阅读说明：本技术 一种码垛车 (Pallet truck ) 是由 张艳 章逸丰 杨志昆 任文珍 杨玉坡 于 2021-03-09 设计创作，主要内容包括：本发明提供了一种码垛车,包括底座及其上方的传送结构、码垛支架、升降平移结构和爪手结构,所述传送结构底部活动连接至底座,传送结构一侧设有码垛支架,码垛支架顶部固定连接升降平移结构,升降平移结构底部设有爪手结构,所述底座、传送结构、码垛支架、升降平移结构和爪手结构均信号连接至控制器。本发明所述的一种码垛车设计合理,具有自主移动底座,能够根据装卸车任务的呼叫,自主规划路径,行驶到需要装卸车的工位,到达装卸工位后进行环境扫描和3D重构,感知集装箱车体的环境,并配合升降液压缸和传送结构,将传送结构伸入待装车车体内,并可进行前侧安全距离感知,增加传送结构安全性防止与车体、货物及人员发生碰撞。(The invention provides a pallet truck which comprises a base, a conveying structure, a pallet support, a lifting translation structure and a claw structure, wherein the conveying structure, the pallet support, the lifting translation structure and the claw structure are arranged above the base, the bottom of the conveying structure is movably connected to the base, the pallet support is arranged on one side of the conveying structure, the top of the pallet support is fixedly connected with the lifting translation structure, the claw structure is arranged on the bottom of the lifting translation structure, and the base, the conveying structure, the pallet support, the lifting translation structure and the claw structure are in signal connection with a controller. The pallet truck provided by the invention is reasonable in design, is provided with the autonomous moving base, can autonomously plan a path according to the calling of a loading and unloading truck task, runs to a station needing the loading and unloading truck, performs environmental scanning and 3D reconstruction after reaching the loading and unloading station, senses the environment of a container truck body, is matched with the lifting hydraulic cylinder and the conveying structure, extends the conveying structure into the truck body to be loaded, can sense the front side safe distance, and increases the safety of the conveying structure to prevent collision with the truck body, goods and personnel.)

1. A pallet truck, characterized in that: including conveying structure (2), pile up neatly support (3), lift translation structure (4) and cleft hand structure (5) of base (1) and top thereof, conveying structure (2) bottom swing joint is to base (1), and conveying structure (2) one side is equipped with pile up neatly support (3), and pile up neatly support (3) top fixed connection lift translation structure (4), lift translation structure (4) bottom is equipped with cleft hand structure (5), equal signal connection in base (1), conveying structure (2), pile up neatly support (3), lift translation structure (4) and cleft hand structure (5) is to the controller.

2. Pallet truck according to claim 1, characterized in that: base (1) includes base body (11) and 2 slide rail (12), base body (11) are the cuboid structure, and base body (11) top both sides are slide rail (12) of fixed connection one respectively, and base body (11) are through slide rail (12) sliding connection to pile up neatly support (3).

3. Pallet truck according to claim 2, characterized in that: transport structure (2) are including mount (21), No. two mount (22), conveyer belt (23), No. two conveyer belts (24), No. three conveyer belts (25), a conveying unit and No. two conveying units, No. one conveyer belt (23) unit bottom both ends are respectively through mount (21), No. two mount (22) fixed connection to base (1) body, and a conveyer belt (23) is inside to be connected to No. two conveyer belts (24) through a conveying unit transmission, and No. two conveyer belts (24) are connected to No. three conveyer belts (25) through No. two conveying unit transmissions, No. two mount (22), a conveyer belt (23), No. two conveyer belts (24), No. three conveyer belts (25), a conveying unit and No. two conveying unit equal signal connection to controller.

4. Pallet truck according to claim 3, characterized in that: a mount (21) includes PMKD (211) and 2 support frames (212), and PMKD (211) are cuboid frame construction, and PMKD (211) bottom is fixed to base body (11), and PMKD (211) top both sides are equipped with one support frame (212) respectively, and every support frame (212) are isosceles trapezoid body frame construction, and every isosceles trapezoid body frame construction's top all is connected to conveyer belt (23) through the bearing rotation.

5. Pallet truck according to claim 4, characterized in that: no. two mount (22) are including No. two PMKD (221), 2 baffle (222) and 2 hydraulic lift cylinder (223), PMKD (221) are cuboid frame construction, PMKD (221) bottom is fixed to base body (11) No. two, 2 baffle (222) of fixed connection respectively on one side of PMKD (221) top, 2 baffle (222) are located conveyer belt (23) both sides respectively, 2 hydraulic lift cylinder (223) of fixed bottom (221) top opposite side fixed connection, 2 hydraulic lift cylinder (223) are located conveyer belt (23) both sides respectively, and the telescopic link of every hydraulic lift cylinder (223) all with conveyer belt (23) fixed connection, 2 equal signal connection of hydraulic lift cylinder (223) is to the controller.

