Material carrying device

Abstract

The utility model discloses a material carrying device, which relates to the technical field of carrying robots and comprises a tray structure, a storage rack structure and a carrying structure which are matched with one another for use. The storage rack structure comprises a storage rack bottom frame, universal wheels installed at the lower end of the storage rack bottom frame and a storage platform installed at the upper end of the storage rack bottom frame, and one side of the storage platform is rotationally connected with the storage rack bottom frame. The carrying structure comprises a chassis frame, wheels installed at the lower end of the chassis frame, a chassis platform frame installed on the chassis frame, a hydraulic lifting frame installed on the chassis platform frame and a carrying platform installed on the hydraulic lifting frame, and a goods conveying fork is installed on the front portion of the carrying platform. The robot is high in load capacity, convenient to interact, high in safety and capable of meeting the requirement for efficient carrying.

Description

Technical Field

[0001] This utility model relates to the field of material handling robot technology, specifically to a material handling device. Background Technology

[0002] In the field of material handling robots, traditional material handling equipment is widely used in warehousing and manufacturing, but it suffers from problems such as low efficiency, poor flexibility, limited load capacity, poor interactivity, and insufficient safety. With the rapid development of e-commerce, logistics, and intelligent manufacturing, traditional equipment can no longer meet the demands for high efficiency, flexibility, and low energy consumption. Existing improvement solutions still have problems such as weak load capacity, poor adaptability of path planning algorithms, and low level of intelligence in multi-machine collaboration. Therefore, there is an urgent need for an intelligent material handling device with high flexibility, high safety, and low maintenance costs to solve the needs of efficient material handling in dynamic scenarios. Utility Model Content

[0003] The purpose of this utility model is to provide a material handling device to solve the problems existing in the traditional material handling process. It has the characteristics of strong load capacity, convenient interaction and high safety, and can meet the needs of efficient handling.

[0004] To further achieve the above objectives, the present invention adopts the following technical solution:

[0005] A material handling device includes a pallet structure, a shelf structure, and a handling structure that work together, wherein the pallet structure is used to carry stacked materials.

[0006] The shelf structure includes a bottom frame of the shelf, casters mounted on the lower end of the bottom frame of the shelf, and a shelf platform mounted on the upper end of the bottom frame of the shelf and rotatably connected to the bottom frame of the shelf on one side. The shelf platform is pushed by an electric push rod assembly mounted on the bottom frame of the shelf to realize the lifting and lowering of the shelf platform.

[0007] The handling structure includes a chassis frame, wheels mounted on the lower end of the chassis frame, a chassis platform frame mounted on the chassis frame, a hydraulic lifting frame mounted on the chassis platform frame, and a loading platform mounted on the hydraulic lifting frame. The loading platform is equipped with forks at the front for transporting pallet structures carrying materials to the loading platform of the storage rack structure and transporting the materials together with the pallet structure and the storage rack structure to a designated location.

[0008] Optionally, the electric push rod assembly includes a primary electric push rod installed on opposite sides of the bottom frame of the shelf and a secondary electric push rod connected to the primary electric push rod, the secondary electric push rod being driven by the primary electric push rod; the secondary electric push rod is connected to one end of a push rod connecting plate via a push rod connecting shaft, for allowing the secondary electric push rod and the push rod connecting plate to rotate relative to each other around the push rod connecting shaft; the other end of the push rod connecting plate is connected to a push plate connecting shaft, the push plate connecting shaft being installed on the side of the shelf platform, and guide grooves are provided on opposite sides of the bottom frame of the shelf for the push rod connecting shaft to be embedded therein to achieve directional movement.

[0009] Furthermore, the bottom frame of the shelf is rotatably connected to the shelf platform via a pivot; the bottom frame of the shelf is provided with anti-slip markings to prevent relative sliding between the bottom of the bottom frame of the shelf and the surface of the shelf platform after the bottom of the bottom frame of the shelf is lifted by the carrying platform in the transport structure.

[0010] Optionally, the wheels are respectively installed at both ends of the front axle and the rear axle, the chassis frame is installed on the upper end of the front axle and the rear axle, and an axle drive motor is installed in the middle of the rear axle to provide a drive source for the rear axle.

