CN107188088B - Combined loading and unloading device and loading and unloading method for overweight or overlong object in container - Google Patents
Combined loading and unloading device and loading and unloading method for overweight or overlong object in container Download PDFInfo
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- CN107188088B CN107188088B CN201710487573.5A CN201710487573A CN107188088B CN 107188088 B CN107188088 B CN 107188088B CN 201710487573 A CN201710487573 A CN 201710487573A CN 107188088 B CN107188088 B CN 107188088B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07568—Steering arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07572—Propulsion arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/22—Hydraulic devices or systems
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- Geology (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Vehicle Body Suspensions (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention discloses a combined loading and unloading device and a loading and unloading method of an overweight or overlong object in a container, wherein the device consists of a master vehicle for loading and unloading the container integrally and a sub-vehicle for loading and unloading materials in the container; the primary vehicle comprises a primary vehicle body, a lifting mechanism, a combined lifting appliance and a primary vehicle control mechanism; the hoisting mechanism is arranged on a frame of the main vehicle body, and the combined lifting appliance comprises a suspension lifting appliance frame and a telescopic combined lifting appliance; the control mechanism comprises a hydraulic control assembly and an electric control assembly; the sub-vehicle comprises a sub-vehicle body, a front fork mechanism, a rear fork mechanism and a sub-vehicle lifting control device; the sub-vehicle lifting control device is connected with the lifting unit and controls the lifting unit to move upwards and downwards or lock. The combined loading and unloading device and the loading and unloading method can simultaneously meet the loading and unloading operation of the container body, the overweight box-shaped object and the overlong object in the container and the like through the independent or cooperative work of the separable sub-vehicle and the main vehicle, and avoid the inconvenience of loading and unloading the overweight and overlong object in the prior art.
Description
Technical Field
The invention relates to hoisting, loading and unloading mechanical equipment, in particular to a combined loading and unloading device and a loading and unloading method of an overweight or overlong object in a container.
Background
At present, container-based transportation at home and abroad is vigorously promoted and vigorously developed, mature machinery and equipment are provided for the integral loading and unloading of containers in the prior art, and the following two methods are used for how goods are loaded and unloaded into and out of the containers:
1. the container is loaded and unloaded from the special vehicle carrier to the ground, and then the small light cargo is loaded and unloaded by using equipment such as a forklift. The method has the disadvantages that large-scale special hoisting equipment is needed on site, and the price investment is not high; meanwhile, since the forklift which can enter the container for loading and unloading operations has limited load, there is no particularly effective method for loading and unloading overweight box-shaped objects and overlong materials.
2. The container is not loaded and unloaded to the ground from a special vehicle carrier, a slope type boarding bridge is directly used for butting a box port, and equipment such as a forklift is used for entering the box to load and unload small light goods. The method also has the defects that the loading and unloading difficulty of the overweight box-shaped object and the overlong material is not small, and the forklift equipment cannot effectively complete the loading and unloading task; as a result, large forklifts or other lifting devices are typically used to place a portion of the cargo into the opening and forklifts or other tools are typically used to push the cargo into the container, which results in damage to the container floor, the inability of the container to reach the closed end at one time, the inability of the long item to be restocked, and the like.
Therefore, the invention designs a combined loading and unloading device which can simultaneously meet the loading and unloading operations of a container body, an overweight box-shaped object, an overlong object and the like in a container cabinet, and a loading and unloading method of a container and an object in the container.
Disclosure of Invention
The invention aims to provide a combined loading and unloading device capable of simultaneously meeting loading and unloading operations of a container body, an overweight box-shaped object, an overlong material and the like in the container and a loading and unloading method of the overweight or overlong object in the container.
In order to achieve the purpose, the invention adopts the following scheme:
a combined loading and unloading device is composed of a main vehicle for loading and unloading a container integrally and a sub-vehicle for loading and unloading materials in the container;
the primary vehicle comprises a primary vehicle body, a lifting mechanism, a combined lifting appliance and a primary vehicle control mechanism;
the main vehicle body consists of a frame, struts and moving wheels, wherein each strut is matched with the frame, and the moving wheels are arranged at the foot parts of the struts;
the lifting mechanism is arranged on a frame of a mother vehicle body and consists of two groups of lifting components and two auxiliary rods, wherein each group of lifting components consists of a lifting oil cylinder, a bearing support, a head balance beam, two horizontal pulleys, two vertical pulleys and two load ropes; the auxiliary rod is fixedly arranged on the frame, one end of the bearing support is fixedly arranged on the auxiliary rod, the other end of the bearing support is fixedly connected with one end of a lifting oil cylinder, and the other end of the lifting oil cylinder is connected with a head balance beam with two connecting ends; the two horizontal pulleys are horizontally arranged on the other auxiliary rod, and the two vertical pulleys are vertically arranged on a frame of the primary vehicle; one load rope is led out from one connecting end of the head balance beam and passes through the vertical pulley closest to the head balance beam, and the other load rope is led out from the other connecting end of the head balance beam and passes through the two horizontal pulleys in sequence and then passes through the other vertical pulley;
the combined lifting appliance comprises a suspension lifting appliance frame and a telescopic combined lifting appliance, wherein the suspension lifting appliance frame is connected with a load rope of a lifting mechanism, the telescopic combined lifting appliance is fixedly connected with the suspension lifting appliance frame, and the length of the telescopic combined lifting appliance can be adjusted to match containers of different specifications; the hanger frame is also provided with a connecting assembly, and the connecting assembly comprises a front end connecting unit of a sub-vehicle and a rear end connecting unit of the sub-vehicle;
the control mechanism comprises a hydraulic control assembly and an electric control assembly; the hydraulic control assembly is used for providing operation power for all mechanism devices, and the electric control assembly consists of a PLC (programmable logic controller) and a plurality of electric switch elements;
the sub-vehicle comprises a sub-vehicle body, a front fork mechanism, a rear fork mechanism and a sub-vehicle lifting control device;
the sub-vehicle body consists of a frame, struts and moving wheels, wherein each strut is matched with the frame, and the moving wheels are arranged at the foot parts of the struts; the front part of the frame is provided with a front sub-vehicle connecting piece connected with the front sub-vehicle connecting unit, the rear part of the frame is provided with a rear sub-vehicle connecting piece connected with the rear sub-vehicle connecting unit, and the front sub-vehicle connecting piece and the rear sub-vehicle connecting piece can be removably matched with the front sub-vehicle connecting unit and the rear sub-vehicle connecting unit of the combined lifting appliance;
the front fork mechanism is arranged at the front end of the sub-vehicle body frame and faces the front of the sub-vehicle, and the rear fork mechanism is arranged in the middle of the sub-vehicle body frame and faces the rear of the sub-vehicle; the front fork mechanism and the rear fork mechanism are respectively composed of an edge frame, a hoisting unit, a fork frame and a fork, the edge frame is arranged on a frame of the sub-vehicle body, the hoisting unit is arranged on the edge frame, the fork frame is arranged on the hoisting unit, and the fork is arranged on the fork frame; preferably, the rear fork mechanisms are arranged at certain intervals, so that a better bearing effect can be provided when the overlong object is loaded and unloaded;
the sub-vehicle lifting control device is connected with the lifting unit and controls the lifting unit to move upwards and downwards or lock.
