CN211643471U - Horizontal opening and closing cargo stacking correction system - Google Patents

Abstract

The utility model provides a horizontal open-close cargo stacking correction system, which comprises a tray positioning device, a horizontal driving device and at least one correction group, wherein the tray positioning device is used for positioning a tray at a preset position; each correction group comprises two correction modules; each correction module comprises a first correction piece and a second correction piece; the first correcting part comprises a fixed part and a movable part; the movable part is rotationally connected with the fixed part; thereby at the process that resets, only need guarantee the fixed part withdraw from the tray and the goods the direction of delivery regional can, and the movable part is rotatory to the next door, can not block the transport of tray and goods, makes the utility model discloses at the process that resets, its stroke need not wholly first proofreading module length, the ascending space of make full use of tray and goods direction of delivery for only need the level motion of opening and shutting to rectify, satisfy the occasion user demand that the direction of height space is not enough, reduce the stroke of opening and shutting again, reduced the area of horizontal direction.

Description

Horizontal opening and closing cargo stacking correction system

[ technical field ] A method for producing a semiconductor device

The utility model relates to a goods piles up technical field, especially a goods that level opened and shut piles up correction system.

[ background of the invention ]

In the process of goods transportation or warehouse storage, goods are usually stacked on the pallet or the tray, the pallet or the tray is used as a support carrier, and transportation or storage is convenient, so that the goods are stacked on the pallet as well as better, and the goods are convenient to load.

However, the conventional goods stacking usually adopts manual operation, the goods are stacked on the pallet or the tray through manpower, and in the process of stacking the goods on the pallet, along with the increase of the height of the stacked goods, the situation of incorrect stacking, namely the situation that the goods above the stacked goods are inclined, is inevitable, because the goods at the bottom are easily put right when the goods are stacked, and the goods at the bottom are difficult to be stacked more above the goods. On the one hand, in the process of loading goods, the goods of a pallet or a tray easily occupy more space on the truck due to the fact that the goods are inclined greatly, and the total amount of the goods loaded by the truck can be reduced, more trucks are needed to transport the goods, or the number of times of transportation needs to be increased, so that the cost is increased invisibly. On the other hand, if the stack is inclined by a large amount, the goods are easy to incline and collapse, the goods are damaged if the stack is light, and the safety of personnel is endangered if the stack is heavy.

Therefore, in the conventional cargo stacking process, the correction is usually performed manually, so as to minimize the skew degree of the cargo on the pallet or tray. This approach is also acceptable for small quantities of goods; however, in mass industrial production, manual correction is adopted, visual inspection is basically adopted, the correction precision is not high, the correction precision of each tray fluctuates greatly, and sometimes even multiple workers are required to perform cooperative operation.

Accordingly, the applicant filed the application as follows: 2019, month 9, 30, filed application No.: 201910940505.9 discloses a cargo stack correction system, which has a correction group with a combination of horizontal opening and closing and vertical lifting to realize correction function, and has the advantages of utilizing the space in the height direction and reducing the floor area in the horizontal direction. However, in practical use, it needs enough space in the height direction, and cannot be used in some occasions where the space in the height direction is not enough.

[ Utility model ] content

For overcoming the defect that existing equipment exists, the utility model provides a goods that level opened and shut piles up correction system, its correction group only adopts the mode that the level opened and shut, satisfies the not enough occasion user demand in direction of height space, reduces the stroke of opening and shutting again to the area of horizontal direction has been reduced.

The utility model discloses a realize like this: a horizontally opened and closed goods stacking correction system comprises a tray positioning device used for positioning a tray at a preset position;

at least one correction group, wherein each correction group comprises two correction modules; each correction module comprises a first correction piece and a second correction piece; the inner side surface of the first correcting part is a first vertical correcting plane; the inner side surface of the second correcting part is a second vertical correcting plane; the first vertical correction plane and the second vertical correction plane are perpendicular to each other, and an opening is formed between the first vertical correction plane and the second vertical correction plane; the first correcting part comprises a fixed part and a movable part; the movable part is rotationally connected with the fixed part; the fixing part is fixedly connected to the second correcting piece; the two correction modules of each correction group are arranged on two sides of the tray in a centrosymmetric manner along a diagonal line of the tray;

the horizontal driving device drives the two correction modules of each correction group to synchronously move towards or away from each other horizontally along the diagonal line of the tray.

Furthermore, each correction module further comprises a first execution element, each first execution element comprises a fixed installation part and an execution part, each fixed installation part is installed on the fixed part or the second correction piece, and each execution part is connected to the movable part;

each correction module further comprises at least one support group, and each support group comprises a fifth execution element, a latch rod and two latch seats; each bolt seat is provided with a bolt through hole; the two bolt seats are fixedly connected to the fixed part and the movable part in a one-to-one correspondence manner, and the two bolt through holes are coaxially arranged; the fifth execution element is fixedly connected to the fixing part; and a piston rod of the fifth actuating element is fixedly connected to one end of the bolt rod, the other end of the bolt rod movably extends into the bolt through hole, and the bolt rod and the bolt through hole are coaxially arranged.

Further, the rotating angle of the movable part is more than or equal to 90 degrees.

Further, the tray positioning device comprises a first limiting device, a second limiting device, a horizontal pushing mechanism and a detection device for detecting the position of the tray;

the first limiting device comprises a first lifting mechanism and a limiting piece; the first lifting mechanism comprises a first fixing part and a first lifting part which are connected with each other; the first lifting part is fixedly connected with the limiting part, the limiting part is positioned in front of the tray, and the limiting part is higher than the bottom surface of the tray after being lifted but smaller than the top surface of the tray and is lower than the bottom surface of the tray after being lowered;

the second limiting device comprises a plurality of blocking parts which are linearly arranged on one side edge of the tray at intervals;

the horizontal pushing mechanism comprises a second execution element which is arranged on the other side edge of the tray and vertically faces to one side edge where the blocking piece is located.

Furthermore, the blocking piece comprises a vertically arranged rotating shaft, and a rotating sleeve is sleeved on the rotating shaft;

or the barrier is a roller.

Further, each horizontal driving device comprises a driving group, and the number of the driving groups is equal to that of the correction groups; each driving group comprises two third actuators; the two third executing elements are oppositely and symmetrically arranged on the outer sides of the two correction modules of the same correction group along the diagonal line, and each third executing element abuts against one correction module.

Further, the device also comprises a support frame and a sliding group;

the supporting frame is provided with a containing space for containing the tray and goods;

the number of the sliding groups is equal to the number of the correction modules; each sliding group comprises a sliding rail and a sliding block which are connected in a sliding manner; the sliding rail is fixedly connected to the supporting frame; the slider is fixedly connected to the correction module.

Further, each horizontal driving device also comprises a horizontal reset driving group,

the number of the horizontal reset driving groups is equal to that of the driving groups;

each horizontal reset driving group comprises two fourth executive elements; the two fourth executing elements are arranged in parallel along the diagonal in the opposite direction and fixedly connected to the supporting frame, and meanwhile, a piston rod of each fourth executing element is fixedly connected to one correcting module.

Further, the device also comprises guide support groups, and the number of the guide support groups is equal to that of the correction groups; each guide support group comprises two rails and two wheels; the two wheels are correspondingly connected to the bottoms of the two correction modules of the same correction group one by one; the two rails are horizontally arranged along the diagonal; each wheel is connected to one rail in a one-to-one rolling manner.

The utility model has the advantages that: a horizontally opened and closed goods stacking correction system comprises a tray positioning device, a horizontal driving device and at least one correction group, wherein the tray positioning device is used for positioning a tray at a preset position; each correction group comprises two correction modules; each correction module comprises a first correction piece and a second correction piece; the inner side surface of the first correcting part is a first vertical correcting plane; the inner side surface of the second correcting part is a second vertical correcting plane; the first vertical correction plane and the second vertical correction plane are perpendicular to each other, so that the goods are pushed to be straight through the contact of the first vertical correction plane and the second vertical correction plane with the side face of the goods, and the first correction piece comprises a fixed part and a movable part; the movable part is rotationally connected with the fixed part; fixed part fixed connection in the second correction piece to at the process that resets, the stroke of carrying the motion back to back promptly only needs to guarantee about the fixed part direction length withdraw from the direction of delivery regional of tray and goods can, and the movable part is rotatory to the next door, thereby can not block the transport of tray and goods, makes the utility model discloses at the process that resets, its stroke need not whole first correction module all withdraws from at left right side direction length, make full use of tray and the ascending space of goods direction, finally make the utility model discloses only need the horizontal motion of opening and shutting to rectify promptly, satisfy the not enough occasion user demand in direction of height space, reduce the stroke of opening and shutting again to the area of horizontal direction has been reduced.