[0011] Optionally, the hydraulic lifting frame includes a front scissor support rod and a rear scissor support rod connected to each other. Lower sliding guide rails are installed on both sides above the chassis platform frame. One end of the lower sliding guide block is engaged in the lower sliding guide rail, and the other end contacts the front scissor support rod. A lower sliding wheel is installed in the lower space of the front scissor support rod, and the lower sliding wheel contacts the chassis platform frame. The lower sliding bolt connects the lower sliding guide block, the lower sliding wheel, and the front scissor support rod.

[0012] Furthermore, the chassis platform frame has a lower fixing seat installed on the upper end of the side away from the front scissor support rod, and the lower fixing seat is connected to the rear scissor support rod by a lower fixing bolt.

[0013] A bottom transverse support rod is installed between the two front scissor support rods. A first-stage hydraulic telescopic rod fixing seat is installed on the bottom transverse support rod. A first-stage hydraulic telescopic rod is installed on the first-stage hydraulic telescopic rod fixing seat. The first-stage hydraulic telescopic rod rotates in the first-stage hydraulic telescopic rod fixing seat.

[0014] The primary hydraulic telescopic rod is connected to the secondary hydraulic telescopic rod, the secondary hydraulic telescopic rod is connected to the secondary hydraulic telescopic rod fixing seat, and the secondary hydraulic telescopic rod is driven by the primary hydraulic telescopic rod;

[0015] A central transverse support rod is installed between the two rear scissor support rods. A secondary hydraulic telescopic rod fixing seat is installed on the central transverse support rod for connecting the secondary hydraulic telescopic rod, so that the secondary hydraulic telescopic rod can rotate in the secondary hydraulic telescopic rod fixing seat.

[0016] Furthermore, a central pivot is installed at the center of the front scissor support rod and the rear scissor support rod, so that the front scissor support rod and the rear scissor support rod can rotate around the central pivot.

[0017] Furthermore, an upper fixed seat is installed on the lower surface of the loading platform. The upper fixed seat is connected to the front scissor support rod by an upper fixing bolt, so that the front scissor support rod and the upper fixed seat rotate around the upper fixing bolt.

[0018] The lower surface of the loading platform is equipped with upper sliding guide rails on both sides. One end of the upper sliding guide block is locked in the upper sliding guide rail, and the other end is in contact with the rear scissor support rod. An upper sliding wheel is installed in the upper space of the rear scissor support rod. The upper sliding wheel is in contact with the bottom of the loading platform. The upper sliding bolt connects the rear scissor support rod, the upper sliding guide block and the upper sliding wheel.

[0019] Optionally, the surface of the forks is provided with anti-slip markings to prevent slippage during material handling.

[0020] Optionally, an electromagnetic navigation sensor is installed at the center of the bottom of the chassis frame.

[0021] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0022] 1. Strong load capacity: The handling structure adopts scissor support rods, hydraulic telescopic rods and other designs, combined with a sturdy chassis frame and loading platform, which can bear the weight of materials and meet the handling needs in industrial production.

[0023] 2. Convenient interaction: The design of the shelving structure facilitates the loading, unloading, and dumping of materials. The tilt angle of the shelving platform is controlled by an electric push rod, making operation simple and convenient and improving work efficiency.

[0024] 3. High safety: The anti-slip markings on the fork surface and the material securing measures during handling effectively prevent materials from slipping during handling, ensuring the safety of personnel and equipment.

[0025] 4. This device has flexible path planning capabilities. It achieves magnetic tracking through electromagnetic navigation sensors and PID algorithms, and can accurately transport materials according to preset routes in complex working environments, adapting to different working scenarios and improving transportation efficiency. Attached Figure Description

[0026] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0027] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0028] Figure 2 This is a schematic diagram of the overall structure of the tray of this utility model;

[0029] Figure 3 This is a schematic diagram of the overall structure of the storage rack of this utility model;

[0030] Figure 4 This is a schematic diagram of the lifting structure of the conveying structure of this utility model;

[0031] Figure 5 This is a schematic diagram of the bottom structure of the conveying structure of this utility model;

[0032] Figure 6 This is a partial schematic diagram of the bottom slide rail of the conveying structure of this utility model;

[0033] Figure 7 This is a partial rear view of the conveying structure of this utility model;

[0034] Figure 8 This is a partial schematic diagram of the top slide rail of the conveying structure of this utility model;

[0035] Figure 9 This is a schematic diagram of the structure of the storage rack of this utility model;

[0036] Figure 10 This is a schematic diagram of the bottom structure of the shelf of this utility model.