The loading and unloading operation of the combined loading and unloading device can be seen in two parts, namely, the integral loading and unloading of the container (hereinafter referred to as container loading and unloading) and the loading and unloading of objects in the container (hereinafter referred to as object loading and unloading);
for box body loading and unloading, the controller is operated to disconnect the main vehicle and the sub-vehicle, namely, the connection between the front section connecting piece and the rear section connecting piece of the sub-vehicle and the front end connecting unit and the rear end connecting unit of the sub-vehicle of the combined lifting appliance is disconnected, the sub-vehicle is removed from the device, and the main vehicle is used independently; the size of the telescopic combined hanger of the master vehicle is adjusted to be matched with a container to be loaded and unloaded, the telescopic combined hanger grabs the container firmly and then the lifting device lifts the container, and the master vehicle moves the container to a target position and then slowly puts down the container, so that the loading and unloading operation of the box body is completed.
For loading and unloading objects, especially for loading and unloading overweight or overlong objects, the controller is firstly operated to firmly connect the parent vehicle and the child vehicle, and since the operations of unloading the objects from the container and loading the objects into the container in the process of loading and unloading the objects are opposite, the following description takes the unloading of the objects as an example; the mother vehicle lifts the child vehicle to a proper height (the moving wheels of the child vehicle are basically consistent with the bottom surface of the container) and moves to the opening of the container, the mother vehicle moves forward for a proper distance to enable the moving wheels at the front end of the child vehicle to fall on the bottom surface of the container, the connection between the front end of the child vehicle and the mother vehicle is disconnected, the mother vehicle moves forward to enable the child vehicle to be close to the object to be unloaded, the object to be unloaded is placed on the fork of the child vehicle, the object to be unloaded is placed on the fork of the front fork mechanism for the overweight object, the two ends of the object to be overlong are respectively arranged on the forks of the front fork mechanism and the rear fork mechanism, and the child vehicle lifting control device is operated to enable the fork to lift the object to a proper position; the primary vehicle starts to move backwards to the front end of the secondary vehicle, the primary vehicle can be connected with the primary vehicle, the pulley at the front end of the secondary vehicle does not leave the bottom surface of the container, the front end of the secondary vehicle is connected with the primary vehicle, the primary vehicle continues to move to a target position after firm connection is determined, and finally the secondary vehicle is put down by the lifting device, and the fork of the secondary vehicle descends to enable the object to be unloaded to the target position.
The above-described container body handling operation is not only directed to handling of empty containers, but also to handling of containers as a whole, in which no overweight or overlong objects are present in the container and need to be handled separately.
The combined loading and unloading device not only can actually carry out integral loading and unloading on the container like the traditional loading and unloading equipment, but also can independently realize the loading and unloading of materials through a sub-vehicle when an overweight or overlong object in the container needs to be loaded and unloaded; on one hand, the objects can be loaded and unloaded in batches in the loading and unloading process, and the whole is broken into parts, so that the loading and unloading of the overweight container can be completed under the condition of not using large-scale hoisting equipment; on the other hand, loading and unloading can be well finished for the overlong object, and stacking loading of the overlong object can be realized in the loading process, which cannot be realized by the traditional loading arrangement.
Preferably, the hoisting unit is a gear-type hoisting device or a chain-type hoisting device, the gear-type hoisting device is composed of a rack, a gear and a driving motor, the gear is connected with the driving motor, one of the rack and the gear is arranged on the side frame, and the other one of the rack and the gear is fixedly connected with the fork; the chain type hoisting device is composed of a load chain, a hydraulic oil cylinder and a rotating wheel, wherein one end of the hydraulic oil cylinder is arranged on the side frame, the other end of the hydraulic oil cylinder is connected with the rotating wheel, one end of the load chain is fixedly arranged on the side frame, and the other end of the load chain is fixedly connected with the fork frame. The gear type hoisting device or the chain type hoisting device with the structure is a better hoisting unit of the combined loading and unloading device.
Preferably, the mother vehicle is further provided with a left alignment device and a right alignment device, the left alignment device and the right alignment device are respectively arranged at the front part and the rear part of the frame, the left alignment device and the right alignment device are composed of a movable sleeve, an adjusting oil cylinder and an adjusting oil cylinder support, the movable sleeve is movably sleeved on a frame rod of the frame, one end of the adjusting oil cylinder is fixedly arranged on the movable sleeve, the other end of the adjusting oil cylinder is fixedly arranged on the frame through the adjusting oil cylinder support, the vertical pulley is fixedly arranged on the movable sleeve, and the two groups of left alignment devices and the right alignment devices move synchronously or asynchronously. The left and right aligning devices can more accurately adjust the position of the object to be loaded and unloaded in the loading and unloading process, thereby facilitating the loading and unloading of special objects under special conditions; in addition, the left and right adjustment, the front and back adjustment of the mother vehicle and the up and down adjustment of the lifting device can realize the random adjustment of the object, and the applicability is greatly enhanced.
