moving mechanism is arranged at the upper end of a first transverse frame, a second Z-axis moving mechanism is arranged at the rear end of the second Y-axis moving mechanism, a second R-axis moving mechanism is arranged at the lower end of a second Y-axis, and a second fork tooth is arranged at the lower end of the second R-axis moving mechanism; the second Y-axis moving mechanism comprises a third supporting frame, a seventh driving motor and a fifth rack, a fifth sliding rail is arranged on the first transverse frame, a fifth sliding block is arranged on the third supporting frame, the fifth sliding block is matched with the fifth sliding rail, the seventh driving motor is arranged at the upper end of the third supporting frame, a sixth gear is arranged at the lower end of the seventh driving motor, and the sixth gear is matched with the fifth sliding rail. The fifth rack is arranged at the upper end of the first transverse frame, and the sixth gear is matched with the fifth rack. According to the truss intelligent forklift, goods can be clamped from the transfer trolley and accurately placed on a truck, and an anti-collision mechanism is arranged on the truss intelligent forklift, so that the truss intelligent forklift is safer.

Description

Technical Field

[0001] The utility model belongs to the technical field of loaders, and particularly relates to a truss intelligent forklift truck. Background Art

[0002] Driven by both technology and economy, the logistics industry is rapidly transforming from traditional logistics to modern logistics. In 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 "CN111846728B", a method and device for warehousing and retrieving goods in a stereoscopic warehouse and the stereoscopic warehouse are disclosed. Among them, the stereoscopic warehouse includes a stacker and a storage unit. The storage unit includes four rows of shelves arranged along a first direction, and 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 where the warehousing and retrieving tasks are to be performed. The two rows of shelves close to the lane have a plurality of first storage positions, and the two rows of shelves far from the lane have a plurality of second storage positions. The storage position allocation method includes: determining the earliest storage time of all storage positions that meet the outbound conditions in the storage unit; determining all storage positions that meet the outbound conditions within the range from the earliest storage time to the earliest storage time plus a preset time period as the set of storage positions that meet the earliest storage time period; preferentially performing outbound tasks on each storage position in the set of storage positions according to the preset outbound priority order. Although the stereoscopic warehouse outbound system is a relatively mature technology and is widely used, it is generally set in a factory building, and a door is set at the exit of the stereoscopic 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 pick up the goods at the factory building door first 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 there is interference between the storage of goods and the subsequent placement of the forklift, which is not conducive to the movement of the forklift and has low efficiency.

[0004] In the patent application for 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, the relative position between the loading mechanism and the vehicle is adjusted to complete the loading of the entire vehicle. However, it can only move the goods from one end of the truss to the other end through the truss moving platform, and 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, the forklift is used to place the goods placed outside the factory door on the truck. It still requires a large amount of space, which is not conducive to the safe storage and placement of the goods.

[0005] Among them, it is necessary to design a truss intelligent forklift to stably clamp the goods and accurately place them on the truck to avoid accidents such as hard collisions and falling of the goods to ensure the safe placement of the goods. Summary of the Invention

[0006] To solve the deficiencies of the existing technology, the present utility model provides a truss intelligent forklift.

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

[0008] A truss intelligent forklift, which is arranged at the upper end of the truss moving frame. 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 forklift tine. The second Y-axis moving mechanism is arranged at the upper end of the first cross frame. 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 moving mechanism. The second forklift tine is arranged at the lower end of the second R-axis moving mechanism. The second Y-axis moving mechanism includes a third support frame, a seventh driving motor and a fifth rack. A fifth slide rail is arranged on the first cross frame. A fifth slide block is arranged on the third support frame. The fifth slide block is matched with the fifth slide rail. The seventh driving motor is arranged at the upper end of the third support frame. A sixth gear is arranged at the lower end of the seventh driving motor. The fifth rack is arranged at the upper end of the first cross frame. The sixth gear is matched with the fifth rack.

