CN106276325A - Van automatic loading system - Google Patents
Van automatic loading system Download PDFInfo
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- CN106276325A CN106276325A CN201610785748.6A CN201610785748A CN106276325A CN 106276325 A CN106276325 A CN 106276325A CN 201610785748 A CN201610785748 A CN 201610785748A CN 106276325 A CN106276325 A CN 106276325A
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- Prior art keywords
- compartment
- transfer gantry
- goods
- platform
- control device
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
- B65G67/04—Loading land vehicles
- B65G67/20—Loading covered vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
- B65G67/24—Unloading land vehicles
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Loading Or Unloading Of Vehicles (AREA)
- Stacking Of Articles And Auxiliary Devices (AREA)
Abstract
The invention discloses a kind of van automatic loading system, including: being arranged at ground foundation platform and the transfer car(buggy) for transshipment cargo, transfer car(buggy) includes the compartment for containing goods, and the Rear Door in compartment is flexibly connected with side plate and passes in and out compartment for goods；Slidably supported on foundation platform have transfer gantry, it is attached on the sidewall of transfer gantry extend and for transmitting the connecting gear of goods along its translation direction, transfer gantry connects the drive mechanism for driving it to translate, and drive mechanism is connected to drive transfer gantry to translate to be stretched in compartment by the Rear Door in compartment under control of the control means with controlling device；On transfer gantry, the cantilever end for stretching in compartment is provided with robot palletizer, robot palletizer is connected with under control of the control means by the goods piling successively that transmits on connecting gear to compartment with controlling device, or by the goods in compartment successively de-stacking to connecting gear.
Description
Technical field
The present invention relates to stream machine equipment field, especially, relate to a kind of van automatic loading system.
Background technology
Along with the Internet, Internet of Things expanding economy, development of logistics line is rapid, and due to the increase of human cost and work
Make the severe of environment, cause the necessity of intelligence loading system research and development.At present, goods entrucking, major part of unloading use flexible defeated
Send machine+artificial or mode of transfer robot, i.e. use extendable conveyor conveying articles in railway carriage or compartment, then re-use artificial or adopt
With transfer robot, the goods on extendable conveyor is carried in compartment, or directly uses straddle truck rack and panel construction directly by goods
Thing lifts above compartment, then re-uses manually or goods is carried in compartment by transfer robot.
The mode of the mode of extendable conveyor+transfer robot or gantry lifting is the most only suitable for the lorry car of open type
Railway carriage or compartment, opens the door or the boxcar of back opening door for side, the most easily there is Railway Project: 1) automaticity is relatively low, and
When extendable conveyor or portal jib crane conveying articles, position is not accurate enough, increases the difficulty that transfer robot transports goods；2) car
Inner space, railway carriage or compartment is less, is inconvenient to check entrucking situation in compartment, and easily contracts with flexible during transfer robot operation during entrucking
Machine and compartment is sent to interfere；3) driver is precisely stopped difficulty, affects the entrucking of follow-up compartment goods, operation of unloading.
Summary of the invention
The invention provides a kind of van automatic loading system, to solve the automatization that existing entrucking mode exists
Degree is low, goods conveying positions inaccurate technical problem.
The technical solution used in the present invention is as follows:
A kind of van automatic loading system, including: it is arranged at ground foundation platform and for transshipment cargo
Transfer car(buggy), transfer car(buggy) includes the compartment for containing goods, and the Rear Door in compartment is flexibly connected with side plate and passes in and out car for goods
Railway carriage or compartment；Slidably supported on foundation platform have transfer gantry, transfer gantry is attached to extend and for transmitting along its translation direction
The connecting gear of goods, transfer gantry connects the drive mechanism for driving it to translate, and drive mechanism is connected with controlling device
To drive transfer gantry to translate to be stretched in compartment by the Rear Door in compartment under control of the control means；Use on transfer gantry
Cantilever end in stretching into compartment is provided with robot palletizer, and robot palletizer is connected with controlling device with in the control controlling device
By in the goods piling successively that transmits on connecting gear to compartment under system, or by the goods in compartment successively de-stacking to connecting gear
On.