Preferably, the frame of the mother vehicle body is rectangular, the number of the pillars is 4, the pillars are respectively arranged on two opposite sides, the number of the moving wheels is 3, the moving wheels are arranged in an isosceles triangle structure, one of the moving wheels is arranged on one side, and the other moving wheel is arranged on the other side, wherein the moving wheels which are arranged singly are respectively connected with the two pillars on the side through connecting pieces. The rectangular frame is convenient to manufacture and use, and the three landing points (namely 3 movable wheels) can be matched with various grounds, so that the unstable loading and unloading process caused by shaking due to uneven grounds is avoided.
Further, female car still includes hoisting device, hoisting device comprises hoist mechanism and telescopic support, telescopic support comprises telescopic connection's last post and lower post, hoist mechanism is lift cylinder, lift cylinder one end sets firmly other end and lower post fixed connection on female car frame. The lifting device can further increase the overall lifting effect of the mother vehicle, and the lifting device can work independently or cooperatively with the lifting device, and the specific use mode depends on actual needs.
Furthermore, the master vehicle also comprises a master vehicle running steering mechanism, and the master vehicle running steering mechanism comprises a double-wheel driving mechanism and a single-wheel driving mechanism; the double-wheel driving mechanism consists of a driving device, a wheel supporting structure and a steering synchronization mechanism, wherein the wheel supporting structure is fixedly connected with the foot part of the strut in a way that the wheel supporting structure can rotate around the central axis of the wheel supporting structure in a universal wheel type, a moving wheel on the double-wheel side is rotatably matched with the wheel supporting structure on the double-wheel side, the driving device is connected with the moving wheel, and the steering synchronization mechanism is connected with the wheel supporting structures on the two double-wheel side so as to enable the steering angles of the two wheel supporting structures to be matched; the single wheel driving mechanism consists of driving unit and wheel bearing structure, the single wheel side wheel bearing structure is fixed to the connecting part in a fixed mode and incapable of rotating around the central axis of the single wheel side wheel bearing structure, and the single wheel side driving mechanism is connected to the moving wheel. The electric control of the mother vehicle can be realized by operating the steering mechanism, the mother vehicle is not required to be pushed manually, and the specific adjustment of the motion and the steering of the mother vehicle can be realized only by pressing the corresponding keys, so that the convenience is greatly improved.
Preferably, the front sections of the sub-vehicle and the main vehicle are connected in a sliding manner, the front end connecting unit of the sub-vehicle is a sliding rail arranged on a frame of the main vehicle, and the front section connecting piece of the sub-vehicle consists of a sliding rail arranged on the frame of the sub-vehicle and a pulley arranged on the sliding rail of the sub-vehicle; the slide rails and pulleys may also be in the form of racks and gears. The above-described combined loading and unloading apparatus often operates the engagement and disengagement of the front end of the sub-vehicle with and from the main vehicle during the loading and unloading of the contents, which results in increased operation time and complexity; and after the sliding connection is adopted, the operation which is repeated continuously in the process of repeated loading and unloading can be avoided, and the functions can be realized through automatic matching of the sliding rail and the pulley.
Preferably, the position of the rear fork mechanism matched with the sub-vehicle frame is variable, the rear fork mechanism is matched with the frame through a rear fork walking mechanism or a manual fixing unit, the rear fork walking mechanism consists of a moving groove arranged on the sub-vehicle frame and a walking motor arranged in the moving groove, and the rear fork mechanism is fixedly connected with the walking motor; the manual fixing unit is composed of a positioning hole arranged on the sub-vehicle frame, a positioning hole arranged on the side frame of the rear fork mechanism and a positioning pin, the positioning holes arranged on the sub-vehicle frame are arranged at intervals, and the rear fork mechanism can be fixed and moved through the matching of the positioning pin and the two positioning holes. The adjustable rear fork structure can increase the convenience of the sub-vehicle for loading and unloading the overlong object.
Preferably, the combined loading and unloading device further comprises a master car radio remote controller and/or a slave car radio remote controller, and the master car radio remote controller and the slave car radio remote controller are respectively connected to the master car control device and the slave car lifting control device through wireless signals, radio frequency or bluetooth. The wireless remote controller can increase the convenience of operation, can reduce the requirement of the device to the operating personnel quantity simultaneously, only need an operating personnel can accomplish whole loading and unloading operations under the special circumstances.
A method of loading and unloading an overweight or overlong object in a container, the method comprising the steps of:
s1 connecting operation: the controller is operated to firmly connect the front sub-vehicle section connecting piece and the rear sub-vehicle section connecting piece of the sub-vehicle with the front sub-vehicle end connecting unit and the rear sub-vehicle end connecting unit of the master vehicle combined lifting appliance;
s2 Mobile preparation: operating the main vehicle to place the moving wheels at the front end of the sub vehicle on the bottom surface of the container, and disconnecting the front section connecting piece of the sub vehicle from the front end connecting unit of the sub vehicle;
s3 object Loading: the master vehicle drives the sub-vehicle to move forwards to enable the sub-vehicle to be close to an object to be unloaded, the object to be unloaded is placed on a fork of the sub-vehicle, the object to be unloaded is placed on a fork of the front fork mechanism for the overweight object, two ends of the object to be overweight are respectively arranged on the forks of the front fork mechanism and the rear fork mechanism for the overlong object, and the sub-vehicle lifting control device is operated to enable the fork to lift the object;
s4 unloading of objects: the primary vehicle moves backwards to the front end of the secondary vehicle and can be connected with the primary vehicle, the pulley at the front end of the secondary vehicle does not leave the bottom surface of the container, the front section connecting piece of the secondary vehicle and the front end connecting unit of the secondary vehicle are firmly connected together, the primary vehicle is moved to a target position, and the control device is operated to enable an object to be unloaded to the target position.