[0009] Further, the second Z-axis moving mechanism includes a first traction belt, a fourth support frame, a first hydraulic cylinder and an intelligent forklift frame. Second limiting grooves are arranged at both ends of the third support frame. Second rollers are arranged at both ends of the fourth support frame. The second rollers are matched with the second limiting grooves. One end of the first hydraulic cylinder is connected to the third support frame, and the other end of the first hydraulic cylinder is connected to the fourth support frame. Third limiting grooves are arranged at both ends of the fourth support frame. Third rollers are arranged at both ends of the intelligent forklift frame. The third rollers are matched with the third limiting grooves. A first directional wheel is arranged at the upper end of the fourth support frame. The first traction belt is matched with the first directional wheel. One end of the first traction belt is connected to the third support frame, and the other end of the first traction belt is connected to the intelligent forklift frame.

[0010] Further, an anti-collision mechanism is arranged at the lower end of the intelligent forklift frame. The anti-collision mechanism includes a first spring rod, a first support plate, a first return plate, a first mounting plate and a second mounting plate. A sixth slide block is arranged at the lower end of the intelligent forklift frame. A sixth slide rail is arranged at the upper end of the first support plate. The sixth slide block is matched with the sixth slide rail. The first mounting plate is arranged at the lower end of the intelligent forklift frame. First guide blocks are arranged at both ends of the first mounting plate. First guide rods are arranged in the first guide blocks. Both ends of the first return plate are hinged to the lower ends of the first guide rods. A first return roller is arranged at the lower end of the first return plate. The second mounting plate is arranged at the upper end of the first support plate. A first V-shaped opening is arranged at the upper end of the second mounting plate. The first V-shaped opening is matched with the first return roller. One end of the first spring rod is hinged to the first mounting plate, and the other end of the first spring rod is hinged to the intelligent forklift frame.

[0011] Further, the second R-axis moving mechanism includes an eighth drive motor and a fifth support frame, the fifth support frame is arranged at the lower end of the first support plate through a bearing, the eighth drive motor is arranged at the upper end of the first support plate, the lower end of the eighth drive motor is provided with a seventh gear, the upper end of the fifth support frame is provided with a second internal gear, the seventh gear matches the second internal gear, the lower end of the intelligent forklift frame is provided with a first give way, the first give way matches the eighth drive motor, and the second fork tooth is arranged on the fifth support frame.

[0012] Furthermore, a weighing mechanism is provided at the upper end of the intelligent forklift frame, and the weighing mechanism includes a second support plate and a plurality of weighing sensors, the second support plate is arranged above the intelligent forklift frame, one end of the weighing sensor is connected to the second support plate, and the other end of the weighing sensor is connected to the intelligent forklift frame.

[0013] Furthermore, a second scanning mechanism is provided at the lower end of the fifth support frame, and 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, and the second laser scanner is arranged at the lower end of the first mounting rod, and a second yielding opening is provided at the upper end of the fifth support frame, and the second yielding opening matches the first mounting rod.

[0014] The utility model discloses a truss intelligent forklift, which has the beneficial effect compared with the prior art in that it can clamp the goods from the transfer trolley and place them accurately on the truck, and the truss intelligent forklift is provided with an anti-collision mechanism, which can avoid hard collision when the second fork teeth contact with other objects, can play a buffering role and can return to its position, can avoid the direct falling of the goods, etc., and is safer. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a structural schematic diagram of a preferred embodiment provided by the utility model from one viewing angle.

[0016] Figure 2 It is a structural schematic diagram of another viewing angle of a preferred embodiment provided by the utility model.

[0017] Figure 3 It is a structural schematic diagram from one perspective of a feeding device of a preferred embodiment provided by the utility model.

[0018] Figure 4 It is a structural schematic diagram of a feeding device of a preferred embodiment provided by the utility model from another perspective.

[0019] Figure 5 It is a structural schematic diagram of a part A of a preferred embodiment provided by the utility model.

[0020] Figure 6 It is a schematic structural diagram of a perspective of a transfer device according to a preferred embodiment provided by the present utility model.

