CN106429483A - Automatic stacking and truck-loading system and truck-loading method thereof - Google Patents
Automatic stacking and truck-loading system and truck-loading method thereof Download PDFInfo
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- CN106429483A CN106429483A CN201611128070.0A CN201611128070A CN106429483A CN 106429483 A CN106429483 A CN 106429483A CN 201611128070 A CN201611128070 A CN 201611128070A CN 106429483 A CN106429483 A CN 106429483A
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- loading system
- automatic stacking
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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
-
- 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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Manipulator (AREA)
- Laser Beam Processing (AREA)
Abstract
The invention discloses an automatic stacking and truck-loading system. According to the technical scheme of the automatic stacking and truck-loading system, goods (7) are loaded onto and unloaded from a transportation truck (2) through a robot, and the robot is a four-axis gantry type robot (5); a sucking disc device (6) used for delivering the goods (7) is arranged on the four-axis gantry type robot (5); and the four-axis gantry type robot (5) is further provided with a laser sensor (1). The invention further discloses a truck-loading method of the truck-loading system. By means of the automatic stacking and truck-loading system and the truck-loading method thereof, the goods stacking and truck-loading technology based on the laser sensor is adopted; real full automatization of the whole process including positioning inspection of the transportation truck and goods stacking and truck-loading is achieved; intelligentized positioning of a compartment of the truck is achieved, and scientific planning can be conducted on the stacking process; human cost and labor intensity of operators are lowered, and safety and reliability of truck-loading operation are enhanced; and meanwhile, equipment cost is lowered.
Description
Technical field
The invention belongs to the technical field of transportation logistics, it is related to the technology of vehicle cargo handling.More specifically, this
Bright it is related to a kind of automatic stacking loading system.The invention still further relates to the loading method that this loading system adopts.
Background technology
In the manufacturing enterprises such as grain, food, chemical fertilizer, chemical industry, cement, need for sacked goods or case dress article to load fortune
In the compartment of defeated goods.The mode of commonly used a dead lift store items in compartment at present, this entrucking mode needs greatly
The manpower of amount, and high labor intensive, inefficiency.For the problems referred to above, the artificial truck-loading facilities of existing several replacements, adopt
Most is buttress goods will to be become with fork truck to be directly loaded into the mode on lorry, but is the drawbacks of this kind of mode to need to reclaim support
Disk.
Chinese patent literature 201210248968.7 discloses a kind of method and device of automatic cargo loading, this device by
Conveying mechanism, robot and mobile platform composition, big using robot working range, flexible action feature is it is achieved that goods
Automatically rule pile up；But, during compartment positioning step in loading method, need operator Non-follow control machine people,
The position all around in compartment is detected.The automaticity of this technical scheme is relatively low, and positioning precision depends on operation
The proficiency level of personnel.
Chinese patent literature 201410224238.2 discloses a kind of goods entrucking all-in-one, and this carloader enables entrucking
Piling integration, its compact conformation, cost are relatively low；But, because its complex structure, execution action are more, lead to its stability
Not enough；Simultaneously as lacking boxcar positioner, it requires higher, overall soft of system to the parking of lorry driver
Propertyization is relatively low with intelligence degree.
The shortcoming of above-mentioned prior art is：The boxcar of lack of wisdom positions and carries out science rule to palletization
The equipment drawn or method.
Content of the invention
The present invention provides a kind of automatic stacking loading system, its objective is to improve the automaticity of goods piling entrucking.
To achieve these goals, the technical scheme that the present invention takes is：
The automatic stacking loading system of the present invention, goods passes through robot and carries out piling entrucking on transport lorry；Described
Machine artificially follow-on four axle planer-type robots；Four described axle planer-type robots are provided for discharging of goods
Acetabula device；Four described axle planer-type robots are additionally provided with laser sensor.
The described artificial three coordinate truss robots of four axle planer-type machines, it includes walking beam, is arranged on walking beam
Elevating lever, be arranged on the Acetabula device of elevating lever bottom；Described elevating lever is connected with walking beam by relative moving part；
Described Acetabula device is connected with elevating lever by rotary apparatuss.
Described laser sensor is arranged on described walking beam.
Described laser sensor is using the sensor being made up of linear structural laser device and high resolution camera；Or adopt
Laser radar sensor.