The loading and unloading method can load and unload the objects in batches in the loading and unloading process, and the whole is unloaded in parts, so that the loading and unloading of the overweight container can be completed under the condition of not using large-scale hoisting equipment; on the other hand, loading and unloading can be well completed for the overlong object, and stacking loading of the overlong object can be realized in the loading process, which cannot be realized by the traditional loading arrangement.
The invention provides a combined loading and unloading device and a loading and unloading method of an overweight or overlong object in a container, which can simultaneously meet the loading and unloading operation of a container body, an overweight box-shaped object in the container, an overlong object and the like through the independent or cooperative work of a separable sub-vehicle and a main vehicle, and avoid the inconvenience of loading and unloading the overweight and overlong object in the prior art; it has the advantages of complete functions, high efficiency, safety, simple structure, simple operation, low investment, reliable operation, low cost, etc.
Drawings
FIG. 1 is a view of a overweight box-shaped object in a loading and unloading high-level cabinet at the front end of a sub-vehicle;
FIG. 2 is a two-wheel side view of the parent car loading and unloading the lower level container body;
FIG. 3 is a side view of the mother vehicle loading and unloading a low level container body on a single wheel;
FIG. 4 is a plan view of the mother vehicle in an empty state;
FIG. 5 is a side view of the parent car lifting, loading and unloading the elevated container body with two wheels;
FIG. 6 is a left side view of the main vehicle loading and unloading low level container body and a position view in the sub-cabinet;
FIG. 7 is a view of the front end of the sub-frame loading and unloading a ground overweight box-shaped object;
FIG. 8 is a view of a sub-truck loading and unloading an overlength material in a low level cabinet;
the lifting device comprises a main vehicle body 1, a main vehicle body 2, a lifting mechanism 3, a combined lifting appliance 4, a lifting device 5, a left-right alignment device 6, a sub-vehicle body 7, a front fork mechanism 8, a rear fork mechanism 11, a frame 12, a support column 13, a movable wheel 21, a lifting oil cylinder 22, a head balance beam 23, a horizontal pulley 24, a vertical pulley 25, a load rope 26, an auxiliary rod 31, a suspension lifting appliance frame 32, a telescopic combined lifting appliance 41, a lifting mechanism 42, a telescopic support column 51, a movable sleeve 52, an adjusting oil cylinder 61, a sub-vehicle frame 62, a support column 63, a movable wheel 611, a sub-vehicle front section connecting piece 612, a sub-vehicle rear section connecting piece 141, a tire steel ring 142, a wheel supporting structure 143, a steering synchronization mechanism 144 and a connecting piece.
Detailed Description
So that those skilled in the art may better understand the invention and that the scope of the invention may be more clearly limited, the structure and method of the present invention are described in detail below with reference to the accompanying drawings.
A combined loading and unloading device is composed of a primary vehicle for loading and unloading a container integrally and a secondary vehicle for loading and unloading objects (especially overweight or overlong objects) in the container.
The master car consists of a master car body 1, a hoisting mechanism 2, a combined lifting appliance 3 and a master car control mechanism; the main vehicle body consists of a frame 11, a plurality of support columns 12 and moving wheels 13, wherein the support columns 12 are matched on the frame 11, and the moving wheels 13 are arranged at the feet parts of the support columns 12. The frame of the mother vehicle is a mounting bearing foundation of all mechanism devices, and other parts are directly or indirectly connected with the frame; in some embodiments, the frame 11 has a rectangular shape, the support posts 12 are 4 and are respectively arranged on two opposite sides (preferably two longer side bars), the moving wheels 13 are 3, one side is provided with two (hereinafter referred to as double-wheel side) and the other side is provided with one (hereinafter referred to as single-wheel side), the moving wheels on the double-wheel side are respectively matched with the feet of the two support posts, the moving wheels on the single-wheel side are respectively connected with the two support posts on the side through connecting pieces, the middle lower part of each connecting piece is connected with the single moving wheel on the side, and the two ends of the upper part of each connecting piece are provided with interfaces matched with the support posts; the design of the 3 moving wheels can ensure that the balance and operability of the main vehicle are better, after all, the ground flatness of the operation area is difficult to achieve very flat effect, four wheels or more wheels on uneven ground are difficult to ensure that each wheel lands, and the moving wheels still need to move and cannot be leveled by padding; therefore, the whole inclination or shaking of the handling device caused by the fact that different moving wheels touch the ground when four or more moving wheels are adopted can be avoided, and the stability of the handling device during handling is improved.
Preferably, the primary vehicle further comprises a primary vehicle running steering mechanism, and the primary vehicle running steering mechanism consists of a double-wheel driving mechanism and a single-wheel driving mechanism. The double-wheel driving mechanism consists of a driving device, a wheel supporting structure 142 and a steering synchronous mechanism 143, and the moving wheel 13 is matched with a corresponding support column through the main vehicle operation steering mechanism; the two-wheel-side wheel supporting structure 142 is fixedly connected to the leg of the column in such a manner that the wheel supporting structure 142 can perform universal wheel-type rotation around the central axis thereof, the two-wheel-side moving wheel 13 is rotatably fitted to the two-wheel-side wheel supporting structure 142, the driving device is connected to the moving wheel 13 to drive the same to rotate, and the two-wheel-side steering synchronizing mechanism connects the two-wheel-side wheel supporting structures 142 to match the steering angles of the two-wheel-side wheel supporting structures 142. The single wheel drive mechanism is composed of a drive device and a wheel support structure 142, the single wheel side wheel support structure 142 and the link 144 are fixedly connected in such a manner that the single wheel side wheel support structure 142 is non-rotatable and fixed about its central axis, the moving wheel 13 on the side is rotatably fitted to the single wheel side wheel support structure 142, and the single wheel side drive mechanism is connected to the moving wheel 13 so as to drive the moving wheel 13 to rotate. The two-wheel drive mechanism and the single-wheel drive mechanism of the mother vehicle on the left and right sides of the frame adopt independent power arrangement structural forms, and the drive devices are connected to the hydraulic control assembly of the mother vehicle and can realize wheel-side speed reduction, speed regulation operation, zero-speed braking and steering operation through the coordinated operation of the hydraulic control assembly of the mother vehicle.
