阅读说明：本技术 码垛货物装车系统及其控制方法 (Stacking cargo loading system and control method thereof ) 是由 杨静 郑晓峰 辛鹏飞 吴桦奎 陈煜� 林启盛 邱绪珍 林仁兴 张力戈 姚志荣 于 2020-06-04 设计创作，主要内容包括：本发明涉及一种码垛货物装车系统及其控制方法,用于对垛装货物进行装卸搬运,将垛装货物的码垛从出货位搬运至车辆上的放货位,所述龙门架顶部设置有180度转动装置带动属具旋转,所述底梁下的驱动轮与从动轮将龙门架支撑在轨道上,所述侧框内设置有立杆,所述立杆上设置有激光测距传感器和红外对管传感器组,通过传感器检测龙门架的位置,实现对码垛的搬运与取放。(The invention relates to a stacked cargo loading system and a control method thereof, which are used for loading, unloading and transporting stacked cargos, transporting the stacked cargos from a cargo discharging position to a cargo placing position on a vehicle, wherein a 180-degree rotating device is arranged at the top of a portal frame to drive an accessory to rotate, a driving wheel and a driven wheel under a bottom beam support the portal frame on a track, a side frame is internally provided with a vertical rod, the vertical rod is provided with a laser ranging sensor and an infrared pair tube sensor group, and the position of the portal frame is detected through a sensor to realize the transportation, picking and placing of the stacked cargos.)

1. A palletized goods loading system is used for loading, unloading and carrying palletized goods and carrying the palletized goods from a goods outlet position to a goods placing position on a vehicle and is characterized in that a track, a portal frame, a 180-degree rotating device, an accessory frame and accessories are arranged, the portal frame is provided with a top frame, a vertical beam and a bottom beam, the 180-degree rotating device is installed on the top frame, the 180-degree rotating device is provided with a rotating motor and an output rotating disc, the output rotating disc is arranged on the lower surface of the top frame, the output rotating disc can rotate 180 degrees in the horizontal plane under the driving of the rotating motor, the top of the accessory frame is fixed on the lower surface of the output rotating disc, the lower surface of the bottom beam is provided with a driving wheel and a driven wheel, the driving wheel and the driven wheel support the portal frame on the track, the vertical beam and the bottom beam are encircled to form side frames, the left side surface and the right side surface of the portal frame are respectively provided with, be provided with the pole setting in the side frame, the pole setting is installed the upper surface of floorbar, be provided with first laser ranging sensor, first infrared geminate transistor sensor group, the infrared geminate transistor sensor group of second in the pole setting, still be provided with the infrared geminate transistor sensor group of third in vertical beam and the pole setting, the portal frame is provided with preceding portal frame and back portal frame, preceding portal frame is towards the goods placing position on the vehicle, and back portal frame is towards the delivery position, the directional preceding portal frame of first laser ranging sensor slant, preceding portal frame is provided with left front vertical beam, right front vertical beam, left side front vertical beam and right front vertical beam do respectively the left and right sides limit of preceding portal frame, still be provided with the fourth infrared geminate transistor sensor group on preceding vertical beam in a left side and the right front vertical beam.

2. A palletized cargo loading system according to claim 1, wherein the portal frame is provided with a left side frame and a right side frame, a left upright rod is arranged in the left side frame, a right upright rod is arranged in the right side frame, the infrared pair tube sensor group is provided with a transmitting unit and a receiving unit, the transmitting unit and the receiving unit are aligned in pairs, the left upright rod is provided with a transmitting unit of a first infrared pair tube sensor group and a receiving unit of a second infrared pair tube sensor group, the right upright rod is provided with a transmitting unit of the second infrared pair tube sensor group and a receiving unit of the first infrared pair tube sensor group, the transmitting units of the first infrared pair tube sensor group and the second infrared pair tube sensor group are arranged at a first height, the receiving units of the first infrared pair tube sensor group and the second infrared pair tube sensor group are arranged at a second height, and the second height is lower than the first height, the sending unit and the receiving unit of the third infrared geminate transistor sensor group are respectively arranged on a left front vertical beam and a right vertical beam, the sending unit and the receiving unit of the fourth infrared geminate transistor sensor group are respectively arranged on a left front vertical beam and a right front vertical beam of a front framework frame, the sending unit and the receiving unit of the fourth infrared geminate transistor sensor group are positioned at the same height, the left vertical rod and the right vertical rod are perpendicular to the bottom beam, the left vertical rod and the right vertical rod are positioned on the longitudinal symmetrical surface of the output rotating disc, and the top of the accessory rack is fixed on the edge of the lower surface of the output rotating disc.

3. A palletized cargo loading system according to claim 1, wherein the rotating motor is arranged on the upper surface of the top frame, the accessory frame is provided with a chain mechanism, a fixed frame and a moving frame, the chain mechanism drives the moving frame to move up and down in the fixed frame, the accessory is arranged on the moving frame, the accessory is provided with a pusher and fork teeth, fork tooth gaps are arranged among the fork teeth, the bottom of the accessory is provided with a second laser ranging sensor, the position of the second laser ranging sensor corresponds to the fork tooth gaps, the second laser ranging sensor points to the bottom surface of the accessory, the driving wheel is provided with a driving motor, the driving motor is arranged on the outer side surface of the bottom beam, the track is provided with a left track and a right track, and a contact type power supply device is arranged on the inner side close to the left track to supply power to the driving motor, the utility model discloses a portal frame, including portal frame, driving motor, portal frame, rear portal frame, proximity sensor, back portal frame, proximity sensor, notch groove, locating plate, back portal frame, back.