[ description of the drawings ]

The invention will be further described with reference to the following examples with reference to the accompanying drawings.

Fig. 1 is a perspective view of the horizontally opened and closed cargo stacking correction system of the present invention.

Fig. 2 is a partially enlarged schematic view of a in fig. 1.

Fig. 3 is a perspective view of the horizontally opened and closed cargo stacking correction system of the present invention.

Fig. 4 is a schematic structural diagram of the calibration set, the sliding set, etc. according to the present invention.

Fig. 5 and 6 are schematic structural diagrams of the calibration module, the sliding group, and the like according to the present invention.

Fig. 7 is a schematic view of the rotation state of the movable part in the single correction module according to the present invention.

Fig. 8 is a perspective view of the cargo handling system of the present invention.

Fig. 9 and 10 are perspective views of the assembly of the X-axis moving module, the Y-axis moving module, the Z-axis moving module, the support frame and the fork according to the present invention.

Fig. 11 is a side view of the assembly of the X-axis moving module, the Y-axis moving module, the Z-axis moving module, the supporting frame and the fork.

Fig. 12 is a control schematic block diagram of the controller according to the present invention.

Fig. 13 is a top view of the assembly of the X-axis moving module, the Y-axis moving module, the Z-axis moving module, the supporting frame and the fork.

Fig. 14 is a schematic structural diagram of the X-axis moving module according to the present invention.

Fig. 15 is a perspective view of a conveying unit in the conveying device of the present invention.

Fig. 16 is a bottom view of a conveying unit of the conveying apparatus according to the present invention.

Fig. 17 is a side view of a conveying unit of the conveying apparatus according to the present invention.

Fig. 18 is a front view of a conveying unit in the conveying apparatus according to the present invention.

Fig. 19 and 20 are schematic diagrams illustrating the effect of the horizontal opening and closing cargo stacking correction system according to the present invention.

Fig. 21 the utility model discloses a horizontal open and shut goods pile up correction system be applied to cargo handling system's effect sketch map.

Description of reference numerals:

the cargo handling system 100 as described herein is,

the conveying device 1, the conveying line body 11, the conveying frame 111, the conveying motor 112, the roller 113, the blocking device 12, the second lifting mechanism 121, the second fixing portion 1211, the second lifting portion 1212, the limiting member 122, the vertical limiting rod 1221, the supporting plate 1222, the position sensor 123, the second gear 13, the first gear 14, the transmission shaft 15, the third gear 16 and the chain 17;

a pallet fork 2;

the X-axis moving module 3, the wheel seat 31, the wheel groove 311, the driving rail wheel 32, the first driving motor 33, the rail 34 and the driven rail wheel 35;

a support frame 4, an accommodating space 41;

the Y-axis moving module 5, a screw rod 51, a second driving motor 52, a nut 53 and a fixed seat 54;

the Z-axis moving module 6, the first lifting member 61, the first fixing member 611, the first lifting member 612, the first fixing frame 62, the third driving motor 63, and the second fixing frame 64;

a first detection device 7;

the second detection means 8 are arranged to detect,

an alarm device 9;

the third detecting means 10 is arranged to detect,

the goods 200 are transported in a state in which,

a conveyor line 300 of an automated storage system;

the horizontally opened and closed cargo stack correction system 400;

a tray positioning device 410, a first limit device 4101, a first lifting mechanism 41011, a first fixing part 410111, a first lifting part 410112, a limit part 41012, a second limit device 4102, a horizontal pushing mechanism 4103, a second actuator 41031 and a detection device 4104;

correction group 420, correction module 4201, first correction piece 42011, first vertical correction plane 420111, fixing portion 420112, movable portion 420113, hinge 420114, second correction piece 42012, second vertical correction plane 420121, opening 42013, first actuator 42014, fixing mounting portion 420141, actuator 420142, support group 42015, fifth actuator 420151, latch rod 420152, latch seat 420153, latch through hole 4201531;

a horizontal driving device 430, a driving group 4301, a third actuator 43011, a horizontal reset driving group 4302, a fourth actuator 43021, a frame 4303, a second auxiliary driving group 4304 and a pressing mechanism 4305;

guide support group 440, track 4401, wheels 4402;

a support frame 450;

a sliding group 460, a sliding rail 4601, a sliding block 4602;

a tray 500.

[ detailed description ] embodiments

Referring to fig. 1 to 21,

a horizontally opening and closing cargo stack correction system 400 includes

The pallet positioning device 410 is used for positioning the pallet at a preset position, and the pallet positioning device 410 is used for positioning the pallet 500 at the preset position, so that the pallet is taken as a reference to provide a reference for subsequent goods correction; the preset position can be set randomly according to actual needs, but after the preset position is set, the preset position cannot be changed in the subsequent correction process. The utility model discloses a tray positioner 410 is fixed a position 500 with the tray in preset's position to tray 500 is the benchmark, can be so that follow-up goods rectifies the back, and the goods can not take place the dislocation with tray 500, if do not use tray 500 as the benchmark promptly, then probably takes place the goods and realized rectifying, but probably, the goods is not all on tray 500, and some positions of possible goods are outstanding tray 500 outside, like this, and the effect can not be reached to the regulation rule.

At least one correction group 420, each correction group 420 comprising two correction modules 4201; each correction module 4201 includes a first correction piece 42011 and a second correction piece 42012; the inner side surface of the first correction member 42011 is a first vertical correction plane 420111; the inner side surface of the second correction member 42012 is a second vertical correction plane 420121; the first and second vertical alignment planes 420111, 420121 are perpendicular to each other, and an opening 42013 is formed between the first and second vertical alignment planes 420111, 420121, so that the cargo is pushed straight by the contact of the first and second vertical alignment planes 420111, 420121 with the sides of the cargo, the opening 42013 being used for receiving the pallet 500 and the cargo; the first correction member 42011 includes a fixed part 420112 and a movable part 420113; the movable part 420113 is rotatably connected to the fixed part 420112; the fixing portion 420112 is fixedly connected to the second calibration member 42012; the two correction modules 4201 of each correction group 420 are arranged on two sides of the tray 500 in a central symmetry manner along a diagonal line of the tray 500, so that the two correction modules 4201 of each correction group 420 enclose a rectangular shape, the rectangular shape is not necessarily closed, and the rectangular shape can be formed by extending four correction planes, so that the goods are pushed right on four sides, and the four sides of the goods are perpendicular to the top surface of the tray 500 as much as possible after the goods are pushed right by taking the tray 500 as a reference;

in a specific embodiment, the calibration groups 420 are a group, the first vertical calibration plane 420111 is perpendicular to the forward direction of the pallet 500, the calibration module 4201 is in the initial state, the fixed part 420112 is located outside the pallet 500 and the goods, and the movable part 420113 is also rotated outside the conveying direction area of the pallet 500 and the goods; when correcting, the inner side surface of the movable part 420113 is rotated to be perpendicular to the advancing direction of the tray 500; then, the horizontal driving device 430 drives the two correction modules 4201 to move in opposite directions until the goods are corrected; after the correction is completed, the two correction modules 4201 are reset, that is, they are moved away from each other, and finally, the movable portion 420113 is rotated to the outside of the conveying direction area of the pallet 500 and the goods, so that the area of the pallet 500 and the goods conveying direction is left free, and the pallet 500 and the goods can be conveyed away.

By arranging the first correction member 42011 to be the fixed portion 420112 and the movable portion 420113, the utility model can be easily adjusted during the restoration process, i.e. the stroke of the away movement need only ensure that the securing portion 420112 is in the orientation shown in figure 1, the left and right direction length of the fixed portion 420112 is enough to withdraw from the tray 500 and the region of the goods conveying direction, and the movable portion 420113 rotates to the side, thereby not blocking the transportation of the tray 500 and goods, and leading the utility model to be in the process of resetting, its stroke need not with whole direction length all withdraws from about first correction module 4201, the ascending space of make full use of tray 500 and goods direction of delivery, finally makes the utility model discloses only need the level to open and shut the motion promptly and rectify, satisfy the occasion user demand that the direction of height space is not enough, reduce the stroke of opening and shutting again to the area of horizontal direction has been reduced. In a specific implementation, for example, when the length of the first correction module 4201 in the left-right direction is constant, the shorter the length of the fixed portion 420112 in the left-right direction is, the longer the movable portion 420113 is, the smaller the floor area in the left-right direction is.