Described automatic stacking loading system is provided with robot support, and described robot support is parallel to each other two
Part, is distributed in the both sides of described transport lorry；At the top of robot support, the robot respectively arranging a level leads
Rail；Two guide rails of robots are highly equal；Four described axle planer-type robots pass through the guide wheel at walking beam two ends described
Run on guide rails of robots.
Described robot support includes multiple columns, and described column forms frame structure with guide rails of robots.
Between described transport lorry and the robot support of side, freight conveyer structure is set.
Described freight conveyer structure includes belt conveyor, roller conveyor, shaping guiding mechanism, conveyer vehicle with walking machine
Structure；Described belt conveyor, roller conveyor, shaping guiding mechanism, conveyer walking mechanism respectively arrange driving means
And corresponding sensor.
Described Acetabula device adopts double suction lamps structure, and often set is inhaled to have to increase and is respectively provided with each independent vacuum generating device.
Described transport lorry is flat lorry, or is loose with sides, or is storehouse grating lorry.
Described goods is case goods, or is the bag cargo having liner.
In order to realize and technique scheme identical goal of the invention, present invention also offers above-described automatic stacking
The loading method of loading system, its technical scheme is：
The process of described loading method：
Start；
Transport lorry is arbitrarily parked in designated area；
Laser sensor scanning transport lorry；
Main control unit carries out three-dimensional point cloud Treatment Analysis, obtains compartment azimuth information；
Four axle planer-type robot piling buttress types calculate, trajectory path planning；
Cooperation Acetabula device and freight conveyer structure, complete piling car loading operation；
Terminate.
Specifically, the process of described loading method is as follows：
When starting entrucking, by driver, empty transport lorry is parked to designated area on automatic stacking loading system first
Interior；
After the triggering of automatic stacking loading system, pressed from initial position by the laser sensor that four axle planer-type robots carry
The direction motion of guide rails of robots；In motor process, laser sensor completes the stereoscan to transport boxcar, and will sweep
Retouch data transfer to the main control unit of automatic stacking loading system, form the three dimensional point cloud of transport lorry；
Then, described main control unit passes through three-dimensional point cloud Treatment Analysis algorithm, enters row operation to the data obtaining, obtains
The carriage area of transport lorry is with respect to the attitude information of laser sensor；And according to laser sensor and four axle planer-types
Nominal data between robot carries out coordinate transform, and the carriage area obtaining transport lorry is with respect to four axle planer-type robots
Attitude information, this information includes length and width size, the height types of baffle plate, the depth of base plate and the azimuth information of carriage area
(using centre coordinate and the anglec of rotation)；
Carriage area according to transport lorry is with respect to four axle planer-type robot attitude informations, and incorporating cargo
Three-dimensional dimension, main control unit calculates the buttress type information of stacking automatically, including ranks number and the number of plies, the code of planning robot simultaneously
Buttress path；
Now, goods enters conveying mechanism by production line or storage region, reaches through belt conveyor, shaping guiding mechanism
Roller conveyor, sends, to main control unit, the signal that puts in place by sensor simultaneously, and main control unit controls four axle planer-type robots
The sucker system absorption goods carrying, and piling entrucking is carried out according to calculated robot path；
Terminate.
Especially, during entrucking, when four axle planer-type Robot guide rails of robots direction motions, goods conveys
Mechanism, under the cooperation of its walking mechanism and range sensor, accurately follows robot and is moved accordingly together.
The present invention adopts technique scheme, due to employing the goods piling entrucking technology based on laser sensor, real
Show transport lorry detection and localization, the real full-automation of goods piling entrucking whole process, realize intelligentized boxcar
Position and planning of science activities is carried out to palletization, reduce the labor intensity of human cost and operator, decrease artificial
Operate the error risk brought, improve the safety and reliability of entrucking operation；Meanwhile, using four axle planer-type robots
Reduce the complexity of truck-loading facilities to a certain extent, reduce equipment cost.
Brief description
The labelling of accompanying drawing content and in figure is briefly described as follows：
Fig. 1 is the three-dimensional axonometric schematic diagram of the structure of the present invention；
Fig. 2 is the top view of structure shown in Fig. 1；
Fig. 3 is the workflow diagram of the present invention.
