CN107380869B

CN107380869B - A kind of application method of the logistics code fetch system suitable for freight container

Info

Publication number: CN107380869B
Application number: CN201710680520.5A
Authority: CN
Inventors: 郝新浦
Original assignee: Xuzhou DKEC Electrical Technology Co Ltd
Current assignee: Xuzhou DKEC Electrical Technology Co Ltd
Priority date: 2017-08-10
Filing date: 2017-08-10
Publication date: 2019-02-05
Anticipated expiration: 2037-08-10
Also published as: CN107380869A

Abstract

The invention discloses a kind of application method of logistics code fetch system suitable for freight container, including handling preparations, incasement operation, unloading operates.This application method for being suitable for the logistics code fetch system of freight container uses computer auto-control to operate completely, the cargo vanning location information of freight container is inputted to the industrial control computer of electric control gear by data input output ports, prestowage scheme, goods packaging box piles up coordinate position, goods packaging box size, after freight container inside dimension data information, it is mobile that industrial control computer controls support underframe front and rear coordinate on longitudinal rail, mechanical arm is sorted simultaneously, belt conveyor and forklift work compound, automatic boxing may be implemented or operation of unloading, complete computer auto-control operation avoid completely manual operation there are the drawbacks of, the efficiency of loading and unloading is high, handling goods especially suitable for being directed to freight container in the container shipping of logistic storage piles up operation.

Description

A kind of application method of the logistics code fetch system suitable for freight container

Technical field

The present invention relates to a kind of application method of logistics code fetch system, specifically a kind of logistics suitable for freight container The application method of code fetch system belongs to Intelligent logistics technical equipment field.

Background technique

Intelligent logistics are exactly to utilize the advanced Internet of Things such as bar code, Radio Frequency Identification Technology, sensor, global positioning system Technology is widely used in logistics transport, storage, dispatching, packaging, handling etc. by information processing and network communication technology platform Basic activity link realizes automatic operation and the high efficiency optimum management of cargo transport process, improves the service of logistic industry Level reduces cost, reduces natural resources and social resources consumption, and the development of Intelligent logistics will promote the development of regional economy It 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 simultaneously in logistic storage in occupation of the status of core, accurate warehouse process generally comprises It receives, restocking, picks up goods, replenishes, delivering, several processes of making an inventory, to realize intelligent distribution, occurring homing guidance fortune in the prior art Defeated vehicle magnetically or optically waits homing guidances device equipped with electricity, the transport vehicle with safeguard protection and various transfer functions, object It is not required to driver in stream storage application, with rechargeable battery for its power resources, its traveling road can be generally controlled by computer Line and behavior set up its travelling route using electromagnetic path to realize the allocation and transportation of warehoused cargo, but for replenishing or Delivery disengaging warehouse carries out the handling goods stacking operation during container shipping 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 being at present to be readily transported usually by transport purpose The cargo collection of all kinds of small-sized packagings is first carried out shipping collection after being readily transported in the medium duty delivery case put by the different of ground again The vanning of vanning, but how rational deployment makes the space utilization rate of container is maximum, how reasonable prestowage is laid out to make container just Sorting problem in the containers problems and uninstall process such as multi-destination transport causes the vanning or unloading current one of container Directly use manual operation.

The production method of this traditional manual operation vanning or unloading has the following deficiencies:

1. although storage process or outbound process have realized that automatic operation, the vanning or unloading of container still use people Work operation, therefore logistic storage integrated automation degree reduces, low efficiency；

2. generalling use automated guided vehicle or conveyer belt progress due to being put in storage process or outbound process in the prior art The speed of transmission, manual operation vanning or unloading will keep up with storage or the speed of outbound just can guarantee 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 operator, mood are affected to progress of cargo work.

Summary of the invention

In view of the above existing problems in the prior art, the present invention provides a kind of logistics code fetch systems suitable for freight container The application method of system, the degree of automation is higher, can be realized intelligent operation, improves the efficiency of loading and unloading, especially suitable for logistic storage Container shipping in for freight container handling goods pile up operation.

To achieve the goals above, object used in the application method of this logistics code fetch system for being suitable for freight container Flowing code fetch system includes loading/unloading platform, handler, sorting equipment and electric control gear；

Longitudinal rail disposed in parallel is equipped on the loading/unloading platform in the longitudinal direction, longitudinal rail at least extends to The front end of loading/unloading platform；

The handler includes support underframe, belt conveyor and forklift；

The bottom of support underframe is equipped with running part, and running part includes support roller set and roller set driving；Support roller set Including the support roller being symmetrical set, support roller matches to merge with longitudinal rail to be erected on longitudinal rail, supports roller Group is set as multiple groups along support underframe front-rear direction and at least one set of support roller set drives equipped with roller set, support underframe It is mounted on longitudinal rail by support roller set erection；The front end of support underframe has open U-shaped opening structure；

Belt conveyor is erected on support underframe along support underframe front-rear direction, belt conveyor include drive roll, Driven roller, roller station, conveyer belt and chassis conveyer electrical control mechanism；Roller station erection is mounted on drive roll and driven roller Between, it is in upper and lower structures on drive roll, driven roller and roller station that conveyer belt head and the tail connection, which is wrapped in, is set on drive roll There is drum driven, chassis conveyer electrical control mechanism includes chassis conveyor controller and is electrically connected with chassis conveyor controller Chassis conveyer electrical source of power, drum driven are electrically connected with chassis conveyor controller；The roller set driving is defeated with chassis Machine controller is sent to be electrically connected；

Forklift includes support platform, slipping part, fork dress portion, forklift hydraulic mechanism and forklift electrical control mechanism；Support Platform is located at the surface of belt conveyor, and support platform has the supporting leg extended downwardly, and support platform passes through support leg support If being mounted 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 leads To wheel；Directive slide track front-rear direction is horizontally set on support underframe and directive slide track front end extends forwardly into the U of support underframe In the left and right side plates of shape aperture position；The installation connection of the supporting leg bottom end of directive wheel and support platform, directive wheel are equipped with and lead To wheel drive；

Pitching dress portion includes door frame, fork carriage and pallet fork；Door frame includes the inner upright mounting and outer mast of cooperation socket installation, inside door Door frame guiding mechanism is equipped 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 connect by door frame pitching hydraulic cylinder with support platform, inner upright mounting is connect by door frame lifting hydraulic cylinder with outer mast, and control is passed through The flexible inner upright mounting that may be implemented of door frame lifting hydraulic cylinder processed is extended downwardly along door frame guiding mechanism from outer mast bottom end or upwards Retraction movement；Fork carriage is fitted and connected by the sliding of the front end face of crotch guiding mechanism and inner upright mounting and the frame body of fork carriage is logical It crosses crotch lifting hydraulic cylinder to connect with inner upright mounting, barcode scanning identification device and range sensor is additionally provided in fork carriage；Pallet fork or so It is symmetrical arranged and is mounted in fork carriage for two pieces, by the erection of pallet fork sliding guide mechanism, and pallet fork is arranged by left and right directions Pallet fork passage component and fork carriage installation connect；

