Intelligent loading robot capable of tidily arranging goods

Abstract

The utility model relates to an intelligent loading robot capable of tidily arranging goods, which comprises a group of tracks, a plurality of loading mechanisms and a plurality of loading mechanisms, the rail car chassis is connected between the group of rails; the portal frame driving device is arranged on the rail car chassis, and the portal frame driving device comprises a front-back driving mechanism; the portal frame is arranged on the portal frame driving device, the portal frame driving device drives the portal frame to move in the front-back direction, and the portal frame comprises an up-down driving mechanism; the fork arm carrier is arranged on the portal, the up-down driving mechanism drives the fork arm carrier to move up and down, a first distance sensor is arranged below the fork arm carrier, and the first distance sensor is used for obtaining the distance between the fork arm carrier and the side edge of a vehicle body of a corresponding loading vehicle; the pallet fork is arranged on the pallet fork frame, a back plate is arranged on the front side of the vertical portion of the pallet fork in a protruding mode, the left end and the right end of the back plate extend downwards to form protruding portions, and the protruding portions extend to the lower side of the transverse portion of the pallet fork.

Description

Technical Field

[0001] The utility model relates to the field of intelligent loading robots, in particular to an intelligent loading robot which can neatly arrange goods. Background Art

[0002] At present, there are three loading methods for PE and PP stacked materials in the petrochemical industry: top loading, rear loading, and side loading. During these loading processes, manually driven forklifts are used to load the stacked materials with pallets into the vehicles. Compared with the highly automated petrochemical industry, this end-point manually driven forklift loading is the shortcoming of the entire industry in terms of automation and efficiency.

[0003] In the prior art, for example, the existing application with publication number CN113955522A, entitled A side-position intelligent loading device for loading stacked materials, realizes a compact side-loading loading system in the left and right directions by means of two forks that can move in both directions so as to bring the goods together after forking. However, when the forks are driven forward to lower the goods, the goods may deviate from the preset lowering position in the front-to-back direction, resulting in uneven front-to-back directions of the goods after all the goods are loaded.

[0004] The purpose of this utility model is to design an intelligent loading robot that can neatly arrange goods in view of the above-mentioned problems in the prior art. Utility Model Content

[0005] In view of the problems existing in the above-mentioned prior art, the utility model provides an intelligent loading robot which can arrange goods neatly, and can effectively solve at least one problem existing in the above-mentioned prior art.

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

[0007] An intelligent loading robot capable of neatly arranging goods, comprising:

[0008] A set of tracks, arranged in left and right directions;

[0009] a railcar chassis connected between the set of rails;

[0010] A gantry drive device is arranged on the rail vehicle chassis, and the gantry drive device includes a front and rear drive mechanism;

[0011] A gantry, arranged on the gantry driving device, the gantry driving device drives the gantry to move in the front-rear direction, and the gantry includes an up-and-down driving mechanism;

[0012] The fork carrier is arranged on the mast, and the up-and-down driving mechanism drives the fork carrier to move up and down. A first distance sensor is arranged below the fork carrier, and the first distance sensor is used to obtain the distance between the fork carrier and the side of the body of the corresponding loading vehicle.

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

[0014] Further, the chassis of the rail vehicle includes a chassis frame. A plurality of driving wheels and a plurality of driven wheels are arranged at the bottom end of the chassis frame. The driving wheels and the driven wheels are respectively connected to corresponding rails, and the driving wheels are driven by a first rotating motor.

[0015] Further, the mast driving device includes a mast mounting frame. The front-and-back driving mechanism includes a set of racks arranged in the front-and-back direction. A gear matched with the racks is arranged at the bottom end of the mast mounting frame, and the gear is driven by a second rotating motor.

[0016] Further, the mast driving device includes a set of channel steels which are distributed on the left and right sides of the set of racks. Rollers matched with the channel steels are arranged on the left and right sides of the mast mounting frame.

[0017] Further, a relief groove is recessed at the middle position of the lower end of the back plate. A second distance sensor is arranged at the position of the bottom end of the fork corresponding to the relief groove, and the second distance sensor is used to obtain the distance between the vertical part of the fork and the goods.

[0018] Further, a back plate mounting frame is installed on the vertical part of the fork. The back plate mounting frame protrudes from the front end of the vertical part of the fork, and the back plate is installed on the back plate mounting frame.

[0019] Further, a wear-resistant plate is arranged on the front end face of the back plate.

