A large stroke heavy goods push-pull mechanism and an industrial handling vehicle

Abstract

This utility model provides a push-pull mechanism for long-stroke heavy-duty goods. The mechanism includes a cargo platform for carrying goods, a track, a slide, a rigid chain, and a robotic arm. The cargo platform is equipped with a track, and a slide is mounted on the track, connected to the robotic arm. The rigid chain drives the slide to reciprocate along the track. An industrial handling vehicle, based on a cargo handling vehicle, also includes the aforementioned push-pull mechanism for long-stroke heavy-duty goods. Two cargo platforms are included, each connected to a lifting mechanism at its lower part. The two cargo platforms are mounted on a mobile frame. This utility model's push-pull mechanism for long-stroke heavy-duty goods and industrial handling vehicle can automatically push goods into shelves, and automatically retract the robotic arm after pushing, saving time and effort and improving work efficiency. The two cargo platforms allow for the pushing of large goods, and the two rigid chains push the goods synchronously, resulting in greater stability.

Description

Technical Field

[0001] This utility model belongs to the field of industrial handling vehicles, and in particular relates to a push-pull mechanism for long-stroke heavy cargo and an industrial handling vehicle. Background Technology

[0002] Industrial handling vehicles are widely used in ports, railway stations, airports, freight yards, factory workshops, warehouses, distribution centers, and other locations for loading, unloading, and handling palletized goods within ship holds, carriages, and containers. They are indispensable equipment in palletized and containerized transport. Industrial handling vehicles typically consist of a mobile chassis, a cargo-carrying platform, and a cargo-lifting mechanism. The mobile chassis moves the goods, and the platform lifting mechanism raises or lowers the cargo-carrying platform, enabling loading, unloading, and handling operations. However, when goods need to be placed on shelves, they must be manually pushed into the shelves, which is time-consuming and labor-intensive for large items. Utility Model Content

[0003] In view of this, the present invention aims to provide a push-pull mechanism for heavy-duty goods with a long stroke and an industrial handling vehicle, which is suitable for loading, unloading and handling of large goods, and can automatically push the goods into the shelf, saving time and effort and improving work efficiency.

[0004] To achieve the above objectives, the technical solution of this utility model is implemented as follows: In a first aspect, this utility model provides a push-pull mechanism for heavy-duty cargo with a long stroke. The push-pull mechanism for heavy-duty cargo with a long stroke includes a cargo platform for carrying cargo, as well as a track, a slide, a rigid chain, and a robot arm. The cargo platform is provided with a track, a slide is mounted on the track, and the slide is connected to the robot arm. The rigid chain drives the slide to reciprocate along the track. The rigid chain includes a chain, a sprocket, a chain storage box, and a first motor; the first motor drives the sprocket to rotate, and the chain meshes with the sprocket; the pushing section of the chain is arranged along the track, and the storage section of the chain is arranged in the chain storage box; the robotic arm includes a claw arm and a claw hook, and the front end of the claw arm is connected to the claw hook; the cargo is provided with a robotic arm groove, and the robotic arm groove is correspondingly arranged with the robotic arm.

[0005] Furthermore, the cargo is equipped with a connector, a rubber pad is provided on the front end face of the connector, the groove of the robot arm is a straight groove formed on the connector, a limiting block is provided below the robot arm, and the end face of the limiting block abuts against the rubber pad; a pressure sensor is provided on the limiting block.

[0006] Furthermore, the robotic arm also includes a base, a gantry, a transmission component, and a second motor; the gantry is mounted on the base, and the claw arm and claw hook are arranged below the gantry, with the claw hook arranged vertically downwards; the transmission component includes a lead screw, a nut, a slider, and a second motor transmission gear, with one end of the lead screw mounted on the base and the other end connected to the gantry, and a nut fitted on the lead screw, the nut being connected to the claw arm via a first slider, and the second motor driving the lead screw to rotate via the second motor transmission gear.

[0007] Furthermore, the robotic arm also includes a position sensor mounted on the gantry for collecting position signals of the gripper arm.

[0008] Furthermore, it also includes a PLC controller, the signal input terminal of which is connected to the position sensor and the pressure sensor, and the signal output terminal of which is connected to the first motor and the second motor.

