CN114180495A - Rail-mounted forklift robot for placing box-type house group and control method thereof - Google Patents
Rail-mounted forklift robot for placing box-type house group and control method thereof Download PDFInfo
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- CN114180495A CN114180495A CN202111544030.5A CN202111544030A CN114180495A CN 114180495 A CN114180495 A CN 114180495A CN 202111544030 A CN202111544030 A CN 202111544030A CN 114180495 A CN114180495 A CN 114180495A
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- fork
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- frame
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- 238000000034 method Methods 0.000 title claims abstract description 9
- 229910000831 Steel Inorganic materials 0.000 claims description 9
- 239000010959 steel Substances 0.000 claims description 9
- 238000009434 installation Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
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Classifications
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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
-
- 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
- B66F9/07504—Accessories, e.g. for towing, charging, locking
-
- 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
- B66F9/07554—Counterweights
-
- 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
- B66F9/08—Masts; Guides; Chains
- B66F9/085—Multiple forks, i.e. more than one pair mounted on a single mast or with more than one mast
-
- 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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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention provides a rail type forklift robot for placing box-type rooms and a control method thereof, wherein the rail type forklift robot comprises the following steps: a base; a support frame; the supporting frame comprises a guide frame and an outer door frame, the guide frame is arranged on the base, and the outer door frame is arranged on the guide frame and can slide up and down along the guide frame; the telescopic fork is arranged on the outer gantry; the telescopic fork comprises an upper telescopic fork and a lower telescopic fork which are oppositely arranged, an upper fork body is arranged on the upper telescopic fork, and a lower fork body is arranged on the lower telescopic fork; the traveling mechanism is arranged at the lower end of the base; and the control system is used for controlling the telescopic fork and the travelling mechanism. The invention has the characteristics of flexible installation and arrangement, high efficiency, safety and reliability.
Description
Technical Field
The invention relates to the technical field of box-type house placement, in particular to a rail-type forklift robot for box-type house group placement and a control method thereof.
Background
The box-type house is used as temporary facilities for life, office, warehouse and the like, is widely applied to construction sites, and has the advantages of quick transportation, safety, flexibility, high industrialization degree, high industrialization standard and the like.
The large-area box-type house group is usually transported to a designated place by a self-discharging crane or a flat car, and is hoisted and placed by mechanical equipment such as a gantry crane, a truck crane and the like. However, the gantry crane has high equipment cost, large arrangement space and inflexible installation and arrangement; the truck crane is flexible in arrangement, but when the truck crane works, a certain erection space is needed, and the position needs to be frequently moved so as to meet the requirement of large-span placement. Particularly, the arrangement span of the building site workers and friends is large, the space between house groups is small, the arrangement efficiency of box-type house groups is low, the erection space of equipment such as a truck crane and a gantry crane is insufficient, and the safety is poor.
Disclosure of Invention
Aiming at the prior art, the invention provides a rail type forklift robot for placing box-type room groups and a control method thereof, and aims to solve the problems of large placing span, small room group interval, low placing efficiency and the like of the existing box-type room groups.
The invention provides a rail-mounted forklift robot for placing box-type rooms, which comprises:
a base;
a support frame; the supporting frame comprises a guide frame and an outer door frame, the guide frame is arranged on the base, and the outer door frame is arranged on the guide frame and can slide up and down along the guide frame;
the telescopic fork is arranged on the outer gantry; the telescopic fork comprises an upper telescopic fork and a lower telescopic fork which are oppositely arranged, an upper fork body is arranged on the upper telescopic fork, and a lower fork body is arranged on the lower telescopic fork;
the traveling mechanism is arranged at the lower end of the base;
and the control system is used for controlling the telescopic fork and the travelling mechanism.
Preferably, a balancing weight is further arranged on the base.
Preferably, a throwing support is further arranged between the guide frame and the base.
Preferably, the outer mast is provided with a fork carriage on which the telescopic forks are mounted.
Preferably, guide grooves are formed in two side portions of the guide frame, guide rods are arranged in two side portions of the outer door frame, and the guide rods are embedded into the guide grooves; and hydraulic cylinders are further arranged on two sides of the guide frame, the upper ends of the hydraulic cylinders are connected with the outer portal frame, and the hydraulic cylinders are controlled by the control system.