A horizontal driving device 430, wherein the horizontal driving device 430 drives the two correction modules 4201 of each correction group 420 to synchronously move towards or away from each other along the diagonal line of the tray 500. The two correction modules 4201 of the correction group 420 move synchronously, so that damage to goods can be reduced, and a correction effect can be ensured, if the two correction modules 4201 do not move synchronously, the goods can be pushed down to play a reverse role, or after one correction module 4201 pushes the goods out of the tray 500, the other correction module 4201 is not in place, the goods on the bottom layer can protrude out of the tray 500, and after the other correction module 4201 is pushed over, the goods can be clamped by the edge or corner of the tray 500 and damaged by clamping.

The movable part 420113 is connected to the fixed part 420112 through a hinge 420114, so that the rotary connection is realized; in other embodiments, the fixed portion 420112 and the movable portion 420113 may be connected by a shaft and a sleeve, for example, to achieve a rotatable connection, although other methods are possible.

Each correction module 4201 further includes a first actuator 42014, the first actuator 42014 includes a fixed mounting portion 420141 and an actuating portion 420142, the fixed mounting portion 420141 is mounted on the fixed portion 420112 or the second correction member 42012, and the actuating portion 420142 is connected to the movable portion 420113;

each said correction module 4201 further comprises at least one support group 42015, each said support group 42015 comprising a fifth actuator 420151, a latch rod 420152, and two latch seats 420153; each pin seat 420153 is provided with a pin through hole 4201531; the two bolt seats 420153 are fixedly connected to the fixed part 420112 and the movable part 420113 in a one-to-one correspondence manner, and the two bolt through holes 4201531 are coaxially arranged; the fifth actuating element 420151 is fixedly connected to the fixing portion 420112; the piston rod of the fifth actuator 420151 is fixedly coupled to one end of the latch rod 420152, and the other end of the latch rod 420152 movably extends into the latch through hole 4201531, while the latch rod 420152 and the latch through hole 4201531 are coaxially disposed.

The first actuator 42014 and the support group 42015 have the following two states:

the first state: the actuator 420142 of the first actuator 42014 extends to a maximum position, pushing the moveable portion 420113 to rotate to be aligned with the fixed portion 420112; then, the piston rod of the fifth actuator 420151 extends out to drive the latch rod 420152 to penetrate into the two latch through holes 4201531, so as to limit the two latch seats 420153;

and a second state: the piston rod of the fifth actuator 420151 retracts to its initial position, causing latch lever 420152 to retract to its initial position, such that movable portion 420113 is not restrained, and the initial position of latch lever 420152 may be preset to: the other end of latch lever 420152 extends into latch through hole 4201531 of latch seat 420153 of fixed part 420112, but does not protrude from an end surface of latch seat 420153 near movable part 420113, so that latch seat 420153 of fixed part guides latch lever 420152, and on the other hand, if the end of latch lever 420152 is separated from two latch through holes 4201531 in the initial position, the end of latch lever 420152 may collide with latch seat 420153 of fixed part 420112 and cannot be inserted into latch through hole 4201531 due to eccentric swinging of latch lever 420152, i.e. movement error, in the extending process in state one. The actuating portion 420142 of the first actuator 42014 is then retracted to its initial position, pulling the moveable portion to rotate outwardly more than 90 ° about the fixed portion. The initial and maximum positions of the first actuator 42014 and the fifth actuator 420151 in both states one and two are predetermined.

The rotation angle of the movable portion 420113 is greater than or equal to 90 °, and the advantage of using this angle value is that when the movable portion 420113 rotates to avoid the region of the conveying direction of the pallet 500 and the goods, the return stroke of the correction module 4201 is only affected by the length of the fixed portion 420112 in the left-right direction. Of course, if the angle is less than 90 °, the return stroke is affected by the movable portion 420113, and the stroke needs to be increased, which inevitably increases the floor area in the left-right direction.

When the correction group 420 is a group, the correction groups are arranged diagonally, at this time, the side lengths of the first vertical correction plane 420111 and the second vertical correction plane 420112 are respectively greater than or equal to two thirds of the side length of an outermost cargo in the side length direction corresponding to the vertical correction plane, and the side length L is less than or equal to the total length of the cargo in the side length direction. In a preferred embodiment, the first vertical correction plane 420111 and the second vertical correction plane 420112 have a length equal to the total length of the corresponding cargo, and are just flush with the side of the cargo after being enclosed to form a closed rectangle, so as to correct the cargo.

When the correction groups 420 are two groups, it is preferable that the side lengths of the first vertical correction plane 42011 and the second vertical correction plane 42012 are respectively equal to half of the total length of the side where the corresponding cargo is located, and in this case, the four correction pieces 4201 also need to be moved synchronously, and the four correction pieces 4201 are symmetrically arranged opposite to each other along two diagonal lines of the rectangle.

The tray positioning device 410 is installed according to actual use scenes, for example, the tray positioning device may be directly installed on the ground, and an AGV vehicle may be used to transport the trays and the goods to a predetermined position, or may be installed on a conveying line of an automatic loading and unloading system or a warehousing system of the goods.

The utility model discloses can adopt solitary controller to control, for example adopt current PLC to control, the model is FX5U-64MT ES's PLC to form one set of independent correction system. Also can be with the utility model discloses each components and parts are connected to the controller of other systems and are used, carry out supporting use, form an industry line, for example will the utility model discloses when using the auto-control handling system of goods, can with the utility model discloses a components and parts are connected in auto-control handling system's controller.

In specific implementation, in a preferred embodiment, the tray positioning device 410 includes a first limiting device 4101, a second limiting device 4102, a horizontal pushing mechanism 4103, and a detecting device 4104 for detecting the position of the tray 500; the position of the tray is detected by the detecting device 4104, and when the detecting device 4104 detects the tray 500, the first elevating mechanism 41011 raises the stopper 41012 to stop the tray 500 at the front end thereof, and then the horizontal pushing mechanism 4103 pushes the tray 500 to abut one side of the tray 500 against the second stopper 4102, thereby positioning the tray 500 at a predetermined position as a reference position. In a specific implementation, the horizontal pushing mechanism 4103 employs a hydraulic cylinder, and the axis of the piston rod is coincident with the center line of the tray 500, so that the tray is stressed more evenly when the horizontal pushing mechanism 4103 pushes the tray 500. In order to ensure that the pushing is more balanced, the end part of the piston rod can be provided with a push plate, and the push plate is parallel and opposite to the side surface of the tray, so that the pushing is more stable by adopting surface-to-surface contact. The height of the push plate is less than or equal to the height of the top surface of the tray 500.

The first limit apparatus 4101 includes a first elevation mechanism 41011 and a limit member 41012; the first elevation mechanism 41011 includes a first fixing part 410111 and a first elevation part 410112 connected to each other; the first elevating portion 410112 is fixedly connected to the position limiter 41012, the position limiter 41012 is located at the front of the tray 500, and the position limiter 41012 is raised higher than the bottom surface of the tray 500 but lower than the top surface of the tray 500, so as to prevent the position limiter 41012 from interfering with the correction element 4201, and is lowered lower than the bottom surface of the tray 500, so as to prevent the position limiter from interfering with the correction module, and is lowered lower than the bottom surface of the tray; in a specific embodiment, the first lifting mechanism 41011 is a hydraulic cylinder, which is arranged vertically upward, a support plate (not shown) is fixedly connected to a top end of a piston rod of the hydraulic cylinder, the limiting member 41012 can be a limiting post, a limiting plate, etc., in the embodiment shown in the drawing, the limiting member 41012 is fixedly connected to the support plate (not shown), and then a guide member (not shown) is fixedly disposed, the guide member (not shown) is provided with a guide hole, and the limiting member 41012 can slide up and down through the guide hole. The first limit stop device 4101 may also adopt a limit stop structure as shown in fig. 15.

The second limiting device 4102 is linearly arranged on one side of the tray 500; the second limiting device 4102 can be a limiting rod, a limiting plate, etc., and the blocking member cannot be removed after the tray comes close, and the blocking member is easily damaged. The utility model discloses the drawing only provides the embodiment that adopts the limiting plate, can adopt a steel sheet welding to weld at conveyor's side.

The second limiting device 4102 comprises a plurality of blocking parts (not shown) linearly arranged at intervals on one side of the tray;

the horizontal pushing mechanism 4103 includes a second actuator 41031, and the second actuator 41031 is disposed on the other side of the tray 500 and faces vertically to the side where the stopper (not shown) is disposed.