[0021] Figure 7 It is a schematic structural diagram of a perspective of a transfer trolley according to a preferred embodiment provided by the present utility model.

[0022] Figure 8 It is a schematic structural diagram of another perspective of a transfer trolley according to a preferred embodiment provided by the present utility model.

[0023] Figure 9 It is a schematic structural diagram of part B according to a preferred embodiment provided by the present utility model.

[0024] Figure 10 It is a schematic structural diagram of a placement device according to a preferred embodiment provided by the present utility model.

[0025] Figure 11 It is a schematic structural diagram of part C according to a preferred embodiment provided by the present utility model.

[0026] Figure 12 It is a schematic structural diagram of a perspective of a truss mobile rack according to a preferred embodiment provided by the present utility model.

[0027] Figure 13 It is a schematic structural diagram of another perspective of a truss mobile rack according to a preferred embodiment provided by the present utility model.

[0028] Figure 14 It is a schematic structural diagram of a support driving mechanism according to a preferred embodiment provided by the present utility model.

[0029] Figure 15 It is a schematic structural diagram of a first bracket according to a preferred embodiment provided by the present utility model.

[0030] Figure 16 It is a schematic structural diagram of part D according to a preferred embodiment provided by the present utility model.

[0031] Figure 17 It is a schematic structural diagram of a truss intelligent forklift according to a preferred embodiment provided by the present utility model.

[0032] Figure 18 It is a schematic structural diagram of a weighing mechanism according to a preferred embodiment provided by the present utility model.

[0033] Figure 19 It is a schematic structural diagram of a collision prevention mechanism according to a preferred embodiment provided by the present utility model.

[0034] Figure 20 It is a schematic structural diagram of a second scanning mechanism according to a preferred embodiment provided by the present utility model.

[0035] The reference numerals include: 1000, a loading device; 1100, a first gantry; 1110, a first slide rail; 1120, a first rack; 1200, a first support frame; 1210, a first driving motor; 1220, a second slide rail; 1230, a second rack; 1300, a second support frame; 1310, a second driving motor; 1400, a first support frame; 1410, a third driving motor; 1420, a first screw rod; 1500, a second support frame; 1510, a third slide rail; 1520, a fourth driving motor; 1600, a third support frame; 1610, a first fork tooth; 1611, a first mounting groove; 1612, a first distance measuring sensor; 2000, a transfer device; 2100, a transfer trolley; 2110, a load platform; 2111, a first receiving sensor; 2112, a first transmitting sensor; 2113, a first stop block; 2120, a first driving rod; 2121, a second support roller; 2130, a first driven rod; 2131, a third support roller; 2140, a first speed reducer; 2150, a first positioning disk; 2151, a first tooth; 2160, a second connecting head; 2171, a first anti-collision strip; 2172, a second anti-collision strip; 2200, a first charging box; 2210, a first electric cylinder; 2220, a first charging column; 2300, a trolley track; 2310, a first positioning column; 2311, a first threaded hole; 2320, a first bolt; 3000, a placing device; 3100, a truss moving frame; 3110, a first cross frame; 3111, a fifth slide rail; 3112, a fifth rack; 3113, a fourth slide rail; 3114, a fourth rack; 3120, a first vertical frame; 3300, a first support block; 3310, a first bracket; 3320, a fifth driving motor; 3321, a fourth gear; 3330, a first support roller; 3331, a first support roller; 3340, a first support rod; 3341, a first roller; 3350, a first mounting block; 3351, a first slit; 3352, a first mounting hole; 3400, a third support frame; 3410, a seventh driving motor; 3420, a first hydraulic cylinder; 3430, a second limiting groove; 3500, a fourth support frame; 3510, a second roller; 3520, a first traction belt; 3530, a first deflecting wheel; 3600, an intelligent forklift frame; 3610, a second support plate; 3620, a weighing sensor; 3630, a tension sensor; 3640, a first support plate; 3641, a sixth slide rail; 3650, a sixth slider; 3660, a first mounting plate; 3661, a first guide block; 3662, a first spring rod; 3663, a first guide rod; 3670, a first return plate; 3671, a first return roller; 3680, a second mounting plate; 3681, a first V-shaped notch; 3690, an eighth driving motor; 3700, a fifth support frame; 3710, a second fork tooth; 3720, a second internal gear; 4000, a truck; 4100, goods. Detailed implementation manners

[0036] The present utility model discloses an automatic loader and its outbound method. The following further describes the detailed implementation manners of the present utility model in conjunction with preferred embodiments.

