CN107352207B - Logistics code-fetching system suitable for freight container - Google Patents

Abstract

The invention discloses a logistics code fetching system suitable for freight containers, comprising a loading and unloading platform, a loading and unloading device, a sorting device and an electric control device; the loading and unloading platform is provided with longitudinal guide rails arranged in parallel in the front and rear directions; the loading and unloading device includes a support Underframe, belt conveyor and forklift, the bottom of the supporting underframe is equipped with a walking part, the belt conveyor includes the electric control mechanism of the underframe conveyor; the forklift includes the electric control mechanism of the forklift; the sorting device includes There are multiple sorting manipulators on the left and right sides of the device and the electric control mechanism of the manipulator; the electric control device includes an industrial control computer, a support chassis control circuit, a belt conveyor control circuit, a forklift machine control circuit, and a sorting and stacking control circuit. The logistics code fetching system applicable to freight containers has a high degree of automation, can realize intelligent operation, and improve loading and unloading efficiency, and is especially suitable for loading and unloading cargo stacking operations for freight containers in containerized transportation of logistics warehousing.

Description

A logistics code acquisition system suitable for freight containers

technical field

The invention relates to a logistics code retrieval system, in particular to a logistics code retrieval system suitable for freight containers, and belongs to the field of intelligent logistics technology and equipment.

Background technique

Intelligent logistics is the use of advanced Internet of Things technologies such as barcodes, radio frequency identification technology, sensors, and global positioning systems. Through information processing and network communication technology platforms, it is widely used in basic activities such as transportation, warehousing, distribution, packaging, and loading and unloading in the logistics industry. The automated operation and efficient optimized management of the transportation process can improve the service level of the logistics industry, reduce costs, and reduce the consumption of natural and social resources. The development of intelligent logistics will promote the development of regional economy and optimize the allocation of world resources to achieve socialization.

Logistics warehousing is a key link in modern intelligent logistics, which plays an important role in connection, transfer, storage, storage and other links, while warehousing management also occupies a core position in logistics warehousing. The precise warehouse process generally includes receiving goods, putting on shelves , Picking up, replenishing, shipping, and inventorying several processes. In order to realize intelligent distribution, automatic guided transport vehicles appear in the prior art, that is, equipped with automatic guiding devices such as electromagnetic or optical, and have safety protection and various moving parts. The transport vehicle with loading function does not require a driver in logistics and warehousing applications. It uses rechargeable batteries as its power source. Generally, it can control its travel route and behavior through a computer, or use electromagnetic rails to set up its travel route to realize the storage of goods. However, the stacking operation of loading and unloading goods in the process of container transportation for replenishment or delivery in and out of the warehouse is still a large number of manual operations, that is, operators drive forklifts to load and unload, especially for container cargo transportation. Depending on the destination of transportation, all kinds of small-package goods are first packed in medium-sized transport boxes that are convenient for transportation and then loaded into freight containers. However, how to make a reasonable layout to maximize the space utilization of containers The layout makes the container convenient for multi-destination transportation, etc. Container problems and sorting problems during unloading have caused the packing or unloading of containers to be manually operated until now.

This traditional manual operation of packing or unloading has the following defects:

1. Although the warehousing process or the warehousing process has been automated, the loading or unloading of containers is still manually operated, so the overall automation of logistics and warehousing is reduced and the efficiency is low;

2. Since the warehousing process or the warehousing process in the prior art is usually transported by automatic guided transport vehicles or conveyor belts, the speed of manual packing or unloading must keep up with the speed of warehousing or warehousing to ensure the storage and transshipment Efficiency, so the labor intensity of the operator is relatively high;

3. Human factors such as the operator's sense of responsibility and emotion have a greater impact on the progress of loading and unloading.

Contents of the invention

Aiming at the problems existing in the above-mentioned prior art, the present invention provides a logistics code fetching system suitable for freight containers, which has a high degree of automation, can realize intelligent operation, and improve loading and unloading efficiency, and is especially suitable for logistics warehousing container transportation for freight Container loading and unloading cargo stacking operation.

In order to achieve the above purpose, the logistics code retrieval system suitable for freight containers includes a loading and unloading platform, a loading and unloading device, a sorting device and an electric control device;

The loading and unloading platform is provided with longitudinal guide rails arranged in parallel in the front and rear directions, and the longitudinal guide rails extend at least to the front end of the loading and unloading platform;

The loading and unloading device includes a support chassis, a belt conveyor and a forklift;

The bottom of the support chassis is provided with a running part, the running part includes a support roller set and a roller set drive; the support roller set includes left and right symmetrical support rollers, and the support rollers cooperate with the longitudinal guide rail and are erected on the longitudinal guide rail. The support rollers are arranged in multiple groups along the front and back directions of the support chassis, and at least one set of support rollers is provided with a roller drive, and the support chassis is erected and installed on the longitudinal guide rail through the support rollers; The front end has an open U-shaped opening structure;

The belt conveyor is erected on the supporting chassis along the front and rear directions of the supporting chassis. The belt conveyor includes driving rollers, driven rollers, idler rollers, conveyor belts and the electric control mechanism of the chassis conveyor; the idler rollers are erected and installed on Between the driving roller and the driven roller, the conveyor belt is connected end to end and wound on the driving roller, the driven roller and the idler roller group to form an upper and lower structure. The driving roller is equipped with a roller drive, and the electric control mechanism of the bottom frame conveyor includes the bottom frame conveying machine controller and the underframe conveyor power supply electrically connected with the underframe conveyor controller, the roller drive is electrically connected with the underframe conveyor controller; the roller set drive is electrically connected with the underframe conveyor controller;

The forklift machine includes a support platform, a sliding part, a forklift part, a forklift machine hydraulic mechanism and a forklift machine electric control mechanism; the support platform is located directly above the belt conveyor, and the support platform has supporting legs protruding downward. The supporting legs are erected and installed on the supporting chassis;

The sliding part is arranged between the support legs of the support platform and the support chassis, including guide rails and guide wheels that cooperate with each other; the front and rear directions of the guide rails are horizontally arranged on the support chassis, and the front ends of the guide rails extend forward to The left and right sides of the U-shaped opening position of the support chassis; the guide wheels are installed and connected with the bottom ends of the support legs of the support platform, and the guide wheels are provided with guide wheels for driving;