The stop member (not shown) may be a stopper rod, but it is difficult to remove the force from the stop member (not shown) when the tray is closed, and the stop member is easily damaged.

The blocking member (not shown) includes a vertically disposed rotating shaft (not shown), and a rotating sleeve (not shown) is sleeved on the rotating shaft (not shown);

alternatively, the stopper (not shown) may be a roller (not shown). By adopting a rotatable structure, the impact of the tray can be reduced by rotating the blocking piece, the service life of the blocking piece is prolonged, and the tray is not easy to damage.

Each horizontal driving device 430 comprises driving groups 4301, and the number of the driving groups 4301 is equal to the number of the correction groups 420; each of said drive groups 4301 comprises two third actuators 43011; the two third actuators 43011 are symmetrically arranged on the outer sides of the two calibration modules 4201 of the same calibration set 420 along the diagonal, and each third actuator 43011 abuts against one calibration module 4201, and the abutment therebetween may be fixed, or may be separable.

Further comprises a support bracket 450 and a sliding group 460; the support 450 may be formed in various shapes and designed according to the use requirement. For example, in one embodiment, the support 450 is a gantry structure, although other structures can be designed in other shapes.

The supporting frame 450 has a receiving space for receiving a tray and goods;

the number of the sliding groups 460 is equal to the number of the correction modules 4201; each sliding group 460 comprises a sliding rail 4601 and a sliding block 4602 which are connected in a sliding way; the sliding rail 4601 is fixedly connected to the supporting frame 450; the slider 4602 is fixedly connected to the correction module 4201. In a specific embodiment, the sliding rail 4601 is an i-shaped sliding rail 4601, the sliding block 4602 is a roller 4602, the rollers 4602 are arranged in cavities at two sides of the i-shaped sliding rail 4601 to serve as a guiding and limiting function, so that the rollers 4602 at two sides roll in the i-shaped sliding rail 4601,

each horizontal driving device 430 further includes a horizontal reset driving group 4302, and the correction module 4201 is reset by the horizontal reset driving group 4302 pushing open the correction module 4201.

It should be noted that the horizontal reset driver group 4302 is not a necessary feature and mainly serves to assist in resetting, for example, when the third actuator 43011 and the calibration module 4201 are fixedly connected, the calibration module 4201 may be pulled back for resetting by the retracting movement of the third actuator 43011. The horizontal reset driver 4302 is only necessary when the third actuator 43011 and the calibration module 4201 are not fixedly connected, which may be set according to the user's requirement. In this embodiment, the horizontal reset driving group 4302 is used, and the third actuator 43011 and the correction module 4201 are connected in a non-fixed manner.

The number of the horizontal reset driving groups 4302 is equal to the number of the driving groups 4301;

each horizontal reset drive group 4302 includes two fourth actuators 43021; two fourth actuators 43021 are arranged in an anti-parallel manner along the diagonal and are fixedly connected to the supporting frame 450, and the piston rod of each fourth actuator 43021 is fixedly connected to one calibration module 4201. In one embodiment, the fourth actuator 43021 is a pneumatic cylinder, and the third actuator 43011 is a hydraulic cylinder, which has the following advantages: the reset time can be shortened, and the efficiency is improved. The cylinder has a high running speed, and when the device is reset, the device needs only to push the correction module 4201, so that the required thrust is small, the cylinder with a high running speed can be adopted, and in the correction process, goods need to be pushed, so that the required thrust is large, the hydraulic cylinder is adopted, and the moving speed of the hydraulic cylinder is lower than that of the cylinder. In a specific embodiment, as shown in fig. 4, the apparatus further includes a shelf 4303, where the shelf 4303 may or may not be fixedly connected to the supporting frame; the advantage of using fixed connection is that the reaction force of the hydraulic cylinder received by the shelf 4303 can be offset by two sets of hydraulic cylinders because the two sets of hydraulic cylinders are symmetrically arranged, so that the internal force is received, while the connection strength between the shelf 4303 and the ground is higher because the reaction force is transmitted to the ground and can only be borne by the ground.

As shown in fig. 4, in a preferred embodiment, a second auxiliary driving set 4304 may be added, and the number of the auxiliary driving sets 4304 corresponds to the number of the driving sets 4301; the driving group 4301 is slidably connected to the frame 4303 through a guide rail and a slider, a piston rod of the second auxiliary driving group 4304 is not fixed to abut against the driving group 4301, and the second auxiliary driving group 4304 pushes the driving group 4301 to advance by a predetermined distance. The design has the advantages that the stroke of the third actuator 43011 can be shortened, the third actuator 43011 adopts a hydraulic cylinder, because the hydraulic cylinder works on its own principle, the oil pipe needs to bear high pressure, because the oil pipe of the hydraulic cylinder is hard, and the longer the stroke of the piston rod of the hydraulic cylinder is, the longer the oil pipe is needed, which results in the bad arrangement of the oil pipe and the need of a larger volume, and after the second auxiliary drive group 4304 is adopted to push the whole drive group 4301 to slide for a certain distance, which is the empty stroke of the calibration module not contacting with the goods in the calibration process, then the piston rod of the second auxiliary drive group 4304 keeps extending to be still and abuts against the third actuator 43011; the third actuator 43011 then extends the piston rod to push the calibration module 4201 for cargo calibration. When the resetting is completed, the piston rod of the second auxiliary drive group 4304 is retracted for resetting, then the horizontal reset drive group 4302 pushes the calibration module 4201 for resetting, and the calibration module 4201 pushes the drive group 4301 for resetting, and finally the piston rod of the third actuator 43011 is retracted for resetting.

As shown in fig. 4, a pressing mechanism 4305 may be further disposed above the driving group 4301, and a pressing frame is vertically disposed above a hydraulic cylinder, and a piston rod of the hydraulic cylinder of the pressing mechanism 4305 is fixedly connected to an end of the piston rod, and after the second auxiliary driving group 4304 pushes the driving group 4301 to a certain distance, the piston rod of the hydraulic cylinder of the pressing mechanism 4305 moves downward, and presses the driving group 4301 by the pressing frame, which of course cannot block a moving path of the third actuator 43011, so as to provide a fixed left or right for the third actuator 43011, so that a dual support is adopted, and even if the second auxiliary driving mechanism cannot withstand a reaction force of the third actuator 43011.

In a specific embodiment, the second actuator 41031 can be mounted on a fixed mount that is mounted on the ground.

The number of the guide support groups 440 is equal to that of the correction groups 420; each guide support group 440 comprises two rails 4401 and two wheels 4402; the two wheels 4402 are connected to the bottoms of the two correction modules 4201 of the same correction group 420 in a one-to-one correspondence manner; the two rails 4401 are horizontally arranged along the diagonal line and erected on the bottom surface; each wheel 4402 is connected to one of the rails 4401 in a rolling manner in a one-to-one correspondence manner.

The first actuator 42014 and the fifth actuator 420151 may be implemented by a pneumatic cylinder, a hydraulic cylinder, or the like. The second actuator 41031, the third actuator 43011, the fourth actuator 43021 and the first lifting mechanism 41011 are hydraulic cylinders, and the thrust is large by using the hydraulic cylinders, so that the use requirement of heavier goods is met. In other embodiments, a cylinder or the like may be used to select different actuators depending on the weight of the load.

Example (b): will the utility model discloses use the cargo handling system 100 of a quick-open side curtain case. Mainly used process of loading, the unloading process need not to use the level goods that open and shut pile up correction system 400, will the level goods that open and shut pile up correction system 400 stop work can.

