CN107352206A - A kind of logistics code fetch system sorting equipment and its method for sorting - Google Patents

A kind of logistics code fetch system sorting equipment and its method for sorting Download PDF

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Publication number
CN107352206A
CN107352206A CN201710680946.0A CN201710680946A CN107352206A CN 107352206 A CN107352206 A CN 107352206A CN 201710680946 A CN201710680946 A CN 201710680946A CN 107352206 A CN107352206 A CN 107352206A
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CN
China
Prior art keywords
mechanical arm
sorting
crawl
packaging box
coordinate
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201710680946.0A
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Chinese (zh)
Inventor
郝新浦
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Xuzhou DKEC Electrical Technology Co Ltd
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Xuzhou DKEC Electrical Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Xuzhou DKEC Electrical Technology Co Ltd filed Critical Xuzhou DKEC Electrical Technology Co Ltd
Priority to CN201710680946.0A priority Critical patent/CN107352206A/en
Publication of CN107352206A publication Critical patent/CN107352206A/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
    • B65G1/00Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02Storage devices
    • B65G1/04Storage devices mechanical
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B07SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07CPOSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C3/00Sorting according to destination
    • B07C3/02Apparatus characterised by the means used for distribution
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B07SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07CPOSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C3/00Sorting according to destination
    • B07C3/18Devices or arrangements for indicating destination, e.g. by code marks
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • 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
    • 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
    • B65G47/905Control arrangements
    • 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

Abstract

The invention discloses a kind of logistics code fetch system sorting equipment and its method for sorting, sorting equipment includes multiple the sorting mechanical arms and mechanical arm electrical control mechanism that on the left of logistics code fetch system handler and/or right side is arranged on along logistics code fetch system handler length direction;Sort mechanical arm support to set on loading/unloading platform, sorting mechanical arm comprises at least X-coordinate driving, Y-coordinate driving and Z coordinate driving, the minor details for sorting mechanical arm and piles up manipulator provided with crawl;Mechanical hand is piled up in crawl includes manipulator body, mechanical finger support frame, hinged seat, crawl mechanical finger and reversal propulsion machine structure;Mechanical arm electrical control mechanism piles up control loop including mechanical arm controller, the mechanical arm electrical source of power electrically connected with mechanical arm controller, crawl.This logistics code fetch system sorting equipment automaticity is higher, can realize intelligent operation, improve sort efficiency, especially suitable for being directed to the handling goods sort operation of freight container in the container shipping of logistic storage.

Description

A kind of logistics code fetch system sorting equipment and its method for sorting
Technical field
The present invention relates to a kind of logistics code fetch system sorting equipment and its method for sorting, is specifically that one kind is applied to shipping collection The logistics code fetch system sorting equipment and its method for sorting of vanning, belong to Intelligent logistics technical equipment field.
Background technology
Intelligent logistics are exactly to utilize the advanced Internet of Things such as bar code, REID, sensor, global positioning system Technology is widely used in logistics transport, storage, dispatching, packaging, handling etc. by information processing and network communications technology platform Basic activity link, automatic operation and the high efficiency optimum management of cargo transport process are realized, improve the service of logistic industry Level, cost is reduced, reduce natural resources and social resources consumption, the development of Intelligent logistics will promote the development of regional economy Distributed rationally with world resource, realize socialization.
Logistic storage is the key link in modern Intelligent logistics, is played in links such as connection, transfer, storage, keepings Important function, and warehousing management is also to be generally comprised in logistic storage in occupation of the status of core, accurate warehouse process simultaneously Receive, restocking, pick up goods, replenish, delivering, several flows of making an inventory, to realize intelligent distribution, occur homing guidance fortune in the prior art Defeated car, i.e., homing guidance device is magnetically or optically waited equipped with electricity, the transport vehicle with safeguard protection and various transfer functions, thing Driver is not required in stream storage application, using rechargeable battery as its power resources, typically its traveling road can be controlled by computer Line and behavior set up its course to realize the allocation and transportation of warehoused cargo using electromagnetic path, but for replenishing or The handling goods that delivery disengaging warehouse is carried out during container shipping piles up operation and still largely uses manual operation, i.e. operator Member's driving fork truck is loaded and unloaded, especially for carriage of container cargo, although generally pressing transport purpose at present for ease of transporting The goods collection of all kinds of small-sized packagings is first carried out shipping collection by the different of ground again after being readily transported in the medium duty delivery case put The vanning of vanning, but how rational deployment makes the space availability ratio of container is maximum, how reasonable prestowage is laid out to make container just Sorting problem in the container problems and uninstall process such as multi-destination transport causes the vanning or unloading current one of container Directly use manual operation.
Following defect be present in the mode of this traditional manual operation sorting for freight container:
1. although storage process or outbound process have realized automation mechanized operation, the sort operation after container unloading is still adopted Manually operate, therefore logistic storage integrated automation degree reduces, efficiency is low;
2. carried out due to being put in storage process or outbound process generally use automatical pilot transportation vehicle or conveyer belt in the prior art Transmission, the speed of manual sorting to keep up with storage or the speed of outbound just can guarantee that the efficiency that storage is transported, therefore operating personnel Labor intensity is larger;
3. the human factors such as the sense of responsibility of operating personnel, mood have a great influence to sorting progress, and manual sorting is present The situation of mistake is sorted caused by fatigue operates.
The content of the invention
In view of the above-mentioned problems of the prior art, the present invention provides a kind of logistics code fetch system sorting equipment and its sorting Method, automaticity is higher, can realize intelligent operation, improve sort efficiency, and the collection especially suitable for logistic storage ships The handling goods sort operation of freight container is directed in defeated.
