CN107311081B - Logistics code-fetching vehicle suitable for freight container - Google Patents
Logistics code-fetching vehicle suitable for freight container Download PDFInfo
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- CN107311081B CN107311081B CN201710680538.5A CN201710680538A CN107311081B CN 107311081 B CN107311081 B CN 107311081B CN 201710680538 A CN201710680538 A CN 201710680538A CN 107311081 B CN107311081 B CN 107311081B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/22—Hydraulic devices or systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07504—Accessories, e.g. for towing, charging, locking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/24—Electrical devices or systems
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Abstract
The invention discloses a logistics code taking vehicle suitable for a freight container, which comprises a frame, a travelling part, a slewing bearing, a supporting platform, a working part, a hydraulic system and an electric control system, wherein the travelling part is arranged on the frame; the working part comprises a portal frame, a fork frame and a fork; the electronic control system comprises a battery pack, an industrial control computer, a power supply loop, a data input/output port, a positioning chip, a positioning coordinate movement control loop, a distance feedback control loop, a fork span adjusting loop and a transfer control loop, wherein the industrial control computer is internally provided with the whole geographic position coordinate information of a loading platform, and is respectively and electrically connected with the battery pack, the data input/output port, a walking part, a hydraulic system, a fork pushing part, a code scanning identification device on a fork frame and a distance sensor. The logistics code taking vehicle is high in automation degree, intelligent operation can be realized, loading and unloading efficiency is improved, and the logistics code taking vehicle is particularly suitable for loading and unloading goods stacking operation in the containerized transportation of logistics storage.
Description
Technical Field
The invention relates to a logistics code-taking vehicle, in particular to a logistics code-taking vehicle applicable to freight containers, and belongs to the field of intelligent logistics technical equipment.
Background
The intelligent logistics is widely applied to basic movable links such as logistics transportation, storage, distribution, packaging, loading and unloading and the like through information processing and network communication technology platforms by utilizing advanced Internet of things technologies such as bar codes, radio frequency identification technology, sensors and global positioning system, so that the automatic operation and high-efficiency optimized management of the cargo transportation process are realized, the service level of the logistics industry is improved, the cost is reduced, the consumption of natural resources and social resources is reduced, and the development of intelligent logistics can promote the development of regional economy and the optimized configuration of world resources and realize socialization.
The logistics warehouse is a key link in modern intelligent logistics, plays an important role in links such as connection, transfer, storage and custody, and meanwhile, warehouse management occupies a central position in logistics warehouse, the accurate warehouse process generally comprises several processes of goods receiving, loading, goods picking, goods supplementing, delivery and checking, in order to realize intelligent delivery, an automatic guiding transport vehicle appears in the prior art, namely, the transport vehicle is provided with an electromagnetic or optical automatic guiding device, has safety protection and various transfer functions, a driver is not needed in logistics warehouse application, a rechargeable battery is used as a power source, the travelling route and behavior of the rechargeable battery can be controlled by a computer generally, or the travelling route of the rechargeable battery is set up by utilizing an electromagnetic rail, so that the dispatching of warehouse goods is realized, but the goods loading and unloading operation in the process of the container transportation is still largely operated by a manual operation, namely, an operator drives a forklift to load and unload the container, and particularly, how the container is reasonably distributed so that the space utilization of the container is maximized, how the container is reasonably distributed, the container is reasonably distributed so that the container is conveniently unloaded, and the container is always unloaded, and the manual operation is always adopted.
This traditional manual boxing or unloading production method has the following defects:
1. although the warehouse-in process or the warehouse-out process has realized automatic operation, the boxing or unloading of the container still adopts manual operation, so that the overall automation degree of the logistics warehouse is reduced, and the efficiency is low;
2. because the warehousing process or the ex-warehouse process in the prior art generally adopts an automatic guide transport vehicle or a conveyor belt for transmission, the efficiency of warehousing and transportation can be ensured only by manually operating the speed of boxing or unloading and keeping up with the speed of warehousing or ex-warehouse, so that the labor intensity of operators is high;
3. the human factors such as responsibility and emotion of the operator have great influence on the loading and unloading progress.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides the logistics code taking vehicle suitable for the freight container, which has higher automation degree, can realize intelligent operation and improve loading and unloading efficiency, and is particularly suitable for loading and unloading goods stacking operation in the containerized transportation of logistics storage.