A cargo handling system 100 for a quick-open side curtain box comprising:

the horizontally opening and closing cargo stack correction system 400 of the present invention;

the conveying device 1 is arranged in a straight line along the X axis; the conveyor 1 is used for conveying goods 200. When loading, the goods 200 can be placed on the conveying device 1 by a forklift, and the conveying device 1 plays a role in transmission, so that the position precision requirement is lower than that of the goods which are forked into a container, the operation is more convenient, and the operation difficulty is reduced; for the automatic degree warehousing system, the conveying device 1 can be butted with the conveying line 300 of the automatic warehousing system, the goods 200 are directly conveyed to the conveying device 1 without being operated by a forklift, automatic butt joint is realized, manpower and material resources are saved, and the conveying efficiency is improved. This can be arranged according to the degree of automation of the customer's warehousing system. When unloading, the cargo 200 is first unloaded from the container onto the conveyor 1 and then transferred from the conveyor 1 to the conveyor line 300 of the automated storage system. If the warehouse system that degree of automation is not high, then can directly follow with fork truck conveyor 1 goes up to fork away, and the warehouse system that degree of automation is not high of course also can not adopt the utility model discloses unload, the utility model discloses when unloading, it is higher to the unloading efficiency of automatic warehouse system. When loading, the conveying device 1 conveys the goods 200 to be loaded and unloaded to each position, and the fork 2 is made to carry out loading operation. When unloading, the fork 2 transfers the goods 200 from the container inner fork down onto the conveyor 1. The conveying device 1 can adopt the existing equipment and can also be redesigned to have a new structure. In the specific implementation, the height of the conveying device 1 is less than or equal to the height of the bottom surface inside the container, so that the goods can be conveniently loaded and unloaded, and the height of the conveying device is lower than the height of the ground inside the container, so that the fork 2 can be more conveniently withdrawn when the goods are loaded. For example, in the embodiment shown in the drawings, the grooves may be cut in the ground or not, and it is only necessary to ensure that the top surface of the conveying device 1 is lower than the bottom surface of the inner space of the container, so that the pallet fork 2 can be conveniently withdrawn.

The X-axis moving module 3 is used for realizing X-axis linear motion; the X-axis moving module 3 may be mounted on the ground, for example in the form of existing rails and rail wheels; the X-axis moving module 3 may also be suspended above the ground, for example, may be suspended on a ceiling indoors, and adopt an existing crane structure, so the X-axis moving module 3 may be arranged as required or according to a structure of a field, and the X-axis moving module 3 may adopt existing equipment, for example, a crane or a combination structure of a rail and a rail wheel, a rack and pinion, a gear chain, a pulley system, or a combination of a steel cable winch and a motor at both ends of the support mounting seat 4 along the X-axis traction to realize movement, and these may select corresponding equipment according to the weight of the goods 200, and may also design a new structure.

The supporting installation seat 4 is connected to the X-axis moving module 3, and the X-axis moving module 3 drives the supporting installation seat 4 to move in the X-axis direction; the support mounting seat 4 can play a supporting role in hoisting the goods 200, and can also be used as a mounting seat of parts. The support mounting 4 can be made in various structures, for example, by using the existing portal frame, crane, etc., and the structures can be arranged as required.

The Y-axis moving module 5 is movably connected to the supporting and mounting seat 4, so that the supporting and mounting seat 4 drives the Y-axis moving module 5 to move in the X-axis direction, and the position change of the Y-axis moving module 5 in the X-axis direction is realized; the Y-axis moving module 5 may also be selected according to the weight of the cargo 200 by using existing devices such as a ball screw nut pair, a rack and pinion, a gear chain, an air cylinder, a hydraulic cylinder, and a pulley system, or may be designed to have a new structure. The Y-axis moving module 5 is used for realizing the movement in the Y-axis direction.

The Z-axis moving module 6 is connected to the Y-axis moving module 5, so that the Y-axis moving module 5 drives the Z-axis moving module 6 to move, and the position change of the Z-axis moving module 6 in the Y-axis direction is realized; the Z-axis moving module 6 is used for realizing the movement in the Z-axis direction.

The pallet fork 2 is connected to the Z-axis moving module 6, so that the pallet fork 2 is driven by the Z-axis moving module 6 to move in the Z-axis direction, and the position change of the pallet fork 2 in the Z axis is realized; finally pass through X axle removes module 3, Y and removes module 5, the position change condition that comes of 6 three of Z axle removal module the position of fork 2, the position control of realization, owing to all adopt automatic control to control, make the position of fork 2 can accurate regulation, finally realize usefulness during fork 2 goods handling 200, the accurate nature of goods 200's position to when avoiding prior art to adopt manual operation fork truck to load and unload the goods, because the position precision is not high, and need many times load and unload the position of adjusting the goods, thereby the utility model provides high loading and unloading's efficiency. The fork 2 can be one or two, when one fork is adopted, the goods are loaded and unloaded from one side, when two forks are adopted, the fork is symmetrically arranged on two sides of the container, the two sides are respectively provided with one conveying device 1 and respectively correspond to one group of the X-axis moving module 3, the Y-axis moving module 5 and the Z-axis moving module 6 for position control, so that the goods 200 can be loaded and unloaded on two sides simultaneously, and the efficiency is higher.

A first detecting device 7, wherein the first detecting device 7 is used for detecting whether articles exist in the container or not and detecting the height of the container; since automatic loading and unloading are adopted during loading and unloading, the controller (not shown) cannot see whether the container is filled with articles like a person, so that the first detection device 7 needs to be arranged to detect whether the container is filled with articles in advance, and the situation that the container is filled with the articles 200 when the articles are filled, the articles in the container or the articles 200 to be filled are damaged due to collision is avoided. The controller (not shown) controls the X-axis moving module 3, the Y-axis moving module 5, and the Z-axis moving module 7 to move according to a predetermined trajectory, and thus, the cargo can be loaded only when the first detecting device 7 detects that there is no article in the container. Meanwhile, the first detecting device 7 is also used for detecting the height of the container, so as to feed back to the controller (not shown) to identify the size of the container, and then the controller (not shown) calls the motion track of the cargo 200 corresponding to the container stored in advance. The first detection device 7 may be an existing device, such as a grating sensor or a visual detection device. Because some of the detecting devices can adjust the angle or scan a certain area, the installation position of the first detecting device 7 can be flexibly arranged according to actual requirements as long as the height of the container and whether goods are in the container can be detected.

A second detection device 8, wherein the second detection device 8 is used for detecting the parking position of the container or the truck; the range of the parking position, that is, the position range of the container, may be previously designed according to the sizes of various containers and trucks, and when the device is used, the second detecting device 8 checks whether the position of the container is within the preset range after the truck is parked, and when the position is within the preset range, a signal is fed back to the controller (not shown) to notify the controller that the container is parked in place, so that the next operation can be performed. The second detection device 8 may adopt an existing visual detection device, such as a CCD visual detection device, and compares the taken picture with a pre-stored parking range through a camera thereof, and may arrange the number and the installation position according to the use requirement.

An alarm device 9; used for alarming and prompting. The alarm device 9 is an existing device, for example, the alarm device 9 adopts an alarm lamp, a buzzer, and the like.

And the controller (not shown) is respectively in communication connection with the X-axis moving module 3, the Y-axis moving module 5, the Z-axis moving module 6, the alarm device 9, the conveying device 1, the second detection device 8 and the first detection device 7, and is used for controlling the modules or devices to work so as to realize automatic control. The controller (not shown) may be any available device, commercially available, such as a PLC model FX5U-64 MT/ES. The controller (not shown) may be mounted in a desired position, for example, on the support mounting base 4, or may be mounted on the ground or elsewhere.

The controller is also communicatively connected to the first lift mechanism 41011, the detection device 4104, the fifth actuator 420151, the cylinder of the second auxiliary drive group 4304, the hydraulic cylinder of the hold-down mechanism 4305, the fourth actuator 43021, the third actuator 43011, the first actuator 42014, and the second actuator 41031; the detection device 4104 may employ an inductive switch, a position sensor, or the like. Thereby by the controller control the utility model discloses an each components and parts. The support frame 450 is a portal frame. The detection device 4104 is attached to the conveyance device 1.

The tray positioning device 410 is installed on the conveying device 1, and the supporting frame 450 is erected on both sides of the conveying device 1, so that the conveying device 1 is located in the gantry space of the supporting frame 450.

The first detection device 7 comprises at least one grating sensor, and the number of the grating sensors is set according to the height of the container and the scanning range of the grating sensors, for example, a row of grating sensors can be set along the height direction of the container, so that the container can be scanned completely in the height direction. The first detection device 7 and the second detection device 8 can be independently installed on the ground, and support articles are arranged or not arranged according to requirements, for example, the first detection device 7 can be independently installed on the ground through a support rod, and the first detection devices 7 are symmetrically arranged on two sides of a door of the container; similarly, the second detection device 8 adopts a CCD vision detection device, and the second detection device 8 can also be installed by erecting support articles separately. The first and second detecting devices 7 and 8 may be mounted on the support mounting seat 4, for example, the first detecting device 7 may be mounted on both sides of the support mounting seat 4 and face both doors of the container, and the second detecting device 8 may be mounted on the support mounting seat 4 with its top facing downward, so that the height of the container below can be detected.

