Car loader
By adjusting the loading position of goods in real time through the detection system of the loading machine, the problem of automated loading under uncertain parking positions is solved, realizing an efficient and accurate loading process and reducing labor costs.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-14
- Publication Date
- 2026-04-07
AI Technical Summary
Existing automated loading equipment cannot adapt to uncertain loading locations, especially for transport vehicles such as wing vans, resulting in reliance on manual operation, which is characterized by high labor costs, low efficiency, and high labor intensity.
A loading machine was designed, comprising a main frame, a traveling mechanism, a lifting mechanism, telescopic forks, and a detection system. The detection system scans the dimensions and position of the truck bed in real time to achieve automated loading, adjusts the loading position of the goods to ensure precise fit to the edge of the truck bed, and optimizes the utilization of loading space.
It enables automated loading in uncertain parking locations, reduces manual operation, improves loading efficiency and accuracy, and lowers labor costs.
Smart Images
Figure CN224091217U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of transportation technology, and in particular to a loading machine. Background Technology
[0002] In the logistics and transportation sector, loading goods onto trucks is a crucial step, which involves loading goods onto trucks for transport.
[0003] Currently, automated loading equipment can only be applied to loading operations of transport vehicles with fixed locations. It cannot make intelligent path adjustments for uncertain loading locations. Therefore, loading of transport vehicles such as wing vans, whose parking locations are uncertain each time, mainly relies on manual operation. For example, loading 200L packaging drums into a wing van can only be done by manual forklift handling. Manual forklift handling is costly, labor-intensive, inefficient, and requires a high level of experience from workers. Therefore, there is an urgent need for an automated loading device. Utility Model Content
[0004] The purpose of this utility model is to provide a loading machine to solve the technical problems existing in the background art.
[0005] To solve the above-mentioned technical problems, the present invention is implemented using the following technical solution.
[0006] A loading machine for loading goods into a truck bed, the loading machine comprising:
[0007] Main frame 100;
[0008] The walking mechanism 200 is connected to the main frame 100 and can drive the main frame 100 to reciprocate in the horizontal direction.
[0009] The lifting mechanism 300 is connected within the main frame 100;
[0010] The telescopic fork 400 is connected to the lifting mechanism 300 and can perform reciprocating motion in the vertical direction under the drive of the lifting mechanism 300. The telescopic fork 400 includes a fork body 410 that can extend and retract horizontally, and the fork body 410 can pick up and put down goods.
[0011] The detection system 500 includes a first detection module 510 capable of acquiring the length of the space inside the carriage.
[0012] Furthermore, the first detection module 510 is a ranging element installed on the loading machine.
[0013] Furthermore, the detection system 500 also includes a second detection module 520, which is used to detect the position of the edge of the space in the length direction inside the carriage.
[0014] Furthermore, the fork body 410 is connected to the lifting mechanism 300 via the lifting bracket 420; the second detection module 520 is a distance measuring element installed on the lifting bracket 420.
[0015] Furthermore, the detection system 500 also includes a third detection module 530, which is a ranging element disposed on the lifting bracket 420 and located directly below the second detection module 520.
[0016] Furthermore, the detection system 500 also includes a fourth detection module 540, which is used to detect whether there are any obstacles at the current loading position of the goods in the carriage.
[0017] Furthermore, the fourth detection module 540 is a ranging element installed on the loading machine.
[0018] Furthermore, the detection system 500 also includes a sixth detection module 560, which is a sensor element installed on the fork body 410. The sixth detection module 560 is used to detect changes in the distance between the fork body 410 and the object above it.
[0019] Furthermore, the detection system 500 also includes a seventh detection module 570, which is a sensor element installed on the fork body 410. The seventh detection module 570 is used to detect changes in the distance between the fork body 410 and the object below it.
[0020] Furthermore, the detection system 500 also includes a fifth detection module 550, which is used to obtain the height of the space inside the carriage.
[0021] Compared with the prior art, the beneficial effects of this utility model are:
[0022] The loading machine proposed in this utility model scans and acquires the dimensions of the truck bed through its detection system, thereby achieving automated loading control. During the loading process, in each loading cycle, the detection system of the loading machine dynamically detects the edge of the truck bed space in real time and adjusts the loading position of the goods according to the position of the truck bed to ensure accurate loading position without errors and without relying on the accuracy of the parking position. At the same time, it also intelligently adjusts the loading position of each pallet of goods so that each pallet of goods is loaded close to the edge of the previous pallet, ensuring that the distance between goods is minimized and the loading space is maximized.