4. A pallet goods loading system according to claim 1, further comprising a control module, wherein said control module is provided with an input port and an output port, said rotary motor is provided with an input port connected to the output port of the control module, said driving motor is provided with an input port connected to the output port of the control module, said first laser ranging sensor is provided with an output port connected to the input port of the control module, said first infrared pair sensor group receiving unit is provided with an output port connected to the input port of the control module, said second infrared pair sensor group receiving unit is provided with an output port connected to the input port of the control module, said third infrared pair sensor group receiving unit is provided with an output port, the output port is connected with the input port of the control module, the receiving unit of the fourth infrared paired tube sensor group is provided with an output port which is connected with the input port of the control module, the chain mechanism is provided with an input port which is connected with the output port of the control module, the ejector is provided with an input port which is connected with the output port of the control module, the second laser ranging sensor is provided with an output port which is connected with the input port of the control module, the proximity sensor is provided with an output port which is connected with the input port of the control module.

5. A control method of a pallet loading system, for use in a pallet loading system according to any one of claims 1 to 4, the control method comprising,

step S101: the portal frame moves backwards to a goods taking position;

step S102: the accessory is vertically lifted to take the goods, and the accessory frame rotates 180 degrees;

step S103: the portal frame moves forwards to a goods placing position;

step S104: the accessory vertically descends to the place;

step S105: the ejector pushes out the stack and then the accessory resets.

6. A pallet cargo loading system control method according to claim 5, wherein said gantry is driven backwards to a pick-up location, further comprising,

each operation of the palletized goods loading system is started when the slave tool is in a reset state,

when the accessory is in a reset state, the fork teeth of the accessory face the rear door frame, the movable frame on the accessory frame is at an initial height, under the initial height, the fork teeth of the accessory are flush with the bottom of the stacking at the delivery position,

the control module outputs a control command to the driving motor, the driving motor drives the driving wheel to rotate towards the direction of the goods discharging position, so that the portal frame moves towards the direction of the goods discharging position along the track,

the control module receives a signal sent to the control module by the proximity sensor in real time, when the notch groove position of the proximity sensor moves to the position of the positioning plate, the positioning plate enters the notch groove, the proximity sensor sends a deceleration signal to the control module, the control module outputs a deceleration control instruction to the driving motor, the driving motor reduces the running speed of the driving wheel,

the control module receives signals sent to the control module by the first infrared geminate transistor sensor group receiving unit in real time, when the stacking enters a vertical plane where the left vertical rod and the right vertical rod are located, infrared light signals sent by the first infrared geminate transistor sensor group sending unit are shielded, the first infrared geminate transistor sensor group receiving unit cannot receive the infrared light signals, and the first infrared geminate transistor sensor group receiving unit sends a parking signal to the control module,

the control module receives signals sent to the control module by the second infrared geminate transistor sensor group receiving unit in real time, when the stacking enters a vertical plane where the left vertical rod and the right vertical rod are located, infrared light signals sent by the second infrared geminate transistor sensor group sending unit are shielded, the second infrared geminate transistor sensor group receiving unit cannot receive the infrared light signals, and the second infrared geminate transistor sensor group receiving unit sends a parking signal to the control module,

when the control module receives any one of the parking signals, the control module outputs a parking control instruction to the driving motor, the driving motor stops driving of the driving wheel, and the portal frame reaches the goods taking position.

7. A pallet goods loading system control method according to claim 5, wherein said accessory is lifted vertically for picking up the goods, the accessory rack is rotated 180 degrees, further comprising,

the accessory frame is provided with a chain mechanism, a fixed frame and a moving frame, the chain mechanism drives the moving frame to move up and down in the fixed frame, the accessory is arranged on the moving frame, the chain mechanism is driven by hydraulic pressure, the chain mechanism is provided with an input port, the input port is arranged on a chain mechanism electromagnetic valve of the liquid path system, the control module outputs a control signal to the chain mechanism electromagnetic valve of the liquid path system, the control signal is an electric signal, wherein the low-voltage interval value is 0.5-4.5V corresponding to the rising of the moving frame, the high-voltage interval value is 5.5-9.5V corresponding to the falling of the moving frame,

the control module outputs a control signal to the input port of the chain mechanism, so that the movable frame drives the accessory arranged on the movable frame to vertically rise, the fork teeth of the accessory fork the stacking,

the control module outputs a control signal to the rotating motor, so that the accessory rack, the accessories on the accessory rack and the stacking machine integrally rotate 180 degrees,

the control module receives signals sent to the control module by the receiving unit of the third infrared geminate transistor sensor group in real time, the sending unit and the receiving unit of the third infrared geminate transistor sensor group are respectively arranged on the left front vertical beam and the right vertical rod,

when the whole stacking machine rotates 180 degrees in place, the stacking machine is aligned to the front portal frame,

the infrared light signal sent by the third infrared pair of tube sensor group sending unit is blocked by the stack, the third infrared pair of tube sensor group receiving unit can not receive the infrared light signal, the third infrared pair of tube sensor group receiving unit sends a rotation in-place signal to the control module,

the control module outputs a control instruction to the driving motor, and the driving motor drives the driving wheel to rotate towards the goods placing position direction, so that the portal frame moves towards the goods placing position direction along the track.

8. A pallet cargo loading system control method according to claim 5, wherein said gantry is driven forward to a put position, further comprising,

the first laser ranging sensor obliquely points to the front door frame, a storage unit is arranged in the control module, a first laser ranging threshold value is stored in the storage unit, the first laser ranging threshold value is the distance between the first laser ranging sensor and the front end face of the front door frame,

the control module receives the distance measurement value sent by the first laser ranging sensor in real time, when the distance measurement value sent by the first laser ranging sensor is equal to or smaller than a first laser ranging threshold value,

the control module outputs a deceleration control instruction to the driving motor, the driving motor reduces the running speed of the driving wheel,

the transmitting unit and the receiving unit of the fourth infrared tube-aligning sensor group are respectively arranged on the left front vertical beam and the right front vertical beam of the front door frame, the transmitting unit and the receiving unit of the fourth infrared tube-aligning sensor group are positioned at the same height and are both positioned in the plane of the front door frame,

the control module receives signals sent to the control module by the fourth infrared paired tube sensor group receiving unit in real time, when the carriage head or the front row of the front stacking in front of the goods placing position enters the front gantry frame, the gantry is indicated to run to the goods placing position,

the infrared light signal sent by the fourth infrared paired tube sensor group sending unit is blocked, the fourth infrared paired tube sensor group receiving unit cannot receive the infrared light signal, the fourth infrared paired tube sensor group receiving unit sends a parking signal to the control module,

the control module outputs a parking control instruction to the driving motor, and the driving motor stops driving of the driving wheel.

