CN207293220U - Suitable for the logistics code fetch system of freight container - Google Patents

Abstract

The utility model discloses a kind of logistics code fetch system suitable for freight container, including loading/unloading platform, handler, sorting equipment and electric control gear；The longitudinal rail being arranged in parallel is equipped with loading/unloading platform in the longitudinal direction；Handler includes support underframe, ribbon conveyer and forklift, and the bottom of support underframe is equipped with running part, and ribbon conveyer includes chassis conveyer electrical control mechanism；Forklift includes forklift electrical control mechanism；Sorting equipment includes being arranged on multiple the sorting mechanical arms and mechanical arm electrical control mechanism at left and right sides of handler；Electric control gear includes industrial control computer, support underframe control loop, ribbon conveyer control loop, forklift control loop, sorting stacking control loop.The logistics code fetch system automation degree that this is suitable for freight container is higher, can realize intelligent operation, improve the efficiency of loading and unloading, and the handling goods especially suitable for being directed to freight container in the container shipping of logistic storage piles up operation.

Description

Suitable for the logistics code fetch system of freight container

Technical field

A kind of logistics code fetch system is the utility model is related to, is specifically a kind of logistics code fetch system suitable for freight container System, belongs to Intelligent logistics technical equipment field.

Background technology

Intelligent logistics are exactly to utilize the advanced Internet of Things such as bar code, Radio Frequency Identification Technology, sensor, global positioning system Technology is widely used in logistics transport, storage, dispatching, packaging, handling etc. by information processing and network communication technology platform Basic activity link, realizes automatic operation and the high efficiency optimum management of cargo transport process, improves the service of logistic industry Level, reduces cost, reduces natural resources and social resources consumption, and the development of Intelligent logistics will promote the development of regional economy Distributed rationally with world resource, realize socialization.

Logistic storage is the key link in modern Intelligent logistics, is played in links such as connection, transfer, storage, keepings Important function, and warehousing management is also to be generally comprised in logistic storage in occupation of the status of core, accurate warehouse process at the same time Receive, restocking, pick up goods, replenish, delivering, several flows of making an inventory, to realize intelligent distribution, occur homing guidance fortune in the prior art Defeated car, i.e., magnetically or optically wait homing guidance device equipped with electricity, has the transport vehicle of safeguard protection and various transfer functions, thing Driver is not required in stream storage application, using rechargeable battery as its power resources, generally its traveling road can be controlled by computer Line and behavior set up its route of travel to realize the allocation and transportation of warehoused cargo using electromagnetic path, but for replenishing or The handling goods that delivery disengaging warehouse is carried out during container shipping piles up operation and still largely uses manual operation, i.e. operator Member's driving fork truck is loaded and unloaded, especially for carriage of container cargo, although usually pressing transport purpose at present for ease of transporting The cargo collection of all kinds of small-sized packagings is first carried out shipping collection by the different of ground again after being readily transported in the medium duty delivery case put The vanning of vanning, but how rational deployment makes the space availability ratio of container is maximum, how reasonable prestowage is laid out to make container just Sorting problem in the container problems and uninstall process such as multi-destination transport causes the vanning or unloading current one of container Directly use manual operation.

There are following defect for the mode of production of this traditional manual operation vanning or unloading：

1. although storage process or outbound process have realized automation mechanized operation, the vanning or unloading of container still use people Work operates, therefore logistic storage integrated automation degree reduces, efficiency is low；

2. carried out due to being put in storage process or outbound process generally use automated guided vehicle or conveyer belt in the prior art The speed of transmission, manual operation vanning or unloading will keep up with storage or the speed of outbound just can guarantee that the efficiency that storage is transported, because This labor intensity of operating staff is larger；

3. the human factors such as the sense of responsibility of operating personnel, mood have a great influence progress of cargo work.

The content of the invention

Taken in view of the above-mentioned problems of the prior art, the utility model provides a kind of logistics suitable for freight container Code system, the degree of automation is higher, can realize intelligent operation, improve the efficiency of loading and unloading, the packaging especially suitable for logistic storage Handling goods in transport for freight container piles up operation.

To achieve these goals, this logistics code fetch system for being suitable for freight container includes loading/unloading platform, handling dress Put, sorting equipment and electric control gear；

The longitudinal rail being arranged in parallel is equipped with the loading/unloading platform in the longitudinal direction, longitudinal rail at least extends to The front end of loading/unloading platform；

The handler includes support underframe, ribbon conveyer and forklift；

The bottom of support underframe is equipped with running part, and running part includes support roller set and roller set driving；Support roller set Including the support disk roller being symmetrical set, support disk roller matches somebody with somebody to merge with longitudinal rail to be erected on longitudinal rail, supports disk roller Group is arranged to multigroup and at least one set of support roller set along support underframe anteroposterior direction and is driven equipped with roller set, support underframe It is installed on by supporting roller set to set up on longitudinal rail；The front end of support underframe has open U-shaped opening structure；

Ribbon conveyer is erected on support underframe along support underframe anteroposterior direction, ribbon conveyer include drive roll, Driven roller, roller station, conveyer belt and chassis conveyer electrical control mechanism；Roller station sets up and is installed on drive roll and driven roller Between, it is in upper and lower structures that conveyer belt head and the tail connection, which is wrapped on drive roll, driven roller and roller station, is set on drive roll There is a drum driven, chassis conveyer electrical control mechanism includes chassis conveyor controller and is electrically connected with chassis conveyor controller Chassis conveyer electrical source of power, drum driven are electrically connected with chassis conveyor controller；The roller set driving is defeated with chassis Machine controller is sent to be electrically connected；

Forklift includes support platform, slipping part, fork dress portion, forklift hydraulic mechanism and forklift electrical control mechanism；Support Platform is located at the surface of ribbon conveyer, and support platform has the support leg extended downwardly, and support platform is by supporting leg support If on support underframe；

Slipping part is arranged between the support leg of support platform and support underframe, including the directive slide track worked in coordination and is led To wheel；Directive slide track anteroposterior direction is horizontally set on support underframe and directive slide track front end extends forwardly into the U of support underframe On the left and right sides plate of shape aperture position；The installation connection of the support leg bottom of directive wheel and support platform, directive wheel are equipped with and lead To wheel drive；