[0023] The loading machine proposed in this utility model overcomes the problem that automated loading cannot be achieved due to the non-fixed parking position of transport vehicles. Attached Figure Description
[0024] The present invention will be further described below with reference to the accompanying drawings.
[0025] Figure 1 This is a schematic diagram of the structure of a loading machine shown in one embodiment.
[0026] Figure 2 This is a schematic diagram showing the positions of the sixth and seventh detection modules in one embodiment.
[0027] Figure 3 This is a front view illustrating the positional relationship between the loading machine and the truck bed during the loading process, as shown in one embodiment.
[0028] Figure 4 This is a side view illustrating the positional relationship between the loading machine and the truck bed during the loading process, as shown in one embodiment.
[0029] Figure 5 This is a schematic diagram of a loading machine shown in another embodiment.
[0030] In the above figure:
[0031] 1. Loading machine;
[0032] 100. Main framework;
[0033] 200. Traveling mechanism; 210. Roller; 220. Motor; 230. Track;
[0034] 300. Lifting mechanism; 310. Linear guide rail; 320. Pulling mechanism;
[0035] 400. Telescopic forks; 410. Fork body; 420. Lifting bracket;
[0036] 500. Detection system; 510. First detection module; 520. Second detection module; 530. Third detection module; 540. Fourth detection module; 550. Fifth detection module; 560. Sixth detection module; 570. Seventh detection module;
[0037] 2. Train carriage;
[0038] 3. Goods; 31. Packaging barrels; 32. Pallets. Detailed Implementation
[0039] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the utility model will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.
[0040] Example 1
[0041] See Figures 1 to 4 This embodiment provides a loading machine 1 for loading goods 3 into the carriage 2.
[0042] The loading machine 1 includes: a main frame 100, a traveling mechanism 200, a lifting mechanism 300, a telescopic fork 400, and a detection system 500.
[0043] The main frame 100 is the moving body of the loading machine 1. It is a frame structure composed of several crossbeams and longitudinal beams, and has an internal installation space to provide an installation foundation for other components.
[0044] The walking mechanism 200 is connected to the main frame 100 and can drive the main frame 100 to reciprocate in the horizontal direction.
[0045] The walking mechanism 200 can take various forms. In some specific embodiments, the walking mechanism 200 can take the form of rollers and ground tracks. Specifically, rollers 210 are set at the bottom of the main frame 100, and the rollers 210 are driven by a driving device such as a motor 220 to drive the main frame 100 to move back and forth in the horizontal direction along the track 230 set on the ground. In other embodiments, the walking mechanism 200 can also take the form of a powered vehicle, or can take the form of an RGV, AGV, etc.
[0046] The lifting mechanism 300 is disposed within the main frame 100, and the telescopic fork 400 is connected to the lifting mechanism 300. The lifting mechanism 300 can drive the telescopic fork 400 to perform reciprocating motion in the vertical direction.
[0047] The telescopic fork 400 includes a fork body 410 that can extend and retract horizontally, and the fork body 410 can pick up and put down goods 3.
[0048] In some specific embodiments, the lifting mechanism 300 can take the form of a guide rail plus a lifting mechanism. Specifically, the fork body 410 can be slidably connected to the linear guide rail 310 vertically arranged in the main frame 100 through the lifting bracket 420. Then, the lifting mechanism 320 pulls the lifting frame 420 to move vertically along the linear guide rail 310, thereby driving the fork body 410 to reciprocate in the vertical direction. The lifting mechanism 320 can adopt a chain and sprocket structure or a lead screw structure, etc.
[0049] The detection system 500 includes a first detection module 510, a second detection module 520, a third detection module 530, a fourth detection module 540, a sixth detection module 560, and a seventh detection module 570.
[0050] The first detection module 510 can obtain the length of the space inside the carriage 2. After obtaining the length of the space inside the carriage 2, the number of trains to be loaded can be calculated based on the size of the goods 3.
[0051] In this embodiment, the first detection module 510 is a laser rangefinder sensor installed on the loading machine 1. When the loading machine 1 moves along the length direction of the carriage 2, the first detection module 510 senses the distance change twice and detects the object signal twice, that is, the edge positions at both ends of the length direction of the carriage 2, and then the length of the space inside the carriage 2 can be calculated.