Forklift hydraulic mechanism includes the hydraulic power unit being mounted in support platform and control valve group, and hydraulic power unit passes through liquid Pressure pipe road is connect with control valve group, control valve group by fluid pressure line respectively with door frame lifting hydraulic cylinder, door frame pitching hydraulic cylinder It is connected with crotch lifting hydraulic cylinder；

Forklift electrical control mechanism include forklift controller, forklift electrical source of power, the mobile control loop of positioning coordinate, away from From feedback control loop, pallet fork span regulating loop, reprint control loop, forklift controller respectively with pressing machine power electric Source, the control valve group of forklift hydraulic mechanism, pallet fork passage component, the barcode scanning identification device in fork carriage and range sensor electricity Connection；

The sorting equipment includes multiple sorting mechanical arms at left and right sides of handler being arranged in and mechanical arm is automatically controlled Mechanism, the mechanical cantilever crane of sorting, which is set, to be mounted on loading/unloading platform, and sorting mechanical arm includes at least the mobile X-coordinate being arranged of left and right directions Driving, the mobile Y coordinate being arranged of front-rear direction drive and the Z coordinate driving of the mobile setting of vertical direction, sorts the end of mechanical arm Section is equipped with the crawl including grasping mechanism and piles up manipulator, mechanical arm electrical control mechanism include 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；

The electric control gear include industrial control computer, support underframe control loop, belt conveyor control loop, Control loop is piled up in forklift control loop, sorting；Industrial control computer includes data input output ports, Industry Control meter Calculation machine is electrically connected with chassis conveyor controller, forklift controller and mechanical arm controller respectively；

Application method specifically includes the following steps:

A. handling prepare: when original state, support underframe is stuck in the setting position of the front edge of loading/unloading platform, fork dress Machine is stuck in the fork dress coordinate position of the setting above belt conveyor；

By be loaded with the vehicle parking of freight container under loading/unloading platform, goods behind the setting position of chamber door face forklift The bottom plate for transporting container is concordant with the upper plane of loading/unloading platform, and operator opens chamber door, while operator after docking The cargo vanning of freight container is inputted to industrial control computer by the data input output ports of industrial control computer Location information, prestowage scheme, goods packaging box pile up coordinate position, goods packaging box size, freight container inside dimension number It is believed that breath；

B. incasement operation:

Support underframe control loop is first begin to work；Industrial control computer according to inputted prestowage scheme, cargo Packing case size and freight container inside dimension data information calculate support underframe Forward into the depth inside freight container It spends and the Y-coordinate value that the support underframe need to move forward is sent to chassis conveyor controller, while to chassis conveyor controller Support underframe forward motion control instruction is issued, chassis conveyor controller control roller set drive actions make that roller set is supported to drag Carrying support underframe, coordinate is moved to above-mentioned Y-coordinate value forward, the roller set of support underframe front end during support underframe Forward It is detached from longitudinal rail, crosses loading/unloading platform and the docking location of freight container enters the setting position inside freight container simultaneously Positioning, chassis conveyor controller is in real time to industrial control computer feedback data information；

The cargo that need to be cased pass through first automated guided vehicle successively transported according to prestowage scheme to sorting mechanical arm it is attached Close setting goods packaging box piles up coordinate position, and then sorting piles up control loop and works first；Industrial control computer to Mechanical arm controller issues crawl and piles up control instruction, and mechanical arm controller control sorting mechanical arm coordinate is mobile to pile up crawl Manipulator is moved to the surface of goods packaging box stacking coordinate position and Z-direction is moved down and grabbed to cargo；After crawl Mechanical arm controller control sorting mechanical arm coordinate is mobile make crawl pile up mechanical hand shovelling move to cargo packet on cargo Z-direction The baseplane of vanning is greater than the upper surface distance of the upper layer conveyer belt of belt conveyor apart from the distance between loading/unloading platform size The setting Z coordinate position of the distance between loading/unloading platform size；Then mechanical arm controller control sorting mechanical arm coordinate is mobile Make crawl pile up mechanical hand shovelling cargo be moved to set distance along X-coordinate, which is that goods packaging box piles up coordinate X-coordinate value between position and the conveyer belt widthwise central of belt conveyor；Then mechanical arm controller control crawl arranging machine Tool hand Z-direction, which moves down, piles up cargo；Mechanical arm controller is in real time to industrial control computer feedback data information；

Then belt conveyor control loop is started to work；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 The Y-coordinate value that the goods packaging box need to move forward simultaneously is sent to chassis conveyor controller by value, while being controlled to chassis conveyer Device issues belt conveyor action directive, and the control drum driven movement of chassis conveyor controller revolves drive roll forward direction Turn upper layer conveyer belt is driven 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 forklift control loop is started to work；Industrial control computer issues forklift fork dress to forklift controller Action directive, forklift controller control pallet fork according to the goods packaging box dimension information of input first and elapse component actuation The span between pallet fork is set to be adjusted to the setting width dimensions of cooperation goods packaging box size；Then forklift controller is according to The feedback identifying information of barcode scanning identification device on the goods packaging box dimension information and fork carriage of input establishes cargo fork dress position Set and pitch dress depth mathematical model；Then forklift controller, which controls forklift hydraulic mechanism according to mathematical model, goes up and down door frame Hydraulic cylinder, door frame pitching hydraulic cylinder, the co-operating of crotch lifting hydraulic cylinder are to setting on the conveyer belt of belt conveyor upper layer The goods packaging box of fixed fork dress coordinate position carries out fork dress and disengages it from belt conveyor, the distance during fork dress in fork carriage The distance between sensor Real-time Feedback fork carriage and cargo are to guarantee to pitch dress depth；Complete forklift controller after cargo fork fills It need to be moved forward according to prestowage scheme and cargo vanning location information, freight container inside dimension data information calculation supporting platform Y-coordinate value and the directive wheel drive actions for controlling slipping part make support platform move forward to the stacking position of the Y-coordinate value, then Forklift controller control forklift hydraulic mechanism makes door frame lifting hydraulic cylinder, door frame pitching hydraulic cylinder, crotch lifting hydraulic cylinder Co-operating, which carries out unloading to the goods packaging box being located on pallet fork, makes it pile up the goods set in cargo vanning location information Object vanning position, last forklift are restored to complete once to pile up to original state, are ready for subsequent stacking；Stacking was cased Forklift controller is in real time to industrial control computer feedback data information in journey；

And so on, industrial control computer is in due course defeated to chassis according to the data information of forklift controller Real-time Feedback It send machine controller to issue the control support underframe stepping of support underframe fallback action control instruction to retract, until the front end of support underframe Freight container is exited completely and entire cargo packing case is all neatly packed inside freight container according to prestowage scheme, Complete entire binning process；

C. it unloads operation:

Operation of unloading is the inverse process of incasement operation, and operator passes through the data input/output terminal of industrial control computer Mouth is in addition to cargo the vanning location information, prestowage scheme, goods packaging box ruler to industrial control computer input freight container Other than very little, freight container inside dimension data information, 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；

Forklift control loop is first begin to work, and forklift controller is according to prestowage scheme and cargo vanning location information Control fork dress portion retracts after carrying out fork dress to the goods packaging box inside freight container to initial position, and then forklift controls Device control fork dress portion is piled up in the setting fork dress coordinate position being located on the conveyer belt of belt conveyor upper layer, fork by goods packaging box Controller install in real time to industrial control computer feedback data information；