6. Pallet truck according to claim 5, characterized in that: pile up neatly support (3) are including support body (31), sliding motor, a lead screw and a plurality of sliding block (32), support body (31) are Z type structure, support body (31) bottom is equipped with sliding motor, sliding motor's output shaft fixed connection is to a lead screw, the screw nut of a lead screw passes through connecting rod fixed connection to support body (31), a plurality of sliding blocks (32) of fixed connection respectively in support body (31) bottom both sides, and support body (31) pass through sliding block (32) sliding connection to slide rail (12), sliding motor passes through driver signal connection to controller.

7. Pallet truck according to claim 6, characterized in that: the lifting translation structure (4) comprises a lifting slide rail (41), a lifting slide block (42), a lifting motor, a lifting lead screw, a translation slide rail (43), a translation slide block (44), a translation motor and a translation lead screw, wherein the translation slide rail (43) is fixed to the top of the support body (31), the translation slide block (44) is arranged above the translation slide rail (43), one side of the translation slide block (44) is fixedly connected to the translation lead screw, one end of the translation lead screw is fixedly connected with an output shaft of the translation motor, the bottom of the translation motor is fixed to the support body (31), the other side of the translation slide block (44) is fixedly connected with the lifting slide block (42), the lifting slide block (42) is positioned above the lifting slide rail (41), the bottom of the lifting slide block (42) is rotatably connected to the claw-hand structure (5), one side of the lifting slide block (42), the bottom of the lifting motor is fixed to the support body (31), and the lifting motor and the translation motor are both connected to the controller through driver signals.

8. Pallet truck according to claim 7, characterized in that: the claw hand structure (5) comprises claw hand support plates (56), a claw hand frame (51), sucker groups (53), a rotating motor (55), 2 cargo recognition cameras (52) and 2 clamp units (54), the claw hand support plates (56) are of a cuboid structure, the middle parts of the tops of the claw hand support plates (56) are fixedly connected to an output shaft of the rotating motor (55), the tops of the rotating motor (55) are rotatably connected to a lifting slide block (42), the middle parts of the bottoms of the claw hand support plates (56) are fixedly connected with the sucker groups (53), one sides of the sucker groups (53) are provided with the 2 cargo recognition cameras (52), one sides of the bottoms of the claw hand support plates (56) are fixedly connected with the claw hand frame (51), the two sides of the claw hand frame (51) are respectively provided with one clamp unit (54), the 2 clamp units (54) are respectively fixed to the two sides of the bottoms of the claw hand support plates (56), the cargo recognition cameras (52), the sucker groups, The rotating motor (55) and the 2 clamp units (54) are in signal connection with the controller.

Technical Field

The invention belongs to the technical field of stacking, and particularly relates to a pallet truck.

Background

The conventional loading of a container truck usually adopts a large amount of manpower to load and unload, and goods to be loaded are conveyed to the side of the truck or the truck by a manual forklift, and then are manually carried and stacked into a truck box one by one. A large amount of manual forklifts are used for carrying in the process, and potential safety hazards are easily caused by the cross operation of people and equipment. The invention develops an autonomous mobile intelligent loading and unloading robot aiming at the loading and unloading processes of container vehicles, and can finish autonomous retraction and movement of loading and unloading equipment, automatic loading and unloading of goods on and off of a conveyor belt, automatic environment sensing and construction, safety detection of man-machine interaction and the like. The independent, safe and rapid carrying of goods from the region to be loaded to the vehicle body and from the vehicle body to the region to be unloaded can be realized, the whole process only needs one person to complete loading and unloading work, the labor is reduced, and the labor intensity is reduced.

Disclosure of Invention

In view of this, the invention aims to provide a pallet truck to solve the problems that the existing pallet truck cannot move autonomously, is low in safety, low in carrying speed and time-consuming and labor-consuming.

In order to achieve the purpose, the technical scheme of the invention is realized as follows:

the utility model provides a pallet truck, includes the conveying structure, pile up neatly support, lift translation structure and the claw hand structure of base and top, conveying structure bottom swing joint to base, conveying structure one side are equipped with the pile up neatly support, and pile up neatly support top fixed connection lift translation structure, lift translation structure bottom are equipped with the claw hand structure, base, conveying structure, pile up neatly support, lift translation structure and claw hand structure all signal connection to controller.