In order to achieve the purpose, the logistics code taking vehicle suitable for the freight container comprises a frame, a walking part, a slewing bearing, a supporting platform, a working part, a hydraulic system and an electric control system;
the walking part is arranged at the bottom of the frame, a walking drive is arranged in the walking part, the supporting platform is arranged on the frame through a slewing bearing frame, a hydraulic slewing drive is arranged on the slewing bearing, and the working part, the hydraulic system and the electric control system are all arranged on the supporting platform;
the working part comprises a portal frame, a fork frame and a fork; the bottom end of the portal is hinged to the front end of the supporting platform, and the frame body of the portal is connected with the supporting platform through a portal pitching hydraulic cylinder; the fork frame is connected with the front end face of the portal in a sliding fit manner through a fork frame guide mechanism, the frame body of the fork frame is connected with the portal through a fork frame lifting hydraulic cylinder, and the fork frame is also provided with a code scanning identification device and a distance sensor; the two forks are symmetrically arranged left and right and are erected and installed on the fork frame through the fork sliding guide mechanism, and the forks are connected with the fork frame through fork pushing parts arranged in the left-right direction;
the hydraulic system comprises a hydraulic pump station and a control valve group, wherein the hydraulic pump station is connected with the control valve group through a hydraulic pipeline, and the control valve group is respectively connected with a hydraulic rotation drive, a portal pitching hydraulic cylinder and a fork lifting hydraulic cylinder through a hydraulic pipeline;
the electronic control system comprises a battery pack, an industrial control computer, a power supply loop, a data input and output port, a positioning chip, a positioning coordinate movement control loop, a distance feedback control loop, a fork span adjusting loop and a transfer control loop, wherein the industrial control computer is internally provided with the whole geographic position coordinate information of a loading platform, and the industrial control computer is respectively and electrically connected with the battery pack, the data input and output port, the walking part, the hydraulic system, the fork pushing part, the code scanning recognition device on the fork frame and the distance sensor.
As a further improvement of the invention, the fork frame also comprises a pattern recognition sensor, the electric control system also comprises a fork position positioning control loop, and the industrial control computer is electrically connected with the pattern recognition sensor.
As a further improvement of the invention, the data input/output port further comprises a wireless transceiver module, and the electric control system further comprises a wireless transceiver control loop.
As a further improvement scheme of the invention, a plurality of supporting auxiliary hydraulic cylinders which are arranged in the vertical direction are arranged on the frame, the supporting auxiliary hydraulic cylinders are uniformly distributed around the slewing bearing, the cylinder body ends of the supporting auxiliary hydraulic cylinders are fixedly arranged on the frame, the top of the telescopic ends of the supporting auxiliary hydraulic cylinders are provided with roller structures, the central axis extension lines of the rollers of the roller structures are arranged through the slewing center of the slewing bearing, the supporting auxiliary hydraulic cylinders are connected with a control valve group of a hydraulic system through hydraulic pipelines, and the electric control system further comprises an auxiliary supporting loop.
As one implementation mode of the walking part, the walking part is of a universal pair roller structure and at least comprises four rollers, the walking drive at least comprises four rollers in a matched mode, each roller is respectively connected with one roller in a drive mode, a plurality of spiral bulges which are spiral along the outer surface of the roller are arranged on the outer surface of the roller, the spiral bulges are uniformly distributed along the rotation center of the roller, every two rollers are concentrically arranged and respectively symmetrically arranged relative to the frame to form a front roller group and a rear roller group, and the front roller group and the rear roller group are symmetrically arranged relative to the frame in a front-rear mode; the four roller drives are respectively and electrically connected with an industrial control computer of the electric control system.
As a further improvement scheme of the invention, a plurality of auxiliary rollers with central axes arranged along the spiral trend are erected on the spiral bulge.
As another implementation mode of the walking part, the walking part is of a crawler structure and comprises a crawler beam, a crawler, a hydraulic driving wheel and a guide roller, wherein the walking driving wheel comprises a walking hydraulic motor, and the walking hydraulic motor is connected with a control valve group of a hydraulic system through a hydraulic pipeline.