The feedback identifying for the barcode scanning identification device in fork carriage that industrial control computer is fed back according to forklift controller Information and the sorting information inputted send belt conveyor action command to chassis conveyor controller, then belt conveyor Control loop is started to work, and it is defeated that the control drum driven movement of chassis conveyor controller makes drive roll reversely rotate drive upper layer It send band to carry goods packaging box and moves back to the corresponding goods packaging box of the goods packaging box setting seat for piling up coordinate position Y coordinate Stop after cursor position；

Then sorting piles up control loop and starts to work, and industrial control computer piles up coordinate bit to corresponding goods packaging box The mechanical arm controller set issues crawl and piles up control instruction, and mechanical arm controller control sorting mechanical arm coordinate movement makes to grab Manipulator is piled up goods packaging box grab and is piled up after the translation of X-coordinate direction in goods packaging box stacking coordinate position On, automated guided vehicle transports the goods packaging box；

And so on, industrial control computer is in due course defeated to chassis according to the data information of forklift controller Real-time Feedback It send machine controller to issue the control support underframe stepping of support underframe forward motion control instruction to advance, until the front end of support underframe Into freight container and entire cargo packing case is all unloaded according to prestowage scheme, is completed process of entirely unloading, is finally supported Chassis retracts to original state.

As a further improvement of the present invention, the baseplane distance of the support platform of used logistics code fetch system Height dimension between the upper surface of the upper layer conveyer belt of belt conveyor is greater than the height dimension of goods packaging box；The step The directive wheel drive actions of forklift controller control slipping part make support platform back-and-forth motion, forklift control simultaneously in rapid b, c Device control forklift hydraulic mechanism processed makes door frame lifting hydraulic cylinder, door frame pitching hydraulic cylinder, crotch lifting hydraulic cylinder co-operating Fork dress or stacking are carried out to goods packaging box, when the upper layer conveyer belt of belt conveyor carries goods packaging box Forward or moves back Pass through below goods packaging box self-supporting platform.

As a further improvement of the present invention, the support platform of used logistics code fetch system is divided into two up and down Point, the rear lower articulated connection of the outer mast of door frame is mounted on support platform in top sub-headend, the supporting leg of support platform It on lower part, is attached between two parts up and down of support platform by pivoting support, pivoting support is equipped with pivoting support Hydraulic-driven, pivoting support hydraulic-driven are connect by fluid pressure line with the control valve group of forklift hydraulic mechanism；The fork Electrical control mechanism of installing further includes support platform rotary loop；Forklift controller control slipping part leads in step b, c It is moved forward and backward support platform to wheel drive movement, the pivoting support hydraulic-driven movement band moving fork of forklift controller control simultaneously Dress portion turns round 180 °, and then forklift controller control forklift hydraulic mechanism keeps door frame lifting hydraulic cylinder, door frame pitching hydraulic Cylinder, the co-operating of crotch lifting hydraulic cylinder carry out fork dress or stacking to goods packaging box.

As a preferred solution of the present invention, used logistics code fetch system along support underframe front-rear direction is set as more The support roller set of group is uniformly arranged along support underframe front-rear direction and at least two groups support roller set is driven equipped with roller set Dynamic, and the roller revolution driving of axis of rotation vertical direction setting is equipped on each support roller, roller revolution driving can be with Realize that the rotating direction of support roller converts between front-rear direction and left and right directions, roller revolution driving and the control of chassis conveyer Device electrical connection processed；Longitudinal rail disposed in parallel is set as multiple groups on the front-rear direction, and two adjacent groups are disposed in parallel vertical The distance of X-coordinate value is greater than the width dimensions of freight container between direction guiding rail, is additionally provided in the lateral direction on loading/unloading platform Quantity is identical with support roller set, it is disposed in parallel, intersect with longitudinal rail be in matts structure cross slide way, and it is adjacent Distance between axles size between the distance between two pieces cross slide way and front-rear direction upper backup roll wheel group is identical；The automatically controlled dress Setting further includes support underframe translational loop；This application method for being suitable for the logistics code fetch system of freight container further includes step D support underframe translation: the handling of a freight container are completed in the logistics code fetch system that this is suitable for freight container After retract to initial position, support underframe translational loop is started to work, and industrial control computer controls chassis conveyor controller Make all roller revolution drivings are equidirectional to be simultaneously rotated by 90 °, then all rollers are all transformed to right and left by front-rear direction To, then chassis conveyor controller control roller revolution driving movement make support roller set drag carry support underframe 2 to the left or The distance of the mobile X-coordinate value of coordinate loads and unloads station to another to the right, and then industrial control computer controls chassis conveyer Controller makes all roller revolution drivings, and equidirectional be rotated by 90 ° reverts to front-rear direction simultaneously.

It as a further improvement of the present invention, further include that mode is known in the fork carriage of used logistics code fetch system Individual sensor, the forklift electrical control mechanism further include fork holding position position control loop, the forklift controller with The electrical connection of pattern-recognition sensor；Forklift controller is believed according to cargo size during cargo fork dress in step b, c The cargo location information of breath and pattern-recognition sensor feedback establishes cargo pattern-recognition data model, and the cargo mode is known Other data model and established fork holding position and fork dress depth mathematical model carry out correction integration, after finally being integrated according to correction Mathematical model control hydraulic system make door frame pitching hydraulic cylinder, crotch lifting hydraulic cylinder movement carry out fork dress.

As a further improvement of the present invention, the data input output ports of used logistics code fetch system also wrap Radio receiving transmitting module is included, the electric control gear further includes wireless receiving and dispatching control loop；Industry Control calculates in the step a Machine receives the goods of freight container by radio receiving transmitting module and wireless receiving and dispatching control loop using wireless transmission from upper end network Object vanning location information, prestowage scheme, cargo pile up coordinate position, cargo size, freight container inside dimension data information； Industrial control computer is in real time to upper end network feedback data information in step b, the c cargo handling process.

As a further improvement of the present invention, the pallet fork of used logistics code fetch system is equipped with side clamping plate；Institute In step b, c stated after completing the fork dress of goods packaging box, forklift controller controls pallet fork span regulating loop work again Work makes that the span of pallet fork reduces, side clamping plate clamps goods packaging box.

As a kind of embodiment of pallet fork of the present invention passage component, the pallet fork pushing part of used logistics code fetch system Part includes pallet fork passage servo motor and the bidirectional screw bar that horizontal erection is mounted in fork carriage, and bidirectional screw bar is pushed away with pallet fork Moving on servo motor connection and the bidirectional screw bar left and right ends body of rod has oppositely oriented screw structure, the goods Fork, which is equipped with, is fitted to the screw on bidirectional screw bar with bidirectional screw bar, and pallet fork elapses servo motor and forklift is automatically controlled The forklift controller of mechanism is electrically connected；Forklift controller elapses servo motor by control pallet fork in step b, c Positive and negative rotation adjust pallet fork between span.

