CN117550302B - Automatic loading and unloading device for embedded container with balanced stress and control method - Google Patents
Automatic loading and unloading device for embedded container with balanced stress and control method Download PDFInfo
- Publication number
- CN117550302B CN117550302B CN202410041883.4A CN202410041883A CN117550302B CN 117550302 B CN117550302 B CN 117550302B CN 202410041883 A CN202410041883 A CN 202410041883A CN 117550302 B CN117550302 B CN 117550302B
- Authority
- CN
- China
- Prior art keywords
- tray
- supporting
- driving cylinder
- carrier plate
- conveying
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 19
- 230000007246 mechanism Effects 0.000 claims abstract description 181
- 230000008093 supporting effect Effects 0.000 claims abstract description 129
- 230000005540 biological transmission Effects 0.000 claims abstract description 33
- 230000000149 penetrating effect Effects 0.000 claims abstract description 4
- 230000008569 process Effects 0.000 abstract description 3
- 230000000694 effects Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 230000007723 transport mechanism Effects 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G37/00—Combinations of mechanical conveyors of the same kind, or of different kinds, of interest apart from their application in particular machines or use in particular manufacturing processes
- B65G37/02—Flow-sheets for conveyor combinations in warehouses, magazines or workshops
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/0258—Trays, totes or bins
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Loading Or Unloading Of Vehicles (AREA)
Abstract
The invention relates to an embedded container automatic loading and unloading device with balanced stress and a control method, comprising a transportation carrier plate, wherein a plurality of groups of transportation mechanisms are arranged on the transportation carrier plate from the front end to the rear end in a penetrating way; and the front and rear guide rails are respectively arranged between the power transmission belt and the roller transmission belt, the front and rear guide rails are connected with a plurality of jacking mechanisms, the driving cylinder drives the jacking blocks to jack the outer side supporting legs of the tray, and the second guide blocks drive the first guide blocks to move upwards to support the lower ends of the middle parts of the tray. The technical problems that the roller conveyor belt below the middle supporting leg of the tray is easy to deform and sink due to concentrated stress, so that goods on the tray are easy to collapse and deform in the transportation process are solved.
Description
Technical Field
The invention relates to the field of automatic loading and unloading systems, in particular to an embedded container automatic loading and unloading device with balanced stress and a control method.
Background
The container is also called a container, and is a large-sized cargo container with certain strength, rigidity and specification for turnover, and the cargo is placed in the container and transported to a destination through the container. Currently, cargo is transported and transferred into containers, which can be transported by a loading system. The loading system has the functions of stacking, conveying and the like.
In the prior art, goods are placed on a pallet, and the pallet and the goods are conveyed through a loading system. Since the cargo carried by the pallet is generally heavy, and the center of gravity of the cargo is generally above the center of the pallet, the pallet is subjected to an equivalent stress of the cargo to the center thereof, as shown in fig. 1, the equivalent stress is concentrated on the legs in the middle of the pallet, and the ends of the left and right legs facing the inner sides. Under the effect of the force, as shown in fig. 2 (in fig. 2, the solid line is the shape before the deformation of the tray, the dotted line is the shape after the deformation of the tray), the middle of the left and right parts of the top surface of the tray is easy to be concave, and the left and right supporting legs of the tray are easy to swing inwards, so that the stress of the tray is further concentrated on the middle supporting legs. After the goods and the tray are conveyed on the container automatic loading and unloading vehicle system for a certain time, the roller conveyor belt below the middle supporting leg of the tray is easy to deform and sink due to concentrated stress, so that the goods on the tray are easy to collapse and deform in the process of transportation, the container automatic loading and unloading vehicle system is required to be maintained regularly, and the roller conveyor belt below the middle supporting leg of the tray is heightened.
The invention aims at solving the problems existing in the prior art and designs an embedded container automatic loading and unloading device with balanced stress and a control method.
Disclosure of Invention
Aiming at the problems in the prior art, the invention aims to provide an embedded container automatic loading and unloading device with balanced stress and a control method, which can effectively solve at least one problem in the prior art.
The technical scheme of the invention is as follows:
an embedded container automatic loading and unloading device with balanced stress,
the conveying device comprises a conveying carrier plate, wherein a plurality of groups of conveying mechanisms are arranged on the conveying carrier plate from the front end to the rear end of the conveying carrier plate in a penetrating way, each group of conveying mechanisms comprises two power conveying belts and a roller conveying belt, the two power conveying belts are respectively arranged on the left side and the right side of the roller conveying belt, the distance between the power conveying belts and the roller conveying belts is matched with a tray, so that middle supporting legs of the tray can fall on the roller conveying belts, and outer supporting legs of the tray can fall on the power conveying belts respectively;
and including running through the front end of transportation carrier plate to two sets of front and back guide rails of rear end, front and back guide rails set up respectively in between the power transmission belt with the cylinder conveyer belt, a plurality of jack mechanisms that front and back guide rail connection has, jack mechanism includes the connecting seat, and the up end of connecting seat is provided with controls the guide rail, control the guide rail and be connected with a actuating cylinder, actuating cylinder's flexible direction with control the guide rail parallels, actuating cylinder's piston rod is provided with the jack piece, actuating cylinder's piston rod makes towards the power transmission belt actuating cylinder can drive the jack piece jack is in the outside landing leg of tray, the connecting seat is being close to actuating cylinder's no rod end position is provided with upper and lower guide rail, upper and lower guide rail track connection has first guide block, actuating cylinder's no rod end is provided with the second guide block, first guide block and the relative one side of second guide block are provided with the inclined plane of mutually supporting, actuating cylinder drive jack piece jack is in the time of supporting the jack piece the second landing leg is in the outside landing leg when the second landing leg moves upwards.