Further, the base includes base body and 2 slide rails No. one, base body is the cuboid structure, and base body top both sides are slide rail No. one of fixed connection respectively, and base body is through slide rail sliding connection to pile up neatly support.

Further, the conveying structure comprises a fixing frame, a second fixing frame, a first conveying belt, a second conveying belt, a third conveying belt, a first conveying unit and a second conveying unit, two ends of the bottom of the first conveying belt unit are fixedly connected to the base body through the first fixing frame and the second fixing frame respectively, the inside of the first conveying belt is connected to the second conveying belt through transmission of the first conveying unit, the second conveying belt is connected to the third conveying belt through transmission of the second conveying unit, and the second fixing frame, the first conveying belt, the second conveying belt, the third conveying belt, the first conveying unit and the second conveying unit are all in signal connection with the controller.

Further, a mount includes PMKD and 2 support frames, and PMKD is cuboid frame construction, and PMKD bottom is fixed to the base body, and PMKD top both sides are equipped with a support frame respectively, and every support frame is isosceles trapezoid body frame construction, and every isosceles trapezoid body frame construction's top all is connected to the conveyer belt through the bearing rotation.

Further, No. two mount include PMKD, 2 baffles and 2 hydraulic cylinder, PMKD is cuboid frame construction No. two, and PMKD bottom is fixed to the base body No. two, and 2 baffles of fixed connection are respectively on one side of No. two PMKD tops, and 2 baffles are located a conveyer belt both sides respectively, 2 hydraulic cylinder of 2 fixed connection of another side fixed connection of No. two PMKD tops, and 2 hydraulic cylinder are located a conveyer belt both sides respectively, and every hydraulic cylinder's telescopic link all with a conveyer belt fixed connection, 2 equal signal connection of hydraulic cylinder to controller.

Further, the stacking support comprises a support body, a sliding motor, a first lead screw and a plurality of sliding blocks, the support body is of a Z-shaped structure, the sliding motor is arranged at the bottom of the support body, an output shaft of the sliding motor is fixedly connected to the first lead screw, a lead screw nut of the first lead screw is fixedly connected to the support body through a connecting rod, the sliding blocks are fixedly connected to two sides of the bottom of the support body respectively, the support body is connected to a sliding rail through the sliding blocks in a sliding mode, and the sliding motor is connected to the controller through a driver signal.

Further, the lifting translation structure comprises a lifting slide rail, a lifting slider, a lifting motor, a lifting screw, a translation slide rail, a translation slider, a translation motor and a translation screw, the translation slide rail is fixed to the top of the support body, the translation slider is arranged above the translation slide rail, one side of the translation slider is fixedly connected to the translation screw, one end of the translation screw is fixedly connected with an output shaft of the translation motor, the bottom of the translation motor is fixed to the support body, the other side of the translation slider is fixedly connected with the lifting slider, the lifting slider is arranged above the lifting slide rail, the bottom of the lifting slider is rotatably connected to the claw hand structure, the lifting screw is fixedly connected to one side of the lifting slider, one end of the lifting screw is fixedly connected with an output shaft of the lifting motor, the bottom of the lifting motor is fixed to the.

Further, the claw hand structure includes claw hand extension board, claw hand frame, sucking disc group, rotating electrical machines and 2 goods discernment cameras and 2 anchor clamps units, the claw hand extension board is the cuboid structure, claw hand extension board top middle part fixed connection to rotating electrical machines's output shaft, and the rotating electrical machines top rotates and is connected to the lift slider, and claw hand extension board bottom middle part fixed connection sucking disc group, sucking disc group one side are equipped with 2 goods discernment cameras, and claw hand extension board bottom one side fixed connection claw hand frame, and claw hand frame both sides are equipped with an anchor clamps unit respectively, and 2 anchor clamps units are fixed to claw hand extension board bottom both sides respectively, goods discernment camera, sucking disc group, rotating electrical machines and 2 equal signal connection of anchor clamps unit are to the controller.

Compared with the prior art, the pallet truck has the following advantages:

(1) the pallet truck provided by the invention is reasonable in design, is provided with the autonomous moving base, can autonomously plan a path according to the calling of a loading and unloading truck task, runs to a station needing the loading and unloading truck, performs environmental scanning and 3D reconstruction after reaching the loading and unloading station, senses the environment of a container truck body, is matched with the lifting hydraulic cylinder and the conveying structure, extends the conveying structure into the truck body to be loaded, can sense the front side safe distance, and increases the safety of the conveying structure to prevent collision with the truck body, goods and personnel.