[0052] In another embodiment, the first detection module 510 may also employ a machine vision ranging module, which first acquires an image of the carriage 2, and then calculates the length inside the carriage 2 using a machine vision ranging algorithm.
[0053] The second detection module 520 is used to detect the position of the edge of the space in the length direction inside the carriage 2 in order to determine the starting position of loading the goods 3.
[0054] In this embodiment, the second detection module 520 is a laser rangefinder sensor installed on the lifting bracket 420. When the fork body 410 faces the carriage 2, the second detection module 520 is installed on the side of the lifting bracket 420 near the head of the carriage 2. During the movement of the loading machine 1 along the length of the carriage 2, the object signal detected by the second detection module 520 is the edge of the carriage 2.
[0055] Since the first detection module 510 and the second detection module 520 are similar in function and implementation principle, in this embodiment, the first detection module 510 and the second detection module 520 can be combined. For example, the same laser rangefinder can be used as the first detection module 510 and the second detection module 520 to achieve different functions at different stages; or the same machine vision module can be used with different machine vision algorithms to achieve different functions.
[0056] Normally, when loading goods 3, the items are placed on a pallet, and the loading machine 1 loads the pallet along with the items onto it into the truck bed 2. For example, when loading packaging barrels 31, four packaging barrels 31 are usually grouped together and placed on a pallet 32. The four packaging barrels 31 and one pallet 32 together constitute the goods 3. The loading machine 1 uses the forks 410 to move the pallet 32 and complete the loading of the packaging barrels 31. In this case, after the loading machine 1 loads the first pallet 32, it will load the second pallet. When loading, it is necessary to find the outermost edge of the previous pallet 3 and place it close to the previous pallet 3 to minimize the distance between the two pallets 3. However, since the relative position of the packaging barrel 31 on the previous pallet 32 is not fixed, there are two situations: the packaging barrel 31 extends beyond the edge of the pallet 32 and the packaging barrel 31 is completely inside the pallet 32. Therefore, two edge detection modules are needed, one to detect the edge of the pallet 32 and the other to detect the edge of the packaging barrel 31. As long as one edge detection module detects a signal, it means that it has approached the edge of the previous pallet 3. Therefore, this embodiment also includes a third detection module 530, which is also used to detect the position of the edge of the space in the length direction inside the carriage 2 to determine the loading position of the goods 3. The third detection module 530 also uses a laser rangefinder sensor, which is set on the lifting bracket 420 and located directly below the second detection module 520. The third detection module 530 and the second detection module 520 can detect object signals at different heights. That is, the third detection module 530 can detect the edge of the pallet 32 below, and the second detection module 520 can detect the edge of the packaging barrel 31 above, to ensure accurate detection of the edge position of the remaining space inside the carriage 2.
[0057] The fourth detection module 540 is used to detect whether there are any obstacles at the current loading position of the goods in the carriage 2, so as to avoid interference when loading the goods 3.
[0058] In some specific embodiments, the fourth detection module 540 is a laser rangefinder sensor installed on the loading machine 1. The specific installation position can be determined according to the actual structure of the loading machine 1. In this embodiment, the laser rangefinder sensor, which is the fourth detection module 540, is installed at the top of the main frame 100, with the illumination angle facing the current loading position of the cargo 3 inside the carriage 2. If the fourth detection module 540 detects an object signal, it indicates that there is an obstacle at the current loading position; otherwise, it indicates that there is no obstacle at the current position, and loading can proceed.
[0059] The sixth detection module 560 is used to detect changes in the distance between the fork body 410 and the object above it. Its purpose is to detect whether the fork body 410 has separated from the cargo 3, serving as an input signal for the fork body 410 to stop descending and retract. In some specific embodiments, the sixth detection module 560 is a laser rangefinder sensor installed on the fork body 410. The specific installation position can be determined according to the specific structure of the fork body 410. When the fork body 410 lowers after placing the cargo 3 into the carriage 2, the laser rangefinder sensor of the sixth detection module 560 detects the gap between the upper surface of the fork body 410 and the lower surface of the cargo 3. When the sixth detection module 560 senses a change in distance, it indicates that a gap has formed between the upper surface of the fork body 410 and the lower surface of the cargo 3, meaning that the fork body 410 has detached from the cargo 3 and can retract.