The fork loading part includes the mast, the fork frame and the fork; The rear lower part is hingedly connected to the front end of the support platform, the outer mast is connected to the support platform through the mast pitching hydraulic cylinder, and the inner mast is connected to the outer mast through the mast lifting hydraulic cylinder, which can be realized by controlling the extension and contraction of the mast lifting hydraulic cylinder. The inner mast extends downward or retracts upward from the bottom of the outer mast along the mast guide mechanism; The body is connected with the inner mast through the fork frame lifting hydraulic cylinder, and the fork frame is also equipped with a code scanning identification device and a distance sensor; , and the fork is installed and connected to the fork frame through the fork moving parts arranged in the left and right directions;

The hydraulic mechanism of the forklift machine includes a hydraulic pump station and a control valve group installed on the support platform. The hydraulic pump station is connected to the control valve group through hydraulic pipelines. The hydraulic cylinder is connected with the fork lifting hydraulic cylinder;

The electric control mechanism of the forklift machine includes the forklift machine controller, the power supply of the forklift machine, the positioning coordinate movement control circuit, the distance feedback control circuit, the fork gap adjustment circuit, and the reloading control circuit. The control valve group of the installed hydraulic mechanism, the moving part of the fork, the code scanning identification device on the fork frame and the distance sensor are electrically connected;

The sorting device includes a plurality of sorting manipulators arranged on the left and right sides of the loading and unloading device and the electric control mechanism of the manipulators. X-coordinate drive, Y-coordinate drive set for forward and backward movement, and Z-coordinate drive set for vertical movement. device and the mechanical arm power supply electrically connected with the mechanical arm controller, the X coordinate drive, the Y coordinate drive and the Z coordinate drive are respectively electrically connected with the mechanical arm controller;

The electric control device includes an industrial control computer, a support chassis control circuit, a belt conveyor control circuit, a fork loader control circuit, and a sorting and stacking control circuit; the industrial control computer includes data input and output ports, and the industrial control computer is connected to the bottom The frame conveyor controller, the forklift controller and the mechanical arm controller are electrically connected.

As a further improvement of the present invention, the height dimension between the bottom plane of the support platform and the upper surface of the upper conveyor belt of the belt conveyor is greater than the height dimension of the cargo packing box.

As a further improvement of the present invention, the support platform is divided into upper and lower parts, the rear lower part of the outer mast of the door frame is hingedly connected to the front end of the upper part of the support platform, and the support legs are installed on the lower part of the support platform. The upper and lower parts of the platform are connected through a slewing bearing, and the slewing bearing is provided with a hydraulic drive for the slewing bearing, and the hydraulic drive of the slewing bearing is connected with the control valve group of the hydraulic mechanism of the forklift through the hydraulic pipeline; the electric control mechanism of the forklift It also includes a support platform slewing circuit.

As a preferred solution of the present invention, the support roller sets arranged in multiple sets along the front-to-back direction of the support chassis are uniformly arranged along the front-to-back direction of the support chassis, and at least two sets of support roller sets are provided with roller set driving , and each support roller is equipped with a roller rotation drive set in the vertical direction of the rotation axis. The roller rotation drive can realize the rolling direction of the support roller between the front and rear direction and the left and right direction. The roller rotation drive and The chassis conveyor controller is electrically connected; the longitudinal guide rails arranged in parallel in the front and rear directions are arranged in multiple groups, and the distance between the X coordinate values between adjacent two groups of parallel longitudinal guide rails is greater than the width of the freight container, and the loading and unloading platform In the left and right directions, there are also horizontal guide rails with the same number as the support roller set, parallel to the vertical guide rails, and crossed with the longitudinal guide rails to form a matt structure, and the distance between two adjacent horizontal guide rails is the same as that supported in the front and rear direction. The axial spacing between the roller sets is the same size; the electric control device also includes a support chassis translation circuit.

As a further improvement of the present invention, the fork frame further includes a pattern recognition sensor, the electric control device further includes a fork position positioning control circuit, and the industrial control computer is electrically connected to the pattern recognition sensor.

As a further improvement solution of the present invention, the data input and output ports further include a wireless transceiver module, and the electric control device further includes a wireless transceiver control circuit.

As a further improvement of the present invention, the fork is provided with a side splint.

As a further improvement of the present invention, the guide rails of the sliding part are guide groove structures that run through the left and right side plates of the support chassis.

As an embodiment of the fork pushing part of the present invention, the fork pushing part includes a fork pushing servo motor and a two-way screw rod installed horizontally on the fork frame, and the two-way screw rod is connected with the fork pushing servo motor , and the rod body at the left and right ends of the two-way screw rod has a screw screw structure with opposite rotation direction. The fork is provided with a screw nut that is matched with the two-way screw rod and installed on the two-way screw rod. The industrial control computer of the control device is electrically connected.

As another embodiment of the pallet fork pushing part of the present invention, the pallet fork pushing part includes two hydraulic cylinders for pushing the fork that are installed horizontally on the fork frame and set in opposite telescopic directions. The telescopic ends of the hydraulic cylinders are respectively connected with two pallet forks, and the two pallet fork pushing hydraulic cylinders are respectively connected with the control valve group of the hydraulic mechanism of the forklift machine through hydraulic pipelines.