(2) The pallet truck can realize the single completion of the loading and unloading process, realizes the fast, safe and autonomous loading and unloading of the container truck, is simple to operate, convenient and fast, and can prevent excessive goods from rolling off the conveying structure due to the fact that the tail part of the conveying structure can be provided with the baffle.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:

fig. 1 is a schematic overall structure diagram of a pallet truck according to an embodiment of the invention;

FIG. 2 is an enlarged view of A in FIG. 1;

FIG. 3 is a schematic diagram of a lifting and translating structure of a pallet truck according to an embodiment of the invention;

FIG. 4 is a schematic diagram of a pallet truck delivery configuration according to an embodiment of the present disclosure;

FIG. 5 is an enlarged view of B in FIG. 4;

fig. 6 is a schematic structural view of a pallet truck claw according to an embodiment of the invention.

Description of reference numerals:

1-a base; 11-a base body; 12-a first slide rail; 2-a transfer structure; 21-a fixing frame; 211-fixed baseplate No. one; 212-a support frame; 22-second fixing frame; 221-fixed baseplate II; 222-a baffle; 223-a lifting hydraulic cylinder; 23-conveyor belt number one; 231-first transfer body; 232-fixed bar; 233-laser sensor number one; 234-first conveyor belt; 24-conveyor belt number two; 241-second transmission ontology; 242-second conveyor belt; 25-conveyor belt number three; 251-transmission body number three; 252-third conveyor belt; 253-photoelectric in-place sensor; 254-visual inspection camera; 255-laser sensor number two; 3-a stacking bracket; 31-a stent body; 32-a slider; 4-a lifting translation structure; 41-lifting slide rails; 42-lifting slide block; 43-a translation slide; 44-a translation slide; 5-claw structure; 51-claw hand rack; 511-paw body; 52-cargo identification camera; 53-sucker group; 531-vacuum chuck; 54-a gripper unit; 541-a clamp mount; 542-a clamp fixing plate; 543-a clamp plate; 544-a clamp cylinder; 55-a rotating electrical machine; 56-paw hand support plate.

Detailed Description

It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.

The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

As shown in fig. 1 to 6, the pallet truck comprises a base 1, a conveying structure 2 arranged above the base, a pallet support 3, a lifting translation structure 4 and a claw structure 5, the bottom of the conveying structure 2 is movably connected to the base 1, a stacking support 3 is arranged on one side of the conveying structure 2, the top of the stacking support 3 is fixedly connected with a lifting translation structure 4, a claw structure 5 is arranged at the bottom of the lifting translation structure 4, the base 1, the conveying structure 2, the stacking bracket 3, the lifting translation structure 4 and the claw structure 5 are all connected with a controller through signals, the automatic loading and unloading vehicle is characterized in that an automatic moving platform AGV is arranged in the base 1, the automatic moving platform AGV is in the prior art, a robot dispatching system is arranged in the automatic moving platform AGV, the robot dispatching system is in signal connection with a controller, and the robot dispatching system can autonomously plan a path according to a call of a loading and unloading vehicle task and drive a station needing the loading and unloading vehicle. After the container body arrives at a loading and unloading station, environment scanning and 3D reconstruction are carried out on the vision and laser sensors at the front end of the telescopic conveyor belt and the laser sensors on the two sides, the environment of the container body is sensed, and the conveyor belt is stretched into the container body to be loaded in cooperation with the hydraulic lifting support rod and the conveyor belt telescopic mechanism. The photoelectric in-place sensor at the front end of the conveyor belt can sense the safe distance at the front side, so that the safety of the conveyor belt is improved, and the conveyor belt is prevented from colliding with a vehicle body, goods and personnel.

Base 1 includes base body 11 and 2 slide rails 12, base body 11 is the cuboid structure, and base body 11 top both sides are slide rail 12 of fixed connection one number respectively, and base body 11 is through slide rail 12 sliding connection to pile up neatly support 3, base body 11 is prior art, base body 11 is AGV autonomous movement moving platform, and base body 11 is inside to be equipped with robot dispatch system, and robot dispatch system signal connection is to the industrial computer to can be according to the calling of loading and unloading car task, independently plan the route, travel the station that needs the loading and unloading car.