Further, van automatic loading system also includes for positioning compartment ISN buttress or the three-dimensional of de-stacking position
The vision positioning device of coordinate, vision positioning device is arranged at the end of transfer gantry cantilever end and is connected to incite somebody to action with controlling device
The piling obtained or the three-dimensional coordinate information of de-stacking position are sent to control device, control device and receive three-dimensional coordinate information with control
Position that goods piling to three-dimensional coordinate information is indicated by robot palletizer processed or the position that three-dimensional coordinate information is indicated
Goods de-stacking on connecting gear.
Further, described vision positioning device includes for clapping the piling of described compartment inner chamber or de-stacking position
According to three-dimensional camera, be connected the picture that described three-dimensional camera is absorbed is converted into visual coordinate information with described three-dimensional camera
Camera controller and light source, described camera controller is connected described visual coordinate information is sent to institute with described control device
Stating control device, described control device receives described visual coordinate information and according to piling described in described visual coordinate information-driven
Robot is by the position of goods piling to described visual coordinate information indicating or by described visual coordinate information indicating position
On goods de-stacking extremely described connecting gear.
Further, what described vision positioning device included for the piling of described compartment inner chamber or de-stacking position is any
Two-dimensional camera that two orientation carry out taking pictures, it is connected to be converted into the picture that described two-dimensional camera is absorbed with described two-dimensional camera
The camera controller of visual coordinate information, light source, for measuring piling or the de-stacking position of described compartment inner chamber on third party position
And the first pitch sensors of the first spacing between described transfer gantry cantilever end；Between described camera controller and described first
All it is connected respectively visual coordinate information and the first pitch information to be sent to described control with described control device away from sensor
Device, described control device receives described visual coordinate information and described first pitch information to obtain the code of described compartment inner chamber
Buttress or the three-dimensional coordinate of de-stacking position, and drive described robot palletizer by goods piling to described three according to described three-dimensional coordinate
Position that dimension coordinate indicates or by the goods de-stacking at described three-dimensional coordinate marker location on described connecting gear.
Further, foundation platform is L-shaped, including for install transfer gantry and drive mechanism erecting bed and with peace
The reference platform that dress platform is connected, the junction with reference to platform with erecting bed constitutes the stop district for parking transfer car(buggy).
Further, van automatic loading system also includes for instructing the driver of transfer car(buggy) to carry out shut-down operation
Parking indicator, parking indicator is arranged at reference to being connected with the side plate in compartment and reference on platform and with controlling device
Distance between platform side does not meets preset value alarm prompting driver, and between car side board and reference platform side
Distance drive drive mechanism action when meeting preset value.
Further, parking indicator includes multiple for measuring car side board and with reference to the distance between platform side
Second distance measuring sensor and the alarm for warning；Multiple second distance measuring sensors are spaced successively along the length direction with reference to platform
Being arranged at reference on platform, alarm is arranged at reference on platform；Multiple second distance measuring sensors and alarm all with control device phase
Even to be sent to control device by car side board and with reference to the range information between platform side, control device receiving range information with
Order alarm equipment alarm when at car side board and not meeting preset value with reference to the distance between platform side, and at car side board
And drive drive mechanism action when meeting preset value with reference to the distance between platform side.
Further, the quantity of the second distance measuring sensor is three, and second distance measuring sensor is near the front end in compartment
Side plate in order to measure front end, compartment is set and with reference to the distance between platform side, another two the second distance measuring sensor is near compartment
Tail end set gradually, in order to measure the side plate of compartment tail end and with reference to the distance between platform side；Alarm is near transfer car(buggy)
Driver's cabin arrange.
Further, on erecting bed, length direction along transfer gantry is interval with multiple for supporting transfer gantry successively
Supporting ground, each supporting ground is provided with the position-limited rack for supporting with transfer gantry, to prevent the cantilever end of transfer gantry
During sinking, transfer gantry is upwards kicked up.