Further, an elastic piece is arranged between the piston rod of the driving cylinder and the jacking block.
Further, a first distance sensor is arranged at the front end of the transport carrier plate, and the first distance sensor is used for acquiring the distance from the outer side supporting leg of the tray to the first distance sensor.
Further, a second distance sensor is arranged at the front end of the transport carrier plate, and the second distance sensor is used for acquiring the distance between the tray and the front end of the transport carrier plate.
Further, limiting blocks are arranged on the front sides of the front guide rail and the rear guide rail, and the limiting blocks are used for limiting the distance between the connecting seat at the forefront end and the front end of the transport carrier plate.
Further, a third distance sensor is arranged on the side face of the transport carrier plate, and the third distance sensor is used for acquiring the goods stacking condition on the transport carrier plate.
Further, the device comprises a control system for controlling the operation of the power transmission belt and the jacking mechanism;
the control system controls the extension distance of the driving cylinder according to the distance between the outer side supporting leg of the tray and the first distance sensor.
Further provides a control method of the embedded container automatic loading and unloading device with balanced stress, which is based on the embedded container automatic loading and unloading device with balanced stress and comprises the following steps:
when loading, the vehicle is loaded:
s11, sequentially abutting and arranging a plurality of jacking mechanisms on the front sides of the front guide rail and the rear guide rail, and enabling all driving cylinders to shrink to form a jacking mechanism group;
s12, when the tray is conveyed to the rear end of the supporting mechanism group, controlling a driving cylinder of a supporting mechanism at the rearmost end of the supporting mechanism group to extend out, enabling a corresponding supporting block to support on an outer side supporting leg of the tray, enabling a corresponding second guiding block to drive the first guiding block to move upwards and support at the lower end of the middle of the tray, and controlling the conveying mechanism to convey a certain distance to the rear end of the conveying carrier plate, and enabling the supporting mechanism at the rearmost end to convey to the rear end of the conveying carrier plate along with the corresponding tray;
s13, circulating S12 until loading is completed;
when unloading, the vehicle is unloaded:
s21, controlling the conveying mechanism to convey a distance to the front end of the conveying carrier plate, controlling the driving cylinder of the supporting mechanism at the rearmost end of the supporting mechanism group to retract, and controlling the conveying mechanism to continuously convey a distance to the front end of the conveying carrier plate so as to enable the corresponding supporting mechanism to be separated from the tray;
s22, circulating S21 until unloading is completed.
Further, after the tray is conveyed to the rear end of the jack mechanism group, before the driving cylinder of the jack mechanism controlling the rearmost end of the jack mechanism group is extended, performing:
the distance between the outer side supporting legs of the tray and the first distance sensor is acquired through the first distance sensor, and the extension amount of the driving cylinder is calculated;
the driving cylinder of the propping mechanism at the rearmost end of the control propping mechanism group stretches and includes: and controlling the extension of a driving cylinder of the supporting mechanism at the rearmost end of the supporting mechanism group according to the extension.
Further, when the tray is conveyed to the rear end of the jack mechanism group, before the driving cylinder of the jack mechanism controlling the rearmost end of the jack mechanism group is extended, performing:
acquiring the distance between the tray and the front end of the transport carrier plate through the second distance sensor;
the controlling of the extension of the driving cylinder of the foremost jack mechanism of the jack mechanism group includes: when the middle position of the tray moves to the corresponding propping mechanism, the driving cylinder of the propping mechanism at the forefront end of the propping mechanism group is controlled to extend.
Accordingly, the present invention provides the following effects and/or advantages:
the lateral supporting leg of the supporting mechanism is supported on the outer side of the tray, the lateral supporting leg is formed on the middle portion of the tray upwards, deformation caused by inward turning of the outer side supporting leg of the tray can be prevented, meanwhile, the inward turning deformation force of the outer side supporting leg of the tray can be converted into supporting force of the supporting leg on the lower end of the middle portion of the supporting leg, the stress of the middle portion of the tray is reduced, the problem that the tray is stressed and concentrated and easy to deform is solved, and the situation that the roller conveyor belt is sunken due to uneven stress of the roller conveyor belt under long-term use is prevented.
According to the method, the left and right positions of the tray on the conveying mechanism can be acquired through the first distance sensor, so that the extending length of the jacking mechanism is accurately controlled, and the problem caused by overlarge stress or overlarge stress is avoided.