In figure is labeled as：
1st, laser sensor, 2, transport lorry, 3, guide rails of robots, 4, robot support, 5, four axle planer-type robots,
6th, Acetabula device, 7, goods, 8, freight conveyer structure.
Specific embodiment
Below against accompanying drawing, by the description to embodiment, the specific embodiment of the present invention is made further details of
Illustrate, to help those skilled in the art to have more complete, accurate and deep reason to the inventive concept of the present invention, technical scheme
Solution.
The structure of the expressed present invention as shown in Figure 1, Figure 2, is a kind of automatic stacking loading system, and goods 7 passes through robot
Transport lorry 2 carries out piling entrucking；The artificial four axle planer-type robots 5 of described machine.
In order to overcome prior art defect, realize improving the goal of the invention of the automaticity of goods piling entrucking, this
The bright technical scheme taken is：
The automatic stacking loading system of the present invention is provided for discharging of goods 7 in four described axle planer-type robots 5
Acetabula device 6；Four described axle planer-type robots 5 are additionally provided with laser sensor 1.
This technical scheme adds the compartment positioner based on laser sensor for automatic stacking loading system；Its technology is special
Point is embodied in：The installation of laser sensor and detection mode, the Treatment Analysis algorithm of detection data (as three dimensional point cloud), each
Equipment room data communication mode, use of four axle planer-type robots etc..Achieve transport lorry detection and localization, goods piling dress
The real full-automation of car whole process, realizes intelligentized boxcar positioning and carries out planning of science activities to palletization.
Four described axle planer-type robots 5 are follow-on three coordinate truss robots, and it includes walking beam, is arranged on
Elevating lever on walking beam, it is arranged on the Acetabula device 6 of elevating lever bottom；Described elevating lever passes through relative moving part and row
Walk beam to connect；Described Acetabula device 6 is connected with elevating lever by rotary apparatuss.
Four axle planer-type robots 5 adopt said structure, can crawl goods after, carry out level two direction, highly one
The linear motion in direction, and the rotary motion of end, goods 7 is piled up the appropriate location in the compartment of transport lorry 2.
Described laser sensor 1 is arranged on described walking beam.Laser sensor 1 is fixedly mounted on four axle planer-types
It is ensured that not affecting the lengthwise movement of four axle planer-type robot 5 end on longitudinal walking beam of robot 5.
Described laser sensor 1 can select the laser being built by linear structural laser device and high resolution camera
Sensor, may also be employed laser radar sensor it is preferable that according to Financial cost and required precision, the preferred example of the present invention is adopted
With single line bundle laser radar sensor；
Described automatic stacking loading system is provided with robot support 4, and described robot support 4 is parallel to each other
Two parts, are distributed in the both sides of described transport lorry 2；At the top of robot support 4, the robot of a level is respectively set
Guide rail 3；Two guide rails of robots 3 are highly equal；Four described axle planer-type robots 5 pass through the guide wheel at walking beam two ends in institute
Run on the guide rails of robots 3 stated.
Four axle planer-type robots 5 are made up of three coordinate truss robot additional end rotary apparatuss, are arranged in by machine
On the framework that people's guide rail 3 is formed with robot support 4.According to the characteristic of three coordinate machine device people, it can cover larger work
Make scope, after additional end rotary apparatuss, according to the orientation detection result of transport lorry 2, goods 7 can be rotated
Adjustment, it is ensured that stack and the matching precision in compartment, improves the stability in transportation；
Described robot support 4 includes multiple columns, and described column forms frame structure with guide rails of robots 3.
Between described transport lorry 2 and the robot support 4 of side, freight conveyer structure 8 is set.
Described freight conveyer structure 8 includes belt conveyor, roller conveyor, shaping guiding mechanism, conveyer walking
Mechanism；Described belt conveyor, roller conveyor, shaping guiding mechanism, conveyer walking mechanism respectively arrange driving dress
Put and corresponding sensor, each several part has independent driving means and respective sensor it is ensured that conveying mechanism 8 is in conveying articles
Four axle planer-type robots 5 can accurately be followed while 7 move on guide rail beam 3 direction.