Further, position-limited rack is provided with and multiple abuts with the translation to transfer gantry for the upper end face with transfer gantry
Carry out the first guide roller guided；It is interval with multiple for abutting with the bottom surface of transfer gantry with right on erecting bed successively
The translation of transfer gantry carries out the second guide roller guided.
Further, erecting bed is provided with the mounting groove of the length direction extension along transfer gantry, and drive mechanism includes edge
Two sprocket wheels that the translation direction of transfer gantry is arranged at intervals in mounting groove successively, on two sprocket wheels, tensioning has driving-chain, defeated
Sending support to be connected on driving-chain translate with driving-chain, one of them sprocket wheel connects the driving motor driving its rotation.
The method have the advantages that
The van automatic loading system entrucking of the present invention, prosthetic participates in when unloading, and compares existing flexible contracting and send
The entrucking mode of machine+transfer robot or artificial entrucking mode or portal jib crane+artificial, the van of the present invention is disguised automatically
Car system entrucking, automaticity of unloading height；In the van automatic loading system of the present invention, for transmitting the transmission of goods
Mechanism is attached on transfer gantry, and transfer gantry is connected with drive mechanism to translate under the driving of drive mechanism, thus drives
Connecting gear translates by incoming for goods compartment or outwards to be spread out of by compartment, compares existing by extendable conveyor or portal jib crane
Transmit goods, accurate positioning when transfer gantry drives connecting gear to make goods transmit by the way of moving to transmit goods, just
Piling or de-stacking operation in follow-up robot palletizer.
In addition to objects, features and advantages described above, the present invention also has other objects, features and advantages.
Below with reference to figure, the present invention is further detailed explanation.
Accompanying drawing explanation
The accompanying drawing of the part constituting the application is used for providing a further understanding of the present invention, and the present invention's is schematic real
Execute example and illustrate for explaining the present invention, being not intended that inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 is the first space structure schematic diagram of the van automatic loading system of the preferred embodiment of the present invention；
Fig. 2 is the second space structural representation of van automatic loading system in Fig. 1；
Fig. 3 is the segment space structural representation of van automatic loading system in Fig. 1；
Fig. 4 is the partial enlargement structural representation of van automatic loading system in Fig. 1.
Marginal data
10, foundation platform；11, erecting bed；12, with reference to platform；101, mounting groove；20, transfer car(buggy)；21, compartment；30, conveying
Support；40, connecting gear；50, drive mechanism；60, robot palletizer；70, vision positioning device；71, two-dimensional camera；72,
One pitch sensors；80, parking indicator；81, the second distance measuring sensor；82, alarm；90, supporting ground；110, spacing
Frame；120, the first guide roller；130, the second guide roller；140, fixture.
Detailed description of the invention
Below in conjunction with accompanying drawing, embodiments of the invention are described in detail, but the present invention can be defined by the claims
Implement with the multitude of different ways covered.