Preferably, running gear includes the guide rail, the bottom of base is equipped with the walking wheel, the walking wheel with but guide rail sliding connection.
Preferably, the outer side end of the upper fork body is provided with a side baffle.
Preferably, the upper end of the lower fork body is provided with a fork rod for being forked into a section steel notch at the bottom of the box type house.
The invention also provides a control method of the rail type forklift robot for placing the box-type house group, which comprises the following steps:
s1, starting the walking mechanism, and moving the robot to a to-be-transported position of the box-type room;
s2, starting a hydraulic cylinder, enabling the outer gantry to slide up and down relative to the guide frame, and driving the telescopic fork to integrally lift until the telescopic fork is close to the side face of the box-type house, so that the upper fork body is aligned to the top of the box-type house, and the lower fork body is aligned to a section steel notch at the bottom of the box-type house;
s3, starting the telescopic fork to enable the upper fork body and the lower fork body to extend forwards until the upper fork body and the lower fork body are respectively forked into the section steel notches at the top and the bottom of the box type house;
s4, controlling a hydraulic cylinder to drive the outer gantry to ascend and lift the box-type house;
s5, after the box-type house is confirmed to be stable, controlling a travelling mechanism to drive the box-type house to move to a specified placing position in parallel;
s6, controlling a hydraulic cylinder to drive the outer gantry to lift, so that the box-type house is placed at an appointed position;
s7, after the box type house is stably placed, the telescopic fork is controlled to enable the upper fork body and the lower fork body to contract, and the hydraulic cylinder is controlled to enable the outer door frame to reset.
Compared with the prior art, the invention has the beneficial effects that: aiming at the problems of large placing span, small room group space, low placing efficiency and the like of the existing box-type room group, the fork body structure suitable for carrying the formed box-type room is designed, has the characteristics of flexible installation and arrangement, high efficiency, safety and reliability, and can meet the requirements of box-type room groups with any span and small erection space.
Drawings
Fig. 1 is a schematic structural diagram of an embodiment of the present invention.
Fig. 2 is a partial structural diagram of an embodiment of the invention.
FIG. 3 is a schematic construction diagram of an embodiment of the invention.
Wherein, 1, a base; 2. a guide frame; 3. an outer gantry; 4. a hydraulic cylinder; 5. a fork carriage; 6. an upper telescopic fork; 7. a lower telescopic fork; 8. an upper fork body; 9. a lower fork body; 10. a side dam; 11. a fork lever; 12. a balancing weight; 13. throwing and supporting; 14. a guide rail; 15. a traveling wheel; 16. a box-type house.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further explained below by combining the specific drawings.
Examples
As shown in fig. 1 and 2, a rail-type forklift robot for placing box-type rooms comprises: the pallet fork mechanism comprises a base 1, wherein a support frame is arranged at one side part of the base 1, the support frame comprises a guide frame 2 and an outer portal frame 3, the guide frame 2 is fixed on the base 1, guide grooves are formed in two side parts of the guide frame 2, guide rods are arranged on two side parts of the outer portal frame 3 and are embedded into the guide grooves, hydraulic cylinders 4 are further arranged on two sides of the guide frame 2, the upper ends of the hydraulic cylinders 4 are connected with the outer portal frame 3, the hydraulic cylinders 4 are controlled by a PLC (programmable logic controller) control system, so that the outer portal frame 3 can slide up and down along the guide frame 2, a pallet fork frame 5 is arranged on the outer portal frame 3, telescopic pallet forks are mounted on the pallet fork frame 5 and are controlled by the PLC control system, the telescopic pallet forks comprise upper telescopic pallet forks 6 and lower telescopic pallet forks 7 which are oppositely arranged, upper fork bodies 8 are arranged on the upper telescopic pallet forks 6, lower fork bodies 9 are arranged on the lower telescopic pallet forks 7, side ends of the upper fork bodies 8 are provided with side baffles 10, the upper end of the lower fork body 9 is provided with a fork rod 11, and the fork rod 11 is a long square rigid body and is used for being forked into a section steel notch at the bottom of the box type house so as to provide a supporting fulcrum.