Acetabula device 6 adopts double suction lamps structure, inhales tool for two sets, and often set suction tool is respectively provided with each independent vacuum and fills
Put, the piling demand of the buttress type that row/column goods number is odd number while improving piling efficiency, can be met.
Described transport lorry 2 can be flat lorry, loose with sides and the storehouse grating lorry (entrucking of common-size
When railing need dismantle).The loading method of the present invention is not suitable for van.
Described goods 7 is case goods, or is the bag cargo having liner.
In order to realize and technique scheme identical goal of the invention, present invention also offers above-described automatic stacking
The loading method of loading system, its technical scheme is：
Shown in Figure 3, the process of loading method of the present invention is：
Start；
Transport lorry 2 is arbitrarily parked in designated area；
Laser sensor 1 scanning transport lorry 2；
Main control unit carries out three-dimensional point cloud Treatment Analysis, obtains compartment azimuth information；
Four axle planer-type robot 5 piling buttress type calculates, trajectory path planning；
Cooperation Acetabula device 6 and freight conveyer structure, complete piling car loading operation；
Terminate.
More specifically, the process of above-described loading method is：
When starting entrucking, by driver, empty transport lorry 2 is parked to automatic stacking loading system first and specify area
In domain；Can arbitrarily park in region, position is not particularly required.
After the triggering of automatic stacking loading system, the laser sensor 1 being carried by four axle planer-type robots 5 is from initial position
Direction motion by guide rails of robots 3；In motor process, laser sensor 1 completes the stereoscan to transport lorry 2 compartment, and
Scan data is transmitted the three dimensional point cloud forming transport lorry 2 to the main control unit of automatic stacking loading system；
Then, described main control unit passes through three-dimensional point cloud Treatment Analysis algorithm, enters row operation to the data obtaining, obtains
The carriage area of transport lorry 2 is with respect to the attitude information of laser sensor 1；And according to laser sensor 1 and four axles dragon
Nominal data between portal robot 5 carries out coordinate transform, and the carriage area obtaining transport lorry 2 is with respect to four axle planer-types
Robot 5 attitude information, this information include the length and width size of carriage area, the height types of baffle plate, the depth of base plate and
Azimuth information (using centre coordinate and the anglec of rotation)；
Carriage area according to transport lorry 2 is with respect to four axle planer-type robot 5 attitude information, and incorporating cargo
7 three-dimensional dimension, main control unit calculates the buttress type information of stacking automatically, including ranks number and the number of plies, planning robot simultaneously
Piling path；
Now, goods 7 enters conveying mechanism 8 by production line or storage region, arrives through belt conveyor, shaping guiding mechanism
Reach roller conveyor, the signal that puts in place is sent to main control unit by sensor simultaneously, main control unit controls four axle planer-type machines
The sucker system 6 absorption goods 7 that people 5 is carried, and piling entrucking is carried out according to calculated robot path；
Terminate.
Especially, during entrucking, when four axle planer-type robots 5 move along guide rails of robots 3 direction, goods is defeated
Send mechanism 8 under the cooperation of its walking mechanism and range sensor, accurately follow robot and moved accordingly together.Permissible
Robot motion stroke is greatly shortened, improves piling entrucking efficiency.
Above in conjunction with accompanying drawing, the present invention is exemplarily described it is clear that the present invention implements is not subject to aforesaid way
Restriction, as long as employing the improvement of various unsubstantialities that method of the present invention design and technical scheme are carried out, or without changing
Enter and the design of the present invention and technical scheme are directly applied to other occasions, all within protection scope of the present invention.
Claims (10)
1. a kind of automatic stacking loading system, goods (7) passes through robot and carries out piling entrucking in transport lorry (2), and it is special
Levy and be：The artificial four axle planer-type robots (5) of described machine；Use in the described upper setting of four axle planer-type robots (5)
Acetabula device (6) in discharging of goods (7)；Four described axle planer-type robots (5) are additionally provided with laser sensor (1).
2. according to the automatic stacking loading system described in claim 1 it is characterised in that：Four described axle planer-type robots
(5) it is three coordinate truss robots, it includes walking beam, the elevating lever being arranged on walking beam, is arranged on elevating lever bottom
Acetabula device (6)；Described elevating lever is connected with walking beam by relative moving part；Described Acetabula device (6) passes through rotation
Rotary device is connected with elevating lever.