[0037] Explanation of reference numerals in the attached figures:

[0038] 1000-Transportation Structure:

[0039] 1001-Wheel; 1002-Chassis frame; 1003-Front axle; 1004-Rear axle; 1005-Axle drive motor; 1006-Electromagnetic navigation sensor; 1007-Chassis platform frame; 1008-Lower sliding guide rail; 1009-Lower sliding guide block; 1010-Lower sliding wheel; 1011-Lower sliding bolt; 1012-Front scissor support rod; 1013-Lower fixed seat; 1014-Lower fixed bolt; 1015-Rear scissor support rod; 1016-Hydraulic station drive motor; 1017-Hydraulic station; 1018-Electric Pool; 1019-Bottom transverse support rod; 1020-First-stage hydraulic telescopic rod fixing seat; 1021-First-stage hydraulic telescopic rod; 1022-Second-stage hydraulic telescopic rod; 1023-Second-stage hydraulic telescopic rod fixing seat; 1024-Middle transverse support rod; 1025-Central pivot; 1026-Upper fixing seat; 1027-Upper fixing bolt; 1028-Upper sliding guide rail; 1029-Upper sliding guide block; 1030-Upper sliding wheel; 1031-Upper sliding bolt; 1032-Top transverse support rod; 1033-Loading platform; 1034-Carrying forklift;

[0040] 2000 - Pallet structure;

[0041] 3000-Shelf Structure:

[0042] 3001 - Casters; 3002 - Shelf bottom frame; 3003 - Primary electric push rod; 3004 - Secondary electric push rod; 3005 - Push rod connecting shaft; 3006 - Push rod connecting plate; 3007 - Guide groove; 3008 - Push plate connecting shaft; 3009 - Shelf platform; 3010 - Rotating shaft; 3011 - Limiting pad; 3012 - Shelf anti-slip markings. Detailed Implementation

[0043] The present invention will be further described below with reference to specific embodiments. It should be understood that these embodiments are only used to illustrate the present invention and are not intended to limit the scope of protection of the present invention.

[0044] The following specific examples illustrate the implementation of this utility model. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification. This utility model can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this utility model.

[0045] The material handling device provided by this utility model can achieve flexible path planning, strong load capacity, convenient interaction, and high safety. It demonstrates high efficiency and flexibility in practical applications. This material handling device consists of a handling structure 1000, a pallet structure 2000, and a shelf structure 3000. Wherein:

[0046] The wheels 1001 of the transport structure 1000 are mounted at both ends of the front axle 1003 and rear axle 1004, and work with the axle drive motor 1005 to enable the movement and steering of the device. The electromagnetic navigation sensor 1006 guides the device precisely along a preset magnetic guide. The chassis frame 1002 and related support structures provide stable support for the entire structure. The scissor brace and hydraulic telescopic rod work together to raise and lower the loading platform 1033, facilitating the loading and unloading of materials. The anti-slip markings on the surface of the forks 1034 effectively prevent materials from slipping during transport.

[0047] The pallet structure 2000 is used to carry stacked materials, facilitating handling operations by the transport device. The omnidirectional casters 3001 at the bottom of the shelving structure 3000 allow for flexible movement; the primary electric push rod 3003 and the secondary electric push rod 3004 work together to allow the storage platform 3009 to tilt as needed, facilitating the unloading of materials.

[0048] During material handling, the handling structure 1000 is first moved to the pallet structure 2000, and the forks are extended to lift the material. The loading platform is then raised via a hydraulic system. Next, the material is moved to the front of the shelving structure, placed and secured. The handling device then enters the bottom of the shelving structure and is raised again to transport the shelving structure along with the material to the designated location. Upon arrival at the destination, the loading platform is lowered to release the shelving structure. If it is necessary to tilt the material, the electric push rod is activated to tilt the platform. Throughout the process, electromagnetic navigation sensors monitor in real time, and combined with a PID algorithm, the axle drive motor is precisely controlled to ensure that the handling device operates strictly according to the preset route, greatly improving the accuracy and efficiency of material handling.