The upper end of the base 1 is further provided with a balancing weight 12, a throwing support 13 is further arranged between the two side portions of the guide frame 2 and the base 1, and two ends of the throwing support 13 are respectively fixed on the base 1 and the guide frame 2 to prevent the guide frame 2 from deforming. The bottom of base 1 is equipped with walking wheel 15, and walking wheel 15 and guide rail 14 slidable connection, walking mechanism is constituteed to walking wheel 15 and guide rail 14, is controlled by PLC control system, and drive robot is along 14 linear motion of guide rail.
The telescopic fork used in the embodiment is produced by Anhui Ji Wei Intelligent Equipment Limited, and comprises a roller, a gear rack, a guide slider, a limit switch, a torque limiter, an encoder, a driving motor, a speed reducer, a coupler and other parts, and is fixed on a fork frame 5 through a mounting seat and synchronously ascends and descends with the fork frame 5.
Referring to fig. 3, the control method of the present embodiment includes the steps of:
s1, starting a walking mechanism, and moving the robot to a position to be conveyed of the box-type room 16;
s2, starting the hydraulic cylinder 4, enabling the outer gantry 3 to slide up and down relative to the guide frame 2, and driving the telescopic fork to integrally lift until the telescopic fork is close to the side face of the box-type house, so that the upper fork body 8 is aligned to the top of the box-type house, and the fork rod 11 on the lower fork body 9 is aligned to a section steel notch at the bottom of the box-type house;
s3, starting the telescopic fork to enable the upper fork body 8 and the lower fork body 9 to extend forwards until the fork are respectively forked into the section steel gaps at the top and the bottom of the box type house;
s4, controlling the hydraulic cylinder 4 to drive the outer gantry 3 to ascend and lift the box-type house 16;
s5, after the box-type house 16 is confirmed to be stable, controlling the travelling mechanism to drive the box-type house 16 to move to the specified placing position in parallel;
s6, controlling the hydraulic cylinder 4 to drive the outer gantry 3 to ascend and descend, so that the box-type house 16 is placed at a designated position;
s7, after the box type house 16 is placed stably, the telescopic fork is controlled to enable the upper fork body 8 and the lower fork body 9 to contract, the hydraulic cylinder 4 is controlled, and the outer gantry 3 is reset.
According to the method, the single box-type rooms are sequentially conveyed and placed to the designated placement position, the box-type rooms in the same row can be simultaneously placed by 2 or 4 robots, and the box-type room placement efficiency is greatly improved.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all equivalent structures made by using the contents of the present specification and the drawings can be directly or indirectly applied to other related technical fields, and are within the scope of the present invention.
Claims (9)
1. The utility model provides a rail mounted fork truck robot for box room crowd is put which characterized in that includes:
a base;
a support frame; the supporting frame comprises a guide frame and an outer door frame, the guide frame is arranged on the base, and the outer door frame is arranged on the guide frame and can slide up and down along the guide frame;
the telescopic fork is arranged on the outer gantry; the telescopic fork comprises an upper telescopic fork and a lower telescopic fork which are oppositely arranged, an upper fork body is arranged on the upper telescopic fork, and a lower fork body is arranged on the lower telescopic fork;
the traveling mechanism is arranged at the lower end of the base;
and the control system is used for controlling the telescopic fork and the travelling mechanism.
2. The rail-mounted forklift robot for box-type housing group placement according to claim 1, wherein a weight block is further disposed on the base.
3. The rail-mounted forklift robot for box-type room group placement as claimed in claim 1, wherein a throwing support is further arranged between the guide frame and the base.
4. A rail-mounted forklift robot for box room group presentation as claimed in claim 1 wherein said outer gantry has a fork carriage on which said telescopic forks are mounted.
5. The rail-type forklift robot for putting box-type house group as claimed in claim 1, wherein the two sides of the guiding frame are provided with guiding slots, the two sides of the outer door frame are provided with guiding rods, and the guiding rods are embedded into the guiding slots; and hydraulic cylinders are further arranged on two sides of the guide frame, the upper ends of the hydraulic cylinders are connected with the outer portal frame, and the hydraulic cylinders are controlled by the control system.
6. The track type forklift robot for box type house group arrangement according to claim 1, wherein the walking mechanism comprises a guide rail, and the bottom of the base is provided with walking wheels which are slidably connected with the guide rail.