[0020] Further, the fork carrier is provided with a slide rail. A plurality of sliders are fixedly arranged at the rear side of the fork. The fork is movably arranged on the fork carrier in a left-right manner through the cooperation of the sliders and the slide rail, and a fork driving cylinder is arranged on the fork carrier.

[0021] Further, a fork mounting plate is arranged at the rear end of the fork. The fork mounting plate and the fork are provided with a plurality of bolt holes, and the fork mounting plate and the fork are locked and arranged through the bolts. The sliders are arranged at the rear end of the fork mounting plate.

[0022] Therefore, the present utility model provides the following effects and / or advantages:

[0023] The present application adds a first distance sensor. By being arranged below the forklift carriage, it can obtain the distance from the forklift carriage to the side of the vehicle body, which is used for the intelligent loading robot to calculate the front and rear positions of the goods on the vehicle body. In addition, the back plate of the present application protrudes from and is fixed to the front side of the vertical part of the forklift fork, forming a planar structure, which can push the goods and the pallet forward together, so that the goods and the pallet are placed in the correct front and rear positions.

[0024] The present application is provided with a second distance sensor, which can accurately judge the position of the goods on the forklift fork. Thus, when the goods are put down and the forklift fork drives forward, the back plate cooperates with the convex part to drive the goods and its pallet to move forward together, so that the rear end face of the goods is flush with the pallet.

[0025] The present application realizes the operation of each component through an electric drive method, changing the working method of driving each structure through an oil cylinder in the prior art, thereby reducing the technical problem of the change in control accuracy caused by the thermal expansion and contraction effect received by the oil cylinder at different temperatures.

[0026] Other features and advantages of the present utility model will be described in the subsequent description. And, partly, it will be obvious from the description, or understood by implementing the present invention. The purpose and other advantages of the present invention are realized and obtained by the structures specifically pointed out in the description and the drawings.

[0027] It should be understood that the above summary and the following detailed description of the present utility model are exemplary and explanatory, and are intended to provide further explanation of the present utility model as claimed. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of one perspective of an embodiment of the present utility model. For the convenience of display, the back plate of one of the forklift forks is hidden.

[0029] Figure 2 It is a schematic diagram of another perspective of an embodiment of the present utility model.

[0030] Figure 3 It is a schematic diagram of the structure of the gantry drive device, the gantry, and the forklift fork.

[0031] Figure 4 It is a schematic diagram of the structure of the back plate. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0032] For the convenience of those skilled in the art to understand, the embodiments will now be further described in detail with reference to the drawings for the structure of the present utility model:

[0033] Embodiment 1

[0034] Reference Figures 1-4, an intelligent loading robot capable of neatly arranging goods, comprising:

[0035] A set of tracks 1, arranged in the left - right direction;

[0036] The chassis of the rail vehicle 2, connected between the set of tracks 1;

[0037] The gantry driving device 3, arranged on the chassis of the rail vehicle 2, and the gantry driving device 3 includes a front - rear driving mechanism;

[0038] The gantry 4, arranged on the gantry driving device 3, and the gantry driving device 3 drives the gantry 4 to move in the front - rear direction. The gantry 4 includes an up - down driving mechanism 401;

[0039] The fork frame 5, arranged on the gantry 4, and the up - down driving mechanism 401 drives the fork frame 5 to move up and down. A first distance sensor 501 is arranged below the fork frame 5, and the first distance sensor 501 is used to obtain the distance between the fork frame 5 and the side of the body of the corresponding loading vehicle;

[0040] The forks 6, arranged on the fork frame 5. A back plate 601 protrudes from the front side of the vertical part of the forks 6, and the left and right ends of the back plate 601 extend downward to form protruding parts 602, and the protruding parts 602 extend to the lower side of the transverse part of the forks 6.

[0041] In this embodiment, the tracks 1, the chassis of the rail vehicle 2, the gantry driving device 3, the gantry 4, and the fork frame 5 can all directly adopt existing technologies, and reference can be made to the existing application with the publication number CN113955522A and the name of an intelligent side - loading device for palletizing materials for loading vehicles.

[0042] One of the core improvements of this embodiment is that: a first distance sensor 501 is arranged below the fork frame 5. When the intelligent loading robot drives the forks 6 forward through the fork frame 5, the forks 6 are above the body of the corresponding loading vehicle to pick up or load and unload goods. In order to identify the position of the goods on the vehicle body, the first distance sensor 501 is added in this embodiment. By being arranged below the fork frame 5, the distance between it and the side of the vehicle body can be obtained, so as to be used for the intelligent loading robot to calculate the front - rear position of the goods on the vehicle body.