Fork dress portion includes door frame, goods shelf and pallet fork；Door frame includes the inner upright mounting and outer mast for coordinating socket installation, inside door Door frame guiding mechanism is equipped between frame and outer mast, the rear lower of outer mast is articulated and connected in the front end of support platform, outer mast It is connected by door frame pitching hydraulic cylinder with support platform, inner upright mounting is connected by door frame lifting hydraulic cylinder with outer mast, passes through control The flexible of door frame lifting hydraulic cylinder processed can realize that inner upright mounting extends downwardly or upwards along door frame guiding mechanism from outer mast bottom Retraction acts；Goods shelf is fitted and connected by the slip of the front end face of crotch guiding mechanism and inner upright mounting and the frame body of goods shelf leads to Cross crotch lifting hydraulic cylinder to be connected with inner upright mounting, barcode scanning identification device and range sensor are additionally provided with goods shelf；Pallet fork or so It is symmetrical arranged as two pieces, set up by pallet fork sliding guide mechanism on goods shelf, and pallet fork is set by left and right directions Pallet fork passage component and goods shelf installation connect；

Forklift hydraulic mechanism includes the hydraulic power unit being installed in support platform and control valve group, hydraulic power unit pass through liquid Pressure pipe road is connected with control valve group, control valve group by fluid pressure line respectively with door frame lifting hydraulic cylinder, door frame pitching hydraulic cylinder Connected with crotch lifting hydraulic cylinder；

Forklift electrical control mechanism include forklift controller, forklift electrical source of power, the elements of a fix movement control loop, away from From feedback control loop, pallet fork span regulating loop, reprint control loop, forklift controller respectively with pressing machine power electric Source, the control valve group of forklift hydraulic mechanism, pallet fork passage component, the barcode scanning identification device on goods shelf and range sensor electricity Connection；

Multiple the sorting mechanical arms and mechanical arm that the sorting equipment includes being arranged at left and right sides of handler are automatically controlled Mechanism, sorts mechanical arm support and sets on loading/unloading platform, sorting mechanical arm includes at least the X-coordinate that left and right directions movement is set The Z coordinate driving that the Y-coordinate driving and vertical direction movement that driving, anteroposterior direction movement are set are set, sorts the end of mechanical arm Section be equipped with include grasping mechanism crawl pile up manipulator, mechanical arm electrical control mechanism include machinery arm controller and with mechanical arm control The mechanical arm electrical source of power that device processed is electrically connected, X-coordinate driving, Y-coordinate driving and Z coordinate driving are electric with mechanical arm controller respectively Connection；

The electric control gear include industrial control computer, support underframe control loop, ribbon conveyer control loop, Control loop is piled up in forklift control loop, sorting；Industrial control computer includes data input output ports, Industry Control meter Calculation machine is electrically connected with chassis conveyor controller, forklift controller and mechanical arm controller respectively.

As further improvement of the utility model scheme, the baseplane distance belt conveyer of the support platform Height dimension between the upper surface of upper strata conveyer belt is more than the height dimension of goods packaging box.

As further improvement of the utility model scheme, the support platform is divided into two parts up and down, door frame it is outer The rear lower articulated connection of door frame is installed in the lower part of support platform in the top sub-headend of support platform, support leg, branch It is attached between two parts up and down of support platform by pivoting support, pivoting support is equipped with pivoting support hydraulic-driven, returns Turn support hydraulic and be driven through fluid pressure line to be connected with the control valve group of forklift hydraulic mechanism；The forklift electrical control mechanism Further include support platform rotary loop.

It is described that multigroup support disk roller is arranged to along support underframe anteroposterior direction as the preferred solution of the utility model Group is uniformly arranged along support underframe anteroposterior direction and at least two groups of support roller sets drive equipped with roller set, and each support The disk roller revolution driving of axis of rotation vertical direction setting is equipped with disk roller, disk roller revolution driving can realize support disk roller Rotating direction converts between anteroposterior direction and left and right directions, and disk roller revolution driving is electrically connected with chassis conveyor controller；Institute The longitudinal rail being arranged in parallel on the anteroposterior direction stated is arranged to multigroup, and X is sat between the longitudinal rail that two adjacent groups are arranged in parallel The distance of scale value is more than the width dimensions of freight container, is additionally provided with quantity and support disk roller on loading/unloading platform in the lateral direction Group it is identical, being arranged in parallel, with longitudinal rail intersect be in matts structure cross slide way, and adjacent two pieces cross slide way it Between distance it is identical with the distance between axles size between anteroposterior direction upper backup roll wheel group；The electric control gear further includes support bottom Frame translational loop.

As further improvement of the utility model scheme, pattern-recognition sensor, institute are further included on the goods shelf The electric control gear stated further includes fork holding position position control loop, the industrial control computer and pattern-recognition sensor electricity Connection.

As further improvement of the utility model scheme, the data input output ports further include wireless receiving and dispatching mould Block, the electric control gear further include wireless receiving and dispatching control loop.

As further improvement of the utility model scheme, the pallet fork is equipped with side clamping plate.

As further improvement of the utility model scheme, the directive slide track of the slipping part is through a support underframe left side The guide groove structure of right biside plate.

As a kind of embodiment of the utility model pallet fork passage component, pallet fork passage component is pushed away including pallet fork Servomotor and the horizontal bidirectional screw bar set up on goods shelf are moved, bidirectional screw bar connects with pallet fork passage servomotor Connect and there is oppositely oriented screw structure on the body of rod of bidirectional screw bar left and right ends, the pallet fork be equipped with it is double The screw on bidirectional screw bar, the Industry Control calculating of pallet fork passage servomotor and electric control gear are fitted to screw rod Mechatronics.

As the another embodiment of the utility model pallet fork passage component, pallet fork passage component includes level Set up and be installed on two pieces pallet fork passage hydraulic cylinder on goods shelf, telescopic direction is reversed, two pieces pallet fork passage hydraulic cylinder Telescopic end be connected respectively with two pieces pallet fork, two pieces pallet fork elapses control valve group of the hydraulic cylinder respectively with forklift hydraulic mechanism and leads to Cross fluid pressure line connection.