Compared with the existing technology, the logistics code retrieval system suitable for freight containers is a completely digital control unit, which can be seamlessly connected with the digital bus of intelligent logistics to realize centralized digital management, and can realize complete Digital loading and unloading; since the loading and unloading device includes a supporting chassis, a belt conveyor and a forklift, the belt conveyor includes an electric control mechanism for the chassis conveyor, the forklift includes an electric control mechanism for the forklift, and the sorting device includes The multiple sorting manipulators on both sides and the electric control mechanisms of the manipulators are fully computer-controlled and automated. Therefore, through the data input and output ports, the information on the packing position and loading of the cargo container is input to the industrial control computer of the electric control device. After the data information such as the plan, the coordinate position of the cargo packing box, the size of the cargo packing box, and the internal size of the freight container, the industrial control computer can control the supporting chassis on the longitudinal guide rail through the electric control mechanism of the chassis conveyor according to the input loading scheme. Front and rear coordinate movement, during packing operation, the robot arm controller and forklift controller control the sorting robot arm, belt conveyor and forklift machine to work together, which can realize the fixed-point grasping of the coordinate position of the stacking box on the loading and unloading platform Pick-up, translational stacking of cargo packaging boxes on the conveyor belt, conveyor belt transportation of cargo packaging boxes, fork loading and loading and unloading of cargo packaging boxes inside the freight container, during unloading operations, the fork is controlled by the controller of the mechanical arm and the controller of the forklift machine The loading machine, belt conveyor and sorting robot arm work together to realize the fork loading of the cargo packaging boxes inside the freight container, the stacking of the cargo packaging boxes on the conveyor belt, the conveyor belt transportation of the cargo packaging boxes, and the unpacking of the cargo packaging boxes. Translate and stack to the coordinate position of the cargo packaging box on the loading and unloading platform. During the fork loading process of the cargo packaging box, the forklift controller controls the movement of the fork pushing parts according to the input cargo packaging box size, so that the distance between the forks is adjusted to match the cargo. Set the width of the packing box size, and according to the input information and the feedback information from the scanning code identification device on the fork frame and the distance sensor, establish the mathematical model of fork loading position and fork loading depth, and then control the forklift machine according to the mathematical model The hydraulic mechanism makes the gantry pitching hydraulic cylinder and the fork frame lifting hydraulic cylinder move for fork loading and unloading. The complete computer-controlled automatic operation can avoid the influence of human factors such as the operator's sense of responsibility and emotion on the production progress, and at the same time avoid the operator's operation The limitation of skill proficiency completely avoids the disadvantages of manual operation, and can realize intelligent operation and improve loading and unloading efficiency. It is especially suitable for loading and unloading cargo stacking operations for freight containers in container transportation of logistics and warehousing.

Description of drawings

Fig. 1 is the three-dimensional structure schematic diagram when the present invention carries out loading and unloading freight container;

Fig. 2 is a structural schematic view of the fork loader of the present invention when it is working on a belt conveyor for fork loading or stacking cargo packaging boxes;

Fig. 3 is a schematic diagram of the structure of the forklift of the present invention when it is carrying a cargo packing box and moving forward;

Fig. 4 is a schematic structural view of the fork loader of the present invention when fork loading or stacking cargo packaging boxes inside the freight container;

Fig. 5 is a schematic diagram of the structure of the present invention when the support platform is rotated to carry out fork-loading or stacking of cargo packaging boxes;

FIG. 6 is a top view of FIG. 4 .

In the figure: 1. Loading and unloading platform, 11. Longitudinal guide rail, 2. Supporting chassis, 21. Traveling part, 3. Belt conveyor, 4. Fork loader, 41. Supporting platform, 42. Sliding part, 43. Fork Mounting department, 431, door frame, 432, cargo fork frame, 433, cargo fork, 5, sorting mechanical arm.

detailed description

The present invention will be further described below in conjunction with the accompanying drawings (below with the fork loading portion 43 facing the direction of the freight container as the front description).

As shown in FIG. 1 , the logistics code retrieval system suitable for freight containers includes a loading and unloading platform 1 , a loading and unloading device, a sorting device and an electric control device.

The loading and unloading platform 1 is provided with parallel longitudinal guide rails 11 in the front-rear direction, and the longitudinal guide rails 11 extend at least to the front end of the loading and unloading platform 1 .

As shown in FIGS. 2 , 5 and 6 , the loading and unloading device includes a support chassis 2 , a belt conveyor 3 and a forklift 4 .

The bottom of the support chassis 2 is provided with a running part 21, the running part 21 includes a supporting roller set and a roller set drive; the supporting roller set includes left and right symmetrically arranged supporting rollers, and the supporting rollers cooperate with the longitudinal guide rail 11 and are erected on the On the longitudinal guide rail 11, the support roller groups are arranged in multiple groups along the front and rear directions of the support chassis 2, and at least one set of support roller groups is provided with a roller group drive, and the support chassis 2 is erected and installed in the longitudinal direction by the support roller groups On the guide rail 11; the front end of the support chassis 2 has an open U-shaped opening structure, and the U-shaped opening structure is convenient for the up and down fork loading operation of the forklift machine 4 and avoids movement interference;

The belt conveyor 3 is erected on the support chassis 2 along the front and rear directions of the support chassis 2, and the belt conveyor 3 includes a driving roller, a driven roller, a set of idlers, a conveyor belt and an electric control mechanism of the chassis conveyor; The group is erected and installed between the driving roller and the driven roller. The conveyor belt is connected from end to end and wound on the driving roller, driven roller and idler roller group to form an upper and lower structure. The driving roller is equipped with a roller drive, and the electric control mechanism of the bottom frame conveyor It includes an underframe conveyor controller and an underframe conveyor power supply electrically connected to the underframe conveyor controller, and the roller drive is electrically connected to the underframe conveyor controller; the roller set drive is connected to the underframe conveyor control electrical connection;

The forklift machine 4 comprises a support platform 41, a sliding part 42, a fork-loader part 43, a forklift machine hydraulic mechanism and a forklift machine electric control mechanism; The supporting legs, the supporting platform 41 is erected and installed on the supporting chassis 2 through the supporting legs;

The sliding part 42 is arranged between the support legs of the support platform 41 and the support chassis 2, and includes guide rails and guide wheels that cooperate with each other; the front and rear directions of the guide rails are horizontally arranged on the support chassis 2, and the front ends of the guide rails Extend forward to the left and right side plates of the U-shaped opening position of the support chassis 2; the guide wheel is installed and connected with the bottom end of the support leg of the support platform 41, and the guide wheel is provided with a guide wheel drive;