To achieve these goals, this logistics code fetch system sorting equipment is included along logistics code fetch system handler length Direction is arranged on multiple the sorting mechanical arms and mechanical arm electrical control mechanism on the left of logistics code fetch system handler and/or right side;
Described sorting machinery arm support is set on loading/unloading platform, and sorting mechanical arm comprises at least left and right directions movement and set The Z coordinate driving that the Y-coordinate driving and vertical direction movement that X-coordinate driving, the fore-and-aft direction movement put are set are set, sorter The minor details of tool arm pile up manipulator provided with crawl;Mechanical hand is piled up in crawl to be included manipulator body, mechanical finger support frame, is hinged Seat, crawl mechanical finger and reversal propulsion machine structure;The manipulator body back side is connected to minor details end, front and the machine of sorting mechanical arm Tool refers to support frame installation connection, and manipulator body is additionally provided with range sensor on front;Mechanical finger support frame is relative to manipulator Body it is symmetrical and/or it is front and rear be symmetrical arranged, and the span size between symmetrically arranged mechanical finger support frame and goods bag The appearance and size of vanning coordinates;Hinged seat is arranged to multiple, is fixedly connected on the front of mechanical finger support frame;Capture mechanical finger Quantity it is identical with the quantity of hinged seat, the bottom for capturing mechanical finger is articulated and connected in hinged seat;Cut with scissors reversal propulsion machine structure one end Mechanical finger support frame is connected in succession, and the other end is articulated and connected in crawl mechanical finger;
The mechanical arm power that described mechanical arm electrical control mechanism includes mechanical arm controller, electrically connected with mechanical arm controller Power supply, crawl pile up control loop, and mechanical arm controller drives with X-coordinate driving, Y-coordinate driving, Z coordinate respectively, manipulator Range sensor and the electrical connection of reversal propulsion machine structure on body front;
The electric control gear of logistics code fetch system includes industrial control computer, control loop, Industry Control meter are piled up in sorting Calculation machine includes data input output ports, and mechanical arm controller electrically connects with industrial control computer.
Scheme as a further improvement on the present invention, the described manipulator body back side and the minor details end of sorting mechanical arm Between be additionally provided be vertically rotation axis C coordinate rotation drivings, the body ends of C coordinate rotation drivings and sorting machinery The minor details end of arm is fixedly connected, round end is fixedly connected with the manipulator body back side, and the rotation driving of C coordinates controls with mechanical arm Device electrically connects;Pattern-recognition sensor, pattern-recognition sensor and mechanical arm control are additionally provided with described manipulator body front Device electrical connection processed, mechanical arm controller also judge loop including pattern-recognition.
Scheme as a further improvement on the present invention, span is provided between described symmetrically arranged mechanical finger support frame and is adjusted Part is saved, span regulating member electrically connects with mechanical arm controller.
Scheme as a further improvement on the present invention, described span regulating member include span regulation servomotor and water Flatrack sets the bidirectional screw bar on manipulator body, and bidirectional screw bar is connected and two-way with span regulation servomotor There is oppositely oriented screw structure on the body of rod of screw rod left and right ends, described mechanical finger support frame be provided with it is two-way Screw rod coordinates the screw being arranged on bidirectional screw bar, and span regulation servomotor electrically connects with mechanical arm controller.
As the preferred scheme of the present invention, described reversal propulsion machine structure is cylinder, and cylinder is by gas circuit pipeline and pneumatically Control valve group is connected, and pneumatic control valve group is connected with pressure gas source by gas circuit pipeline, pneumatic control valve group also with described machine Tool arm controller electrically connects.
As the preferred scheme of the present invention, described sorting mechanical arm is gantry type mechanical arm.
A kind of method for sorting of logistics code fetch system sorting equipment, it is characterised in that specifically include following steps:
A. sorting prepares:During original state, the reversal propulsion machine structure that manipulator is piled up in crawl is in contraction state, gripper Tool refers in complete open configuration;
By be loaded with the vehicle parking of freight container under loading/unloading platform, chamber door face fork installation setting position after goods The bottom plate of fortune container is concordant with the upper plane of loading/unloading platform, and operating personnel open chamber door, while operating personnel after being docked Data input output ports by the industrial control computer of logistics code fetch system electric control device are defeated to industrial control computer The goods vanning positional information, prestowage scheme, goods packaging box for entering freight container pile up coordinate position, goods packaging box chi Very little, freight container inside dimension data message, sorting information, sorting information are included according to different sorting condition distribution not Same goods packaging box piles up co-ordinate position information;
B. sort operation is loaded and unloaded:
When carrying out vanning sort operation to freight container, the goods that need to case first by automatical pilot transportation vehicle according to Prestowage scheme is transported to the setting goods packaging box near corresponding sorting mechanical arm and piles up coordinate position successively, then sorts code Control loop work is put, industrial control computer is according to sorter corresponding to prestowage scheme to the goods packaging box that need to be piled up first The mechanical arm controller of tool arm sends crawl and piles up control instruction, and mechanical arm controller controls sorting mechanical arm coordinate movement to make Crawl piles up manipulator and is moved to that goods packaging box piles up the surface of coordinate position and Z-direction moves down and goods is grabbed Take;The front of manipulator body faces the top surface of goods packaging box during crawl, the Distance-sensing on manipulator body front Device works, and mechanical arm controller drives mechanical arm and crawl to pile up manipulator and make manipulator body according to the coordinate information of feedback Front is abutted on the top surface of goods packaging box, and then mechanical arm controller control reversal propulsion machine structure, which stretches out, makes crawl mechanical finger Inwardly upset conjunction is complete simultaneously carries out clamping crawl to goods packaging box;Mechanical arm controller control sorting mechanical arm coordinate after crawl It is mobile to make crawl pile up mechanical hand shovelling and to move to the baseplane of goods packaging box on goods Z-direction between loading/unloading platform The upper surface for being more than the upper strata conveyer belt of ribbon conveyer apart from size is sat apart from the setting Z of the distance between loading/unloading platform size Cursor position;Then mechanical arm controller controls the coordinate movement of sorting mechanical arm crawl is piled up mechanical hand shovelling and goods along X-coordinate Setpoint distance is moved to, the setpoint distance is the conveyer belt widthwise central that goods packaging box piles up coordinate position and ribbon conveyer Between X-coordinate value;Then mechanical arm controller control crawl is piled up manipulator Z-direction and moved down carries out fixed point code to goods Put;Mechanical arm controller control reversal propulsion machine structure retraction makes crawl mechanical finger while flips over opening to goods during piling up Matter packaging box is piled up;Mechanical arm controller is in real time to industrial control computer feedback data information, then Industry Control meter Calculation machine controls ribbon conveyer and fork installation co-operating to carry out fork dress to the goods packaging box that this need to be piled up first and pile up to goods Transport the setting position of internal container;By that analogy, until all goods packaging boxes are all piled up into shipping according to prestowage scheme Internal container, complete whole vanning sort process;
Freight container unload sort operation when, industrial control computer according to prestowage scheme and sorting information control The installation of system fork and ribbon conveyer co-operating to the goods packaging box that need to be unloaded first pitch dress and pile up being delivered to belt Setting goods packaging box piles up coordinate position corresponding to the goods packaging box on the conveyer belt of conveyer upper strata, and control is piled up in then sorting Loop starts processed, industrial control computer to should goods packaging box pile up the mechanical arm controller of coordinate position and send Control instruction is piled up in crawl, and mechanical arm controller control sorting mechanical arm coordinate movement makes crawl pile up manipulator to goods packing Case is captured and piled up after the translation of X-coordinate direction and piled up in goods packaging box on coordinate position, and automatical pilot transportation vehicle is to this Goods packaging box is transported;By that analogy, until entire cargo packing case all unloads according to prestowage scheme, completion is entirely unloaded Car sort process.
Scheme as a further improvement on the present invention, in described step b crawl pile up manipulator goods packaging box entered Pattern-recognition judges that loop is first begin to work during row crawl, and pattern-recognition sensor gathers the top end face pose of goods packaging box Information and by drawing position deviation amount compared with the standard top end face model built in mechanical arm controller, it is then mechanical Arm controller according to departure control control C coordinate rotation driving spinning movements the pose of manipulator body is rectified a deviation after again Captured.
Compared with prior art, this logistics code fetch system sorting equipment is fully digitalization control unit, can be with logistics The number bus of code fetch system, which is seamlessly connected, realizes concentration digital management, it is possible to achieve fully digitalization is sorted, complete computer Auto-control operation can be avoided because of influence of the human factors such as operating personnel's sense of responsibility, mood to manufacturing schedule, while can be exempted from Limited by operating personnel's operative skill qualification, it is entirely avoided the drawbacks of manual operation is present, intelligent behaviour can be realized Make, improve sort efficiency, the handling goods especially suitable for being directed to freight container in the container shipping of logistic storage sorts behaviour Make.
Brief description of the drawings
Fig. 1 is to be provided with three dimensional structure diagram when logistics code fetch system of the invention carries out handling freight container;
Fig. 2 is knot of the fork installation of logistics code fetch system when fork dress or store items packing case work on ribbon conveyer Structure schematic diagram;
Fig. 3 is the three dimensional structure diagram that manipulator is piled up in present invention crawl.
In figure:1st, loading/unloading platform, 11, longitudinal rail, 2, support underframe, 21, running part, 3, ribbon conveyer, 4, fork dress Machine, 41, support platform, 42, slipping part, 43, fork dress portion, 431, door frame, 432, goods shelf, 433, pallet fork, 5, sorting mechanical arm, 51st, mechanical finger support frame, 52, hinged seat, 53, crawl mechanical finger, 54, reversal propulsion machine structure.
Embodiment
The present invention will be further described below in conjunction with the accompanying drawings (below using pitch dress portion 43 towards the direction of freight container as Front describes).
As shown in figure 1, include loading/unloading platform 1, handler, sorting dress suitable for the logistics code fetch system of freight container Put and electric control gear.
The longitudinal rail 11 be arrangeding in parallel is provided with described loading/unloading platform 1 in the longitudinal direction, longitudinal rail 11 is at least Extend to the front end of loading/unloading platform 1.
As shown in Fig. 2 described handler includes support underframe 2, ribbon conveyer 3 and fork installation 4.