[0009] Secondly, this utility model provides an industrial handling vehicle, based on a cargo handling vehicle, including the aforementioned push-pull mechanism for long-stroke heavy cargo, and the cargo platform includes two cargo platforms arranged side by side with intervals between them, each cargo platform being provided with a track, a rigid chain, a motor and a robotic arm.

[0010] Furthermore, each of the cargo platforms is connected to a lifting mechanism at its lower part, the lifting mechanism comprising a hydraulic lifting mechanism and a rigid chain lifting mechanism, the lifting mechanism being used to drive the cargo platform to reciprocate vertically.

[0011] Furthermore, it also includes a mobile frame, on which two cargo platforms are mounted, and the two cargo platforms are mounted on the same horizontal plane.

[0012] Compared with existing technologies, the push-pull mechanism for long-stroke heavy cargo and the industrial handling vehicle described in this utility model have the following advantages: (1) The push-pull mechanism for heavy cargo with long stroke described in this utility model can automatically push the cargo into the shelf, saving time and effort and improving work efficiency; it solves the problem of the time and effort required to manually push the cargo into the shelf.

[0013] (2) The push-pull mechanism for heavy cargo with long stroke described in this utility model is suitable for handling large cargo and can automatically push the cargo into the shelf, adapt to shelves of different heights, and make the transfer of large cargo more stable. Attached Figure Description

[0014] The accompanying drawings, which form part of this utility model, are used to provide a further understanding of the utility model. The illustrative embodiments of the utility model and their descriptions are used to explain the utility model and do not constitute an undue limitation of the utility model. In the drawings: Figure 1 This is a schematic diagram of the push-pull mechanism structure described in an embodiment of the present utility model; Figure 2 This is a schematic diagram of the robotic arm groove and the robotic arm structure according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the robotic arm structure described in an embodiment of the present invention; Figure 4 This is a schematic diagram of the industrial handling vehicle structure described in an embodiment of the present utility model; Figure 5 This is a schematic diagram illustrating the usage state of the industrial handling vehicle described in this embodiment of the utility model; Figure 6 This is a schematic diagram of the rigid chain structure described in an embodiment of the present invention.

[0015] Explanation of reference numerals in the attached figures: 1-Cargo platform; 2-Railway; 4-Slide table; 5-Rigid chain; 6-First motor; 7-Robot arm; 10-Lifting mechanism; 11-Mobile frame; 12-Pressure sensor; 13-Limit block; 14-Connector; 15-Robot arm groove; 16-Cargo; 17-Rubber pad; 20-Base; 21-Claw hook; 22-Claw arm; 23-Position sensor; 24-Gantry; 25-Second motor; 26-Nut; 27-Slider; 28-Lead screw; 29-Second motor transmission gear; 30-Shelf; 501-Chain storage box; 502-Chain storage segment; 503-Chain pushing segment; 504-Sprocket. Detailed Implementation

[0016] It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0017] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0018] like Figures 1 to 3 As shown, the system includes a cargo platform 1 for carrying goods, a track 2, a slide 4, a rigid chain 5, and a robotic arm 7. The cargo platform 1 is provided with the track 2, the slide 4 is mounted on the track 2, and the slide 4 is connected to the robotic arm 7. The rigid chain 5 drives the slide 4 to reciprocate along the track 2. like Figure 6As shown, the rigid chain 5 includes a chain, a sprocket 504, a chain storage box 501, and a first motor 6; the first motor 6 drives the sprocket 504 to rotate, and the chain meshes with the sprocket 504; the pushing section 503 of the chain is arranged along the track 2, and the storage section 502 of the chain is arranged in the chain storage box 501; the robotic arm 7 includes a claw arm 22 and a claw hook 21, and the front end of the claw arm 22 is connected to the claw hook 21; the cargo 16 is provided with a robotic arm groove 15, and the robotic arm groove 15 is correspondingly arranged with the robotic arm 7.

[0019] The working principle of the push-pull mechanism for long-stroke heavy goods is as follows: When pushing goods, the first motor drives the rigid chain 5. A slide 4 is installed on the pushing section 503 of the chain, which drives the slide 4 to move back and forth along the track 2. A robotic arm 7 is installed on the slide 4. The claw hook 21 of the robotic arm 7 hooks the robotic arm groove 15 on the goods 16 and pushes the goods into the shelf, saving time and effort and improving work efficiency. Among them, the rigid chain 5 has the advantages of long stroke and small footprint.