As the another embodiment of pallet fork of the present invention passage component, the pallet fork passage of used logistics code fetch system Component includes that horizontal set up is mounted on the two pieces pallet fork passage hydraulic cylinder that in fork carriage, telescopic direction is reversed, two pieces goods Fork passage hydraulic cylinder telescopic end connect respectively with two pieces pallet fork, two pieces pallet fork passage hydraulic cylinder respectively with forklift hydraulic mechanism Control valve group pass through fluid pressure line connect；Forklift controller passes through control forklift hydraulic mechanism in step b, c The unbalance loading fork dress of the span or pallet fork between the extension elongation different adjustment pallet fork of two pieces pallet fork passage hydraulic cylinder is set to pile up position.

Compared with prior art, this logistics code fetch system for being suitable for freight container is fully digitalization control unit, It can be seamlessly connected with the number bus of Intelligent logistics and realize concentration digital management, the homing guidance of Intelligent logistics is cooperated to transport Fully digitalization handling may be implemented in vehicle；Since handler includes support underframe, belt conveyor and forklift, belt conveying Machine includes chassis conveyer electrical control mechanism, and forklift includes forklift electrical control mechanism, and sorting equipment includes being arranged in handler The multiple sorting mechanical arms and mechanical arm electrical control mechanism of the left and right sides are operated using computer auto-control completely, therefore logical Cross data input output ports to the industrial control computer of electric control gear input freight container cargo vanning location information, Prestowage scheme, goods packaging box pile up the data informations such as coordinate position, goods packaging box size, freight container inside dimension Afterwards, industrial control computer can control support underframe vertical by chassis conveyer electrical control mechanism according to the prestowage scheme inputted Front and rear coordinate is mobile on direction guiding rail, when incasement operation by mechanical arm controller and forklift controller control sorting mechanical arm, Belt conveyor and forklift work compound, the stacking coordinate position that the goods packaging box being located on loading/unloading platform may be implemented are fixed 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 Fork dress and the handling of internal container are piled up, and are unloaded when operating through mechanical arm controller and forklift controller control fork dress Machine, belt conveyor and sorting mechanical arm work compound, may be implemented the fork for being located at the goods packaging box inside freight container Dress, goods packaging box stacking to conveyer belt on, the transport of the conveyer belt of goods packaging box, the translation of goods packaging box pile up to dress It unloads goods packaging box on platform and piles up coordinate position, forklift controller is according to the goods of input during goods packaging box fork dress Matter packaging box size Control pallet fork passage component actuation makes the span between pallet fork be adjusted to setting for cooperation goods packaging box size Determine width dimensions, and according to the feedback information of barcode scanning identification device and range sensor in the information and fork carriage inputted, Fork holding position and fork dress depth mathematical model are established, then controlling forklift hydraulic mechanism according to mathematical model makes door frame pitching liquid Cylinder pressure, the movement of crotch lifting hydraulic cylinder carry out fork dress handling, and complete computer auto-control operation can avoid blaming because of operator Influence of the human factors such as Ren Xin, mood to manufacturing schedule, at the same can from the limitation of operator's operative skill qualification, Completely avoid manual operation there are the drawbacks of, can be realized intelligent operation, improve the efficiency of loading and unloading, especially suitable for logistic storage Container shipping in for freight container handling goods pile up operation.

Detailed description of the invention

Fig. 1 is the three dimensional structure diagram when present invention carries out handling freight container；

Fig. 2 is structural representation of the forklift of the present invention when fork dress or store items packing case work on belt conveyor Figure；

Fig. 3 is structural schematic diagram when forklift of the present invention carries goods packaging box Forward work；

Fig. 4 is structural representation when forklift of the present invention pitches dress or the work of store items packing case inside freight container Figure；

Fig. 5 is the structure when present invention carries out fork dress or the work of store items packing case by the way of support platform revolution Schematic diagram；

Fig. 6 is the top view of Fig. 4.

In figure: 1, loading/unloading platform, 11, longitudinal rail, 2, support underframe, 21, running part, 3, belt conveyor, 4, fork dress Machine, 41, support platform, 42, slipping part, 43, fork dress portion, 431, door frame, 432, fork carriage, 433, pallet fork, 5, sorting mechanical arm.

Specific embodiment

The present invention will be further described with reference to the accompanying drawing (is to pitch direction of the dress portion 43 towards freight container below Front description).

As shown in Figure 1, this logistics code fetch system for being suitable for freight container includes loading/unloading platform 1, handler, sorting Device and electric control gear.

Longitudinal rail 11 disposed in parallel is equipped on the 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 figure 2, figure 5 and figure 6, the handler includes support underframe 2, belt conveyor 3 and forklift 4.

The bottom of support underframe 2 is equipped with running part 21, and running part 21 includes support roller set and roller set driving；Support roller Wheel group includes the support roller being symmetrical set, and support roller matches to merge with longitudinal rail 11 to be erected on longitudinal rail 11, Support roller set is set as multiple groups along 2 front-rear direction of support underframe and at least one set of support roller set drives equipped with roller set, Support underframe 2 is mounted on longitudinal rail 11 by support roller set erection；There is open U-shaped to open for the front end of support underframe 2 Mouth structure, U row hatch frame operate convenient for the upper lower fork dress of forklift 4, avoid movement interference；

Belt conveyor 3 is erected on support underframe 2 along 2 front-rear direction of support underframe, and belt conveyor 3 includes actively rolling Cylinder, driven roller, roller station, conveyer belt and chassis conveyer electrical control mechanism；Roller station erection is mounted on drive roll and driven Between roller, conveyer belt head and the tail connection is wrapped on drive roll, driven roller and roller station in upper and lower structures, drive roll It is equipped with drum driven, 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 are electrically connected with chassis conveyor controller；The roller set driving and bottom The electrical connection of frame conveyor controller；

Forklift 4 includes support platform 41, slipping part 42, fork dress portion 43, forklift hydraulic mechanism and the automatically controlled machine of forklift Structure；Support platform 41 is located at the surface of belt conveyor 3, and support platform 41 has the supporting leg extended downwardly, support platform 41 are mounted on support underframe 2 by supporting leg erection；

Slipping part 42 is arranged between the supporting leg of support platform 41 and support underframe 2, and the guiding including working in coordination is sliding Rail and directive wheel；Directive slide track front-rear direction is horizontally set on support underframe 2 and directive slide track front end extends forwardly into support In the left and right side plates of the U-shaped opening position of chassis 2；The supporting leg bottom end of directive wheel and support platform 41, which is installed, to be connected, guiding Wheel is equipped with guiding wheel drive；