According to the method, the front-back distance of the tray on the conveying mechanism can be acquired through the second distance sensor, so that the top supporting mechanism starts to work when the tray passes through the top of the corresponding top supporting mechanism, and the tray can be accurately supported at the middle position of the tray and transported along with the tray.
It is to be understood that both the foregoing general description and the following detailed description of the present invention are exemplary and explanatory and are intended to provide further explanation of the invention as claimed.
Drawings
Fig. 1 is a diagram of an equivalent stress simulation analysis of a pallet.
Fig. 2 is a schematic diagram of deformation of the tray after being subjected to force.
Fig. 3 is a schematic structural diagram of an embodiment of the present invention.
Fig. 4 is a schematic structural view of the front and rear rails and the jack-up mechanism.
Fig. 5 is a schematic structural view of the jacking structure (only one group of jacking mechanisms is shown in the figure).
Fig. 6 is a schematic view showing a state in which the jack of the jack mechanism is supported at the outer side leg of the tray and at the intermediate position.
Fig. 7 is a schematic diagram of the first distance sensor, the second distance sensor, and the stopper.
Reference numerals illustrate: the device comprises a transportation carrier plate 1, a power transmission belt 2, a roller transmission belt 3, front and rear guide rails 4, a jacking mechanism 5, a connecting seat 501, left and right guide rails 502, a driving cylinder 503, a jacking block 504, an upper guide rail 505, a lower guide rail 505, a first guide block 506, a second guide block 507, a first distance sensor 6, a second distance sensor 7, a limiting block 8 and a third distance sensor 9.
Detailed Description
For the convenience of understanding by those skilled in the art, the structure of the present invention will now be described in further detail with reference to the accompanying drawings:
referring to fig. 3, an embedded container truck apparatus with balanced stress,
the device comprises a transportation carrier plate 1, wherein a plurality of groups of transportation mechanisms are arranged on the transportation carrier plate 1 from the front end to the rear end in a penetrating way, each group of transportation mechanisms comprises two power conveying belts 2 and a roller conveying belt 3, the two power conveying belts 2 are respectively arranged on the left side and the right side of the roller conveying belt 3, the distance between the power conveying belts 2 and the roller conveying belts 3 is matched with a tray, so that middle supporting legs of the tray can fall on the roller conveying belts 3, and outer supporting legs of the tray can fall on the power conveying belts 2 respectively;
in this embodiment, the transport carrier plate 1 of this embodiment has functions of providing installation positions, carrying goods, and the like for each component of this embodiment, and may be installed in a container car or outside a container car. The transport carrier plate 1 may be a frame structure, so as to realize the accommodating and supporting functions of each component.
In this embodiment, the number of the transporting mechanisms is two, and the transporting mechanisms are respectively arranged on the transporting carrier plate 1 left and right. The power transmission belt 2 and the roller transmission belt 3 are of the prior art, and the core technical characteristics of the present application are not related. In this embodiment, the power transmission belt 2-roller transmission belt 3-power transmission belt 2 sequentially arranged from left to right form a conveying mechanism, and the distance between the power transmission belt 2 and the roller transmission belt 3 is matched with the pallet, so that when the pallet is placed on the conveying mechanism, the left leg and the right leg of the pallet can be subjected to power transmission through the power transmission belt 2, and the middle leg of the pallet is in unpowered sliding connection provided by the roller transmission belt 3.
Referring to fig. 4-5, and include two sets of front and back guide rails 4 that run through the front end to the rear end of the transport carrier plate 1, the front and back guide rails 4 set up respectively in between the power transmission belt 2 and the cylinder transmission belt 3, a plurality of jack mechanisms 5 that front and back guide rails 4 are connected with, jack mechanism 5 includes connecting seat 501, and the up end of connecting seat is provided with left and right guide rail 502, left and right guide rail 502 is connected with a driving cylinder 503, the flexible direction of driving cylinder 503 is parallel with left and right guide rail 502, the piston rod of driving cylinder 503 is provided with jack block 504, the piston rod of driving cylinder 503 makes the driving cylinder 503 can drive jack block 504 jack-up in the outside landing leg of tray, connecting seat 501 is provided with upper and lower guide rail 505 in the position that is close to the no rod end of driving cylinder 503, upper and lower guide rail 505 rail connection has first guide block 506, driving cylinder 503's nothing is provided with second guide block 507, first guide block 506 and second guide block 506 have jack block 506 the relative to the jack block 506, the second support block 506 is in the middle part when the jack block 503 is in the opposite to the driving cylinder 503 jack block is in the outside.
In this embodiment, the front and rear guide rails 4 are connected with a plurality of supporting mechanisms 5, and when no cargo is conveyed, the plurality of supporting mechanisms 5 are sequentially arranged at the front ends of the front and rear guide rails 4 in a close proximity, and the width of the connecting seat 501 is fixed, so that the plurality of supporting mechanisms 5 are sequentially arranged in a close proximity and then are fixed at intervals.