Optimally, the 3 moving wheel combinations are arranged in an isosceles triangle structure, and the steering operation of the whole machine of the mother vehicle is realized by a double-wheel steering synchronous mechanism of the mother vehicle, and the steering is stable and synchronous.
The hoisting mechanism 2 is arranged on a frame 11 of a mother vehicle body and consists of two groups of hoisting components and two auxiliary rods 26, wherein each group of hoisting components consists of a hoisting oil cylinder 21, a bearing support, a head balance beam 22, two horizontal pulleys 23, two vertical pulleys 24 and two load ropes 25; the auxiliary rod 26 is fixedly arranged in the frame (the position in the frame, the position above the frame or the position below the frame can be selected, and the position in the frame is selected preferably), one end of the bearing support is fixedly arranged on the auxiliary rod 26, the other end of the bearing support is fixedly connected with one end of the lifting oil cylinder 21, and the other end of the lifting oil cylinder 21 is connected with the head balance beam 22 with two connecting ends; two horizontal pulleys 23 are horizontally arranged on the other auxiliary rod 26, and two vertical pulleys 24 are vertically and fixedly connected to the frame 11 of the mother vehicle; one load rope is led out from one connecting end of the head balance beam 22 and passes through the vertical pulley nearest to the head balance beam, and the other load rope is led out from the other connecting end of the head balance beam, passes through the two horizontal pulleys in sequence and then passes through the other vertical pulley; the free ends of the load ropes passing through the vertical pulleys are connected with the combined lifting appliance 3, and the two groups of lifting assemblies have 4 free ends of the load ropes.
The combined lifting appliance 3 comprises a hanging lifting appliance frame 31 and a telescopic combined lifting appliance 32, wherein the hanging lifting appliance frame 31 is connected with the free ends of four load ropes 25 of a lifting mechanism, the telescopic combined lifting appliance 32 is fixedly connected with the hanging lifting appliance frame 31, and the length of the telescopic combined lifting appliance 32 can be adjusted to match containers of different specifications; still be equipped with coupling assembling on hanging hoist frame 31, coupling assembling includes sub-car front end linkage unit 311 and sub-car rear end linkage unit 312, and sub-car front end linkage unit 311 and sub-car rear end linkage unit 312 use when supplying mother's car to be connected with the sub-car.
The control mechanism 4 comprises a hydraulic control assembly and an electric control assembly; the hydraulic control assembly is used for providing operation power for all mechanism devices, and the electric control assembly is composed of a PLC (programmable logic controller) and a plurality of electric switch elements.
The sub-vehicle comprises a sub-vehicle body 6, a front fork mechanism 7, a rear fork mechanism 8 and a sub-vehicle lifting control device;
the sub-vehicle body 6 consists of a sub-vehicle frame 61, a support column 62 and moving wheels 63, wherein a plurality of support columns 62 are matched on the frame, and the moving wheels are arranged at the foot parts of the support columns 62; in some embodiments, the 4 sub-vehicle supports 62 and the 4 moving wheels 63 are provided on two opposite sides of the frame in two parts, and the moving wheels 63 are unpowered fixed wheels and/or unpowered universal wheels. The front part of the sub-vehicle frame 61 is provided with a sub-vehicle front section connecting piece 611 connected with the sub-vehicle front end connecting unit 311, and the rear part is provided with a sub-vehicle rear section connecting piece 612 connected with the sub-vehicle rear end connecting unit 312; the front sub-car connecting piece 611 and the rear sub-car connecting piece 612 are removably fitted to the front sub-car connecting unit 311 and the rear sub-car connecting unit 312 of the modular spreader, and the fitting of the sub-car to the main car is partially or completely removable, that is: the sub-vehicle can be completely separated from the main vehicle and independently work by the main vehicle, or can be completely combined with the main vehicle (the front section connecting piece and the rear section connecting piece of the sub-vehicle are matched with the front end connecting unit and the rear end connecting unit of the sub-vehicle of the combined lifting appliance) and then the main vehicle and the sub-vehicle work together, or can be partially combined (the front end of the sub-vehicle is separated from the main vehicle and the rear section is combined with the main vehicle) and then the sub-vehicle and the sub-vehicle work together.
In some embodiments, the matching between the secondary vehicle and the primary vehicle may be a detachable fixed connection and/or a detachable sliding connection, when the detachable fixed connection is adopted, the front section connecting piece of the secondary vehicle and the rear section connecting piece of the secondary vehicle are gripping arms which can be manually or automatically opened and closed and are matched with the front end connecting unit of the secondary vehicle and the rear end connecting unit of the secondary vehicle on the suspension hanger frame of the primary vehicle, when the secondary vehicle needs to be opened, all or one of the secondary vehicle and the secondary vehicle can be manually opened or opened electrically through the control device of the primary vehicle, and when the secondary vehicle and the primary vehicle need to be matched, the secondary vehicle and the primary vehicle can be firmly matched and can bear corresponding weight. And the mode that adopts sliding connection mainly is to the cooperation of sub-car anterior segment connecting piece and mother's car, and specific structure can be: the front end connecting unit of the sub-vehicle is a sliding rail arranged on the main vehicle frame, the front section connecting piece of the sub-vehicle is composed of a sliding rail arranged on the sub-vehicle frame and a pulley arranged on the sliding rail of the sub-vehicle, and the pulley has a locking function. This avoids the need for complex opening and engagement of the front section connectors when securing the connection.