Pitching dress portion 43 includes door frame 431, fork carriage 432 and pallet fork 433；Door frame 431 includes the inside door of cooperation socket installation Frame and outer mast, are equipped with door frame guiding mechanism between inner upright mounting and outer mast, the rear lower articulated connection of outer mast is flat in support The front end of platform 41, outer mast are connect by door frame pitching hydraulic cylinder with support platform 41, and control door frame pitching hydraulic cylinder is passed through The flexible door frame 431 that may be implemented is whole along its articulated shaft front-rear direction pitching motion, inner upright mounting by door frame lifting hydraulic cylinder with Inner upright mounting may be implemented along door frame guiding mechanism from outer mast bottom in outer mast connection, flexible by control door frame lifting hydraulic cylinder End extends downwardly or retraction movement upwards；Fork carriage 432 slides the company of fitting with the front end face of inner upright mounting by crotch guiding mechanism It connects and the frame body of fork carriage 432 is connect by crotch lifting hydraulic cylinder with inner upright mounting, pass through stretching for control crotch lifting hydraulic cylinder Contracting may be implemented fork carriage 432 and move up and down movement on inner upright mounting along crotch guiding mechanism, be additionally provided with barcode scanning in fork carriage 432 Identification device and range sensor；Pallet fork 433 is symmetrical set to be mounted on for two pieces, by the erection of pallet fork sliding guide mechanism In fork carriage 432, and pallet fork 433 elapses component by the pallet fork that left and right directions is arranged and the installation of fork carriage 432 connects, and passes through control The adjusting of span between pallet fork 433 may be implemented in the movement of pallet fork passage component processed；

Forklift hydraulic mechanism includes the hydraulic power unit being mounted in support platform 41 and control valve group, and hydraulic power unit passes through Fluid pressure line is connect with control valve group, and control valve group is hydraulic with door frame lifting hydraulic cylinder, door frame pitching respectively by fluid pressure line Cylinder is connected with crotch lifting hydraulic cylinder；

Forklift electrical control mechanism include forklift controller, forklift electrical source of power, the mobile control loop of positioning coordinate, away from From feedback control loop, pallet fork span regulating loop, reprint control loop, forklift controller respectively with pressing machine power electric Source, the control valve group of forklift hydraulic mechanism, pallet fork elapse component, barcode scanning identification device and Distance-sensing in fork carriage 432 Device electrical connection.

The sorting equipment includes multiple sorting mechanical arms 5 at left and right sides of handler being arranged in and mechanical arm is automatically controlled Mechanism, the sorting erection of mechanical arm 5 are mounted on loading/unloading platform 1, and sorting mechanical arm 5 includes at least the X of the mobile setting of left and right directions Coordinate driving, the mobile Y coordinate being arranged of front-rear direction drive and the Z coordinate driving of the mobile setting of vertical direction, sorting mechanical arm 5 Minor details be equipped with the crawl including grasping mechanism and pile up manipulator, mechanical arm electrical control mechanism include 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 are controlled with mechanical arm respectively Device electrical connection.

The electric control gear include industrial control computer, support underframe control loop, belt conveyor control loop, Control loop is piled up in forklift control loop, sorting；Industrial control computer includes data input output ports, Industry Control meter Calculation machine is electrically connected with chassis conveyor controller, forklift controller and mechanical arm controller respectively.

This is suitable for the logistics code fetch system of freight container in the initial state, and support underframe 2 is stuck in loading/unloading platform 1 Front edge setting position, forklift 4 is stuck in the setting fork dress coordinate position of the top of belt conveyor 3.

This is suitable for the working principle of the logistics code fetch system of freight container: will be loaded with the vehicle parking of freight container Behind under loading/unloading platform 1, chamber door face forklift 4 setting position, the bottom plate of freight container is and loading/unloading platform 1 at this time Upper plane it is concordant, operator opens chamber door, while the data that operator passes through industrial control computer after docking Cargo vanning location information, prestowage scheme, cargo packet of the input/output port to industrial control computer input freight container Coordinate position, goods packaging box size, freight container inside dimension data information are piled up in vanning.

When incasement operation, support underframe control loop is first begin to work；Industrial control computer is matched according to what is inputted Load scheme, goods packaging box size and freight container inside dimension data information calculate the Forward of support underframe 2 and enter shipping collection The Y-coordinate value that the support underframe 2 need to move forward simultaneously is sent to chassis conveyor controller by depth inside vanning, while the bottom of to Frame conveyor controller issues support underframe forward motion control instruction, and chassis conveyor controller controls 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 2 front end of support underframe is detached from longitudinal rail 11, crosses loading/unloading platform 1 and shipping packaging during support chassis 2 moves forward The docking location of case enters the setting position inside freight container and positioning, and chassis conveyor controller is in real time to Industry Control Computer feedback data information；

The cargo that need to be cased pass through first automated guided vehicle successively transported according to prestowage scheme to sorting mechanical arm 5 it is attached Close setting goods packaging box piles up coordinate position, and then sorting piles up control loop and works first；Industrial control computer to Mechanical arm controller issues crawl and piles up control instruction, and mechanical arm controller control sorting 5 coordinate of mechanical arm is mobile to be made to grab code Put manipulator be moved to goods packaging box pile up coordinate position surface and Z-direction move down and cargo grabbed；Crawl Afterwards mechanical arm controller control sorting 5 coordinate of mechanical arm it is mobile make crawl pile up mechanical hand shovelling move to goods on cargo Z-direction The baseplane of matter packaging box is greater than the upper table of the upper layer conveyer belt of belt conveyor 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 is mobile make crawl pile up mechanical hand shovelling cargo be moved to set distance along X-coordinate, which is goods packaging box Pile up the X-coordinate value between coordinate position and the conveyer belt widthwise central of belt conveyor 3；Then mechanical arm controller control is grabbed Code fetch, which is put manipulator Z-direction and moved down, piles up cargo；Mechanical arm controller is in real time to industrial control computer feedback coefficient It is believed that breath；

Then forklift control loop is started to work；Industrial control computer issues forklift fork dress to forklift controller Action directive, forklift controller control pallet fork according to the goods packaging box dimension information of input first and elapse component actuation The span between pallet fork 433 is set to be adjusted to the setting width dimensions of cooperation goods packaging box size；Then forklift controller root Cargo is established according to the feedback identifying information of the barcode scanning identification device on the goods packaging box dimension information and fork carriage 432 inputted Pitch holding position and fork dress depth mathematical model；As shown in Fig. 2, then forklift controller is according to mathematical model control forklift liquid Press mechanism makes door frame lifting hydraulic cylinder, door frame pitching hydraulic cylinder, the co-operating of crotch lifting hydraulic cylinder to positioned at belt conveyor 3 The goods packaging box of setting fork dress coordinate position on the conveyer belt of upper layer carries out fork dress and disengages it from belt conveyor 3, and fork filled The distance between range sensor Real-time Feedback fork carriage 432 and cargo in journey in fork carriage 432 are to guarantee to pitch dress depth；Such as Shown in Fig. 3, forklift controller is according in prestowage scheme and cargo vanning location information, freight container after completing cargo fork dress Y-coordinate value that portion's dimension data information calculation supporting platform 41 need to the move forward and directive wheel drive actions for controlling slipping part 42 make Support platform 41 moves forward to the stacking position of the Y-coordinate value, as shown in figure 4, then forklift controller control forklift is hydraulic Mechanism makes door frame lifting hydraulic cylinder, door frame pitching hydraulic cylinder, the co-operating of crotch lifting hydraulic cylinder to the goods being located on pallet fork 433 Matter packaging box, which carries out unloading, makes it pile up the cargo vanning position set in cargo vanning location information, and last forklift 4 is extensive It is multiple to complete once to pile up to original state, be ready for subsequent stacking；It is real-time to pile up forklift controller in binning process To industrial control computer feedback data information；

And so on, industrial control computer is in due course defeated to chassis according to the data information of forklift controller Real-time Feedback It send machine controller to issue control 2 stepping of support underframe of support underframe fallback action control instruction to retract, until before support underframe 2 End exit freight container completely and entire cargo packing case all piled up inside freight container according to prestowage scheme it is whole Together, entire binning process is completed.