[0020] The cargo 16 is equipped with a connector 14, and a rubber pad 17 is provided on the front end face of the connector 14. The robotic arm groove 15 is a straight groove formed on the connector 14. A limiting block 13 is provided below the robotic arm 7, and the end face of the limiting block 13 abuts against the rubber pad 17. A pressure sensor 12 is provided on the limiting block 13. When pushing the cargo, the end face of the limiting block 13 abuts against the rubber pad 17, and the limiting block 13 is subjected to pressure. The pressure sensor 12 collects the pressure data. The PLC controller determines whether the cargo is being pushed based on the signal collected by the pressure sensor 12. Furthermore, when the cargo is pushed to the inner wall of the shelf, the pressure increases, and the PLC controller determines whether the cargo is being pushed to the inner wall of the shelf based on the pressure increase signal collected by the pressure sensor 12.

[0021] The robotic arm 7 also includes a base 20, a gantry 24, a transmission component, and a second motor 25. The gantry 24 is mounted on the base 20, and the claw arm 22 and claw hook 21 are arranged below the gantry 24. The claw hook 21 is arranged vertically downward. The transmission component includes a lead screw 28, a nut 26, a slider 27, and a second motor transmission gear 29. One end of the lead screw 28 is located on the base 20, and the other end of the lead screw 28 is connected to the gantry 24. The nut 26 is fitted on the lead screw 28, and the nut 26 is connected to the claw arm 22 through the first slider 27. The second motor 25 drives the lead screw 28 to rotate through the second motor transmission gear 29. When the robotic arm hooks a cargo, the second motor 25 is activated. The second motor 25, through the second motor transmission gear 29, drives the lead screw 28 to rotate. The lead screw 28 then drives the nut 26 and the slider 27 to rise, thus raising the robotic arm 7. As the cargo approaches the robotic arm, the robotic arm groove 15 moves below the robotic arm 7, and the second motor 25 is activated again, causing the robotic arm 7 to descend. The claw hook 21 engages and extends into the robotic arm groove 15 to hook the cargo. Similarly, when the pushing is complete, the robotic arm 7 rises, and the first motor drives the rigid chain to move the robotic arm along the track 2, retracting the robotic arm.

[0022] The robotic arm 7 also includes a position sensor 23, which is mounted on the gantry 24 and is used to collect the position signal of the gripper arm 22. The position sensor 23 is a proximity switch. When the robotic arm rises, the goods are in an unlocked state. The PLC controller determines whether the goods are in an unlocked state based on the signal from the position sensor 23.

[0023] It also includes a PLC controller, whose signal input terminals are connected to the position sensor 23 and the pressure sensor 12, and whose signal output terminals are connected to the first motor 6 and the second motor 25. The PLC controller controls the start and stop of the first motor 6 and the second motor 25 based on the signals collected by the position sensor 23 and the pressure sensor 12.

[0024] like Figures 4 to 5 As shown, this embodiment also provides an industrial handling vehicle, based on a cargo handling vehicle, including the aforementioned push-pull mechanism for long-stroke heavy cargo. The cargo platform 1 includes two platforms, arranged side-by-side with intervals between them. Each cargo platform 1 is equipped with a track 2, a rigid chain 5, a motor 6, and a robotic arm 7. The two cargo platforms 1 allow for the pushing of large cargo, and the two rigid chains 5 push the cargo synchronously, resulting in greater stability.

[0025] Each of the cargo platforms 1 is connected to a lifting mechanism 10 at its lower part. The lifting mechanism 10 includes a hydraulic lifting mechanism and a rigid chain lifting mechanism. The lifting mechanism 10 is used to drive the cargo platform 1 to reciprocate vertically. In this embodiment, a rigid chain lifting mechanism is preferred. The rigid chain lifting mechanism relies on the traction motion of a rigid chain. Typically, an electric motor drives the chain through a reducer. One end of the chain is fixed to the bottom of the lifting platform, and the other end is fixed to the power system, thereby realizing the lifting action of the cargo platform 1 to adapt to shelves of different heights.

[0026] It also includes a mobile frame 11, on which two cargo platforms 1 are mounted, and the two cargo platforms 1 are positioned on the same horizontal plane. The two cargo platforms 1 are used to simultaneously carry a large cargo, making the transfer of large cargo more stable.