Compared with prior art, this logistics code fetch system for being suitable for freight container is fully digitalization control unit, It can be seamlessly connected with the number bus of Intelligent logistics and realize concentration digital management, coordinate the homing guidance of Intelligent logistics to transport Car can realize that fully digitalization is loaded and unloaded；Since handler includes support underframe, ribbon conveyer and forklift, belt conveying Machine includes chassis conveyer electrical control mechanism, and forklift includes forklift electrical control mechanism, and sorting equipment includes being arranged on handler Multiple the sorting mechanical arms and mechanical arm electrical control mechanism of the left and right sides, are operated using computer auto-control completely, therefore logical Cross industrial control computer from data input output ports to electric control gear input freight container cargo vanning positional information, Prestowage scheme, goods packaging box pile up the data messages such as coordinate position, goods packaging box size, freight container inside dimension Afterwards, industrial control computer can control support underframe vertical according to the prestowage scheme inputted by chassis conveyer electrical control mechanism Coordinate moves after direction guiding rail is gone forward, during incasement operation by mechanical arm controller and forklift controller control sorting mechanical arm, Ribbon conveyer and forklift work compound, it is possible to achieve the stacking coordinate position of the goods packaging box on loading/unloading platform is determined Point crawl, the translation of goods packaging box are piled up to conveyer belt, the conveyer belt of goods packaging box transports, goods packaging box is in shipping Fork dress and the handling of internal container are piled up, and are unloaded when operating by mechanical arm controller and forklift controller control fork dress Machine, ribbon conveyer and sorting mechanical arm work compound, it is possible to achieve the fork of the goods packaging box inside freight container Dress, goods packaging box stacking to conveyer belt on, the transport of the conveyer belt of goods packaging box, the translation of goods packaging box piled up to dress Unload goods packaging box on platform and pile up coordinate position, forklift controller is according to the goods of input during goods packaging box fork dress Matter packaging box size Control pallet fork passage component actuation makes the span between pallet fork adjust setting to cooperation goods packaging box size Determine width dimensions, and according to the barcode scanning identification device and the feedback information of range sensor in the information and goods shelf inputted, Fork holding position and fork dress depth mathematical model are established, then controls forklift hydraulic mechanism to make door frame pitching liquid according to mathematical model Cylinder pressure, the action of crotch lifting hydraulic cylinder carry out fork dress handling, and complete computer auto-control operation can be avoided because operating personnel blame Influence of the human factors such as Ren Xin, mood to manufacturing schedule, at the same can from the limitation of operating personnel's operative skill qualification, Completely avoid manual operation there are the drawbacks of, can realize intelligent operation, improve the efficiency of loading and unloading, especially suitable for logistic storage Container shipping in for freight container handling goods pile up operation.

Brief description of the drawings

Fig. 1 is three dimensional structure diagram when the utility model carries out handling freight container；

Fig. 2 is that structure of the utility model forklift when fork dress or store items packing case work on ribbon conveyer is shown It is intended to；

Fig. 3 is structure diagram when the utility model forklift carries goods packaging box reach work；

Fig. 4 is structure when the utility model forklift pitches dress or the work of store items packing case inside freight container Schematic diagram；

Fig. 5 is the utility model when fork dress being carried out by the way of support platform revolution or store items packing case works Structure diagram；

Fig. 6 is the top view of Fig. 4.

In figure：1st, loading/unloading platform, 11, longitudinal rail, 2, support underframe, 21, running part, 3, ribbon conveyer, 4, fork dress Machine, 41, support platform, 42, slipping part, 43, fork dress portion, 431, door frame, 432, goods shelf, 433, pallet fork, 5, sorting mechanical arm.

Embodiment

The utility model is described further below in conjunction with the accompanying drawings (below to pitch dress portion 43 towards the side of freight container Described to for front).

As shown in Figure 1, this logistics code fetch system for being suitable for freight container includes loading/unloading platform 1, handler, sorting Device and electric control gear.

The longitudinal rail 11 being arranged in parallel is equipped with the loading/unloading platform 1 in the longitudinal direction, longitudinal rail 11 is at least Extend to the front end of loading/unloading platform 1.

As shown in Fig. 2, Fig. 5, Fig. 6, the handler includes support underframe 2, ribbon conveyer 3 and forklift 4.

The bottom of support underframe 2 is equipped with running part 21, and running part 21 includes support roller set and roller set driving；Support roller Wheel group includes the support disk roller being symmetrical set, and support disk roller matches somebody with somebody to merge with longitudinal rail 11 to be erected on longitudinal rail 11, Support roller set is arranged to multigroup and at least one set of support roller set along 2 anteroposterior direction of support underframe and is driven equipped with roller set, Support underframe 2 is installed on longitudinal rail 11 by supporting roller set to set up；There is open U-shaped to open for the front end of support underframe 2 Mouth structure, U rows hatch frame operate easy to the upper lower fork dress of forklift 4, avoid movement interference；

Ribbon conveyer 3 is erected on support underframe 2 along 2 anteroposterior direction of support underframe, and ribbon conveyer 3 includes actively rolling Cylinder, driven roller, roller station, conveyer belt and chassis conveyer electrical control mechanism；Roller station is set up installed in drive roll and driven Between roller, it is in upper and lower structures that conveyer belt head and the tail connection, which is wrapped on drive roll, driven roller and roller station, drive roll Drum driven is equipped with, chassis conveyer electrical control mechanism includes chassis conveyor controller and is electrically connected with chassis conveyor controller The chassis conveyer electrical source of power connect, drum driven are electrically connected with chassis conveyor controller；The roller set driving and bottom Frame conveyor controller is electrically connected；

Forklift 4 includes support platform 41, slipping part 42, fork dress portion 43, forklift hydraulic mechanism and the automatically controlled machine of forklift Structure；Support platform 41 is located at the surface of ribbon conveyer 3, and support platform 41 has the support leg extended downwardly, support platform 41 are set up on support underframe 2 by support leg；

Slipping part 42 is arranged between the support leg of support platform 41 and support underframe 2, including the guiding worked in coordination is slided Rail and directive wheel；Directive slide track anteroposterior direction is horizontally set on support underframe 2 and directive slide track front end extends forwardly into support On the left and right sides plate of the U-shaped opening position of chassis 2；Directive wheel and the support leg bottom installation of support platform 41 connect, and are oriented to Wheel, which is equipped with, is oriented to wheel drive；