3. according to the automatic stacking loading system described in claim 2 it is characterised in that：Described laser sensor (1) setting
On described walking beam.
4. according to the automatic stacking loading system described in claim 1 or 2 or 3 it is characterised in that：Described laser sensor
(1) using the sensor being made up of linear structural laser device and high resolution camera；Or adopt laser radar sensor.
5. according to the automatic stacking loading system described in claim 2 it is characterised in that：Described automatic stacking loading system sets
It is equipped with robot support (4), described robot support (4) is two parts parallel to each other, be distributed in described transport lorry
(2) both sides；At the top of robot support (4), the guide rails of robots (3) of a level is respectively set；Two guide rails of robots
(3) highly equal；Four described axle planer-type robots (5) pass through the guide wheel at walking beam two ends in described guide rails of robots
(3) upper operation.
6. according to the automatic stacking loading system described in claim 5 it is characterised in that：Described robot support (4) includes
Multiple columns, described column forms frame structure with guide rails of robots (3).
7. according to the automatic stacking loading system described in claim 5 it is characterised in that：In described transport lorry (2) and
Between the robot support (4) of side, freight conveyer structure (8) is set.
8. according to the automatic stacking loading system described in claim 7 it is characterised in that：Described freight conveyer structure (8) bag
Include belt conveyor, roller conveyor, shaping guiding mechanism, conveyer walking mechanism；Described belt conveyor, roller-way convey
Machine, shaping guiding mechanism, conveyer walking mechanism respectively arrange driving means and corresponding sensor.
9. according to the automatic stacking loading system any one of claim 1 to 8 loading method it is characterised in that the party
The process of method is：
Start；
Transport lorry (2) is arbitrarily parked in designated area；
Laser sensor (1) scanning transport lorry (2)；
Main control unit carries out three-dimensional point cloud Treatment Analysis, obtains compartment azimuth information；
Four axle planer-type robot (5) piling buttress types calculate, trajectory path planning；
Cooperation Acetabula device (6) and freight conveyer structure (8), complete piling car loading operation；
Terminate.
10. according to the automatic stacking loading system any one of claim 1 to 8 loading method it is characterised in that should
The process of method is：
When starting entrucking, by driver, empty transport lorry (2) is parked to designated area on automatic stacking loading system first
Interior；
After the triggering of automatic stacking loading system, the laser sensor (1) being carried by four axle planer-type robots (5) is from initial position
Direction motion by guide rails of robots (3)；In motor process, laser sensor (1) completes the solid to transport lorry (2) compartment
Scanning, and scan data is transmitted the three-dimensional point cloud number forming transport lorry (2) to the main control unit of automatic stacking loading system
According to；
Then, described main control unit passes through three-dimensional point cloud Treatment Analysis algorithm, enters row operation to the data obtaining, is transported
The carriage area of lorry (2) with respect to the attitude information of laser sensor (1), and according to laser sensor (1) and four axles
Nominal data between planer-type robot (5) carries out coordinate transform, and the carriage area obtaining transport lorry (2) is with respect to four axles
Planer-type robot (5) attitude information, this information includes the length and width size of carriage area, the height types of baffle plate, base plate
Depth and azimuth information；
Carriage area according to transport lorry (2) is with respect to four axle planer-type robot (5) attitude informations, and incorporating cargo
(7) three-dimensional dimension, main control unit calculates the buttress type information of stacking automatically, including ranks number and the number of plies, plans machine simultaneously
The piling path of people；
Now, goods (7) enters conveying mechanism (8) by production line or storage region, arrives through belt conveyor, shaping guiding mechanism
Reach roller conveyor, the signal that puts in place is sent to main control unit by sensor simultaneously, main control unit controls four axle planer-type machines
The sucker system (6) absorption goods (7) that people (5) is carried, and piling entrucking is carried out according to calculated robot path；
Terminate.
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| CN201611128070.0A CN106429483A (en) | 2016-12-09 | 2016-12-09 | Automatic stacking and truck-loading system and truck-loading method thereof |
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| CN201611128070.0A CN106429483A (en) | 2016-12-09 | 2016-12-09 | Automatic stacking and truck-loading system and truck-loading method thereof |
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Application publication date: 20170222 |