The bottom of support underframe 2 is provided with running part 21, and running part 21 includes support roller set and roller set driving;Support roller Wheel group includes the support disk roller being symmetrical set, and support disk roller matches somebody with somebody to merge with longitudinal rail 11 to be erected on longitudinal rail 11, Support roller set is arranged to multigroup and at least one set of support roller set along the fore-and-aft direction of support underframe 2 and driven provided with roller set, Support underframe 2 is arranged on longitudinal rail 11 by supporting roller set to set up;There is open U-shaped to open for the front end of support underframe 2 Mouth structure, U row hatch frames are easy to the upper lower fork dress operation of fork installation 4, avoid movement interference;
Ribbon conveyer 3 is erected on support underframe 2 along the fore-and-aft direction of support underframe 2, and ribbon conveyer 3 includes actively rolling Cylinder, driven roller, idler machining, conveyer belt and chassis conveyer electrical control mechanism;Idler machining is set up installed in drive roll and driven Between roller, it is in upper and lower structures that conveyer belt head and the tail connection, which is wrapped on drive roll, driven roller and idler machining, drive roll Drum driven is provided with, chassis conveyer electrical control mechanism includes chassis conveyor controller and is electrically connected with chassis conveyor controller The chassis conveyer electrical source of power connect, drum driven electrically connect with chassis conveyor controller;Described roller set driving and bottom Frame conveyor controller electrically connects;
Fork installation 4 includes support platform 41, slipping part 42, fork dress portion 43, fork installation hydraulic mechanism and the automatically controlled machine of fork installation Structure;Support platform 41 is located at the surface of ribbon conveyer 3, and support platform 41 has the supporting leg extended downwardly from, support platform 41 are set up on support underframe 2 by supporting leg;
Slipping part 42 is arranged between the supporting leg of support platform 41 and support underframe 2, including the guiding worked in coordination is slided Rail and directive wheel;Directive slide track fore-and-aft direction is horizontally set on support underframe 2 and directive slide track front end extends forwardly into support On the left and right sides plate of the U-shaped opening position of chassis 2;Directive wheel and the supporting leg bottom installation of support platform 41 connect, and are oriented to Wheel, which is provided with, is oriented to wheel drive;
Fork dress portion 43 includes door frame 431, goods shelf 432 and pallet fork 433;Door frame 431 includes the inside door for coordinating socket installation Frame and outer mast, door frame guiding mechanism is provided between inner upright mounting and outer mast, the rear lower of outer mast is articulated and connected puts down in support The front end of platform 41, outer mast are connected by door frame pitching hydraulic cylinder with support platform 41, by controlling door frame pitching hydraulic cylinder It is flexible to realize that door frame 431 is overall along its jointed shaft fore-and-aft direction pitching motion, inner upright mounting by door frame lifting hydraulic cylinder with Outer mast connects, and flexible inner upright mounting can be realized along door frame guiding mechanism from outer mast bottom by control door frame lifting hydraulic cylinder End extends downwardly from or retraction action upwards;Goods shelf 432 slides the company of fitting by crotch guiding mechanism with the front end face of inner upright mounting Connect and the support body of goods shelf 432 is connected by crotch lifting hydraulic cylinder with inner upright mounting, by controlling stretching for crotch lifting hydraulic cylinder Contracting can realize that goods shelf 432 moves up and down action along crotch guiding mechanism on inner upright mounting, and barcode scanning is additionally provided with goods shelf 432 Identification device and range sensor;Pallet fork 433 is symmetrical set as two pieces, is arranged on by the erection of pallet fork sliding guide mechanism On goods shelf 432, and the pallet fork that pallet fork 433 is set by left and right directions elapses part and the installation connection of goods shelf 432, passes through control The action of pallet fork passage part processed can realize the regulation of span between pallet fork 433;
Fork installation hydraulic mechanism includes the hydraulic power unit being arranged in support platform 41 and control valve group, hydraulic power unit pass through Fluid pressure line is connected with control valve group, control valve group by fluid pressure line respectively with door frame lifting hydraulic cylinder, door frame pitching hydraulic pressure Cylinder connects with crotch lifting hydraulic cylinder;
Fork installation electrical control mechanism include fork installation controller, fork installation electrical source of power, the elements of a fix movement control loop, away from From feedback control loop, pallet fork span regulating loop, reprint control loop, fork installation controller respectively with pressing machine power electric Source, the control valve group of fork installation hydraulic mechanism, pallet fork passage part, barcode scanning identification device and Distance-sensing on goods shelf 432 Device electrically connects.
Described sorting equipment includes being arranged on logistics code fetch system dress along logistics code fetch system handler length direction Multiple the sorting mechanical arms 5 and mechanical arm electrical control mechanism on the left of handler and/or right side;
Sort mechanical arm 5 to set up on loading/unloading platform 1, sorting mechanical arm 5 comprises at least left and right directions movement and set X-coordinate driving, fore-and-aft direction movement set Y-coordinate driving and vertical direction movement set Z coordinate driving, sorting machinery The minor details of arm 5 pile up manipulator provided with crawl;As shown in figure 3, crawl is piled up, mechanical hand includes manipulator body, mechanical finger supports Frame 51, hinged seat 52, crawl mechanical finger 53 and reversal propulsion machine structure 54;The manipulator body back side is connected to sorting mechanical arm 5 Minor details end, front and the installation of mechanical finger support frame 51 connect;Mechanical finger support frame 51 is symmetrical relative to manipulator body And/or front and rear it is symmetrical arranged;Hinged seat 52 is arranged to multiple, is fixedly connected on the front of mechanical finger support frame 51;Gripper The quantity that tool refers to 53 is identical with the quantity of hinged seat 52, and the bottom of crawl mechanical finger 53 is articulated and connected in hinged seat 52;Upset pushes away Enter the one end of mechanism 54 to be articulated and connected in mechanical finger support frame 51, the other end is articulated and connected in crawl mechanical finger 53;
Mechanical arm electrical control mechanism include mechanical arm controller, electrically connected with mechanical arm controller mechanical arm electrical source of power, Control loop is piled up in crawl, and mechanical arm controller drives with X-coordinate respectively, Y-coordinate drives, Z coordinate drives and reversal propulsion machine Structure 54 electrically connects.
Described electric control gear include industrial control computer, support underframe control loop, ribbon conveyer control loop, Control loop is piled up in fork installation control loop, sorting;Industrial control computer includes data input output ports, Industry Control meter Calculation machine electrically connects with chassis conveyor controller, fork installation controller and mechanical arm controller respectively.