With reference to Fig. 1, the preferred embodiments of the present invention provide a kind of van automatic loading system, including: it is arranged at
Ground foundation platform 10 and the transfer car(buggy) 20 for transshipment cargo, transfer car(buggy) 20 includes the compartment 21 for containing goods,
The Rear Door in compartment 21 is flexibly connected with side plate and passes in and out compartment 21 for goods；Slidably supported on foundation platform 10 have transfer gantry
30, the sidewall of transfer gantry 30 is attached to extend and for transmitting the connecting gear 40 of goods along its translation direction, conveying
Frame 30 connects the drive mechanism 50 for driving it to translate, and drive mechanism 50 is connected with controlling device with in the control controlling device
System lower driving transfer gantry 30 translates and stretches in compartment 21 with the Rear Door by compartment 21；It is used for stretching into car on transfer gantry 30
Cantilever end in railway carriage or compartment 21 is provided with robot palletizer 60, and robot palletizer 60 is connected with controlling device with in the control controlling device
Lower by the goods piling successively transmitted on connecting gear 40 in compartment 21, or by the goods in compartment 21 successively de-stacking to transmission
In mechanism 40.When the van automatic loading system of the present invention works, drive mechanism 50 starts under control of the control means
With drive transfer gantry 30 translate, transfer gantry 30 under the driving of drive mechanism 50 its cantilever end by the Rear Door in compartment 21
Stretch in compartment 21, be attached to transfer gantry 30 owing to transmitting the connecting gear 40 of goods along the translation direction of transfer gantry 30
On sidewall, therefore when the cantilever end of transfer gantry 30 stretches into compartment 21, one end of connecting gear 40 is stretched into compartment 21 the most simultaneously, is connect
, robot palletizer 60 starts the piling successively of the goods to be transmitted by connecting gear 40 under control of the control means in compartment 21
In or by the goods de-stacking successively deposited in compartment 21 to connecting gear 40, thus realize the automatic loading of goods or unload
Operation.The van automatic loading system entrucking of the present invention, prosthetic participates in when unloading, compare existing flexible contracting send machine+
The entrucking mode of transfer robot or artificial entrucking mode or portal jib crane+artificial, the van automatic loading of the present invention
System entrucking, automaticity of unloading height；In the van automatic loading system of the present invention, for transmitting the conveyer of goods
Structure 40 is attached on transfer gantry 30, and transfer gantry 30 is connected with drive mechanism 50 to translate under the driving of drive mechanism 50,
Thus drive connecting gear 40 to translate by incoming for goods compartment 21 or outwards to be spread out of by compartment 21, compare existing by flexible defeated
Send machine or portal jib crane to transmit goods, drive connecting gear 40 to make goods by the way of moving to transmit goods by transfer gantry 30
Accurate positioning during transmission, it is simple to the piling of follow-up robot palletizer 60 or de-stacking operation.
Alternatively, as it is shown in figure 1, van automatic loading system also includes piling or de-stacking in positioning compartment 21
The vision positioning device 70 of the three-dimensional coordinate of position, vision positioning device 70 be arranged at transfer gantry 30 cantilever end end and with
Control device is connected and is sent to control device with the three-dimensional coordinate information by the piling of acquisition or de-stacking position, controls device and receives
Three-dimensional coordinate information is to control the position that indicated by goods piling to three-dimensional coordinate information of robot palletizer 60 or by three-dimensional seat
The goods de-stacking of the position of mark information indicating is on connecting gear 40.By arranging vision positioning device 70 to position compartment 21
Interior piling or the three-dimensional coordinate of de-stacking position, thus accurately instruct robot palletizer 60 by goods piling to three-dimensional coordinate information mark
The position that shows or the goods de-stacking of position that indicated by three-dimensional coordinate information are on connecting gear 40, though therefore compartment 21
Inner space is narrow and small, is not easy to watch piling or the de-stacking operation of goods in compartment, it is possible to by vision positioning device 70 to car
In railway carriage or compartment 21, the three-dimensional coordinate of piling or de-stacking position positions, thus accurately instructs piling or the de-stacking behaviour of robot palletizer 60
Make.
The first embodiment of the present invention, vision positioning device 70 includes for the piling of compartment 21 inner chamber or de-stacking position
The three-dimensional camera that carries out taking pictures, be connected the phase so that the picture that three-dimensional camera is absorbed to be converted into visual coordinate information with three-dimensional camera
Machine controller and light source, camera controller is connected to be sent to visual coordinate information control device with controlling device, controls dress
Put reception visual coordinate information and according to visual coordinate information-driven robot palletizer 60 by goods piling to visual coordinate information
Indicate position or by the goods de-stacking of visual coordinate information indicating position to connecting gear 40.
