CN107352207A - A kind of logistics code fetch system suitable for freight container - Google Patents
A kind of logistics code fetch system suitable for freight container Download PDFInfo
- Publication number
- CN107352207A CN107352207A CN201710680948.XA CN201710680948A CN107352207A CN 107352207 A CN107352207 A CN 107352207A CN 201710680948 A CN201710680948 A CN 201710680948A CN 107352207 A CN107352207 A CN 107352207A
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- Prior art keywords
- fork
- support
- installation
- freight container
- pallet fork
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
-
- 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
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/0755—Position control; Position detectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/08—Masts; Guides; Chains
- B66F9/082—Masts; Guides; Chains inclinable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/08—Masts; Guides; Chains
- B66F9/085—Multiple forks, i.e. more than one pair mounted on a single mast or with more than one mast
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B66F9/14—Platforms; Forks; Other load supporting or gripping members laterally movable, e.g. swingable, for slewing or transverse movements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/22—Hydraulic devices or systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/24—Electrical devices or systems
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses a kind of logistics code fetch system suitable for freight container, including loading/unloading platform, handler, sorting equipment and electric control gear；The longitudinal rail be arrangeding in parallel is provided with loading/unloading platform in the longitudinal direction；Handler includes support underframe, ribbon conveyer and fork installation, the bottom of support underframe and is provided with running part, and ribbon conveyer includes chassis conveyer electrical control mechanism；Fork installation includes fork installation electrical control mechanism；Sorting equipment includes being arranged on multiple the sorting mechanical arms and mechanical arm electrical control mechanism at left and right sides of handler；Electric control gear piles up control loop including industrial control computer, support underframe control loop, ribbon conveyer control loop, fork installation control loop, sorting.The logistics code fetch system automation degree that this is applied to freight container is higher, can realize intelligent operation, improve the efficiency of loading and unloading, the handling goods especially suitable for being directed to freight container in the container shipping of logistic storage piles up operation.
Description
Technical field
The present invention relates to a kind of logistics code fetch system, specifically a kind of logistics code fetch system suitable for freight container,
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 production of this traditional manual operation vanning or unloading：
1. although storage process or outbound process have realized automation mechanized operation, the vanning or unloading of container still use people
Work operates, 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
To transmit, the speed of manual operation vanning or unloading to keep up with storage or the speed of outbound just can guarantee that the efficiency that storage is transported, because
This labor intensity of operating staff is larger；
3. the human factors such as the sense of responsibility of operating personnel, mood have a great influence to progress of cargo work.
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 suitable for freight container
System, automaticity is higher, can realize intelligent operation, improve the efficiency of loading and unloading, the container shipping especially suitable for logistic storage
In for the handling goods of freight container pile up operation.
To achieve these goals, this logistics code fetch system for being applied to freight container includes loading/unloading platform, handling dress
Put, sorting equipment and electric control gear；
The longitudinal rail be arrangeding in parallel is provided with described loading/unloading platform in the longitudinal direction, longitudinal rail at least extends to
The front end of loading/unloading platform；
Described handler includes support underframe, ribbon conveyer and fork installation；
The bottom of support underframe is provided with running part, and running part includes support roller set and roller set driving；Support roller set
Including the support disk roller being symmetrical set, support disk roller matches somebody with somebody to merge with longitudinal rail to be erected on longitudinal rail, supports disk roller
Group is arranged to multigroup and at least one set of support roller set along support underframe fore-and-aft direction and driven provided with roller set, support underframe
It is arranged on by supporting roller set to set up on longitudinal rail；The front end of support underframe has open U-shaped opening structure；
Ribbon conveyer is erected on support underframe along support underframe fore-and-aft direction, ribbon conveyer include drive roll,
Driven roller, idler machining, conveyer belt and chassis conveyer electrical control mechanism；Idler machining sets up and is arranged on drive roll and driven roller
Between, 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, is set on drive roll
There is a drum driven, chassis conveyer electrical control mechanism includes chassis conveyor controller and electrically connected with chassis conveyor controller
Chassis conveyer electrical source of power, drum driven electrically connect with chassis conveyor controller；Described roller set driving is defeated with chassis
Machine controller is sent to electrically connect；
Fork installation includes support platform, slipping part, fork dress portion, fork installation hydraulic mechanism and fork installation electrical control mechanism；Support
Platform is located at the surface of ribbon conveyer, and support platform has the supporting leg extended downwardly from, and support platform is by supporting leg support
If on support underframe；
Slipping part is arranged between the supporting leg of support platform and support underframe, including the directive slide track worked in coordination and is led
To wheel；Directive slide track fore-and-aft direction is horizontally set on support underframe and directive slide track front end extends forwardly into the U of support underframe