The use mode when loading goods: conveyor 1 and automatic warehouse system's transfer chain 300 dock through current transmission equipment, carry the goods from the warehouse conveyor 1, then the goods passes through earlier the level goods that open and shut pile up correction system 400, rectify.

The correction principle is as follows: before calibration is started, the controller controls the calibration module 4201 to be in an initial state, that is, the movable portion 420113 is in a rotationally opened state, and the calibration module 4201 is in a maximum position of being opened; specifically, the controller controls the piston rod of the fifth actuator 420151 to retract, then the piston rod of the first actuator 42014 to retract, and controls the piston rod of the fourth actuator 43021 to extend to push the correction module 4201 away, and after the correction module is in place, the fourth actuator 43021 is kept still, so that the fixed part is located outside the pallet and the goods, and the movable part also rotates outside the conveying direction area of the pallet and the goods. When the detection device 4104 detects the tray 500, the controller feeds back the position information of the tray 500 to the controller, the controller controls the first elevating mechanism 41011 to raise the limit part 41012 to stop the tray 500 from further advancing, then the controller controls the piston rod of the second actuator 41031 to extend, pushes the tray 500 to the second limit device 4102, so that the tray 500 abuts against the second limit device 4102, and then the controller controls the piston rod of the second actuator 41031 to retract and reset. Then, during calibration, the controller controls the first actuator 42014 to rotate the inner side surface of the movable portion 420113 to a direction perpendicular to the advancing direction of the tray 500, that is, the fixed portion 420112 and the movable portion 420113 are aligned to form the complete first vertical calibration plane 420111, and then the controller controls the piston rod of the fifth actuator 420151 to extend the latch rod 420152 into the two latch through holes 4201531 to support and limit the movable portion 420113, and during calibration, that is, when the controller controls the piston rod of the second auxiliary drive group 4304 to extend, the controller also simultaneously controls the piston rod of the fourth actuator 43021 to retract until calibration is completed, and the piston rod is retracted to the correct position, which positions are preset. Then, the controller controls the piston rod of the cylinder of the second auxiliary driving group 4304 to extend, and first pushes the driving group 4301 to move a certain distance in opposite directions; then the controller controls a piston rod of a hydraulic cylinder of the pressing mechanism to extend out, and the driving group 4301 is pressed; the controller then controls the third actuator 43011 to extend, and drives the two calibration modules 4201 to move towards each other, until the goods are calibrated, and the position of the calibration is preset. After the correction is completed, the controller controls the fourth actuator 43021 to extend, and the two correction modules 4201 are reset by the horizontal reset driving group 4301, that is, the two correction modules are moved away from each other, and after the correction modules are in place, the controller finally controls the controller to control the piston rod of the fifth actuator 420151 to retract, and then controls the piston rod of the first actuator 42014 to retract, so that the movable portion is rotated to the outside of the conveying direction area of the pallet and the goods, and the area of the pallet and the goods conveying direction is emptied; then, the controller controls the piston rod of the first elevating mechanism 41011 to retract and reset, so as to lower and reset the limit part 41012, so that the limit part 41012 is lower than the bottom surface of the pallet 500, and the pallet 500 and the goods are continuously conveyed forward to a station for loading and unloading the goods by the conveying device 1. The conveyor 1 is operated throughout the loading process. The utility model discloses an each position is all preset. Subsequent cargo loading is then performed.

The movement tracks of the X-axis moving module 3, the Y-axis moving module 5 and the Z-axis moving module 6 are calculated according to the size of the container and the length, width and height of the loaded goods 200, and the parking range of the truck or the parking range of the container is set in advance, so that the second detection device 8 can detect and feed back to a controller (not shown) to judge whether the truck is parked in place, the reverse operation is carried out without manual command, and the labor is saved. For example, the goods are transported by using containers and pallets with uniform specifications, the pallets are the existing intelligent pallets, the stop stations of the goods 200 on the conveying device 1 are set in advance according to the width of each pallet, and the working sequence of the stop stations is set.

When loading, for example, the truck is backed to enter a parking range, two side doors of the container are firstly opened, a truck driver stops the truck in a preset parking range, the second detection device 8 detects the parking position in real time and feeds the parking position back to the controller, the controller is compared with the preset parking range, and when the parking position is not in the preset parking range, the controller controls the alarm device 9 to send out a first alarm prompt, for example, if an alarm lamp is adopted, a red light is turned on, so that the driver is prompted to adjust; when the parking position is within the preset range, the controller controls the alarm device 9 to give a second alarm prompt, for example, if an alarm lamp is used, a green lamp is turned on to prompt the driver to stop in place. Or some alarms and the like have two prompting functions of sound and color.

On the other hand, initially, the position of the supporting mounting seat 4 is set at the foremost end, which is the opposite position of the side surface of the end of the container close to the cab when the truck is parked in place, so that when the truck backs up to enter the parking range, the container passes through the first detection device 7 from the tail part, the controller controls the first detection device 7 to detect, starts scanning from the tail part of the container, and when the truck is parked in place, namely the foremost end of the container is scanned, just detects whether articles are in the container, which can save energy, of course, the controller may not be set at the foremost end, so when the truck is parked in place, the controller is required to control the X-axis moving module 3 to move along the X-axis direction, and scan and detect whether articles are in the container, which undoubtedly consumes more energy, the actions are also more complex. When the first detection device 7 feeds back the detection result to the controller, when an article is detected in the container, the controller controls the alarm device 9 to send out a third alarm prompt, a driver takes out the article in the container after waiting for parking, when the detection result is that no article exists, a fourth alarm prompt is sent out or no alarm prompt is sent out, the alarm device 9 can adopt an alarm lamp capable of sending out various prompts, and each alarm prompt can be independently provided with one alarm device 9.

When the parking position is within a preset range and the first detection device 7 detects that no goods are in the container, the controller controls the X-axis moving module 3, the Y-axis moving module 5 and the Z-axis moving module 6 to move and load goods according to a preset track, controls the conveying device 1 to work, conveys the goods 200 conveyed from the warehouse to a preset stop station, controls the X-axis moving module 3, the Y-axis moving module 5 and the Z-axis moving module 6 to move according to the preset track, adjusts the position of the fork 2, controls the fork 2 to fork a pallet and the goods 200, controls the X-axis moving module 3, the Y-axis moving module 5 and the Z-axis moving module 6 to move according to the preset track, loads the goods 200 into the container, then controlling the X-axis moving module 3, the Y-axis moving module 5 and the Z-axis moving module 6 to move according to a preset track, thereby controlling the fork 2 to withdraw, carrying out the loading of the next pallet, when the stop station is full of goods in the width direction, calculating in advance according to the sizes of the containers and the pallets, the number of the pallets which need to be loaded in the width direction and the number of the pallets which need to be loaded in one pallet, when the controller loads the goods in the stop station for a preset number, the controller controls the conveying device 1 to stop the goods at the next adjacent stop station, then carrying out the loading of the goods in the width direction corresponding to the next stop station, and so on, when the preset total loading number is reached, stopping the loading of the containers, and controlling the alarm device 9 to send an alarm prompt, reminding drivers or staff to close the doors of the containers, and opening the trucks to load goods in the containers of the next two trucks. Automatic control is realized in the whole process, so that the position accuracy of the pallet fork is guaranteed, the position calibration time is shortened, and the efficiency is improved. The loading action may be set to: the pallet is moved to the side face of the pallet goods at the stop station, then the pallet and the goods 200 are lifted up by entering the bottom of the pallet, the height of the bottom face of the pallet is higher than that of the bottom face inside the container, the top end of the goods 200 is lower than that of the top face inside the container, the goods 200 and the pallet are forked into the container, then the goods 200 are descended and put down, the forks 2 are separated from the pallet, the descending height can be calculated and set in advance, and finally the forks 2 are withdrawn from the pallet to load the next pallet goods.

For unloading, the controller may first detect whether the vehicle is stopped within a preset stopping range by the second detecting device, control the first detecting device to detect the position of the cargo in the container, and finally control the X-axis moving module, the Y-axis moving module, and the Z-axis moving module to move, so as to drive the fork to move for unloading, for example, the unloading operation may be: the pallet fork firstly moves to the side face of the bottom of the pallet, then enters the bottom of the pallet, then is lifted, then is taken out of the container, and is placed on a stop station of the conveying device, finally is taken out of the pallet to unload the next pallet, and the controller opens the stop station to move in the same direction to convey the goods away. When unloading, the horizontal open-close cargo stacking correction system 400 of the present invention does not need to be used, and only needs to drop the limit part 41012, two, the correction module 4201 is opened to be in the initial state, the movable part 420113 rotates to the side, and the conveying area is left free.