Transport structure 2 includes mount 21, No. two mounts 22, a conveyer belt 23, No. two conveyer belts 24, No. three conveyer belts 25, a conveying unit and No. two conveying units, 23 bottom both ends of a conveyer belt unit are respectively through mount 21, No. two mount 22 fixed connection to base body 11, and 23 inside No. two conveyer belts are connected to No. two conveyer belts 24 through a conveying unit transmission, and No. two conveyer belts 24 are connected to No. three conveyer belts 25 through No. two conveying unit transmissions, No. two mount 22, No. 23, No. two conveyer belts 24, No. three conveyer belts 25, a conveying unit and No. two conveying unit equal signal connection to controller, when the in-service use, through the flexible of transport mechanism 2 so that under the claw hand structure 5 convenient in snatching of goods transportation.

A mount 21 includes PMKD 211 and 2 support frames 212, PMKD 211 is cuboid frame construction, PMKD 211 bottom is fixed to base body 11, PMKD 211 top both sides are equipped with a support frame 212 respectively, every support frame 212 is isosceles trapezoid body frame construction, every isosceles trapezoid body frame construction's top all is connected to conveyer belt 23 through the bearing rotation, mount 21 is used for supporting transport structure 2, make transport structure 2 remain stable when flexible all the time.

The second fixing frame 22 comprises a second fixing bottom plate 221, 2 baffle plates 222 and 2 lifting hydraulic cylinders 223, the second fixing bottom plate 221 is of a cuboid frame structure, the bottom of the second fixing bottom plate 221 is fixed to the base body 11, one side of the top of the second fixing bottom plate 221 is fixedly connected with the 2 baffle plates 222 respectively, the 2 baffle plates 222 are located on two sides of the first conveying belt 23 respectively, the other side of the top of the second fixing bottom plate 221 is fixedly connected with the 2 lifting hydraulic cylinders 223, the 2 lifting hydraulic cylinders 223 are located on two sides of the first conveying belt 23 respectively, a telescopic rod of each lifting hydraulic cylinder 223 is fixedly connected with the first conveying belt 23, the 2 lifting hydraulic cylinders 223 are all in signal connection with the controller, the second fixing frame 22 can support the conveying structure 2, and the lifting hydraulic cylinders 223 can be suitable for loading and unloading the height of a carriage by adjusting the height of the conveying structure 2, the practicability of the device is increased.

The first conveyor belt 23 comprises a first conveyor body 231, a first conveyor belt 234, a first motor, a first roller wheel, a second roller wheel, 2 first laser sensors 233 and a plurality of fixing rods 232, wherein the first conveyor body 231 is of a hollow cuboid shell structure, one end of the first conveyor body 231 is provided with a corner cutting structure, one side of each corner cutting structure is fixedly connected with the first laser sensor 233, the 2 first laser sensors 233 are symmetrically arranged, two sides of the outer wall of the first conveyor body 231, which are close to the corner cutting structure, are respectively and fixedly connected with a lifting hydraulic cylinder 223, two sides of the outer wall of the first conveyor body 231, which are far away from the corner cutting structure, are respectively and rotatably connected with a support frame 212, one side of the inner wall of the first conveyor body 231, which is close to the corner cutting structure, is rotatably connected with the first roller wheel, the first roller wheel is fixedly connected with an output shaft of the first motor, one side of the inner wall of the first conveyor body 231, a gyro wheel and No. two gyro wheels all are located conveyer 234 inside, a gyro wheel and No. two gyro wheels all are used for conveying conveyer 234 No. one, a plurality of dead levers 232 of conveying body 231 bottom equipartition, a conveying unit of fixed connection on the dead lever 232, and a conveying unit is located conveying body 231 inside, a conveying body 231 is connected to No. two conveyer belts 24 through a conveying unit transmission, a motor, 2 equal signal connection director of a laser sensor 233, a conveyer belt 23 is located conveying structure 2 bottom, a conveyer belt 23 rotates through driving conveyer 234, thereby make the goods on conveyer 234 remove along with it.

The second conveying belt 24 comprises a second conveying body 241, a second conveying belt 242, a second motor and 2 third rollers, the second conveying body 241 is of a hollow cuboid shell structure, the second conveying body 241 is located inside the first conveying body 231, two sides of the bottom of the inner wall of the second conveying body 241 are respectively and fixedly connected with a first rack, two ends of the inner wall of the second conveying body 241 are respectively and rotatably connected with a third roller, one third roller is fixedly connected to an output shaft of the second motor, 2 third rollers are located inside the second conveying belt 242, 2 third rollers are all used for conveying the second conveying belt 242, the bottom of the second conveying body 241 is connected with a first conveying unit through the first rack in a transmission manner, the top of the second conveying body 241 is connected to the third conveying belt 25 through the second conveying unit in a transmission manner, the second motor is connected with a controller through a driver signal, the second conveyor belt 24 is located at the middle layer of the conveying structure 2, and the second conveyor belt 24 drives the second conveyor belt 242 to rotate, so that the goods on the second conveyor belt 242 move along with the second conveyor belt.