This is applied to the logistics code fetch system of freight container in original state, and support underframe 2 is stuck in loading/unloading platform 1 Front edge setting position, fork installation 4 is stuck in the settings fork dress coordinate positions of the top of ribbon conveyer 3, and crawl is piled up The reversal propulsion machine structure 54 of manipulator is in contraction state, that is, captures mechanical finger 53 and be in complete open configuration.
This is applied to the operation principle of the logistics code fetch system of freight container:The vehicle parking of freight container will be loaded with Behind under loading/unloading platform 1, chamber door face fork installation 4 setting position, now the bottom plate of freight container is and loading/unloading platform 1 Upper plane it is concordant, operating personnel open chamber door, while the data that operating personnel pass through industrial control computer after being docked Input/output port inputs the goods vanning positional information, prestowage scheme, goods bag of freight container to industrial control computer Coordinate position, goods packaging box size, freight container inside dimension data message are piled up in vanning.
During incasement operation, support underframe control loop is first begin to work;Industrial control computer is matched somebody with somebody according to what is inputted Load scheme, goods packaging box size and freight container inside dimension data message calculate the reach of support underframe 2 and enter shipping collection Depth and Y-coordinate value that the support underframe 2 need to move forward inside vanning 6 are sent to chassis conveyor controller, while the bottom of to Frame conveyor controller sends support underframe forward motion control instruction, chassis conveyor controller control roller set drive actions Make support roller set drag carry support underframe 2 forward coordinate be moved to above-mentioned calculating support underframe 2 move forward Y-coordinate value, branch The roller set of the front end of support underframe 2 departs from longitudinal rail 11, crosses loading/unloading platform 1 and shipping packaging during support chassis 2 moves forward The setting position and positioning, chassis conveyor controller that the docking location of case enters inside freight container 6 are controlled to industry in real time Computer feedback data information processed;
The goods that need to be cased transports attached to sorting mechanical arm 5 successively first by automatical pilot transportation vehicle according to prestowage scheme Near setting goods packaging box piles up coordinate position, and then sorting is piled up control loop and worked first;Industrial control computer to Mechanical arm controller sends crawl and piles up control instruction, and mechanical arm controller control sorting mechanical arm 5 coordinate movement makes crawl code Put manipulator and be moved to that goods packaging box piles up the surface of coordinate position and Z-direction moves down and goods is captured;Crawl During the front of manipulator body face the top surface of goods packaging box, the range sensor work on manipulator body front, Mechanical arm controller drives mechanical arm and crawl to pile up manipulator and paste the front of manipulator body according to the coordinate information of feedback Lean against on the top surface of goods packaging box, then mechanical arm controller control reversal propulsion machine structure 54, which stretches out, makes crawl mechanical finger 53 same When inwardly upset close finish clamping crawl is carried out to goods packaging box;The mechanical arm controller control sorting coordinate of mechanical arm 5 after crawl Moving, which makes crawl pile up mechanical hand shovelling, the baseplane that goods packaging box is moved on goods Z-direction between loading/unloading platform 1 Apart from size be more than ribbon conveyer 3 upper strata conveyer belt upper surface setting apart from the distance between loading/unloading platform 1 size Determine Z coordinate position;Then mechanical arm controller controls the coordinate movement of sorting mechanical arm 5 crawl is piled up mechanical hand shovelling and goods edge X-coordinate moves to setpoint distance, and the setpoint distance is the conveying bandwidth that goods packaging box piles up coordinate position and ribbon conveyer 3 X-coordinate value between degree center;Then mechanical arm controller control crawl, which is piled up manipulator Z-direction and moved down, determines goods Point is piled up;The mechanical retraction of arm controller control reversal propulsion machine structure 54 makes crawl mechanical finger 53 while flipped over during piling up Opening is piled up to goods packaging box;Mechanical arm controller is in real time to industrial control computer feedback data information;
Then ribbon conveyer control loop is started working;Industrial control computer is according to having inputted goods packaging box size The Y-coordinate of setting fork dress coordinate position need to be moved forward to by piling up coordinate position data information calculating goods packaging box with goods packaging box Value and the Y-coordinate value that the goods packaging box need to move forward are sent to chassis conveyor controller, while are controlled to chassis conveyer Device sends ribbon conveyer action directive, and the control drum driven action of chassis conveyor controller makes the positive rotation of drive roll Turn to drive upper strata conveyer belt to carry after goods packaging box moves forward to setting fork dress coordinate position and stop, chassis conveyor controller is real When to industrial control computer feedback data information;
Then fork installation control loop is started working;Industrial control computer sends fork installation fork dress to fork installation controller Action directive, fork installation controller control pallet fork passage component actuation according to the goods packaging box dimension information of input first The span between pallet fork 433 is set to adjust to the setting width dimensions for coordinating goods packaging box size;Then fork installation controller root Goods is established according to the feedback identifying information of the barcode scanning identification device on the goods packaging box dimension information and goods shelf 432 inputted Pitch holding position and fork dress depth mathematical modeling;As shown in Fig. 2 then fork installation controller controls fork installation liquid according to mathematical modeling Press mechanism makes door frame lifting hydraulic cylinder, door frame pitching hydraulic cylinder, crotch lifting hydraulic cylinder co-operating be pointed to ribbon conveyer 3 The goods packaging box of setting fork dress coordinate position on the conveyer belt of upper strata carries out fork dress and disengages it from ribbon conveyer 3, and fork filled The distance between range sensor Real-time Feedback goods shelf 432 and goods in journey on goods shelf 432 fill depth to ensure to pitch;It is complete Dress back vent installation controller is pitched according to prestowage scheme and goods vanning positional information, freight container inside dimension data into goods Y-coordinate value that information calculation supporting platform 41 need to move forward simultaneously controls the directive wheel drive actions of slipping part 42 to make support platform 41 Move forward to the position of piling up of the Y-coordinate value, then fork installation controller control fork installation hydraulic mechanism make door frame lifting hydraulic cylinder, The goods packaging box that door frame pitching hydraulic cylinder, crotch lifting hydraulic cylinder co-operating are pointed on pallet fork 433, which carries out unloading, makes it The goods vanning position set in goods cases positional information is piled up, most back vent installation 4 recovers to complete one to original state It is secondary to pile up, be ready for follow-up pile up;Fork installation controller in binning process is piled up to feed back to industrial control computer in real time Data message;
By that analogy, industrial control computer is in good time defeated to chassis according to the data message of fork installation controller Real-time Feedback Send machine controller to send control support underframe 2 stepping of support underframe fallback action control instruction to retract, until before support underframe 2 Freight container is exited at end completely and entire cargo packing case all piled up inside freight container according to prestowage scheme it is whole Together, whole binning process is completed.