[0049] Example 1

[0050] like Figure 1 , Figure 2 , Figure 3 As shown, the material handling device provided in this embodiment consists of a handling structure 1000, a pallet structure 2000, and a shelf structure 3000.

[0051] like Figure 4As shown, the transport structure 1000 comprises wheels 1001, chassis frame 1002, front axle 1003, rear axle 1004, axle drive motor 1005, electromagnetic navigation sensor 1006, chassis platform frame 1007, lower sliding guide rail 1008, lower sliding guide block 1009, lower sliding wheel 1010, lower sliding bolt 1011, front scissor support rod 1012, lower fixed seat 1013, lower fixed bolt 1014, rear scissor support rod 1015, hydraulic station drive motor 1016, hydraulic station 1017, and electric... The device comprises a pool 1018, a bottom transverse support rod 1019, a primary hydraulic telescopic rod fixing seat 1020, a primary hydraulic telescopic rod 1021, a secondary hydraulic telescopic rod 1022, a secondary hydraulic telescopic rod fixing seat 1023, a middle transverse support rod 1024, a central rotating shaft 1025, an upper fixing seat 1026, an upper fixing bolt 1027, an upper sliding guide rail 1028, an upper sliding guide block 1029, an upper sliding wheel 1030, an upper sliding bolt 1031, a top transverse support rod 1032, a loading platform 1033, and a forklift 1034. Wheels 1001 are mounted at both ends of the front axle 1003 and the rear axle 1004, providing mobility for the device. The chassis frame 1002, mounted above the front axle 1003 and the rear axle 1004, features a diagonal support structure and provides overall support for the device. The front axle 1003 is connected to the wheels 1001 at both ends and to the chassis frame 1002 at its upper end, providing steering functionality via differential. The rear axle 1004 is connected to the wheels 1001 at both ends and to the chassis frame 1002 at its upper end, with an axle drive motor 1005 mounted in the middle, capable of driving the transport device forward or backward. The axle drive motor 1005 is mounted in the middle of the rear axle 1004, providing the drive source for the rear axle 1004.

[0052] like Figure 5As shown, the electromagnetic navigation sensor 1006 is installed at the center of the bottom of the chassis frame 1002, allowing it to travel along the magnetic conductor in scenarios where magnetic conductors are buried. The electromagnetic navigation sensor 1006 continuously detects parameters such as the magnetic signal intensity, offset angle, and offset distance of the ground magnetic conductor, transmitting the data to the control system (linked with the axle drive motor). The control system calculates the position deviation e(x) and angle deviation e(θ) between the current position and the target path, using these as inputs to the PID algorithm. The PID algorithm uses a proportional element to output a control quantity proportional to the magnitude of the deviation, an integral element to accumulate historical deviations and eliminate steady-state errors, and a derivative element to suppress overshoot based on the rate of change of the deviation, ultimately generating a control signal to drive the axle drive motor 1005. The axle drive motor 1005 corrects the travel path of the transport structure by adjusting the wheel speed of the rear axle 1004 or by using the differential steering function of the front axle 1003. For example, it adjusts the heading angle deviation e(θ) by adjusting the speed difference between the left and right wheels and adjusts the travel speed according to the position deviation e(x), forming a closed-loop control of "deviation detection - PID calculation - motor execution - path correction", so that the transport structure travels accurately along the magnetic conductor.

[0053] like Figure 4 , Figure 6 As shown, the chassis platform frame 1007 is mounted above the chassis frame 1002 and connected to the chassis frame 1002 by bolts, providing support for the structure mounted on the chassis platform frame 1007. The lower sliding guide rail 1008 is mounted on both sides above the chassis platform frame 1007 and connected to the chassis platform frame 1007 by bolts, providing a sliding guide rail for the lower sliding guide block 1009, enabling sliding in a defined direction. The lower sliding guide block 1009 has a trapezoidal cross-section, with one end engaged in the lower sliding guide rail 1008 and the other end in contact with the front scissor support rod 1012. The lower sliding wheels 1010 are distributed within the lower space of the front scissor support rod 1012 and are in contact with the chassis platform frame 1007. The lower sliding bolts 1011 connect the lower sliding guide block 1009, the lower sliding wheels 1010, and the front scissor support rod 1012. When the front scissor support rod 1012 moves, the lower sliding wheel 1010 simultaneously slides on the chassis platform frame 1007. Guided by the lower sliding guide rail 1008, the lower sliding guide block 1009 ultimately drives the front scissor support rod 1012 to move in a specific direction. The front scissor support rod 1012 is a hollow steel tube structure. Its lower end is connected to the lower sliding wheel 1010 and the lower sliding bolt 1011, its middle part is connected to the central rotating shaft 1025, and its upper end is connected to the upper fixed seat 1026 and the upper fixed bolt 1027, providing support for the loading platform 1033.