9. A pallet cargo loading system control method according to claim 5, wherein said accessory is lowered vertically into position, further comprising,

the control module outputs a control signal to the input port of the chain mechanism, so that the movable frame drives accessories and the stacking on the movable frame to vertically descend,

the bottom of the accessory is provided with a second laser ranging sensor, the position where the second laser ranging sensor is close to corresponds to the gap of the fork teeth, the second laser ranging sensor points to the bottom surface of the accessory,

a storage unit is arranged in the control module, the storage unit stores a goods placing distance, the goods placing distance is a distance value which is measured by the second laser ranging sensor when the lower surface of the fork tooth is contacted with the bottom surface of the goods placing position,

the control module receives the distance value sent to the control module by the second laser ranging sensor in real time, when the distance value is equal to the stocking distance,

and the control module outputs a control signal to the input port of the chain mechanism, so that the movable frame stops descending.

10. A pallet cargo loading system control method according to claim 5, wherein the ejector pushes out a pallet and then the accessory is reset, further comprising,

the ejector is provided with an input port, the input port of the ejector is arranged on an ejector electromagnetic valve of the liquid path system, the control module outputs a control signal to the ejector electromagnetic valve of the liquid path system, the control signal is an electric signal, wherein the low-voltage interval value is 0.5-4.5V corresponding to the ejector to be ejected, the high-voltage interval value is 5.5-9.5V corresponding to the ejector to be retracted,

the control module outputs a control signal to the ejector to push the ejector forwards and push the stacking slave fork teeth out, synchronously outputs a control command to the driving motor, the driving motor drives the driving wheel to rotate towards the direction of the goods discharging position, so that the portal frame is displaced towards the direction of the goods discharging position along the track,

thereby the fork teeth of the accessory are drawn out from the stacking, the stacking is left in the goods placing position,

the control module receives a signal sent to the control module by the fourth infrared pair tube sensor group receiving unit in real time, the infrared light signal sent by the fourth infrared pair tube sensor group sending unit is not blocked, the fourth infrared pair tube sensor group receiving unit receives the infrared light signal and indicates that the front gantry frame retreats to the rear side of the stack which is just dismounted,

the control module outputs a control signal to the ejector to enable the ejector to retract backwards,

the control module outputs a control signal to the rotating motor to enable the accessory rack and the accessories on the rack to integrally rotate for 180 degrees,

the control module outputs a control signal to the input port of the chain mechanism to enable the movable frame to vertically rise to the initial height,

and when the movable frame vertically rises to the initial height, the movable frame proximity sensor outputs a stop signal to the control module, and the accessory is reset.

Technical Field

The invention relates to the field of intelligent manufacturing, in particular to a stacked goods loading system and a control method thereof.

Background

With the development of intelligent manufacturing, the manufacturing industry and the logistics industry have put higher requirements on the intellectualization and the unmanned transportation of goods. The stacking is one of the most widely used delivery modes in the industrial field, and is an operation link with high repetition frequency in the operations of carrying, loading, stacking and the like of materials in commodity logistics distribution and automatic warehouse change storage. How to improve the intellectuality of pile up neatly loading and transport, reduce the cost of transport loading, material circulation, improve the efficiency of material turnover, eliminate the material loss and the industrial injury risk of transport link, become the important subject in intelligent manufacturing field. The logistics equipment capable of realizing the loading operation of the multi-layer box-type materials disclosed by the invention patent CN104590924A is characterized in that the loading equipment for automatically boxing and stacking is firstly placed under an external conveying system, then after the stack-type box-type materials are placed on the external conveying system, the loading equipment for automatically boxing and stacking is driven by a lifting device to lift upwards, a lifting platform drives a fork body to support the materials, a walking mechanism moves along a track along the direction of a freight-car platform trailer, when the walking mechanism moves to the farthest cargo space, the lifting platform descends to a certain distance away from the surface of the freight car trailer and stops, a pushing device arranged on the lifting platform pushes a push plate outwards, the push plate pushes the materials placed on the fork body, and meanwhile, the walking mechanism runs in the opposite direction of pushing the pushing device under the action of a control system until the materials leave the fork body and are placed on the freight car of the freight car trailer, and the loading process of a stack of the materials is completed. And the pushing device is then retracted to the original position, the profiling mechanism is also retracted below the external conveying system, and after the external conveying system places the stack type box-type materials, the first stack material loading process is repeated until the loading operation of the first layer of the carriage is completed. And finally, repeating the loading operation of the first layer of materials by taking the upper surface of the first layer of materials of the carriage as a reference, and completing the stacking and loading process of the whole carriage. The automatic stacking machine has the advantages that the loading is passive operation, effective identification cannot be carried out, the stacking of the loading is very easy to be inclined and offset, the stacking is scattered in the carrying and moving process, even safety accidents are caused, and real-time identification and intelligent position adjustment cannot be realized through a sensor.