On the left and right sides plate of shape aperture position；The installation connection of the supporting leg bottom of directive wheel and support platform, directive wheel are provided with and led
To wheel drive；
Fork dress portion includes door frame, goods shelf and pallet fork；Door frame includes the inner upright mounting and outer mast for coordinating socket installation, inside door
Door frame guiding mechanism is provided between frame and outer mast, the rear lower of outer mast is articulated and connected in the front end of support platform, outer mast
It is connected by door frame pitching hydraulic cylinder with support platform, inner upright mounting is connected by door frame lifting hydraulic cylinder with outer mast, passes through control
The flexible of door frame lifting hydraulic cylinder processed can realize that inner upright mounting extends downwardly from or upwards along door frame guiding mechanism from outer mast bottom
Retraction acts；Goods shelf is fitted and connected by the slip of the front end face of crotch guiding mechanism and inner upright mounting and the support body of goods shelf leads to
Cross crotch lifting hydraulic cylinder to be connected with inner upright mounting, barcode scanning identification device and range sensor are additionally provided with goods shelf；Pallet fork or so
It is symmetrical arranged as two pieces, set up by pallet fork sliding guide mechanism on goods shelf, and pallet fork is set by left and right directions
Pallet fork passage part and goods shelf installation connect；
Fork installation hydraulic mechanism includes the hydraulic power unit being arranged in support platform and control valve group, hydraulic power unit pass through liquid
Pressure pipe road is connected with control valve group, control valve group by fluid pressure line respectively with door frame lifting hydraulic cylinder, door frame pitching hydraulic cylinder
Connected 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, the barcode scanning identification device on goods shelf and range sensor electricity
Connection；
Multiple the sorting mechanical arms and mechanical arm that described sorting equipment includes being arranged at left and right sides of handler are automatically controlled
Mechanism, sort mechanical arm support and set on loading/unloading platform, sorting mechanical arm comprises at least the X-coordinate that left and right directions movement is set
The Z coordinate driving that the Y-coordinate driving and vertical direction movement that driving, fore-and-aft direction movement are set are set, sort the end of mechanical arm
Section, which is provided with, to be included the crawl of grasping mechanism and piles up manipulator, mechanical arm electrical control mechanism including mechanical arm controller and with mechanical arm control
The mechanical arm electrical source of power of device electrical connection processed, X-coordinate driving, Y-coordinate driving and Z coordinate driving are electric with mechanical arm controller respectively
Connection；
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.
Scheme as a further improvement on the present invention, the upper strata of the baseplane distance belt conveyer of described support platform
Height dimension between the upper surface of conveyer belt is more than the height dimension of goods packaging box.
Scheme as a further improvement on the present invention, described support platform are divided into two parts up and down, the outer mast of door frame
Rear lower be articulated and connected and be arranged in the top sub-headend of support platform, supporting leg in the lower part of support platform, support is flat
It is attached between two parts up and down of platform by pivoting support, pivoting support is provided with pivoting support hydraulic-driven, revolution branch
Hydraulic-driven is held to be connected with the control valve group of fork installation hydraulic mechanism by fluid pressure line；Described fork installation electrical control mechanism also wraps
Include support platform rotary loop.
It is described that multigroup support roller set edge is arranged to along support underframe fore-and-aft direction as the preferred scheme of the present invention
Support underframe fore-and-aft direction is uniformly arranged and at least two groups of support roller sets drive provided with roller set, and each supports disk roller
On be equipped with axis of rotation vertical direction setting disk roller revolution driving, disk roller revolution driving can realize support disk roller rolling
Direction converts between fore-and-aft direction and left and right directions, and disk roller revolution driving electrically connects with chassis conveyor controller；Described
The longitudinal rail being be arranged in parallel on fore-and-aft direction is arranged to multigroup, X-coordinate value between the longitudinal rail that two adjacent groups be arranged in parallel
Distance be more than the width dimensions of freight container, quantity and support roller set phase are additionally provided with loading/unloading platform in the lateral direction
With, it is be arrangeding in parallel, intersect with longitudinal rail be in matts structure cross slide way, and between adjacent two pieces cross slide way
Distance between axles size between distance and fore-and-aft direction upper backup roll wheel group is identical；Described electric control gear is also put down including support underframe
It is moved back to road.
Scheme as a further improvement on the present invention, also include pattern-recognition sensor on described goods shelf, it is described
Electric control gear also includes fork holding position position control loop, and described industrial control computer is electrically connected with pattern-recognition sensor
Connect.
Scheme as a further improvement on the present invention, described data input output ports also include radio receiving transmitting module,
Described electric control gear also includes wireless receiving and dispatching control loop.
Scheme as a further improvement on the present invention, described pallet fork are provided with side clamping plate.
Scheme as a further improvement on the present invention, the directive slide track of described slipping part are through support underframe or so two
The guide groove structure of side plate.