[0054] like Figure 4 , Figure 7As shown, the lower fixing seat 1013 is fixed to both sides above the chassis platform frame 1007 and connected to the lower fixing bolt 1014 and the rear scissor support rod 1015. The lower fixing bolt 1014 connects the lower fixing seat 1013 and the rear scissor support rod 1015, allowing the rear scissor support rod 1015 to rotate around the lower fixing seat 1013 with the lower fixing bolt 1014 as an axis. The rear scissor support rod 1015 is a hollow steel tube structure and is connected to the lower fixing seat 1013 via the lower fixing bolt 1014. The hydraulic station drive motor 1016 is mounted on the rear side above the chassis platform frame 1007 via a bracket and is driven by the battery 1018, providing the pressure source required by the hydraulic station 1017. The hydraulic station 1017 is mounted on the rear side above the chassis platform frame 1007 and is connected to the hydraulic station drive motor 1016 for pumping hydraulic oil to the first-stage hydraulic telescopic rod 1021. Battery 1018 is installed above the rear of chassis platform frame 1007, providing power to axle drive motor 1005 and hydraulic station drive motor 1016. Bottom transverse support rod 1019 is installed between two front scissor support rods 1012, and a primary hydraulic telescopic rod fixing seat 1020 is mounted on one side of its surface, providing support for the movement of primary hydraulic telescopic rod 1021. The primary hydraulic telescopic rod fixing seat 1020 is installed on one side of the bottom transverse support rod 1019 and connected to the primary hydraulic telescopic rod 1021, allowing the primary hydraulic telescopic rod 1021 to rotate within the primary hydraulic telescopic rod fixing seat 1020. One end of the primary hydraulic telescopic rod 1021 is connected to the primary hydraulic telescopic rod fixing seat 1020, and the other end is connected to the secondary hydraulic telescopic rod 1022. One end of the secondary hydraulic telescopic rod 1022 is connected to the primary hydraulic telescopic rod 1021, and the other end is connected to the secondary hydraulic telescopic rod fixing seat 1023. The secondary hydraulic telescopic rod 1022 is driven by the primary hydraulic telescopic rod 1021, and the driving source of the primary hydraulic telescopic rod 1021 comes from the hydraulic station 1017. The secondary hydraulic telescopic rod fixing seat 1023 is installed on one side of the surface of the middle transverse support rod 1024 and is used to connect the secondary hydraulic telescopic rod 1022, so that the secondary hydraulic telescopic rod 1022 can rotate in the secondary hydraulic telescopic rod fixing seat 1023. The middle transverse support rod 1024 is installed between the two rear scissor support rods 1015, and the secondary hydraulic telescopic rod fixing seat 1023 is installed on one side of its surface to provide support for the movement of the secondary hydraulic telescopic rod 1022. The central pivot 1025 is installed at the center of the front scissor support rod 1012 and the rear scissor support rod 1015, connecting the two so that the front scissor support rod 1012 and the rear scissor support rod 1015 can rotate around the central pivot 1025.