Disclosure of Invention

In view of the above, it is desirable to provide an intelligent palletized cargo loading system and a control method thereof. In order to solve the technical problems, the technical scheme of the invention is as follows: a palletized goods loading system is used for loading, unloading and carrying palletized goods and carrying the palletized goods from a goods outlet position to a goods placing position on a vehicle and is provided with a track, a portal frame, a 180-degree rotating device, an accessory frame and accessories, wherein the portal frame is provided with a top frame, a vertical beam and a bottom beam, the 180-degree rotating device is arranged on the top frame, the 180-degree rotating device is provided with a rotating motor and an output rotating disc, the output rotating disc is arranged on the lower surface of the top frame, the output rotating disc can rotate 180 degrees in the horizontal plane under the driving of the rotating motor, the top of the accessory frame is fixed on the lower surface of the output rotating disc, the lower surface of the bottom beam is provided with a driving wheel and a driven wheel, the driving wheel and the driven wheel support the portal frame on the track, the vertical beam and the bottom beam form a side frame in a surrounding manner, the left side surface and the right side surface of the portal frame, be provided with the pole setting in the side frame, the pole setting is installed the upper surface of floorbar, be provided with first laser ranging sensor, first infrared geminate transistor sensor group, the infrared geminate transistor sensor group of second in the pole setting, still be provided with the infrared geminate transistor sensor group of third in vertical beam and the pole setting, the portal frame is provided with preceding portal frame and back portal frame, preceding portal frame is towards the goods placing position on the vehicle, and back portal frame is towards the delivery position, the directional preceding portal frame of first laser ranging sensor slant, preceding portal frame is provided with left front vertical beam, right front vertical beam, left side front vertical beam and right front vertical beam do respectively the left and right sides limit of preceding portal frame, still be provided with the fourth infrared geminate transistor sensor group on preceding vertical beam in a left side and the right front vertical beam.

Further preferably, the portal frame is provided with a left side frame and a right side frame, a left upright rod is arranged in the left side frame, a right upright rod is arranged in the right side frame, the infrared pair tube sensor group is provided with a sending unit and a receiving unit, the sending unit and the receiving unit are aligned in pairs, the left upright rod is provided with a sending unit of a first infrared pair tube sensor group and a receiving unit of a second infrared pair tube sensor group, the right upright rod is provided with a sending unit of the second infrared pair tube sensor group and a receiving unit of the first infrared pair tube sensor group, the sending units of the first infrared pair tube sensor group and the second infrared pair tube sensor group are arranged at a first height, the receiving units of the first infrared pair tube sensor group and the second infrared pair tube sensor group are arranged at a second height, the second height is lower than the first height, the sending unit and the receiving unit of the third infrared pair tube sensor group are respectively arranged on the left front vertical beam and the right upright rod, the fourth infrared sets up respectively in to the sending unit and the receiving unit of pipe sensor group on the left front vertical beam of preceding framework frame and the right front vertical beam, the fourth infrared is located same height to the sending unit and the receiving unit of pipe sensor group, left side pole setting, right pole setting equal perpendicular to floorbar, left side pole setting, right pole setting are located the vertical symmetry plane of output rolling disc, the edge at output rolling disc lower surface is fixed at the top of accessory frame.

Preferably, the rotating motor is arranged on the upper surface of the top frame, the accessory frame is provided with a chain mechanism, a fixed frame and a moving frame, the chain mechanism drives the moving frame to move up and down in the fixed frame, the accessory is arranged on the moving frame, the accessory is provided with a pusher and fork teeth, fork tooth gaps are formed among the fork teeth, the bottom of the accessory is provided with a second laser ranging sensor, the position of the second laser ranging sensor corresponds to the fork tooth gaps, the second laser ranging sensor points to the bottom surface of the accessory, the driving wheel is provided with a driving motor, the driving motor is arranged on the outer side surface of the bottom beam, the track is provided with a left track and a right track, a contact type power supply device is arranged on the inner side close to the left track to supply power to the driving motor, the driving motor drives the driving wheel to rotate, and the portal frame moves along, the next-door neighbour right side track inboard is provided with the locating plate, the floorbar is provided with left floorbar and right floorbar, be provided with proximity sensor on the inside wall of right floorbar, proximity sensor is close to the back portal frame, proximity sensor is provided with the breach groove, interval between breach groove and the right floorbar equals with the interval between locating plate and the right floorbar, the opening in breach groove is towards ground, the locating plate is installed subaerial, the top surface of locating plate is from the vertical height on ground, between the perpendicular interval of the groove top in breach groove apart from ground and the perpendicular interval of the tank bottom in breach groove apart from ground.

Further preferably, the control module is provided with an input port and an output port, the rotating electrical machine is provided with an input port connected with the output port of the control module, the driving electrical machine is provided with an input port connected with the output port of the control module, the first laser ranging sensor is provided with an output port connected with the input port of the control module, the first infrared pair sensor group receiving unit is provided with an output port connected with the input port of the control module, the second infrared pair sensor group receiving unit is provided with an output port connected with the input port of the control module, the third infrared pair sensor group receiving unit is provided with an output port connected with the input port of the control module, the receiving unit of the fourth infrared paired tube sensor group is provided with an output port which is connected with an input port of the control module, the chain mechanism is provided with an input port which is connected with the output port of the control module, the ejector is provided with an input port which is connected with the output port of the control module, the second laser ranging sensor is provided with an output port which is connected with the input port of the control module, the proximity sensor is provided with an output port which is connected with the input port of the control module.

A control method of a palletized goods loading system is applied to the palletized goods loading system and specifically comprises the following steps,

step S101: the portal frame moves backwards to a goods taking position;

step S102: the accessory is vertically lifted to take the goods, and the accessory frame rotates 180 degrees;

step S103: the portal frame moves forwards to a goods placing position;

step S104: the accessory vertically descends to the place;

step S105: the ejector pushes out the stack, and then the accessory resets;

further preferably, the portal frame travels backwards to the goods taking position, and further comprises,

each operation of the palletized goods loading system is started when the slave tool is in a reset state,

when the accessory is in a reset state, the fork teeth of the accessory face the rear door frame, the movable frame on the accessory frame is at an initial height, under the initial height, the fork teeth of the accessory are flush with the bottom of the stacking at the delivery position,

the control module outputs a control command to the driving motor, the driving motor drives the driving wheel to rotate towards the direction of the goods discharging position, so that the portal frame moves towards the direction of the goods discharging position along the track,