As a kind of embodiment of pallet fork of the present invention passage part, described pallet fork passage part includes pallet fork passage and watched
Take motor and it is horizontal set up the bidirectional screw bar being arranged on goods shelf, bidirectional screw bar and pallet fork elapse servomotor be connected,
And there is oppositely oriented screw structure on the body of rod of bidirectional screw bar left and right ends, described pallet fork is provided with and two-way spiral shell
Swing arm coordinates the industrial control computer electricity of the screw being arranged on bidirectional screw bar, pallet fork passage servomotor and electric control gear
Connection.
As the another embodiment of pallet fork of the present invention passage part, described pallet fork passage part includes horizontal set up
The two pieces pallet fork passage hydraulic cylinder that on goods shelf, telescopic direction is reversed, two pieces pallet fork passage hydraulic cylinder are stretched
Contracting end is connected with two pieces pallet fork respectively, and control valve group of the two pieces pallet fork passage hydraulic cylinder respectively with fork installation hydraulic mechanism passes through liquid
Pressure pipe road connects.
Compared with prior art, this logistics code fetch system for being applied to freight container is fully digitalization control unit,
It can be seamlessly connected with the number bus of Intelligent logistics and realize concentration digital management, coordinate the homing guidance of Intelligent logistics to transport
Car can realize that fully digitalization is loaded and unloaded；Because handler includes support underframe, ribbon conveyer and fork installation, belt conveying
Machine includes chassis conveyer electrical control mechanism, and fork installation includes fork installation electrical control mechanism, and sorting equipment includes being arranged on handler
Multiple the sorting mechanical arms and mechanical arm electrical control mechanism of the left and right sides, operated completely using computer auto-control, thus it is logical
Cross industrial control computer from data input output ports to electric control gear input freight container goods case positional information,
Prestowage scheme, goods packaging box pile up the data messages such as coordinate position, goods packaging box size, freight container inside dimension
Afterwards, industrial control computer can control support underframe vertical according to the prestowage scheme inputted by chassis conveyer electrical control mechanism
Coordinate moves after direction guiding rail is gone forward, during incasement operation by mechanical arm controller and fork installation controller control sorting mechanical arm,
Ribbon conveyer and fork installation work compound, it is possible to achieve the coordinate position of piling up of the goods packaging box on loading/unloading platform is determined
Point crawl, the translation of goods packaging box are piled up to conveyer belt, the conveyer belt of goods packaging box transports, goods packaging box is in shipping
The fork dress of internal container is piled up with handling, is unloaded and is pitched dress by mechanical arm controller and fork installation controller control when operating
Machine, ribbon conveyer and sorting mechanical arm work compound, it is possible to achieve the fork of the goods packaging box inside freight container
Dress, the piling up to conveyer belt of goods packaging box, the transport of the conveyer belt of goods packaging box, the translation of goods packaging box are piled up to dress
Unload the goods packaging box on platform and pile up coordinate position, goods of the installation controller according to input is pitched during goods packaging box fork dress
Matter packaging box size Control pallet fork passage component actuation makes the span between pallet fork adjust setting to cooperation goods packaging box size
Determine width dimensions, and according to the barcode scanning identification device and the feedback information of range sensor in the information and goods shelf inputted,
Fork holding position and fork dress depth mathematical modeling are established, then controls fork installation hydraulic mechanism to make door frame pitching liquid according to mathematical modeling
Cylinder pressure, the action of crotch lifting hydraulic cylinder carry out fork dress handling, and complete computer auto-control operation can be avoided because operating personnel blame
Influence of the human factors such as Ren Xin, mood to manufacturing schedule, at the same can from the limitation of operating personnel's operative skill qualification,
The drawbacks of manual operation is present is completely avoid, intelligent operation can be realized, improve the efficiency of loading and unloading, especially suitable for logistic storage
Container shipping in for the handling goods of freight container pile up operation.
Brief description of the drawings
Fig. 1 is the three dimensional structure diagram when present invention carries out handling freight container；
Fig. 2 is structural representation of the present invention fork installation when fork dress or store items packing case work on ribbon conveyer
Figure；
Fig. 3 is structural representation when present invention fork installation carries goods packaging box reach work；
Fig. 4 is structural representation when present invention fork installation fork inside freight container fills or store items packing case works
Figure；
Fig. 5 is structure of present invention when carrying out pitching dress or the work of store items packing case by the way of support platform revolution
Schematic diagram；
Fig. 6 is Fig. 4 top view.
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.
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, this logistics code fetch system for being applied to freight container includes loading/unloading platform 1, handler, sorting
Device 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, Fig. 5, Fig. 6, 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.
Multiple the sorting mechanical arms 5 and mechanical arm that described sorting equipment includes being arranged at left and right sides of handler are automatically controlled
Mechanism, sorting mechanical arm 5, which is set up, to be arranged on loading/unloading platform 1, and sorting mechanical arm 5 comprises at least the X that left and right directions movement is set
The Z coordinate driving that the Y-coordinate driving and vertical direction movement that coordinate driving, fore-and-aft direction movement are set are set, sorts mechanical arm 5
Minor details be provided with and include the crawl of grasping mechanism and pile up manipulator, mechanical arm electrical control mechanism including mechanical arm controller and with machinery
The mechanical arm electrical source of power of arm controller electrical connection, X-coordinate driving, Y-coordinate driving and Z coordinate driving control with mechanical arm respectively
Device 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.