[0037] Referring to the Figure 1-20 , Figure 1 is a schematic structural diagram of a perspective view of a preferred embodiment provided by the present utility model, Figure 2 is a schematic structural diagram of another perspective view of a preferred embodiment provided by the present utility model, Figure 3 is a schematic structural diagram of a perspective view of a feeding device 1000 of a preferred embodiment provided by the present utility model, Figure 4 is a schematic structural diagram of another perspective view of a feeding device 1000 of a preferred embodiment provided by the present utility model, Figure 5 is a schematic structural diagram of a partial structure A of a preferred embodiment provided by the present utility model, Figure 6 is a schematic structural diagram of a perspective view of a transfer device 2000 of a preferred embodiment provided by the present utility model, Figure 7 is a schematic structural diagram of a perspective view of a transfer trolley 2100 of a preferred embodiment provided by the present utility model, Figure 8 is a schematic structural diagram of another perspective view of a transfer trolley 2100 of a preferred embodiment provided by the present utility model, Figure 9 is a schematic structural diagram of a partial structure B of a preferred embodiment provided by the present utility model, Figure 10 is a schematic structural diagram of a placing device 3000 of a preferred embodiment provided by the present utility model, Figure 11 is a schematic structural diagram of a partial structure C of a preferred embodiment provided by the present utility model, Figure 12 is a schematic structural diagram of a perspective view of a truss mobile rack 3100 of a preferred embodiment provided by the present utility model, Figure 13 is a schematic structural diagram of another perspective view of a truss mobile rack 3100 of a preferred embodiment provided by the present utility model, Figure 14 is a schematic structural diagram of a support driving mechanism of a preferred embodiment provided by the present utility model, Figure 15 is a schematic structural diagram of a first bracket 3310 of a preferred embodiment provided by the present utility model, Figure 16 is a schematic structural diagram of a partial structure D of a preferred embodiment provided by the present utility model, Figure 17 is a schematic structural diagram of a truss intelligent forklift of a preferred embodiment provided by the present utility model, Figure 18 is a schematic structural diagram of a weighing mechanism of a preferred embodiment provided by the present utility model, Figure 19 is a schematic structural diagram of an anti-collision mechanism of a preferred embodiment provided by the present utility model, Figure 20 is a schematic structural diagram of a second scanning mechanism of a preferred embodiment provided by the present utility model.

[0038] Preferred Embodiment

[0039] This embodiment provides a method for the automatic loader to leave the warehouse, including the following steps:

[0040] 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;

[0041] 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 feeding 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;

[0042] 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 fully loaded.

[0043] This embodiment also provides an automatic loader, including:

[0044] A feeding device 1000, the feeding 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;

[0045] 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;

[0046] 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.

[0047] 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;

[0048] 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;

[0049] 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 on the outside of 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;

[0050] 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.

[0051] Further, the truss moving frame 3100 includes a first cross frame 3110. First vertical frames 3120 are arranged at both ends of the first cross frame 3110. Support driving mechanisms are hinged at both ends of the first vertical frames 3120. The support driving mechanism includes a first support block 3300, a third rack, and a fifth driving motor 3320. A first bracket 3310 is arranged at the upper end of the first support block 3300, and 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;

[0052] 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 wheel 3330 is arranged in the middle of the first support rollers 3331, and the first support wheel 3330 is matched with the first partition frame;

[0053] 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;

[0054] 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. A fourth slide block is arranged at the upper end of the first scanning frame. The fourth slide block is matched with the fourth slide rail 3113. The sixth driving motor is arranged at the lower end of the first scanning frame. A fifth gear is arranged at the upper end of the sixth driving motor. 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.