As one implementation mode of the fork pushing component, the fork pushing component comprises a fork pushing servo motor and a bidirectional screw rod which is horizontally erected and installed on a fork frame, the bidirectional screw rod is connected with the fork pushing servo motor, screw rod structures with opposite rotation directions are arranged on rod bodies at the left end and the right end of the bidirectional screw rod, a screw nut which is matched with the bidirectional screw rod and installed on the bidirectional screw rod is arranged on the fork, and the fork pushing servo motor is electrically and mechanically connected with an industrial control system of an electric control system.
As another implementation mode of the fork pushing component, the fork pushing component comprises two fork pushing hydraulic cylinders which are installed on a fork frame in a horizontal erection mode and are arranged in opposite stretching directions, the stretching ends of the two fork pushing hydraulic cylinders are respectively connected with the two forks, and the two fork pushing hydraulic cylinders are respectively connected with a control valve group of a hydraulic system through hydraulic pipelines.
As a preferred embodiment of the present invention, the battery pack is a lithium battery pack.
Compared with the prior art, the logistics code taking vehicle suitable for the freight container is a complete digital control unit, and can realize centralized digital management by being connected with a digital bus of intelligent logistics in a seamless manner; the industrial control computer controls the movement coordinate of the walking part to move according to the input goods information, and simultaneously controls the movement of the fork pushing parts to adjust the span between the forks to the set width size matched with the goods size according to the input goods information, establishes a mathematical model of fork loading position and fork loading depth according to the input information and the feedback information of a code scanning recognition device and a distance sensor on a fork frame, then controls the hydraulic system according to the mathematical model to enable the pitching hydraulic cylinder and the fork frame lifting hydraulic cylinder to move for fork loading according to the mathematical model, and completely controls the automatic operation so as to avoid the influence of the human factors such as responsibility and emotion of operators on the production progress, and simultaneously avoid the limitation of the manual operation skill level of operators, thereby being particularly suitable for the full-scale operation of the loading and unloading, and being suitable for the complete implementation of the intelligent operation of the fork loading and unloading.
Drawings
FIG. 1 is a schematic three-dimensional view of the present invention in loading and unloading a shipping container;
FIG. 2 is a schematic three-dimensional structure of the walking part of the universal pair roller structure;
FIG. 3 is a bottom view of FIG. 2;
FIG. 4 is a schematic view of a three-dimensional structure of the present invention when a crawler belt structure running part is employed;
fig. 5 is a schematic three-dimensional structure of the present invention for coding a freight container.
In the figure: 1. the frame, 11, support and carry auxiliary hydraulic cylinder, 2, running part, 3, slewing bearing, 4, supporting platform, 5, working part, 51, portal, 52, fork frame, 53, fork.
Detailed Description
The invention will be further described with reference to the accompanying drawings (hereinafter, the direction in which the working portion 5 is mounted on the support platform 4 will be described as the front).
As shown in fig. 1, 2 and 4, the logistics code taking vehicle suitable for the freight container comprises a frame 1, a traveling part 2, a slewing bearing 3, a supporting platform 4, a working part 5, a hydraulic system and an electric control system.
The travelling part 2 is arranged at the bottom of the frame 1, travelling drive is arranged in the travelling part 2, the supporting platform 4 is erected and installed on the frame 1 through the slewing bearing 3, hydraulic slewing drive is arranged on the slewing bearing 3, the slewing bearing 3 is arranged to enable the degree of freedom of the logistics code taking vehicle to be increased and suitable for a narrower loading and unloading space, and the working part 5, the hydraulic system and the electric control system are all installed on the supporting platform 4.
The working part 5 comprises a portal 51, a fork frame 52 and a fork 53; the bottom end of the portal 51 is hinged to the front end of the supporting platform 4, the frame body of the portal 51 is connected with the supporting platform 4 through a portal pitching hydraulic cylinder, and the whole portal 51 can pitch along the front and back direction of a hinge shaft by controlling the expansion and contraction of the portal pitching hydraulic cylinder; the fork frame 52 is in sliding fit connection with the front end face of the door frame 51 through a fork frame guide mechanism, a frame body of the fork frame 52 is connected with the door frame 51 through a fork frame lifting hydraulic cylinder, the fork frame 52 can move up and down along the door frame 51 through controlling the expansion and contraction of the fork frame lifting hydraulic cylinder, and a code scanning identification device and a distance sensor are further arranged on the fork frame 52; the fork 53 is arranged in two in bilateral symmetry, is erected and installed on the fork frame 52 through a fork sliding guide mechanism, and the fork 53 is installed and connected with the fork frame 52 through a fork pushing component arranged in the left-right direction, and the adjustment of the span between the forks 53 can be realized through controlling the action of the fork pushing component.