The alarm device 9 is arranged on the support mounting seat 4, so that the alarm device 9 can be arranged without adding an additional support, the space on the ground is saved, and more positions are left.

The automobile license plate detection device further comprises a third detection device 10 used for collecting the automobile license plate, and the third detection device 10 is in communication connection with the controller (not shown). The third detection device 10 is used for detecting the license plate of the truck, can be more conveniently applied to an automatic storage system, and realizes full automation. For example, when in use, the controller is connected to the control device of the automatic warehousing system in a communication manner, so that when loading goods, the license plate of the truck can be detected through the third detection device 100 and then fed back to the controller, the controller transmits the license plate to the control device of the automatic warehousing system, so that the automatic warehousing system can know which truck is, and after loading and unloading the goods, the controller can also transmit the loading and unloading quantity of the truck to the control device, so that the control device can record how many goods are loaded on the truck of the license plate so as to inquire and track the transportation condition of the goods, and if the tray adopts the existing intelligent tray, the information of the goods can be stored in advance on the chip of the intelligent tray, so that the control device of the automatic warehousing system can correspond the goods to the truck so as to conveniently inquire and track which goods are on which truck, the goods tracking and inquiring are more convenient, for example, information such as models, quantities and the like of stored goods is set in advance on the chip of each intelligent tray and stored on the control device, and during goods loading, each intelligent tray is controlled by the control device to be conveyed to the conveying device 1, so that the goods and the license plate can be corresponding to each other by combining the license plate information fed back by the controller and stored on the control device, and the follow-up query and tracking are convenient. The third detection device 10 may be an existing CCD vision detection device, and may be installed behind the parking area, facing the rear license plate, or installed on the side of the truck, or the front end facing the front license plate.

The X-axis sliding module 3 comprises

The bottom of the wheel seat 31 is provided with a wheel groove 311, and the wheel seat 31 is connected to the support mounting seat 4;

the driving rail wheel 32 is rotatably arranged in the wheel groove 311, and the rotation axis of the driving rail wheel 32 is horizontally vertical to the X axis; for example, bearing holes are symmetrically formed at both sides of the wheel groove 311, bearings are installed in the bearing holes, and a rotating shaft of the price driving rail wheel 32 is fitted into an inner ring of the bearing.

A first driving motor 33, an output shaft of the first driving motor 33 is fixedly connected to the driving rail wheel 32, specifically, a rotating shaft of the driving rail wheel 32 is fixedly connected to an output shaft of the first driving motor 33, for example, a shaft coupling is adopted for fixedly connecting, the first driving motor 33 drives the first driving motor 33 to rotate, and the first driving motor 33 is installed on the wheel seat 31; the first driving motor 33 is also electrically connected to the controller, so that the controller controls the first driving motor 33 to work, and the X-axis moving module 3 moves in the X-axis direction.

Also included is a track 34 disposed horizontally along the X-axis, the active rail wheels 32 being mounted on the track 34. The track 34 is arranged to enable the moving direction to be more accurate, play a role in guiding and facilitate the control of the motion track.

The X-axis sliding module 3 further includes a driven rail wheel 35, the driven rail wheel 35 is rotatably installed in the wheel slot 311, the rotation axis of the driven rail wheel 35 is horizontal and perpendicular to the X-axis, and the driven rail wheel 35 is installed on the rail 34. Support through two stress points of initiative rail wheel 32 and driven rail wheel 35 for it is more steady to support, whole when guaranteeing to remove support mount pad 4 is more steady, guarantees the safety of goods 200.

The Y-axis sliding module 5 comprises

The screw rod 51 is rotatably arranged on the support mounting seat 4 along the Y axis;

the second driving motor 52, the second driving motor 52 is installed on the support installation seat 4, and an output shaft of the second driving motor 52 is fixedly connected to the screw rod 51; the second drive motor 52 is also electrically connected to the controller; the controller controls the second driving motor 52 to operate, thereby realizing the movement in the Y-axis direction.

The nut 53 is sleeved on the screw rod 51 through threads;

and the fixed seat 54 is fixedly connected to the nut 53 and is slidably connected to the support mounting seat 4, for example, by a slide rail and a slide block, the slide block is installed on the fixed seat 54, and the slide rail is installed on the support mounting seat 4 and is horizontally arranged along the Y axis.

The Z-axis sliding module 6 comprises

A first lifting member 61, the first lifting member 61 including a first fixing part 611 and a first lifting part 612, the first fixing part 611 being fixedly connected to the Y-axis slide module 5; the first lift portion 612 is fixedly or rotatably connected to the fork 2; the first lifting member 61 is also communicatively connected to the controller, and the controller controls the first lifting member 61 to move in the Z-axis direction. First lifting member 61 can adopt current cylinder, pneumatic cylinder etc. selects according to the weight of goods, and an embodiment of preferred chooses for use the pneumatic cylinder, because the power of pneumatic cylinder is bigger, can hoist heavier goods to can adapt to the application range of more varieties goods. At this time, a cylinder body of the hydraulic cylinder is the first fixing member 611, and a piston rod of the hydraulic cylinder is the first elevating unit 612. The piston rod of the hydraulic cylinder is vertically arranged downwards.

The third driving motor 63, the third driving motor 63 is fixedly connected to the first fixing frame 62, and an output shaft of the third driving motor 62 is vertically arranged; the third driving motor 63 is also electrically connected to the controller; the controller controls the third driving motor 63 to work so as to drive the second fixing frame 64 to rotate and finally drive the pallet fork 2 to rotate, so that the angle of the pallet fork 2 can be adjusted, the direction of the pallet fork 2 is corrected when the pallet fork loads and unloads cargos, the angle is more appropriate, the position precision of the cargos to be loaded and unloaded is higher, the use is more flexible, the position requirement for a truck driver to park a container is reduced, and if the pallet fork 2 and the Z-axis moving module 6 are fixedly connected, the parking position is more accurate when the truck driver parks the container.

And the second fixing frame 64 is fixedly connected to an output shaft of the third driving motor 63, and the fork 2 is fixedly connected to the second fixing frame 64. The rotation of the output shaft of the third driving motor 63 drives the second fixing frame 64 to rotate, and finally the rotation of the pallet fork 2 is realized, which has two advantages: firstly, the angle of the fork 2 can be adjusted, so that the fork is more vertical to the side surface of the container, and the position precision of loading and unloading goods is improved; secondly, the action of the fork 2 for loading and unloading goods can be changed more flexibly, and the installation position of the fork 2 is more flexible and changeable, for example, when loading and unloading goods, the fork 2 can be rotated, so that when loading and unloading goods on the conveying device 1, the fork 2 can be entered laterally, or the fork 2 can be entered frontally or backwardly (the lateral side is perpendicular to the side of the container, and the front and rear sides are parallel to the side of the container), and at this time, after the fork is lifted, the third driving motor 63 is controlled to rotate, so that the fork 2 is rotated to be perpendicular to the side of the container, and thus, the installation direction of the fork 2 can be flexible and changeable, and the limitation is lower. In specific implementation, the second fixing frame 64 is also rotatably connected to the first fixing frame 63, so as to increase the firmness of hoisting.

The conveying device 1 can be an existing device or can be redesigned.

Each conveying device 1 comprises a conveying line body 11, and the conveying line body 11 is in communication connection with the controller; a plurality of blocking devices 12 are arranged on the conveyor line body 1 at intervals; each blocking device 12 is in communication connection with the controller, and the controller controls the blocking devices to ascend and descend;

the stopping device 12 includes a second lifting mechanism 121 and a limiting member 122, in this way, the position of the tray is controlled by calculating the running distance in advance, for example, the distance moved by the chain 17 can be calculated in advance by rotating the transmission motor 112 by one turn, then the total displacement of the tray to be moved can be calculated in advance, which is the distance from the starting position of the tray to the stopping position, then the number of turns of the rotation of the transmission motor 112 can be calculated, and the number of turns of the rotation of the transmission motor 112 can be controlled by the controller.

In other embodiments, a position sensor 123 may also be provided, the position sensor 123 being configured to detect the position of the cargo 200 or pallet;

the second lifting mechanism 121 includes a second fixing portion 1211 and a second lifting portion 1212; the second fixing portion 1211 is installed in the conveyor line body 1; the second lifting portion 1212 is fixedly connected to the limiting member 122, and the limiting member 122 is higher than the top surface of the conveyor line body 1 after being lifted up, and is lower than the top surface of the conveyor line body 1 after being lowered down.