The number of the front and rear guide rails 4 is two, that is, one on each of the left and right sides of the roller conveyor belt 3, and when the pallet is placed on the conveying mechanism, the front and rear guide rails 4 and the jacking mechanism 5 are located between the outer side legs and the middle legs of the pallet. And, as shown in fig. 6, the piston rod of the driving cylinder 503 faces the outer leg of the tray, so when the driving cylinder 503 extends, the supporting block 504 can approach and support the outer leg of the tray, and because the upper and lower guide rails 505 are provided with the first guide blocks 506, the moving direction of the first guide blocks 506 is limited to be up and down, and the first guide blocks 506 are positioned near the middle leg of the tray, when the driving cylinder 503 drives the supporting block 504 to contact the outer leg of the tray, the driving cylinder 503 continues to extend, at this time, the reaction force of the supporting block 504 makes the cylinder body part of the driving cylinder 503 approach the middle leg of the tray, then the cylinder body of the driving cylinder 503 drives the second guide blocks 507 to move towards the first guide blocks 506, the first guide blocks 506 are pushed upwards, and then the driving cylinder 503 keeps a certain extending amount, so that the supporting block 504 is supported on the outer leg of the tray and the second guide blocks 507 are supported on the lower end of the middle position of the pushing tray. Moreover, due to the action of the guide rail and the connecting seat 501, the driving cylinder 503 is lifted by a certain distance, the top supporting block 504 is just positioned at the upper part of the outer supporting leg of the tray, and the second guiding block 507 is closer to the top end of the middle part of the tray, so that the working principle of the embodiment can be realized in the space in front of the limited supporting leg of the tray.
Therefore, the supporting mechanism 5 has the technical effects that the supporting mechanism can be supported at the upper part of the outer side supporting leg of the tray and the bottom end of the middle part of the tray, so that the outer side supporting leg of the tray is prevented from inwards turning over due to deformation, and meanwhile, the deformation force of inwards turning over the outer side supporting leg of the tray after being stressed is transferred to the first guide block 506 through the supporting block, the driving cylinder 503 and the second guide block 507, so that the upward supporting force is generated, the lower part of the middle part of the tray is supported, the acting force of the middle supporting leg of the tray on the roller conveyor belt 3 is reduced, and the middle roller conveyor belt 3 is prevented from being downwards bent to cause huge stress to sink for a long time when the tray is stressed.
Further, an elastic member (not shown) is provided between the piston rod of the driving cylinder 503 and the top support block 504.
In this embodiment, the elastic member is a high stiffness spring, and the high stiffness spring can play an elastic force between the piston rod of the driving cylinder 503 and the top supporting block 504, because the tray is easy to receive the conditions of fluctuation, shake, etc. in the conveying process, and the tray may have a certain appearance change, through the high stiffness spring, the top supporting block 504 can be abutted against the side wall of the outer supporting leg of the tray, and meanwhile, a certain elastic buffer space is provided, and the high stiffness selection also provides a technical effect that the top supporting block 504 is abutted against and is not easy to deform.
Further, a first distance sensor 6 is arranged at the front end of the transport carrier plate 1, the first distance sensor 6 faces the power transmission belt 2 from the roller transmission belt 3, and the first distance sensor 6 is used for acquiring the distance from the outer side supporting leg of the tray to the first distance sensor 6. Further, the device comprises a control system, and further comprises a control system, wherein the control system is used for controlling the operation of the power transmission belt 2 and the jacking mechanism 5;
the control system controls the extension distance of the driving cylinder according to the distance between the outer side supporting leg of the tray and the first distance sensor.
Referring to fig. 7, the first distance sensor 6 is directed toward the power transmission belt 2, and when the tray is transported on the power transmission belt 2 and the drum transmission belt 3, the first distance sensor 6 senses a distance between its legs corresponding to the outer side of the tray, so that the extension distance of the driving cylinder 503 is calculated according to the distance, and in particular, the extension distance of the driving cylinder 503 can be controlled, so that the jacking mechanism 5 can jack the outer side legs of the tray and the middle of the tray. This is because, when the pallet is placed on the transport carrier plate 1 by a forklift or the like, the position of the pallet on the transport carrier plate 1 is not certain, and may be left or right, and if the driving cylinder 503 is controlled with a fixed extension length, the pallet is easily damaged by excessive jacking, or the technical effect of jacking cannot be achieved. The driving cylinder 503 may be an oil cylinder, an electric cylinder, or the like.
Further, a second distance sensor 7 is disposed at the front end of the transport carrier plate 1, the second distance sensor 7 faces the rear end of the transport carrier plate 1 from the front end of the transport carrier plate 1, and the second distance sensor 7 is used for acquiring the distance between the pallet and the front end of the transport carrier plate 1.