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
Mechanical arm controller control sorting mechanical arm 5 coordinate movement afterwards makes crawl pile up mechanical hand shovelling and to move to goods on goods Z-direction
The baseplane of matter packaging box is more than the upper table of the upper strata conveyer belt of ribbon conveyer 3 apart from the distance between loading/unloading platform 1 size
Setting Z coordinate position of the identity distance from the distance between loading/unloading platform 1 size；Then mechanical arm controller control sorting mechanical arm 5
Coordinate movement makes crawl pile up mechanical hand shovelling and goods to move to setpoint distance along X-coordinate, and the setpoint distance is goods packaging box
Pile up the X-coordinate value between coordinate position and the conveyer belt widthwise central of ribbon conveyer 3；Then mechanical arm controller control is grabbed
Code fetch is put manipulator Z-direction and moved down to be piled up to goods；Mechanical arm controller is in real time to industrial control computer feedback coefficient
It is believed that breath；
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；Such as
Shown in Fig. 3, goods fork dress back vent installation controller is completed according in prestowage scheme and goods vanning positional information, freight container
Y-coordinate value that portion's sized data information calculation supporting platform 41 need to move forward simultaneously controls the directive wheel drive actions of slipping part 42 to make
What support platform 41 moved forward to the Y-coordinate value piles up position, as shown in figure 4, then fork installation controller control fork installation hydraulic pressure
Mechanism makes door frame lifting hydraulic cylinder, door frame pitching hydraulic cylinder, crotch lifting hydraulic cylinder co-operating be pointed to the goods on pallet fork 433
Matter packaging box, which carries out unloading, makes it pile up the goods vanning position set in goods cases positional information, and the installation 4 of most back vent is extensive
It is multiple to complete once to pile up to original state, be ready for follow-up pile up；It is real-time to pile up fork installation controller in binning process
To industrial control computer feedback data information；
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.
For simplify control, scheme as a further improvement on the present invention, the baseplane distance of described support platform 41
Height dimension between the upper surface of the upper strata conveyer belt of ribbon conveyer 3 is more than the height dimension of goods packaging box, i.e. goods
The face forward all the time of dress portion 43 is pitched in packing case cargo handling process, takes only control to pitch the movable modes of installation 4 to goods bag
Vanning is carried out pitching dress and piled up, the goods bag when the upper strata conveyer belt of ribbon conveyer 3 carries goods packaging box reach or rear shifting
The lower section of self-supporting of casing platform 41 is passed through.
In order to shorten the length of the directive slide track of slipping part 42 while reduce the height of support platform 41, and then realize more
Firmly fork fills, as a further improvement on the present invention scheme, as shown in figure 5, described support platform 41 is divided to for upper and lower two
Point, the rear lower of the outer mast of door frame 431 be articulated and connected in support platform 41 top sub-headend, that supporting leg is arranged on support is flat
In the lower part of platform 41, it is attached between two parts up and down of support platform 41 by pivoting support, pivoting support is provided with
Pivoting support hydraulic-driven, pivoting support hydraulic-driven are connected by fluid pressure line with the control valve group of fork installation hydraulic mechanism,
By controlling the action of pivoting support hydraulic-driven that the upper part of support platform 41 can be realized relative under support platform 41
Part is rotated；Described fork installation electrical control mechanism also includes support platform rotary loop；In goods packaging box cargo handling process
Support platform 41 is taken to goods packaging box pitch with the mode that moving fork dress portion 43 turns round and dress and pile up, being arranged such can be with
Make, the upper strata conveyer belt of ribbon conveyer 3 is pressed close in the baseplane of support platform 41, and then substantially reduces the height of support platform 41
Degree, more securely fork dress is realized, meanwhile, the mode of revolution can make the movable distance of support platform 41 relatively reduced, enter
And realize the length for the directive slide track for shortening slipping part 42.
In order to improve the efficiency of loading and unloading, the vehicle that generally use is loaded with freight container directly drives away replacing after completing to load and unload
The mode that the next vehicle for being loaded with freight container is loaded and unloaded, i.e., by way of mobile freight container, it can also adopt
The mode of the vehicle of freight container is loaded with multiple handling stations, translation, or by the way of translating, loading and unloading device, due to
First way handler needs to wait for be loaded and unloaded after vehicle enters loading/unloading lot, and second scheme realizes that translation carries
There is the vehicle of freight container is relatively difficult, need to additionally set translation to hold in the palm to carry facility, and the third scheme is provided with multiple dresses
Can be realized in the case of unloading parking stall a loading/unloading lot can be carried out during being loaded and unloaded load and unload vehicle supplement and then
Realize handler work continuously, efficiency it is higher with respect to the former two, therefore preferably the third scheme, i.e. as the present invention it is excellent
Scheme is selected, this is applied to the logistics code fetch system of freight container using more loading/unloading lots, in itself from by the way of moving, described edge
The fore-and-aft direction of support underframe 2 is arranged to multigroup support roller set and is uniformly arranged along the fore-and-aft direction of support underframe 2 and at least two groups
Roller set is supported to be driven provided with roller set, and the disk roller for being equipped with the setting of axis of rotation vertical direction on each support disk roller returns
Turn driving, disk roller revolution driving can realize that the rotating direction of support disk roller converts between fore-and-aft direction and left and right directions, roller
Wheel revolution driving electrically connects with chassis conveyor controller；The longitudinal rail 11 being be arranged in parallel on described fore-and-aft direction is arranged to
Multigroup, the distance of X-coordinate value is more than the width dimensions of freight container, dress between the longitudinal rail 11 that two adjacent groups be arranged in parallel
Unload it is that quantity is additionally provided with platform 1 in the lateral direction and supports roller set identical, is be arranged in parallel, intersect with longitudinal rail 11
In the cross slide way of matts structure, and between the distance between adjacent two pieces cross slide way and fore-and-aft direction upper backup roll wheel group
Distance between axles size it is identical；Described electric control gear also includes support underframe translational loop；When this is applied to freight container
Retracted after the handling of logistics code fetch system one freight container of completion and start work to initial position, support underframe translational loop
Make, industrial control computer control chassis conveyor controller makes all disk roller revolution drivings are simultaneously equidirectional to be rotated by 90 °, then
All disk rollers are all transformed to left and right directions by fore-and-aft direction, and then chassis conveyor controller control disk roller revolution driving is moved
Make to make support roller set drag the distance for carrying 2 leftward or rightward coordinate of support underframe movement X-coordinate value to another loader
, then industrial control computer control chassis conveyor controller makes the equidirectional rotation simultaneously of all disk roller revolution drivings
90 ° revert to fore-and-aft direction, you can load and unload carry out charge and discharge operations on station herein.
Filled to ensure accurately to pitch, as a further improvement on the present invention scheme, also include mould on described goods shelf 432
Formula identification sensor, described fork installation electrical control mechanism also include fork holding position position control loop, and the installation of described fork is automatically controlled
The fork installation controller of mechanism electrically connects with pattern-recognition sensor；Fork installation controller according to goods packaging box dimension information and
The cargo location information of pattern-recognition sensor feedback establishes goods pattern-recognition data model, and by the goods pattern-recognition number
Correction integration is carried out according to model and the fork holding position established and fork dress depth mathematical modeling, the number after finally being integrated according to correction
Learning model cootrol fork installation hydraulic mechanism makes door frame lifting hydraulic cylinder, door frame pitching hydraulic cylinder, the collaboration of crotch lifting hydraulic cylinder dynamic
Carry out fork dress.
In order to realize more efficiently Real Data Exchangs and control, improve the efficiency of loading and unloading, as further changing for the present invention
Enter scheme, described data input output ports also include radio receiving transmitting module, and described electric control gear also includes wireless receiving and dispatching
Control loop；Industrial control computer can be before handling using wireless by radio receiving transmitting module and wireless receiving and dispatching control loop
The goods vanning positional information, prestowage scheme, goods packaging box for being transferred from upper end network reception freight container pile up coordinate bit
Put, the data message such as goods packaging box size, freight container inside dimension, and realized in real time to upper end net in cargo handling process
Network feedback handling concrete condition, on the one hand can realize and coordinate automatical pilot transportation vehicle Self-loading-unloading platform in binning process enterprising
Row fixed point fork dress, carry out fixed point on loading/unloading platform during unloading and pile up, shorten this logistics code fetch car and piled up in fork dress
During walk distance, improve the efficiency of loading and unloading；Another aspect operating personnel can carry out real time remote to this logistics code fetch car
Error correct.
In order to prevent that goods packaging box slides from the left and right sides of pallet fork 433 is unexpected during fork from filling, as entering for the present invention
One step improvement project, described pallet fork 433 be provided with side clamping plate, and side clamping plate is symmetrical set respectively to be symmetrical set
The left and right sides of two pieces pallet fork 433；For the less goods packaging box of weight, after the fork dress of goods packaging box is completed, fork dress
Task reduces the span of pallet fork 433 to machine controller control pallet fork span regulating loop again, and then realizes side clamping plate to goods
The clamping of packing case.
In order to ensure that the directive slide track of slipping part 42 can provide firm support guide when fork freights matter packaging box, make
For further improvement of the present invention scheme, the directive slide track of described slipping part 42 is through the left and right sides plate of support underframe 2
Guide groove structure.
Situation about coordinating for the width dimensions inside goods width dimensions and freight container, is pushed away as pallet fork of the present invention
A kind of embodiment of part is moved, described pallet fork passage part includes pallet fork passage servomotor and horizontal erection is arranged on goods
Bidirectional screw bar on crotch 432, bidirectional screw bar is connected with pallet fork passage servomotor and bidirectional screw bar left and right ends bar
There is oppositely oriented screw structure, described pallet fork 433 is provided with to be coordinated installed in two-way with bidirectional screw bar on body
Screw on screw rod, pallet fork elapse servomotor and electrically connected with the fork installation controller of fork installation electrical control mechanism；Filled by pitching
The rotating of machine controller control pallet fork passage servomotor can realize the regulation of span between pallet fork 433.
For the less goods packaging box of size, in order to improve the space availability ratio inside freight container, this hair is used as
The another embodiment of bright pallet fork passage part, described pallet fork passage part include horizontal erection and are arranged on goods shelf 432
On, two pieces pallet fork that telescopic direction is reversed passage hydraulic cylinder, the telescopic end of two pieces pallet fork passage hydraulic cylinder is respectively with two
Part pallet fork 433 is connected, and control valve group of the two pieces pallet fork passage hydraulic cylinder respectively with fork installation hydraulic mechanism is connected by fluid pressure line
Connect；Allow the extension elongation difference of two pieces pallet fork passage hydraulic cylinder real by fork installation controller control fork installation hydraulic mechanism
The regulation of span and the unbalance loading position of pallet fork 433 between stock fork 433.
This logistics code fetch system for being applied to freight container is fully digitalization control unit, can be with Intelligent logistics
Number bus, which is seamlessly connected, realizes concentration digital management, coordinates the automatical pilot transportation vehicle of Intelligent logistics can realize perfect number
Word makeup is unloaded；Because handler includes support underframe 2, ribbon conveyer 3 and fork installation 4, it is defeated that ribbon conveyer 3 includes chassis
Electrical Control mechanism is sent, pitching installation 4 includes fork installation electrical control mechanism, and sorting equipment is more at left and right sides of handler including being arranged on
Individual sorting mechanical arm 5 and mechanical arm electrical control mechanism, are operated using computer auto-control completely, therefore defeated by data input
Exit port inputs the goods vanning positional information, prestowage scheme, goods of freight container to the industrial control computer of electric control gear
After matter packaging box piles up the data messages such as coordinate position, goods packaging box size, freight container inside dimension, Industry Control meter
Calculation machine can control support underframe 2 to be gone forward in longitudinal rail 11 according to the prestowage scheme inputted by chassis conveyer electrical control mechanism
Coordinate moves afterwards, passes through mechanical arm controller and fork installation controller control sorting mechanical arm 5, ribbon conveyer during incasement operation
3 and fork 4 work compounds of installation, it is possible to achieve goods packaging box on loading/unloading platform 1 pile up the crawl of coordinate position fixed point,
The translation of goods packaging box is piled up to conveyer belt, the conveyer belt of goods packaging box transports, goods packaging box is in freight container
Internal fork dress is piled up with handling, is unloaded and is pitched installation 4, belt by mechanical arm controller and fork installation controller control when operating
Conveyer 3 and the sorting work compound of mechanical arm 5, it is possible to achieve fork dress, the goods of the goods packaging box inside freight container
The piling up to conveyer belt of matter packaging box, the transport of the conveyer belt of goods packaging box, the translation of goods packaging box are piled up flat to handling
Goods packaging box on platform 1 piles up coordinate position, and goods of the installation controller according to input is pitched during goods packaging box fork dress
Packing case size Control pallet fork passage component actuation makes the span between pallet fork 433 adjust setting to cooperation goods packaging box size
Determine width dimensions, and according to the barcode scanning identification device and the feedback letter of range sensor in the information and goods shelf 432 inputted
Breath, fork holding position and fork dress depth mathematical modeling are established, then control fork installation hydraulic mechanism door frame is bowed according to mathematical modeling
Face upward hydraulic cylinder, the action of crotch lifting hydraulic cylinder carries out fork dress handling, the operation of complete computer auto-control can be avoided because of operator
The influences of the human factor to manufacturing schedule such as member's sense of responsibility, mood, while can be from operating personnel's operative skill qualification
Limitation, it is entirely avoided the drawbacks of manual operation is present, intelligent operation can be realized, improve the efficiency of loading and unloading, especially suitable for thing
Flow the handling goods in the container shipping of storage for freight container and pile up operation.
Claims (10)
1. a kind of logistics code fetch system suitable for freight container, including loading/unloading platform (1), handler, sorting equipment and
Electric control gear；Characterized in that,
The longitudinal rail (11) be arrangeding in parallel is provided with described loading/unloading platform (1) in the longitudinal direction, longitudinal rail (11) is extremely
The front end of loading/unloading platform (1) is extended to less；
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 set includes the support disk roller being symmetrical set, and support disk roller matches somebody with somebody to merge with longitudinal rail (11) is erected at longitudinal rail
(11) on, support roller set is arranged to multigroup and at least one set of support roller set along support underframe (2) fore-and-aft direction and is provided with roller
Wheel group is driven, and support underframe (2) is arranged on longitudinal rail (11) by supporting roller set to set up；The front end of support underframe (2)
With open U-shaped opening structure；
Ribbon conveyer (3) is erected on support underframe (2) along support underframe (2) fore-and-aft direction, and ribbon conveyer (3) includes master
Dynamic roller, driven roller, idler machining, conveyer belt and chassis conveyer electrical control mechanism；Idler machining set up be arranged on drive roll and
Between driven 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, actively
Roller is provided with drum driven, chassis conveyer electrical control mechanism include chassis conveyor controller and with chassis conveyor controller
The chassis conveyer electrical source of power of electrical connection, drum driven electrically connect with chassis conveyor controller；Described roller set driving
Electrically connected with chassis conveyor controller；
Fork installation (4) includes support platform (41), slipping part (42), fork dress portion (43), fork installation hydraulic mechanism and fork installation electricity
Control mechanism；Support platform (41) is located at the surface of ribbon conveyer (3), and support platform (41) has the support extended downwardly from
Leg, support platform (41) are set up by supporting leg and are arranged on support underframe (2)；
Slipping part (42) is arranged between the supporting leg of support platform (41) and support underframe (2), including the guiding worked in coordination
Slide 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
On the left and right sides plate of the U-shaped opening position of support underframe (2)；Directive wheel and the supporting leg bottom installation of support platform (41) connect
Connect, directive 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 coordinating socket installation
Inner upright mounting and outer mast, be provided with door frame guiding mechanism between inner upright mounting and outer mast, the rear lower of outer mast be articulated and connected in
The front end of support platform (41), outer mast are connected by door frame pitching hydraulic cylinder with support platform (41), and inner upright mounting passes through door frame
Lifting hydraulic cylinder is connected with outer mast, by controlling the flexible of door frame lifting hydraulic cylinder that inner upright mounting can be realized along door frame Guiding machine
Structure is extended downwardly from from outer mast bottom or retraction action upwards；Before goods shelf (432) is by crotch guiding mechanism and inner upright mounting
End face slip is fitted and connected and the support body of goods shelf (432) is connected by crotch lifting hydraulic cylinder with inner upright mounting, goods shelf
(432) barcode scanning identification device and range sensor are additionally provided with；Pallet fork (433) is symmetrical set to be slided for two pieces, by pallet fork
Move guiding mechanism and set up and be arranged on goods shelf (432), and the pallet fork that is set by left and right directions of pallet fork (433) elapse part and
Goods shelf (432) installation connection；
Fork installation hydraulic mechanism includes the hydraulic power unit being arranged in support platform (41) and control valve group, hydraulic power unit pass through liquid
Pressure pipe road is connected with control valve group, control valve group by fluid pressure line respectively with door frame lifting hydraulic cylinder, door frame pitching hydraulic cylinder
Connected with crotch lifting hydraulic cylinder；
It is anti-that fork installation electrical control mechanism includes fork installation controller, fork installation electrical source of power, elements of a fix movement control loop, distance
Present control loop, pallet fork span regulating loop, reprint control loop, fork installation controller respectively with pressing machine electrical source of power, fork
Control valve group, pallet fork passage part, the barcode scanning identification device on goods shelf (432) and the range sensor electricity of installation hydraulic mechanism
Connection；
Described sorting equipment includes being arranged on multiple sorting mechanical arms (5) and the automatically controlled machine of mechanical arm at left and right sides of handler
Structure, 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 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), which are provided with, to be included the crawl of grasping mechanism and piles up manipulator, mechanical arm electrical control mechanism include mechanical arm controller with
The mechanical arm electrical source of power electrically connected with mechanical arm controller, X-coordinate driving, Y-coordinate driving and Z coordinate driving respectively with machinery
Arm controller electrically connects；
Described electric control gear includes industrial control computer, support underframe control loop, ribbon conveyer control loop, fork dress
Control loop is piled up in machine control loop, sorting；Industrial control computer includes data input output ports, industrial control computer
Electrically connected respectively with chassis conveyor controller, fork installation controller and mechanical arm controller.
2. the logistics code fetch system according to claim 1 suitable for freight container, it is characterised in that described support
Height dimension between the upper surface of the upper strata conveyer belt of the baseplane distance belt conveyer (3) of platform (41) is more than goods bag
The height dimension of vanning.
3. the logistics code fetch system according to claim 1 suitable for freight container, it is characterised in that described support
Platform (41) is divided into two parts, the rear lower of the outer mast of door frame (431) up and down and is articulated and connected in the top of support platform (41)
Sub-headend, supporting leg are arranged in the lower part of support platform (41), by returning between two parts up and down of support platform (41)
Turn supporting to be attached, pivoting support is provided with pivoting support hydraulic-driven, pivoting support hydraulic-driven by fluid pressure line with
The control valve group connection of fork installation hydraulic mechanism；Described fork installation electrical control mechanism also includes support platform rotary loop.
4. the logistics code fetch system suitable for freight container according to claim 1 or 2 or 3, it is characterised in that described
Along support underframe (2) fore-and-aft direction be arranged to multigroup support roller set be uniformly arranged along support underframe (2) fore-and-aft direction and
At least two groups of support roller sets drive provided with roller set, and are equipped with the setting of axis of rotation vertical direction on each support disk roller
Disk roller revolution driving, disk roller revolution driving electrically connects with chassis conveyor controller；It is be arranged in parallel on described fore-and-aft direction
Longitudinal rail (11) be arranged to multigroup, the distance of X-coordinate value is more than between the longitudinal rail (11) that two adjacent groups be arranged in parallel
The width dimensions of freight container, quantity and support roller set identical, flat are additionally provided with loading/unloading platform (1) in the lateral direction
Row set, with longitudinal rail (11) intersect be in matts structure cross slide way, and between adjacent two pieces cross slide way away from
It is identical from the distance between axles size between fore-and-aft direction upper backup roll wheel group；Described electric control gear also includes support underframe and translated
Loop.
5. the logistics code fetch system suitable for freight container according to claim 1 or 2 or 3, it is characterised in that described
Goods shelf (432) on also include pattern-recognition sensor, described fork installation electrical control mechanism also includes fork holding position positioning control
Loop processed, the fork installation controller of described fork installation electrical control mechanism electrically connect with pattern-recognition sensor.
6. the logistics code fetch system according to claim 5 suitable for freight container, it is characterised in that described data
Input/output port also includes radio receiving transmitting module, and described electric control gear also includes wireless receiving and dispatching control loop.
7. the logistics code fetch system suitable for freight container according to claim 1 or 2 or 3, it is characterised in that described
Pallet fork (433) be provided with side clamping plate.
8. the logistics code fetch system according to claim 7 suitable for freight container, it is characterised in that described sliding
The directive slide track in portion (42) is through the guide groove structure of plate at left and right sides of support underframe (2).
9. the logistics code fetch system suitable for freight container according to claim 1 or 2 or 3, it is characterised in that described
Pallet fork passage part include pallet fork passage servomotor and it is horizontal set up the bidirectional screw bar being arranged on goods shelf (432),
Bidirectional screw bar is connected with pallet fork passage servomotor and has oppositely oriented spiral on the body of rod of bidirectional screw bar left and right ends
Screw structure, described pallet fork (433) is provided with coordinates the screw being arranged on bidirectional screw bar with bidirectional screw bar, and pallet fork pushes away
Servomotor is moved to electrically connect with the fork installation controller of fork installation electrical control mechanism.
10. the logistics code fetch system suitable for freight container according to claim 1 or 2 or 3, it is characterised in that institute
The pallet fork passage part stated includes horizontal set up and is arranged on two pieces pallet fork on goods shelf (432), telescopic direction is reversed
Hydraulic cylinder is elapsed, the telescopic end of two pieces pallet fork passage hydraulic cylinder is connected with two pieces pallet fork (433) respectively, two pieces pallet fork passage hydraulic pressure
Control valve group of the cylinder respectively with fork installation hydraulic mechanism is connected by fluid pressure line.
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| CN108341273A (en) * | 2017-12-21 | 2018-07-31 | 深圳市鸿益达供应链科技有限公司 | Full-automatic de-stacking system |
| CN109592445A (en) * | 2018-08-09 | 2019-04-09 | 青岛科锐思新材料科技有限公司 | A kind of efficient cabinet palletizing system of container and method |
| WO2019213900A1 (en) * | 2018-05-10 | 2019-11-14 | 深圳蓝胖子机器人有限公司 | Cargo loading/unloading vehicle, cargo transfer system, and automatic leveling method for cargo loading/unloading vehicle |
| CN110624837A (en) * | 2019-10-11 | 2019-12-31 | 深圳市格雷柏智能装备股份有限公司 | Continuous vertical sorting system |
| CN110697625A (en) * | 2019-09-16 | 2020-01-17 | 福州国化智能技术有限公司 | Cargo handling system of quick-open type side curtain box |
| CN110901675A (en) * | 2018-09-14 | 2020-03-24 | 中车唐山机车车辆有限公司 | Train underframe supporting equipment |
| CN111285123A (en) * | 2018-12-07 | 2020-06-16 | 沈阳阿尔洛科技有限公司 | Intelligent loading system |
| CN112686067A (en) * | 2020-12-30 | 2021-04-20 | 博纬智能科技(无锡)有限公司 | Real-time cargo detection method and system based on image and radio frequency identification |
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