[0055] like Figure 4 , Figure 8As shown, the upper fixed seat 1026 is fixed to the lower surface of the loading platform 1033 and connected to the front scissor support rod 1012 via an upper fixing bolt 1027, allowing the front scissor support rod 1012 and the upper fixed seat 1026 to rotate around the upper fixing bolt 1027. The upper fixing bolt 1027 connects the front scissor support rod 1012 to the upper fixed seat 1026. The upper sliding guide rail 1028 is installed on both sides of the lower surface of the loading platform 1033 and connected to the loading platform 1033 via bolts, providing a sliding guide rail for the upper sliding guide block 1029 to achieve sliding in a defined direction. The upper sliding guide block 1029 has a trapezoidal cross-section, with one end engaged in the upper sliding guide rail 1028 and the other end in contact with the rear scissor support rod 1015. The upper sliding wheels 1030 are distributed within the upper space of the rear scissor support rod 1015 and contact the bottom of the loading platform 1033. The upper sliding bolts 1031 connect the rear scissor support rod 1015, the upper sliding guide block 1029, and the upper sliding wheels 1030. When the rear scissor support rod 1015 moves, the upper sliding wheels 1030 simultaneously slide at the bottom of the loading platform 1033, and the upper sliding guide block 1029, guided by the upper sliding guide rail 1028, ultimately drives the rear scissor support rod 1015 to move in a specific direction. The top transverse support rod 1032 is installed between the tops of the two rear scissor support rods 1015, ensuring structural stability. The bottom of the loading platform 1033 is connected to the upper fixed seat 1026 and the upper sliding guide rail 1028, and materials can be loaded on top. The forklift 1034 is connected to the front of the loading platform 1033 by bolts. The surface of the forklift 1034 is covered with anti-slip markings to prevent slippage during material handling.

[0056] like Figure 2 As shown, the pallet structure 2000 consists of pallets with materials stacked on top, which can be moved by the handling structure 1000.

[0057] like Figure 9 , Figure 10As shown, the shelving structure 3000 consists of casters 3001, a bottom frame 3002, a primary electric push rod 3003, a secondary electric push rod 3004, a push rod connecting shaft 3005, a push rod connecting plate 3006, a guide groove 3007, a push plate connecting shaft 3008, a storage platform 3009, a rotating shaft 3010, a limiting pad 3011, and anti-slip markings 3012. The casters 3001 are installed around the bottom of the bottom frame 3002, allowing the shelving structure 3000 to move flexibly. The bottom frame 3002 of the shelf has a pivot 3010 on its front side, a limiting pad 3011 on its top, and primary electric push rods 3003 and guide grooves 3007 on its sides, providing support for the pallet structure 2000 and the materials it carries. Additionally, the bottom frame 3002 has anti-slip markings 3012 to prevent relative sliding between the bottom of the bottom frame 3002 and the surface of the platform 1033 when the bottom of the bottom frame 3002 is lifted by the carrying platform 1033 in the handling structure 1000. The primary electric push rods 3003 are installed on opposite sides of the bottom frame 3002, with one end connected to a secondary electric push rod 3004. The secondary electric push rod 3004 is also connected to the primary electric push rod 3003 and can be driven by the primary electric push rod 3003. The push rod connecting shaft 3005 connects the secondary electric push rod 3004 to the push rod connecting plate 3006, allowing the secondary electric push rod 3004 and the push rod connecting plate 3006 to rotate relative to each other around the push rod connecting shaft 3005. One end of the push rod connecting plate 3006 is connected to the secondary electric push rod 3004, and the other end is connected to the push plate connecting shaft 3008. Guide grooves 3007 are distributed on opposite sides of the bottom frame 3002 of the shelf, into which the push rod connecting shaft 3005 can be embedded to achieve directional movement. The push plate connecting shaft 3008 is installed on opposite sides of the shelf platform 3009 and can be connected to the push rod connecting plate 3006, allowing the push rod connecting plate 3006 to rotate at the push plate connecting shaft 3008. A rotating shaft 3010 is provided at the front end of the shelf platform 3009, which is rotatably connected to the front end of the bottom frame 3002 of the shelf, enabling the rotation of the shelf platform 3009. The limiting pads 3011 are located on the rear side above the bottom frame 3002 of the shelf, which can keep the upper surface of the shelf platform 3009 parallel to the upper surface of the bottom frame 3002 of the shelf in the natural state.