The third conveying belt 25 comprises a third conveying body 251, a third conveying belt 252, a photoelectric in-place sensor 253, a second laser sensor 255, a third motor, a plurality of visual detection cameras 254 and 2 fourth rollers, the third conveying body 251 is of a hollow cuboid shell structure, the third conveying body 251 is positioned inside the second conveying body 241, two sides of the bottom of the inner wall of the third conveying body 251 are fixedly connected with a second rack respectively, the third conveying body 251 is connected with a second conveying unit through the second rack in a transmission manner, the second conveying unit is connected with 2 second racks inside the third conveying body 251 in a transmission manner, two ends inside the third conveying body 251 are respectively connected with a fourth roller in a rotation manner, one of the four rollers is fixedly connected to an output shaft of the third motor, 2 of the four rollers are positioned inside the third conveying belt 252, and 2 of the four rollers are used for conveying the third conveying belt 252, the photoelectric in-place sensor 253, the second laser sensor 255 and the visual detection cameras 254 are arranged at one end of the outer portion of the third conveying body 251 respectively, the third motor, the photoelectric in-place sensor 253, the second laser sensor 255 and the visual detection cameras 254 are connected with the controller in a signal mode, the third conveying belt 25 is located on the top layer of the conveying structure 2, and the third conveying belt 25 drives the third conveying belt 252 to rotate, so that goods on the third conveying belt 252 move along with the third conveying belt 25.

The first conveying unit and the second conveying unit have the same structure, the first conveying unit comprises a speed reducing motor, a first gear, a second gear, a third gear, a fourth gear and a first conveying roller, an output shaft of the speed reducing motor is fixedly connected to the first gear, the first gear is in meshing transmission with the second gear, the second gear is sleeved at the middle part of the outer wall of the first conveying roller, one end of the first conveying roller is sleeved with the third gear, the other end of the first conveying roller is sleeved with the fourth gear, and No. three gears, No. four gears mesh with a rack respectively and transmit, gear motor passes through driver signal connection to controller, No. one conveyer belt 23 can drive No. two conveyer belts 24 through a transport unit and move back and forth on No. one conveyer belt 23, No. two conveyer belts 24 can drive No. three conveyer belt 25 through No. two transport units and move back and forth on No. two conveyer belts 24.

Pile up neatly support 3 includes support body 31, sliding motor, a lead screw and a plurality of sliding block 32, support body 31 is Z type structure, support body 31 bottom is equipped with sliding motor, sliding motor's output shaft fixed connection is a lead screw, the screw nut of a lead screw passes through connecting rod fixed connection to support body 31, a plurality of sliding blocks 32 of fixed connection respectively in support body 31 bottom both sides, and support body 31 passes through sliding block 32 sliding connection to slide rail 12 No. one, sliding motor passes through driver signal connection to controller, pile up neatly support 3 not only can slide around on base 1, and be used for lifting translation structure 4, claw hand structure 5 provides the holding power.

The lifting translation structure 4 comprises a lifting slide rail 41, a lifting slide block 42, a lifting motor, a lifting screw rod, a translation slide rail 43, a translation slide block 44, a translation motor and a translation screw rod, the translation slide rail 43 is fixed on the top of the bracket body 31, the translation slide block 44 is arranged above the translation slide rail 43, one side of the translation slide block 44 is fixedly connected to the translation screw rod, one end of the translation screw rod is fixedly connected with an output shaft of the translation motor, the bottom of the translation motor is fixed to the bracket body 31, the other side of the translation slide block 44 is fixedly connected with the lifting slide block 42, the lifting slide block 42 is positioned above the lifting slide rail 41, the bottom of the lifting slide block 42 is rotatably connected to the claw hand structure 5, one side of the lifting slide block 42 is fixedly connected with the lifting screw rod, one end of the lifting screw rod is fixedly connected with an output shaft, in practical use, the position of the claw structure 5 can be adjusted by adjusting the height and the front-back position of the lifting translation structure 4.