The hydraulic system comprises a hydraulic pump station and a control valve group, wherein the hydraulic pump station is connected with the control valve group through a hydraulic pipeline, and the control valve group is respectively connected with a hydraulic rotation drive, a portal pitching hydraulic cylinder and a fork lifting hydraulic cylinder through a hydraulic pipeline.
The electronic control system comprises a battery pack, an industrial control computer, a power supply loop, a data input and output port, a positioning chip, a positioning coordinate movement control loop, a distance feedback control loop, a fork span adjusting loop and a transfer control loop, wherein the industrial control computer is internally provided with the whole geographic position coordinate information of a loading platform, the positioning chip can adopt a GPS positioning chip, a Beidou positioning chip and other satellite positioning chips or a radar positioning chip, and the industrial control computer is respectively and electrically connected with the battery pack, the data input and output port, the walking part 2, a hydraulic system, a fork pushing part, and a code scanning recognition device and a distance sensor on the fork frame 52.
The working principle of the logistics code-taking vehicle suitable for the freight container is as follows: before the code taking operation, the bottom plate of the freight container is butted with the loading platform and positioned in the same horizontal plane after the vehicle loaded with the freight container is stopped at a set position under the loading platform, and the box door is opened, so that an operator inputs the information of the freight container loading position, the loading scheme, the goods stacking coordinate position, the goods size and the data information of the internal size of the freight container to an industrial control computer of the electronic control system through a data input/output port;
during boxing operation, cargoes to be boxed are firstly transported to a cargo stacking coordinate position in sequence according to a loading scheme through an automatic guide transport vehicle, then the cargo stream code picking vehicle is started, an industrial control computer controls a positioning coordinate movement control loop and a cargo fork span adjustment loop to start working, the industrial control computer controls an action coordinate of a travelling part 2 to move according to input cargo information, and meanwhile, the industrial control computer controls a cargo fork pushing component to act according to the input cargo size information so that the span between cargo forks 53 is adjusted to a set width size matched with the cargo size; then the industrial control computer controls the transfer control loop and the distance feedback control loop to start working, the industrial control computer establishes a mathematical model of the fork loading position and the fork loading depth of the goods according to the input goods size information, the goods stacking coordinate position information and the feedback identification information of the scanning code identification device on the fork frame 52, and then the industrial control computer controls the hydraulic system according to the mathematical model to enable the portal pitching hydraulic cylinder and the fork frame lifting hydraulic cylinder to act for fork loading, and a distance sensor on the fork frame 52 feeds back the distance between the fork frame 52 and the goods in real time to ensure the fork loading depth in the fork loading process; after the cargo is forked, the industrial control computer sequentially performs fork loading and coordinate movement on the cargo from the loading platform to a set position in the cargo container according to the loading scheme, the cargo container position information and the cargo container internal size data information sequence, and stacks the cargo to finish the container loading;
when the unloading operation is performed, the logistics code-taking vehicle is started, the industrial control computer controls the positioning coordinate movement control loop and the fork span adjustment loop to start working, the industrial control computer controls the movement coordinate of the travelling part 2 to move into the freight container according to the input freight container internal size data information, the freight size information, the freight loading position information and the loading scheme, and simultaneously, the industrial control computer controls the fork pushing part to move according to the input freight size information so as to adjust the span between the forks 53 to the set width size matched with the freight size; then the industrial control computer controls the transfer control loop and the distance feedback control loop to start working, the industrial control computer establishes a mathematical model of the fork loading position and the fork loading depth of the goods according to the input goods size information, the goods stacking coordinate position information and the feedback identification information of the scanning code identification device on the fork frame 52, and then the industrial control computer controls the hydraulic system according to the mathematical model to enable the portal pitching hydraulic cylinder and the fork frame lifting hydraulic cylinder to act for fork loading, and a distance sensor on the fork frame 52 feeds back the distance between the fork frame 52 and the goods in real time to ensure the fork loading depth in the fork loading process; after the goods are forked, the industrial control computer controls the action coordinates of the walking part 2 to move to the set coordinate positions on the loading platform for stacking, and meanwhile, the coordinate positions are recorded according to the loading scheme and the goods information fed back by the code scanning recognition device on the fork frame 52, and the like until all the goods are forked to the set coordinate positions on the loading platform for stacking, and unloading is completed.