[0043] Another core improvement of this embodiment is that a back plate 601 is protrudingly arranged on the front side of the vertical part of the fork 6. The back plate 601 protrudes from the vertical part of the fork 6 and is fixedly arranged. The back plate 6021 can limit the minimum distance between the goods and the vertical part of the fork 6, so that the distance between the fork 6 and the side of the vehicle body can be judged by the first distance sensor 501. The back plate 601 blocks the front of the vertical part of the fork 6 to form a planar structure. In cooperation with this structure, if the loading vehicle body is skewed with the track 1 and other situations occur, after the intelligent loading robot places the goods under the fork 6, the fork 6 can be further driven to drive the back plate 601 to move forward, so as to control the goods to move further forward and place them at the preset front-back position. At the same time, the left and right ends of the back plate 601 of this embodiment extend downward to form convex parts 602, and the convex parts 602 extend to the lower side of the transverse part of the fork 6. When the fork 6 forks the pallet under the goods, the convex parts 602 can correspond to the position of the pallet. Therefore, when the fork 6 drives forward, the back plate 601 cooperates with the convex parts 602 to drive the goods and its pallet to move forward together, so that the rear end face of the goods is flush with the pallet, and the goods and the pallet are placed at the correct front-back position.

[0044] Further, the chassis of the rail vehicle 2 includes a chassis frame, and a plurality of driving wheels and a plurality of driven wheels are arranged at the bottom end of the chassis frame. The driving wheels and the driven wheels are respectively connected to the corresponding tracks, and the driving wheels are driven by a first rotating motor.

[0045] Further, the gantry driving device 3 includes a gantry mounting frame 301. The front-back driving mechanism includes a set of racks 302 arranged in the front-back direction. A gear cooperating with the rack is arranged at the bottom end of the gantry mounting frame 301, and the gear is driven by a second rotating motor.

[0046] In this embodiment, through the cooperation of the gear and the rack 302 and the driving action of the second rotating motor, an electric drive structure is realized.

[0047] Further, the gantry driving device 3 includes a set of channel steels 303, and the channel steels 303 are distributed on the left and right sides of a set of the racks 302. Roller wheels 304 cooperating with the channel steels 303 are arranged on the left and right sides of the gantry mounting frame 301.

[0048] In this embodiment, the roller wheels 304 are embedded in the channel steels 303 and cannot break away from the channel steels 303. The channel steels 303 are fixedly arranged on the chassis of the rail vehicle 2, so that the gantry driving device 3 will not turn out of the path defined by the channel steels 303 after moving forward.

[0049] Further, a relief groove 603 is formed by recessing the middle position at the lower end of the back plate 601. A second distance sensor 604 is provided at the position of the bottom end of the forklift fork 6 corresponding to the relief groove 603. The second distance sensor 604 is used to obtain the distance between the vertical part of the forklift fork 6 and the goods.

[0050] In this embodiment, through the data of the second distance sensor 604 and the calculation of the relative position, the vertical part of the forklift fork 6 can be controlled to be flush with the edge of the pallet by the back plate 601, so as to further accurately calculate the position of the goods on the vehicle body.

[0051] Further, a back plate mounting bracket 605 is installed on the vertical part of the forklift fork 6. The back plate mounting bracket 605 protrudes from the front end of the vertical part of the forklift fork 6, and the back plate 601 is installed on the back plate mounting bracket 605.

[0052] In this embodiment, by using the protruding structure of the back plate mounting bracket 605, the back plate 601 protrudes from the front end of the vertical part of the forklift fork 6, defining the minimum distance between the goods and the vertical part of the forklift fork 6.

[0053] Further, a wear-resistant plate is provided on the front end face of the back plate 601.

[0054] The wear-resistant plate can be supported by materials such as PE, and has the characteristics of wear resistance and low friction coefficient, so as to protect the goods from being damaged when the forklift fork 6 moves.

[0055] Further, the forklift fork frame 5 is provided with a slide rail 502. A plurality of sliders 606 are fixedly provided on the rear side of the forklift fork 6. The forklift fork 6 is movably arranged on the forklift fork frame 5 in a left-right direction through the cooperation of the sliders 606 and the slide rail 502. The forklift fork frame 5 is provided with a forklift fork driving cylinder 503.

[0056] The up-and-down driving mechanism 401 and the forklift fork driving cylinder 503 in this embodiment can be electric cylinders.