The fork-mounting part 43 includes a mast 431, a fork frame 432 and a fork 433; the mast 431 includes an inner mast and an outer mast that are cooperating with socket installation, and a mast guide mechanism is arranged between the inner mast and the outer mast , the rear lower part of the outer mast is hingedly connected to the front end of the support platform 41, the outer mast is connected with the support platform 41 through the mast pitching hydraulic cylinder, and the whole mast 431 can be realized along its hinge axis by controlling the expansion and contraction of the mast pitching hydraulic cylinder. Pitching action in the front and rear directions, the inner mast is connected with the outer mast through the mast lifting hydraulic cylinder, and the inner mast can be extended or extended from the bottom of the outer mast along the mast guide mechanism by controlling the expansion and contraction of the mast lifting hydraulic cylinder. Upward retraction action; the fork frame 432 is slidably connected with the front end of the inner mast through the fork frame guide mechanism, and the frame body of the fork frame 432 is connected with the inner mast through the fork frame lifting hydraulic cylinder. The expansion and contraction of the lifting hydraulic cylinder can realize that the fork frame 432 moves up and down on the inner mast along the fork frame guide mechanism, and the fork frame 432 is also provided with a code scanning identification device and a distance sensor; 1. Erection and installation on the fork frame 432 through the sliding guide mechanism of the fork, and the fork 433 is installed and connected with the fork frame 432 through the fork pushing part arranged in the left and right directions, and the fork can be realized by controlling the movement of the fork pushing part. Adjustment of gear distance between 433;

The hydraulic mechanism of the forklift machine includes a hydraulic pump station and a control valve group installed on the support platform 41. The hydraulic pump station is connected to the control valve group through hydraulic pipelines. The pitch hydraulic cylinder is connected with the fork lift hydraulic cylinder;

The electric control mechanism of the forklift machine includes the forklift machine controller, the power supply of the forklift machine, the positioning coordinate movement control circuit, the distance feedback control circuit, the fork gap adjustment circuit, and the reloading control circuit. The control valve group of the installed hydraulic mechanism, the fork pushing parts, the code scanning identification device on the fork frame 432 and the distance sensor are electrically connected.

The sorting device includes a plurality of sorting manipulators 5 arranged on the left and right sides of the loading and unloading device and the electric control mechanism of the manipulators. The sorting manipulators 5 are erected and installed on the loading and unloading platform 1. X-coordinate drive set for directional movement, Y-coordinate drive set for forward-backward movement, and Z-coordinate drive set for vertical move. The mechanism includes a manipulator controller and a manipulator power supply electrically connected to the manipulator controller, and X-coordinate drive, Y-coordinate drive and Z-coordinate drive are respectively electrically connected to the manipulator controller.

The electric control device includes an industrial control computer, a support chassis control circuit, a belt conveyor control circuit, a fork loader control circuit, and a sorting and stacking control circuit; the industrial control computer includes data input and output ports, and the industrial control computer is connected to the bottom The frame conveyor controller, the forklift controller and the mechanical arm controller are electrically connected.

In the initial state of the logistics code retrieval system applicable to freight containers, the supporting chassis 2 is stagnant at the set position on the front edge of the loading and unloading platform 1, and the forklift machine 4 is stagnant at the set fork loading coordinate position above the belt conveyor 3 .

The working principle of the logistics code retrieval system applicable to freight containers: After the vehicle carrying the freight container is parked under the loading and unloading platform 1, and the door of the container is facing the set position of the forklift 4, the bottom plate of the freight container is immediately connected to the forklift 4. The upper plane of the loading and unloading platform 1 is even, and the operator opens the door after docking. At the same time, the operator inputs the cargo packing position information, stowage plan, and cargo packaging of the freight container to the industrial control computer through the data input and output ports of the industrial control computer. The coordinate position of the box stacking, the size of the cargo packing box, and the data information of the internal size of the freight container.

During the packing operation, the control circuit of the support chassis first starts to work; the industrial control computer calculates the depth at which the support chassis 2 moves forward into the interior of the freight container 6 according to the input stowage plan, the size of the cargo packing box and the internal size data information of the freight container , and send the Y coordinate value that the supporting chassis 2 needs to move forward to the chassis conveyor controller, and at the same time send the supporting chassis forward motion control command to the chassis conveyor controller, and the chassis conveyor controller controls the rollers The driving action of the group makes the support roller group drag the support chassis 2 to move forward coordinates to the Y coordinate value of the forward movement of the support chassis 2 calculated above, and the rollers at the front end of the support chassis 2 during the forward movement of the support chassis 2 The group breaks away from the longitudinal guide rail 11, crosses the docking position between the loading and unloading platform 1 and the freight container, enters the set position inside the freight container 6 and locates it, and the chassis conveyor controller feeds back data information to the industrial control computer in real time;

The goods that need to be packed are first transported to the set coordinates of the cargo packing box near the sorting robot arm 5 by the automatic guided transport vehicle according to the loading plan, and then the sorting and stacking control circuit works first; The controller issues a grabbing and stacking control command, and the robotic arm controller controls the 5-coordinate movement of the sorting robotic arm to move the grabbing and stacking manipulator to directly above the stacking coordinate position of the cargo packaging box, and move down along the Z coordinate to grab the cargo; After grabbing, the robotic arm controller controls the coordinate movement of the sorting robotic arm 5 so that the grabbing and stacking manipulator moves up the cargo along the Z coordinate to the bottom plane of the cargo packing box and the distance between the loading and unloading platform 1 is greater than that of the belt conveyor 3 The distance between the upper surface of the upper conveyor belt and the loading and unloading platform 1 is the set Z coordinate position; then the mechanical arm controller controls the coordinate movement of the sorting mechanical arm 5 so that the grabbing manipulator carries the goods and translates to the set position along the X coordinate. fixed distance, the set distance is the X coordinate value between the coordinate position of the cargo packing case and the conveyor belt width center of the belt conveyor 3; Stacking; the robotic arm controller feeds back data information to the industrial control computer in real time;

Then the belt conveyor control circuit starts to work; the industrial control computer calculates the Y coordinate value that the cargo packaging box needs to move forward to the coordinate position of the fork loading according to the input cargo packaging box size and the coordinate position data information of the cargo packaging box, and The Y coordinate value of the cargo packing box that needs to be moved forward is sent to the bottom frame conveyor controller, and at the same time sends a belt conveyor action control command to the bottom frame conveyor controller, and the bottom frame conveyor controller controls the driving action of the roller to make the active roller The positive rotation drives the upper conveyor belt to move forward carrying the cargo packing box to the set fork loading coordinate position and then stops, and the bottom frame conveyor controller feeds back data information to the industrial control computer in real time;