Referring to fig. 7, the second distance sensor 7 is directed to the rear end of the transport carrier plate 1, and the second distance sensor 7 senses the distance from the pallet when the pallet is transported on the power transmission belt 2 and the drum transmission belt 3, thereby obtaining the transport distance of the pallet transported on the power transmission belt 2 and the drum transmission belt 3. This is because the tray is generally a chinese character-ji-shaped tray or a field-shaped tray, and if the tray is a field-shaped tray, there is a gap on the support leg of the tray, and if the control driving cylinder 503 is directly extended, the position where the driving cylinder 503 is extended may be located at the gap on the support leg of the tray, and the supporting effect may not be achieved. Therefore, after the second distance sensor 7 senses the distance between the second distance sensor and the tray, the control system can judge whether the middle position of the tray reaches the corresponding supporting mechanism 5 according to the distance, and the supporting effect can be achieved by controlling the supporting mechanism 5 to extend. And, the supporting mechanism 5 is supported at the middle position of the tray, so that the supporting effect can be better realized.
Further, referring to fig. 7, a stopper 8 is disposed at the front side of the front and rear rails 4, and the stopper 8 is used for defining the distance between the front-most connection seat 501 and the front end of the transport carrier plate 1.
In this embodiment, the position of the forefront connection seat 501 is limited by the limiting block 8, and meanwhile, when the connection seats 501 are sequentially arranged in close proximity, the positions of the connection seats 501 can be determined due to the fixed shape of the connection seats 501, that is, the positions of the supporting mechanisms 5 when the connection seats 501 are sequentially arranged in close proximity can be known, so that the distance of the tray transportation can be determined by matching the control system with the second distance sensor 7, the position of the tray can be calculated, and whether the middle position of the tray reaches the upper side of the corresponding supporting mechanism 5 can be judged, so that the middle position of the tray supported by the supporting mechanism 5 can be controlled more accurately.
Further, a third distance sensor 9 is disposed on the side surface of the transport carrier plate 1, the third distance sensor 9 faces from the right end of the transport carrier plate 1 to the left end of the transport carrier plate 1, and the third distance sensor 9 is used for acquiring the goods stacking condition on the transport carrier plate.
In this embodiment, it can be determined how many stacks of goods are stacked on the transport carrier plate 1 by the data of the third distance sensor 9.
Further provides a control method of the embedded container automatic loading and unloading device with balanced stress, which is based on the embedded container automatic loading and unloading device with balanced stress and comprises the following steps:
when loading, the vehicle is loaded:
s11, a plurality of jacking mechanisms 5 are sequentially and closely arranged on the front sides of the front guide rail 4 and the rear guide rail 4, so that all driving cylinders 503 are contracted to form a jacking mechanism group;
the state of this step is shown in fig. 3. The jacking mechanism group comprises a 1 st jacking mechanism 5, a 2 nd jacking mechanism 5, a 3 rd jacking mechanism 5 and a 4 th jacking mechanism 5 which are sequentially arranged from back to front.
S12, when the pallet is conveyed to the rear end of the supporting mechanism group, the driving cylinder 503 of the supporting mechanism 5 at the rearmost end of the supporting mechanism group is controlled to extend, so that the corresponding supporting block 504 supports on the outer supporting leg of the pallet, the corresponding second guide block 507 drives the first guide block 506 to move upwards and support at the lower end of the middle part of the pallet, and the conveying mechanism is controlled to convey a certain distance to the rear end of the conveying carrier plate 1, so that the supporting mechanism 5 at the rearmost end follows the corresponding pallet and conveys the same to the rear end of the conveying carrier plate 1;
further, when the tray is conveyed to the rear end of the jack mechanism group, before the driving cylinder 503 of the jack mechanism 5 controlling the rearmost end of the jack mechanism group is extended, performing:
obtaining the distance between the outer side support leg of the tray and the first distance sensor 6 through the first distance sensor 6, and calculating the extension of the driving cylinder 503;
the driving cylinder 503 of the jack mechanism 5 at the rearmost end of the jack mechanism group is controlled to extend to include: the extension of the driving cylinder 503 of the jack mechanism 5 at the rearmost end of the jack mechanism group is controlled according to the extension amount.
Further, after the tray is conveyed to the rear end of the jack mechanism group, before the driving cylinder 503 of the jack mechanism 5 controlling the rearmost end of the jack mechanism group is extended, execution is performed:
acquiring the distance between the pallet and the front end of the transport carrier plate 1 through the second distance sensor 7;
the driving cylinder of the propping mechanism 5 at the rearmost end of the propping mechanism group is controlled to extend out comprises: when the middle position of the tray moves to the corresponding jacking mechanism 5, the driving cylinder 503 of the jacking mechanism 5 at the rearmost end of the jacking mechanism group is controlled to extend.
In this embodiment, the back-up mechanism 5 at the back end of the back-up mechanism group represents: the top supporting mechanism 5 at the rearmost end in the top supporting mechanism group consisting of a plurality of top supporting mechanisms 5 which are currently abutted against the front ends of the front and rear guide rails 4. For example, the jacking mechanism group comprises a 1 st jacking mechanism 5, a 2 nd jacking mechanism 5, a 3 rd jacking mechanism 5 and a 4 th jacking mechanism 5 which are sequentially arranged from back to front, and the jacking mechanism 5 at the rearmost end is the 1 st jacking mechanism 5; if the 1 st supporting mechanism 5 and the 2 nd supporting mechanism 5 are conveyed along with the tray, the supporting mechanism group comprises a 3 rd supporting mechanism 5 and a 4 th supporting mechanism 5 which are sequentially arranged from back to front, and the supporting mechanism 5 at the rearmost end is the 3 rd supporting mechanism 5.