Forklift control loop is first begin to work, and forklift controller is according to prestowage scheme and cargo vanning location information Control fork dress portion 43 retracts after carrying out fork dress to the goods packaging box inside freight container to initial position, then forklift control Device control processed fork dress portion 43 is piled up in the setting fork dress coordinate bit being located on 3 upper layer conveyer belt of belt conveyor by goods packaging box It sets, forklift controller is in real time to industrial control computer feedback data information；

The feedback for the barcode scanning identification device in fork carriage 432 that industrial control computer is fed back according to forklift controller is known Other information and the sorting information inputted send belt conveyor action command to chassis conveyor controller, then belt conveying Machine control loop is started to work, and the control drum driven movement of chassis conveyor controller makes drive roll reversely rotate drive upper layer Conveyer belt carries goods packaging box and moves back to the corresponding goods packaging box of the goods packaging box setting for piling up coordinate position Y coordinate Stop after coordinate position；

Then sorting piles up control loop and starts to work, and industrial control computer piles up coordinate bit to corresponding goods packaging box The mechanical arm controller set issues crawl and piles up control instruction, and mechanical arm controller control sorting 5 coordinate of mechanical arm movement makes to grab Code fetch puts manipulator and grab to goods packaging box and be piled up after the translation of X-coordinate direction in goods packaging box stacking coordinate position On, automated guided vehicle can transport the goods packaging box；

And so on, industrial control computer is in due course defeated to chassis according to the data information of forklift controller Real-time Feedback It send machine controller to issue control 2 stepping of support underframe of support underframe forward motion control instruction to advance, until before support underframe 2 End is completely into freight container and entire cargo packing case is all unloaded according to prestowage scheme, completes process of entirely unloading, most Rear support chassis 2 retracts to original state.

For simplified control, as a further improvement of the present invention, the baseplane distance of the support platform 41 Height dimension between the upper surface of the upper layer conveyer belt of belt conveyor 3 is greater than the height dimension of goods packaging box, that is, cargo The face forward always of dress portion 43 is pitched in packing case cargo handling process, takes the mode that only control forklift 4 is moved forward and backward to cargo packet Vanning carries out fork dress and stacking, the cargo packet when the upper layer conveyer belt of belt conveyor 3 carries goods packaging box Forward or moves back Pass through below vanning self-supporting platform 41.

In order to shorten slipping part 42 directive slide track length and meanwhile reduce the height of support platform 41, and then realize more Firmly fork dress, as a further improvement of the present invention, as shown in figure 5, it is upper and lower two that the support platform 41, which is divided to, Point, the rear lower articulated connection of the outer mast of door frame 431 is mounted on support in top sub-headend, the supporting leg of support platform 41 and puts down On 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 equipped with Pivoting support hydraulic-driven, pivoting support hydraulic-driven are connect by fluid pressure line with the control valve group of forklift hydraulic mechanism, The top split-phase of support platform 41 may be implemented under support platform 41 in movement by controlling pivoting support hydraulic-driven Part is rotated；The forklift electrical control mechanism further includes support platform rotary loop；In goods packaging box cargo handling process The mode for taking support platform 41 to turn round with moving fork dress portion 43 carries out fork dress and stacking to goods packaging box, and such setting can be with Make, the baseplane of support platform 41 and then substantially reduces the height of support platform 41 close to the upper layer conveyer belt of belt conveyor 3 Degree realizes more securely fork dress, meanwhile, the distance that the mode of revolution can be such that support platform 41 is moved forward and backward is opposite to be reduced, into And realize the length for shortening the directive slide track of slipping part 42.

In order to improve the efficiency of loading and unloading, generallys use and be loaded with the vehicle of freight container and directly drive away after completing handling replacement The mode that the next vehicle for being loaded with freight container is loaded and unloaded can also adopt that is, by way of mobile freight container 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 vehicle and enters just to can be carried out handling after loading/unloading lot, and second scheme realizes that translation carries There is the vehicle of freight container is relatively difficult, translation support need to additionally be arranged to carry facility, and the third scheme is being equipped with multiple dresses It may be implemented can to carry out the supplement, in turn of handling vehicle in the case where unloading parking stall during a loading/unloading lot is loaded and unloaded Realize handler work continuously, efficiency it is higher with respect to the former two, therefore the third preferred scheme, that is, as of the invention excellent Scheme is selected, originally suitable for the logistics code fetch system of freight container using more loading/unloading lots, in itself from by the way of moving, the edge The support roller set that 2 front-rear direction of support underframe is set as multiple groups is uniformly arranged along 2 front-rear direction of support underframe and at least two groups Roller set is supported to drive equipped with roller set, and the roller for being equipped with the setting of axis of rotation vertical direction on each support roller returns Turn driving, the rotating direction that support roller may be implemented in roller revolution driving converts between front-rear direction and left and right directions, roller Wheel revolution driving is electrically connected with chassis conveyor controller；Longitudinal rail 11 disposed in parallel is set as on the front-rear direction Multiple groups, the distance of X-coordinate value is greater than the width dimensions of freight container, dress between two adjacent groups longitudinal rail 11 disposed in parallel Unload be additionally provided in the lateral direction on platform 1 quantity with support roller set it is identical, it is disposed 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 front-rear direction upper backup roll wheel group Distance between axles size it is identical；The electric control gear further includes support underframe translational loop；When this is suitable for freight container It retracts after the handling of logistics code fetch system one freight container of completion to initial position, support underframe translational loop starts work Make, industrial control computer control chassis conveyor controller makes all roller revolution drivings are equidirectional to be simultaneously rotated by 90 °, then All rollers are all transformed to left and right directions by front-rear direction, and then chassis conveyor controller control roller revolution driving is dynamic Make to make to support roller set to drag and carries the distance of the mobile X-coordinate value of the leftward or rightward coordinate of support underframe 2 to another loader Position, then industrial control computer control chassis conveyor controller makes the equidirectional rotation simultaneously of all roller revolution drivings 90 ° revert to front-rear direction, can load and unload herein and carry out charge and discharge operations on station.

It further include mould in the fork carriage 432 as a further improvement of the present invention to guarantee accurately to pitch dress Formula identification sensor, the forklift electrical control mechanism further include fork holding position position control loop, the forklift control Device is electrically connected with pattern-recognition sensor；Forklift controller is anti-according to goods packaging box dimension information and pattern-recognition sensor The cargo location information of feedback establishes cargo pattern-recognition data model, and by the cargo pattern-recognition data model with it is established Fork holding position and fork dress depth mathematical model carry out correction integration, finally control forklift according to the mathematical model after correction integration Hydraulic mechanism makes door frame lifting hydraulic cylinder, door frame pitching hydraulic cylinder, the co-operating of crotch lifting hydraulic cylinder carry out fork dress.

