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 PDF

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Publication number
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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CN
China
Prior art keywords
loading
automatic stacking
robots
robot
truck
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Pending
Application number
CN201611128070.0A
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Chinese (zh)
Inventor
王亚运
陈健
李龙
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Wuhu Co Ltd Of Hart Robot Industry Institute For Research And Technology
Wuhu Hit Robot Technology Research Institute Co Ltd
Original Assignee
Wuhu Co Ltd Of Hart Robot Industry Institute For Research And Technology
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Priority to CN201611128070.0A priority Critical patent/CN106429483A/en
Publication of CN106429483A publication Critical patent/CN106429483A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90Devices for picking-up and depositing articles or materials
    • B65G47/902Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G61/00Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G67/00Loading or unloading vehicles
    • B65G67/02Loading or unloading land vehicles
    • B65G67/04Loading land vehicles

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

A kind of automatic stacking loading system and its loading method
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.
CN201611128070.0A 2016-12-09 2016-12-09 Automatic stacking and truck-loading system and truck-loading method thereof Pending CN106429483A (en)

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