The front fork mechanism 7 is arranged at the front end of the sub-vehicle body frame and faces the front of the sub-vehicle, and the rear fork mechanism 8 is arranged in the middle of the sub-vehicle body frame and faces the rear of the sub-vehicle; the front fork mechanism 7 and the rear fork mechanism 8 are composed of side frames, a hoisting unit, a fork frame and a fork, the side frames are arranged on a frame of the sub-vehicle body, the hoisting unit is arranged on the side frames, and the fork frame is arranged on the hoisting unit. Preferably, at least two of the front fork mechanism 7 and the rear fork mechanism 8 are adjustably mounted on the fork. The sub-vehicle lifting control device is connected with the lifting units of the front fork mechanism and the rear fork mechanism and controls the lifting units to move upwards and downwards or lock. Preferably, the rear fork mechanism is provided with a plurality of rear fork mechanisms which are arranged at a certain distance so as to provide better bearing effect when loading and unloading the overlong object.
Preferably, the combined loading and unloading device further comprises a master car radio remote controller and/or a slave car radio remote controller, and the master car radio remote controller and the slave car radio remote controller are respectively connected to the master car control device and the slave car lifting control device through wireless signals, radio frequency or bluetooth. The distance sensors are used for sensing the distance between the relevant parts of the mother vehicle and the child vehicle and the container when the device works, and alarming when the distance is too small, so that the device is prevented from colliding with the container.
In some preferred embodiments, the lifting unit of the sub-truck is a gear-type lifting unit or a chain-type lifting unit, the gear-type lifting unit is composed of a rack, a gear and a driving motor, the gear is connected with the driving motor, one of the rack and the gear is arranged on the side frame, and the other one is fixedly connected with the fork frame (the rack is arranged on the side frame, the gear is arranged on the fork frame, or vice versa, but the former is more preferred), the gear-type lifting unit drives the fork frame to move up and down through the relative movement of the rack and the gear, so that the fork can realize the lifting action; the chain type hoisting unit consists of a load-carrying chain, a hydraulic oil cylinder and a rotating wheel, wherein one end of the hydraulic oil cylinder is arranged on the side frame, the other end of the hydraulic oil cylinder is connected with the rotating wheel, one end of the load-carrying chain is fixedly arranged on the side frame, and the other end of the load-carrying chain is fixedly connected with the fork frame; the chain type hoisting unit finally enables the pallet fork to be lifted up and down through the reciprocating motion of the hydraulic oil cylinder.
In some preferred embodiments, the mother vehicle is further provided with a left and right alignment device 5, the left and right alignment devices 5 are divided into two groups and are respectively arranged at the front part and the rear part of the frame, the left and right alignment devices are composed of a movable sleeve 51, an adjusting cylinder 52 and an adjusting cylinder support, the movable sleeve 51 is movably sleeved outside a frame rod of the frame, one end of the adjusting cylinder 52 is fixedly arranged on the movable sleeve 51, the other end of the adjusting cylinder 52 is fixedly arranged on the frame through the adjusting cylinder support, the hydraulic control assembly controls the movable sleeve 51 to move left and right, the vertical pulley 24 is fixedly arranged on the movable sleeve, and the two groups of left and right alignment devices move synchronously or asynchronously. A frame rod (such as a connecting beam) on one side of the frame is arranged in the movable sleeve, the movable sleeve 51 can move left and right on the frame rod, and the left and right movement of the movable sleeve is realized by adjusting the oil cylinder; the left and right movement of the movable sleeve 51 drives the vertical pulley 24 to move left and right and finally realizes the integral left and right movement of the container or object to be loaded and unloaded connected with the mother vehicle hoisting device; the left-right movement is matched with the normal movement of the mother vehicle to realize the omnibearing movement of the object to be loaded and unloaded, thereby meeting the loading and unloading requirements under various conditions.
In some preferred embodiments, the parent car further comprises a lifting device 4, the lifting device is composed of a lifting mechanism 41 and a telescopic strut 42, the telescopic strut 42 is composed of an upper column and a lower column which are telescopically connected, the lifting mechanism 41 is a lifting cylinder, and one end of the lifting cylinder is fixedly arranged on the frame of the parent car, and the other end of the lifting cylinder is fixedly connected with the lower column. Preferably, the lower part of the primary vehicle is further provided with a base, the base is fixedly arranged on the lower column or the wheel supporting structure, one end of the lifting oil cylinder is fixedly arranged on the frame of the primary vehicle, and the other end of the lifting oil cylinder is fixedly connected with the base.
In some preferred embodiments, the position where the rear fork mechanism 8 is fitted on the sub-vehicle frame is variable, and the rear fork mechanism is fitted on the sub-vehicle frame through a rear fork walking mechanism or a manual fixing unit, the rear fork walking mechanism is composed of a moving groove arranged on the sub-vehicle frame and a walking motor arranged in the moving groove, and the rear fork mechanism is fixedly connected with the walking motor; the manual fixing unit is composed of a positioning hole arranged on the sub-vehicle frame, a positioning hole arranged on the side frame of the rear fork mechanism and a positioning pin, the positioning holes arranged on the sub-vehicle frame are arranged at intervals, and the rear fork mechanism can be fixed and moved through the matching of the positioning pin and the two positioning holes.