[0055] 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. A fifth slide block is arranged on the third support frame 3400. The fifth slide block 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. A sixth gear is arranged at the lower end of the seventh driving motor 3410. 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;

[0056] 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;

[0057] A collision prevention mechanism is provided at the lower end of the intelligent forklift frame 3600. The collision prevention 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. A sixth slider 3650 is provided at the lower end of the intelligent forklift frame 3600. A sixth slide rail 3641 is provided at the upper end of the first support plate 3640. 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. First guiding blocks 3661 are provided at both ends of the first mounting plate 3660. First guiding rods 3663 are arranged inside 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. A first return roller 3671 is provided at the lower end of the first return plate 3670. The second mounting plate 3680 is arranged at the upper end of the first support plate 3640. A first V-shaped opening 3681 is provided at the upper end of the second mounting plate 3680. 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;

[0058] 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, and the first relief opening is matched with the eighth driving motor 3690. The second forklift tooth 3710 is arranged on the fifth support frame 3700;

[0059] 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, and 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, and the other end of the tension sensor 3630 is connected to the intelligent forklift frame 3600;

[0060] 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, and 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, and the second relief opening is matched with the first mounting rod.

[0061] 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, and the first speed reducer 2140 is connected to the first driving rod 2120;

[0062] On the outer side of the second support roller 2121, there is a first positioning disc 2150. On the outer side of the first positioning disc 2150, first teeth 2151 are evenly arranged. On the outer side of the trolley track 2300, a number of first positioning columns 2310 are evenly arranged. On the first positioning column 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;

[0063] At the upper end of the transfer trolley, there is a load platform 2110. At 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;

[0064] At the front end of the transfer trolley, there is a first charging box 2200. Inside 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, which 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;

[0065] At the front end of the transfer trolley, there is a first anti-collision strip 2171, and at the rear end of the transfer trolley, there is a second anti-collision strip 2172.

[0066] Furthermore, at the lower end of the first fork tooth 1610, there is a first installation groove 1611. Inside 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.

[0067] 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 the 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 a role of support and movement. At the same time, the first roller 3341 moves in the first limit groove, playing a role 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 moves 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 position of each goods 4100.

[0068] 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 teeth 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 teeth 1610 can fork out the goods 4100 and ensure that the position and angle of each goods 4100 on the first fork teeth 1610 are the same (due to the original design of the automated storage and retrieval system for manual unloading by forklift, there will be a small vibration during the transmission process, resulting in a certain deviation in the position and angle of each goods 4100, and it is impossible to ensure accurate positioning). Then, through 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 driving the first fork teeth 1610, the goods 4100 are moved 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.

[0069] Finally, according to the positions where each cargo 4100 should be placed, the first speed reducer 2140 drives the first driving rod 2120 to rotate, then the second supporting roller 2121 moves along the trolley track 2300, and the third supporting roller 2131 also moves along the trolley track 2300 to support the transfer trolley in cooperation with the second supporting roller 2121. Meanwhile, the first positioning disk 2150 also rotates following the second supporting roller 2121. The first positioning disk 2150 matches 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 skidding and ensuring more accurate control of the displacement distance of the transfer trolley. Then, the second Y-axis moving mechanism, the second Z-axis moving mechanism and the second R-axis moving mechanism drive the second fork 3710 to move to the position of the transfer trolley. The second fork 3710 forks up the cargo 4100 from the loading platform 2110, and then the second Y-axis moving mechanism, the second Z-axis moving mechanism and the second R-axis moving mechanism drive the second fork 3710 to place the cargo 4100 at the corresponding position; and then repeat the operation until all the cargo 4100 is completely placed.

[0070] Among them, the seventh driving 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 follows and moves together. 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 driving 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 forklift tooth 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 forklift tooth 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 and reaches the warning value of the tension sensor 3630, an alarm prompt is given. And when placing the goods 4100, if the second forklift tooth 3710 collides with the truck 4000 or other objects, the second support plate 3610 supports the second forklift tooth 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 squeezed; when the second forklift tooth 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.

[0071] 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.

[0072] 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 possibly involved 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.

[0073] For those skilled in the art, it is still possible to modify the technical solutions described in the foregoing embodiments or make equivalent replacements for 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 in the protection scope of the present utility model.

Claims

1. An intelligent truss forklift, characterized in that, The truss intelligent forklift is arranged at the upper end of the truss moving frame (3100). 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). A fifth slider is arranged on the third support frame (3400). 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). A sixth gear is arranged at the lower end of the seventh driving motor (3410). 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).

2. The intelligent truss forklift according to claim 1, wherein The second Z-axis moving mechanism includes a first traction belt (3520), a fourth support frame (3500), a first hydraulic cylinder (3420), and an intelligent forklift frame (3600). Second limit slots (3430) are arranged at both ends of the third support frame (3400). Second rollers (3510) are arranged at both ends of the fourth support frame (3500). The second rollers (3510) are matched with the second limit slots (3430). One end of the first hydraulic cylinder (3420) is connected to the third support frame (3400). The other end of the first hydraulic cylinder (3420) is connected to the fourth support frame (3500). Third limit slots are arranged at both ends of the fourth support frame (3500). Third rollers are arranged at both ends of the intelligent forklift frame (3600). The third rollers are matched with the third limit slots. A first directional wheel (3530) is arranged at the upper end of the fourth support frame (3500). The first traction belt (3520) is matched with the first directional wheel (3530). One end of the first traction belt (3520) is connected to the third support frame (3400). The other end of the first traction belt (3520) is connected to the intelligent forklift frame (3600).

3. The truss intelligent forklift according to claim 2, wherein The lower end of the intelligent forklift frame (3600) is provided with an anti-collision mechanism, and 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), and the sixth slider (3650) matches the sixth slide rail (3641). The first mounting plate (3660) is arranged at the lower end of the intelligent forklift frame (3600), and first guide blocks (3661) are provided at both ends of the first mounting plate (3660). The first guide blocks (3661) are provided at the lower end of the intelligent forklift frame (3600). 661), a first guide rod (3663) is provided in the first return plate (3670), both ends of the first return plate (3670) are hinged to the lower end of the first guide rod (3663), a first return roller (3671) is provided at the lower end of the first return plate (3670), the second mounting plate (3680) is arranged at the upper end of the first support plate (3640), a first V-shaped groove (3681) is provided at the upper end of the second mounting plate (3680), the first V-shaped groove (3681) matches 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).

4. The intelligent truss forklift according to claim 3, wherein The second R-axis moving mechanism includes an eighth drive 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 drive motor (3690) is arranged at the upper end of the first support plate (3640), the lower end of the eighth drive motor (3690) is provided with a seventh gear, the upper end of the fifth support frame (3700) is provided with a second internal gear (3720), the seventh gear matches the second internal gear (3720), the lower end of the intelligent forklift frame (3600) is provided with a first give-way opening, the first give-way opening matches the eighth drive motor (3690), and the second fork tooth (3710) is arranged on the fifth support frame (3700).

5. The truss intelligent forklift according to claim 4, wherein, A weighing mechanism is provided at the upper end of the intelligent forklift frame (3600), and the weighing mechanism comprises a second support plate (3610) and a plurality of weighing sensors (3620), wherein 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), and the other end of the weighing sensor (3620) is connected to the intelligent forklift frame (3600).

6. The intelligent truss forklift according to claim 5, characterized in that, The lower end of the fifth support frame (3700) is provided with a second scanning mechanism. The second scanning mechanism includes a first mounting rod and a second laser scanner. The first mounting rod is disposed at the lower end of the second support plate (3610), and the second laser scanner is disposed at the lower end of the first mounting rod. The upper end of the fifth support frame (3700) is provided with a second relief opening, and the second relief opening is matched with the first mounting rod.

Images