[0060] The seventh detection module 570 is used to detect changes in the distance between the fork body 410 and the object below it. The purpose is to detect whether the fork body 410 has extended to the correct position. In some specific embodiments, the seventh detection module 570 is a laser rangefinder sensor installed on the fork body 410. The specific installation position can be determined according to the specific structure of the fork body 410. For example, it can be installed on the side of the fork body 410. Its position should ensure that when the cargo 3 on the fork body 410 is completely inside the carriage 2, the laser rangefinder sensor of the seventh detection module 570 can just detect the edge of the bottom surface of the carriage 2. When the fork body 410 extends, if the laser rangefinder sensor of the seventh detection module 570 detects an object, it means that the edge of the carriage 2 has been detected, and the extension action of the fork body 410 stops, ensuring that the extension position of the fork body 410 is accurate.
[0061] The following describes the specific loading process of the loading machine 1 provided in this embodiment, using a wing-type vehicle as the transport vehicle and in conjunction with the specific structure of the loading machine 1 described in this embodiment:
[0062] The wing vehicle stops at the loading position, and the loading machine 1 stops at the initial position. The goods 3 can be transported to the initial position by the conveyor rollers, etc., to wait for loading. In this embodiment, the initial position is located at the rear of the wing vehicle.
[0063] The loading machine 1 first moves horizontally along the length of the wing vehicle's carriage 2. During the movement, the first detection module 510 scans the carriage 2. The first detection module 510 detects the object signal twice, namely the position signals of the rear edge and the head edge of the carriage 2. The signal is fed back to the control system of the loading machine 1 to calculate the length of the space inside the carriage 2. Based on the known dimensions of the cargo 3, the number of rows N of cargo 3 to be loaded is calculated. Then the loading machine 1 returns to the initial position.
[0064] After the loading machine 1 returns to its initial position, the fork body 410 extends and inserts into the pallet 32. The lifting mechanism 300 drives the fork body 410 to rise and remove the goods 3. Then, the loading machine 1 moves towards the front of the wing vehicle. During the movement, the second detection module 520 scans the cargo box 2 in real time. When the second detection module 520 detects an object signal for the first time, it means that the edge of the rear of the cargo box 2 has been detected. The loading machine 1 continues to move towards the front of the vehicle. When the second detection module 520 detects an object signal for the second time, it means that the edge of the head of the cargo box 2 has been detected. At this time, the loading machine 1 stops moving. Since the second detection module 520 is located on the lifting bracket 420 near the front of the vehicle, when the second detection module 520 detects the edge of the head of the cargo box 2 for the second time, the fork body 410 is aligned with the inside of the cargo box 2.
[0065] Once the head edge of carriage 2 is detected, the initial loading position is determined. At this time, the fourth detection module 540 scans the interior of carriage 2 to detect whether there are any obstacles at the current loading position inside carriage 2. If there are no obstacles, a loading signal is issued.
[0066] Once loading is confirmed, the fork body 410 extends, carrying the pallet 32 into the truck bed 2. At this time, the seventh detection module 570 illuminates the ground and begins to detect whether the fork body 410 has extended fully. When the seventh detection module 570 detects an object, indicating that the edge of the truck bed 2's bottom has been detected, the fork body 410 stops extending. At this point, the cargo 3 on the fork body 410 is completely inside the truck bed 2. After receiving the signal from the seventh detection module 570, the lifting mechanism 300 begins to descend until the pallet 32 contacts the truck bed. At the bottom of compartment 2, pallet 32 stops moving. At this time, the fork body 410 is still dragging pallet 32, and there is no gap between them. The fork body 410 continues to descend. When the sixth detection module 560 detects a signal, a gap is formed between the fork body 410 and pallet 32, indicating that the fork body 410 has detached from pallet 32. The lifting mechanism 300 stops descending, the fork body 410 retracts, and the loading machine 1 returns to its initial position. When the number of loading rows N = 1, loading ends. When the number of loading rows N > 1, the next step continues.
[0067] After the loading machine 1 retrieves the cargo 3 again at the initial position, it continues to move towards the front of the wing vehicle. During the movement, the second detection module 520 and the third detection module 530 continuously scan the carriage 2. When the second detection module 520 and the third detection module 530 detect an object signal for the first time, it indicates that the edge of the rear of the carriage 2 has been detected. The loading machine 1 continues to move towards the front of the vehicle. When either the second detection module 520 or the third detection module 530 detects an object signal for the second time, it indicates that the edge position of the remaining space in the carriage 2 in the length direction has been detected. This edge position may be the edge position of the previous pallet 32, or it may be the edge position of the packaging barrel 31 on the previous pallet 32. At this time, the loading machine 1 stops moving.