A method of loading and unloading an overweight or overlong object in a container, the method comprising the steps of:
the loading and unloading method comprises a loading method and an unloading method, and since the two methods are opposite in operation, the unloading method is taken as an example for detailed description below:
s1 connecting operation: the controller is operated to firmly connect the front sub-vehicle section connecting piece and the rear sub-vehicle section connecting piece of the sub-vehicle with the front sub-vehicle end connecting unit and the rear sub-vehicle end connecting unit of the master vehicle combined lifting appliance;
s2 Mobile preparation: operating the main vehicle to place the moving wheels at the front end of the sub vehicle on the bottom surface of the container, and disconnecting the front section connecting piece of the sub vehicle from the front end connecting unit of the sub vehicle;
s3 object Loading: the primary vehicle drives the secondary vehicle to move forward to enable the secondary vehicle to be close to the object to be unloaded, the object to be unloaded is placed on a fork of the secondary vehicle, and the secondary vehicle is driven to move forward to enable the object to be unloadedPlacing a heavy object on a fork of a front fork mechanism, respectively arranging two ends of an overlong object on the forks of the front fork mechanism and a rear fork mechanism, and operating a sub-vehicle lifting control device to lift the object by the fork;
s4 unloading of objects: the primary vehicle moves backwards to the front end of the secondary vehicle and can be connected with the primary vehicle, the pulley at the front end of the secondary vehicle does not leave the bottom surface of the container, the front section connecting piece of the secondary vehicle and the front end connecting unit of the secondary vehicle are firmly connected together, the primary vehicle is moved to a target position, and the control device is operated to enable an object to be unloaded to the target position.
The loading and unloading method can load and unload objects in batches in the loading and unloading process, and break the whole into parts, so that the loading and unloading of the overweight container can be completed under the condition of not using large-scale hoisting equipment; on the other hand, loading and unloading can be well finished for the overlong object, and stacking loading of the overlong object can be realized in the loading process, which cannot be realized by the traditional loading arrangement.
Claims (10)
1. A combined assembling and disassembling device is characterized in that,
the combined loading and unloading device consists of a main vehicle for loading and unloading the container integrally and a sub-vehicle for loading and unloading materials in the container;
the primary vehicle comprises a primary vehicle body, a hoisting mechanism, a combined lifting appliance and a primary vehicle control mechanism;
the main vehicle body consists of a frame, struts and moving wheels, wherein each strut is matched with the frame, and the moving wheels are arranged at the foot parts of the struts;
the lifting mechanism is arranged on a frame of a mother vehicle body and comprises two groups of lifting assemblies and two auxiliary rods, wherein each group of lifting assemblies comprises a lifting oil cylinder, a bearing support, a head balance beam, two horizontal pulleys, two vertical pulleys and two load ropes; the auxiliary rod is fixedly arranged on the frame, one end of the bearing support is fixedly arranged on the auxiliary rod, the other end of the bearing support is fixedly connected with one end of a lifting oil cylinder, and the other end of the lifting oil cylinder is connected with a head balance beam with two connecting ends; the two horizontal pulleys are horizontally arranged on the other auxiliary rod, and the two vertical pulleys are vertically arranged on a frame of the primary vehicle; one load rope is led out from one connecting end of the head balance beam and passes through the vertical pulley closest to the head balance beam, and the other load rope is led out from the other connecting end of the head balance beam and passes through the two horizontal pulleys in sequence and then passes through the other vertical pulley;
the combined lifting appliance comprises a suspension lifting appliance frame and a telescopic combined lifting appliance, wherein the suspension lifting appliance frame is connected with a load rope of a lifting mechanism, the telescopic combined lifting appliance is fixedly connected with the suspension lifting appliance frame, and the length of the telescopic combined lifting appliance can be adjusted to match containers of different specifications; the hanger frame is also provided with a connecting assembly, and the connecting assembly comprises a front end connecting unit of a sub-vehicle and a rear end connecting unit of the sub-vehicle;
the control mechanism comprises a hydraulic control assembly and an electric control assembly; the hydraulic control assembly is used for providing operation power for all mechanism devices, and the electric control assembly consists of a PLC (programmable logic controller) and a plurality of electric switch elements;
the sub-vehicle comprises a sub-vehicle body, a front fork mechanism, a rear fork mechanism and a sub-vehicle lifting control device;
the sub-vehicle body consists of a frame, struts and moving wheels, wherein each strut is matched with the frame, and the moving wheels are arranged at the foot parts of the struts;
the front part of the frame is provided with a front sub-vehicle connecting piece connected with the front sub-vehicle connecting unit, the rear part of the frame is provided with a rear sub-vehicle connecting piece connected with the rear sub-vehicle connecting unit, and the front sub-vehicle connecting piece and the rear sub-vehicle connecting piece can be removably matched with the front sub-vehicle connecting unit and the rear sub-vehicle connecting unit of the combined lifting appliance;
the front fork mechanism is arranged at the front end of the sub-vehicle body frame and faces the front of the sub-vehicle, and the rear fork mechanism is arranged in the middle of the sub-vehicle body frame and faces the rear of the sub-vehicle; the front fork mechanism and the rear fork mechanism are respectively composed of an edge frame, a hoisting unit, a fork frame and a fork, the edge frame is arranged on a frame of the sub-vehicle body, the hoisting unit is arranged on the edge frame, the fork frame is arranged on the hoisting unit, and the fork is arranged on the fork frame;
the sub-vehicle lifting control device is connected with the lifting unit and controls the lifting unit to move upwards and downwards or lock.
2. The combined loading and unloading device according to claim 1, wherein the lifting unit is a geared lifting device or a chain lifting device, the geared lifting device is composed of a rack, a gear and a driving motor, the gear is connected with the driving motor, the rack and the gear are arranged on the side frame, and the other is fixedly connected with the fork; the chain type hoisting device is composed of a load chain, a hydraulic oil cylinder and a rotating wheel, wherein one end of the hydraulic oil cylinder is arranged on the side frame, the other end of the hydraulic oil cylinder is connected with the rotating wheel, one end of the load chain is fixedly arranged on the side frame, and the other end of the load chain is fixedly connected with the fork frame.