the control module receives a signal sent to the control module by the proximity sensor in real time, when the notch groove position of the proximity sensor moves to the position of the positioning plate, the positioning plate enters the notch groove, the proximity sensor sends a deceleration signal to the control module, the control module outputs a deceleration control instruction to the driving motor, the driving motor reduces the running speed of the driving wheel,

the control module receives signals sent to the control module by the first infrared geminate transistor sensor group receiving unit in real time, when the stacking enters a vertical plane where the left vertical rod and the right vertical rod are located, infrared light signals sent by the first infrared geminate transistor sensor group sending unit are shielded, the first infrared geminate transistor sensor group receiving unit cannot receive the infrared light signals, and the first infrared geminate transistor sensor group receiving unit sends a parking signal to the control module,

the control module receives signals sent to the control module by the second infrared geminate transistor sensor group receiving unit in real time, when the stacking enters a vertical plane where the left vertical rod and the right vertical rod are located, infrared light signals sent by the second infrared geminate transistor sensor group sending unit are shielded, the second infrared geminate transistor sensor group receiving unit cannot receive the infrared light signals, and the second infrared geminate transistor sensor group receiving unit sends a parking signal to the control module,

when the control module receives any one of the parking signals, the control module outputs a parking control instruction to the driving motor, the driving motor stops driving of the driving wheel, and the portal frame reaches the goods taking position.

Further preferably, the accessory is vertically lifted for taking the goods, the accessory frame rotates 180 degrees, and the device further comprises,

the accessory frame is provided with a chain mechanism, a fixed frame and a moving frame, the chain mechanism drives the moving frame to move up and down in the fixed frame, the accessory is arranged on the moving frame, the chain mechanism is driven by hydraulic pressure, the chain mechanism is provided with an input port, the input port is arranged on a chain mechanism electromagnetic valve of the liquid path system, the control module outputs a control signal to the chain mechanism electromagnetic valve of the liquid path system, the control signal is an electric signal, wherein the low-voltage interval value is 0.5-4.5V corresponding to the rising of the moving frame, the high-voltage interval value is 5.5-9.5V corresponding to the falling of the moving frame,

the control module outputs a control signal to the input port of the chain mechanism, so that the movable frame drives the accessory arranged on the movable frame to vertically rise, the fork teeth of the accessory fork the stacking,

the control module outputs a control signal to the rotating motor, so that the accessory rack, the accessories on the accessory rack and the stacking machine integrally rotate 180 degrees,

the control module receives signals sent to the control module by the receiving unit of the third infrared geminate transistor sensor group in real time, the sending unit and the receiving unit of the third infrared geminate transistor sensor group are respectively arranged on the left front vertical beam and the right vertical rod,

when the whole stacking machine rotates 180 degrees in place, the stacking machine is aligned to the front portal frame,

the infrared light signal sent by the third infrared pair of tube sensor group sending unit is blocked by the stack, the third infrared pair of tube sensor group receiving unit can not receive the infrared light signal, the third infrared pair of tube sensor group receiving unit sends a rotation in-place signal to the control module,

the control module outputs a control instruction to the driving motor, and the driving motor drives the driving wheel to rotate towards the goods placing position direction, so that the portal frame moves towards the goods placing position direction along the track.

Further preferably, the portal frame travels forwards to the goods placing position, and further comprises,

the first laser ranging sensor obliquely points to the front door frame, a storage unit is arranged in the control module, a first laser ranging threshold value is stored in the storage unit, the first laser ranging threshold value is the distance between the first laser ranging sensor and the front end face of the front door frame,

the control module receives the distance measurement value sent by the first laser ranging sensor in real time, when the distance measurement value sent by the first laser ranging sensor is equal to or smaller than a first laser ranging threshold value,

the control module outputs a deceleration control instruction to the driving motor, the driving motor reduces the running speed of the driving wheel,

the transmitting unit and the receiving unit of the fourth infrared tube-aligning sensor group are respectively arranged on the left front vertical beam and the right front vertical beam of the front door frame, the transmitting unit and the receiving unit of the fourth infrared tube-aligning sensor group are positioned at the same height and are both positioned in the plane of the front door frame,

the control module receives signals sent to the control module by the fourth infrared paired tube sensor group receiving unit in real time, when the carriage head or the front row of the front stacking in front of the goods placing position enters the front gantry frame, the gantry is indicated to run to the goods placing position,

the infrared light signal sent by the fourth infrared paired tube sensor group sending unit is blocked, the fourth infrared paired tube sensor group receiving unit cannot receive the infrared light signal, the fourth infrared paired tube sensor group receiving unit sends a parking signal to the control module,

the control module outputs a parking control instruction to the driving motor, and the driving motor stops driving of the driving wheel.

Further preferably, the accessory is vertically lowered to a position, and further comprises,

the control module outputs a control signal to the input port of the chain mechanism, so that the movable frame drives accessories and the stacking on the movable frame to vertically descend,

the bottom of the accessory is provided with a second laser ranging sensor, the position where the second laser ranging sensor is close to corresponds to the gap of the fork teeth, the second laser ranging sensor points to the bottom surface of the accessory,

a storage unit is arranged in the control module, the storage unit stores a goods placing distance, the goods placing distance is a distance value which is measured by the second laser ranging sensor when the lower surface of the fork tooth is contacted with the bottom surface of the goods placing position,

the control module receives the distance value sent to the control module by the second laser ranging sensor in real time, when the distance value is equal to the stocking distance,

and the control module outputs a control signal to the input port of the chain mechanism, so that the movable frame stops descending.