Fork dress portion 43 includes door frame 431, goods shelf 432 and pallet fork 433；Door frame 431 includes the inside door for coordinating socket installation Frame and outer mast, are equipped with door frame guiding mechanism between inner upright mounting and outer mast, the rear lower articulated connection of outer mast is flat in support The front end of platform 41, outer mast are connected by door frame pitching hydraulic cylinder with support platform 41, by controlling door frame pitching hydraulic cylinder It is flexible to realize that door frame 431 is overall along its articulated shaft anteroposterior direction pitching motion, inner upright mounting by door frame lifting hydraulic cylinder with Outer mast connects, and flexible inner upright mounting can be realized along door frame guiding mechanism from outer mast bottom by control door frame lifting hydraulic cylinder End extends downwardly or retraction action upwards；Goods shelf 432 slides the company of fitting by crotch guiding mechanism with the front end face of inner upright mounting Connect and the frame body of goods shelf 432 is connected by crotch lifting hydraulic cylinder with inner upright mounting, by controlling stretching for crotch lifting hydraulic cylinder Contracting can realize that goods shelf 432 moves up and down action along crotch guiding mechanism on inner upright mounting, and barcode scanning is additionally provided with goods shelf 432 Identification device and range sensor；Pallet fork 433 is symmetrical set as two pieces, is installed on by the erection of pallet fork sliding guide mechanism On goods shelf 432, and the pallet fork that pallet fork 433 is set by left and right directions elapses component and the installation connection of goods shelf 432, passes through control The action of pallet fork passage component processed can realize the adjusting of span between pallet fork 433；

Forklift hydraulic mechanism includes the hydraulic power unit being installed in support platform 41 and control valve group, hydraulic power unit pass through Fluid pressure line is connected with control valve group, control valve group by fluid pressure line respectively with door frame lifting hydraulic cylinder, door frame pitching hydraulic pressure Cylinder is connected with crotch lifting hydraulic cylinder；

Forklift electrical control mechanism include forklift controller, forklift electrical source of power, the elements of a fix movement control loop, away from From feedback control loop, pallet fork span regulating loop, reprint control loop, forklift controller respectively with pressing machine power electric Source, the control valve group of forklift hydraulic mechanism, pallet fork passage component, barcode scanning identification device and Distance-sensing on goods shelf 432 Device is electrically connected.

Multiple the sorting mechanical arms 5 and mechanical arm that the sorting equipment includes being arranged at left and right sides of handler are automatically controlled Mechanism, sorting mechanical arm 5, which is set up, to be installed on loading/unloading platform 1, and sorting mechanical arm 5 includes at least the X that left and right directions movement is set The Z coordinate driving that the Y-coordinate driving and vertical direction movement that coordinate driving, anteroposterior direction movement are set are set, sorts mechanical arm 5 Minor details be equipped with include grasping mechanism crawl pile up manipulator, mechanical arm electrical control mechanism include machinery arm controller and with machinery The mechanical arm electrical source of power that arm controller is electrically connected, X-coordinate driving, Y-coordinate driving and Z coordinate driving are controlled with mechanical arm respectively Device is electrically connected.

The electric control gear include industrial control computer, support underframe control loop, ribbon conveyer control loop, Control loop is piled up in forklift control loop, sorting；Industrial control computer includes data input output ports, Industry Control meter Calculation machine is electrically connected with chassis conveyor controller, forklift controller and mechanical arm controller respectively.

This is suitable for the logistics code fetch system of freight container in original state, and support underframe 2 is stuck in loading/unloading platform 1 Front edge setting position, forklift 4 is stuck in the setting fork dress coordinate position of the top of ribbon conveyer 3.

This is suitable for the operation principle of the logistics code fetch system of freight container：The vehicle parking of freight container will be loaded with Behind under loading/unloading platform 1, chamber door face forklift 4 setting position, the bottom plate of freight container is and loading/unloading platform 1 at this time Upper plane it is concordant, operating personnel open chamber door, while the data that operating personnel pass through industrial control computer after being docked Input/output port inputs the cargo vanning positional information, prestowage scheme, cargo bag of freight container to industrial control computer Coordinate position, goods packaging box size, freight container inside dimension data message are piled up in vanning.

During incasement operation, support underframe control loop is first begin to work；Industrial control computer is matched somebody with somebody according to what is inputted Load scheme, goods packaging box size and freight container inside dimension data message calculate the reach of support underframe 2 and enter shipping collection Depth and Y-coordinate value that the support underframe 2 need to move forward inside vanning 6 are sent to chassis conveyor controller, while the bottom of to Frame conveyor controller sends support underframe forward motion control instruction, chassis conveyor controller control roller set drive actions Make support roller set drag carry support underframe 2 forward coordinate be moved to above-mentioned calculating support underframe 2 move forward Y-coordinate value, branch The roller set of 2 front end of support underframe departs from longitudinal rail 11, crosses loading/unloading platform 1 and shipping packaging during support chassis 2 moves forward The docking location of case enters the setting position inside freight container 6 and positioning, and chassis conveyor controller is controlled to industry in real time Computer feedback data information processed；

The cargo that need to be cased transports attached to sorting mechanical arm 5 successively first by automated guided vehicle according to prestowage scheme Near setting goods packaging box piles up coordinate position, and then sorting piles up control loop and works first；Industrial control computer to Mechanical arm controller sends crawl and piles up control instruction, and mechanical arm controller control sorting mechanical arm 5 coordinate movement makes crawl code Put manipulator be moved to goods packaging box pile up coordinate position surface and Z-direction move down and cargo captured；Crawl Mechanical arm controller controls the 5 coordinate movement of sorting mechanical arm crawl stacking mechanical hand shovelling and moves to goods on cargo Z-direction afterwards The baseplane of matter packaging box is more than the upper table of the upper strata conveyer belt of ribbon conveyer 3 apart from the distance between loading/unloading platform 1 size Setting Z coordinate position of the identity distance from the distance between loading/unloading platform 1 size；Then mechanical arm controller control sorting mechanical arm 5 Coordinate movement makes crawl pile up mechanical hand shovelling and cargo to move to setpoint distance along X-coordinate, which is goods packaging box Pile up the X-coordinate value between coordinate position and the conveyer belt widthwise central of ribbon conveyer 3；Then mechanical arm controller control is grabbed Code fetch, which is put manipulator Z-direction and moved down, piles up cargo；Mechanical arm controller is in real time to industrial control computer feedback coefficient It is believed that breath；

Then ribbon conveyer control loop is started to work；Industrial control computer is according to having inputted goods packaging box size The Y-coordinate of setting fork dress coordinate position need to be moved forward to by piling up coordinate position data information calculating goods packaging box with goods packaging box Value and the Y-coordinate value that the goods packaging box need to move forward are sent to chassis conveyor controller, while are controlled to chassis conveyer Device sends ribbon conveyer action directive, and the control drum driven action of chassis conveyor controller makes the positive rotation of drive roll Turn to drive upper strata conveyer belt to carry after goods packaging box moves forward to setting fork dress coordinate position and stop, chassis conveyor controller is real When to industrial control computer feedback data information；

Then forklift control loop is started to work；Industrial control computer sends forklift fork dress to forklift controller Action directive, forklift controller control pallet fork passage component actuation according to the goods packaging box dimension information of input first The span between pallet fork 433 is set to adjust to the setting width dimensions for coordinating goods packaging box size；Then forklift controller root Cargo is established according to the feedback identifying information of the barcode scanning identification device on the goods packaging box dimension information and goods shelf 432 inputted Pitch holding position and fork dress depth mathematical model；As shown in Fig. 2, then forklift controller controls forklift liquid according to mathematical model Press mechanism makes door frame lifting hydraulic cylinder, door frame pitching hydraulic cylinder, crotch lifting hydraulic cylinder co-operating be pointed to ribbon conveyer 3 The goods packaging box of setting fork dress coordinate position on the conveyer belt of upper strata carries out fork dress and disengages it from ribbon conveyer 3, and fork filled The distance between range sensor Real-time Feedback goods shelf 432 and cargo in journey on goods shelf 432 fill depth to ensure to pitch；Such as Shown in Fig. 3, forklift controller is according in prestowage scheme and cargo vanning positional information, freight container after completing cargo fork dress Y-coordinate value that portion's dimension data information calculation supporting platform 41 need to move forward simultaneously controls the directive wheel drive actions of slipping part 42 to make Support platform 41 moves forward to the stacking position of the Y-coordinate value, as shown in figure 4, then forklift controller control forklift hydraulic pressure Mechanism makes door frame lifting hydraulic cylinder, door frame pitching hydraulic cylinder, crotch lifting hydraulic cylinder co-operating be pointed to the goods on pallet fork 433 Matter packaging box, which carries out unloading, makes it pile up the cargo vanning position set in cargo cases positional information, and last forklift 4 is extensive It is multiple to complete once to pile up to original state, be ready for follow-up stacking；It is real-time to pile up forklift controller in binning process To industrial control computer feedback data information；

And so on, industrial control computer is in due course defeated to chassis according to the data message of forklift controller Real-time Feedback Send machine controller to send 2 stepping of control support underframe of support underframe fallback action control instruction to retract, until before support underframe 2 Freight container is exited at end completely and entire cargo packing case all piled up inside freight container according to prestowage scheme it is whole Together, whole binning process is completed.

Unload operation be incasement operation inverse process, the data input/output terminal that operating personnel pass through industrial control computer Mouth is except the cargo vanning positional information to industrial control computer input freight container, prestowage scheme, goods packaging box ruler Beyond very little, freight container inside dimension data message, sorting information also is inputted to industrial control computer, sorting information includes The different goods packaging boxes distributed according to different sorting conditions pile up co-ordinate position information；

Forklift control loop is first begin to work, and forklift controller is according to prestowage scheme and cargo vanning positional information Control fork dress portion 43 retracts to initial position, then forklift control after fork dress is carried out to the goods packaging box inside freight container Device control fork dress portion 43 processed is piled up in the setting fork dress coordinate bit on 3 upper strata conveyer belt of ribbon conveyer by goods packaging box Put, forklift controller is in real time to industrial control computer feedback data information；

The feedback for the barcode scanning identification device on goods shelf 432 that industrial control computer is fed back according to forklift controller is known Other information and the sorting information inputted send ribbon conveyer action command to chassis conveyor controller, then belt conveying Machine control loop is started to work, and the control drum driven action of chassis conveyor controller makes drive roll reversely rotate drive upper strata Conveyer belt moves to the setting that the corresponding goods packaging box of the goods packaging box piles up coordinate position Y-coordinate after carrying goods packaging box Stop after coordinate position；

Then sorting piles up control loop and starts to work, and industrial control computer piles up coordinate bit to corresponding goods packaging box The mechanical arm controller put sends crawl and piles up control instruction, and mechanical arm controller control sorting mechanical arm 5 coordinate movement makes to grab Code fetch puts manipulator and goods packaging box capture and is piled up after the translation of X-coordinate direction in goods packaging box stacking coordinate position On, automated guided vehicle can transport the goods packaging box；

And so on, industrial control computer is in due course defeated to chassis according to the data message of forklift controller Real-time Feedback Send machine controller to send 2 stepping of control support underframe of support underframe forward motion control instruction to advance, until before support underframe 2 End is all unloaded completely into freight container and entire cargo packing case according to prestowage scheme, completes whole process of unloading, branch Support chassis 2 retracts to original state.

For simplify control, as further improvement of the utility model scheme, the baseplane of the support platform 41 Height dimension between the upper surface of the upper strata conveyer belt of distance belt conveyer 3 is more than the height dimension of goods packaging box, i.e. The face forward all the time of dress portion 43 is pitched in goods packaging box cargo handling process, takes the mode that only control forklift 4 moves back and forth to goods Matter packaging box carries out fork dress and stacking, the goods when the upper strata conveyer belt of ribbon conveyer 3 carries goods packaging box reach or rear shifting The lower section of matter packaging box self-supporting platform 41 is passed through.

In order to shorten the length of the directive slide track of slipping part 42 while reduce the height of support platform 41, and then realize more Firmly fork dress, as further improvement of the utility model scheme, as shown in figure 5, the support platform 41 is divided to be upper and lower Two parts, the rear lower articulated connection of the outer mast of door frame 431 are installed on branch in the top sub-headend of support platform 41, support leg In the lower part for supportting platform 41, it is attached between two parts up and down of support platform 41 by pivoting support, on pivoting support Equipped with pivoting support hydraulic-driven, pivoting support hydraulic-driven is connected by the control valve group of fluid pressure line and forklift hydraulic mechanism Connect, the action by controlling pivoting support hydraulic-driven can realize the top split-phase of support platform 41 for support platform 41 Lower part is rotated；The forklift electrical control mechanism further includes support platform rotary loop；Goods packaging box cargo handling process In take support platform 41 to carry out fork dress and stacking to goods packaging box with the mode that moving fork dress portion 43 turns round, being arranged such can be with Make, the baseplane of support platform 41 and then substantially reduces the height of support platform 41 close to the upper strata conveyer belt of ribbon conveyer 3 Degree, realize more securely fork dress, meanwhile, the distance that the mode of revolution can move back and forth support platform 41 is relatively reduced, into And realize the length for the directive slide track for shortening slipping part 42.

In order to improve the efficiency of loading and unloading, the vehicle that generally use is loaded with freight container directly drives away replacement after completing to load and unload The mode that the next vehicle for being loaded with freight container is loaded and unloaded, i.e., by way of mobile freight container, can also adopt The mode of the vehicle of freight container is loaded with multiple handling stations, translation, or by the way of translating, loading and unloading device, due to First way handler needs to wait for be loaded and unloaded after vehicle enters loading/unloading lot, and second scheme realizes that translation carries There is the vehicle of freight container is relatively difficult, need to additionally set translation to hold in the palm to carry facility, and the third scheme is equipped with multiple dresses Can be realized in the case of unloading parking stall a loading/unloading lot can be carried out during being loaded and unloaded handling vehicle supplement and then Realize handler work continuously, efficiency it is higher with respect to the former two, therefore preferably the third scheme, i.e. as the utility model Preferred solution, this be suitable for freight container logistics code fetch system using more loading/unloading lots, itself from shifting by the way of, it is described Be arranged to multigroup support roller set along 2 anteroposterior direction of support underframe and be uniformly arranged along 2 anteroposterior direction of support underframe and at least Two groups of support roller sets drive equipped with roller set, and the roller of axis of rotation vertical direction setting is equipped with each support disk roller Revolution driving is taken turns, disk roller revolution driving can realize that the rotating direction of support disk roller becomes between anteroposterior direction and left and right directions Change, disk roller revolution driving is electrically connected with chassis conveyor controller；The longitudinal rail 11 being arranged in parallel on the anteroposterior direction It is arranged to multigroup, the distance of X-coordinate value is more than the width of freight container between the longitudinal rail 11 that two adjacent groups are arranged in parallel Size, be additionally provided with the lateral direction on loading/unloading platform 1 quantity it is identical with support roller set, it is being arranged in parallel, with longitudinally leading Rail 11 intersects the cross slide way in matts structure, and the distance between adjacent two pieces cross slide way and anteroposterior direction upper backup roll Distance between axles size between wheel group is identical；The electric control gear further includes support underframe translational loop；When this is suitable for shipping The logistics code fetch system of container retracts to initial position, support underframe translational loop after completing the handling of a freight container Start to work, industrial control computer control chassis conveyor controller makes the equidirectional rotation at the same time of all disk roller revolution drivings 90 °, then all disk rollers left and right directions is all transformed to by anteroposterior direction, then chassis conveyor controller control disk roller revolution Drive actions make support roller set drag carry 2 leftward or rightward coordinate of support underframe movement X-coordinate value distance to another Station is loaded and unloaded, then industrial control computer control chassis conveyor controller makes all disk roller revolution drivings equidirectional at the same time It is rotated by 90 ° and reverts to anteroposterior direction, you can loads and unloads carry out charge and discharge operations on station herein.

In order to ensure accurately fork dress, as further improvement of the utility model scheme, also wrapped on the goods shelf 432 Pattern-recognition sensor is included, the forklift electrical control mechanism further includes fork holding position position control loop, the forklift The forklift controller of electrical control mechanism is electrically connected with pattern-recognition sensor；Forklift controller is believed according to goods packaging box size The cargo location information of breath and pattern-recognition sensor feedback establishes cargo pattern-recognition data model, and the cargo pattern is known Other data model carries out correction integration with established fork holding position and fork dress depth mathematical model, after finally being integrated according to correction Mathematical model control forklift hydraulic mechanism make door frame lifting hydraulic cylinder, door frame pitching hydraulic cylinder, crotch lifting hydraulic cylinder association Fork dress is carried out with action.

In order to realize more efficiently Real Data Exchangs and control, improve the efficiency of loading and unloading, as the utility model into one Improvement project is walked, the data input output ports further include radio receiving transmitting module, and the electric control gear further includes wirelessly Receive and dispatch control loop；Industrial control computer can be utilized by radio receiving transmitting module and wireless receiving and dispatching control loop before handling It is wirelessly transferred the cargo vanning positional information, prestowage scheme, goods packaging box stacking seat that freight container is received from upper end network The data messages such as cursor position, goods packaging box size, freight container inside dimension, and realization is upward in real time in cargo handling process Network-feedback handling concrete condition is held, on the one hand can realize and coordinate automated guided vehicle Self-loading-unloading platform in binning process On carry out fixed point fork dress, fixed point stacking is carried out on loading/unloading platform during unloading, shorten this logistics code fetch car fork fill Distance, the raising efficiency of loading and unloading walked during stacking；Another aspect operating personnel can carry out this logistics code fetch car real-time Remote control is rectified a deviation.

Goods packaging box slides from the left and right sides of pallet fork 433 is unexpected during fork dress in order to prevent, as the utility model Further improvement project, the pallet fork 433 is equipped with side clamping plate, and side clamping plate is symmetrical set respectively to be set symmetrical The left and right sides for the two pieces pallet fork 433 put；For the less goods packaging box of weight, after the fork dress of goods packaging box is completed, Task reduces the span of pallet fork 433 to forklift controller control pallet fork span regulating loop again, and then realizes side clamping plate pair The clamping of goods packaging box.

In order to ensure that the directive slide track of slipping part 42 is capable of providing firm support guide when fork freights matter packaging box, make For further improvement of the utility model scheme, the directive slide track of the slipping part 42 is through the left and right sides of support underframe 2 The guide groove structure of plate.

Situation about coordinating for the width dimensions inside cargo width dimensions and freight container, as the utility model goods A kind of embodiment of fork passage component, pallet fork passage component includes pallet fork passage servomotor and horizontal set up is installed Bidirectional screw bar on goods shelf 432, bidirectional screw bar is connected with pallet fork passage servomotor and bidirectional screw bar or so two There is oppositely oriented screw structure, the pallet fork 433 is equipped with and is fitted to bidirectional screw bar on side pole body Screw on bidirectional screw bar, pallet fork passage servomotor are electrically connected with the forklift controller of forklift electrical control mechanism；Pass through The rotating of forklift controller control pallet fork passage servomotor can realize the adjusting of span between pallet fork 433.

For the less goods packaging box of size, in order to improve the space availability ratio inside freight container, this reality is used as With the another embodiment of Novel pallet fork passage component, pallet fork passage component includes horizontal erection and is installed on goods shelf Two pieces pallet fork that on 432, telescopic direction is reversed passage hydraulic cylinder, the telescopic end of two pieces pallet fork passage hydraulic cylinder respectively with Two pieces pallet fork 433 connects, and two pieces pallet fork elapses control valve group of the hydraulic cylinder respectively with forklift hydraulic mechanism and passes through fluid pressure line Connection；Controlling forklift hydraulic mechanism two pieces pallet fork is elapsed the extension elongation difference of hydraulic cylinder by forklift controller can be with Realize the adjusting of span and the unbalance loading position of pallet fork 433 between pallet fork 433.

This logistics code fetch system for being suitable for freight container is fully digitalization control unit, can be with Intelligent logistics Number bus, which is seamlessly connected, realizes concentration digital management, coordinates the automated guided vehicle of Intelligent logistics can realize perfect number Word makeup is unloaded；Since handler includes support underframe 2, ribbon conveyer 3 and forklift 4, it is defeated that ribbon conveyer 3 includes chassis Electrical Control mechanism is sent, forklift 4 includes forklift electrical control mechanism, and sorting equipment includes being arranged on more at left and right sides of handler A sorting mechanical arm 5 and mechanical arm electrical control mechanism, is operated using computer auto-control completely, therefore is inputted by data defeated Cargo vanning positional information, prestowage scheme, goods of the exit port to the industrial control computer input freight container of electric control gear After matter packaging box piles up the data messages such as coordinate position, goods packaging box size, freight container inside dimension, Industry Control meter Calculation machine can control support underframe 2 to go forward in longitudinal rail 11 according to the prestowage scheme inputted by chassis conveyer electrical control mechanism Coordinate moves afterwards, passes through mechanical arm controller and forklift controller control sorting mechanical arm 5, ribbon conveyer during incasement operation 3 and 4 work compound of forklift, it is possible to achieve the stacking coordinate position fixed point crawl of the goods packaging box on loading/unloading platform 1, The translation of goods packaging box is piled up to conveyer belt, the conveyer belt of goods packaging box transports, goods packaging box is in freight container Fork dress and the handling of inside are piled up, and are unloaded and are controlled forklift 4, belt by mechanical arm controller and forklift controller when operating Conveyer 3 and sorting 5 work compound of mechanical arm, it is possible to achieve fork dress, the goods of the goods packaging box inside freight container On the stacking of matter packaging box to conveyer belt, the conveyer belt of goods packaging box transports, the translation of goods packaging box is piled up to handling and put down Goods packaging box on platform 1 piles up coordinate position, and forklift controller is according to the cargo of input during goods packaging box fork dress Packing case size Control pallet fork passage component actuation makes the span between pallet fork 433 adjust setting to cooperation goods packaging box size Determine width dimensions, and according to the barcode scanning identification device and the feedback letter of range sensor in the information and goods shelf 432 inputted Breath, establishes fork holding position and fork dress depth mathematical model, then controls forklift hydraulic mechanism door frame is bowed according to mathematical model Face upward hydraulic cylinder, the action of crotch lifting hydraulic cylinder carries out fork dress handling, the operation of complete computer auto-control can be avoided because of operator The influences of the human factor to manufacturing schedule such as member's sense of responsibility, mood, while can be from operating personnel's operative skill qualification Limitation, it is entirely avoided manual operation there are the drawbacks of, can realize intelligent operation, improve the efficiency of loading and unloading, especially suitable for thing Flow the handling goods in the container shipping of storage for freight container and pile up operation.

Claims (10)

1. a kind of logistics code fetch system suitable for freight container, including loading/unloading platform (1), handler, sorting equipment and Electric control gear；It is characterized in that,

The longitudinal rail (11) being arranged in parallel is equipped with the loading/unloading platform (1) in the longitudinal direction, longitudinal rail (11) is extremely The front end of loading/unloading platform (1) is extended to less；

The handler includes support underframe (2), ribbon conveyer (3) and forklift (4)；

The bottom of support underframe (2) is equipped with running part (21), and running part (21) includes support roller set and roller set driving；Support Roller set includes the support disk roller being symmetrical set, and support disk roller matches somebody with somebody to merge with longitudinal rail (11) is erected at longitudinal rail (11) on, support roller set is arranged to multigroup and at least one set of support roller set along support underframe (2) anteroposterior direction and is equipped with roller Wheel group drives, and support underframe (2) is installed on longitudinal rail (11) by supporting roller set to set up；The front end of support underframe (2) With open U-shaped opening structure；

Ribbon conveyer (3) is erected on support underframe (2) along support underframe (2) anteroposterior direction, and ribbon conveyer (3) includes master Dynamic roller, driven roller, roller station, conveyer belt and chassis conveyer electrical control mechanism；Roller station set up be installed on drive roll and Between driven roller, it is in upper and lower structures that conveyer belt head and the tail connection, which is wrapped on drive roll, driven roller and roller station, actively Roller is equipped with drum driven, chassis conveyer electrical control mechanism include chassis conveyor controller and with chassis conveyor controller The chassis conveyer electrical source of power of electrical connection, drum driven are electrically connected with chassis conveyor controller；The roller set driving It is electrically connected with chassis conveyor controller；

Forklift (4) includes support platform (41), slipping part (42), fork dress portion (43), forklift hydraulic mechanism and forklift electricity Control mechanism；Support platform (41) is located at the surface of ribbon conveyer (3), and support platform (41) has the support extended downwardly Leg, support platform (41) are set up by support leg and are installed on support underframe (2)；

Slipping part (42) is arranged between the support leg of support platform (41) and support underframe (2), including the guiding worked in coordination Slide and directive wheel；Directive slide track anteroposterior direction is horizontally set on support underframe (2) and directive slide track front end extends forwardly into On the left and right sides plate of the U-shaped opening position of support underframe (2)；Directive wheel and the support leg bottom installation of support platform (41) connect Connect, directive wheel, which is equipped with, is oriented to wheel drive；

Fork dress portion (43) includes door frame (431), goods shelf (432) and pallet fork (433)；Door frame (431) includes coordinating socket installation Inner upright mounting and outer mast, be equipped with door frame guiding mechanism between inner upright mounting and outer mast, the rear lower articulated connection of outer mast in The front end of support platform (41), outer mast are connected by door frame pitching hydraulic cylinder with support platform (41), and inner upright mounting passes through door frame Lifting hydraulic cylinder is connected with outer mast, by controlling the flexible of door frame lifting hydraulic cylinder that inner upright mounting can be realized along door frame Guiding machine Structure is extended downwardly from outer mast bottom or retraction action upwards；Before goods shelf (432) is by crotch guiding mechanism and inner upright mounting End face slip is fitted and connected and the frame body of goods shelf (432) is connected by crotch lifting hydraulic cylinder with inner upright mounting, goods shelf (432) barcode scanning identification device and range sensor are additionally provided with；Pallet fork (433) is symmetrical set to be slided for two pieces, by pallet fork Move guiding mechanism and set up and be installed on goods shelf (432), and the pallet fork that is set by left and right directions of pallet fork (433) elapse component and Goods shelf (432) installation connection；

Forklift hydraulic mechanism includes the hydraulic power unit being installed in support platform (41) and control valve group, hydraulic power unit pass through liquid Pressure pipe road is connected with control valve group, control valve group by fluid pressure line respectively with door frame lifting hydraulic cylinder, door frame pitching hydraulic cylinder Connected with crotch lifting hydraulic cylinder；

It is anti-that forklift electrical control mechanism includes forklift controller, forklift electrical source of power, elements of a fix movement control loop, distance Present control loop, pallet fork span regulating loop, reprint control loop, forklift controller respectively with pressing machine electrical source of power, fork Control valve group, pallet fork passage component, the barcode scanning identification device on goods shelf (432) and the range sensor electricity of installation hydraulic mechanism Connection；

The sorting equipment includes being arranged on multiple sorting mechanical arms (5) and the automatically controlled machine of mechanical arm at left and right sides of handler Structure, sorting mechanical arm (5), which is set up, to be installed on loading/unloading platform (1), and sorting mechanical arm (5) includes at least left and right directions movement and sets X-coordinate driving, anteroposterior direction movement set Y-coordinate driving and vertical direction movement set Z coordinate driving, sorting machinery The minor details of arm (5), which are equipped with, to be included the crawl of grasping mechanism and piles up manipulator, mechanical arm electrical control mechanism include mechanical arm controller with The mechanical arm electrical source of power being electrically connected with mechanical arm controller, X-coordinate driving, Y-coordinate driving and Z coordinate driving respectively with machinery Arm controller is electrically connected；

The electric control gear includes industrial control computer, support underframe control loop, ribbon conveyer control loop, fork dress Control loop is piled up in machine control loop, sorting；Industrial control computer includes data input output ports, industrial control computer It is electrically connected respectively with chassis conveyor controller, forklift controller and mechanical arm controller.

2. the logistics code fetch system according to claim 1 suitable for freight container, it is characterised in that the support Height dimension between the upper surface of the upper strata conveyer belt of the baseplane distance belt conveyer (3) of platform (41) is more than cargo bag The height dimension of vanning.

3. the logistics code fetch system according to claim 1 suitable for freight container, it is characterised in that the support Platform (41) is divided into two parts up and down, and the rear lower of the outer mast of door frame (431) is articulated and connected in the top of support platform (41) Sub-headend, support leg are installed in the lower part of support platform (41), by returning between two parts up and down of support platform (41) Turn supporting to be attached, pivoting support is equipped with pivoting support hydraulic-driven, pivoting support hydraulic-driven by fluid pressure line with The control valve group connection of forklift hydraulic mechanism；The forklift electrical control mechanism further includes support platform rotary loop.

4. the logistics code fetch system suitable for freight container according to claim 1 or 2 or 3, it is characterised in that described Along support underframe (2) anteroposterior direction be arranged to multigroup support roller set be uniformly arranged along support underframe (2) anteroposterior direction and At least two groups of support roller sets drive equipped with roller set, and are equipped with the setting of axis of rotation vertical direction on each support disk roller Disk roller revolution driving, disk roller revolution driving is electrically connected with chassis conveyor controller；It is arranged in parallel on the anteroposterior direction Longitudinal rail (11) be arranged to multigroup, the distance of X-coordinate value is more than between the longitudinal rail (11) that two adjacent groups are arranged in parallel The width dimensions of freight container, it is identical with support roller set, flat that quantity is additionally provided with loading/unloading platform (1) in the lateral direction Row set, with longitudinal rail (11) intersect be in matts structure cross slide way, and between adjacent two pieces cross slide way away from It is identical from the distance between axles size between anteroposterior direction upper backup roll wheel group；The electric control gear further includes support underframe translation Circuit.

5. the logistics code fetch system suitable for freight container according to claim 1 or 2 or 3, it is characterised in that described Goods shelf (432) on further include pattern-recognition sensor, the forklift electrical control mechanism further includes fork holding position positioning control Circuit processed, the forklift controller of the forklift electrical control mechanism are electrically connected with pattern-recognition sensor.

6. the logistics code fetch system according to claim 5 suitable for freight container, it is characterised in that the data Input/output port further includes radio receiving transmitting module, and the electric control gear further includes wireless receiving and dispatching control loop.

7. the logistics code fetch system suitable for freight container according to claim 1 or 2 or 3, it is characterised in that described Pallet fork (433) be equipped with side clamping plate.

8. the logistics code fetch system according to claim 7 suitable for freight container, it is characterised in that the sliding The directive slide track in portion (42) is through the guide groove structure of plate at left and right sides of support underframe (2).

9. the logistics code fetch system suitable for freight container according to claim 1 or 2 or 3, it is characterised in that described Pallet fork passage component include pallet fork passage servomotor and it is horizontal set up the bidirectional screw bar being installed on goods shelf (432), Bidirectional screw bar and pallet fork passage servomotor be connecteds and on the body of rod of bidirectional screw bar left and right ends with oppositely oriented spiral Screw structure, the pallet fork (433) are equipped with the screw being fitted to bidirectional screw bar on bidirectional screw bar, and pallet fork pushes away Servomotor is moved to be electrically connected with the forklift controller of forklift electrical control mechanism.

10. the logistics code fetch system suitable for freight container according to claim 1 or 2 or 3, it is characterised in that institute The pallet fork passage component stated includes horizontal set up and is installed on two pieces pallet fork on goods shelf (432), telescopic direction is reversed Hydraulic cylinder is elapsed, the telescopic end of two pieces pallet fork passage hydraulic cylinder is connected with two pieces pallet fork (433) respectively, two pieces pallet fork passage hydraulic pressure Control valve group of the cylinder respectively with forklift hydraulic mechanism is connected by fluid pressure line.