[0058] The following is in conjunction with the appendix Figure 1 To be continued Figure 10 The material handling method of the material handling device described in this utility model will be described in detail below:

[0059] S1. Material Handling: Before the handling operation, the materials are stacked on the pallet structure 2000. Then, the handling structure 1000 moves to the front of the pallet structure 2000 and continues to move forward, extending the forks 1034 to the bottom of the pallet structure 2000. Subsequently, the secondary hydraulic telescopic rod 1022, located in the primary hydraulic telescopic rod 1021, extends out from the primary hydraulic telescopic rod 1021 under the drive of the hydraulic station 1017. The angle between the front scissor support rod 1012 and the rear scissor support rod 1015 increases, and they rotate around the central axis 1025. The lower sliding wheel 1010 and the upper sliding wheel 1030 move under the guidance of the lower sliding guide block 1009 and the upper sliding guide block 1029, respectively. This ultimately achieves the lifting of the loading platform 1033.

[0060] S2. Material Loading: After the material is lifted by the forklift 1034, it is then transported by the handling structure 1000 to the front of the rack structure 3000. Initially, the rack platform 3009 is horizontal. Then, the handling structure 1000 continues to approach the rack structure 3000, placing the pallet structure 2000 and the material together on top of the rack platform 3009. The pallet and material are then manually secured to the rack platform 3009 using ropes. Subsequently, the forklift 1034 is removed from the rack structure 3000, the secondary hydraulic telescopic rod 1022 in the handling structure 1000 retracts, and the loading platform 1033 returns to its lowest height and is horizontal. The handling structure 1000 then enters the bottom of the rack structure 3000. At this time, the secondary hydraulic telescopic rod 1022 extends, the loading platform 1033 rises, lifting the rack structure 3000, and then transporting the material to the designated location.

[0061] S3. Material Pouring: After the material is transported to the designated location, the secondary hydraulic telescopic rod 1022 in the handling structure 1000 retracts, the loading platform 1033 descends, and the shelving structure 3000 is released to the ground. Subsequently, if it is necessary to pour the material, the secondary electric push rod 3004 located in the primary electric push rod 3003 extends, driving the shelving platform 3009 to tilt forward through the push rod connecting plate 3006, thus realizing the material pouring function. After the material is poured, the secondary electric push rod 3004 retracts, and the shelving platform 3009 returns to a horizontal position.

[0062] S4. Magnetic Tracking: The chassis frame 1002 in the transport structure 1000 is equipped with an electromagnetic navigation sensor 1006. If a magnetic wire is buried in a large factory, the electromagnetic navigation sensor 1006 can detect the magnetic signal strength, offset angle, and offset distance. The PID algorithm controls the axle drive motor 1005 to achieve magnetic tracking, which meets the transportation needs of a specific route.

[0063] As described above, the handling structure 1000, pallet structure 2000, and shelf structure 3000 of this utility model work together to achieve an efficient, precise, and safe material handling process, further improving the automation level and overall efficiency of the material handling process, and meeting the diverse material handling needs in different work scenarios.

[0064] Therefore, although the present invention has been described herein with reference to specific embodiments thereof, freedom of modification, various changes and substitutions are also within the scope of the above disclosure, and it should be understood that in some cases, certain features of the present invention may be adopted without departing from the scope and spirit of the invention and without corresponding use of other features. Thus, many modifications can be made to adapt a particular environment or material to the essential scope and spirit of the present invention. The present invention is not intended to be limited to the specific terms used in the following claims and / or the specific embodiments disclosed as the best mode of carrying out the present invention, but the present invention will include any and all embodiments and equivalents falling within the scope of the appended claims. Therefore, the scope of the present invention will be determined only by the appended claims.

Claims

1. A material handling device, characterized in that, This includes pallet structures, shelving structures, and handling structures that work together. The pallet structure is used to carry stacked materials; The shelf structure includes a bottom frame of the shelf, casters mounted on the lower end of the bottom frame of the shelf, and a shelf platform mounted on the upper end of the bottom frame of the shelf and rotatably connected to the bottom frame of the shelf on one side. The shelf platform is pushed by an electric push rod assembly mounted on the bottom frame of the shelf to realize the lifting and lowering of the shelf platform. The handling structure includes a chassis frame, wheels mounted on the lower end of the chassis frame, a chassis platform frame mounted on the chassis frame, a hydraulic lifting frame mounted on the chassis platform frame, and a loading platform mounted on the hydraulic lifting frame. The loading platform is equipped with forks at the front for transporting pallet structures carrying materials to the loading platform of the storage rack structure and transporting the materials together with the pallet structure and the storage rack structure to a designated location.