As shown in Figure 4, the second embodiment of the present invention, unlike first embodiment, vision positioning device 70 includes
For the two-dimensional camera 71 that the piling of compartment 21 inner chamber or any two orientation of de-stacking position are taken pictures and two-dimensional camera
It is connected the picture that two-dimensional camera is absorbed is converted into the camera controller of visual coordinate information, light source, is used for measuring third party
First spacing sensing of the first spacing between piling or de-stacking position and transfer gantry 30 cantilever end of compartment 21 inner chamber on position
Device 72；Camera controller and the first pitch sensors 72 are all connected with control device with respectively by between visual coordinate information and first
It is sent to control device away from information, controls device and receive visual coordinate information and the first pitch information to obtain compartment 21 inner chamber
Piling or the three-dimensional coordinate of de-stacking position, and drive robot palletizer 60 by goods piling to three-dimensional coordinate mark according to three-dimensional coordinate
The position that shows or by the goods de-stacking at three-dimensional coordinate marker location to connecting gear 40.
The concrete control process of the second embodiment of the present invention is: when transfer gantry 30 stretches in compartment 21, two-dimensional phase
The piling of compartment 21 inner chamber or any two orientation of de-stacking position are taken pictures and the picture of picked-up are sent to phase by machine 71
Machine controller, visual coordinate information is sent to control dress after receiving picture and being converted into visual coordinate information by camera controller
Putting, meanwhile, the first pitch sensors 72 measures the piling of compartment 21 inner chamber on third party position or de-stacking position and transfer gantry 30
First pitch information also is sent to control device by the first spacing between cantilever end, control device receive visual coordinate information and
First pitch information, to obtain piling or the three-dimensional coordinate of de-stacking position of compartment 21 inner chamber, drives code finally according to three-dimensional coordinate
The action of buttress robot 60 is torn open with the position indicated by goods piling to three-dimensional coordinate or by the goods at three-dimensional coordinate marker location
Piling up neatly on connecting gear 40, and after completing the piling of a row or multi-row goods, drive mechanism 50 drives transfer gantry 30 to fall back one
Fixed distance, and from newly starting the palletization operations of next round, or after completing the de-stacking of a row or multi-row goods, drive mechanism 50 is driven
Dynamic transfer gantry 30 advances a certain distance, and from newly starting the de-stacking operation of next round.
Alternatively, as in figure 2 it is shown, foundation platform 10 is L-shaped, including for installing transfer gantry 30 and drive mechanism 50
Erecting bed 11 and be connected with erecting bed 11 with reference to platform 12, constitute with reference to the junction of platform 12 with erecting bed 11 and be used for parking turn
The stop district of fortune car 20.
Preferably, as in figure 2 it is shown, van automatic loading system also includes for instructing the driver of transfer car(buggy) 20 to enter
The parking indicator 80 of row shut-down operation, parking indicator 80 be arranged at reference on platform 12 and with control device be connected with
The side plate in compartment 21 and do not meet preset value alarm prompting driver with reference to the distance between platform 12 side, and in compartment
21 side plates and drive drive mechanism 50 action when meeting preset value with reference to the distance between platform 12 side.By arranging parking
Instruction device 80 is to instruct driver precisely to be docked at by transfer car(buggy) 20 in stop district, consequently facilitating the dress of follow-up compartment goods
Car, operation of unloading.
Specifically, parking indicator 80 include multiple for measure compartment 21 side plate and with reference between platform 12 side away from
From the second distance measuring sensor 81 and for report to the police alarm 82；Multiple second distance measuring sensors 81 are along the length with reference to platform 12
Direction is arranged at intervals at successively with reference on platform 12, and alarm 82 is arranged at reference on platform 12；Multiple second distance measuring sensor 81 Hes
Alarm 82 all with control device be connected with by compartment 21 side plate and with reference to the range information between platform 12 side be sent to control
Device, controls device receiving range information to preset at compartment 21 side plate and not meeting with reference to the distance between platform 12 side
Drive alarm 82 to report to the police during value, and drive when at compartment 21 side plate and meeting preset value with reference to the distance between platform 12 side
Dynamic drive mechanism action.During parking, the second distance measuring sensor 81 measures compartment 21 side plate and with reference to the 4th between platform 12 side
4th pitch information also is sent to control device by spacing, controls device and receives the 4th pitch information and at the 4th pitch information mark
Alarm 82 is driven to report to the police the position pointing out driver to readjust compartment 21 when the 4th spacing shown does not meets preset value
Put, drive drive mechanism 50 action when the 4th spacing that the 4th pitch information indicates meets preset value.Stopped by setting
Car instruction device 80 is used for instructing driver's shut-down operation so that compartment 21 is in corresponding position, it is simple to subsequent delivery support 30
It is exactly in compartment 21.
In the present embodiment, as in figure 2 it is shown, the quantity of the second distance measuring sensor 81 is three, second distance measuring sensor
81 arrange the distance between the side plate in order to measure front end, compartment 21 and reference platform 12 side, another two near the front end in compartment 21
Second distance measuring sensor 81 tail end near compartment 21 sets gradually, in order to measure side plate and reference platform 12 side of compartment 21 tail end
Distance between limit；Alarm 82 is arranged near the driver's cabin of transfer car(buggy) 20.
Alternatively, as shown in Figures 2 and 3, on erecting bed 11, length direction along transfer gantry 30 is interval with many successively
The individual supporting ground 90 for supporting transfer gantry 30, each supporting ground 90 is provided with for spacing with what transfer gantry 30 was supported
Frame 110, during to prevent the cantilever end of transfer gantry 30 from sinking, transfer gantry 30 is upwards kicked up.Entrucking, unload operation time, due to code
Buttress robot 60 is fixedly arranged on cantilever end and the heavier-weight of transfer gantry 30, therefore the cantilever end of transfer gantry 30 will sink, and be anti-
Only transfer gantry 30 cantilever end makes the stage casing and the rear that are connected with cantilever end raise up when sinking, therefore arranges one in mounting groove 101
The supporting ground 90 of body formula, and the position-limited rack 110 supported with transfer gantry 30 is set on supporting ground 90, defeated for preventing
When the cantilever end sending support 30 sinks, transfer gantry 30 is upwards kicked up.
Alternatively, as it is shown on figure 3, position-limited rack 110 is provided with and multiple abuts with right for the upper end face with transfer gantry 30
The translation of transfer gantry 30 carries out the first guide roller 120 guided；It is interval with multiple for defeated on erecting bed 11 successively
The bottom surface sending support 30 abuts the second guide roller 130 guided with the translation to transfer gantry 30.By arranging
One guide roller 120 and second way roller 130 are applied not only to guide the translation of transfer gantry 30, and make transfer gantry
30 is more smooth and easy when translating.
Alternatively, as it is shown in figure 1, erecting bed 11 is provided with the mounting groove 101 of the length direction extension along transfer gantry 30.
Drive mechanism 50 includes two sprocket wheels being arranged at intervals at successively in mounting groove 101 along the translation direction of transfer gantry 30, two
On sprocket wheel, tensioning has driving-chain, transfer gantry 30 to be connected on driving-chain translate with driving-chain, and one of them sprocket wheel connects to be had
Drive the driving motor that it rotates.
Alternatively, as shown in Figure 4, robot palletizer 60 be 4 axles to 7 axle robots, compare existing transfer robot, should
The load-carrying of robot palletizer 60 is less, typically between 30Kg to 120Kg, and arm exhibition shorter, in compartment during operation, be difficult to
Transfer gantry 30 or compartment 21 interfere.Connect on robot palletizer 60 and have the fixture 140 for gripping goods, fixture 140
The gripping operation carrying out goods under control of the control means it is connected with control device.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.All within the spirit and principles in the present invention, that is made any repaiies
Change, equivalent, improvement etc., should be included within the scope of the present invention.
Claims (11)
1. a van automatic loading system, it is characterised in that including:
Being arranged at ground foundation platform (10) and the transfer car(buggy) (20) for transshipment cargo, described transfer car(buggy) (20) includes using
In the compartment (21) of splendid attire goods, the Rear Door of described compartment (21) is flexibly connected with side plate and passes in and out described compartment for goods
(21)；
Described foundation platform (10) is the most slidably supported transfer gantry (30), described transfer gantry (30) is attached to put down along it
Moving the connecting gear (40) that direction extends and is used for transmitting goods, described transfer gantry (30) connects to be had for driving it to translate
Drive mechanism (50), described drive mechanism (50) is connected described defeated to drive under the control of described control device with controlling device
Support (30) translation is sent to stretch in described compartment (21) with the Rear Door by described compartment (21)；
It is used for stretching into the cantilever end in described compartment (21) on described transfer gantry (30) and is provided with robot palletizer (60), described
Robot palletizer (60) be connected with described control device with under the control of described control device by described connecting gear (40)
The goods piling successively transmitted is interior to described compartment (21), or by the goods de-stacking successively in described compartment (21) to described transmission
In mechanism (40).
Van automatic loading system the most according to claim 1, it is characterised in that
Described van automatic loading system also includes piling or the three-dimensional of de-stacking position in positioning described compartment (21)
The vision positioning device (70) of coordinate, described vision positioning device (70) is arranged at the end of described transfer gantry (30) cantilever end
And be connected with described control device and be sent to described control device with the three-dimensional coordinate information by the piling of acquisition or de-stacking position,
Described control device receives described three-dimensional coordinate information to control described robot palletizer (60) by goods piling to described three-dimensional
Position that coordinate information indicates or the goods de-stacking of position that indicated by described three-dimensional coordinate information are to described connecting gear
(40) on.
Van automatic loading system the most according to claim 2, it is characterised in that
Described vision positioning device (70) includes for taking pictures the piling of described compartment (21) inner chamber or de-stacking position
Three-dimensional camera, be connected the camera so that the picture that described three-dimensional camera is absorbed to be converted into visual coordinate information with described three-dimensional camera
Controller and light source, described camera controller is connected described visual coordinate information is sent to described control with described control device
Device processed, described control device receives described visual coordinate information and according to piling machine described in described visual coordinate information-driven
People (60) is by the position of goods piling to described visual coordinate information indicating or by described visual coordinate information indicating position
On goods de-stacking extremely described connecting gear (40).
Van automatic loading system the most according to claim 2, it is characterised in that
Described vision positioning device (70) includes for the piling of described compartment (21) inner chamber or any two of de-stacking position
Two-dimensional camera (71) that orientation carries out taking pictures, it is connected to be converted into the picture that described two-dimensional camera is absorbed with described two-dimensional camera
The camera controller of visual coordinate information, light source, it is used for measuring piling or the de-stacking of described compartment (21) inner chamber on third party position
First pitch sensors (72) of the first spacing between position and described transfer gantry (30) cantilever end；
Described camera controller is all connected with described control device with described first pitch sensors (72) vision to be sat respectively
Mark information and the first pitch information are sent to described control device, and described control device receives described visual coordinate information and described
First pitch information is to obtain piling or the three-dimensional coordinate of de-stacking position of described compartment (21) inner chamber, and sits according to described three-dimensional
Mark drives described robot palletizer (60) by the position of goods piling to described three-dimensional coordinate sign or by described three-dimensional coordinate mark
Show on the goods de-stacking extremely described connecting gear (40) of position.
Van automatic loading system the most according to claim 1, it is characterised in that
Described foundation platform (10) is L-shaped, including for installing described transfer gantry (30) and described drive mechanism (50)
Erecting bed (11) and reference platform (12) being connected with described erecting bed (11), described reference platform (12) and described erecting bed (11)
Junction composition is used for the stop district parking described transfer car(buggy) (20).
Van automatic loading system the most according to claim 5, it is characterised in that
Described van automatic loading system also includes for instructing the driver of described transfer car(buggy) (20) to carry out shut-down operation
Parking indicator (80), described parking indicator (80) be arranged at described upper with reference to platform (12) and with described control device
It is connected with at the side plate of described compartment (21) and described do not meet preset value Times with reference to the distance between platform (12) side
Alert prompting driver, and at described compartment (21) side plate and described meet preset value with reference to the distance between platform (12) side
Time drive described drive mechanism (50) action.