Then the forklift control circuit starts to work; the industrial control computer sends a forklift action control command to the forklift controller. The gear distance is adjusted to match the set width size of the cargo packaging box; then the forklift controller establishes the cargo fork loading position according to the input cargo packaging box size information and the feedback identification information of the scanning code identification device on the fork rack 432 and the mathematical model of the forklift depth; as shown in Figure 2, the forklift controller controls the hydraulic mechanism of the forklift according to the mathematical model so that the mast lifting hydraulic cylinder, the mast pitching hydraulic cylinder, and the fork lifting hydraulic cylinder cooperate to align with the belt type The cargo packaging box on the upper conveyor belt of the conveyor 3 is fork-loaded so that it is separated from the belt conveyor 3, and the distance sensor on the fork frame 432 is fed back in real time between the fork frame 432 and the cargo during the fork-loading process. The distance between them is to ensure the depth of fork loading; as shown in Figure 3, after the fork loading of the goods is completed, the fork loader controller calculates the amount that the support platform 41 needs to move forward according to the loading plan, the cargo packing position information, and the internal size data information of the freight container. Y coordinate value, and control the driving action of the guide wheel of the sliding part 42 to move the support platform 41 forward to the stacking position of the Y coordinate value, as shown in Figure 4, and then the forklift controller controls the forklift hydraulic mechanism to make the mast lift The hydraulic cylinder, the mast pitching hydraulic cylinder, and the fork lift hydraulic cylinder act in concert to unload the cargo packaging box located on the fork 433 so that it is stacked at the cargo packing position set in the cargo packing position information, and finally the fork loader 4 Return to the initial state to complete a stacking and prepare for subsequent stacking; during the stacking and packing process, the forklift controller feeds back data information to the industrial control computer in real time;

By analogy, according to the data information fed back by the forklift controller in real time, the industrial control computer sends a support chassis retraction action control command to the chassis conveyor controller in good time to control the support chassis 2 to step back until the support chassis 2 The front end completely withdraws from the freight container, and all the cargo packaging boxes are neatly stacked inside the freight container according to the stowage plan, completing the entire packing process.

The unloading operation is the reverse process of the packing operation. The operator inputs the cargo packing position information, loading plan, cargo packing box size, and internal size data of the freight container to the industrial control computer through the data input and output ports of the industrial control computer. In addition to the information, the sorting information is also input to the industrial control computer. The sorting information includes the coordinate position information of different cargo packaging boxes allocated according to different sorting conditions;

The control loop of the forklift starts to work first, and the forklift controller controls the forklift unit 43 to fork load the cargo boxes inside the freight container according to the loading plan and the cargo packing position information, and then return to the initial position, and then the forklift controller Control the fork loading unit 43 to place the cargo packaging box on the set fork loading coordinate position on the upper conveyor belt of the belt conveyor 3, and the fork loading machine controller feeds back data information to the industrial control computer in real time;

The industrial control computer sends the belt conveyor action command to the chassis conveyor controller according to the feedback identification information of the scanning code recognition device on the fork frame 432 fed back by the forklift controller and the input sorting information, and then the belt conveyor The control circuit of the machine starts to work, and the controller of the underframe conveyor controls the driving action of the rollers so that the active rollers rotate in reverse to drive the upper conveyor belt to carry the cargo packaging boxes and then move to the coordinates of the cargo packaging boxes corresponding to the cargo packaging boxes. Stop after determining the coordinate position;

Then the sorting and stacking control loop starts to work, and the industrial control computer sends a grabbing and stacking control command to the robotic arm controller corresponding to the coordinate position of the cargo packaging box. The cargo packaging box is grabbed and translated in the X coordinate direction and placed on the coordinate position of the cargo packaging box, and the automatic guided transport vehicle can transport the cargo packaging box;

By analogy, according to the data information fed back by the forklift controller in real time, the industrial control computer sends a control command to the chassis conveyor controller to control the forward movement of the chassis 2 to control the chassis 2 to step forward until the front end of the chassis 2 is completely Enter the freight container, and all the cargo packaging boxes are unloaded according to the loading plan, and the entire unloading process is completed, and the supporting chassis 2 is returned to the initial state.

In order to simplify the control, as a further improvement of the present invention, the height dimension between the bottom plane of the support platform 41 and the upper surface of the upper conveyor belt of the belt conveyor 3 is greater than the height dimension of the cargo packing box, that is, the cargo During the packing box loading and unloading process, the fork loading part 43 is always facing forward, and only controls the forklift machine 4 to move forward and backward to carry out fork loading and stacking of the goods packing boxes, and the upper conveyor belt of the belt conveyor 3 carries the goods packing boxes to move forward Or when moving backwards, the cargo packaging box passes under the supporting platform 41 .

In order to shorten the length of the guide rails of the sliding part 42 and at the same time reduce the height of the support platform 41, and then realize more stable fork loading, as a further improvement of the present invention, as shown in Figure 5, the support platform 41 is divided into For the upper and lower parts, the rear lower part of the outer door frame of the door frame 431 is hingedly connected to the front end of the upper part of the support platform 41, and the support legs are installed on the lower part of the support platform 41, and the upper and lower parts of the support platform 41 are supported by a slewing support. To connect, the slewing bearing is equipped with a hydraulic drive for the slewing bearing, and the hydraulic drive of the slewing bearing is connected with the control valve group of the hydraulic mechanism of the forklift through the hydraulic pipeline. By controlling the hydraulic drive of the slewing bearing, the upper part of the supporting platform 41 can be realized The lower part of the support platform 41 rotates; the electric control mechanism of the forklift machine also includes a support platform rotary circuit; during the loading and unloading process of the cargo packaging box, the support platform 41 drives the fork loading part 43 to rotate to carry out fork loading and unloading of the cargo packaging box. Stacking, such setting can make the bottom plane of the support platform 41 close to the upper conveyor belt of the belt conveyor 3, thereby greatly reducing the height of the support platform 41 and realizing more stable fork loading. At the same time, the way of turning can make the support platform 41 The forward and backward moving distance is relatively reduced, thereby shortening the length of the guide rail of the sliding portion 42 .