2. The material handling device according to claim 1, characterized in that, The electric push rod assembly includes a primary electric push rod installed on opposite sides of the bottom frame of the shelf and a secondary electric push rod connected to the primary electric push rod. The secondary electric push rod is driven by the primary electric push rod. The secondary electric push rod is connected to one end of a push rod connecting plate via a push rod connecting shaft, which allows the secondary electric push rod and the push rod connecting plate to rotate relative to each other around the push rod connecting shaft. The other end of the push rod connecting plate is connected to a push plate connecting shaft, which is installed on the side of the shelf platform. Guide grooves are provided on opposite sides of the bottom frame of the shelf for the push rod connecting shaft to be embedded therein to achieve directional movement.

3. The material handling device according to claim 2, characterized in that, The bottom frame of the shelf is rotatably connected to the shelf platform via a pivot; the bottom frame of the shelf is provided with anti-slip markings to prevent relative sliding between the bottom of the bottom frame and the surface of the shelf platform after the bottom of the bottom frame of the shelf is lifted by the carrying platform in the transport structure.

4. The material handling device according to claim 1, characterized in that, The wheels are respectively installed at both ends of the front axle and the rear axle, the chassis frame is installed on the upper end of the front axle and the rear axle, and the axle drive motor is installed in the middle of the rear axle to provide a drive source for the rear axle.

5. The material handling device according to claim 1, characterized in that, The hydraulic lifting frame includes a front scissor support rod and a rear scissor support rod connected to each other. Lower sliding guide rails are installed on both sides above the chassis platform frame. One end of the lower sliding guide block is engaged in the lower sliding guide rail, and the other end contacts the front scissor support rod. A lower sliding wheel is installed in the lower space of the front scissor support rod, and the lower sliding wheel contacts the chassis platform frame. The lower sliding bolt connects the lower sliding guide block, the lower sliding wheel, and the front scissor support rod.

6. The material handling device according to claim 5, characterized in that, The chassis platform frame has a lower fixing seat installed on the upper end of the side away from the front scissor support rod, and the lower fixing seat is connected to the rear scissor support rod by a lower fixing bolt. A bottom transverse support rod is installed between the two front scissor support rods. A first-stage hydraulic telescopic rod fixing seat is installed on the bottom transverse support rod. A first-stage hydraulic telescopic rod is installed on the first-stage hydraulic telescopic rod fixing seat. The first-stage hydraulic telescopic rod rotates in the first-stage hydraulic telescopic rod fixing seat. The primary hydraulic telescopic rod is connected to the secondary hydraulic telescopic rod, the secondary hydraulic telescopic rod is connected to the secondary hydraulic telescopic rod fixing seat, and the secondary hydraulic telescopic rod is driven by the primary hydraulic telescopic rod; A central transverse support rod is installed between the two rear scissor support rods. A secondary hydraulic telescopic rod fixing seat is installed on the central transverse support rod for connecting the secondary hydraulic telescopic rod, so that the secondary hydraulic telescopic rod can rotate in the secondary hydraulic telescopic rod fixing seat.

7. The material handling device according to claim 5, characterized in that, A central pivot is installed at the center of the front scissor support rod and the rear scissor support rod, allowing the front scissor support rod and the rear scissor support rod to rotate around the central pivot.

8. The material handling device according to claim 7, characterized in that, The lower surface of the loading platform is equipped with an upper fixed seat, which is connected to the front scissor support rod by an upper fixing bolt, so that the front scissor support rod and the upper fixed seat can rotate around the upper fixing bolt. The lower surface of the loading platform is equipped with upper sliding guide rails on both sides. One end of the upper sliding guide block is locked in the upper sliding guide rail, and the other end is in contact with the rear scissor support rod. An upper sliding wheel is installed in the upper space of the rear scissor support rod. The upper sliding wheel is in contact with the bottom of the loading platform. The upper sliding bolt connects the rear scissor support rod, the upper sliding guide block and the upper sliding wheel.

9. The material handling device according to claim 1, characterized in that, The forks are covered with anti-slip markings to prevent slippage during material handling.

10. The material handling device according to claim 7, characterized in that, An electromagnetic navigation sensor is installed at the center of the bottom of the chassis frame.

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