In order to ensure accurate fork assembly, as a further improvement of the invention, the fork frame 52 further comprises a pattern recognition sensor, the electric control system further comprises a fork assembly position positioning control loop, and the industrial control computer is electrically connected with the pattern recognition sensor; and the industrial control computer establishes a cargo pattern recognition data model according to cargo size information and cargo position information fed back by the pattern recognition sensor, performs correction and integration on the cargo pattern recognition data model and the established mathematical model of the fork loading position and the fork loading depth, and finally controls the hydraulic system according to the mathematical model after correction and integration to enable the portal pitching hydraulic cylinder and the fork carriage lifting hydraulic cylinder to act for fork loading.
In order to realize faster real-time data exchange and control and improve loading and unloading efficiency, as a further improvement scheme of the invention, the data input/output port also comprises a wireless transceiver module, and the electric control system also comprises a wireless transceiver control loop; the industrial control computer can receive the data information such as cargo boxing position information, a loading scheme, cargo stacking coordinate positions, cargo sizes, cargo container internal sizes and the like of the cargo container from the upper network by utilizing wireless transmission before loading and unloading through the wireless transceiver module and the wireless transceiver control loop, and realize real-time feedback loading and unloading specific conditions to the upper network in the loading and unloading process, on one hand, the fixed-point forklift loading on a loading platform in the boxing process and fixed-point stacking on the loading platform in the unloading process can be realized by matching with the automatic guiding transport vehicle, the walking path of the commodity flow code taking vehicle in the forklift loading and unloading process is shortened, and the loading and unloading efficiency is improved; on the other hand, operators can remotely control and rectify the code taking vehicle of the logistics in real time.
Because the bearing point is positioned at the front part of the supporting platform 4 during fork assembly, in order to prevent the damage of the slewing bearing 3 caused by unbalanced load in the heavy load fork assembly process, as a further improvement scheme of the invention, a plurality of supporting auxiliary hydraulic cylinders 11 which are arranged in the vertical direction are arranged on the frame 1, the supporting auxiliary hydraulic cylinders 11 are uniformly distributed around the slewing bearing 3, the cylinder body ends of the supporting auxiliary hydraulic cylinders 11 are fixedly arranged on the frame 1, the top of the telescopic end of the supporting auxiliary hydraulic cylinders 11 is provided with a roller structure, the central axis extension line of the roller structure is arranged through the slewing center of the slewing bearing 3, the supporting auxiliary hydraulic cylinders 11 are connected with a control valve group of a hydraulic system through a hydraulic pipeline, and the electric control system also comprises an auxiliary supporting loop; when the rated load information of the goods in the input scheme exceeds the heavy load starting weight preset by an industrial control computer, the auxiliary support loop starts to work first, the industrial control computer controls the hydraulic system to enable the auxiliary support hydraulic cylinder 11 to extend out of the support to lean against the bottom plane of the support platform 4 for auxiliary support, and then the industrial control computer controls the hydraulic system to enable the portal pitching hydraulic cylinder and the fork lifting hydraulic cylinder to act for fork assembly.
For lighter goods and freight containers with relatively small space, in order to realize greater flexibility of the logistics code taking trolley, as an implementation mode of the travelling part 2, the travelling part 2 is of a universal pair roller structure, as shown in fig. 2 and 3, the travelling part 2 comprises at least four rollers, the travelling drive at least comprises four rollers in a matched mode, each roller is respectively connected with one roller in a driving mode, a plurality of spiral bulges which are spirally arranged along the outer surface of the roller are arranged on the outer surface of the roller in a roller shape, the spiral bulges are uniformly distributed along the rotation center of the roller, component force which is inclined to the movement direction of the roller can be provided by friction between the spiral bulges and the ground in the roller rotating and moving process, steering can be realized, each two rollers are concentrically arranged and symmetrically arranged relative to the frame 1 to form a front roller group and a rear roller group, and the front roller group and the rear roller group are symmetrically arranged relative to the front and rear sides of the frame 1; the four roller drives are respectively and electrically connected with an industrial control computer of the electric control system; the industrial control computer can realize the same-direction rotation of the four rollers when simultaneously controlling the four rollers to drive the same-direction rotation, and the component forces which are generated by the front roller set and the rear roller set and are inclined to the moving direction of the rollers and respectively formed by the two rollers are mutually counteracted at the moment, so that the frame 1 can keep straight walking; the industrial control computer simultaneously controls the front and rear rollers on the left side of the frame 1 to simultaneously rotate in the same direction, the front and rear rollers on the right side of the frame 1 to simultaneously rotate in the opposite direction, the rotating speeds of the front and rear rollers on the left side of the frame 1 are different from the rotating speeds of the front and rear rollers on the right side of the frame 1, at the moment, component forces which are generated by the four rollers and are inclined to the moving direction of the rollers are overlapped, and the different rotating speeds realize the steering of the frame 1 to the overlapped direction; the industrial control computer simultaneously controls the four rollers to rotate in opposite directions at the same time, and the rotating speeds of the four rollers are the same, so that component forces which are generated by the four rollers and are inclined to the moving direction of the rollers are all overlapped, and further the frame 1 is translated in the overlapping direction; the walking part 2 of the universal double-roller structure can realize the in-situ rotation of the frame 1 within the range of +/-360 degrees, and the hydraulic rotary driving action matched with the rotary support 3 can be suitable for freight containers with relatively small space.