[0027] like Figure 5 As shown, an industrial handling vehicle transports goods to the shelf 30. The lifting mechanism 10 raises the loading platform 1 to the shelf. The robotic arm 7 of the push-pull mechanism hooks the goods, and the first motor 6 drives the robotic arm 7 via a rigid chain, pushing the goods into the shelf 30. When the goods reach the inner wall of the shelf, the PLC controller stops the first motor 6 based on the signal collected by the pressure sensor 12. After pushing is complete, the robotic arm 7 rises, and the first motor drives the rigid chain to move the robotic arm 7 along the track 2, retracting the robotic arm. Using an industrial handling vehicle can transfer goods and automatically push them into the shelf, automatically retracting the robotic arm after pushing, saving time and effort and improving work efficiency.

[0028] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A large stroke heavy goods push-pull mechanism comprising a load carrying platform (1) for carrying goods, characterised in that: It also includes a track (2), a slide (4), a rigid chain (5) and a robot (7). The cargo platform (1) is provided with a track (2), the slide (4) is mounted on the track (2), and the slide (4) is connected to the robot (7); the rigid chain (5) drives the slide (4) to move back and forth along the track (2); The rigid chain (5) includes a chain, a sprocket (504), a chain storage box (501), and a first motor (6); the first motor (6) drives the sprocket (504) to rotate, and the chain meshes with the sprocket (504); the pushing section (503) of the chain is set along the track (2), and the storage section (502) of the chain is set in the chain storage box (501); the robotic arm (7) includes a claw arm (22) and a claw hook (21), and the front end of the claw arm (22) is connected to the claw hook (21); the cargo (16) is provided with a robotic arm groove (15), and the robotic arm groove (15) is correspondingly set with the robotic arm (7).

2. The large stroke heavy goods push-pull mechanism according to claim 1, characterized in that: The cargo (16) is provided with a connector (14), and a rubber pad (17) is provided on the front end face of the connector (14). The groove (15) of the robot arm is a straight groove opened on the connector (14). A limiting block (13) is provided below the robot arm (7), and the end face of the limiting block (13) abuts against the rubber pad (17). A pressure sensor (12) is provided on the limiting block (13).

3. The large stroke heavy goods push-pull mechanism according to claim 2, characterized in that: The robotic arm (7) also includes a base (20), a gantry (24), a transmission component, and a second motor (25); the gantry (24) is mounted on the base (20), and the claw arm (22) and claw hook (21) are arranged below the gantry (24), with the claw hook (21) arranged vertically downward; the transmission component includes a lead screw (28), a nut (26), a slider (27), and a second motor transmission gear (29), with one end of the lead screw (28) set on the base (20) and the other end of the lead screw (28) connected to the gantry (24), and the nut (26) fitted on the lead screw (28), the nut (26) being connected to the claw arm (22) through the first slider (27), and the second motor (25) driving the lead screw (28) to rotate through the second motor transmission gear (29).

4. The large stroke heavy goods push-pull mechanism according to claim 3, characterized in that: The robotic arm (7) also includes a position sensor (23), which is mounted on the gantry (24) and is used to collect the position signal of the claw arm (22).

5. The large stroke heavy goods push-pull mechanism according to claim 4, characterized in that: It also includes a PLC controller, the signal input terminal of which is connected to the position sensor (23) and the pressure sensor (12), and the signal output terminal of which is connected to the first motor (6) and the second motor (25).

6. An industrial handling vehicle, based on a cargo handling vehicle, characterized by: The push-pull mechanism for long-stroke heavy cargo as described in any one of claims 1 to 5 includes two cargo platforms (1), which are arranged side by side with intervals between each other. Each cargo platform (1) is provided with a track (2), a rigid chain (5), a first motor (6) and a robot (7).

7. The industrial vehicle of claim 6, wherein: Each of the cargo platforms (1) is connected to a lifting mechanism (10) at its lower part. The lifting mechanism (10) includes a hydraulic lifting mechanism and a rigid chain lifting mechanism. The lifting mechanism (10) is used to drive the cargo platform (1) to reciprocate in a vertical manner.

8. The industrial vehicle of claim 6, wherein: It also includes a mobile frame (11), on which two cargo platforms (1) are provided, and the two cargo platforms (1) are located on the same horizontal plane.

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