In order to improve loading and unloading efficiency, the vehicle carrying the freight container is usually used to drive away directly after loading and unloading to replace the next vehicle carrying the freight container for loading and unloading, that is, by moving the freight container, multiple stevedores can also be used Positioning and translation of vehicles carrying freight containers, or the use of translation loading and unloading devices, because the first method of loading and unloading devices needs to wait for the vehicle to enter the loading and unloading space before loading and unloading, while the second scheme realizes the translation of freight containers. The vehicle is relatively difficult, and additional translational supporting facilities are required, while the third scheme can realize the supplement of loading and unloading vehicles in the process of loading and unloading in one loading and unloading parking space in the case of multiple loading and unloading spaces, and then realize the continuous loading and unloading device. The operation and efficiency are relatively higher than the former two, so the third option is preferred, that is, as the preferred option of the present invention, the logistics code retrieval system suitable for freight containers adopts the method of multi-loading and unloading parking spaces and self-moving itself. Along the front and back direction of the support chassis 2, multiple groups of support rollers are evenly distributed along the front and rear directions of the support chassis 2, and at least two sets of support rollers are provided with roller sets to drive, and each support roller has a All are equipped with a roller rotary drive set in the vertical direction of the rotary axis. The roller rotary drive can realize the rolling direction of the supporting rollers between the front and rear directions and the left and right directions. The roller rotary drive is electrically connected to the controller of the chassis conveyor. The longitudinal guide rails 11 arranged in parallel in the front and rear directions are arranged in multiple groups, and the distance of the X coordinate value between adjacent two groups of longitudinal guide rails 11 arranged in parallel is greater than the width dimension of the freight container, and on the loading and unloading platform 1 in the left and right direction It is also provided with the same number as the supporting roller group, arranged in parallel, and crossing the longitudinal guide rail 11 to form a cross-shaped horizontal guide rail, and the distance between the adjacent two horizontal guide rails is the same as the distance between the supporting roller group in the front and rear direction. The distance between the shafts is the same size; the electric control device also includes a support chassis translation circuit; when the logistics code retrieval system suitable for freight containers returns to the initial position after loading and unloading a freight container, the support chassis translation circuit When starting to work, the industrial control computer controls the underframe conveyor controller to drive all the rollers to rotate 90° in the same direction at the same time, then all the rollers change from the front and rear direction to the left and right direction, and then the underframe conveyor controller controls the rollers The driving action of the wheel rotation makes the support roller wheel group drag the support chassis 2 to the left or right to move the distance of the X coordinate value to another loading and unloading station, and then the industrial control computer controls the chassis conveyor controller to make all the rollers The wheel is rotated and driven at the same time to rotate 90° in the same direction to return to the front and rear direction, and the loading and unloading operation can be performed on this loading and unloading station.

In order to ensure accurate fork loading, as a further improvement of the present invention, the fork frame 432 also includes a pattern recognition sensor, and the electric control mechanism of the fork loader also includes a fork load position positioning control circuit, and the fork loader The forklift controller of the electronic control mechanism is electrically connected to the pattern recognition sensor; the forklift controller establishes a cargo pattern recognition data model based on the size information of the cargo packing box and the cargo position information fed back by the pattern recognition sensor, and combines the cargo pattern recognition data model with the The mathematical model of the established fork loading position and fork loading depth is integrated for deviation correction, and finally the hydraulic mechanism of the fork loader is controlled according to the integrated mathematical model to make the mast lifting hydraulic cylinder, mast pitching hydraulic cylinder, and fork lifting hydraulic cylinder cooperate. Fork mounted.

In order to achieve faster real-time data exchange and control, and improve loading and unloading efficiency, as a further improvement of the present invention, the data input and output ports also include a wireless transceiver module, and the electronic control device also includes a wireless transceiver control circuit; Through the wireless transceiver module and the wireless transceiver control circuit, the control computer can use wireless transmission to receive the cargo packing position information, stowage plan, coordinate position of the cargo packaging box, cargo packaging box size, and the interior of the freight container from the upper-end network before loading and unloading. Size and other data information, and realize real-time feedback of loading and unloading details to the upper-end network during the loading and unloading process. The fixed-point stacking on the platform shortens the distance traveled by the logistics code pickup truck during fork loading and stacking, and improves the loading and unloading efficiency; on the other hand, the operator can perform real-time remote control and correction of the logistics code pickup truck.

In order to prevent the cargo packaging box from accidentally slipping from the left and right sides of the fork 433 during the fork loading process, as a further improvement of the present invention, the fork 433 is provided with side splints, and the side splints are arranged symmetrically on the left and right respectively. The left and right sides of the two pallet forks 433; for the cargo packing box with a small weight, after the fork loading of the cargo packing box is completed, the controller of the forklift machine controls the fork distance adjustment circuit to work again to reduce the distance of the cargo fork 433 , and then realize the clamping of the side splint to the cargo packing box.

In order to ensure that the guide rails of the sliding part 42 can provide stable support and guidance when fork-loading the cargo packaging box, as a further improvement of the present invention, the guide rails of the sliding part 42 run through the left and right sides of the support chassis 2 The guide channel structure of the two side plates.

For the case where the width of the cargo matches the width of the interior of the freight container, as an embodiment of the fork pushing part of the present invention, the fork pushing part includes a fork pushing servo motor and a horizontal erection installed on the fork frame 432 The two-way screw rod on the top, the two-way screw rod is connected with the moving servo motor of the fork, and the two-way screw rod has a screw screw structure with the opposite direction of rotation on the left and right ends of the rod body, and the fork 433 is equipped with The screw nut installed on the two-way screw rod, the fork push servo motor is electrically connected with the fork loader controller of the fork loader electric control mechanism; the forward and reverse of the fork push servo motor can be controlled by the fork loader controller to realize the fork 433 Adjustment of the distance between the gears.