Unload operation be incasement operation inverse process, the data input output end that operating personnel pass through industrial control computer Goods vanning positional information, prestowage scheme, goods packaging box chi of the mouth except inputting freight container to industrial control computer Beyond very little, freight container inside dimension data message, sorting information also is inputted to industrial control computer, sorting information includes Co-ordinate position information is piled up according to the different goods packaging boxes that different sorting conditions is distributed;
Fork installation control loop is first begin to work, and fork installation controller is according to prestowage scheme and goods vanning positional information Control fork dress portion 43 retracts to initial position, then fork installation control after fork dress is carried out to the goods packaging box inside freight container Device control fork dress portion 43 processed is piled up in the setting fork dress coordinate bit on the upper strata conveyer belt of ribbon conveyer 3 by goods packaging box Put, fork installation controller is in real time to industrial control computer feedback data information;
The feedback for the barcode scanning identification device on goods shelf 432 that industrial control computer feeds back according to fork installation controller is known Other information and the sorting information inputted send ribbon conveyer action command to chassis conveyor controller, then belt conveying Machine control loop is started working, and the control drum driven action of chassis conveyor controller makes drive roll reversely rotate drive upper strata Conveyer belt carry move to the goods packaging box after goods packaging box corresponding to goods packaging box pile up the setting of coordinate position Y-coordinate Stop after coordinate position;
Then control loop start-up operation is piled up in sorting, and industrial control computer piles up coordinate bit to corresponding goods packaging box The mechanical arm controller put sends crawl and piles up control instruction, and mechanical arm controller control sorting mechanical arm 5 coordinate movement makes to grab Code fetch puts manipulator and goods packaging box is captured and piles up after the translation of X-coordinate direction and piles up coordinate position in goods packaging box On, automatical pilot transportation vehicle can transport to the goods packaging box;
By that analogy, industrial control computer is in good time defeated to chassis according to the data message of fork installation controller Real-time Feedback Send machine controller to send control support underframe 2 stepping of support underframe forward motion control instruction to advance, until before support underframe 2 End all unloads completely into freight container and entire cargo packing case according to prestowage scheme, completes whole process of unloading, branch Support chassis 2 retracts to original state.
In order to realize that sorting mechanical arm 5 accurately capture goods packaging box, prevents crawl from failing, as of the invention further Improvement project, it is additionally provided between the described manipulator body back side and the minor details end for sorting mechanical arm 5 vertically as rotation The C coordinate rotation drivings of shaft axis, the body end of C coordinate rotation drivings are fixedly connected with sorting the minor details end of mechanical arm 5, revolved Turn end to be fixedly connected with the manipulator body back side, the rotation driving of C coordinates electrically connects with mechanical arm controller;Described manipulator sheet Pattern-recognition sensor is additionally provided with body front, pattern-recognition sensor electrically connects with mechanical arm controller;Pass through pattern-recognition The Pose Control C coordinate rotation driving spinning movements of the goods packaging box of sensor feedback can realize that crawl is piled up manipulator and existed Goods packaging box can be captured from suitable angle when capturing goods packaging box, so as to realize accurate crawl.
It is general in order to be realized according to the goods packaging box of different appearance and sizes, scheme as a further improvement on the present invention, Span regulating member, span regulating member and mechanical arm controller are provided between described symmetrically arranged mechanical finger support frame 51 Electrical connection;By controlling the action of span regulating member to realize, the span between symmetrically arranged mechanical finger support frame 51 is adjusted Section, and then realize the general of the goods packaging box of different appearance and sizes.
For the ease of numerical control control and avoid unilateral control machinery refer to support frame 51 move caused by crawl after unbalance loading, make For further improvement of the present invention scheme, described span regulating member includes span regulation servomotor and horizontal set up is installed Bidirectional screw bar on manipulator body, bidirectional screw bar is connected with span regulation servomotor and bidirectional screw bar or so There is oppositely oriented screw structure, described mechanical finger support frame 51 is provided with matches somebody with somebody with bidirectional screw bar on the body of rod of both ends The screw being arranged on bidirectional screw bar is closed, span regulation servomotor electrically connects with mechanical arm controller;Pass through mechanical arm control The rotating of device control span regulation servomotor processed can realize that symmetrically arranged mechanical finger support frame 51 is synchronous opposite or carries on the back To movement, and then realize the regulation of span between mechanical finger support frame 51.
Described reversal propulsion machine structure 54 can use hydraulic jack or cylinder, because latter reaction is rapider, therefore It is preferred that the latter, i.e. as the preferred scheme of the present invention, described reversal propulsion machine structure 54 is cylinder, and cylinder passes through gas circuit pipeline Be connected with pneumatic control valve group, pneumatic control valve group is connected with pressure gas source by gas circuit pipeline, pneumatic control valve group also with institute The mechanical arm controller electrical connection stated;Mechanical arm controller can be by controlling pneumatic control valve group to realize stretching for control cylinder Contract and then realize the opening of control crawl mechanical finger 53 or close and finish.