The simple spiral bulge is easy to cause premature wear of the spiral bulge due to sliding friction with the ground in the rotating and moving process of the roller, and in order to reduce wear and prolong the service life of the roller, the auxiliary roller with a plurality of central axes arranged along the spiral trend is erected on the spiral bulge as a further improvement scheme of the invention; the rolling friction between the auxiliary roller and the ground reduces abrasion and prolongs the service life of the roller in the rotating and moving process of the roller.
For heavy goods and freight containers with relatively large space, in order to reduce the damage of heavy-duty logistics code taking vehicles to the chassis of the freight containers, as another embodiment of the walking part 2 of the invention, as shown in fig. 4, the walking part 2 is of a track structure, the walking part 2 comprises a track beam, a track, a hydraulic driving wheel and a guide roller, the walking driving wheel comprises a walking hydraulic motor, and the walking hydraulic motor is connected with a control valve group of a hydraulic system through a hydraulic pipeline.
Aiming at the condition that the width dimension of the goods is matched with the width dimension of the interior of the freight container, as one implementation mode of the fork pushing component, the fork pushing component comprises a fork pushing servo motor and a bidirectional screw rod which is horizontally erected and installed on a fork frame 52, the bidirectional screw rod is connected with the fork pushing servo motor, screw rod structures with opposite rotation directions are arranged on rod bodies at the left end and the right end of the bidirectional screw rod, a screw nut which is matched with the bidirectional screw rod and installed on the bidirectional screw rod is arranged on a fork 53, and the fork pushing servo motor is electrically connected with an industrial control computer of an electric control system; the adjustment of the span between the forks 53 can be achieved by controlling the forward and reverse rotation of the fork pushing servo motor by the industrial control computer.
For the condition that the size of the goods is small and the goods need to be loaded and unloaded by the unbalanced loading fork, as another implementation mode of the fork pushing component of the invention, the fork pushing component comprises two fork pushing hydraulic cylinders which are horizontally erected and installed on a fork frame 52 and are arranged in opposite extending and retracting directions, the extending and retracting ends of the two fork pushing hydraulic cylinders are respectively connected with two forks 53, and the two fork pushing hydraulic cylinders are respectively connected with a control valve group of a hydraulic system through hydraulic pipelines; the adjustment of the span between the forks 53 and the unbalanced loading position of the forks 53 can be realized by controlling the hydraulic system through the industrial control computer to enable the two forks to push the hydraulic cylinders to have different extension lengths.
The battery pack can be a fuel battery pack, a storage battery pack or a lithium battery pack, and is preferably a lithium battery pack because the lithium battery has the characteristics of high storage energy density, long service life, high power bearing capacity, light weight, small volume and the like, namely, the battery pack is a lithium battery pack as a preferred scheme of the invention.
The logistics code-taking vehicle suitable for the freight container can be matched with a proper fork-loading tool under the condition of enough bearing capacity, and can be also suitable for code taking of the freight container, as shown in fig. 5, two logistics code-taking vehicles can be adopted to synchronously control movement or array loading in a mode of two ends or two suspended ceilings for the freight container for the 40-foot freight container, and one logistics code-taking vehicle can be adopted to control movement or array loading in a traditional side fork-loading mode for the freight container for the 20-foot freight container.