The workflow of this step is as follows:
when the middle position of the first pallet reaches the upper part of the 1 st supporting mechanism 5, the driving cylinder 503 of the 1 st supporting mechanism 5 extends according to the extending amount, and at this time, the 1 st supporting mechanism 5 is supported at the middle position of the first pallet, and then the conveying mechanism continues to operate, so that the first pallet and the 1 st supporting mechanism 5 are transported together to the rear end of the transport carrier plate 1. The jacking mechanism group comprises a 2 nd jacking mechanism 5, a 3 rd jacking mechanism 5 and a 4 th jacking mechanism 5 which are sequentially arranged from back to front.
Then, when the intermediate position of the second pallet reaches above the 2 nd jack mechanism 5, the driving cylinder 503 of the 2 nd jack mechanism 5 is extended according to the extension amount, and at this time, the 2 nd jack mechanism 5 is jacked at the intermediate position of the second pallet, and then the conveying mechanism continues to operate, so that the second pallet is transported together with the 2 nd jack mechanism 5 toward the rear end of the transport carrier plate 1. The jacking mechanism group comprises a 3 rd jacking mechanism 5 and a 4 th jacking mechanism 5 which are sequentially arranged from back to front.
The embodiment is provided with 4 supporting mechanisms 5, and the front-back length of the transport carrier plate 1 in the embodiment is 6 meters, and the tray is generally 1.2 meters, so that when the transport carrier plate 1 completes loading, 5 trays can be arranged in the front-back direction of one transport mechanism on the transport carrier plate 1. The four preceding trays are transported in turn by the four jacking mechanisms 5, and the last tray may not need to be provided with the jacking mechanism 5 because of its short transport distance.
When the intermediate position of the third and fourth trays reaches above the 2 nd jacking mechanism 5, the same applies. When the fifth tray is placed on the conveying mechanism, the fifth tray can be directly transported, and loading can be completed.
S13, circulating S12 until loading is completed;
when unloading, the vehicle is unloaded:
s21, controlling the conveying mechanism to convey a certain distance to the front end of the conveying carrier plate 1, controlling the driving cylinder 503 of the supporting mechanism 5 at the rearmost end of the supporting mechanism group to retract, and controlling the conveying mechanism to continuously convey a certain distance to the front end of the conveying carrier plate 1 so as to enable the corresponding supporting mechanism 5 to be separated from the tray;
s22, circulating S21 until unloading is completed.
In this embodiment, the conveying mechanism is controlled to convey a distance to the front end of the conveying carrier plate 1, so that the corresponding supporting mechanism 5 can be separated from the tray, and the middle position of the tray can be accurately controlled to reach the rear of the supporting mechanism 5 at the rearmost end of the supporting mechanism group according to the action of the second distance sensor 7 to form a new supporting mechanism group, thereby controlling the supporting mechanism 5 at the rearmost end of the current supporting mechanism group to be loosened, and controlling the conveying mechanism to continuously convey a distance to the front end of the conveying carrier plate 1, so that the corresponding supporting mechanism 5 is separated from the tray.
It should be noted that in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, third, etc. do not denote any order. These words may be interpreted as names.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms should not be understood as necessarily being directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Claims (8)
1. An embedded container automatic loading and unloading device with balanced stress is characterized in that:
the conveying device comprises a conveying carrier plate, wherein a plurality of groups of conveying mechanisms are arranged on the conveying carrier plate from the front end to the rear end of the conveying carrier plate in a penetrating way, each group of conveying mechanisms comprises two power conveying belts and a roller conveying belt, the two power conveying belts are respectively arranged on the left side and the right side of the roller conveying belt, the distance between the power conveying belts and the roller conveying belts is matched with a tray, so that middle supporting legs of the tray can fall on the roller conveying belts, and outer supporting legs of the tray can fall on the power conveying belts respectively;
the front guide rail and the rear guide rail are respectively arranged between the power transmission belt and the roller transmission belt, the front guide rail and the rear guide rail are connected with a plurality of supporting mechanisms, each supporting mechanism comprises a connecting seat, the upper end face of each connecting seat is provided with a left guide rail and a right guide rail, each left guide rail and each right guide rail are connected with a driving cylinder, the extending and contracting direction of each driving cylinder is parallel to the corresponding left guide rail and the right guide rail, a piston rod of each driving cylinder is provided with a supporting block, the piston rod of each driving cylinder faces the power transmission belt to enable the driving cylinder to drive the supporting block to support the outer supporting leg of the tray, the connecting seat is provided with an upper guide rail and a lower guide rail at positions close to the rod ends of the driving cylinders, the rod ends of the driving cylinders are provided with second guide blocks, opposite faces of the first guide blocks and the second guide blocks are provided with mutually matched inclined planes, and the driving cylinders drive the supporting blocks to support the supporting blocks to the supporting blocks to the outer supporting legs of the supporting legs to move towards the middle of the outer supporting legs of the tray;
an elastic piece is arranged between the piston rod of the driving cylinder and the top supporting block;
the front end of the transport carrier plate is provided with a first distance sensor, and the first distance sensor is used for acquiring the distance from the outer side supporting leg of the tray to the first distance sensor.