Described sorting mechanical arm 5 can use multi-joint centralized control type machinery arm configuration, can also use gantry type Split control machinery arm configuration, or the mechanical arm using other forms such as Delta mechanical arms, due to more passes of the first scheme The control for saving the Delta mechanical arms of mechanical arm and the third scheme is centralized Control, and accurately coordinate control is more complicated for it, need through Cross industrial control computer largely calculate, software control procedure it is complicated, and manufacturing cost is higher, computer control burden weight, easily Break down;Second scheme is controlled using split, i.e., several coordinate systems control respectively, and control is relatively easy, direct, is not easy out Existing failure, therefore preferred second scheme, i.e. as the preferred scheme of the present invention, described sorting mechanical arm 5 is gantry type machine Tool arm.
This logistics code fetch system sorting equipment is fully digitalization control unit, can be total with the numeral of logistics code fetch system Line, which is seamlessly connected, realizes concentration digital management, it is possible to achieve fully digitalization is sorted, and complete computer auto-control operation can Avoid because of influence of the human factors such as operating personnel's sense of responsibility, mood to manufacturing schedule, while skill can be operated from operating personnel The limitation of energy qualification, it is entirely avoided the drawbacks of manual operation is present, intelligent operation can be realized, improve sort efficiency, Especially suitable for being directed to the handling goods sort operation of freight container in the container shipping of logistic storage.

Claims (8)

1. a kind of logistics code fetch system sorting equipment, the electric control gear of logistics code fetch system includes industrial control computer, sorting Control loop is piled up, industrial control computer includes data input output ports;Characterized in that,
This sorting equipment includes being arranged on a logistics code fetch system handler left side along logistics code fetch system handler length direction Side and/or multiple sorting mechanical arms (5) on right side and mechanical arm electrical control mechanism;
Described sorting mechanical arm (5), which is set up, to be arranged on loading/unloading platform (1), and sorting mechanical arm (5) comprises at least left and right directions The Z coordinate driving that the Y-coordinate driving and vertical direction movement that the mobile X-coordinate driving set, fore-and-aft direction movement are set are set, The minor details of sorting mechanical arm (5) pile up manipulator provided with crawl;Mechanical hand is piled up in crawl includes manipulator body, mechanical finger support Frame (51), hinged seat (52), crawl mechanical finger (53) and reversal propulsion machine structure (54);The manipulator body back side is connected to sorter Minor details end, the front of tool arm (5) are connected with mechanical finger support frame (51) installation, and distance is additionally provided with manipulator body front and is passed Sensor;Mechanical finger support frame (51) relative to manipulator body it is symmetrical and/or it is front and rear be symmetrical arranged, and symmetrically arranged machine The appearance and size that tool refers to the span size and goods packaging box between support frame (51) coordinates;Hinged seat (52) is arranged to multiple, It is fixedly connected on the front of mechanical finger support frame (51);Capture the quantity and the quantity phase of hinged seat (52) of mechanical finger (53) Together, the bottom for capturing mechanical finger (53) is articulated and connected in hinged seat (52);Reversal propulsion machine structure (54) one end is articulated and connected in machine Tool refers to support frame (51), and the other end is articulated and connected in crawl mechanical finger (53);
The mechanical arm power electric that described mechanical arm electrical control mechanism includes mechanical arm controller, electrically connected with mechanical arm controller Control loop is piled up in source, crawl, and mechanical arm controller drives with X-coordinate driving, Y-coordinate driving, Z coordinate respectively, manipulator sheet Range sensor and reversal propulsion machine structure (54) electrical connection, mechanical arm controller on body front calculate with described Industry Control Mechatronics.
2. logistics code fetch system sorting equipment according to claim 1, it is characterised in that the described manipulator body back side It is additionally provided between the minor details end of sorting mechanical arm (5) vertically as the C coordinate rotation drivings of rotation axis, C coordinates The body end of rotation driving is fixedly connected with the minor details end of sorting mechanical arm (5), round end and the manipulator body back side are fixed Connection, the rotation driving of C coordinates electrically connect with mechanical arm controller;Pattern-recognition biography is additionally provided with described manipulator body front Sensor, pattern-recognition sensor electrically connect with mechanical arm controller, and mechanical arm controller also judges loop including pattern-recognition.
3. logistics code fetch system sorting equipment according to claim 2, it is characterised in that described symmetrically arranged machinery Span regulating member is provided between finger support frame (51), span regulating member electrically connects with mechanical arm controller.
4. logistics code fetch system sorting equipment according to claim 3, it is characterised in that described span regulating member bag Span regulation servomotor and the horizontal bidirectional screw bar set up on manipulator body are included, bidirectional screw bar is adjusted with span There is oppositely oriented screw structure, described machine on the connection of section servomotor and the bidirectional screw bar left and right ends body of rod Tool refers to support frame (51) and is provided with the screw being arranged on the cooperation of bidirectional screw bar on bidirectional screw bar, span regulation servomotor Electrically connected with mechanical arm controller.
5. the logistics code fetch system sorting equipment according to Claims 1-4 any claim, it is characterised in that described Reversal propulsion machine structure (54) be cylinder, cylinder is connected by gas circuit pipeline with pneumatic control valve group, pneumatic control valve group with pressure Strength source is connected by gas circuit pipeline, and pneumatic control valve group also electrically connects with described mechanical arm controller.