Further preferably, the ejector pushes out the pallet and then the accessory is reset, further comprising,

the ejector is provided with an input port, the input port of the ejector is arranged on an ejector electromagnetic valve of the liquid path system, the control module outputs a control signal to the ejector electromagnetic valve of the liquid path system, the control signal is an electric signal, wherein the low-voltage interval value is 0.5-4.5V corresponding to the ejector to be ejected, the high-voltage interval value is 5.5-9.5V corresponding to the ejector to be retracted,

the control module outputs a control signal to the ejector to push the ejector forwards and push the stacking slave fork teeth out, synchronously outputs a control command to the driving motor, the driving motor drives the driving wheel to rotate towards the direction of the goods discharging position, so that the portal frame is displaced towards the direction of the goods discharging position along the track,

thereby the fork teeth of the accessory are drawn out from the stacking, the stacking is left in the goods placing position,

the control module receives a signal sent to the control module by the fourth infrared pair tube sensor group receiving unit in real time, the infrared light signal sent by the fourth infrared pair tube sensor group sending unit is not blocked, the fourth infrared pair tube sensor group receiving unit receives the infrared light signal and indicates that the front gantry frame retreats to the rear side of the stack which is just dismounted,

the control module outputs a control signal to the ejector to enable the ejector to retract backwards,

the control module outputs a control signal to the rotating motor to enable the accessory rack and the accessories on the rack to integrally rotate for 180 degrees,

the control module outputs a control signal to the input port of the chain mechanism to enable the movable frame to vertically rise to the initial height,

and when the movable frame vertically rises to the initial height, the movable frame proximity sensor outputs a stop signal to the control module, and the accessory is reset.

Compared with the prior art, the invention has the following beneficial effects: the stacking of the stacked goods is carried to the goods placing position on the vehicle from the goods discharging position, and accurate positioning of links such as goods taking position determination, speed reduction in the process of travel, fire prevention position determination and the like is achieved through cooperation of the laser ranging sensors and the infrared pair tube sensor groups, so that intelligent operation of carrying the goods by the portal frame is achieved.

In order to make the aforementioned and other objects, features and advantages of the invention comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

Fig. 1 is a schematic view of a pallet loading system according to an embodiment of the invention.

Fig. 2 is a schematic side view of a gantry according to an embodiment of the present invention.

Fig. 3 is a partially enlarged view of the region B in fig. 2.

Fig. 4 is a partial schematic view of a pallet cargo loading system according to an embodiment of the present invention.

Fig. 5 is a schematic bottom view of a portion of a gantry in accordance with an embodiment of the present invention.

Fig. 6 is a schematic bottom view of a portion of the right sill in accordance with an embodiment of the present invention.

Fig. 7 is a schematic diagram of an alignment direction of an infrared pair sensor group according to an embodiment of the present invention.

Detailed Description

To further illustrate the technical means and effects of the present invention adopted to achieve the predetermined objects, the following detailed description of the embodiments, structures, features and effects according to the present invention will be made with reference to the accompanying drawings and preferred embodiments.

Referring to fig. 1 to 7, a palletized cargo loading system for loading, unloading and transporting palletized cargo from a cargo delivery location to a cargo delivery location on a vehicle is provided with a track 1, a portal frame 2, a 180-degree rotating device 3, an accessory frame 4 and an accessory 5, wherein the track is installed on the ground, the portal frame 2 is provided with a top frame 21, a vertical beam 22 and a bottom beam 23, the 180-degree rotating device 3 is installed on the top frame 21, the 180-degree rotating device 3 is provided with a rotating motor 31 and an output rotating disc 32, the output rotating disc 32 is arranged on the lower surface of the top frame 21, the output rotating disc 32 can rotate 180 degrees in a horizontal plane under the driving of the rotating motor 31, the top of the accessory frame 4 is fixed on the lower surface of the output rotating disc 32, the lower surface of the bottom beam 23 is provided with a driving wheel 61 and a driven wheel 62, the driving wheel 61 and the driven wheel 62 support the portal frame 2 on the track 1, the vertical beam 22 and the bottom beam 23 are enclosed to form a side frame, the left side surface and the right side surface of the portal frame 2 are respectively provided with a side frame, the side frame is internally provided with a vertical rod 7, the vertical rod 7 is arranged on the upper surface of the bottom beam 23, the vertical rod 7 is provided with a first laser ranging sensor 81, a first infrared pair tube sensor group 82 and a second infrared pair tube sensor group 83, the vertical beam 22 and the vertical rod 7 are also provided with a third infrared pair tube sensor group 84, the portal frame 2 is provided with a front portal frame 24 and a rear portal frame, the front portal frame 24 faces a goods placing position on the vehicle, the rear portal frame faces a goods discharging position, the first laser ranging sensor 81 obliquely points to the front portal frame 24, the front portal frame 24 is provided with a left front vertical beam 25 and a right front vertical beam 26, the left front vertical beam 25 and the right front vertical beam 26 are respectively arranged at the left side edge and the right side edge of the front portal frame 24, and a fourth infrared paired tube sensor group 85 is also arranged on the left front vertical beam 25 and the right front vertical beam 26.

The portal frame 2 is provided with a left side frame 27 and a right side frame 28, a left upright rod is arranged in the left side frame 27, a right upright rod 72 is arranged in the right side frame 28, the infrared pair tube sensor group is provided with a sending unit and a receiving unit, the sending unit and the receiving unit are aligned in pairs, as shown in fig. 4 and 7, the left upright rod 71 is provided with a sending unit of a first infrared pair tube sensor group 82 and a receiving unit of a second infrared pair tube sensor group 83, the right upright rod 72 is provided with a sending unit of the second infrared pair tube sensor group 83 and a receiving unit of the first infrared pair tube sensor group 82, the sending units of the first infrared pair tube sensor group 82 and the second infrared pair tube sensor group 83 are arranged at a first height, the receiving units of the first infrared pair tube sensor group 82 and the second infrared pair tube sensor group 83 are arranged at a second height, and the second height is lower than the first height, the transmitting unit and the receiving unit of the third infrared pair tube sensor group 84 are respectively arranged on the left front vertical beam 25 and the right vertical beam 72, the transmitting unit and the receiving unit of the fourth infrared pair tube sensor group 85 are respectively arranged on the left front vertical beam 25 and the right front vertical beam 26 of the front door frame 24, the transmitting unit and the receiving unit of the fourth infrared pair tube sensor group 85 are positioned at the same height, the left vertical beam 71 and the right vertical beam 72 are both vertical to the bottom beam 23, the left vertical beam 71 and the right vertical beam 72 are positioned on the longitudinal symmetrical plane of the output rotating disc 32, and the top of the accessory holder 4 is fixed on the edge of the lower surface of the output rotating disc 32.

The rotary motor 31 is arranged on the upper surface of the top frame 21, the accessory frame 4 is provided with a chain mechanism, a fixed frame and a movable frame, the chain mechanism drives the movable frame to move up and down in the fixed frame, the accessory 5 is arranged on the movable frame, the accessory 5 is provided with a push-out device 51 and fork teeth 52, fork tooth gaps are arranged among the fork teeth 52, the bottom of the accessory 5 is provided with a second laser ranging sensor 86, the position of the second laser ranging sensor 86 corresponds to the fork tooth gaps, the second laser ranging sensor 86 points to the bottom surface of the accessory 5, the driving wheel 61 is provided with a driving motor 63, the driving motor 63 is arranged on the outer side surface of the bottom beam 23, the track 1 is provided with a left track and a right track, a contact type power supply device is arranged on the inner side close to the left track to supply power to the driving motor 63, and the driving motor 63, make portal frame 2 along track 1 displacement, next-door neighbour right side track inboard is provided with locating plate 9, floorbar 23 is provided with left floorbar and right floorbar 232, be provided with proximity sensor 10 on the inside wall of right floorbar 232, proximity sensor 10 is close to back portal frame, proximity sensor 10 is provided with the breach groove, interval between breach groove and the right floorbar 232 equals with the interval between locating plate 9 and the right floorbar 232, the opening in breach groove is towards ground, locating plate 9 is installed subaerial, the top surface of locating plate 9 is apart from the vertical height on ground, between the perpendicular interval on the groove top of breach groove apart from ground and the perpendicular interval on the tank bottom of breach groove apart from ground.

A control module is further provided, the control module is provided with an input port and an output port, the rotating motor 31 is provided with an input port connected with the output port of the control module, the driving motor 63 is provided with an input port connected with the output port of the control module, the first laser ranging sensor 81 is provided with an output port connected with the input port of the control module, the receiving unit of the first infrared pair sensor group 82 is provided with an output port connected with the input port of the control module, the receiving unit of the second infrared pair sensor group 83 is provided with an output port connected with the input port of the control module, the receiving unit of the third infrared pair sensor group 84 is provided with an output port connected with the input port of the control module, the receiving unit of the fourth infrared paired tube sensor group 85 is provided with an output port connected with an input port of the control module, the chain mechanism is provided with an input port connected with an output port of the control module, the ejector 51 is provided with an input port connected with an output port of the control module, the second laser ranging sensor 86 is provided with an output port connected with an input port of the control module, the proximity sensor 10 is provided with an output port connected with an input port of the control module.

A control method of a palletized goods loading system is applied to the palletized goods loading system and specifically comprises the following steps,

step S101: the portal frame 2 moves backwards to a goods taking position;

step S102: the accessory is vertically lifted to take the goods, and the accessory rack 4 rotates 180 degrees;

step S103: the portal frame 2 moves forwards to a goods placing position;

step S104: the accessory vertically descends to the place;

step S105: the ejector 51 pushes out the stack, and then the accessory resets;

the portal frame 2 drives backwards to a goods taking position and also comprises,

each operation of the palletized goods loading system is started when the slave tool is in a reset state,

when the accessory is in the reset state, the accessory fork teeth 52 face to the rear door frame, the moving frame on the accessory frame 4 is at the initial height, under the initial height, the accessory fork teeth 52 are flush with the bottom of the pallet of the goods outlet position,

the control module outputs a control instruction to the driving motor 63, the driving motor 63 drives the driving wheel 61 to rotate towards the delivery position direction, so that the portal frame 2 displaces towards the delivery position direction along the track 1,

the control module receives a signal sent by the proximity sensor 10 to the control module in real time, when the notch groove position of the proximity sensor 10 moves to the position of the positioning plate 9, the positioning plate 9 enters the notch groove, the proximity sensor 10 sends a deceleration signal to the control module, the control module outputs a deceleration control instruction to the driving motor 63, the driving motor 63 reduces the running speed of the driving wheel 61,

the control module receives signals sent by the first infrared pair sensor group 82 receiving unit to the control module in real time, when stacking enters a vertical plane where the left vertical rod 71 and the right vertical rod 72 are located, an infrared light signal sent by the first infrared pair sensor group 82 sending unit is shielded, the first infrared pair sensor group 82 receiving unit cannot receive the infrared light signal, the first infrared pair sensor group 82 receiving unit sends a parking signal to the control module,

the control module receives signals sent by the second infrared geminate transistor sensor group 83 receiving unit to the control module in real time, when stacking enters a vertical plane where the left vertical rod 71 and the right vertical rod 72 are located, infrared light signals sent by the second infrared geminate transistor sensor group 83 sending unit are shielded, the second infrared geminate transistor sensor group 83 receiving unit cannot receive the infrared light signals, the second infrared geminate transistor sensor group 83 receiving unit sends parking signals to the control module,

when the control module receives any one of the parking signals, the control module outputs a parking control instruction to the driving motor 63, the driving motor 63 stops driving of the driving wheel 61, and the portal frame 2 reaches the goods taking position.

The accessory is vertically lifted for taking goods, the accessory frame 4 rotates 180 degrees, and the device also comprises,

the accessory rack 4 is provided with a chain mechanism, a fixed rack and a movable rack, the chain mechanism drives the movable rack to move up and down in the fixed rack, the accessory is arranged on the movable rack, the chain mechanism is driven by hydraulic pressure, the chain mechanism is provided with an input port, the input port is arranged on a chain mechanism electromagnetic valve of the liquid path system, the control module outputs a control signal to the chain mechanism electromagnetic valve of the liquid path system, the control signal is an electric signal, wherein the low-voltage interval value is 0.5-4.5V corresponding to the movable rack to rise, the high-voltage interval value is 5.5-9.5V corresponding to the movable rack to fall,

the control module outputs a control signal to the input port of the chain mechanism, so that the movable frame drives the accessory mounted on the movable frame to vertically rise, the fork teeth 52 of the accessory fork the stacking,

the control module outputs a control signal to the rotating motor 31, so that the accessory rack 4, the accessories on the accessory rack and the stacking machine integrally rotate for 180 degrees,

the control module receives the signal sent by the receiving unit of the third infrared pair sensor group 84 to the control module in real time, the sending unit and the receiving unit of the third infrared pair sensor group 84 are respectively arranged on the left front vertical beam 25 and the right vertical rod 72,

when the whole stacking machine rotates 180 degrees in place, the stacking machine is aligned with the front framework frame 24,

the infrared light signal sent by the sending unit of the third infrared pair sensor group 84 is blocked by the stack, the receiving unit of the third infrared pair sensor group 84 cannot receive the infrared light signal, the receiving unit of the third infrared pair sensor group 84 sends a rotation in-place signal to the control module,

the control module outputs a control instruction to the driving motor 63, and the driving motor 63 drives the driving wheel 61 to rotate towards the goods placing position direction, so that the portal frame 2 displaces towards the goods placing position direction along the track 1.

The portal frame 2 moves forwards to a goods placing position and also comprises,

the first laser ranging sensor 81 obliquely points to the front door frame 24, a storage unit is arranged in the control module, a first laser ranging threshold value is stored in the storage unit, the threshold value of the first laser ranging sensor 81 is the distance between the first laser ranging sensor 81 and the front end face of the front door frame 24,

the control module receives the distance measurement value sent by the first laser ranging sensor 81 in real time, and when the distance measurement value sent by the first laser ranging sensor 81 is equal to or smaller than a first laser ranging threshold value,

the control module outputs a deceleration control command to the driving motor 63, the driving motor 63 reduces the traveling speed of the driving wheel 61,

the transmitting unit and the receiving unit of the fourth infrared pair tube sensor group 85 are respectively arranged on the left front vertical beam 25 and the right front vertical beam 26 of the front door frame 24, the transmitting unit and the receiving unit of the fourth infrared pair tube sensor group 85 are positioned at the same height and are both positioned in the plane of the front door frame 24,

the control module receives the signal sent by the receiving unit of the fourth infrared paired tube sensor group 85 to the control module in real time, when the carriage head or the front row of the stack in front of the goods placing position enters the front gantry frame 24, the gantry 2 is indicated to run to the goods placing position,

the infrared light signal sent by the sending unit of the fourth infrared pair tube sensor group 85 is blocked, the receiving unit of the fourth infrared pair tube sensor group 85 cannot receive the infrared light signal, the receiving unit of the fourth infrared pair tube sensor group 85 sends a parking signal to the control module,

the control module outputs a parking control command to the driving motor 63, and the driving motor 63 stops the driving of the driving wheel 61.

The accessory is vertically descended to the position and also comprises,

the control module outputs a control signal to the input port of the chain mechanism, so that the movable frame drives accessories and the stacking on the movable frame to vertically descend,

the bottom of the accessory is provided with a second laser ranging sensor 86, the position where the second laser ranging sensor 86 is close to corresponds to the gap of the fork teeth, the second laser ranging sensor 86 points to the bottom surface of the accessory,

a storage unit is arranged in the control module, the storage unit stores a goods placing distance, the goods placing distance is a distance value which is measured by the second laser ranging sensor 86 when the lower surface of the fork tooth 52 is contacted with the bottom surface of the goods placing position,

the control module receives the distance value sent by the second laser ranging sensor 86 to the control module in real time, and when the distance value is equal to the put-in distance,

and the control module outputs a control signal to the input port of the chain mechanism, so that the movable frame stops descending.

The ejector 51 pushes out the pallet and then the accessory is reset, and further comprises,

the ejector 51 is provided with an input port, the input port of the ejector 51 is arranged on an electromagnetic valve of the ejector 51 of the liquid path system, the control module outputs a control signal to the electromagnetic valve of the ejector 51 of the liquid path system, the control signal is an electric signal, wherein a low voltage interval value of 0.5-4.5V corresponds to the ejector 51 to be ejected, a high voltage interval value of 5.5-9.5V corresponds to the ejector 51 to be retracted,

the control module outputs a control signal to the ejector 51 to push the ejector forwards and push the stacking slave fork teeth 52 out, synchronously outputs a control command to the driving motor 63, the driving motor 63 drives the driving wheel 61 to rotate towards the direction of the delivery position, so that the portal frame 2 displaces towards the direction of the delivery position along the track 1,

so that the accessory fork 52 is drawn out from the pallet, the pallet is left in the goods placing position,

the control module receives a signal sent by the receiving unit of the fourth infrared pair tube sensor group 85 to the control module in real time, the infrared light signal sent by the sending unit of the fourth infrared pair tube sensor group 85 is not blocked, the receiving unit of the fourth infrared pair tube sensor group 85 receives the infrared light signal, the fact that the front gantry frame 24 is retreated to the rear side of the stack which is just unloaded is shown,

the control module outputs a control signal to the ejector 51, causing it to retract backwards,

the control module outputs a control signal to the rotating motor 31 so that the accessory holder 4 rotates 180 degrees together with the accessories thereon,

the control module outputs a control signal to the input port of the chain mechanism to enable the movable frame to vertically rise to the initial height,

and at the position corresponding to the initial height, a movable frame proximity sensor is arranged on the side wall of the accessory frame 4, the movable frame proximity sensor is provided with an output port, the output port is connected with the input port of the control module, when the movable frame vertically rises to return to the initial height, the movable frame proximity sensor outputs a stop signal to the control module, and the accessory reset is completed.

Although the present invention has been described with reference to the preferred embodiments, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.