CN100429684C - Logistics operation training system and making method - Google Patents

Abstract

The present invention relates to a logistics operation training system and making method, which comprises a mechanical hand assembly transportation operation unit, an automatic cargo recognition buffering operation unit, a stacking operation unit, an automatic warehouse operation unit, a vision detection operation unit and a numbering operation unit, wherein each operation unit is provided with modular interfaces of a single-chip microcomputer circuit and a logical circuit, and the modular interfaces are used as electrical connection openings. Different units are selected to be combined to form a stepped configuration. The present invention has the advantages of reasonable design, precise structure, easy manufacture and convenient use, and is suitable for various teaching training modes. Each system unit avoids repeat technology as much as possible and adds new technology and new contents which comprise the teaching contents of electromechanical gas integration. Because totally adopting practical industrial components, the present invention can shorten the gap between teaching process and practical production process and enhance students' capability for the integrated application of multiple disciplines professional knowledge.

Description

Logistics operation training system and preparation method

Technical field

The present invention relates to a kind of automatic industrial production logistics process teaching apparatus, more particularly to a kind of logistics operation training system and preparation method.

Background technology

The tasks such as transport, storage, handling material are undertaken in production logistics, and traditional production logistics, facilities and administration is very backward, lacks integrated and systematization.And modern productivity system is a complicated comprehensive sexual system, it combines the technologies such as machinery, electronics, automation, computer, management, network analysis.At present, built only 30 tiered warehouse facilities of the tiered warehouse facility of nearly 300 of China realize full-automation, substantially automatic material flow is used, automated system is constituted by automatic storage system, automatic guided vehicle, electronic scanner and bar code etc., and completes the stacking of material with robot and packs, monitor logistics progress and some processes of execution.Automatic transportation machine system provides the carrying of material and instrument, accelerates transporting velocity, substantially increases logistic efficiency.But, the production logistics system of China, which also exists, lack in many weak points, such as detecting system image graphics identification and the identification of word and color.Container packing system should exactly be set up by having again, and logistics system is combined together with manufacturing system, be allowed to form complete production system.With the development need of the existing logistics system of China, demand and level to the modern logistics talent will require more and more higher, this require education must in advance, stand in the breach to be solved be exactly production logistics system training means.The training apparatus unitary function of such as Fei Situo companies of Germany of developed country, price costly, is unsuitable for China's national situation.If directly using on-site training, drawback is more, is that modern productivity system is up to 1000~3000m per complete equipment floor space first², train scene and be unsuitable for very much training greatly, training greatly improves training cost using the physical device of tens million of members.In training process, it is impossible to ensure the safety of the person and equipment.Because will once be slipped up in the parameter setting error or debugging of equipment can all cause damage equipment, actual production is influenceed, or even cause the casualty accident of start-up.

The content of the invention

It is a primary object of the present invention to solve problem present in automated production logistics teaching, there is provided the gap of a kind of suitable a variety of mode of teaching training, shortening training process and actual production process, the logistics operation training system of the comprehensive application ability for the multidisciplinary professional knowledge for improving student and preparation method.

Logistics system and the relation manufactured, as blood circulation system is as the relation of internal organs in human body, logistics system is the tie for the organic whole for manufacturing each link composition, is the basis that production process maintains to continue again.

The technical solution adopted for the present invention to solve the technical problems is：

Transport operation unit is assembled including manipulator, goods automatic identification cushion task unit, stacking operation unit, Automatic Warehouse operation unit, vision-based detection operation unit, stamp operation unit, freight traffic direction controls operation unit and loading unit, the operation unit fabrication process training system of at least more than one, the bottom of each operation unit sets operation unit pedestal, operation unit control panel is fixedly installed on operation unit pedestal, the top of operation unit pedestal sets different operation units, it is fixedly connected between operation unit and operation unit with fixing bolt, executing agency in operation unit includes servomotor, alternating current generator, direct current generator, stepper motor and cylinder.

The present invention is the mock-up of logistics operation training, is the equipment of production logistics operation training, is the teaching means of logistics operation training.Each operation unit is made up of different functional modules, and each operation unit can work independently, and reconfigurable, may make up a variety of different teaching, training devices, step configuration can be carried out as needed.

8 operation units can isolated operation, also may make up different combinations, the combination of different work unit constitutes different training systems, can complete different training contents.User can voluntarily select different operation units to combine according to actual needs, carry out step configuration.

Each operation unit each sets the modular interface of single chip circuit and logic circuit as the electrical wiring mouthful of each device, including PLC export it is main make signal and sensor needed for line be directly connected with switching interface, the signal of PLC, sensor and actuator orientation is connected with terminal interface according to the flow direction of signal message stream.

The design of various interface circuits with intelligent diagnostics function; both simplify wiring, save space; the debugging to system is brought conveniently with maintenance again; add the insulation blocking function of hardware; test function and signal connection and translation function, are easy to the setting of various failures, complete the various training fixed a breakdown; the unit of each module composition has hardware protection function, such as position limitation protection function simultaneously.Once there are the abnormalities such as logic error, overload, short circuit in operation training system running, intelligent protection module can pin output information data, make the executing agency of operation training system out of service.

The standard interface of each operation unit can dock composition control system with industrial computer I/O capture cards or PLC or single-chip microcomputer or embedded computer, select different operation units to be combined into operation training system, carry out step configuration.

PLC controls are respectively adopted in each system unit, and whole operation training system control and computer management and monitoring are realized using PC-LINK networks and PROFIBUS fieldbus.The overall processes such as vanning, carrying, detection, classification, identification, transmission, storage, management, the shipping of goods can be completed.And it can be combined with INTEGRATED LOGISTICS systems soft ware, Whole Course Management, business operation, role playing, optimization etc. are carried out to the storage of the overall processes such as third-party logistics, materials circulation, retail stores management, dispatching, transport, goods loan etc..

Manipulator assembles transport operation unit, realizes automatic storage, the automatic assembling of parts, and finished product by conveyer belt, sends into specified location.Goods is sent into vision-based detection operation unit by manipulator, the identification of figure, image, finished product and waste product is carried out to goods by vision detection system, detected goods is sent into by conveyer belt by stamp operation unit, the finished product and waste product in various goods are identified.Goods automatic identification cushion task unit is sent to by conveyer belt, the finished product and waste product in goods are respectively fed in different buffer pools, whenever one buffer pool of any of which, outbound at once after 10 is filled.Stacking operation unit is sent into by conveyer belt, goods is piled up on pallet in the intended manner, Automatic Warehouse operation unit is sent into by chain drive, Zai You lanes formula crane is put into different goods in different stereo garages.When goods needs outbound, taken out by lane formula crane from stereo garage, goods, which is sent into freight traffic direction, by roller chain drives controls operation unit.The elevating mechanism of freight traffic direction control operation unit in the intended manner commutates goods, goods is sent into container operation unit by roller chain drives again, goods is admitted in container by goods propulsive mechanism, after container fills goods, transport, place new container, circulating repetition operation process.

Manipulator assembling transport operation unit sets displacement of goods rotating disk mechanism, goods material ejecting mechanism, goods material parallel moving mechanism, container ejecting mechanism, four-axle linked manipulator mechanism and connecting gear.

Connecting gear is fixedly installed along the side of manipulator assembling transport operation unit is opposing parallel, the side of the one end of connecting gear sets displacement of goods rotating disk mechanism, the bottom of displacement of goods rotating disk mechanism sets substrate holder, the bottom of substrate holder is fixedly installed on manipulator assembling transport operation unit, the top of substrate holder sets rotating disk pedestal, the both sides of rotating disk pedestal are oppositely arranged alignment sensor, the top of rotating disk pedestal sets rotating disk, the top of rotating disk is relative to be placed equidistant more than at least four goods hole positions, it is each in goods hole position that goods is set to level detection sensor, the opposing parallel setting positioning cylinder in side of rotating disk pedestal, the end of positioning cylinder is corresponding with the goods hole position of rotating disk.

Using top rotary table and lower rotary table double-layer structure, spherical guide is set, top rotary table is connected with power transmission shaft by flat key on lower rotary table, drives top rotary table to rotate by gear drive by motor.By the motion that goods makees circular path along spherical guide that rotarily drives of top rotary table, goods is set to enter different assembly stations with goods hole position.Change the number of top rotary table goods hole position, reach the number of required station.The goods hole position of top rotary table is through hole, substantially increases process industrial art performance.Lower rotary table uses spherical guide structure, reduces the frictional force between goods and static load body.

The side of displacement of goods rotating disk mechanism sets goods material ejecting mechanism, goods material parallel moving mechanism and container ejecting mechanism, the bottom of goods material ejecting mechanism sets substrate holder, and the bottom of substrate holder is fixedly installed on manipulator assembling transport operation unit with fixed mechanism.

Warehousing material tower is fixedly installed in the upper end of substrate holder, the bottom of warehousing material tower is fixedly installed goods material and releases positioning table, goods material, which is released, sets detection sensor in positioning table, one sidepiece of goods material release positioning table is opposing parallel to be fixedly installed release cylinder, and the one end and goods material release positioning table for releasing cylinder are corresponding；The substrate holder of goods material parallel moving mechanism bottom is fixedly installed on manipulator by fixed mechanism and assembled on transport operation unit, the top of substrate holder is opposing parallel to set translation straight line cylinder, goods material lifting cylinder is fixedly installed in the one end Relative vertical of translation straight line cylinder, and the one end of goods material lifting cylinder sets sucker.

Motive power is provided using cylinder, goods in Multi-layer material-storing cabinet is released, and make in the goods hole position that goods slips into rotating disk mechanism along the chute with angle of inclination, to make goods be exactly into predetermined rotating disk goods hole position, it must assure that maximal clearance of the goods along runner movement should be less than 0.8 times of rotating disk goods hole position and goods minimum clearance, and the angle of inclination of chute must assure that goods dynamically balanced stability during downslide, goods can just smoothly slipped into the goods hole position of rotating disk mechanism assembly station.

The substrate holder of container ejecting mechanism bottom is fixedly installed on manipulator by fixed mechanism and assembled on transport operation unit, the top of substrate holder sets warehousing tower, the opposing parallel container that is fixedly installed in the side of warehousing tower releases cylinder, chute is fixedly installed in the opposite side of warehousing tower, and warehousing tower is corresponding with chute.

The substrate holder of four-axle linked manipulator mechanism bottom is fixedly installed on manipulator assembling transport operation unit, rotating disk mechanism is fixedly installed in the top of substrate holder, Y-axis mobile device is fixedly installed in rotating disk mechanism top Relative vertical, the one end of Y-axis mobile device is connected to a fixed with rotating disk mechanism, stepper motor is fixedly installed in the other end of Y-axis mobile device, the middle part of Y-axis mobile device is opposing parallel to set X-axis mobile device, X-axis mobile device is vertically moved along Y-axis mobile device, stepper motor is fixedly installed in the one end of X-axis mobile device, gas control manipulator is fixedly installed in the other end Relative vertical of X-axis mobile device, gas control manipulator is moved horizontally with X-axis mobile device, four-axle linked manipulator mechanism is corresponding with the operation unit output port that manipulator assembles transport operation unit；Substrate holder is fixedly installed in the bottom of connecting gear, the bottom of substrate holder is fixedly installed on manipulator assembling transport operation unit, the upper end of substrate holder is opposing parallel to be fixedly installed parallel band, the one end of parallel band sets tension-regulator, the other end of parallel band sets power transmission shaft, alternating current generator is fixedly installed in the bottom of connecting gear, and the output end of alternating current generator is connected with power transmission shaft with Timing Belt, the rotation of Synchronous Transmission parallel band.

Container is put into the warehousing tower of container ejecting mechanism, drive cylinder is acted, container is released, it is set to slip into 3 hole positions of rotating disk clock coordinates system, 90 ° of rotating disk rotate counterclockwise, container is detected by rotating disk alignment sensor, and it is accurately positioned by positioning cylinder, 3 hole positions of rotating disk are vacated, the cylinder of warehousing material tower releases container again, rotating disk is rotated by 90 ° again, it is accurately positioned by cylinder, when now first container is moved to 9 positions of rotating disk clock coordinates system, container detection sensor under rotating disk detects container, then enter second step action process.

It is put into the Multi-layer material-storing cabinet of goods material ejecting mechanism after the sensor detection arrival material in goods material, Multi-layer material-storing cabinet, cylinder is acted, and goods material is pushed into goods material positioning table, and cylinder resets.After sensor detection arrival material in goods material positioning table, goods material lifting cylinder is acted downwards, goods material is held by vacuum cup, lifting cylinder lifts goods material, and moved to goods material above the hole position of container first in 9 points of position square holes of rotating disk clock by translation straight line cylinder, cylinder carries out alignment hole position and is put into the action of hole position, and goods material is put into the hole position of container first by sucker release.Lifting cylinder resets, while translation straight line cylinder is returned, waits next goods material to be placed on goods material and releases on positioning table, rotating disk is simultaneously rotated about 29 ° of an angle, the second hole position on container is occupied the position of the first hole position, is transferred to the 3rd step action process.

When second goods material, which appears in goods material, to be released on positioning table, goods material lifting cylinder, sucker and translation straight line cylinder etc. start to repeat the action of second step, and second goods material is put into second hole position of container, are transferred to the action of the 4th step.

It is placed into after goods material in two hole positions of container, rotating disk is rotated by 90 ° -29 ° again, at 6 hole positions of rotating disk clock coordinates system, goods is fallen on conveyer belt, and goods is sent into robot work region by conveyer belt, the action of the 5th step manipulator is transferred to.

Manipulator moves to the top of goods on conveyer belt, manipulator opens, move down, manipulator clamps goods, and manipulator rises, four-axle linked manipulator chassis rotation, manipulator moves along a straight line in the presence of leading screw along X, Y-axis simultaneously, goods is placed on predetermined position by manipulator, and goods enters the operation unit input port of next operation unit, as shown in Figure 8.

Goods automatic identification cushion task unit sets the connecting gear stocked up, several sorting buffer pools and the connecting gear of shipment, substrate holder is fixedly installed in the bottom for the connecting gear stocked up, a sidepiece relative level of the bottom of substrate holder along goods automatic identification cushion task unit is fixedly installed on goods automatic identification cushion task unit, substrate holder is fixedly installed in the bottom for the connecting gear stocked up, the bottom of substrate holder is fixedly installed on goods automatic identification cushion task unit, the upper end of substrate holder is opposing parallel to be fixedly installed parallel band, the one end of parallel band sets tension-regulator, the other end of parallel band sets power transmission shaft, alternating current generator is fixedly installed in the bottom for the connecting gear stocked up, the output end power transmission shaft of alternating current generator is connected with Timing Belt, Synchronous Transmission parallel band.Photoelectric sensor, capacitance sensor, color sensor and idle capacity sensor is fixedly installed along parallel band in the top of the parallel band for the connecting gear stocked up, and cylinder fixed support is fixedly installed in the side of capacitance sensor, color sensor and idle capacity sensor.The inner side for the opposing parallel side through sorting buffer pool of connecting gear stocked up, the one end of the parallel band for the connecting gear stocked up is corresponding with operation unit input port.

The main body for sorting buffer pool is that substrate holder is rectangular, double endless roller chain is set along substrate holder in rectangle substrate holder, in rectangle substrate holder several bucket type pallets are placed equidistant along substrate holder, the both ends of bucket type pallet each with double endless roller chain is opposing parallel is fixedly connected, double endless roller chain drives bucket type pallet to be moved along rectangle substrate holder loading, the side of bucket type pallet is fixedly installed no container sensor, alternating current generator is fixedly installed in rectangle substrate holder top side, double endless roller chain is driven to be run along rectangle substrate holder, positioning chain sensor is fixedly installed in the opposite side of rectangle substrate holder bottom.

Bucket type pallet is fixed on two parallel main driving roller chains, and is connected by attitude retainer with roller follower chain.Main driving roller chain is driven by driving shaft and driven shaft respectively with roller follower chain, and driving shaft and driven shaft are driven by motor by chain syn-chro-step, bucket type pallet is remained horizontality in the rotary course of complete cycle.Therefore goods remains same attitude in the running of complete cycle.Improve the Stability and veracity of goods operation.Bucket type pallet is set to be directly anchored on chain using main driving roller chain and roller follower chain, the elastic of roller chain can be adjusted by the sliding block being embedded in section groove.

The connecting gear of shipment is fixedly installed along the opposite side relative level of goods automatic identification cushion task unit, substrate holder is fixedly installed in the bottom of the connecting gear of shipment, the bottom of substrate holder is fixedly installed on goods automatic identification cushion task unit, the upper end of substrate holder is opposing parallel to be fixedly installed parallel band, the one end of parallel band sets tension-regulator, the other end of parallel band sets power transmission shaft, alternating current generator is fixedly installed in the bottom of the connecting gear of shipment, the output end power transmission shaft of alternating current generator is connected with Timing Belt, Synchronous Transmission parallel band.The one end of the parallel band of the connecting gear of shipment is corresponding with operation unit input port, and the other end of parallel band is corresponding with the operation unit output port of goods automatic identification cushion task unit.

On the parallel band for the connecting gear that the goods material exported by the operation unit output port of a upper operation unit is stocked up by the operation unit input port feeding of goods automatic identification cushion task unit, goods material is transported to bucket type sorting work area by parallel band, through color sensor, capacitance sensor, the devices such as idle capacity sensor goods go-on-go and send into corresponding bucket type sorting buffer pool by cylinder, when the goods deposited in buffer pool reaches 10, goods is then released into buffer pool, bucket type goods material support is driven by the connecting gear of goods feeding shipment by roller chain, goods is sent into by parallel band the operation unit input port of next operation unit, as shown in figure 12.

Stacking operation unit sets supply tray mechanism, the connecting gear of pallet, freight lifting mechanism, the connecting gear of goods propulsive mechanism and goods, the main body of supply tray mechanism is substrate holder, substrate holder is fixedly installed on stacking operation unit, placement tray cylinder is fixedly installed in the both sides of substrate holder, parallel band roller supporting mechanism is set along along substrate holder, parallel band roller supporting mechanism is connected with double transmission parallel band, the both ends of well formula pallet storage mechanism are connected with double transmission parallel band, direct current generator is fixedly installed in the bottom side of substrate holder, the double transmission parallel band of DC motor Driver drives well formula pallet storage mechanism by the connecting gear of pallet feeding pallet.Substrate holder is fixedly installed in the bottom of the connecting gear of pallet, the bottom of substrate holder is fixedly installed on stacking operation unit, the upper end of substrate holder is opposing parallel to be fixedly installed drive balls chain, alternating current generator is fixedly installed in the bottom of the connecting gear of pallet, the output end of alternating current generator is connected with driving shaft with Timing Belt, the chain operation of driving drive balls.

Several pallets are deposited in well formula pallet storage rack, well formula pallet storage rack is mounted with rolling bearing, bearing is embedded in the groove of section bar column, well formula pallet storage rack is fixed together with timing belt, motor drives the rotation of Timing Belt, well formula pallet storage rack is slided up and down along section groove.Equipped with taking part in two linkage air cylinders, realized by the linkage of two cylinders and pallet is automatically fed.

The main body of freight lifting mechanism is substrate holder, the bottom of substrate holder is connected to a fixed with stacking operation unit Relative vertical, opposing parallel setting freight lifting frame on substrate holder, freight conveyer structure is set on freight lifting frame, the upper and lower end of substrate holder respectively sets lifting position-limit sensor and descending spacing sensor, control the stroke of freight lifting frame, the side of substrate holder is along the opposing parallel setting roller chain of substrate holder, direct current generator is fixedly installed in the side of the bottom of substrate holder, the output end of direct current generator is connected with roller chain, DC motor Driver roller chain drives freight lifting frame that store items are lifted and declined between lifting position-limit sensor and descending spacing sensor.

The main body of goods propulsive mechanism is substrate holder, opposing parallel setting loading platform in the substrate holder of goods propulsive mechanism, several limit sensors are fixedly installed along substrate holder is opposing parallel in the side on the top of substrate holder, direct current generator is fixedly installed in the side of the bottom of substrate holder, double transmission tooth-like belt is set along substrate holder is opposing parallel in the substrate holder of goods propulsive mechanism, opposing parallel setting feeding baffle plate in the substrate holder of goods propulsive mechanism, the both ends of feeding baffle plate are connected with double transmission tooth-like belt.Goods material on loading platform is sent into freight lifting mechanism by the double transmission tooth-like belt of DC motor Driver and feeding baffle plate.Substrate holder is fixedly installed in the bottom of the connecting gear of goods, the bottom of substrate holder is fixedly installed on stacking operation unit, the upper end of substrate holder is opposing parallel to be fixedly installed parallel band, the one end of parallel band sets tension-regulator, the other end of parallel band sets power transmission shaft, alternating current generator is fixedly installed in the bottom of the connecting gear of goods, and the output end power transmission shaft of alternating current generator is connected with Timing Belt, Synchronous Transmission parallel band.Goods locating part is fixedly installed along parallel band in the top of the parallel band of connecting gear, and the other end of parallel band is corresponding with operation unit output port.The one end of the connecting gear of goods is corresponding with the operation unit input port of stacking operation unit, and the other end and the goods propulsive mechanism of the connecting gear of goods are connected.The one end of the connecting gear of pallet is connected with supply tray mechanism, and the other end and the freight lifting mechanism of the connecting gear of pallet are connected, and the top ends of the other end of connecting gear are corresponding with the operation unit output port of stacking operation unit.

On the parallel band for the connecting gear that the goods material exported by the operation unit output port of a upper operation unit sends into goods by the operation unit input port of stacking operation unit, goods is set to enter goods propulsive mechanism, after defined goods number is reached, the goods of goods propulsive mechanism promotes baffle plate to act the loading platform for goods being sent into freight lifting mechanism, goods is placed in tray by goods propulsive mechanism exactly, in tray goods pile after two layers (if or dried layer, determine as needed), tray delivery mechanism is sent into goods on the roller chain of loading platform, supply tray mechanism is acted, on the roller chain that pallet is sent into tray delivery mechanism, pallet is driven to be sent to the pallet works area of freight lifting mechanism, stacking operation unit circulating repetition stacking operation process, as shown in figure 18.

Automatic Warehouse operation unit sets loading platform, several warehouses, lane formula crane and the loading platform of shipment of storage, the bottom of loading platform main body sets chassis pedestal, the bottom of chassis pedestal is fixedly installed on Automatic Warehouse operation unit, runner is fixedly installed in the top of chassis pedestal, the top of runner sets rotating disk, direct current generator is fixedly installed in the side of rotating disk, loading platform main body is fixedly installed in the top of rotating disk, the goods material on sensor, detection loading platform is fixedly installed in the side of loading platform body top.The opposing parallel setting chain wheel driving mechanism in top of loading platform main body, duplex chain is set on chain wheel driving mechanism, direct current generator is fixedly installed in loading platform main body, the output end and chain wheel driving mechanism of direct current generator are connected by roller chain, direct current generator drives duplex chain that the goods material detected is sent into lane formula crane by roller chain and chain wheel driving mechanism.

Loading platform is fixed with rotating disk, and gear is fixed with chassis, by motor by gear drive, makes turntable rotation, so as to realize the rotation of loading platform.Loading platform is made up of chain conveyor, when loading platform rotates to the position of picking, motor belt motor dynamic load load bed upper chain type conveyer belt rotates, goods is set to be admitted to loading platform, when loading platform rotates to the position of outbound, motor rotation makes the goods that chain delivery takes send into next operation unit by operation unit output port.

The main body of warehouse is substrate holder, is separated into several rectangular frames, the frame wall of substrate holder opposing parallel setting goods holding station two-by-two, the top of the goods holding station of substrate holder side sets detection sensor.

The opposing parallel setting lane formula crane in middle part of Automatic Warehouse operation unit, along the opposing parallel setting walking guide rail of Automatic Warehouse operation unit in the formula crane lower base of lane, the one end of lane formula crane pedestal sets photoelectric encoder and storage picking thing mechanism, the other end of lane formula crane pedestal sets direct current generator, DC motor Driver storage picking thing mechanism is moved horizontally along walking guide rail, the top for storing up picking thing mechanism sets leading screw Driving Stepping Motor, leading screw and storage picking thing device, the bottom of leading screw Driving Stepping Motor sets leading screw, storage picking thing device is set on leading screw, the bottom of leading screw is connected with storage picking thing mechanism, leading screw Driving Stepping Motor driving leading screw drives storage picking thing device to move up and down.

Lane formula crane ensure that the accuracy of goods warehousing and outbound position using ball-screw as hoisting mechanism, and with the precise match of stepper motor, while ensure that stability of the goods in lifting process.Leading screw is fixed in the storage picking thing mechanism (i.e. sliding block) with linear bearing, storage picking thing mechanism horizontally slips in walking guide rail, Timing Belt is connected with storage picking thing mechanism, and by motor driving storage picking thing, mechanism realizes moving left and right for hoisting mechanism horizontal direction.

The goods material exported by the operation unit output port of a upper operation unit enters the loading platform of the storage of Automatic Warehouse operation unit by the operation unit input port of Automatic Warehouse operation unit, detection sensor detects goods material, driving lane formula crane is acted, predetermined warehouse warehouse is sent into exactly by storing up picking thing mechanism by goods, the storage picking thing mechanism of Zai You lanes formula crane takes out goods from tiered warehouse facility the loading platform for being put into outbound, the goods being extracted, into next operation unit, as shown in figure 22.

Vision-based detection operation unit sets vision detection system, the conveyer mechanism of goods, figure, image display and image processor, the conveyer mechanism of goods is arranged on the side of vision-based detection operation unit along vision-based detection operation unit relative level, and the one end of the connecting gear of goods sets detection sensor.The opposite side of vision-based detection operation unit sets figure, image display and image processor, the middle part of the connecting gear of goods sets vision detection system, substrate holder is fixedly installed in the bottom of the connecting gear of goods, the bottom of substrate holder is fixedly installed on vision-based detection operation unit, the upper end of substrate holder is opposing parallel to be fixedly installed parallel band, the one end of parallel band sets tension-regulator, the other end of parallel band sets power transmission shaft, alternating current generator is fixedly installed in the bottom of the connecting gear of goods, the output end power transmission shaft of alternating current generator is connected with Timing Belt, Synchronous Transmission parallel band.Goods conveyer mechanism is opposing parallel to run through vision detection system, the main body of vision detection system is vision-based detection shield bracket, vision-based detection shield bracket is across on the connecting gear of goods, the side of vision-based detection shield bracket sets vision light source, vision-based detection shield bracket top to set and set vision camera on vision column, vision column.

The goods material exported by the operation unit output port of a upper operation unit enters the connecting gear of goods by the operation unit input port of vision-based detection operation unit, photoelectric testing sensor detects goods, the connecting gear of goods is started working, and goods is sent into visual detection unit.In visual detection unit, when detection sensor has detected goods into vision detection system unit, annular LED light source starts, CCD camera is taken pictures, pass through color image processor unit, data are sent in PLC, while it is observed that the image that CCD vision cameras are photographed on figure, image display.PLC is classified goods according to the data of image procossing, while storing goods information, related data is sent in next operation unit, as shown in figure 25.

Stamp operation unit sets the connecting gear and code printing mechanism of goods, the connecting gear of goods is arranged on stamp operation unit along stamp operation unit is opposing parallel, the side of the connecting gear of goods sets goods to level detection sensor and stamp sensors in place, and the side at the middle part of the connecting gear of goods sets code printing mechanism.Substrate holder is fixedly installed in the bottom of the connecting gear of goods, the bottom of substrate holder is fixedly installed on stamp operation unit, the upper end of substrate holder is opposing parallel to be fixedly installed parallel band, the one end of parallel band sets tension-regulator, the other end of parallel band sets power transmission shaft, alternating current generator is fixedly installed in the bottom of the connecting gear of goods, and the output end power transmission shaft of alternating current generator is connected with Timing Belt, Synchronous Transmission parallel band.

The goods material exported by the operation unit output port of a upper operation unit enters the connecting gear of stamp operation unit by the operation unit input port of stamp operation unit, when detecting goods arrival to level detection sensor, coder is started working, it is out of service that goods material is transmitted conveyer belt in place by conveyer belt, PLC prints to the data that system is stored on goods by coder, and coder is completed after stamp operation, and conveyer belt brings into operation, goods material is sent into next operation unit, as shown in figure 28.

Freight traffic direction control operation unit sets monitoring display device, longitudinal direction transmission chain mechanism, cross drive chain mechanism and elevating mechanism, the middle part of freight traffic direction control operation unit sets monitoring display device, freight traffic direction controls operation unit side to be controlled along freight traffic direction, and operation unit is opposing parallel to set cross drive chain mechanism, the one end of cross drive chain mechanism is corresponding with operation unit input port, the other end of cross drive chain mechanism is connected with elevating mechanism, the section bar of cross drive chain mechanism transmits wire body and controls operation unit relative level to be arranged on the side that freight traffic direction controls operation unit along freight traffic direction, along section bar transmission line body phase to being horizontally disposed with chain supporting plate between section bar transmission wire body, the one end of chain supporting plate sets driven shaft, the other end of chain supporting plate sets driving shaft and alternating current generator, alternating current generator driving driving shaft drives the roller chain being supported in chain supporting plate.Freight traffic direction controls operation unit side to control operation unit Relative vertical to set longitudinal direction transmission chain mechanism along freight traffic direction, the one end of longitudinal direction transmission chain mechanism is connected with elevating mechanism, the other end of cross drive chain mechanism is corresponding with operation unit output port, the section bar of longitudinal direction transmission chain mechanism transmits wire body and controls operation unit relative level to be arranged on the side that freight traffic direction controls operation unit along freight traffic direction, along section bar transmission line body phase to being horizontally disposed with chain supporting plate between section bar transmission wire body, the one end of chain supporting plate sets driven shaft, the other end of chain supporting plate sets driving shaft and alternating current generator, alternating current generator driving driving shaft drives the roller chain being supported in chain supporting plate.

When goods enters transverse chain transmission line, lifting loading platform is raised, the roll-type transmission mechanism on loading platform realizes synchronous rotary simultaneously, goods feeding lifting loading platform, lifting loading platform declines simultaneously, the longitudinal chain delivery line of goods feeding that will be lifted on loading platform, next operation unit is transported to by longitudinal chain delivery bundle of lines goods.

The bottom of elevating mechanism sets lifting base plate, cylinder is fixedly installed in the top of lifting base plate, the guide pin bushing of cylinder and the top of guide pillar set plate in lifting, several six box type columns are fixedly installed in the top of plate in lifting, lifting upper plate is fixedly installed in the top of six box type columns, direct current generator is set between six box type columns, lifts and several roll shafts are set on the opposing parallel setting rollers in top of upper plate, rollers.DC motor Driver roll shaft after operation unit input port enters cross drive chain mechanism, is realized that 90 ° change transmits chain mechanism back into longitudinal direction by roll shaft, exported by operation unit output port in goods.

Loading platform is made up of roll-type transmission mechanism, and transmission rod is connected by O-shaped band, and the O-shaped band of motor driving rotates roller synchronization, and goods is sent into loading platform.Live-roller is connected with upper plate, and upper plate is connected by column with middle plate, and guide pin bushing is fixed on middle plate, and the reciprocating motion of cylinder drives loading platform along guide pillar integral elevating, goods is realized steady lifting using choke valve to overcome in the impact of cylinder, gas circuit.

The goods material exported by the operation unit output port of a upper operation unit enters the cross drive chain mechanism that freight traffic direction controls operation unit by the operation unit input port of stamp operation unit, when goods reaches turning, detect the signal in place of goods, elevating mechanism starts to act, freight lifting, cylinder is acted simultaneously, and goods is sent into the conveyer belt porch of longitudinal direction transmission chain mechanism.When the conveyer belt of longitudinal direction transmission chain mechanism detects the signal in place of goods, elevating mechanism declines, while longitudinal conveyer belt starts to act, completes 90 ° of steerings of goods.As shown in figure 31.

Loading unit sets the connecting gear of vanning, boxing mechanism and several standby containers, the bottom substrate holder of the connecting gear of vanning, the bottom of substrate holder is connected to a fixed with loading unit, the opposing parallel setting crossbeam in upper end of substrate holder, the both ends of crossbeam respectively set power transmission shaft and tension-regulator, roller chain is set between power transmission shaft and tension-regulator, the one end of the connecting gear of vanning is corresponding with the operation unit input port of loading unit, the bottom of crossbeam sets direct current generator, goods roof support, lift cylinder, feed rod guide rail and sliding block, goods roof support one end is connected by sliding block with the output end of direct current generator, lift cylinder is fixedly installed in the bottom of goods roof support, driving direct current generator drives goods roof support to be moved along feed rod guide rail, lift cylinder is driven to drive goods roof support raising and lowering.

Sliding block is connected built with linear bearing, sliding block with Timing Belt, and Timing Belt is rotarily driven by motor, sliding block is horizontally slipped along feed rod guide rail.Cylinder lifting pushing hands is fixed on sliding block, when pneumatic pushing hands is boosted, goods is pushed into container under the drive of motor.

The other end of the connecting gear of vanning sets boxing mechanism, fixed base plate is fixedly installed in the bottom relative level of boxing mechanism, fixed base plate is connected to a fixed with loading unit, hydraulic cylinder and guide pillar is fixedly installed in Relative vertical on fixed base plate, guide pillar is arranged on the both sides of hydraulic cylinder, lifting tray is fixedly installed in the top relative level of hydraulic cylinder and guide pillar, and the full sensor of goods is fixedly installed in the side of lifting tray, and container is placed on the top of lifting tray.The opposite side of loading unit places several standby containers.

With four positioning holes on lifting tray, setting circle taper pin is installed on container, container is put on lifting tray by setting circle taper pin, the replacing of container can be conveniently realized.Lifting tray is connected with guide pin bushing, by the lifting of cylinder make lifting tray along guide pillar realize above and below lifting, complete container lifting.

The goods material exported by the operation unit output port of a upper operation unit enters connecting gear by the operation unit input port of loading unit, after goods is detected in place, when delivering to container porch, lift cylinder automatically begins to lifting, and goods is sent in container.

When goods fills (delivered payload capability of container is 3 pallets) in container, lift cylinder mechanism automatically can sequentially put goods from inside to outside.When the number of goods has exceeded the maximum delivered payload capability of container, then container is closed, the container more renewed, as shown in figure 34.

Several operation units realize the communication between each operation unit PLC by PC-LINK communication networks, constitute PLC control system, (-) terminal of the transmission line of terminal and E terminal short circuits, its network body structure is three-decker, wherein physical layer and data link layer is towards communication, application provides a user service, shared RAM communication in serial communication, to all marking one piece of memory block in each station communication unit, memory block occupies identical address number space at each station, shared memory is LINK areas, the token mode that LINK areas shared communication mode is only applicable between PLC and PLC exchanges information, it is N:N communicates.

Executing agency in operation unit is connected with intelligent protection module, and the sensor in operation unit is connected with standard interface B and intelligent protection module.Standard interface is respectively provided with input terminal and lead-out terminal, the connection corresponding with the lead-out terminal of another standard interface of the input terminal of standard interface, standard interface A is fixedly installed on the control panel, standard interface B, which is fixed, simply to be loaded in each operation unit, and pass through the servomotor in intelligent object and operation unit, alternating current generator, direct current generator, stepper motor is connected with cylinder, the on-site signal that various sensors are produced in operation unit is arranged on by circuit with standard interface B and intelligent protection module to be connected, power supply is inputted by standard interface A, by standard interface B power supply is provided to executing agency, standard interface A lead-out terminal is connected with PLC input port, standard interface A input terminal is connected with PLC output port.Standard interface B input terminal is connected with the sensor in operation unit; standard interface B lead-out terminal is connected with the input port of intelligent protection module; the output interface of intelligent protection module is connected with executing agency, and the sensor of operation unit is connected with the input interface of intelligent protection module.It is main to make signal and standard interface A output interface be connected, it is main to make signal be connected with the input interface of switching interface, the output interface of switching interface is connected with standard interface A input interface, PLC output interface is connected with switching interface, PLC output interface is connected with standard interface A input interface, as shown in Figure 35, Figure 36.

It is controller or PIC single chip microcomputer or DSP single-chip microcomputers that the single chip circuit being arranged in operation unit, which includes enhanced LPC900 series monolithics or ARM32, and the logic circuit being arranged in operation unit includes PLD (PLD) or matrix circuit.

Application of Interface between PLC and actuator (such as various types of motors, contactor, cylinder, magnetic valve), a normally opened contact function is generally only needed to, type output interface is performed and is made up of 5mm pedestals and plug type miniature relay or optocoupler with screw or spring connected mode.During interface between PLC actuators (such as position control system robot, high-speed pulse etc.) is answered, it is sometimes desirable to which, manually with automatic switchover, manual high-speed pulse is directly produced and need not exported by PLC by impulsive switched interface.PLC actuators interface internal is provided with single chip circuit, can produce pulse, pulse is sent by PLC in automated system operation, sends pulse by the single-chip microcomputer in interface when manual once system, each interface can produce 2 tunnel pulses, and impulse speed is 1.5K.PLC actuators interface is connected by spring connected mode terminal.All actuators include PLC export it is main make signal, sensor needed for line be connected directly on impulsive switched interface.Impulsive switched interface with integrated interface function, it is not necessary to additional terminal again.Feed-in terminal separated and loop line terminal are saved, line is reduced using spring connected mode.In PLC and sensor (proximity switch, limit switch etc.) and the line interface that is oriented with the signal of actuator, in general the signal of sensor and actuator at the scene, and control will from scene farther out, it is necessary to which many signals are concentrated on one piece from one cable routing.

In the process of running, if there is load overload or interface error, manual, the various buttons on pressing operations panel can be switched to by automatic transmission, the running status of each step of operating system can be checked, i.e., can easily be fixed a breakdown and the adjustment for the cellular system that can fulfil assignment.Being set simultaneously in the hardware of each operation unit has creepage protection function, short-circuit protection function, jerk defencive function, intelligent diagnostics function and various position limitation protection functions, so that it is guaranteed that the safety of the person and equipment in each operation unit running.

Photoelectric sensor, capacitance sensor, color sensor and idle capacity sensor is fixedly installed along parallel band in the top of the parallel band of connecting gear, and cylinder fixed support is fixedly installed in the side of capacitance sensor, color sensor and idle capacity sensor.Goods locating part is fixedly installed along parallel band in the top of the parallel band of connecting gear, and the other end of parallel band is corresponding with operation unit output port.

Rectangle operation unit pedestal is made using section bar, operation unit control panel is fixedly installed in the top of operation unit pedestal, and manipulator assembling transport operation unit, goods automatic identification cushion task unit, stacking operation unit, Automatic Warehouse operation unit, vision-based detection operation unit, stamp operation unit, freight traffic direction control operation unit and loading unit is each fixedly installed in the top of operation unit pedestal respectively.Corresponding apparatus for work is set respectively on different operation units, each operation unit each sets the modular interface of single chip circuit and logic circuit as the electrical wiring mouthful of each device, including PLC export it is main make signal and sensor needed for line be connected directly on switching interface, the signal of PLC, sensor and actuator orientation is connected to terminal interface according to the flow direction of information flow.The different operation unit of selection is combined into operation training system, carries out step configuration, and the standard interface of each operation unit docks composition control system with industrial computer I/O capture cards or PLC or single-chip microcomputer or embedded computer.

Displacement of goods rotating disk mechanism, goods material ejecting mechanism, goods material parallel moving mechanism, container ejecting mechanism, four-axle linked manipulator mechanism and connecting gear is fixedly installed in manipulator assembling transport operation unit.The connecting gear stocked up, several sorting buffer pools and the connecting gear of shipment are fixedly installed in goods automatic identification cushion task unit.The connecting gear of supply tray mechanism, the connecting gear of pallet, freight lifting mechanism, goods propulsive mechanism and goods is fixedly installed in stacking operation unit.Storage loading platform, several warehouses, lane formula crane and the loading platform of shipment are fixedly installed in Automatic Warehouse operation unit.Vision detection system, goods conveyer mechanism, figure, image display and image processor are fixedly installed in vision-based detection operation unit.The connecting gear and thermoprint code printing mechanism of goods are fixedly installed in stamp operation unit.Monitoring display device, longitudinal direction transmission chain mechanism, cross drive chain mechanism and elevating mechanism are fixedly installed in freight traffic direction control operation unit.The connecting gear, boxing mechanism and several standby containers of vanning are fixedly installed in loading unit.

The present invention is logistics operation training system and preparation method, and reasonable in design, of a tightly knit structure, making is simple, easy to use, is adapted to a variety of mode of teaching training.In place of the imperfection of the perfect production logistics training set of production logistics system, it is made up of eight units, recognized in vision detection system unit provided with goods image graphics, the detection function of word and colour recognition, set up freight traffic direction control system unit and container packing system unit, make storage-transport container, container can be directly sent to each operation station in production, the carrying number of times of product can be greatly reduced, reduce the damaged expense of product, industrial refuse is reduced, in place of the imperfection for improving production logistics system.PLC controls are respectively adopted in each unit, and whole system control and computer managing and monitoring are realized using PC-LINK networks and PROFIBUS fieldbus.The processes such as vanning, carrying, detection, classification, identification, transmission, storage, management, the shipping of goods can be completed, being combined with INTEGRATED LOGISTICS systems soft ware can realize to progress process management, business operation, role playing, the optimizations such as the storage of the overall processes such as third-party logistics, materials circulation, retail stores management, dispatching, transport, goods loan etc., make modern production more systematization and flexibility, greatly improve labor productivity.Logistics training device, as the mock-up of training, is the optimal teaching platform of electromechanical gas integral training and the ideal equipment of production logistics training.Logistics training installation area is smaller, it is adaptable to concentrate effective training, is conducive to student to learn the various professional knowledges in logistics system, result of training is preferable compared with using actual logistics system training.Graduation field work, graduation project, Course Exercise, skill training etc. are carried out using logistics training device and train cheap, culture student grasps professional knowledge and serves the effect got twice the result with half the effort.Provided with various defencive functions such as earth leakage protective, short-circuit protection, jerk protection, insulation blocking, intelligent protections in production logistics training set, once breaking down in running, system can diagnose parking automatically, it can be ensured that the person and the safety of equipment.Modular construction can flexibly constitute a variety of mode of teaching training, each system unit is made up of different functional modules, it can work independently, it is again reconfigurable, every kind of configuration all has new technology new content, user can be constituted a variety of different teaching, training devices, fully demonstrated the advance and diversity for covering training technique as teaching, training platform according to progress step configuration the need for oneself.Each system unit, which is tried one's best, avoids repeat techniques, set up new technology new content, the technologies such as mechanical structure involved by electromechanical gas integral, sensor detection, motor (alternating current generator, direct current generator, stepper motor, servomotor) drive control, PROFIBUS fieldbus, computer managing and monitoring, PC-LINK networks are covered, are conducive to the training of electromechanical gas integral multi-subject knowledge.What it is due to use is all actual industrial component, can shorten the gap of training process and actual production process, improves the comprehensive application ability of the multidisciplinary professional knowledge of student.

Brief description of the drawings

Below in conjunction with drawings and Examples to the detailed description of the invention.

Fig. 1 manipulators assemble front view (A) top view (B) of transport operation cellular construction

Front view (A) top view (B) of Fig. 2 displacement of goods rotating disk mechanisms

The structural representation of Fig. 3 goods material ejecting mechanisms

The structural representation of Fig. 4 goods material parallel moving mechanisms

The structural representation of Fig. 5 container ejecting mechanisms

The structural representation of the four-axle linked manipulator mechanisms of Fig. 6

The structural representation of the connecting gear of Fig. 7 goods

The operation process chart of Fig. 8 Manipulator Transportation operation units

Front view (A) top view (B) of Fig. 9 goods automatic identification cushion task cellular constructions

Figure 10 stocks up the structural representation of connecting gear

Figure 11 sorts the structural representation of buffer pool

The operation process chart of Figure 12 goods automatic identification cushion task units

Front view (A) top view (B) of Figure 13 stacking operation unit structures

Front view (A) top view (B) of Figure 14 supply tray mechanism structures

Structural front view (A) top view (B) of the connecting gear of Figure 15 pallets

The structural representation of Figure 16 freight liftings mechanism

Structural front view (A) top view (B) of Figure 17 goods propulsive mechanisms

The operation process chart of Figure 18 stacking operation units

Structural front view (A) top view (B) of Figure 19 Automatic Warehouse operation units

Structural front view (A) top view (B) of Figure 20 loading platforms

Front view (A) top view (B) of Figure 21 lanes formula crane structure

The operation process chart of Figure 22 Automatic Warehouse operation units

Structural front view (A) top view (B) of Figure 23 vision-based detection operation units

The schematic diagram of Figure 24 vision-based detection structures

The operation process chart of Figure 25 vision-based detection operation units

Structural front view (A) top view (B) of Figure 26 stamp operation units

The structural representation of Figure 27 stamps and connecting gear

The operation process chart of Figure 28 stamp operation units

Figure 29 freight traffic directions control structural front view (A) top view (B) of operation unit

Structural front view (A) top view (B) of Figure 30 elevating mechanisms

Figure 31 freight traffic directions control the operation process chart of operation unit

Structural front view (A) top view (B) of Figure 32 loading units

Figure 33 chain transfer mechanism structural representations

The structural representation of Figure 34 boxing mechanisms

The electrical wiring block diagram of each operation units of Figure 35

Figure 36 intelligent protection module block diagrams

Figure 37 PC-LINK network system block diagrams

Figure 38 PC-LINK hardware connection figure

The schematic diagram of two kinds of operation unit combinations of Figure 39

The schematic diagram of two kinds of operation unit combinations of Figure 40

The schematic diagram of tri- kinds of operation unit combinations of Figure 41

The schematic diagram of tetra- kinds of operation unit combinations of Figure 42

The schematic diagram of six kinds of operation unit combinations of Figure 43

The schematic diagram of six kinds of operation unit combinations of Figure 44

The schematic diagram of eight kinds of operation unit combinations of Figure 45

1 manipulator assembles transport operation unit,2 goods automatic identification cushion task units,3 stacking operation units,4 Automatic Warehouse operation units,5 vision-based detection operation units,6 stamp operation units,7 freight traffic directions control operation unit,8 loading units,9 substrate holders,10 fixed mechanisms,11 standard interfaces,12 communication cables,13 operation unit pedestals,14 operation unit control panels,15 goods hole positions,16 direct current generators,17 alternating current generators,18 connecting gears,19 stepper motors,1-1 displacement of goods rotating disk mechanisms,1-1-1 rotating disks,1-1-2 positioning cylinders,1-1-3 rotating disk pedestals,1-1-5 goods is to level detection sensor,1-1-6 alignment sensors,1-2 goods material ejecting mechanisms,1-2-1 warehousing material towers,1-2-2 releases cylinder,1-2-3 goods material releases positioning table,1-2-6 detection sensors,1-3 goods material parallel moving mechanisms,1-3-1 translation straight line cylinders,1-3-2 goods material lifting cylinders,1-3-3 suckers,1-4 container ejecting mechanisms,1-4-1 warehousing towers,1-4-2 containers release cylinder,1-4-3 chutes,The four-axle linked manipulator mechanisms of 1-5,1-5-1 gas control manipulators,1-5-2Y shaft moving devices,1-5-3 rotating disk mechanisms,1-5-4X shaft moving devices,1-6-1 parallel bands,1-6-2 power transmission shafts,1-6-3 Timing Belts,1-6-4 tension-regulators,2-1-1 capacitance sensors,2-1-2 color sensors,2-1-3 idle capacity sensors,2-1-4 cylinder fixed supports,2-1-5 photoelectric sensors,2-2 sorts buffer pool,2-2-2 roller chains,2-2-3 bucket type pallets,2-2-5 whether there is container sensor,2-2-6 positions chain sensor,2-5-2 goods locating parts,3-1 supply trays mechanism,3-1-3 parallel band roller supportings mechanism,3-1-4 transmits parallel band,3-1-5 well formula pallet storage mechanisms,3-1-6 placement tray cylinders,3-3 freight liftings mechanism,3-3-3 freight conveyer structures,3-3-4 freight lifting framves,3-3-6 lifting position-limit sensors,3-3-7 descending spacing sensors,3-4 goods propulsive mechanisms,3-4-1 feeding baffle plates,3-4-2 limit sensors,3-4-3 loading platforms,3-4-4 is driven tooth-like belt,4-1 loading platforms,4-1-2 chassis pedestal,4-1-3 chain wheel driving mechanisms,4-1-4 runners,4-1-5 sensors,4-1-6 rotating disks,4-2 warehouses,4-3 lanes formula crane,4-3-1 leading screw Driving Stepping Motors,4-3-2 leading screws,4-3-3 walking guide rails,4-3-4 stores up picking thing device,4-3-5 storage picking things mechanism,4-3-6 photoelectric encoders,4-4-1 goods holding station,4-4-2 detection sensors,4-5 outbound loading platforms,5-1 vision detection systems,5-1-1 goods conveyer mechanisms,5-1-2 detection sensors,5-1-3 vision light sources,5-1-4 vision-based detection shield brackets,5-1-5 vision columns,5-1-6 vision cameras,5-2 figures,Image display,5-3 image processors,6-1-1 goods is to level detection sensor,6-1-2 stamp sensors in place,6-2 code printing mechanisms,7-1 monitoring display devices,7-2 longitudinally transmits chain mechanism,7-3 cross drive chain mechanisms,7-4 elevating mechanisms,7-2-1 driving shafts,7-2-2 section bars transmit wire body,7-2-3 chain supporting plates,7-3-1 driven shafts,7-4-1 lifts base plate,7-4-2 cylinders,Plate in 7-4-3 liftings,The box type columns of 7-4-4 six,7-4-5 lifts upper plate,7-4-6 rollers,7-4-7 roll shafts,7-4-9 guide pin bushings,7-4-10 guide pillars,8-1-1 crossbeams,8-1-4 goods roof supports,8-1-5 hydraulic cylinders,8-1-6 feed rod guide rails,8-1-7 sliding blocks,The standby containers of 8-2,8-2-1 lifting trays,8-2-2 fixes base plate,8-2-3 containers,The full sensor of 8-2-4 goods,8-3 boxing mechanisms

Embodiment

Embodiment 1

Manipulator assembling transport operation unit (1) sets displacement of goods rotating disk mechanism (1-1), goods material ejecting mechanism (1-2), goods material parallel moving mechanism (1-3), container ejecting mechanism (1-4), four-axle linked manipulator mechanism (1-5) and connecting gear (18).

Connecting gear (18) is fixedly installed along the side of manipulator assembling transport operation unit (1) is opposing parallel, the side of the one end of connecting gear (18) sets displacement of goods rotating disk mechanism (1-1), the bottom of displacement of goods rotating disk mechanism (1-1) sets substrate holder (9), the bottom of substrate holder (9) is fixedly installed on manipulator assembling transport operation unit (1), the top of substrate holder (9) sets rotating disk pedestal (1-1-3), the both sides of rotating disk pedestal (1-1-3) are oppositely arranged alignment sensor (1-1-6), the top of rotating disk pedestal (1-1-3) sets rotating disk (1-1-1), the top of rotating disk (1-1-1) is relative to be placed equidistant more than at least four goods hole positions (15), it is each in goods hole position (15) that goods is set to level detection sensor (1-1-5), the side of rotating disk pedestal (1-1-3) is opposing parallel to set positioning cylinder (1-1-2), the end of positioning cylinder (1-1-2) is corresponding with the goods hole position (15) of rotating disk (1-1-1).

The side of displacement of goods rotating disk mechanism (1-1) sets goods material ejecting mechanism (1-2), goods material parallel moving mechanism (1-3) and container ejecting mechanism (1-4), the bottom of goods material ejecting mechanism (1-2) sets substrate holder (9), and the bottom of substrate holder (9) is fixedly installed on manipulator assembling transport operation unit (1) with fixed mechanism (10).

Warehousing material tower (1-2-1) is fixedly installed in the upper end of substrate holder (9), the bottom of warehousing material tower (1-2-1) is fixedly installed goods material and releases positioning table (1-2-3), goods material, which is released, sets detection sensor (1-2-6) in positioning table (1-2-3), opposing parallel be fixedly installed of a sidepiece that goods material releases positioning table (1-2-3) releases cylinder (1-2-2), and the one end and goods material release positioning table (1-2-3) for releasing cylinder (1-2-2) are corresponding.The substrate holder (9) of goods material parallel moving mechanism (1-3) bottom is fixedly installed on manipulator by fixed mechanism (10) and assembled on transport operation unit (1), the top of substrate holder (9) is opposing parallel to set translation straight line cylinder (1-3-1), goods material lifting cylinder (1-3-2) is fixedly installed in the one end Relative vertical of translation straight line cylinder (1-3-1), and the one end of goods material lifting cylinder (1-3-2) sets sucker (1-3-3).

The substrate holder (9) of container ejecting mechanism (1-4) bottom is fixedly installed on manipulator by fixed mechanism (10) and assembled on transport operation unit (1), the top of substrate holder (9) sets warehousing tower (1-4-1), the opposing parallel container that is fixedly installed in the side of warehousing tower (1-4-1) releases cylinder (1-4-2), chute (1-4-3) is fixedly installed in the opposite side of warehousing tower (1-4-1), and warehousing tower (1-4-1) is corresponding with chute (1-4-3).

The substrate holder (9) of four-axle linked manipulator mechanism (1-5) bottom is fixedly installed on manipulator assembling transport operation unit (1), rotating disk mechanism (1-5-3) is fixedly installed in the top of substrate holder (9), Y-axis mobile device (1-5-2) is fixedly installed in rotating disk mechanism (1-5-3) top Relative vertical, the one end of Y-axis mobile device (1-5-2) is connected to a fixed with rotating disk mechanism (1-5-3), stepper motor (19) is fixedly installed in the other end of Y-axis mobile device (1-5-2), the middle part of Y-axis mobile device (1-5-2) is opposing parallel to set X-axis mobile device (1-5-4), X-axis mobile device (1-5-4) is vertically moved along Y-axis mobile device (1-5-2), stepper motor (19) is fixedly installed in the one end of X-axis mobile device (1-5-4), gas control manipulator (1-5-1) is fixedly installed in the other end Relative vertical of X-axis mobile device (1-5-4), gas control manipulator (1-5-1) is moved horizontally with X-axis mobile device (1-5-4), four-axle linked manipulator mechanism (1-5) is corresponding with the operation unit output port that manipulator assembles transport operation unit (1).Substrate holder (9) is fixedly installed in the bottom of connecting gear (18), the bottom of substrate holder (9) is fixedly installed on manipulator assembling transport operation unit (1), the upper end of substrate holder (9) is opposing parallel to be fixedly installed parallel band (1-6-1), the one end of parallel band (1-6-1) sets tension-regulator (1-6-4), the other end of parallel band (1-6-1) sets power transmission shaft (1-6-2), alternating current generator (17) is fixedly installed in the bottom of connecting gear (18), the output end of alternating current generator (17) is connected with power transmission shaft (1-6-2) with Timing Belt (1-6-3), Synchronous Transmission parallel band (1-6-1) rotates, such as Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, shown in Fig. 7.

Embodiment 2

Goods automatic identification cushion task unit (2) sets the connecting gear (18) stocked up, several sorting buffer pools (2-2) and the connecting gear (18) of shipment, substrate holder (9) is fixedly installed in the bottom for the connecting gear (18) stocked up, the bottom of substrate holder (9) is fixedly installed on goods automatic identification cushion task unit (2) along a sidepiece relative level of goods automatic identification cushion task unit (2), substrate holder (9) is fixedly installed in the bottom for the connecting gear (18) stocked up, the bottom of substrate holder (9) is fixedly installed on goods automatic identification cushion task unit (2), the upper end of substrate holder (9) is opposing parallel to be fixedly installed parallel band (1-6-1), the one end of parallel band (1-6-1) sets tension-regulator (1-6-4), the other end of parallel band (1-6-1) sets power transmission shaft (1-6-2), alternating current generator (17) is fixedly installed in the bottom for the connecting gear (18) stocked up, the output end power transmission shaft (1-6-2) of alternating current generator (17) is connected with Timing Belt (1-6-3), Synchronous Transmission parallel band (1-6-1).Photoelectric sensor (2-1-5), capacitance sensor (2-1-1), color sensor (2-1-2) and idle capacity sensor (2-1-3) is fixedly installed along parallel band (1-6-1) in the top of the parallel band (1-6-1) for the connecting gear (18) stocked up, and cylinder fixed support (2-1-4) is fixedly installed in the side of capacitance sensor (2-1-1), color sensor (2-1-2) and idle capacity sensor (2-1-3).The inner side for the opposing parallel side through sorting buffer pool (2-2) of connecting gear (18) stocked up, the one end of the parallel band (1-6-1) of the connecting gear stocked up (18) is corresponding with operation unit input port.

The main body for sorting buffer pool (2-2) is that substrate holder (9) is rectangular, double endless roller chain (2-2-2) is set along substrate holder (9) in rectangle substrate holder (9), in rectangle substrate holder (9) several bucket type pallets (2-2-3) are placed equidistant along substrate holder (9), the both ends of bucket type pallet (2-2-3) each with double endless roller chain (2-2-2) is opposing parallel is fixedly connected, double endless roller chain (2-2-2) drives bucket type pallet (2-2-3) to be moved along rectangle substrate holder (9) loading, the side of bucket type pallet (2-2-3) is fixedly installed no container sensor (2-2-5), alternating current generator (17) is fixedly installed in rectangle substrate holder (9) top side, double endless roller chain (2-2-2) is driven to be run along rectangle substrate holder (9), positioning chain sensor (2-2-6) is fixedly installed in the opposite side of rectangle substrate holder (9) bottom.

The connecting gear (18) of shipment is fixedly installed along the opposite side relative level of goods automatic identification cushion task unit (2), substrate holder (9) is fixedly installed in the bottom of the connecting gear (18) of shipment, the bottom of substrate holder (9) is fixedly installed on goods automatic identification cushion task unit (2), the upper end of substrate holder (9) is opposing parallel to be fixedly installed parallel band (1-6-1), the one end of parallel band (1-6-1) sets tension-regulator (1-6-4), the other end of parallel band (1-6-1) sets power transmission shaft (1-6-2), alternating current generator (17) is fixedly installed in the bottom of the connecting gear (18) of shipment, the output end power transmission shaft (1-6-2) of alternating current generator (17) is connected with Timing Belt (1-6-3), Synchronous Transmission parallel band (1-6-1).The one end of the parallel band (1-6-1) of the connecting gear (18) of shipment is corresponding with operation unit input port, the other end of parallel band (1-6-1) is corresponding with the operation unit output port of goods automatic identification cushion task unit (2), as shown in Fig. 9, Figure 10, Figure 11.

Embodiment 3

Stacking operation unit (3) sets supply tray mechanism (3-1), the connecting gear (18) of pallet, freight lifting mechanism (3-3), the connecting gear (18) of goods propulsive mechanism (3-4) and goods, the main body of supply tray mechanism (3-1) is substrate holder (9), substrate holder (9) is fixedly installed on stacking operation unit (3), placement tray cylinder (3-1-6) is fixedly installed in the both sides of substrate holder (9), parallel band roller supporting mechanism (3-1-3) is set in along substrate holder (9), parallel band roller supporting mechanism (3-1-3) is connected with double transmission parallel band (3-1-4), the both ends of well formula pallet storage mechanism (3-1-5) are connected with double transmission parallel band (3-1-4), direct current generator (16) is fixedly installed in the bottom side of substrate holder (9), the double transmission parallel band (3-1-4) of direct current generator (16) driving drives well formula pallet storage mechanism (3-1-5) by the connecting gear (18) of pallet feeding pallet.Substrate holder (9) is fixedly installed in the bottom of the connecting gear (18) of pallet, the bottom of substrate holder (9) is fixedly installed on stacking operation unit (3), the upper end of substrate holder (9) is opposing parallel to be fixedly installed drive balls chain (2-2-2), alternating current generator (17) is fixedly installed in the bottom of the connecting gear (18) of pallet, the output end of alternating current generator (17) is connected with driving shaft (3-2-1) with Timing Belt (1-6-3), driving drive balls chain (2-2-2) operation.

The main body of freight lifting mechanism (3-3) is substrate holder (9), the bottom of substrate holder (9) is connected to a fixed with stacking operation unit (3) Relative vertical, opposing parallel setting freight lifting frame (3-3-4) on substrate holder (9), freight conveyer structure (3-3-3) is set on freight lifting frame (3-3-4), the upper and lower end of substrate holder (9) respectively sets lifting position-limit sensor (3-3-6) and descending spacing sensor (3-3-7), control the stroke of freight lifting frame (3-3-4), the side of substrate holder (9) sets roller chain (2-2-2) along substrate holder (9) is opposing parallel, direct current generator (16) is fixedly installed in the side of the bottom of substrate holder (9), the output end of direct current generator (16) is connected with roller chain (2-2-2), direct current generator (16) driving roller chain (2-2-2) drives freight lifting frame (3-3-4) that store items are lifted and declined between lifting position-limit sensor (3-3-6) and descending spacing sensor (3-3-7).

The main body of goods propulsive mechanism (3-4) is substrate holder (9), opposing parallel setting loading platform (3-4-3) in the substrate holder (9) of goods propulsive mechanism (3-4), several limit sensors (3-4-2) are fixedly installed along substrate holder (9) is opposing parallel in the side on the top of substrate holder (9), direct current generator (16) is fixedly installed in the side of the bottom of substrate holder (9), double transmission tooth-like belt (3-4-4) is set along substrate holder (9) is opposing parallel in the substrate holder (9) of goods propulsive mechanism (3-4), opposing parallel setting feeding baffle plate (3-4-1) in the substrate holder (9) of goods propulsive mechanism (3-4), the both ends of feeding baffle plate (3-4-1) are connected with double transmission tooth-like belt (3-4-4).Goods material on loading platform (3-4-3) is sent into freight lifting mechanism (3-3) by the double transmission tooth-like belt (3-4-4) of direct current generator (16) driving and feeding baffle plate (3-4-1).Substrate holder (9) is fixedly installed in the bottom of the connecting gear (18) of goods, the bottom of substrate holder (9) is fixedly installed on stacking operation unit (3), the upper end of substrate holder (9) is opposing parallel to be fixedly installed parallel band (1-6-1), the one end of parallel band (1-6-1) sets tension-regulator (1-6-4), the other end of parallel band (1-6-1) sets power transmission shaft (1-6-2), alternating current generator (17) is fixedly installed in the bottom of the connecting gear (18) of goods, the output end power transmission shaft (1-6-2) of alternating current generator (17) is connected with Timing Belt (1-6-3), Synchronous Transmission parallel band (1-6-1).Goods locating part (2-5-2) is fixedly installed along parallel band (1-6-1) in the top of the parallel band (1-6-1) of connecting gear (18), and the other end of parallel band (1-6-1) is corresponding with operation unit output port.The one end of the connecting gear (18) of goods is corresponding with the operation unit input port of stacking operation unit (3), and the other end and the goods propulsive mechanism (3-4) of the connecting gear (18) of goods are connected；The one end of the connecting gear (18) of pallet is connected with supply tray mechanism (3-1), the other end of the connecting gear (18) of pallet is connected with freight lifting mechanism (3-3), the top ends of the other end of connecting gear (18) are corresponding with the operation unit output port of stacking operation unit (3), as shown in Figure 13, Figure 14, Figure 15, Figure 16, Figure 17.

Embodiment 4

Automatic Warehouse operation unit (4) sets the loading platform (4-1) of storage, several warehouses (4-2), lane formula crane (4-3) and the loading platform (4-1) of shipment, the bottom of loading platform (4-1) main body sets chassis pedestal (4-1-2), the bottom of chassis pedestal (4-1-2) is fixedly installed on Automatic Warehouse operation unit (4), runner (4-1-4) is fixedly installed in the top of chassis pedestal (4-1-2), the top of runner (4-1-4) sets rotating disk (4-1-6), direct current generator (16) is fixedly installed in the side of rotating disk (4-1-6), loading platform (4-1) main body is fixedly installed in the top of rotating disk (4-1-6), sensor (4-1-5) is fixedly installed in the side of loading platform (4-1) body top, detect the goods material on loading platform (4-1).The top of loading platform (4-1) main body is opposing parallel to set chain wheel driving mechanism (4-1-3), duplex chain (2-2-2) is set on chain wheel driving mechanism (4-1-3), direct current generator (16) is fixedly installed in loading platform (4-1) main body, the output end and chain wheel driving mechanism (4-1-3) of direct current generator (16) are connected by roller chain (2-2-2), direct current generator (16) drives duplex chain (2-2-2) that the goods material detected is sent into lane formula crane (4-3) by roller chain (2-2-2) and chain wheel driving mechanism (4-1-3).

The main body of warehouse (4-2) is substrate holder (9), it is separated into several rectangular frames, opposing parallel two-by-two in the frame wall of substrate holder (9) to set goods holding station (4-4-1), the top of the goods holding station (4-4-1) of substrate holder (9) side sets detection sensor (4-4-2).

The opposing parallel setting lane formula crane (4-3) in middle part of Automatic Warehouse operation unit (4), walking guide rail (4-3-3) is set along Automatic Warehouse operation unit (4) is opposing parallel in lane formula crane (4-3) lower base, the one end of lane formula crane (4-3) pedestal sets photoelectric encoder (4-3-6) and storage picking thing mechanism (4-3-5), the other end of lane formula crane (4-3) pedestal sets direct current generator (16), direct current generator (16) driving storage picking thing mechanism (4-3-5) is moved horizontally along walking guide rail (4-3-3), the top for storing up picking thing mechanism (4-3-5) sets leading screw Driving Stepping Motor (19), leading screw (4-3-2) and storage picking thing device (4-3-4), the bottom of leading screw Driving Stepping Motor (19) sets leading screw (4-3-2), storage picking thing device (4-3-4) is set on leading screw (4-3-2), the bottom of leading screw (4-3-2) is connected with storage picking thing mechanism (4-3-5), leading screw Driving Stepping Motor (19) driving leading screw (4-3-2) drives storage picking thing device (4-3-4) to move up and down, such as Figure 19, Figure 20, shown in Figure 21.

Embodiment 5

Vision-based detection operation unit (5) sets vision detection system (5-1), the conveyer mechanism (18) of goods, figure, image display (5-2) and image processor (5-3), the conveyer mechanism (18) of goods is arranged on the side of vision-based detection operation unit (5) along vision-based detection operation unit (5) relative level, and the one end of the conveyer mechanism (18) of goods sets detection sensor (5-1-2).The opposite side of vision-based detection operation unit (5) sets figure, image display (5-2) and image processor (5-3), the middle part of the connecting gear (18) of goods sets vision detection system (5-1), substrate holder (9) is fixedly installed in the bottom of the connecting gear (18) of goods, the bottom of substrate holder (9) is fixedly installed on vision-based detection operation unit (5), the upper end of substrate holder (9) is opposing parallel to be fixedly installed parallel band (1-6-1), the one end of parallel band (1-6-1) sets tension-regulator (1-6-4), the other end of parallel band (1-6-1) sets power transmission shaft (1-6-2), alternating current generator (17) is fixedly installed in the bottom of the connecting gear (18) of goods, the output end power transmission shaft (1-6-2) of alternating current generator (17) is connected with Timing Belt (1-6-3), Synchronous Transmission parallel band (1-6-1).Goods conveyer mechanism (5-1-1) is opposing parallel to run through vision detection system (5-1), the main body of vision detection system (5-1) is vision-based detection shield bracket (5-1-4), vision-based detection shield bracket (5-1-4) is across on the connecting gear (18) of goods, the side of vision-based detection shield bracket (5-1-4) sets vision light source (5-1-3), vision-based detection shield bracket (5-1-4) top sets vision column (5-1-5), vision camera (5-1-6) is set on vision column (5-1-5), such as Figure 23, shown in Figure 24.

Embodiment 6

Stamp operation unit (6) sets the connecting gear (18) and thermoprint code printing mechanism (6-2) of goods, the connecting gear (18) of goods is arranged on stamp operation unit (6) along stamp operation unit (6) is opposing parallel, the side of the connecting gear (18) of goods sets goods to level detection sensor (6-1-1) and stamp sensors in place (6-1-2), and the side at the middle part of the connecting gear (18) of goods sets thermoprint code printing mechanism (6-2).Substrate holder (9) is fixedly installed in the bottom of the connecting gear (18) of goods, the bottom of substrate holder (9) is fixedly installed on stamp operation unit (6), the upper end of substrate holder (9) is opposing parallel to be fixedly installed parallel band (1-6-1), the one end of parallel band (1-6-1) sets tension-regulator (1-6-4), the other end of parallel band (1-6-1) sets power transmission shaft (1-6-2), alternating current generator (17) is fixedly installed in the bottom of the connecting gear (18) of goods, the output end of alternating current generator (17) is connected with power transmission shaft (1-6-2) with Timing Belt (1-6-3), Synchronous Transmission parallel band (1-6-1), such as Figure 26, shown in Figure 27.

Embodiment 7

Freight traffic direction control operation unit (7) sets monitoring display device (7-1), longitudinal direction transmission chain mechanism (7-2), cross drive chain mechanism (7-3) and elevating mechanism (7-4), the middle part of freight traffic direction control operation unit (7) sets monitoring display device (7-1), freight traffic direction controls operation unit (7) side to be controlled along freight traffic direction, and operation unit (7) is opposing parallel to set cross drive chain mechanism (7-3), the one end of cross drive chain mechanism (7-3) is corresponding with operation unit input port, the other end of cross drive chain mechanism (7-3) is connected with elevating mechanism (7-4), the section bar transmission wire body (7-2-2) of cross drive chain mechanism (7-3) controls operation unit (7) relative level to be arranged on the side that freight traffic direction controls operation unit (7) along freight traffic direction, chain supporting plate (7-2-3) is set along section bar transmission wire body (7-2-2) relative level between section bar transmission wire body (7-2-2), the one end of chain supporting plate (7-2-3) sets driven shaft (7-3-1), the other end of chain supporting plate (7-2-3) sets driving shaft (7-2-1) and alternating current generator (17), alternating current generator (17) driving driving shaft (7-2-1) drives the roller chain (2-2-2) being supported in chain supporting plate (7-2-3).Freight traffic direction controls operation unit (7) side to set longitudinal direction transmission chain mechanism (7-2) along freight traffic direction control operation unit (7) Relative vertical, the one end of longitudinal direction transmission chain mechanism (7-2) is connected with elevating mechanism (7-4), the other end of cross drive chain mechanism (7-3) is corresponding with operation unit output port, the section bar transmission wire body (7-2-2) of longitudinal direction transmission chain mechanism (7-2) controls operation unit (7) relative level to be arranged on the side that freight traffic direction controls operation unit (7) along freight traffic direction, chain supporting plate (7-2-3) is set along section bar transmission wire body (7-2-2) relative level between section bar transmission wire body (7-2-2), the one end of chain supporting plate (7-2-3) sets driven shaft (7-3-1), the other end of chain supporting plate (7-2-3) sets driving shaft (7-2-1) and alternating current generator (17), alternating current generator (17) driving driving shaft (7-2-1) drives the roller chain (2-2-2) being supported in chain supporting plate (7-2-3).

The bottom of elevating mechanism (7-4) sets lifting base plate (7-4-1), cylinder (7-4-2) is fixedly installed in the top of lifting base plate (7-4-1), the guide pin bushing (7-4-9) of cylinder (7-4-2) and the top of guide pillar (7-4-10) set plate (7-4-3) in lifting, several six box type columns (7-4-4) are fixedly installed in the top of plate (7-4-3) in lifting, lifting upper plate (7-4-5) is fixedly installed in the top of six box type columns (7-4-4), direct current generator (16) is set between six box type columns (7-4-4), lift the opposing parallel setting rollers (7-4-6) in top of upper plate (7-4-5), several roll shafts (7-4-7) are set on rollers (7-4-6).Direct current generator (16) drive roller shaft (7-4-7) is in goods after operation unit input port enters cross drive chain mechanism (7-3), realize that 90 ° change transmits chain mechanism (7-2) back into longitudinal direction by roll shaft (7-4-7), exported by operation unit output port, as shown in Figure 29, Figure 30.

Embodiment 8

Loading unit (8) sets the connecting gear (18) of vanning, boxing mechanism (8-3) and several standby containers (8-2), the bottom substrate holder (9) of the connecting gear (18) of vanning, the bottom of substrate holder (9) is connected to a fixed with loading unit (8), the upper end of substrate holder (9) is opposing parallel to set crossbeam (8-1-1), the both ends of crossbeam (8-1-1) respectively set power transmission shaft (1-6-2) and tension-regulator (1-6-4), roller chain (2-2-2) is set between power transmission shaft (1-6-2) and tension-regulator (1-6-4), the one end of the connecting gear (18) of vanning is corresponding with the operation unit input port of loading unit (8), the bottom of crossbeam (8-1-1) sets direct current generator (16), goods roof support (8-1-4), lift cylinder (7-4-2), feed rod guide rail (8-1-6) and sliding block (8-1-7), goods roof support (8-1-4) one end is connected by sliding block (8-1-7) with the output end of direct current generator (16), lift cylinder (8-1-5) is fixedly installed in the bottom of goods roof support (8-1-4), direct current generator (16) is driven to drive goods roof support (8-1-4) mobile along feed rod guide rail (8-1-6), lift cylinder (7-4-2) is driven to drive goods roof support (8-1-4) raising and lowering.

The other end of the connecting gear (18) of vanning sets boxing mechanism (8-3), fixed base plate (8-2-2) is fixedly installed in the bottom relative level of boxing mechanism (8-3), fixed base plate (8-2-2) is connected to a fixed with loading unit (8), hydraulic cylinder (8-1-5) and guide pillar (7-4-10) is fixedly installed in Relative vertical on fixed base plate (8-2-2), guide pillar (7-4-10) is arranged on hydraulic cylinder (8-1-5) both sides, lifting tray (8-2-1) is fixedly installed in the top relative level of hydraulic cylinder (8-1-5) and guide pillar (7-4-10), the full sensor (8-2-4) of goods is fixedly installed in the side of lifting tray (8-2-1), place container (8-2-3) in the top of lifting tray (8-2-1)；The opposite side of loading unit (8) places several standby containers (8-2), as shown in Figure 32, Figure 33.

Embodiment 9

Including manipulator assembling transport operation unit (1), goods automatic identification cushion task unit (2), stacking operation unit (3), Automatic Warehouse operation unit (4), vision-based detection operation unit (5), stamp operation unit (6), freight traffic direction control operation unit (7) and loading unit (8), the operation unit fabrication process training system of at least more than one, the bottom of each operation unit sets operation unit pedestal (13), operation unit control panel (14) is fixedly installed on operation unit pedestal (13), the top of operation unit pedestal (13) sets different operation units, it is fixedly connected between operation unit and operation unit with fixing bolt, executing agency in operation unit includes servomotor, alternating current generator, direct current generator, stepper motor and cylinder.

Each operation unit each sets the modular interface of single chip circuit and logic circuit as the electrical wiring mouthful of each device, including PLC export it is main make signal and sensor needed for line be directly connected with switching interface, the signal of PLC, sensor and actuator orientation is connected with terminal interface according to the flow direction of signal message stream.

The standard interface of each operation unit can dock composition control system with industrial computer I/O capture cards or PLC or single-chip microcomputer or embedded computer, select different operation units to be combined into operation training system, carry out step configuration.

Several operation units realize the communication between each operation unit PLC by PC-LINK communication networks, constitute PLC control system, (-) terminal of the transmission line of terminal and E terminal short circuits, its network body structure is three-decker, wherein physical layer and data link layer is towards communication, application provides a user service, shared RAM communication in serial communication, to all marking one piece of memory block in each station communication unit, memory block occupies identical address number space at each station, shared memory is LINK areas, the token mode that LINK areas shared communication mode is only applicable between PLC and PLC exchanges information, it is N:N communicates, as shown in Figure 35, Figure 36, Figure 37, Figure 38.

Executing agency in operation unit is connected with intelligent protection module, and the sensor in operation unit is connected with standard interface B and intelligent protection module.Standard interface is respectively provided with input terminal and lead-out terminal, the connection corresponding with the lead-out terminal of another standard interface of the input terminal of standard interface, standard interface A is fixedly installed on control panel (14), standard interface B, which is fixed, simply to be loaded in each operation unit, and pass through the servomotor in intelligent object and operation unit, alternating current generator, direct current generator, stepper motor is connected with cylinder, the on-site signal that various sensors are produced in operation unit is arranged on by circuit with standard interface B and intelligent protection module to be connected, power supply is inputted by standard interface A, by standard interface B power supply is provided to executing agency, standard interface A lead-out terminal is connected with PLC input port, standard interface A input terminal is connected with PLC output port.Standard interface B input terminal is connected with the sensor in operation unit; standard interface B lead-out terminal is connected with the input port of intelligent protection module; the output interface of intelligent protection module is connected with executing agency, and the sensor of operation unit is connected with the input interface of intelligent protection module.It is main to make signal and standard interface A output interface be connected, it is main to make signal be connected with the input interface of switching interface, the output interface of switching interface is connected with standard interface A input interface, PLC output interface is connected with switching interface, PLC output interface is connected with standard interface A input interface, as shown in Figure 35, Figure 36.

It is controller or PIC single chip microcomputer or DSP single-chip microcomputers that the single chip circuit being arranged in operation unit, which includes enhanced LPC900 series monolithics or ARM32, and the logic circuit being arranged in operation unit includes PLD (PLD) or matrix circuit.

Embodiment 10

Manipulator assembles transport operation unit and goods automatic identification cushion task unit fabrication process training system, the bottom of each operation unit sets operation unit pedestal (13), operation unit control panel (14) is fixedly installed on operation unit pedestal (13), the top of operation unit pedestal (13) sets different operation units, it is fixedly connected between operation unit and operation unit with fixing bolt, as shown in figure 39.

Embodiment 11

Manipulator assembles transport operation unit and Automatic Warehouse operation unit fabrication process training system, the bottom of each operation unit sets operation unit pedestal (13), operation unit control panel (14) is fixedly installed on operation unit pedestal (13), the top of operation unit pedestal (13) sets different operation units, it is fixedly connected between operation unit and operation unit with fixing bolt, as shown in figure 40.

Embodiment 12

Manipulator assembling transport operation unit, stacking operation unit and Automatic Warehouse operation unit fabrication process training system, the bottom of each operation unit sets operation unit pedestal (13), operation unit control panel (14) is fixedly installed on operation unit pedestal (13), the top of operation unit pedestal (13) sets different operation units, it is fixedly connected between operation unit and operation unit with fixing bolt, as shown in figure 41.

Embodiment 13

Manipulator assembling transport operation unit, goods automatic identification cushion task unit, stacking operation unit and Automatic Warehouse operation unit fabrication process training system, the bottom of each operation unit sets operation unit pedestal (13), operation unit control panel (14) is fixedly installed on operation unit pedestal (13), the top of operation unit pedestal (13) sets different operation units, it is fixedly connected between operation unit and operation unit with fixing bolt, as shown in figure 42.

Embodiment 14

Manipulator assembling transport operation unit, vision-based detection operation unit, stamp operation unit, goods automatic identification cushion task unit, stacking operation unit and Automatic Warehouse operation unit fabrication process training system, the bottom of each operation unit sets operation unit pedestal (13), operation unit control panel (14) is fixedly installed on operation unit pedestal (13), the top of operation unit pedestal (13) sets different operation units, it is fixedly connected between operation unit and operation unit with fixing bolt, as shown in figure 43.

Embodiment 15

Manipulator assembling transport operation unit, goods automatic identification cushion task unit, stacking operation unit, Automatic Warehouse operation unit, freight traffic direction control operation unit and loading unit fabrication process training system, the bottom of each operation unit sets operation unit pedestal (13), operation unit control panel (14) is fixedly installed on operation unit pedestal (13), the top of operation unit pedestal (13) sets different operation units, it is fixedly connected between operation unit and operation unit with fixing bolt, as shown in figure 44.

Embodiment 16

Manipulator assembles transport operation unit, vision-based detection operation unit, stamp operation unit, goods automatic identification cushion task unit, stacking operation unit, Automatic Warehouse operation unit, freight traffic direction controls operation unit and loading unit fabrication process training system, the bottom of each operation unit sets operation unit pedestal (13), operation unit control panel (14) is fixedly installed on operation unit pedestal (13), the top of operation unit pedestal (13) sets different operation units, it is fixedly connected between operation unit and operation unit with fixing bolt, as shown in figure 45.

Embodiment 17

Rectangle operation unit pedestal (13) is made using section bar, operation unit control panel (14) is fixedly installed in the top of operation unit pedestal (13), manipulator assembling transport operation unit (1) is each fixedly installed in the top of operation unit pedestal (13) respectively, goods automatic identification cushion task unit (2), stacking operation unit (3), Automatic Warehouse operation unit (4), vision-based detection operation unit (5), stamp operation unit (6), freight traffic direction control operation unit (7) and loading unit (8).Corresponding apparatus for work is set respectively on different operation units, each operation unit each sets the modular interface of single chip circuit and logic circuit as the electrical wiring mouthful of each device, including PLC export it is main make signal and sensor needed for line be connected directly on switching interface, the signal of PLC, sensor and actuator orientation is connected to terminal interface according to the flow direction of information flow.The different operation unit of selection is combined into operation training system, carries out step configuration, the standard interface of each operation unit docks composition control system with industrial computer I/O capture cards or PLC or single-chip microcomputer or embedded computer, as shown in Fig. 1-Figure 45.

Embodiment 18

Displacement of goods rotating disk mechanism (1-1), goods material ejecting mechanism (1-2), goods material parallel moving mechanism (1-3), container ejecting mechanism (1-4), four-axle linked manipulator mechanism (1-5) and connecting gear (18) is fixedly installed in manipulator assembling transport operation unit (1).The connecting gear (18) stocked up, several sorting buffer pools (2-2) and the connecting gear (18) of shipment are fixedly installed in goods automatic identification cushion task unit (2).The connecting gear (18) of supply tray mechanism (3-1), the connecting gear (18) of pallet, freight lifting mechanism (3-3), goods propulsive mechanism (3-4) and goods is fixedly installed in stacking operation unit (3).Storage loading platform (4-1), the loading platform (4-1) of several warehouses (4-2), lane formula crane (4-3) and shipment are fixedly installed in Automatic Warehouse operation unit (4).Vision detection system (5-1), goods conveyer mechanism (5-1-1), figure, image display (5-2) and image processor (5-3) is fixedly installed in vision-based detection operation unit (5).The connecting gear (18) and thermoprint code printing mechanism (6-2) of goods are fixedly installed in stamp operation unit (6).Monitoring display device (7-1), longitudinal direction transmission chain mechanism (7-2), cross drive chain mechanism (7-3) and elevating mechanism (7-4) are fixedly installed in freight traffic direction control operation unit (7).The connecting gear (18), boxing mechanism (8-3) and several standby containers (8-2) of vanning are fixedly installed in loading unit (8), as shown in Fig. 1-Figure 45.

Claims (7)

1st, a kind of logistics operation training system, it is characterized in that including manipulator assembling transport operation unit (1), goods automatic identification cushion task unit (2), stacking operation unit (3), Automatic Warehouse operation unit (4), vision-based detection operation unit (5), stamp operation unit (6), freight traffic direction control operation unit (7) and loading unit (8)；The operation unit fabrication process training system of at least more than one, the bottom of each operation unit sets operation unit pedestal (13), operation unit control panel (14) is fixedly installed on operation unit pedestal (13), the top of operation unit pedestal (13) sets different operation units, it is fixedly connected between operation unit and operation unit with fixing bolt, the executing agency in operation unit includes servomotor, alternating current generator, direct current generator, stepper motor and cylinder；Each operation unit each sets the modular interface of single chip circuit and logic circuit as the electrical wiring mouthful of each device, including PLC export it is main make signal and sensor needed for line be directly connected with switching interface, the signal of PLC, sensor and actuator orientation is connected with terminal interface according to the flow direction of signal message stream；The standard interface of each operation unit docks composition control system with industrial computer I/O capture cards or PLC or single-chip microcomputer or embedded computer；The different operation unit of selection is combined into operation training system, carries out step configuration；Manipulator assembling transport operation unit (1) sets displacement of goods rotating disk mechanism (1-1), goods material ejecting mechanism (1-2), goods material parallel moving mechanism (1-3), container ejecting mechanism (1-4), four-axle linked manipulator mechanism (1-5) and connecting gear (18)；Connecting gear (18) is fixedly installed along the side of manipulator assembling transport operation unit (1) is opposing parallel, the side of the one end of connecting gear (18) sets displacement of goods rotating disk mechanism (1-1), the bottom of displacement of goods rotating disk mechanism (1-1) sets substrate holder (9), the bottom of substrate holder (9) is fixedly installed on manipulator assembling transport operation unit (1), the top of substrate holder (9) sets rotating disk pedestal (1-1-3), the both sides of rotating disk pedestal (1-1-3) are oppositely arranged alignment sensor (1-1-6), the top of rotating disk pedestal (1-1-3) sets rotating disk (1-1-1), the top of rotating disk (1-1-1) is relative to be placed equidistant more than at least four goods hole positions (15), it is each in goods hole position (15) that goods is set to level detection sensor (1-1-5), the side of rotating disk pedestal (1-1-3) is opposing parallel to set positioning cylinder (1-1-2), the end of positioning cylinder (1-1-2) is corresponding with the goods hole position (15) of rotating disk (1-1-1)；The side of displacement of goods rotating disk mechanism (1-1) sets goods material ejecting mechanism (1-2), goods material parallel moving mechanism (1-3) and container ejecting mechanism (1-4), the bottom of goods material ejecting mechanism (1-2) sets substrate holder (9), and the bottom of substrate holder (9) is fixedly installed on manipulator assembling transport operation unit (1) with fixed mechanism (10)；Warehousing material tower (1-2-1) is fixedly installed in the upper end of substrate holder (9), the bottom of warehousing material tower (1-2-1) is fixedly installed goods material and releases positioning table (1-2-3), goods material, which is released, sets detection sensor (1-2-6) in positioning table (1-2-3), opposing parallel be fixedly installed of a sidepiece that goods material releases positioning table (1-2-3) releases cylinder (1-2-2), and the one end and goods material release positioning table (1-2-3) for releasing cylinder (1-2-2) are corresponding；The substrate holder (9) of goods material parallel moving mechanism (1-3) bottom is fixedly installed on manipulator by fixed mechanism (10) and assembled on transport operation unit (1), the top of substrate holder (9) is opposing parallel to set translation straight line cylinder (1-3-1), goods material lifting cylinder (1-3-2) is fixedly installed in the one end Relative vertical of translation straight line cylinder (1-3-1), and the one end of goods material lifting cylinder (1-3-2) sets sucker (1-3-3)；The substrate holder (9) of container ejecting mechanism (1-4) bottom is fixedly installed on manipulator by fixed mechanism (10) and assembled on transport operation unit (1), the top of substrate holder (9) sets warehousing tower (1-4-1), the opposing parallel container that is fixedly installed in the side of warehousing tower (1-4-1) releases cylinder (1-4-2), chute (1-4-3) is fixedly installed in the opposite side of warehousing tower (1-4-1), and warehousing tower (1-4-1) is corresponding with chute (1-4-3)；The substrate holder (9) of four-axle linked manipulator mechanism (1-5) bottom is fixedly installed on manipulator assembling transport operation unit (1), rotating disk mechanism (1-5-3) is fixedly installed in the top of substrate holder (9), Y-axis mobile device (1-5-2) is fixedly installed in rotating disk mechanism (1-5-3) top Relative vertical, the one end of Y-axis mobile device (1-5-2) is connected to a fixed with rotating disk mechanism (1-5-3), stepper motor (19) is fixedly installed in the other end of Y-axis mobile device (1-5-2), the middle part of Y-axis mobile device (1-5-2) is opposing parallel to set X-axis mobile device (1-5-4), X-axis mobile device (1-5-4) is vertically moved along Y-axis mobile device (1-5-2), stepper motor (19) is fixedly installed in the one end of X-axis mobile device (1-5-4), gas control manipulator (1-5-1) is fixedly installed in the other end Relative vertical of X-axis mobile device (1-5-4), gas control manipulator (1-5-1) is moved horizontally with X-axis mobile device (1-5-4), four-axle linked manipulator mechanism (1-5) is corresponding with the operation unit output port that manipulator assembles transport operation unit (1)；Substrate holder (9) is fixedly installed in the bottom of connecting gear (18), the bottom of substrate holder (9) is fixedly installed on manipulator assembling transport operation unit (1), the upper end of substrate holder (9) is opposing parallel to be fixedly installed parallel band (1-6-1), the one end of parallel band (1-6-1) sets tension-regulator (1-6-4), the other end of parallel band (1-6-1) sets power transmission shaft (1-6-2), alternating current generator (17) is fixedly installed in the bottom of connecting gear (18), the output end of alternating current generator (17) is connected with power transmission shaft (1-6-2) with Timing Belt (1-6-3), Synchronous Transmission parallel band (1-6-1) rotates；Goods automatic identification cushion task unit (2) sets the connecting gear (18) stocked up, several sorting buffer pools (2-2) and the connecting gear (18) of shipment, substrate holder (9) is fixedly installed in the bottom for the connecting gear (18) stocked up, the bottom of substrate holder (9) is fixedly installed on goods automatic identification cushion task unit (2) along a sidepiece relative level of goods automatic identification cushion task unit (2), the inner side for the opposing parallel side through sorting buffer pool (2-2) of connecting gear (18) stocked up, the one end of the parallel band (1-6-1) for the connecting gear (18) stocked up is corresponding with operation unit input port；The main body for sorting buffer pool (2-2) is that substrate holder (9) is rectangular, double endless roller chain (2-2-2) is set along substrate holder (9) in rectangle substrate holder (9), in rectangle substrate holder (9) several bucket type pallets (2-2-3) are placed equidistant along substrate holder (9), the both ends of bucket type pallet (2-2-3) each with double endless roller chain (2-2-2) is opposing parallel is fixedly connected, double endless roller chain (2-2-2) drives bucket type pallet (2-2-3) to be moved along rectangle substrate holder (9) loading, the side of bucket type pallet (2-2-3) is fixedly installed no container sensor (2-2-5), direct current generator (16) is fixedly installed in rectangle substrate holder (9) top side, double endless roller chain (2-2-2) is driven to be run along rectangle substrate holder (9), positioning chain sensor (2-2-6) is fixedly installed in the opposite side of rectangle substrate holder (9) bottom；The connecting gear (18) of shipment is fixedly installed along the opposite side relative level of goods automatic identification cushion task unit (2), the one end of the parallel band (1-6-1) of the connecting gear (18) of shipment is corresponding with operation unit input port, and the other end of parallel band (1-6-1) is corresponding with the operation unit output port of goods automatic identification cushion task unit (2)；Stacking operation unit (3) sets supply tray mechanism (3-1), the connecting gear (18) of pallet, freight lifting mechanism (3-3), the connecting gear (18) of goods propulsive mechanism (3-4) and goods, the main body of supply tray mechanism (3-1) is substrate holder (9), substrate holder (9) is fixedly installed on stacking operation unit (3), placement tray cylinder (3-1-6) is fixedly installed in the both sides of substrate holder (9), parallel band roller supporting mechanism (3-1-3) is set in along substrate holder (9), parallel band roller supporting mechanism (3-1-3) is connected with double transmission parallel band (3-1-4), the both ends of well formula pallet storage mechanism (3-1-5) are connected with double transmission parallel band (3-1-4), direct current generator (16) is fixedly installed in the bottom side of substrate holder (9), the double transmission parallel band (3-1-4) of direct current generator (16) driving drives well formula pallet storage mechanism (3-1-5) by the connecting gear (18) of pallet feeding pallet；The main body of freight lifting mechanism (3-3) is substrate holder (9), the bottom of substrate holder (9) is connected to a fixed with stacking operation unit (3) Relative vertical, opposing parallel setting freight lifting frame (3-3-4) on substrate holder (9), freight conveyer structure (3-3-3) is set on freight lifting frame (3-3-4), the upper and lower end of substrate holder (9) respectively sets lifting position-limit sensor (3-3-6) and descending spacing sensor (3-3-7), control the stroke of freight lifting frame (3-3-4), the side of substrate holder (9) sets roller chain (2-2-2) along substrate holder (9) is opposing parallel, direct current generator (16) is fixedly installed in the side of the bottom of substrate holder (9), the output end of direct current generator (16) is connected with roller chain (2-2-2), direct current generator (16) driving roller chain (2-2-2) drives freight lifting frame (3-3-4) that store items are lifted and declined between lifting position-limit sensor (3-3-6) and descending spacing sensor (3-3-7)；The main body of goods propulsive mechanism (3-4) is substrate holder (9), opposing parallel setting loading platform (3-4-3) in the substrate holder (9) of goods propulsive mechanism (3-4), several limit sensors (3-4-2) are fixedly installed along substrate holder (9) is opposing parallel in the side on the top of substrate holder (9), direct current generator (16) is fixedly installed in the side of the bottom of substrate holder (9), double transmission tooth-like belt (3-4-4) is set along substrate holder (9) is opposing parallel in the substrate holder (9) of goods propulsive mechanism (3-4), opposing parallel setting feeding baffle plate (3-4-1) in the substrate holder (9) of goods propulsive mechanism (3-4), the both ends of feeding baffle plate (3-4-1) are connected with double transmission tooth-like belt (3-4-4)；Goods material on loading platform (3-4-3) is sent into freight lifting mechanism (3-3) by the double transmission tooth-like belt (3-4-4) of direct current generator (16) driving and feeding baffle plate (3-4-1)；The one end of the connecting gear (18) of goods is corresponding with the operation unit input port of stacking operation unit (3), and the other end and the goods propulsive mechanism (3-4) of the connecting gear (18) of goods are connected；The one end of the connecting gear (18) of pallet is connected with supply tray mechanism (3-1), the other end of the connecting gear (18) of pallet is connected with freight lifting mechanism (3-3), and the top ends of the other end of connecting gear (18) are corresponding with the operation unit output port of stacking operation unit (3)；Automatic Warehouse operation unit (4) sets storage loading platform (4-1), several warehouses (4-2), lane formula crane (4-3) and the loading platform (4-1) of shipment, the bottom of loading platform (4-1) main body sets chassis pedestal (4-1-2), chassis pedestal (4-1-2) is fixedly installed on Automatic Warehouse operation unit (4), runner (4-1-4) is fixedly installed in the top of chassis pedestal (4-1-2), the top of runner (4-1-4) sets rotating disk (4-1-6), direct current generator (16) is fixedly installed in the side of rotating disk (4-1-6), loading platform (4-1) main body is fixedly installed in the top of rotating disk (4-1-6), sensor (4-1-5) is fixedly installed in the side of loading platform (4-1) body top, detect the goods material on loading platform (4-1)；The top of loading platform (4-1) main body is opposing parallel to set chain wheel driving mechanism (4-1-3), duplex chain (2-2-2) is set on chain wheel driving mechanism (4-1-3), direct current generator (16) is fixedly installed in loading platform (4-1) main body, the output end and chain wheel driving mechanism (4-1-3) of direct current generator (16) are connected by roller chain (2-2-2), direct current generator (16) drives duplex chain (2-2-2) that the goods material detected is sent into lane formula crane (4-3) by roller chain (2-2-2) and chain wheel driving mechanism (4-1-3)；The main body of warehouse (4-2) is substrate holder (9), it is separated into several rectangular frames, opposing parallel two-by-two in the frame wall of substrate holder (9) to set goods holding station (4-4-1), the top of the goods holding station (4-4-1) of substrate holder (9) side sets detection sensor (4-4-2)；The opposing parallel setting lane formula crane (4-3) in middle part of Automatic Warehouse operation unit (4), walking guide rail (4-3-3) is set along Automatic Warehouse operation unit (4) is opposing parallel in lane formula crane (4-3) lower base, the one end of lane formula crane (4-3) pedestal sets photoelectric encoder (4-3-6) and storage picking thing mechanism (4-3-5), the other end of lane formula crane (4-3) pedestal sets direct current generator (16), direct current generator (16) driving storage picking thing mechanism (4-3-5) is moved horizontally along walking guide rail (4-3-3), the top for storing up picking thing mechanism (4-3-5) sets leading screw Driving Stepping Motor (19), leading screw (4-3-2) and storage picking thing device (4-3-4), the bottom of leading screw Driving Stepping Motor (19) sets leading screw (4-3-2), storage picking thing device (4-3-4) is set on leading screw (4-3-2), the bottom of leading screw (4-3-2) is connected with storage picking thing mechanism (4-3-5), stepper motor (19) driving leading screw (4-3-2) drives storage picking thing device (4-3-4) to move up and down；Vision-based detection operation unit (5) sets vision detection system (5-1), the conveyer mechanism (18) of goods, figure, image display (5-2) and image processor (5-3), the conveyer mechanism (18) of goods is arranged on the side of vision-based detection operation unit (5) along vision-based detection operation unit (5) relative level, and the one end of the conveyer mechanism (18) of goods sets detection sensor (5-1-2)；The opposite side of vision-based detection operation unit (5) sets figure, image display (5-2) and image processor (5-3), the middle part of the conveyer mechanism (18) of goods sets vision detection system (5-1), the conveyer mechanism (18) of goods is opposing parallel to run through vision detection system (5-1), the main body of vision detection system (5-1) is vision-based detection shield bracket (5-1-4), vision-based detection shield bracket (5-1-4) is across on the conveyer mechanism (18) of goods, the side of vision-based detection shield bracket (5-1-4) sets vision light source (5-1-3), vision-based detection shield bracket (5-1-4) top sets vision column (5-1-5), vision camera (5-1-6) is set on vision column (5-1-5)；Stamp operation unit (6) sets the connecting gear (18) and code printing mechanism (6-2) of goods, the connecting gear (18) of goods is arranged on stamp operation unit (6) along stamp operation unit (6) is opposing parallel, the side of the connecting gear (18) of goods sets goods to level detection sensor (6-1-1) and stamp sensors in place (6-1-2), and the side at the middle part of the connecting gear (18) of goods sets code printing mechanism (6-2)；Freight traffic direction control operation unit (7) sets monitoring display device (7-1), longitudinal direction transmission chain mechanism (7-2), cross drive chain mechanism (7-3) and elevating mechanism (7-4), the middle part of freight traffic direction control operation unit (7) sets monitoring display device (7-1), freight traffic direction controls operation unit (7) side to be controlled along freight traffic direction, and operation unit (7) is opposing parallel to set cross drive chain mechanism (7-3), the one end of cross drive chain mechanism (7-3) is corresponding with operation unit input port, the other end of cross drive chain mechanism (7-3) is connected with elevating mechanism (7-4), the section bar transmission wire body (7-2-2) of cross drive chain mechanism (7-3) controls operation unit (7) relative level to be arranged on the side that freight traffic direction controls operation unit (7) along freight traffic direction, chain supporting plate (7-2-3) is set along section bar transmission wire body (7-2-2) relative level between section bar transmission wire body (7-2-2), the one end of chain supporting plate (7-2-3) sets driven shaft (7-3-1), the other end of chain supporting plate (7-2-3) sets driving shaft (7-2-1) and alternating current generator (17), alternating current generator (17) driving driving shaft (7-2-1) drives the roller chain (2-2-2) being supported in chain supporting plate (7-2-3)；Freight traffic direction controls operation unit (7) side to set longitudinal direction transmission chain mechanism (7-2) along freight traffic direction control operation unit (7) Relative vertical, the one end of longitudinal direction transmission chain mechanism (7-2) is connected with elevating mechanism (7-4), the other end of cross drive chain mechanism (7-3) is corresponding with operation unit output port, the section bar transmission wire body (7-2-2) of longitudinal direction transmission chain mechanism (7-2) controls operation unit (7) relative level to be arranged on the side that freight traffic direction controls operation unit (7) along freight traffic direction, chain supporting plate (7-2-3) is set along section bar transmission wire body (7-2-2) relative level between section bar transmission wire body (7-2-2), the one end of chain supporting plate (7-2-3) sets driven shaft (7-3-1), the other end of chain supporting plate (7-2-3) sets driving shaft (7-2-1) and alternating current generator (17), alternating current generator (17) driving driving shaft (7-2-1) drives the roller chain (2-2-2) being supported in chain supporting plate (7-2-3)；The bottom of elevating mechanism (7-4) sets lifting base plate (7-4-1), cylinder (7-4-2) is fixedly installed in the top of lifting base plate (7-4-1), the guide pin bushing (7-4-9) of cylinder (7-4-2) and the top of guide pillar (7-4-10) set plate (7-4-3) in lifting, several six box type columns (7-4-4) are fixedly installed in the top of plate (7-4-3) in lifting, lifting upper plate (7-4-5) is fixedly installed in the top of six box type columns (7-4-4), direct current generator (16) is set between six box type columns (7-4-4), lift the opposing parallel setting rollers (7-4-6) in top of upper plate (7-4-5), several roll shafts (7-4-7) are set on rollers (7-4-6)；Direct current generator (16) drive roller shaft (7-4-7) is in goods after operation unit input port enters cross drive chain mechanism (7-3), realize that 90 ° change transmits chain mechanism (7-2) back into longitudinal direction by roll shaft (7-4-7), exported by operation unit output port；Loading unit (8) sets the connecting gear (18) of vanning, boxing mechanism (8-3) and several standby containers (8-2), the bottom substrate holder (9) of the connecting gear (18) of vanning, the bottom of substrate holder (9) is connected to a fixed with loading unit (8), the upper end of substrate holder (9) is opposing parallel to set crossbeam (8-1-1), the both ends of crossbeam (8-1-1) respectively set power transmission shaft (1-6-2) and tension-regulator (1-6-4), roller chain (2-2-2) is set between power transmission shaft (1-6-2) and tension-regulator (1-6-4), the one end of the connecting gear (18) of vanning is corresponding with the operation unit input port of loading unit (8), the bottom of crossbeam (8-1-1) sets direct current generator (16), goods roof support (8-1-4), lift cylinder (7-4-2), feed rod guide rail (8-1-6) and sliding block (8-1-7), goods roof support (8-1-4) one end is connected by sliding block (8-1-7) with the output end of direct current generator (16), lift cylinder (8-1-5) is fixedly installed in the bottom of goods roof support (8-1-4), direct current generator (16) is driven to drive goods roof support (8-1-4) mobile along feed rod guide rail (8-1-6), lift cylinder (7-4-2) is driven to drive goods roof support (8-1-4) raising and lowering；The other end of the connecting gear (18) of vanning sets boxing mechanism (8-3), fixed base plate (8-2-2) is fixedly installed in the bottom relative level of boxing mechanism (8-3), fixed base plate (8-2-2) is connected to a fixed with loading unit (8), hydraulic cylinder (8-1-5) and guide pillar (7-4-10) is fixedly installed in Relative vertical on fixed base plate (8-2-2), guide pillar (7-4-10) is arranged on hydraulic cylinder (8-1-5) both sides, lifting tray (8-2-1) is fixedly installed in the top relative level of hydraulic cylinder (8-1-5) and guide pillar (7-4-10), the full sensor (8-2-4) of goods is fixedly installed in the side of lifting tray (8-2-1), place container (8-2-3) in the top of lifting tray (8-2-1)；The opposite side of loading unit (8) places several standby containers (8-2).

2, logistics operation training system according to claim 1, it is characterized in that several described operation units realize the communication between each operation unit PLC by PC-LINK communication networks, constitute PLC control system, (-) terminal of the transmission line of terminal and E terminal short circuits, its network body structure is three-decker, wherein physical layer and data link layer is towards communication, application provides a user service, shared RAM communication in serial communication, to all marking one piece of memory block in each station communication unit, memory block occupies identical address number space at each station, shared memory is LINK areas, the token mode that LINK areas shared communication mode is only applicable between PLC and PLC exchanges information, it is N:N communicates.

3rd, logistics operation training system according to claim 1, it is characterised in that the executing agency in described operation unit is connected with intelligent protection module, the sensor in operation unit is connected with standard interface B and intelligent protection module；Standard interface is respectively provided with input terminal and lead-out terminal, the connection corresponding with the lead-out terminal of another standard interface of the input terminal of standard interface, standard interface A is fixedly installed on control panel (14), standard interface B, which is fixed, simply to be loaded in each operation unit, and pass through the servomotor in intelligent object and operation unit, alternating current generator, direct current generator, stepper motor is connected with cylinder, the on-site signal that various sensors are produced in operation unit is arranged on by circuit with standard interface B and intelligent protection module to be connected, power supply is inputted by standard interface A, by standard interface B power supply is provided to executing agency, standard interface A lead-out terminal is connected with PLC input port, standard interface A input terminal is connected with PLC output port；Standard interface B input terminal is connected with the sensor in operation unit; standard interface B lead-out terminal is connected with the input port of intelligent protection module; the output interface of intelligent protection module is connected with executing agency, and the sensor of operation unit is connected with the input interface of intelligent protection module；It is main to make signal and standard interface A output interface be connected, it is main to make signal be connected with the input interface of switching interface, the output interface of switching interface is connected with standard interface A input interface, PLC output interface is connected with switching interface, and PLC output interface is connected with standard interface A input interface.

4th, logistics operation training system according to claim 1, it is characterized in that it is controller or PIC single chip microcomputer or DSP single-chip microcomputers that the described single chip circuit being arranged in operation unit, which includes enhanced LPC900 series monolithics or ARM32, the logic circuit being arranged in operation unit includes PLD (PLD) or matrix circuit.

5th, logistics operation training system according to claim 1, it is characterized in that photoelectric sensor (2-1-5), capacitance sensor (2-1-1), color sensor (2-1-2) and idle capacity sensor (2-1-3) is fixedly installed along parallel band (1-6-1) in the top of the parallel band (1-6-1) of described connecting gear (18), cylinder fixed support (2-1-4) is fixedly installed in the side of capacitance sensor (2-1-1), color sensor (2-1-2) and idle capacity sensor (2-1-3)；Goods locating part (2-5-2) is fixedly installed along parallel band (1-6-1) in the top of the parallel band (1-6-1) of connecting gear (18), and the other end of parallel band (1-6-1) is corresponding with operation unit output port.

6, a kind of preparation method of logistics operation training system, it is characterized in that making rectangle operation unit pedestal (13) using section bar, operation unit control panel (14) is fixedly installed in the top of operation unit pedestal (13), manipulator assembling transport operation unit (1) is each fixedly installed in the top of operation unit pedestal (13) respectively, goods automatic identification cushion task unit (2), stacking operation unit (3), Automatic Warehouse operation unit (4), vision-based detection operation unit (5), stamp operation unit (6), freight traffic direction control operation unit (7) and loading unit (8)；Corresponding apparatus for work is set respectively on different operation units, each operation unit each sets the modular interface of single chip circuit and logic circuit as the electrical wiring mouthful of each device, including PLC export it is main make signal and sensor needed for line be connected directly on switching interface, the signal of PLC, sensor and actuator orientation is connected to terminal interface according to the flow direction of information flow；The different operation unit of selection is combined into operation training system, carries out step configuration, and the standard interface of each operation unit docks composition control system with industrial computer I/O capture cards or PLC or single-chip microcomputer or embedded computer.

7th, the preparation method of logistics operation training system according to claim 6, it is characterised in that displacement of goods rotating disk mechanism (1-1), goods material ejecting mechanism (1-2), goods material parallel moving mechanism (1-3), container ejecting mechanism (1-4), four-axle linked manipulator mechanism (1-5) and connecting gear (18) is fixedly installed in described manipulator assembling transport operation unit (1)；The connecting gear (18) stocked up, several sorting buffer pools (2-2) and the connecting gear (18) of shipment are fixedly installed in goods automatic identification cushion task unit (2)；The connecting gear (18) of supply tray mechanism (3-1), the connecting gear (18) of pallet, freight lifting mechanism (3-3), goods propulsive mechanism (3-4) and goods is fixedly installed in stacking operation unit (3)；Storage loading platform (4-1), the loading platform (4-1) of several warehouses (4-2), lane formula crane (4-3) and shipment are fixedly installed in Automatic Warehouse operation unit (4)；Vision detection system (5-1), goods conveyer mechanism (5-1-1), figure, image display (5-2) and image processor (5-3) is fixedly installed in vision-based detection operation unit (5)；The connecting gear (18) and thermoprint code printing mechanism (6-2) of goods are fixedly installed in stamp operation unit (6)；Monitoring display device (7-1), longitudinal direction transmission chain mechanism (7-2), cross drive chain mechanism (7-3) and elevating mechanism (7-4) are fixedly installed in freight traffic direction control operation unit (7)；The connecting gear (18), boxing mechanism (8-3) and several standby containers (8-2) of vanning are fixedly installed in loading unit (8).

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