[0068] Once the edge of the remaining space in carriage 2 along its length is detected, loading begins, following the same method as the previous loading cycle.
[0069] After this loading cycle is completed, the loading machine 1 returns to its initial position and repeats the loading action until N trains of goods are loaded.
[0070] Example 2
[0071] See Figures 2 to 5 This embodiment provides a loading machine, such as... Figure 5As shown, based on Embodiment 1, the detection system 500 of the loading machine 1 further includes a fifth detection module 550. The fifth detection module 550 is used to obtain the height of the space inside the carriage 2. The reason for detecting the height of the space inside the carriage 2 is to calculate the number of loading layers M of the goods 3 inside the carriage 2, where M is an integer greater than or equal to 1.
[0072] In some specific embodiments, the fifth detection module 550 can be a ranging element installed on the loading machine 1. For example, a laser ranging sensor is installed on the lifting bracket 420 of the telescopic fork 400. The lifting mechanism 300 drives the lifting bracket 420 of the telescopic fork 400 to rise. During the rising process, the laser ranging sensor installed on the lifting bracket 420 can detect the object signal twice, that is, it can detect the edges of the bottom and top surfaces of the truck bed 2, and then calculate the height inside the truck bed 2.
[0073] In some other specific embodiments, the fifth detection module 550 may also employ a machine vision detection module, which first acquires an image of the carriage 2 through a camera, and then calculates the height inside the carriage 2 through a machine vision ranging algorithm.
[0074] The following describes in detail the loading process of the loading machine 1 provided in this embodiment when M > 1:
[0075] After all the goods in the Nth column of the first layer have been loaded, the loading machine 1 returns to its initial position.
[0076] When the loading machine 1 picks up the cargo 3 again at the initial position, the lifting mechanism 300 is activated, which drives the telescopic fork 400 and the cargo 3 on the fork body 410 to lift to a preset height, which is higher than the height of the first layer of cargo 3 in the carriage 2.
[0077] The loading machine 1 drives the cargo 3 towards the head of the carriage 2 for loading. The loading steps are the same as those of the first layer and will not be repeated here, until the loading of the Nth column of cargo on the Mth layer is completed.
[0078] In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.
[0079] The above description of the disclosed embodiments enables those skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims
1. A loading machine for loading goods into a truck bed, characterized in that, The loading machine includes: Main frame (100); The walking mechanism (200) is connected to the main frame (100) and can drive the main frame (100) to reciprocate in the horizontal direction; A lifting mechanism (300) is connected within the main frame (100); A telescopic fork (400), connected to the lifting mechanism (300), can reciprocate vertically under the drive of the lifting mechanism (300). The telescopic fork (400) includes a fork body (410) that can extend and retract horizontally. The fork body (410) can pick up and put down goods. A detection system (500) includes a first detection module (510) that can obtain the length of the space inside the carriage.
2. The loading machine according to claim 1, characterized in that, The first detection module (510) is a ranging element installed on the loading machine.
3. The loading machine according to claim 1, characterized in that, The detection system (500) further includes a second detection module (520), which is used to detect the position of the edge of the space in the length direction inside the carriage.
4. The loading machine according to claim 3, characterized in that, The fork body (410) is connected to the lifting mechanism (300) via a lifting bracket (420); the second detection module (520) is a distance measuring element installed on the lifting bracket (420).
5. The loading machine according to claim 4, characterized in that, The detection system (500) further includes a third detection module (530), which is a ranging element disposed on the lifting bracket (420) and located directly below the second detection module (520).
6. The loading machine according to claim 1, characterized in that, The detection system (500) further includes a fourth detection module (540), which is used to detect whether there are any obstacles at the current loading position of the cargo in the carriage.
7. The loading machine according to claim 6, characterized in that, The fourth detection module (540) is a ranging element installed on the loading machine.
8. The loading machine according to claim 1, characterized in that, The detection system (500) further includes a sixth detection module (560), which is a sensor element installed on the fork body (410). The sixth detection module (560) is used to detect changes in the distance between the fork body (410) and the object above it.
9. The loading machine according to claim 1, characterized in that, The detection system (500) further includes a seventh detection module (570), which is a sensor element installed on the fork body (410). The seventh detection module (570) is used to detect changes in the distance between the fork body (410) and the object below it.
10. The loading machine according to claim 1, characterized in that, The detection system (500) further includes a fifth detection module (550), which is used to obtain the height of the space inside the carriage.