The claw structure 5 comprises a claw support plate 56, a claw frame 51, a sucker group 53, a rotating motor 55, 2 goods recognition cameras 52 and 2 clamp units 54, the claw support plate 56 is of a cuboid structure, the middle of the top of the claw support plate 56 is fixedly connected to an output shaft of the rotating motor 55, the top of the rotating motor 55 is rotatably connected to the lifting slider 42, the middle of the bottom of the claw support plate 56 is fixedly connected with the sucker group 53, one side of the sucker group 53 is provided with the 2 goods recognition cameras 52, one side of the bottom of the claw support plate 56 is fixedly connected with the claw frame 51, two sides of the claw frame 51 are respectively provided with the clamp unit 54, the 2 clamp units 54 are respectively fixed to two sides of the bottom of the claw support plate 56, the goods recognition cameras 52, the sucker group 53, the rotating motor 55 and the 2 clamp units 54 are all in signal connection with a controller, the claw structure 5 is used for picking and placing goods to realize, time and labor are saved, and labor cost is greatly saved.

The claw hand frame 51 comprises a claw hand body 511 of an integrally formed structure, the claw hand body 511 is of an L-shaped structure, the top of the claw hand body 511 is connected to a claw hand supporting plate 56 in a sliding mode, a speed reducing motor and a lead screw are further arranged outside the claw hand frame 51, an output shaft of the speed reducing motor is fixedly connected to one end of the lead screw, a lead screw nut of the lead screw is fixedly connected to one side of the top of the claw hand fixing frame 512, the speed reducing motor is connected to a controller through a driver signal, the claw hand body 511 can be driven to move back and forth on the claw hand supporting plate 56 by driving the lead screw nut to move back and forth during operation of the speed reducing motor, the claw hand frame 51 is used for supporting the bottom of goods during actual use, the goods are prevented from falling off in the taking and placing.

Sucking disc group 53 includes a plurality of vacuum chuck 531 and vacuum generator, and a plurality of vacuum chuck 531 evenly arrange to claw hand extension board 56, and every vacuum chuck 531 all through taking over fixed connection to vacuum generator, and vacuum generator passes through driver signal connection to controller, and sucking disc group 53 is used for adsorbing the goods bottom to the goods of being convenient for are got and are put.

The clamp unit 54 includes a clamp fixing plate 542, a clamp plate 543, 2 clamp brackets 541 and 2 clamp cylinders 544, wherein the 2 clamp brackets 541 are arranged in parallel, the top of each clamp bracket 541 is fixedly connected to the claw support plate 56, the bottom of each clamp bracket 541 is fixedly connected to one side of the clamp fixing plate 542, the middle of the clamp fixing plate 542 is fixedly sleeved with the 2 clamp cylinders 544, the telescopic rod of each clamp cylinder 544 penetrates through the clamp fixing plate 542 to be fixedly connected to the clamp plate 543, the clamp cylinders 544 are connected to the controller, and the clamp unit 54 is used for clamping the goods from two sides to further prevent the goods from falling off.

The controller is an industrial personal computer, the model of the controller is IPC-610L, the model of 2 lifting hydraulic cylinders 223 is MOB32, the model of a clamp cylinder 544 is SDA40X45, the model of a vacuum generator is CV-10HS, a first motor, a second motor, a third motor, a sliding motor, a lifting motor, a translation motor and a rotating motor 55 are all servo motors and a first motor, the models of the second motor, the third motor, the sliding motor, the lifting motor, the translation motor and the rotating motor 55 are PL60-5, the model of the speed reducing motor is NMRV050, the model of the photoelectric in-place sensor 253 is OD1-B100H50A15, the model of the first laser sensor 233 is TiM-S, the model of the second laser sensor 255 is a linear laser + BasleraC 2000-340 integrated device, the model of the cargo identification camera 52 is BFS-PGE-200S6C-C, and the model of the visual detection camera 254 is acA1600-20 gc.

The working principle of the pallet truck is as follows:

during the in-service use, the manual start control ware of staff, controller control base 1 begins work, and the thing car that carries can cooperate to use automatic logistics transport means such as trackless navigation AGV to go on, can realize that the loading and unloading car process only 1 people accomplishes, realizes quick, safe, autonomic container freight train loading and unloading, and the robot dispatch system of base 1 inside plans the route voluntarily according to the calling of loading and unloading car task, goes to the station that needs the loading and unloading car. After the goods arrive at the loading and unloading station (when the goods identification camera 52 on the claw structure 5 detects the goods, a signal is sent to the controller, the controller controls the vision detection camera 254, the first laser sensor 233 and the second laser sensor 255 to start working), the vision detection camera 254 and the second laser sensor 255 at the front end of the third conveyor belt 25 of the conveying structure 2, the first laser sensors 233 and the like on the two sides of the first conveyor belt 23 perform environment scanning and 3D reconstruction to sense the environment of the container body, and the third conveyor belt 25 is stretched into the vehicle body to be loaded by matching with the lifting hydraulic cylinder 223, the first conveying unit and the second conveying unit. The photoelectric in-place sensor 253 at the front end of the third conveyor belt 25 can sense the front safe distance, so that the safety of the third conveyor belt 25 is improved to prevent collision with a vehicle body, goods and personnel;