In order to improve the space utilization rate inside the freight container for smaller cargo packaging boxes, as another embodiment of the fork pushing part of the present invention, the fork pushing part includes horizontal erection and installation on the fork frame 432 The telescopic ends of the two fork pushing hydraulic cylinders are respectively connected to the two fork pushing hydraulic cylinders, and the two moving fork hydraulic cylinders are respectively connected to the control valves of the hydraulic mechanism of the forklift machine. The groups are connected through hydraulic pipelines; the hydraulic mechanism of the forklift is controlled by the forklift controller to make the extension lengths of the two fork pushing hydraulic cylinders different, which can realize the adjustment of the distance between the forks 433 and the eccentric load position of the forks 433.

The logistics code retrieval system suitable for freight containers is a completely digital control unit, which can be seamlessly connected with the digital bus of intelligent logistics to realize centralized digital management, and can realize complete digital loading and unloading with the automatic guided transport vehicle of intelligent logistics; since the loading and unloading device includes Support the bottom frame 2, the belt conveyor 3 and the fork loader 4, the belt conveyor 3 includes the electric control mechanism of the bottom frame conveyor, the fork loader 4 includes the electric control mechanism of the fork loader, and the sorting device includes The multiple sorting manipulators 5 and the electric control mechanisms of the manipulators all adopt computer-controlled automatic operation, so through the data input and output ports, the cargo packing position information and loading plan of the freight container are input to the industrial control computer of the electric control device. , the coordinate position of the cargo packaging box, the size of the cargo packaging box, the internal size of the freight container and other data information, the industrial control computer can control the supporting chassis 2 on the longitudinal guide rail 11 through the chassis conveyor electric control mechanism according to the loaded loading scheme. The upper and lower coordinates move, and the robot arm controller and forklift controller control the sorting robot 5, belt conveyor 3 and forklift 4 to work together during the packing operation, which can realize the packaging of goods on the loading and unloading platform 1. Fixed-point grabbing of the coordinate position of the stacking, translational stacking of the cargo packaging on the conveyor belt, conveyor belt transportation of the cargo packaging, fork loading and loading and unloading of the cargo packaging inside the freight container The installation controller controls the forklift machine 4, the belt conveyor 3 and the sorting robot arm 5 to work together, which can realize the fork loading of the cargo packaging boxes inside the freight container, the stacking of the cargo packaging boxes on the conveyor belt, and the unpacking of the cargo packaging boxes. Conveyor belt transportation, translational stacking of cargo packaging boxes to the coordinate position of cargo packaging boxes on loading and unloading platform 1, during the fork loading process of cargo packaging boxes, the controller of the forklift machine controls the action of the moving parts of the fork according to the size of the input cargo packaging boxes to make the fork The gear distance between 433 is adjusted to match the set width size of the cargo packing box, and the fork loading position and fork loading position are established according to the input information, the code scanning identification device on the fork rack 432 and the feedback information of the distance sensor. In-depth mathematical model, and then control the hydraulic mechanism of the forklift machine according to the mathematical model to make the mast pitching hydraulic cylinder and the fork lifting hydraulic cylinder move for fork loading and unloading. The complete computer-controlled automatic operation can avoid the human factors such as the operator's sense of responsibility and emotion. Influenced by progress, at the same time, it can avoid the limitation of the operator's proficiency in operation, completely avoid the disadvantages of manual operation, and can realize intelligent operation and improve loading and unloading efficiency. It is especially suitable for loading and unloading of freight containers in container transportation of logistics warehousing Cargo stacking operation.

Claims (10)