7. The rail-type forklift robot for box-type house group putting according to claim 1, wherein the outer end of the upper fork body is provided with a side baffle.
8. The rail-type forklift robot for putting box-type rooms in claim 1, wherein the upper end of the lower fork body is provided with a fork rod for being inserted into a section steel notch at the bottom of the box-type rooms.
9. A control method of a rail-mounted forklift robot for box-type room group arrangement according to any one of claims 1 to 8, comprising the following steps:
s1, starting the walking mechanism, and moving the robot to a to-be-transported position of the box-type room;
s2, starting a hydraulic cylinder, enabling the outer gantry to slide up and down relative to the guide frame, and driving the telescopic fork to integrally lift until the telescopic fork is close to the side face of the box-type house, so that the upper fork body is aligned to the top of the box-type house, and the lower fork body is aligned to a section steel notch at the bottom of the box-type house;
s3, starting the telescopic fork to enable the upper fork body and the lower fork body to extend forwards until the upper fork body and the lower fork body are respectively forked into the section steel notches at the top and the bottom of the box type house;
s4, controlling a hydraulic cylinder to drive the outer gantry to ascend and lift the box-type house;
s5, after the box-type house is confirmed to be stable, controlling a travelling mechanism to drive the box-type house to move to a specified placing position in parallel;
s6, controlling a hydraulic cylinder to drive the outer gantry to lift, so that the box-type house is placed at an appointed position;
s7, after the box type house is stably placed, the telescopic fork is controlled to enable the upper fork body and the lower fork body to contract, and the hydraulic cylinder is controlled to enable the outer door frame to reset.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111544030.5A CN114180495B (en) | 2021-12-16 | 2021-12-16 | Rail type forklift robot for box-type house group placement and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111544030.5A CN114180495B (en) | 2021-12-16 | 2021-12-16 | Rail type forklift robot for box-type house group placement and control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114180495A true CN114180495A (en) | 2022-03-15 |
| CN114180495B CN114180495B (en) | 2024-05-31 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111544030.5A Active CN114180495B (en) | 2021-12-16 | 2021-12-16 | Rail type forklift robot for box-type house group placement and control method thereof |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110052354A1 (en) * | 2008-01-22 | 2011-03-03 | Mcgrane Barry | Top mount method and system |
| CN201809133U (en) * | 2010-04-30 | 2011-04-27 | 芜湖瑞创投资股份有限公司 | Forklift capable of operating at ultra-distance |
| CN202272703U (en) * | 2011-10-17 | 2012-06-13 | 无锡汇丰机器有限公司 | Counter-balanced forklift truck with compressing device |
| CN105858546A (en) * | 2016-05-04 | 2016-08-17 | 桂林市富华金属制品有限公司 | Front fork and portal double-folding device capable of moving forwards and backwards |
| CN211871302U (en) * | 2020-01-16 | 2020-11-06 | 天津捷强动力装备股份有限公司 | Fork suitable for different working conditions |
| CN216584024U (en) * | 2021-12-16 | 2022-05-24 | 中建八局第三建设有限公司 | A rail mounted fork truck robot for box room crowd is put |
-
2021
- 2021-12-16 CN CN202111544030.5A patent/CN114180495B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110052354A1 (en) * | 2008-01-22 | 2011-03-03 | Mcgrane Barry | Top mount method and system |
| CN201809133U (en) * | 2010-04-30 | 2011-04-27 | 芜湖瑞创投资股份有限公司 | Forklift capable of operating at ultra-distance |
| CN202272703U (en) * | 2011-10-17 | 2012-06-13 | 无锡汇丰机器有限公司 | Counter-balanced forklift truck with compressing device |
| CN105858546A (en) * | 2016-05-04 | 2016-08-17 | 桂林市富华金属制品有限公司 | Front fork and portal double-folding device capable of moving forwards and backwards |
| CN211871302U (en) * | 2020-01-16 | 2020-11-06 | 天津捷强动力装备股份有限公司 | Fork suitable for different working conditions |
| CN216584024U (en) * | 2021-12-16 | 2022-05-24 | 中建八局第三建设有限公司 | A rail mounted fork truck robot for box room crowd is put |
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| Publication number | Publication date |
|---|---|
| CN114180495B (en) | 2024-05-31 |
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