specifically, the front end visual detection camera 254 and the second laser sensor 255 of the conveying structure 2 sense the states of the goods and people in the carriage at any time, and the autonomous moving base 1 is controlled to adjust the overall position of the loading robot through a sensing algorithm and a stacking algorithm which are both the prior art, so that the goods to be loaded on the conveying structure 2 are most convenient to operate from the manual operation position, and the most labor-saving auxiliary stacking mode is realized;

during unloading, workers in the carriage move the cargos to the conveying structure 2 one by one, a baffle plate can be arranged at the tail part of the conveying structure 2, and a row of the cargos are captured by the execution claw rack 51 and the sucker group 53 and then automatically stacked on the carrier vehicle; the adjustment process is the same as above;

when goods move to the end close to the claw structure 5 through the first conveyor belt 32 (when goods are detected by the goods recognition camera 52 on the claw structure 5, signals are sent to the controller), the loading and unloading vehicle execution claw frame 51 and the sucker group 53 are installed on the autonomous mobile base 1 through the first slide rail 12 by the pallet support 3, and 2 goods recognition cameras 52 are installed at the top of the pallet support 3 and used for sensing the appearance, the size, the arrangement and the like of the goods; the execution claw hand frame 51 and the sucker group 53 can realize displacement with 4 degrees of freedom such as vertical direction, horizontal direction and rotation through the lifting slide rail 41 and the translation slide rail 43 and the rotating motor 55 at the top of the stacking support 3 as a whole, the claw hand structure 5 additionally has a certain degree of parallel displacement freedom, after one row or one row of goods is sucked, the clamp cylinders 544 at two sides are tightly pressed, the claw hand frame 51 moves in parallel to carry out auxiliary lifting, the gripping capability of heavy goods is increased, the safety of the goods loading and unloading process is ensured, and finally, according to the sensing information of the goods identification camera 52, after the goods are gripped, the goods can be lifted, translated, rotated (for example, gripped in rows), the whole translation of the stacking support 3 and other control processes, the goods are integrally placed on the conveying structure 2, and the goods are conveyed into a carriage through the conveying structure 2;

specifically, the controller is manually started by the operator, the controller, the cargo identification camera 52 starts to work, the cargo identification camera 52 is used for sensing the shape, size, arrangement and the like of the cargo (because the cargo identification camera 52 is connected to the controller through a signal, when the controller is used, the cargo identification camera 52 shoots the cargo and transmits the data to the controller, a recognition algorithm is arranged in the controller, the shape, size and arrangement of the cargo can be operated through the recognition algorithm, the recognition algorithm is the prior art), the controller controls the lifting structure outside the claw structure to drive the claw structure to descend, when the sucker group 53 descends to the position right above the cargo (the descending path length is preset by the controller according to the shape and size of the cargo sensed by the cargo identification camera 52), the controller controls the vacuum generator, the clamp cylinder 544 to start to work, the sucker group 53 is driven by the vacuum generator to adsorb the cargo (the adsorption time can be preset by the controller according to the specific cargo) Meanwhile, the telescopic rods of the clamp cylinders 544 on both sides of the goods are extended, the telescopic rod of each clamp cylinder 544 is extended to drive one clamp plate 453 to approach the goods, so that the clamp cylinders 544 tightly fix the goods from both sides, after the above operation is completed (the specific time for completing the operation can be preset by a controller through a delay instruction), the controller controls the lifting structure 4 outside the claw structure 5 to drive the claw structure 5 to ascend, when the goods ascends to the ground for a certain distance (the distance can be determined according to actual conditions and is a set distance, but the distance is certainly greater than the thickness of the claw body 511, so that the front end of the claw body 511 can penetrate into the space between the goods and the ground), the controller controls the first reducing motor to start working, the first reducing motor rotates to drive the screw nut on the screw rod to move back and forth, the screw nut moves back and forth to drive the claw body 511 to move back and forth on the claw support plate 56, thereby moving the claw body 511 to the bottom of the goods to hold the goods.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.