Van automatic loading system the most according to claim 6, it is characterised in that
Described parking indicator (80) includes multiple for measuring described compartment (21) side plate with described with reference to platform (12) side
Between distance the second distance measuring sensor (81) and for report to the police alarm (82)；
Multiple described second distance measuring sensors (81) are arranged at intervals at described ginseng successively along the described length direction with reference to platform (12)
According on platform (12), described alarm (82) is arranged at described with reference on platform (12)；
Multiple described second distance measuring sensors (81) are all connected with described control device with by described car with described alarm (82)
Railway carriage or compartment (21) side plate and described be sent to described control device with reference to the range information between platform (12) side, described control device connects
Receive described range information to set in advance at described compartment (21) side plate and described do not meet with reference to the distance between platform (12) side
Order described alarm (82) to be reported to the police during definite value, and described compartment (21) side plate and described with reference between platform (12) side away from
Described drive mechanism (50) action is driven in time meeting preset value.
Van automatic loading system the most according to claim 7, it is characterised in that
The quantity of described second distance measuring sensor (81) is three, and described second distance measuring sensor (81) is near described compartment
(21) front end arranges the side plate in order to measure described compartment (21) front end and described with reference to the distance between platform (12) side, separately
The tail end in two close described compartments (21) of described second distance measuring sensor (81) sets gradually, in order to measure described compartment (21)
Distance between side plate and described reference platform (12) side of tail end；
Described alarm (82) is arranged near the driver's cabin of described transfer car(buggy) (20).
Van automatic loading system the most according to claim 5, it is characterised in that
On described erecting bed (11), the length direction along described transfer gantry (30) is interval with multiple described for supporting successively
The supporting ground (90) of transfer gantry (30), each described supporting ground (90) is provided with for supporting with described transfer gantry (30)
Position-limited rack (110), with prevent described transfer gantry (30) cantilever end sink time described transfer gantry (30) upwards kick up.
Van automatic loading system the most according to claim 9, it is characterised in that
Described position-limited rack (110) is provided with multiple for abutting to prop up described conveying with the upper end face of described transfer gantry (30)
The translation of frame (30) carries out the first guide roller (120) guided；
It is interval with multiple for abutting with the bottom surface of described transfer gantry (30) with to institute on described erecting bed (11) successively
State the second guide roller (130) that the translation of transfer gantry (30) carries out guiding.
11. van automatic loading systems according to claim 9, it is characterised in that
Described erecting bed (11) is provided with the mounting groove (101) of the length direction extension along described transfer gantry (30)；
Described drive mechanism (50) includes being arranged at intervals at described mounting groove successively along the translation direction of described transfer gantry (30)
(101) two sprocket wheels in, on two described sprocket wheels, tensioning has driving-chain, described transfer gantry (30) to be connected to described driving-chain
On to translate with described driving-chain, one of them described sprocket wheel connect have drive its rotate driving motor.
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| CN201610785748.6A CN106276325B (en) | 2016-08-31 | 2016-08-31 | Van automatic loading system |
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| CN201610785748.6A CN106276325B (en) | 2016-08-31 | 2016-08-31 | Van automatic loading system |
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| CN106276325B CN106276325B (en) | 2018-12-21 |
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| CN201610785748.6A Expired - Fee Related CN106276325B (en) | 2016-08-31 | 2016-08-31 | Van automatic loading system |
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| CN109795893A (en) * | 2019-03-21 | 2019-05-24 | 深圳蓝胖子机器人有限公司 | The conveying of array cargo and stowage, equipment and computer readable storage medium |
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| CN110342271A (en) * | 2019-07-22 | 2019-10-18 | 广东嘉腾机器人自动化有限公司 | A kind of automatically handling material A GV and material handling method |
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