[0057] Further, a forklift fork mounting plate 607 is provided at the rear end of the forklift fork 6. The forklift fork mounting plate 607 and the forklift fork 6 are provided with a plurality of bolt holes. The forklift fork mounting plate 607 and the forklift fork 6 are locked and set by the bolts. The slider 606 is arranged at the rear end of the forklift fork mounting plate 607.

[0058] With this structure, the installation height of the forklift fork 6 can be adjusted, so as to be applicable to loading vehicle bodies of different heights.

[0059] It should be noted that in the claims, any reference signs placed between parentheses shall not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present utility model can be implemented by means of hardware including several different elements and by means of a suitably programmed computer. In a unit claim listing several devices, several of these devices may be embodied by the same item of hardware. The use of the words first, second, and third, etc. does not denote any order. These words may be interpreted as names.

[0060] Although the preferred embodiments of the present utility model have been described, those skilled in the art can make additional changes and modifications once they learn the basic creative concept. Therefore, the appended claims are intended to be construed to include the preferred embodiments and all changes and modifications falling within the scope of the present utility model.

[0061] In the present utility model, unless otherwise clearly specified and defined, terms such as "installed", "connected", "coupled", "fixed", etc. shall be construed in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral body; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0062] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present utility model. In this specification, the schematic representations of the above terms should not be understood as necessarily referring to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

Claims

1. An intelligent loading robot capable of neatly arranging goods, characterized in that: Comprising: A set of tracks arranged in the left - right direction; A rail vehicle chassis connected between the set of tracks; A gantry driving device arranged on the rail vehicle chassis, the gantry driving device comprising a front - rear driving mechanism; A gantry arranged on the gantry driving device, the gantry driving device driving the gantry to move in the front - rear direction, the gantry comprising an up - down driving mechanism; A fork carriage arranged on the gantry, the up - down driving mechanism driving the fork carriage to move up and down, a first distance sensor is arranged below the fork carriage, and the first distance sensor is used to obtain the distance between the fork carriage and the side of the body of the corresponding loading vehicle; Forks arranged on the fork carriage, a back plate is protrudingly arranged on the front side of the vertical part of the forks, and the left and right ends of the back plate extend downward to form protruding parts, and the protruding parts extend to the lower side of the horizontal part of the forks.

2. The intelligent loading robot capable of neatly arranging goods according to claim 1, wherein: The rail vehicle chassis comprises a chassis frame, a plurality of driving wheels and a plurality of driven wheels are arranged at the bottom end of the chassis frame, the driving wheels and the driven wheels are respectively connected to the corresponding tracks, and the driving wheels are driven by a first rotating motor.

3. The intelligent loading robot capable of neatly arranging goods according to claim 1, characterized in that: The gantry driving device comprises a gantry mounting frame, the front - rear driving mechanism comprises a set of racks arranged in the front - rear direction, a gear matched with the racks is arranged at the bottom end of the gantry mounting frame, and the gear is driven by a second rotating motor.

4. The intelligent loading robot capable of neatly arranging goods according to claim 3, characterized in that: The gantry driving device comprises a set of channel steels, the channel steels are distributed on the left and right sides of the set of racks, and rollers matched with the channel steels are arranged on the left and right sides of the gantry mounting frame.

5. The intelligent loading robot for neatly arranging goods according to claim 1, wherein: A relief groove is recessed at the middle position of the lower end of the back plate, a second distance sensor is arranged at the position corresponding to the relief groove at the bottom end of the forks, and the second distance sensor is used to obtain the distance between the vertical part of the forks and the goods.

6. The intelligent loading robot capable of neatly arranging goods according to claim 1, wherein: A back plate mounting frame is installed on the vertical part of the forks, the back plate mounting frame protrudes from the front end of the vertical part of the forks, and the back plate is installed on the back plate mounting frame.

7. The intelligent loading robot for neatly arranging goods according to claim 1, wherein: A wear - resistant plate is arranged on the front end face of the back plate.

8. The intelligent loading robot capable of neatly arranging goods according to claim 1, characterized in that: The fork carriage is provided with slide rails, a plurality of sliders are fixedly arranged at the rear side of the forks, and the forks are movably arranged on the fork carriage in a left - right direction through the cooperation of the sliders and the slide rails, and a fork driving cylinder is arranged on the fork carriage.

9. An intelligent loading robot capable of neatly arranging goods according to claim 8, characterized in that: A fork mounting plate is arranged at the rear end of the forks, a plurality of bolt holes are arranged on the fork mounting plate and the forks, the fork mounting plate and the forks are locked and set through the bolts, and the sliders are arranged at the rear end of the fork mounting plate.

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