1. A logistics code fetching system suitable for freight containers, comprising loading and unloading platform (1), loading and unloading device, sorting device and electric control device; It is characterized in that, The loading and unloading platform (1) is provided with parallel longitudinal guide rails (11) in the front and rear directions, and the longitudinal guide rails (11) extend at least to the front end of the loading and unloading platform (1); The loading and unloading device includes a supporting chassis (2), a belt conveyor (3) and a forklift (4); The bottom of the support chassis (2) is provided with a running part (21), and the running part (21) includes a supporting roller set and a roller set drive; the supporting roller set includes left and right symmetrically arranged supporting rollers, and the supporting rollers are aligned with the longitudinal direction. The guide rails (11) are matched and erected on the longitudinal guide rails (11), and the supporting roller groups are arranged in multiple groups along the front and rear directions of the supporting chassis (2), and at least one supporting roller group is provided with a roller group to drive and support The underframe (2) is erected and installed on the longitudinal guide rail (11) through the set of support rollers; the front end of the support underframe (2) has an open U-shaped opening structure; The belt conveyor (3) is erected on the support chassis (2) along the front and rear directions of the support chassis (2), and the belt conveyor (3) includes a driving roller, a driven roller, idler rollers, a conveyor belt and a chassis The electric control mechanism of the conveyor; the roller set is installed between the driving roller and the driven roller. The electric control mechanism of the underframe conveyor includes an underframe conveyor controller and an underframe conveyor power supply electrically connected to the underframe conveyor controller, and the roller drive is electrically connected to the underframe conveyor controller; the rollers The group drive is electrically connected to the controller of the undercarriage conveyor; The forklift (4) includes a support platform (41), a sliding part (42), a forklift part (43), a forklift hydraulic mechanism and a forklift electric control mechanism; the support platform (41) is located on the belt conveyor (3) Directly above, the supporting platform (41) has supporting legs protruding downwards, and the supporting platform (41) is installed on the supporting chassis (2) by erecting the supporting legs; The sliding part (42) is arranged between the support legs of the support platform (41) and the support chassis (2), and includes guide rails and guide wheels that cooperate with each other; the front and rear directions of the guide rails are horizontally arranged on the support chassis (2 ), and the front end of the guide slide rail extends forward to the left and right side plates of the U-shaped opening position of the support chassis (2); the guide wheels are installed and connected with the bottom ends of the support legs of the support platform (41), With guide wheel drive; Fork loading part (43) comprises door frame (431), pallet fork frame (432) and pallet fork (433); Door frame (431) comprises the inner door frame and the outer door frame of coordinating socket installation, inner door frame and outer door frame There is a mast guide mechanism between the masts, the rear lower part of the outer mast is hingedly connected to the front end of the support platform (41), the outer mast is connected to the support platform (41) through the mast pitch hydraulic cylinder, and the inner mast is connected to the support platform (41) through the door The frame lifting hydraulic cylinder is connected with the outer mast. By controlling the expansion and contraction of the mast lifting hydraulic cylinder, the inner mast can extend downward or retract upward from the bottom of the outer mast along the mast guide mechanism; the fork frame (432 ) is connected with the front end surface of the inner mast through the fork frame guide mechanism, and the frame body of the fork frame (432) is connected with the inner mast through the fork frame lifting hydraulic cylinder, and the fork frame (432) is also provided with A code scanning identification device and a distance sensor; the forks (433) are symmetrically arranged in two pieces, and are erected and installed on the fork frame (432) through the fork sliding guide mechanism, and the forks (433) pass through the goods set in the left and right directions. The fork pushing part is installed and connected with the pallet fork frame (432); The hydraulic mechanism of the forklift machine includes a hydraulic pump station and a control valve group installed on the support platform (41). The hydraulic pump station is connected to the control valve group through hydraulic pipelines. The mast pitch hydraulic cylinder is connected with the fork lift hydraulic cylinder; The electric control mechanism of the forklift machine includes the forklift machine controller, the power supply of the forklift machine, the positioning coordinate movement control circuit, the distance feedback control circuit, the fork gap adjustment circuit, and the reloading control circuit. The control valve group of the installed hydraulic mechanism, the moving part of the fork, the code scanning identification device on the fork frame (432) and the distance sensor are electrically connected; The sorting device includes a plurality of sorting manipulators (5) arranged on the left and right sides of the loading and unloading device and the electric control mechanism of the manipulators. The sorting manipulators (5) are erected and installed on the loading and unloading platform (1), and the sorting The mechanical arm (5) at least includes an X-coordinate drive set for left-right movement, a Y-coordinate drive set for front-back movement, and a Z-coordinate drive set for vertical movement. The grasping and stacking manipulator, the electric control mechanism of the manipulator includes a manipulator controller and a power supply of the manipulator electrically connected to the manipulator controller, and the X coordinate drive, the Y coordinate drive and the Z coordinate drive are respectively electrically connected to the manipulator controller; The electric control device includes an industrial control computer, a support chassis control circuit, a belt conveyor control circuit, a fork loader control circuit, and a sorting and stacking control circuit; the industrial control computer includes data input and output ports, and the industrial control computer is connected to the bottom The frame conveyor controller, the forklift controller and the mechanical arm controller are electrically connected. 2. The logistics code retrieval system suitable for freight containers according to claim 1, wherein the bottom plane of the support platform (41) is between the upper surface of the upper conveyor belt of the belt conveyor (3). The height dimension of the room is greater than the height dimension of the cargo packing box. 3. The logistics code retrieval system suitable for freight containers according to claim 1, characterized in that, the support platform (41) is divided into upper and lower parts, and the rear lower part of the outer mast of the mast (431) is hinged Connected to the front end of the upper part of the support platform (41), the support legs are installed on the lower part of the support platform (41), and the upper and lower parts of the support platform (41) are connected by a slewing bearing, which is provided with a slewing bearing Hydraulic drive, the hydraulic drive of the slewing bearing is connected to the control valve group of the hydraulic mechanism of the forklift through the hydraulic pipeline; the electric control mechanism of the forklift also includes a support platform slewing circuit. 4. The logistics code-taking system suitable for freight containers according to claim 1, 2 or 3, characterized in that, the support roller sets arranged in multiple sets along the front and rear directions of the support chassis (2) are supported along the The bottom frame (2) is uniformly distributed in the front and rear directions, and at least two sets of support roller sets are provided with roller set drives, and each support roller is provided with a roller rotation drive arranged in the vertical direction of the rotation axis. The wheel rotation drive is electrically connected to the controller of the underframe conveyor; the longitudinal guide rails (11) arranged in parallel in the front and rear directions are arranged in multiple groups, and the X coordinate value between adjacent two groups of longitudinal guide rails (11) arranged in parallel The distance is greater than the width of the freight container, and the loading and unloading platform (1) is also provided with the same number of support rollers in the left and right directions, parallel to the horizontal guide rails, intersecting with the longitudinal guide rails (11) to form a matt structure, And the distance between two adjacent transverse guide rails is the same as the axial distance between the support roller sets in the front and rear direction; the electric control device also includes a translation circuit of the support chassis. 5. The logistics code acquisition system suitable for freight containers according to claim 1, 2 or 3, characterized in that, the fork frame (432) also includes a pattern recognition sensor, and the electric control of the forklift The mechanism also includes a forklift position positioning control circuit, and the forklift controller of the forklift electric control mechanism is electrically connected with the pattern recognition sensor. 6. The logistics code retrieval system suitable for freight containers according to claim 5, wherein the data input and output ports further include a wireless transceiver module, and the electronic control device further includes a wireless transceiver control circuit. 7. The logistics code retrieval system suitable for freight containers according to claim 1, 2 or 3, characterized in that, the forks (433) are provided with side splints. 8. The logistics code retrieval system suitable for freight containers according to claim 7, characterized in that, the guide rails of the sliding part (42) are guide rails that run through the left and right side plates of the support chassis (2). Slot structure. 9. The logistics code fetching system suitable for freight containers according to claim 1, 2 or 3, characterized in that, said fork pushing parts include a fork pushing servo motor and are horizontally erected and installed on the fork frame (432 ) on the two-way screw rod, the two-way screw rod is connected with the fork pushing servo motor, and the two-way screw rod has a screw screw structure with the opposite direction of rotation on the left and right ends of the rod body, and the fork (433) is provided with a two-way The screw rod cooperates with the screw nut installed on the two-way screw rod, and the fork moving servo motor is electrically connected with the fork loader controller of the fork loader electric control mechanism. 10. The logistics code retrieval system suitable for freight containers according to claim 1, 2 or 3, characterized in that, the fork pushing part includes a telescopic direction horizontally installed on the fork frame (432). On the contrary, the two pieces of cargo fork pushing hydraulic cylinders are arranged, the telescopic ends of the two pieces of cargo fork pushing hydraulic cylinders are respectively connected with the two pieces of cargo forks (433), and the two pieces of cargo fork pushing hydraulic cylinders pass through the control valve group of the hydraulic mechanism of the forklift machine respectively. Hydraulic line connections.

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