2. The force balanced embedded container truck assembly of claim 1, wherein: the front end of the transport carrier plate is provided with a second distance sensor, and the second distance sensor is used for acquiring the distance between the tray and the front end of the transport carrier plate.
3. An embedded container truck assembly with balanced stress according to claim 2, wherein: the front sides of the front guide rail and the rear guide rail are provided with limiting blocks, and the limiting blocks are used for limiting the distance between the connecting seat at the forefront end and the front end of the transport carrier plate.
4. A load-balanced embedded container truck assembly as claimed in claim 3 wherein: the side of transport carrier plate is provided with third distance sensor, third distance sensor is used for obtaining the condition of stacking of goods on the transport carrier plate.
5. The force balanced embedded container truck assembly as claimed in claim 4 wherein: the control system is used for controlling the operation of the power transmission belt and the jacking mechanism;
the control system controls the extension distance of the driving cylinder according to the distance between the outer side supporting leg of the tray and the first distance sensor.
6. A control method of an embedded container automatic loading and unloading device with balanced stress is characterized by comprising the following steps: an embedded container truck device with balanced stress based on the method of claim 5, comprising the following steps:
when loading, the vehicle is loaded:
s11, sequentially abutting and arranging a plurality of jacking mechanisms on the front sides of the front guide rail and the rear guide rail, and enabling all driving cylinders to shrink to form a jacking mechanism group;
s12, when the tray is conveyed to the rear end of the supporting mechanism group, controlling a driving cylinder of a supporting mechanism at the rearmost end of the supporting mechanism group to extend out, enabling a corresponding supporting block to support on an outer side supporting leg of the tray, enabling a corresponding second guiding block to drive the first guiding block to move upwards and support at the lower end of the middle of the tray, and controlling the conveying mechanism to convey a certain distance to the rear end of the conveying carrier plate, and enabling the supporting mechanism at the rearmost end to convey to the rear end of the conveying carrier plate along with the corresponding tray;
s13, circulating S12 until loading is completed;
when unloading, the vehicle is unloaded:
s21, controlling the conveying mechanism to convey a distance to the front end of the conveying carrier plate, controlling the driving cylinder of the supporting mechanism at the rearmost end of the supporting mechanism group to retract, and controlling the conveying mechanism to continuously convey a distance to the front end of the conveying carrier plate so as to enable the corresponding supporting mechanism to be separated from the tray;
s22, circulating S21 until unloading is completed.
7. The control method of the embedded container truck device with balanced stress according to claim 6, wherein the control method comprises the following steps: after the tray is conveyed to the rear end of the propping mechanism group, before the driving cylinder of the propping mechanism controlling the rearmost end of the propping mechanism group extends out, the following steps are performed:
the distance between the outer side supporting legs of the tray and the first distance sensor is acquired through the first distance sensor, and the extension amount of the driving cylinder is calculated;
the driving cylinder of the propping mechanism at the rearmost end of the control propping mechanism group stretches and includes: and controlling the extension of a driving cylinder of the supporting mechanism at the rearmost end of the supporting mechanism group according to the extension.