In a specific embodiment, the conveyor line body 11 may be an existing conveyor line, for example, the conveyor line body 11 includes a conveying frame 111, a transmission motor 112 is installed in the conveying frame 111, a gear chain system is installed on an output shaft of the transmission motor, the chains are arranged along the length direction of the conveying frame 111, two chains are symmetrically arranged in the width direction, trays are placed on the two chains, the trays are driven by the chains to move to realize cargo conveyance, and the transmission motor 112 is electrically connected to the controller and is controlled by the controller to operate; a row of rollers 113 is further disposed in the middle of the conveying frame 111 along the length direction, and plays a role of auxiliary group support, so as to reduce the stress of the chains, and the blocking devices 12 are installed at intervals according to the intervals between the stop stations, as shown in fig. 12 to 15, which are schematic structural diagrams of a conveying unit of a stop station, the whole conveying device 1 is formed by splicing a plurality of conveying units of stop stations along the X-axis direction, in a specific embodiment, the second lifting mechanism 121 also employs a hydraulic cylinder, which is electrically connected to the controller, and at this time, the cylinder body of the hydraulic cylinder is the second fixing portion 1211, and the piston rod is the second lifting portion 1212; the output shaft of the hydraulic cylinder is arranged vertically upwards, the limiting member 122 comprises two vertical limiting rods 1221, the bottoms of the two vertical limiting rods are fixedly connected to a supporting plate 1222, and the supporting plate 1222 is fixedly connected to the piston rod of the hydraulic cylinder. Each blocking device 12 further comprises a position sensor 123, the position sensor 123 is communicatively connected to the controller and is used for detecting the position of the pallet or the goods and feeding back the position to the controller, then the controller controls the piston rod of the hydraulic cylinder to lift according to a preset degree to block the pallet, the pallet is stopped at the stop station, the pallet 2 is waited to fork for loading, after the goods are loaded at the stop station, the controller controls the hydraulic cylinder of the blocking device 12 to retract, the limiting piece 122 is lowered to be lower than the top surface of the conveyor line body 1 to prevent collision with the pallet, then another blocking device 12 is controlled to lift according to a preset program to continue loading the goods at the stop station, or the pallet is waited to leave the pallet when unloading. The position sensor 123 may be installed at any place as long as it can detect the position of the pallet or the goods.

The transmission mode of each conveying unit is as follows: two second gears 13 are fixedly installed on an output shaft of the transmission motor 112, a transmission shaft 15 is arranged in parallel with the output shaft of the transmission motor 112, a third gear 16 is fixedly installed on the transmission shaft 15, the second gears 13 are meshed with the third gear 16, two first gears 14 are respectively installed at two ends of the transmission shaft 15, and the first gears 14 are meshed with the chain 17. During operation, the output shaft of the transmission motor 112 rotates to drive the second gear 13 to rotate, so as to drive the third gear 16 to rotate through meshing transmission, further drive the transmission shaft 15 to rotate, drive the first gear 14 to rotate through the transmission shaft 15, finally drive the chain 17 to operate, and further convey trays and goods on the chain 17.

The support mounting 4 is a portal frame, so that it has a receiving space 41 for receiving a truck and a container, and facilitates the arrangement of a predetermined parking range. It is of course also possible to use a ceiling mounted support, the support mounting 4 and the ground forming a space for the purpose of parking the truck and the container. Therefore, the support mounting seat 4 can be set to different structures, and the mounting position can be flexibly selected according to the producing area of the user.

Although specific embodiments of the present invention have been described, it will be understood by those skilled in the art that the specific embodiments described are illustrative only and are not limiting upon the scope of the invention, and that equivalent modifications and variations can be made by those skilled in the art without departing from the spirit of the invention, which is to be limited only by the claims appended hereto.

Claims (9)

1. A horizontal opening and closing cargo stack correction system is characterized in that: comprises that

A tray positioning device for positioning the tray at a preset position;

at least one correction group, wherein each correction group comprises two correction modules; each correction module comprises a first correction piece and a second correction piece; the inner side surface of the first correcting part is a first vertical correcting plane; the inner side surface of the second correcting part is a second vertical correcting plane; the first vertical correction plane and the second vertical correction plane are perpendicular to each other, and an opening is formed between the first vertical correction plane and the second vertical correction plane; the first correcting part comprises a fixed part and a movable part; the movable part is rotationally connected with the fixed part; the fixing part is fixedly connected to the second correcting piece; the two correction modules of each correction group are arranged on two sides of the tray in a centrosymmetric manner along a diagonal line of the tray;

the horizontal driving device drives the two correction modules of each correction group to synchronously move towards or away from each other horizontally along the diagonal line of the tray.

2. A horizontally opening and closing cargo stack correction system as defined in claim 1 wherein: each correction module further comprises a first execution element, each first execution element comprises a fixed installation part and an execution part, each fixed installation part is installed on the corresponding fixed part or the corresponding second correction piece, and each execution part is connected to the corresponding movable part;

each correction module further comprises at least one support group, and each support group comprises a fifth execution element, a latch rod and two latch seats; each bolt seat is provided with a bolt through hole; the two bolt seats are fixedly connected to the fixed part and the movable part in a one-to-one correspondence manner, and the two bolt through holes are coaxially arranged; the fifth execution element is fixedly connected to the fixing part; and a piston rod of the fifth actuating element is fixedly connected to one end of the bolt rod, the other end of the bolt rod movably extends into the bolt through hole, and the bolt rod and the bolt through hole are coaxially arranged.

3. A horizontally opening and closing cargo stack correction system as claimed in claim 1 or 2, wherein: the rotating angle of the movable part is more than or equal to 90 degrees.

4. A horizontally opening and closing cargo stack correction system as defined in claim 1 wherein: the tray positioning device comprises a first limiting device, a second limiting device, a horizontal pushing mechanism and a detection device for detecting the position of the tray;

the first limiting device comprises a first lifting mechanism and a limiting piece; the first lifting mechanism comprises a first fixing part and a first lifting part which are connected with each other; the first lifting part is fixedly connected with the limiting part, the limiting part is positioned in front of the tray, and the limiting part is higher than the bottom surface of the tray after being lifted but smaller than the top surface of the tray and is lower than the bottom surface of the tray after being lowered;

the second limiting device comprises a plurality of blocking parts which are linearly arranged on one side edge of the tray at intervals;

the horizontal pushing mechanism comprises a second execution element which is arranged on the other side edge of the tray and vertically faces to one side edge where the blocking piece is located.

5. The horizontally opening and closing cargo stack correction system of claim 4, wherein: the blocking piece comprises a vertically arranged rotating shaft, and a rotating sleeve is sleeved on the rotating shaft;

or the barrier is a roller.

6. A horizontally opening and closing cargo stack correction system as defined in any one of claims 1, 2, 4 or 5 wherein: each horizontal driving device comprises driving groups, and the number of the driving groups is equal to that of the correction groups; each driving group comprises two third actuators; the two third executing elements are oppositely and symmetrically arranged on the outer sides of the two correction modules of the same correction group along the diagonal line, and each third executing element abuts against one correction module.

7. A horizontally opening and closing cargo stack correction system as defined in claim 6 wherein: the device also comprises a support frame and a sliding group;

the supporting frame is provided with a containing space for containing the tray and goods;

the number of the sliding groups is equal to the number of the correction modules; each sliding group comprises a sliding rail and a sliding block which are connected in a sliding manner; the sliding rail is fixedly connected to the supporting frame; the slider is fixedly connected to the correction module.

8. A horizontally opening and closing cargo stack correction system as defined in claim 7 wherein: each horizontal driving device further comprises a horizontal reset driving group,

the number of the horizontal reset driving groups is equal to that of the driving groups;

each horizontal reset driving group comprises two fourth executive elements; the two fourth executing elements are arranged in parallel along the diagonal in the opposite direction and fixedly connected to the supporting frame, and meanwhile, a piston rod of each fourth executing element is fixedly connected to one correcting module.

9. A horizontally opening and closing cargo stack correction system as defined in claim 1 wherein: the number of the guide support groups is equal to that of the correction groups; each guide support group comprises two rails and two wheels; the two wheels are correspondingly connected to the bottoms of the two correction modules of the same correction group one by one; the two rails are horizontally arranged along the diagonal; each wheel is connected to one rail in a one-to-one rolling manner.

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