The logistics code-taking vehicle suitable for the freight container is a complete digital control unit, and can realize centralized digital management by being connected with a digital bus of intelligent logistics in a seamless manner; because the industrial control computer is internally provided with the whole geographic position coordinate information and the positioning chip of the loading platform, and the walking part 2, the slewing bearing 3 and the working part 5 are all automatically operated by adopting computer control, after the data information such as the cargo loading position information, the loading scheme, the cargo stacking coordinate position, the cargo size, the inner size of the cargo container and the like of the cargo container is input to the industrial control computer of the electric control system through the data input/output port, the industrial control computer controls the movement coordinate of the walking part 2 to move according to the input cargo information, and simultaneously, the industrial control computer controls the movement of the fork pushing parts according to the input cargo information to enable the span between the forks 53 to be adjusted to the set width size matched with the cargo size, and establishes a mathematical model of the fork loading position and the fork loading depth according to the input information and the feedback information of a distance sensor on the fork frame 52, and then controls the hydraulic system according to the mathematical model to enable the pitching hydraulic cylinder and the fork loading and unloading to be carried out by the fork loading hydraulic cylinder movement, the automatic operation of the computer control can avoid the influence of manual factors such as an operator responsibility center, an emotion and the like on the production, meanwhile, the industrial control computer can avoid the influence on the production personnel due to the artificial factors, the operation efficiency of the operation personnel, the operation efficiency of the fork loading and unloading system can be completely avoided, the operation efficiency is fully limited by the operation efficiency, and the operation efficiency of the intelligent operation can be realized, and the loading and unloading efficiency is especially is realized, and the handling limitation.
Claims (9)
1. The logistics code taking vehicle suitable for the freight container is characterized by comprising a frame (1), a travelling part (2), a slewing bearing (3), a supporting platform (4), a working part (5), a hydraulic system and an electric control system;
the walking part (2) is arranged at the bottom of the frame (1), a walking drive is arranged in the walking part (2), the supporting platform (4) is erected and installed on the frame (1) through the slewing bearing (3), a hydraulic slewing drive is arranged on the slewing bearing (3), and the working part (5), the hydraulic system and the electric control system are all installed on the supporting platform (4);
the frame (1) is provided with a plurality of supporting auxiliary hydraulic cylinders (11) which are arranged in the vertical direction, the supporting auxiliary hydraulic cylinders (11) are uniformly distributed around the slewing bearing (3), the cylinder body ends of the supporting auxiliary hydraulic cylinders (11) are fixedly arranged on the frame (1), the top of the telescopic end of the supporting auxiliary hydraulic cylinders (11) is provided with a roller structure, and the roller central axis extension line of the roller structure is arranged through the slewing center of the slewing bearing (3);
the working part (5) comprises a portal (51), a fork frame (52) and a fork (53); the bottom end of the portal (51) is hinged to the front end of the supporting platform (4), and a frame body of the portal (51) is connected with the supporting platform (4) through a portal pitching hydraulic cylinder; the fork frame (52) is in sliding fit connection with the front end face of the door frame (51) through a fork frame guide mechanism, a frame body of the fork frame (52) is connected with the door frame (51) through a fork frame lifting hydraulic cylinder, and a code scanning identification device and a distance sensor are further arranged on the fork frame (52); the two forks (53) are arranged in bilateral symmetry and are erected and installed on the fork frame (52) through fork sliding guide mechanisms, and the forks (53) are connected with the fork frame (52) in an installation manner through fork pushing parts arranged in the left-right direction;
the hydraulic system comprises a hydraulic pump station and a control valve group, wherein the hydraulic pump station is connected with the control valve group through a hydraulic pipeline, and the control valve group is respectively connected with a hydraulic rotation driving and supporting auxiliary hydraulic cylinder (11), a portal pitching hydraulic cylinder and a fork lifting hydraulic cylinder through a hydraulic pipeline;
the electronic control system comprises a battery pack, an industrial control computer, a power supply loop, a data input and output port, a positioning chip, a positioning coordinate movement control loop, a distance feedback control loop, a fork span adjusting loop, an auxiliary supporting loop and a transfer control loop, wherein the industrial control computer is internally provided with the whole geographic position coordinate information of a loading platform, and is respectively and electrically connected with the battery pack, the data input and output port, a traveling part (2), a hydraulic system, a fork pushing part, a scanning code recognition device on a fork frame (52) and a distance sensor;
when the rated load information of the goods in the input scheme exceeds the heavy load starting weight preset by an industrial control computer, the auxiliary support loop starts to work first, the industrial control computer controls the hydraulic system to enable the auxiliary support hydraulic cylinder (11) to extend out of the support to lean against the bottom plane of the support platform (4) for auxiliary support, and then the industrial control computer controls the hydraulic system to enable the portal pitching hydraulic cylinder and the fork lifting hydraulic cylinder to act for fork loading.