8. The control method of the embedded container truck device with balanced stress according to claim 6, wherein the control method comprises the following steps: when the tray is conveyed to the rear end of the propping mechanism group, before the driving cylinder of the propping mechanism at the rearmost end of the propping mechanism group is controlled to extend, the following steps are executed:
acquiring the distance between the tray and the front end of the transport carrier plate through the second distance sensor;
the controlling of the extension of the driving cylinder of the foremost jack mechanism of the jack mechanism group includes: when the middle position of the tray moves to the corresponding propping mechanism, the driving cylinder of the propping mechanism at the forefront end of the propping mechanism group is controlled to extend.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410041883.4A CN117550302B (en) | 2024-01-11 | 2024-01-11 | Automatic loading and unloading device for embedded container with balanced stress and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410041883.4A CN117550302B (en) | 2024-01-11 | 2024-01-11 | Automatic loading and unloading device for embedded container with balanced stress and control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117550302A CN117550302A (en) | 2024-02-13 |
| CN117550302B true CN117550302B (en) | 2024-04-05 |
Family
ID=89823610
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410041883.4A Active CN117550302B (en) | 2024-01-11 | 2024-01-11 | Automatic loading and unloading device for embedded container with balanced stress and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117550302B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4240397A1 (en) * | 1992-12-01 | 1994-06-09 | Otmar Fahrion | Loader for pallets onto vehicles - has transporter trucks with hoist cooperating with pallets and joined by couplings |
| DE29502881U1 (en) * | 1995-02-22 | 1995-09-07 | Fahrion, Otmar, 70806 Kornwestheim | Device for loading vehicles with pallets |
| JPH11130268A (en) * | 1997-10-28 | 1999-05-18 | Takeshi Hayashi | Movable fork type cargo handling device and cargo handling method |
| CN108100696A (en) * | 2017-12-05 | 2018-06-01 | 广东信源物流设备有限公司 | A kind of method of loading and discharging method based on vehicular transmission equipment |
| CN110921361A (en) * | 2019-12-31 | 2020-03-27 | 龙合智能装备制造有限公司 | Intelligent unmanned quick loading system for container loading |
| CN213474791U (en) * | 2020-10-11 | 2021-06-18 | 济南宏途物流有限公司 | Loading auxiliary device |
| CN115535654A (en) * | 2022-11-28 | 2022-12-30 | 龙合智能装备制造有限公司 | Embedded automatic container loading and unloading vehicle system |
| CN219708022U (en) * | 2023-04-24 | 2023-09-19 | 瀚泰智能科技(苏州)有限公司 | Bidirectional conveying RGV vehicle body with Chinese character Chuan-shaped tray |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6808356B2 (en) * | 2000-12-28 | 2004-10-26 | Toyota Steel Center Co., Ltd. | Device for carrying article into and from container, method for introducing and discharging article into and from container, and pallet for carrying article |
| US8784031B2 (en) * | 2010-01-04 | 2014-07-22 | Container Stuffers, Llc | Cargo loader |
-
2024
- 2024-01-11 CN CN202410041883.4A patent/CN117550302B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4240397A1 (en) * | 1992-12-01 | 1994-06-09 | Otmar Fahrion | Loader for pallets onto vehicles - has transporter trucks with hoist cooperating with pallets and joined by couplings |
| DE29502881U1 (en) * | 1995-02-22 | 1995-09-07 | Fahrion, Otmar, 70806 Kornwestheim | Device for loading vehicles with pallets |
| JPH11130268A (en) * | 1997-10-28 | 1999-05-18 | Takeshi Hayashi | Movable fork type cargo handling device and cargo handling method |
| CN108100696A (en) * | 2017-12-05 | 2018-06-01 | 广东信源物流设备有限公司 | A kind of method of loading and discharging method based on vehicular transmission equipment |
| CN110921361A (en) * | 2019-12-31 | 2020-03-27 | 龙合智能装备制造有限公司 | Intelligent unmanned quick loading system for container loading |
| CN213474791U (en) * | 2020-10-11 | 2021-06-18 | 济南宏途物流有限公司 | Loading auxiliary device |
| CN115535654A (en) * | 2022-11-28 | 2022-12-30 | 龙合智能装备制造有限公司 | Embedded automatic container loading and unloading vehicle system |
| CN219708022U (en) * | 2023-04-24 | 2023-09-19 | 瀚泰智能科技(苏州)有限公司 | Bidirectional conveying RGV vehicle body with Chinese character Chuan-shaped tray |
Also Published As
| Publication number | Publication date |
|---|---|
| CN117550302A (en) | 2024-02-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR101877653B1 (en) | Conveyance system for object to be conveyed and conveyance method | |
| KR101444909B1 (en) | Transfering apparatus | |
| KR20140027986A (en) | Bracket for vehicle goods and bracket unit for vehicle goods | |
| CN106865275A (en) | A kind of container loading system of pallet line outer circulation | |
| CN108483051B (en) | Automatic empty tray stacker for double-speed chain line body conveying line | |
| KR102259283B1 (en) | Object transport apparatus | |
| JP5783366B2 (en) | Sorting system | |
| CN117550302B (en) | Automatic loading and unloading device for embedded container with balanced stress and control method | |
| CN110683380B (en) | Automatic loading system and loading method thereof | |
| WO2023241007A1 (en) | Cargo transfer apparatus of carriage | |
| US20120141242A1 (en) | Arm for a forklift fork and a forklift fork | |
| US20200223348A1 (en) | Chain Rail Conveyor with Lift Gate | |
| CN112777228B (en) | Transfer method of belt wheel box | |
| JP4943773B2 (en) | Floor lift | |
| CN209974056U (en) | Vertical conveying equipment with telescopic fork | |
| CN217024085U (en) | Shuttle of carrying promotion combined type | |
| KR20190087051A (en) | Forklift device for truck and functional truck integrated with forklift device | |
| CN220484742U (en) | Loading and unloading all-in-one and loading and unloading vehicle system | |
| CN216806983U (en) | Freight transportation conveying mechanism | |
| CN114590543B (en) | Freight integration system and control method thereof | |
| CN212100570U (en) | Transfer device of belt wheel box | |
| CN218809175U (en) | Automatic loading and unloading vehicle system with splicing conveying units | |
| JP4618663B2 (en) | forklift | |
| CN212952895U (en) | Conveying line material loading recovery system | |
| CN219312603U (en) | Semitrailer with auxiliary loading structure |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |