CN102756928B - Method and device for automatic cargo loading - Google Patents

Method and device for automatic cargo loading Download PDF

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Publication number
CN102756928B
CN102756928B CN201210248968.7A CN201210248968A CN102756928B CN 102756928 B CN102756928 B CN 102756928B CN 201210248968 A CN201210248968 A CN 201210248968A CN 102756928 B CN102756928 B CN 102756928B
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China
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article
conveyer
compartment
robot
manipulator
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CN201210248968.7A
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Chinese (zh)
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CN102756928A (en
Inventor
钟奉金
郝春生
臧克友
徐忠华
刘建新
李忠华
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哈尔滨博实自动化股份有限公司
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Publication of CN102756928A publication Critical patent/CN102756928A/en
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Abstract

The invention provides a method for automatic cargo loading, comprising the following process steps: 1. carriage positioning; 2. vertical conveying; 3. horizontal offline; 4. conveying steering; 5. grouping; 6. grabbing; 7. layer-by-layer arranging; 8. stacking up; 9. backward movement of mechanism; and 10. complementation of loading. The device for implementing the method comprises a long conveyor (1), an offline mechanism (4), a lower chute (3), a transitional conveyor (11), a bend conveyor (10), a suspension conveyor (5), a grouping machine (9), a mechanical arm (6), a robot (7), a movable platform (8) and a guide rail (2), wherein the guide rail (2) is fixed on floor slabs of a plant (C), and a carriage (B) is arranged below the movable platform (8). Based on the characteristics of wide working range and flexible action of the robot, the method and device provided by the invention can stack up cargos regularly, can meet with the loading requirements of a goods van with a carriage plate and an overlength carriage and realizes the automatic loading of cargos.

Description

The method of goods automatic loading and device

Technical field

The present invention relates to a kind ofly automatically pack pocket or casing and other items into method in boxcar, belong to conveying, loading machine.

Background technology

In the manufacturing enterprises such as chemical fertilizer, chemical industry, grain, food, cement, sacked goods or case dress article need to be packed in the compartment of transporting cargo, and adopt suitable stacking form, so that goods keeps stable in transportation.Generally adopt at present the artificial mode at compartment ISN goods putting thing, this mode needs a large amount of manpowers, and labour intensity is large, inefficiency.Adopt in addition buttress goods and directly with fork truck, be loaded into the mode on lorry, but this kind of mode need to reclaim tray, brings certain problem of management.Patent documentation CN202046726U discloses a kind of bagged cement automatic loading machine, this carloader have move forward and backward, oscilaltion and the function that swings, realized the automatic loading of bagged cement, but the pocket that this carloader is piled up relies on free gravity to fall in compartment, the position of piling up is inaccurate, also pocket is not organized into groups and piled up, the belt conveyer that simultaneously needs to grow just can be applicable to the entrucking demand of long carriage very much.Patent documentation CN202046726U also discloses a kind of high desk-top automatic loading machine, adopts vacuum cup to draw pocket, and can realize the marshalling of pocket and pile up, but higher to the requirements for quality of packaging bag, and dust also can produce larger impact to vacuum system.

Summary of the invention

In order to realize automatic loading, the marshalling of sacked goods or case dress article and other items, pile up, the present invention proposes a kind of goods automatic loading method, and it comprises following process steps:

(1), determine orientation of truck compartment: empty wagons arrives after the assigned address in entrucking region, and robot (7) detects and locates the front and back position of compartment (B), position, left and right;

(2), longitudinally carry: the long conveyer (1) that throughput direction is consistent with compartment (B) length direction, is fed forward article (A);

(3), laterally roll off the production line: utilize lower thread mechanism (4) to make article (A) leave long conveyer (1), and make article (A) turn to 90 degree, its throughput direction is vertical with compartment (B) length direction;

(4), turn to conveying: curved conveyor (10) turns to 90 degree by article (A), makes the throughput direction of article (A) consistent with compartment (B) length direction, and is positioned in longitudinal symmetrical center line in compartment (B);

(5), marshalling: braiding machine (9) is article (A) all around location, or be close to and be integrated and location, left and right before and after will two above article (A);

(6), capture: manipulator (6) article (A) that crawl has been organized into groups from braiding machine (9);

(7), layer is piled up: robot (7) driving mechanical hand (6), the article (A) that capture are placed in the compartment (B) of braiding machine (9) front lower place, from nethermost ground floor, start to pile up article (A), and pile up according to the queueing discipline of setting, in the operating range of robot (7), complete the entrucking of one deck article (A), the width dimensions of every layer of article (A) is not more than the width dimensions of compartment (B);

(8), buttress is piled up: article (A) are piled up to top layer from the bottom, completed the entrucking of buttress article (A);

(9), after mechanism, move: mobile platform (8) band mobile robot (7), manipulator (6), braiding machine (9), slow conveyer (5), curved conveyor (10), transition conveyer (11), lower chute (3), the lower thread mechanism (4) of stopping move certain distance toward rear portion, compartment (B) together, start the entrucking of the second buttress article (A);

(10), entrucking completes: complete successively compartment (B) from article (A) the entrucking process at front portion to rear portion, mobile platform (8) moves to initial position forward, carries out next entrucking process.

In described automatic loading method, at braiding machine (9) robot (7) and manipulator (6) be each side set, two robots (7) and manipulator (6) hocket article (A) crawl and pile up action, common complete layer is piled up, is piled up neatly and pile up and whole entrucking work.

Adopt the device of above mentioned goods automatic loading method, it comprises long conveyer (1), long conveyer (1) along compartment the length direction of (B) arrange, the top of long conveyer (1) is provided with lower thread mechanism (4), lower thread mechanism (4) and long conveyer (1) are in an angle, one side of long conveyer (1) is provided with throughput direction perpendicular to the lower chute (3) of long conveyer (1), lower chute (3) is located substantially on the line of centers of long conveyer (1) in the upper reflected ray direction forming of lower thread mechanism (4), the lower end outlet of lower chute (3) is connected with the rear end entrance of transition conveyer (11), the front end exit of transition conveyer (11) is connected with turning to the rear end entrance of the curved conveyor (10) of 90 degree, the front end exit of curved conveyor (10) is connected with the slow rear end entrance that stops conveyer (5), slow stop conveyer (5) and be positioned on the longitudinal centerline of compartment (B), slow front end exit of stopping conveyer (5) is connected with the rear end entrance of braiding machine (9), the side, the place ahead of braiding machine (9) is provided with robot (7), the end of robot (7) is fixedly connected with manipulator (6), robot (7), braiding machine (9), the slow conveyer (5) that stops, curved conveyor (10), transition conveyer (11), lower chute (3), lower thread mechanism (4) is all fixed on mobile platform (8), mobile platform (8) can move forward and backward along guide rail (2), guide rail (2) is fixed on the floor of factory building (C), compartment (B) is positioned at the below of mobile platform (8).

Described manipulator (6) comprises frame (6-1), the left and right sides, lower end of frame (6-1) is provided with slide rail (6-8), the middle part, lower end of frame (6-1) is provided with palette fork cylinder (6-5), slide rail (6-8) below hangs slide block (6-7), slide block (6-7) lower end is fixed in palette fork (6-4), palette fork (6-4) is driven by palette fork cylinder (6-5), the left and right sides, lower end of frame (6-1) is also provided with presses bag cylinder (6-2), press the cylinder bar of bag cylinder (6-2) to be connected with pressing bag bar (6-3), the rear portion, lower end of frame (6-1) is provided with gear bag plate (6-6).

Longitudinal center's face (D) of described manipulator (6) is not more than the width of article (A) to the ultimate range of leading section.

Described robot (7) and manipulator (6) have two, are separately positioned on the left and right sides of braiding machine (9).

The invention has the beneficial effects as follows: utilize the feature that operating range is large, flexibility is moved of robot, realize the rule of goods and pile up, can adapt to the car loading operation that has side carriage plate compartment simultaneously; Utilize the mode of loading apparatus integrated moving, adapt to the requirement of different car length; Utilize holder fork type mechanical hand carry out goods crawl and pile up, realize the seamless pile between buttress and buttress, maximally utilised the inner space in compartment.By loading method and the device of global optimization, realized the fast automatic entrucking of goods, system architecture is simple.

Accompanying drawing explanation

Fig. 1 is that three-dimensional axle of the present invention is surveyed view.

Fig. 2 is left view of the present invention.

Fig. 3 is the front view of manipulator (6).

Fig. 4 is the birds-eye view of manipulator (6).

Fig. 5 is odd-level stacking form schematic diagram.

Fig. 6 is even level stacking form schematic diagram.

Fig. 7 is compartment (B) rear portion entrucking work schematic diagram.

The specific embodiment

The specific embodiment of the present invention is referring to Fig. 1 to Fig. 7, for different article A sizes and compartment B width dimensions, can adopt different organizational systems and stacking form, suppose that article A is of a size of 600mm (length) * 400mm (wide), the width dimensions of compartment B is 2200mm, and a kind of specific embodiment of the present invention is as follows:

A goods automatic loading method, it comprises following process steps:

(1), determine orientation of truck compartment: empty wagons arrives after the assigned address in entrucking region, and front and back position, the position, left and right of 7 couples of compartment B of robot are detected and locate;

(2), longitudinally carry: the long conveyer 1 that throughput direction is consistent with compartment B length direction, is fed forward article A;

(3), laterally roll off the production line: utilize lower thread mechanism 4 to make article A leave long conveyer 1, and make article A turn to 90 degree, its throughput direction is vertical with compartment B length direction;

(4), turn to conveying: curved conveyor 10 turns to 90 degree by article A, makes the throughput direction of article A consistent with compartment B length direction, and is positioned in longitudinal symmetrical center line of compartment B;

(5), marshalling: braiding machine 9 is close to two article A front and back and is integrated also location, left and right;

(6), capture: manipulator 6 captures from braiding machine 9 two article A that organized into groups;

(7), layer is piled up: robot 7 driving mechanical hands 6, two article A that capture are placed in the compartment B of braiding machine 9 front lower places, from nethermost ground floor, start to pile up article A, in the operating range of robot 7, complete the entrucking of one deck article A, the width dimensions of every layer of article A is less than the width dimensions of compartment B, wherein odd-level is piled up article A according to rule shown in Fig. 5, and even level is piled up article A according to rule shown in Fig. 6;

(8), buttress is piled up: article A is piled up to top layer from the bottom, complete the entrucking of a buttress article A;

(9), after mechanism, move: mobile platform 8 moves the distance of 1200mm together with mobile robot 7, manipulator 6, braiding machine 9, slow conveyer 5, curved conveyor 10, transition conveyer 11, lower chute 3, the lower thread mechanism 4 of stopping toward B rear portion, compartment, start the entrucking of the second buttress article A;

(10), entrucking completes: complete successively compartment B from the article A entrucking process at front portion to rear portion, mobile platform 8 moves to initial position forward, carries out next entrucking process.

In above mentioned goods automatic loading method, braiding machine 9 each side arrange a robot 7 and 6, two robots 7 of manipulator and manipulator 6 hocket article A crawl and pile up action, common complete layer is piled up, is piled up neatly and pile up and whole entrucking work.

Adopt the device of above mentioned goods automatic loading method, it comprises long conveyer 1, long conveyer 1 is arranged along the length direction of compartment B, the top of long conveyer 1 is provided with lower thread mechanism 4, lower thread mechanism 4 and long conveyer 1 are in an angle, the left side of long conveyer 1 is provided with throughput direction perpendicular to the lower chute 3 of long conveyer 1, lower chute 3 is located substantially in the reflected ray direction that the line of centers of long conveyer 1 forms on lower thread mechanism 4, the lower end outlet of lower chute 3 is connected with the rear end entrance of transition conveyer 11, the front end exit of transition conveyer 11 is connected with turning to the rear end entrance of the curved conveyor 10 of 90 degree, the front end exit of curved conveyor 10 is connected with the slow rear end entrance that stops conveyer 5, slow stop conveyer 5 and be positioned on the longitudinal centerline of compartment B, slow stop the front end exit of conveyer 5 and the rear end entrance of braiding machine 9 is connected, the place ahead of braiding machine 9 is each side provided with a robot 7, the end of robot 7 is fixedly connected with manipulator 6, the crawl and the layer that utilize robot 7 and manipulator 6 to complete article A are piled up and buttress is piled up, robot 7, braiding machine 9, the slow conveyer 5 that stops, curved conveyor 10, transition conveyer 11, lower chute 3, lower thread mechanism 4 is all fixed on mobile platform 8, mobile platform 8 can move forward and backward along guide rail 2, guide rail 2 is fixed on the floor of factory building C, compartment B is positioned at the below of mobile platform 8.

Above-mentioned manipulator 6 comprises frame 6-1, the left and right sides, lower end of frame 6-1 is provided with slide rail 6-8, the middle part, lower end of frame 6-1 is provided with palette fork cylinder 6-5, slide rail 6-8 below hangs slide block 6-7, slide block 6-7 lower end is fixed on palette fork 6-4, palette fork 6-4 is driven by palette fork cylinder 6-5, the left and right sides, lower end of frame 6-1 is also provided with presses bag cylinder 6-2, press the cylinder bar of bag cylinder 6-2 to be connected with pressing bag bar 6-3, the rear portion, lower end of frame 6-1 is provided with gear bag plate 6-6, and the face D of longitudinal center of manipulator 6 is not more than the width of article A to the ultimate range of leading section.

Claims (6)

1. a goods automatic loading method, it comprises following process steps:
(1), determine orientation of truck compartment: empty wagons arrives after the assigned address in entrucking region, and robot (7) detects and locates the front and back position of compartment (B), position, left and right;
(2), longitudinally carry: the long conveyer (1) that throughput direction is consistent with compartment (B) length direction, is fed forward article (A);
(3), laterally roll off the production line: utilize lower thread mechanism (4) to make article (A) leave long conveyer (1), and make article (A) turn to 90 degree, its throughput direction is vertical with compartment (B) length direction;
(4), turn to conveying: curved conveyor (10) turns to 90 degree by article (A), makes the throughput direction of article (A) consistent with compartment (B) length direction, and is positioned in longitudinal symmetrical center line in compartment (B);
(5), marshalling: braiding machine (9) is article (A) all around location, or be close to and be integrated and location, left and right before and after will two above article (A);
(6), capture: manipulator (6) article (A) that crawl has been organized into groups from braiding machine (9);
(7), layer is piled up: robot (7) driving mechanical hand (6), the article (A) that capture are placed in the compartment (B) of braiding machine (9) front lower place, from nethermost ground floor, start to pile up article (A), and pile up according to the queueing discipline of setting, in the operating range of robot (7), complete the entrucking of one deck article (A), the width dimensions of every layer of article (A) is not more than the width dimensions of compartment (B);
(8), buttress is piled up: article (A) are piled up to top layer from the bottom, completed the entrucking of buttress article (A);
(9), after mechanism, move: mobile platform (8) band mobile robot (7), manipulator (6), braiding machine (9), slow conveyer (5), curved conveyor (10), transition conveyer (11), lower chute (3), the lower thread mechanism (4) of stopping move certain distance toward rear portion, compartment (B) together, start the entrucking of the second buttress article (A);
(10), entrucking completes: complete successively compartment (B) from article (A) the entrucking process at front portion to rear portion, mobile platform (8) moves to initial position forward, carries out next entrucking process.
2. goods automatic loading method according to claim 1, it is characterized in that: at braiding machine (9) robot (7) and manipulator (6) be each side set, two robots (7) and manipulator (6) hocket article (A) crawl and pile up action, common complete layer is piled up, is piled up neatly and pile up and whole entrucking work.
3. a goods automatic loading device, it comprises long conveyer (1), long conveyer (1) along compartment the length direction of (B) arrange, the top of long conveyer (1) is provided with lower thread mechanism (4), lower thread mechanism (4) and long conveyer (1) are in an angle, one side of long conveyer (1) is provided with throughput direction perpendicular to the lower chute (3) of long conveyer (1), lower chute (3) is located substantially on the line of centers of long conveyer (1) in the upper reflected ray direction forming of lower thread mechanism (4), the lower end outlet of lower chute (3) is connected with the rear end entrance of transition conveyer (11), the front end exit of transition conveyer (11) is connected with turning to the rear end entrance of the curved conveyor (10) of 90 degree, the front end exit of curved conveyor (10) is connected with the slow rear end entrance that stops conveyer (5), slow stop conveyer (5) and be positioned on the longitudinal centerline of compartment (B), slow front end exit of stopping conveyer (5) is connected with the rear end entrance of braiding machine (9), the side, the place ahead of braiding machine (9) is provided with robot (7), the end of robot (7) is fixedly connected with manipulator (6), the crawl and the layer that utilize robot (7) and manipulator (6) to complete article (A) are piled up and buttress is piled up, robot (7), braiding machine (9), the slow conveyer (5) that stops, curved conveyor (10), transition conveyer (11), lower chute (3), lower thread mechanism (4) is all fixed on mobile platform (8), mobile platform (8) can move forward and backward along guide rail (2), guide rail (2) is fixed on the floor of factory building (C), compartment (B) is positioned at the below of mobile platform (8).
4. goods automatic loading device according to claim 3, it is characterized in that: manipulator (6) comprises frame (6-1), the left and right sides, lower end of frame (6-1) is provided with slide rail (6-8), the middle part, lower end of frame (6-1) is provided with palette fork cylinder (6-5), slide rail (6-8) below hangs slide block (6-7), slide block (6-7) lower end is fixed in palette fork (6-4), palette fork (6-4) is driven by palette fork cylinder (6-5), the left and right sides, lower end of frame (6-1) is also provided with presses bag cylinder (6-2), press the cylinder bar of bag cylinder (6-2) to be connected with pressing bag bar (6-3), the rear portion, lower end of frame (6-1) is provided with gear bag plate (6-6).
5. goods automatic loading device according to claim 3, is characterized in that: longitudinal center's face (D) of manipulator (6) is not more than the width of article (A) to the ultimate range of leading section.
6. goods automatic loading device according to claim 3, is characterized in that: robot (7) and manipulator (6) have two, are separately positioned on the left and right sides of braiding machine (9).
CN201210248968.7A 2012-07-18 2012-07-18 Method and device for automatic cargo loading CN102756928B (en)

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Application Number Priority Date Filing Date Title
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CN102756928B true CN102756928B (en) 2014-07-16

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CN103395638B (en) * 2013-07-26 2015-04-22 哈尔滨博实自动化股份有限公司 Single-robot simple automatic loading unit
CN103922160B (en) * 2014-01-26 2016-08-17 交通运输部水运科学研究所 Cargo train Load System
CN103922159B (en) * 2014-01-26 2016-04-13 交通运输部水运科学研究所 Cargo train stowage
CN103979321B (en) * 2014-05-26 2016-04-27 山东长江粮油仓储机械有限公司 Goods automatic loading piling all-in-one
CN105692193A (en) * 2016-03-31 2016-06-22 淄博鸿创机器人科技有限公司 Intelligent finished product assembly line for aluminum alloy bars
CN106167179B (en) * 2016-07-20 2019-01-22 李春海 Movable type overturning carloader
CN107572269A (en) * 2017-09-20 2018-01-12 四川大学 A kind of coiled material automatic loading device and its automatic loading technique
CN109178978B (en) * 2018-06-29 2020-02-07 浙江大学 Full-automatic high-speed loader of container commodity circulation
CN109178950B (en) * 2018-06-29 2020-02-07 浙江大学 Automatic material stacking device
CN109205345B (en) * 2018-06-29 2020-02-07 浙江大学 Full-automatic high-speed material loader
CN109051874A (en) * 2018-07-19 2018-12-21 芜湖固高自动化技术有限公司 A kind of truss load system
CN109677953B (en) * 2018-12-24 2020-06-26 台州高知科技有限公司 Bagged material loading system

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