In order to realize more efficiently Real Data Exchangs and control, improve the efficiency of loading and unloading, further change as of the invention Into scheme, the data input output ports further include radio receiving transmitting module, and the electric control gear further 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 It is transferred from cargo vanning location information, prestowage scheme, goods packaging box stacking coordinate bit that upper end network receives freight container It sets, the data informations such as goods packaging box size, freight container inside dimension, and realizes in real time in cargo handling process to upper end net Network feedback handling concrete condition, it is enterprising on the one hand to may be implemented cooperation automated guided vehicle Self-loading-unloading platform in binning process Row fixed point fork dress carries out fixed point stacking during unloading on loading/unloading platform, shortens this logistics code fetch vehicle and piles up in fork dress Distance, the raising efficiency of loading and unloading walked in the process；Another aspect operator can carry out real time remote to this logistics code fetch vehicle Error correct.

Goods packaging box slides from the left and right sides of pallet fork 433 is unexpected during fork dress in order to prevent, as it is of the invention into One step improvement project, the pallet fork 433 are equipped 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 lesser goods packaging box of weight, after completing the fork dress of goods packaging box, 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 cargo The clamping of packing case.

It the case where cooperating for the width dimensions inside cargo width dimensions and freight container, is pushed away as pallet fork of the present invention A kind of embodiment of component is moved, the pallet fork passage component includes that pallet fork passage servo motor and horizontal erection are mounted on goods Bidirectional screw bar on crotch 432, bidirectional screw bar is connect with pallet fork passage servo motor and bidirectional screw bar left and right ends bar There is oppositely oriented screw structure, the pallet fork 433 is two-way equipped with being fitted to bidirectional screw bar on body Screw on screw rod, pallet fork passage servo motor are electrically connected with the forklift controller of forklift electrical control mechanism；It is filled by fork The adjusting of span between pallet fork 433 may be implemented in the positive and negative rotation of machine controller control pallet fork passage servo motor.

For the lesser goods packaging box of size, in order to improve the space utilization rate inside freight container, as this hair The another embodiment of bright pallet fork passage component, the pallet fork passage component include that horizontal erection is mounted on fork carriage 432 On, two pieces pallet fork that telescopic direction is reversed elapse hydraulic cylinder, two pieces pallet fork elapses the telescopic end of hydraulic cylinder respectively with two Part pallet fork 433 connects, and two pieces pallet fork elapses hydraulic cylinder and connected respectively with the control valve group of forklift hydraulic mechanism by fluid pressure line It connects；It is real that the extension elongation difference that forklift hydraulic mechanism allows two pieces pallet fork to elapse hydraulic cylinder is controlled by forklift controller The adjusting of span and the unbalance loading position of pallet fork 433 between stock fork 433.

This logistics code fetch system for being suitable for freight container is fully digitalization control unit, can be with Intelligent logistics Number bus seamless connection, which is realized, concentrates digital management, cooperates the automated guided vehicle of Intelligent logistics that perfect number may be implemented Word makeup is unloaded；Since handler includes support underframe 2, belt conveyor 3 and forklift 4, belt conveyor 3 includes that chassis is defeated Send Electrical Control mechanism, forklift 4 includes forklift electrical control mechanism, sorting equipment include be arranged in it is more at left and right sides of handler A sorting mechanical arm 5 and mechanical arm electrical control mechanism are operated using computer auto-control completely, therefore are inputted by data defeated Cargo vanning location information, prestowage scheme, goods of the exit port to the industrial control computer of electric control gear input freight container After matter packaging box piles up the data informations such as coordinate position, goods packaging box size, freight container inside dimension, Industry Control meter Before calculation machine can control support underframe 2 on longitudinal rail 11 by chassis conveyer electrical control mechanism according to the prestowage scheme inputted Coordinate is mobile afterwards, and when incasement operation passes through mechanical arm controller and forklift controller control sorting mechanical arm 5, belt conveyor 3 and 4 work compound of forklift, may be implemented the goods packaging box being located on loading/unloading platform 1 the crawl of stacking 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 controlled forklift 4, belt by mechanical arm controller and forklift controller when operating The fork dress, the goods that are located at the goods packaging box inside freight container may be implemented in conveyer 3 and sorting 5 work compound of mechanical arm In the stacking to conveyer belt of matter packaging box, the conveyer belt of goods packaging box transports, the translation of goods packaging box is piled up to handling and put down Goods packaging box on platform 1 piles up coordinate position, and forklift controller is according to the cargo of input during goods packaging box fork dress Packing case size Control pallet fork passage component actuation makes the span between pallet fork 433 be adjusted to setting for cooperation goods packaging box size Determine width dimensions, and according to the feedback letter of barcode scanning identification device and range sensor in the information and fork carriage 432 inputted Breath establishes fork holding position and fork dress depth mathematical model, and then controlling forklift hydraulic mechanism according to mathematical model makes door frame bow Face upward hydraulic cylinder, the movement of crotch lifting hydraulic cylinder carries out fork dress handling, the operation of complete computer auto-control can avoid because of operator The influences of the human factors to manufacturing schedule such as member's sense of responsibility, mood, while can be from operator's operative skill qualification Limitation, it is entirely avoided manual operation there are the drawbacks of, can be realized intelligent operation, improve the efficiency of loading and unloading, especially suitable for object It flows in the container shipping of storage and piles up operation for the handling goods of freight container.

Claims

1. a kind of application method of the logistics code fetch system suitable for freight container, used logistics code fetch system includes dress Unload platform (1), handler, sorting equipment and electric control gear；

Longitudinal rail disposed in parallel (11) are equipped in the longitudinal direction on the loading/unloading platform (1), longitudinal rail (11) is extremely The front end of loading/unloading platform (1) is extended to less；

The handler includes support underframe (2), belt conveyor (3) and forklift (4)；

The bottom of support underframe (2) is equipped with running part (21), and running part (21) includes support roller set and roller set driving；Support Roller set includes the support roller being symmetrical set, and support roller matches to merge with longitudinal rail (11) is erected at longitudinal rail (11) on, support roller set is set as multiple groups along support underframe (2) front-rear direction and at least one set of support roller set is equipped with roller The driving of wheel group, support underframe (2) are mounted on longitudinal rail (11) by support roller set erection；The front end of support underframe (2) With open U-shaped opening structure；

Belt conveyor (3) is erected on support underframe (2) along support underframe (2) front-rear direction, and belt conveyor (3) includes master Dynamic roller, driven roller, roller station, conveyer belt and chassis conveyer electrical control mechanism；Roller station erection be mounted on drive roll and Between driven roller, conveyer belt head and the tail connection is wrapped on drive roll, driven roller and roller station in upper and lower structures, actively Roller be equipped 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 are electrically connected with chassis conveyor controller；The roller set driving It is electrically connected with chassis conveyor controller；

Forklift (4) includes support platform (41), slipping part (42), fork dress portion (43), forklift hydraulic mechanism and forklift electricity Control mechanism；Support platform (41) is located at the surface of belt conveyor (3), and support platform (41) has the support extended downwardly Leg, support platform (41) are mounted on support underframe (2) by supporting leg erection；

Slipping part (42) is arranged between the supporting leg and support underframe (2) of support platform (41), including the guiding worked in coordination Sliding rail and directive wheel；Directive slide track front-rear direction is horizontally set on support underframe (2) and directive slide track front end extends forwardly into In the left and right side plates of the U-shaped opening position of support underframe (2)；The supporting leg bottom end of directive wheel and support platform (41), which is installed, to be connected It connects, directive wheel is equipped with guiding wheel drive；