3. The combination handling apparatus of claim 1, wherein the mother vehicle further comprises left and right aligning means, the left and right aligning means are divided into two groups and disposed at the front and rear portions of the frame, the left and right aligning means comprises a moving sleeve, an adjusting cylinder and an adjusting cylinder support, the moving sleeve is movably sleeved on a frame rod of the frame, one end of the adjusting cylinder is fixed on the moving sleeve, the other end of the adjusting cylinder is fixed on the frame through the adjusting cylinder support, the vertical pulley is fixed on the moving sleeve, and the two groups of left and right aligning means move synchronously or asynchronously.
4. The combined loading and unloading device according to claim 1, wherein the frame of the parent car body is rectangular in shape, the support posts are 4 and are provided on two opposite sides, the moving wheels are provided with 3 and are arranged in an isosceles triangular configuration, one on each of the two sides of the moving wheels, and wherein the single moving wheel is connected to the two support posts on that side by a connecting member.
5. The combined loading and unloading device according to claim 4, wherein the primary car further comprises a lifting device, the lifting device is composed of a lifting mechanism and a telescopic strut, the telescopic strut is composed of an upper column and a lower column which are telescopically connected, the lifting mechanism is a lifting oil cylinder, one end of the lifting oil cylinder is fixedly arranged on the frame of the primary car, and the other end of the lifting oil cylinder is fixedly connected with the lower column.
6. The combined loading and unloading device according to claim 5, wherein the parent vehicle further comprises a parent vehicle running steering mechanism comprising a dual wheel drive mechanism and a single wheel drive mechanism; the double-wheel driving mechanism consists of a driving device, a wheel supporting structure and a steering synchronization mechanism, wherein the wheel supporting structure is fixedly connected with the foot part of the strut in a manner that the wheel supporting structure can rotate around the central axis of the wheel in a universal wheel manner; the single wheel driving mechanism consists of driving unit and wheel bearing structure, the single wheel side wheel bearing structure is fixed to the connecting part in a fixed mode and incapable of rotating around the central axis of the single wheel side wheel bearing structure, and the single wheel side driving mechanism is connected to the moving wheel.
7. The combined loading and unloading device of claim 1, wherein the front sections of the sub-vehicle and the main vehicle are connected in a sliding manner, the front end connecting unit of the sub-vehicle is a sliding rail arranged on the frame of the main vehicle, and the front section connecting piece of the sub-vehicle is composed of a sliding rail arranged on the frame of the sub-vehicle and a pulley arranged on the sliding rail of the sub-vehicle.
8. The combined loading and unloading device according to claim 1, wherein the position where the rear fork mechanism is fitted to the sub-vehicle frame is variable, and is fitted to the sub-vehicle frame through a rear fork traveling mechanism or a manual fixing unit, the rear fork traveling mechanism is composed of a moving groove provided on the sub-vehicle frame and a traveling motor provided in the moving groove, and the rear fork mechanism is fixedly connected to the traveling motor; the manual fixing unit is composed of a positioning hole arranged on the sub-vehicle frame, a positioning hole arranged on the side frame of the rear fork mechanism and a positioning pin, the positioning holes arranged on the sub-vehicle frame are arranged at intervals, and the rear fork mechanism can be fixed and moved through the matching of the positioning pin and the two positioning holes.
9. The combination loading and unloading device according to claim 1, further comprising a master car radio remote controller and/or a slave car radio remote controller, wherein the master car radio remote controller and the slave car radio remote controller are connected to the master car control device and the slave car lifting control device respectively by wireless signals, radio frequency or bluetooth.
10. A method for loading and unloading an overweight or overlong object in a container by using the combined loading and unloading device according to any one of claims 1 to 9, characterized in that the method comprises the following steps:
s1, connection operation: the front section connecting piece and the rear section connecting piece of the sub-vehicle are firmly connected with the front end connecting unit and the rear end connecting unit of the sub-vehicle of the combined hanger of the main vehicle;
s2, moving preparation: the movable wheels at the front end of the sub-vehicle are dropped on the bottom surface of the container, and the connection between the front section connecting piece of the sub-vehicle and the front end connecting unit of the sub-vehicle is disconnected;
s3, loading of objects: the main truck drives the sub-truck to move forwards to enable the sub-truck to be close to an object to be unloaded, the object to be unloaded is placed on a fork of the sub-truck, the object to be unloaded is placed on a fork of the front fork mechanism for the overweight object, two ends of the object to be unloaded are respectively arranged on the forks of the front fork mechanism and the rear fork mechanism for the overlong object, and the sub-truck lifting control device controls the fork to lift the object;
s4, unloading of the object: the primary vehicle moves backwards to the front end of the secondary vehicle and can be connected with the primary vehicle, the pulley at the front end of the secondary vehicle does not leave the bottom surface of the container, the front section connecting piece of the secondary vehicle is firmly connected with the front end connecting unit of the secondary vehicle, and the object is unloaded to a destination position after the primary vehicle is moved to a destination position.
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| CN201710487573.5A CN107188088B (en) | 2017-06-23 | 2017-06-23 | Combined loading and unloading device and loading and unloading method for overweight or overlong object in container |
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| CN201710487573.5A CN107188088B (en) | 2017-06-23 | 2017-06-23 | Combined loading and unloading device and loading and unloading method for overweight or overlong object in container |
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| WO2018232738A1 (en) * | 2017-06-23 | 2018-12-27 | 苗林展 | Combined loading/unloading apparatus and loading/unloading method for ultra-heavy or ultra-long items in container |
| CN107601077B (en) * | 2017-10-23 | 2023-06-06 | 苗林展 | Self-propelled container overturning vehicle |
| CN107777549A (en) * | 2017-12-08 | 2018-03-09 | 王马达 | Coil embraces shifting device and container loading coil system and the application method of the system equipped with this armful of shifting device |
| US11802026B2 (en) | 2019-11-29 | 2023-10-31 | Linzhan MIAO | Container side loader |
| CN110759283B (en) * | 2019-11-29 | 2024-04-19 | 苗林展 | Container side loader |
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