2. The code truck for use in a shipping container of claim 1, wherein said fork carriage (52) further includes a pattern recognition sensor, said electronic control system further includes a fork position control loop, and said industrial control computer is electrically connected to said pattern recognition sensor.
3. The code taking truck for freight container as defined in claim 2, wherein said data input/output port further comprises a wireless transceiver module, and said electronic control system further comprises a wireless transceiver control loop.
4. The logistics code taking vehicle suitable for the freight container according to claim 1, 2 or 3, wherein the walking part (2) is of a universal pair roller structure, the walking part (2) at least comprises four rollers, the walking drive at least comprises four rollers in a matched mode, each roller is respectively connected with one roller in a drive mode, a plurality of spiral bulges which are spirally arranged along the outer surface of the roller are arranged on the outer surface of the roller in a roller shape and uniformly distributed along the rotation center of the roller, each two rollers are concentrically arranged and respectively symmetrically arranged relative to the frame (1) to form a front roller group and a rear roller group, and the front roller group and the rear roller group are symmetrically arranged relative to the frame (1) in front and back; the four roller drives are respectively and electrically connected with an industrial control computer of the electric control system.
5. The logistics code taking truck for freight containers according to claim 4, wherein the spiral protrusion is provided with a plurality of auxiliary rollers with central axes arranged along the spiral trend.
6. A logistics code picking truck suitable for use in freight containers according to claim 1, 2 or 3, wherein the travelling unit (2) is of track structure, the travelling unit (2) comprises a track beam, tracks, hydraulic driving wheels and guide rollers, the travelling driving wheels comprise travelling hydraulic motors, and the travelling hydraulic motors are connected with a control valve group of a hydraulic system through hydraulic pipelines.
7. A logistics code taking vehicle suitable for freight containers according to claim 1, 2 or 3, wherein the fork pushing component comprises a fork pushing servo motor and a bidirectional screw rod horizontally erected on a fork frame (52), the bidirectional screw rod is connected with the fork pushing servo motor, screw rod structures with opposite rotation directions are arranged on rod bodies at the left end and the right end of the bidirectional screw rod, a screw nut matched with the bidirectional screw rod and arranged on the bidirectional screw rod is arranged on the fork (53), and the fork pushing servo motor is electrically connected with an industrial control computer of an electric control system.
8. A logistics code picking truck suitable for freight containers according to claim 1, 2 or 3, characterized in that the fork pushing component comprises two fork pushing hydraulic cylinders which are horizontally erected on the fork frame (52) and are arranged in opposite directions of extension and retraction, the extension ends of the two fork pushing hydraulic cylinders are respectively connected with the two forks (53), and the two fork pushing hydraulic cylinders are respectively connected with a control valve group of a hydraulic system through hydraulic pipelines.
9. A physical distribution code picking truck for freight containers according to claim 1, 2 or 3, wherein the battery pack is a lithium battery pack.
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| CN108284890A (en) * | 2018-02-12 | 2018-07-17 | 徐州德坤电气科技有限公司 | A kind of automated vehicle support carries transport vehicle and its control method |
| CN109734025A (en) * | 2019-03-05 | 2019-05-10 | 哈尔滨博实自动化股份有限公司 | One kind automatically moving goods fork lift loader |
| CN111559312B (en) * | 2020-05-22 | 2025-01-24 | 上海赛高菲冷链物流有限公司 | Intelligent transport carriage |
| CN111703919A (en) * | 2020-06-23 | 2020-09-25 | 合肥泰禾光电科技股份有限公司 | Car loader, car loading system and car loading method |
| CN112623798B (en) * | 2020-12-11 | 2022-08-05 | 广州飞锐机器人科技有限公司 | Intelligent unloading method and device, computer equipment and storage medium |
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