6. the logistics code fetch system sorting equipment according to Claims 1-4 any claim, it is characterised in that described Sorting mechanical arm (5) be gantry type mechanical arm.
7. a kind of method for sorting of logistics code fetch system sorting equipment, it is characterised in that specifically include following steps:
A. sorting prepares:During original state, the reversal propulsion machine structure (54) that manipulator is piled up in crawl is in contraction state, gripper Tool refers to (53) and is in complete open configuration;
By be loaded with the vehicle parking of freight container under loading/unloading platform (1), chamber door face fork installation (4) setting position after The bottom plate of freight container is concordant with the upper plane of loading/unloading platform (1), and operating personnel open chamber door after being docked, operate simultaneously Personnel are calculated by the data input output ports of the industrial control computer of logistics code fetch system electric control device to Industry Control The goods vanning positional information of machine input freight container, prestowage scheme, goods packaging box pile up coordinate position, goods packaging box Size, freight container inside dimension data message, sorting information, sorting information include what is distributed according to different sorting conditions Different goods packaging boxes pile up co-ordinate position information;
B. sort operation is loaded and unloaded:
When carrying out vanning sort operation to freight container, the goods that need to be cased is first by automatical pilot transportation vehicle according to prestowage The setting goods packaging box that scheme transports to corresponding sorting mechanical arm (5) nearby successively piles up coordinate position, then sorts code Control loop work is put, industrial control computer is according to sorter corresponding to prestowage scheme to the goods packaging box that need to be piled up first The mechanical arm controller of tool arm (5) sends crawl and piles up control instruction, and mechanical arm controller controls sorting mechanical arm (5) coordinate It is mobile to make crawl pile up manipulator to be moved to that goods packaging box piles up the surface of coordinate position and Z-direction is moved down to goods Captured;The front of manipulator body faces the top surface of goods packaging box during crawl, on manipulator body front away from From working sensor, mechanical arm controller drives mechanical arm and crawl to pile up manipulator and make manipulator according to the coordinate information of feedback The front of body is abutted on the top surface of goods packaging box, and then mechanical arm controller control reversal propulsion machine structure (54) is stretched out and made Crawl mechanical finger (53) while inwardly upset close to finish carries out clamping crawl to goods packaging box;Mechanical arm controller control after crawl Sorting mechanical arm (5) coordinate movement makes crawl pile up mechanical hand shovelling the baseplane for moving to goods packaging box on goods Z-direction The upper surface distance handling for being more than the upper strata conveyer belt of ribbon conveyer (3) apart from the distance between loading/unloading platform (1) size are flat The setting Z coordinate position of the distance between platform (1) size;Then mechanical arm controller control sorting mechanical arm (5) coordinate movement Crawl is piled up mechanical hand shovelling and goods and move to setpoint distance along X-coordinate, the setpoint distance is that goods packaging box piles up coordinate X-coordinate value between the conveyer belt widthwise central of position and ribbon conveyer (3);Then mechanical arm controller control crawl is piled up Manipulator Z-direction, which moves down, to carry out fixed point to goods and piles up;Mechanical arm controller control reversal propulsion machine structure during piling up (54) retraction makes crawl mechanical finger (53) while flips over to open to pile up goods packaging box;Mechanical arm controller is real-time To industrial control computer feedback data information, then industrial control computer control ribbon conveyer (3) and fork installation (4) is assisted Fork is carried out to the goods packaging box that this need to be piled up first with action and fills the setting position piled up to freight container;With such Push away, until all goods packaging boxes are all piled up inside freight container according to prestowage scheme, complete whole vanning and sorted Journey;
Freight container unload sort operation when, industrial control computer according to prestowage scheme and sorting information control fork Installation (4) and ribbon conveyer (3) co-operating to the goods packaging box that need to be unloaded first pitch dress and pile up being delivered to band Setting goods packaging box piles up coordinate position corresponding to the goods packaging box on the conveyer belt of formula conveyer (3) upper strata, then sorts Pile up control loop start-up operation, industrial control computer to should goods packaging box pile up coordinate position mechanical arm control Device sends crawl and piles up control instruction, and mechanical arm controller control sorting mechanical arm (5) coordinate movement makes crawl pile up manipulator Goods packaging box is captured and piled up after the translation of X-coordinate direction and is piled up in goods packaging box on coordinate position, homing guidance Transport vehicle transports to the goods packaging box;By that analogy, until entire cargo packing case all unloads according to prestowage scheme, Complete whole sort process of unloading.
8. the method for sorting of logistics code fetch system sorting equipment according to claim 7, it is characterised in that described step Crawl piles up pattern-recognition when manipulator captures to goods packaging box and judges that loop is first begin to work, pattern-recognition in b Sensor collection goods packaging box top end face posture information and by with the standard top end face model built in mechanical arm controller It is compared and draws position deviation amount, then mechanical arm controller controls the rotation driving rotation of control C coordinates dynamic according to departure Make to capture again after rectifying a deviation to the pose of manipulator body.
CN201710680946.0A 2017-08-10 2017-08-10 A kind of logistics code fetch system sorting equipment and its method for sorting Pending CN107352206A (en)

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CN109675813A (en) * 2019-01-14 2019-04-26 中山大学南方学院 Intelligent logistics sorting system
CN111439548A (en) * 2020-03-14 2020-07-24 安徽省冠盛纺织科技有限公司 Intelligent transfer system applied to weaving workshop
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CN112517410A (en) * 2020-10-30 2021-03-19 平潭综合实验区百汉国际贸易有限公司 Loading and sorting equipment for logistics storage and working method thereof
CN113895680A (en) * 2021-09-30 2022-01-07 江西省舌尖王国供应链管理有限公司 Boxing robot and boxing method for intelligent logistics

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