Pitching dress portion (43) includes door frame (431), fork carriage (432) and pallet fork (433)；Door frame (431) includes cooperation socket installation Inner upright mounting and outer mast, between inner upright mounting and outer mast be equipped with door frame guiding mechanism, outer mast rear lower articulated connection in The front end of support platform (41), outer mast are connect by door frame pitching hydraulic cylinder with support platform (41), and inner upright mounting passes through door frame Lifting hydraulic cylinder is connect with outer mast, by controlling the flexible inner upright mounting that may be implemented of door frame lifting hydraulic cylinder along door frame Guiding machine Structure is extended downwardly from outer mast bottom end or retraction movement upwards；Before fork carriage (432) is by crotch guiding mechanism and inner upright mounting End face sliding is fitted and connected and the frame body of fork carriage (432) is connect by crotch lifting hydraulic cylinder with inner upright mounting, fork carriage (432) barcode scanning identification device and range sensor are additionally provided on；Pallet fork (433) is symmetrical set to be slided for two pieces, by pallet fork Guiding mechanism erection is moved to be mounted on fork carriage (432), and the pallet fork that be arranged by left and right directions of pallet fork (433) elapse component and Fork carriage (432) installation connection；

Forklift hydraulic mechanism includes that the hydraulic power unit being mounted on support platform (41) and control valve group, hydraulic power unit pass through liquid Pressure pipe road is connect with control valve group, control valve group by fluid pressure line respectively with door frame lifting hydraulic cylinder, door frame pitching hydraulic cylinder It is connected with crotch lifting hydraulic cylinder；

Forklift electrical control mechanism includes forklift controller, forklift electrical source of power, positions the mobile control loop of coordinate, distance instead Present control loop, pallet fork span regulating loop, reprint control loop, forklift controller respectively with pressing machine electrical source of power, fork Control valve group, pallet fork passage component, the barcode scanning identification device in fork carriage (432) and the range sensor electricity of installation hydraulic mechanism Connection；

The sorting equipment includes multiple sorting mechanical arms (5) and the automatically controlled machine of mechanical arm being arranged at left and right sides of handler Structure, sorting mechanical arm (5) set up and are mounted on loading/unloading platform (1), and sorting mechanical arm (5) includes at least the mobile setting of left and right directions X-coordinate driving, the Y coordinate driving of the mobile setting of front-rear direction and the Z coordinate driving of the mobile setting of vertical direction, sorting is mechanical The minor details of arm (5) are equipped with the crawl including grasping mechanism and pile up manipulator, mechanical arm electrical control mechanism include mechanical arm controller and The mechanical arm electrical source of power being electrically connected with mechanical arm controller, X-coordinate driving, Y coordinate driving and Z coordinate driving respectively with machinery Arm controller electrical connection；

The electric control gear includes industrial control computer, support underframe control loop, belt conveyor 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 It is electrically connected respectively with chassis conveyor controller, forklift controller and mechanical arm controller；

It is characterized in that, application method specifically includes the following steps:

A. handling prepare: when original state, support underframe (2) is stuck in the setting position of the front edge of loading/unloading platform (1), fork Installation (4) is stuck in the fork dress coordinate position of the setting above belt conveyor (3)；

By be loaded with the vehicle parking of freight container under loading/unloading platform (1), behind the setting position of chamber door face forklift (4) The bottom plate of freight container is concordant with the upper plane of loading/unloading platform (1), and operator opens chamber door after docking, and operates simultaneously Personnel input the cargo of freight container by the data input output ports of industrial control computer to industrial control computer Vanning location information, prestowage scheme, goods packaging box pile up coordinate position, goods packaging box size, freight container inside ruler Very little data information；

B. incasement operation:

Support underframe control loop is first begin to work；Industrial control computer according to inputted prestowage scheme, goods packing Case size and freight container inside dimension data information calculate support underframe (2) Forward into the depth inside freight container It spends and the Y-coordinate value that the support underframe (2) need to move forward is sent to chassis conveyor controller, while to chassis conveyer control Device processed issues support underframe forward motion control instruction, and chassis conveyor controller control roller set drive actions make to support roller Group, which is dragged, to be carried support underframe (2) coordinate is moved to above-mentioned Y-coordinate value forward, support underframe (2) during support underframe (2) Forward The roller set of front end is detached from longitudinal rail (11), cross loading/unloading platform (1) and the docking location of freight container enters shipping collection Setting position and positioning inside vanning, chassis conveyor controller is in real time to industrial control computer feedback data information；

The cargo that need to be cased passes through automated guided vehicle first and is successively transported to sorting mechanical arm (5) according to prestowage scheme Setting goods packaging box pile up coordinate position, then sorting pile up control loop work first；Industrial control computer is to machine Tool arm controller issues crawl and piles up control instruction, and mechanical arm controller control sorting mechanical arm (5) coordinate is mobile to be made to grab code Put manipulator be moved to goods packaging box pile up coordinate position surface and Z-direction move down and cargo grabbed；Crawl Afterwards mechanical arm controller control sorting mechanical arm (5) coordinate it is mobile make crawl pile up mechanical hand shovelling move on cargo Z-direction The baseplane of goods packaging box is greater than the upper layer conveyer belt of belt conveyor (3) apart from the distance between loading/unloading platform (1) size Setting Z coordinate position of the upper surface apart from the distance between loading/unloading platform (1) size；Then mechanical arm controller control sorting Mechanical arm (5) coordinate is mobile make crawl pile up mechanical hand shovelling cargo be moved to set distance along X-coordinate, which is goods Matter packaging box piles up the X-coordinate value between coordinate position and the conveyer belt widthwise central of belt conveyor (3)；Then mechanical arm control Device control crawl stacking manipulator Z-direction processed, which moves down, piles up cargo；Mechanical arm controller is in real time to Industry Control meter Calculation machine feedback data information；

Then belt conveyor control loop is started to work；Industrial control computer is according to having inputted goods packaging box size and goods Matter packaging box pile up coordinate position data information calculate goods packaging box need to move forward to setting fork dress coordinate position Y-coordinate value, And the Y-coordinate value that the goods packaging box need to move forward is sent to chassis conveyor controller, while to chassis conveyor controller Belt conveyor action directive is issued, the control drum driven movement of chassis conveyor controller rotates in the forward direction drive roll It drives upper layer conveyer belt to carry after goods packaging box moves forward to setting fork dress coordinate position to stop, chassis conveyor controller is real-time To industrial control computer feedback data information；

Then forklift control loop is started to work；Industrial control computer issues forklift fork dress movement to forklift controller Control instruction, forklift controller, which controls pallet fork passage component actuation according to the goods packaging box dimension information of input first, makes goods Span between fork (433) is adjusted to the setting width dimensions of cooperation goods packaging box size；Then forklift controller according to The feedback identifying information of the barcode scanning identification device on goods packaging box dimension information and fork carriage (432) inputted establishes cargo Pitch holding position and fork dress depth mathematical model；Then forklift controller, which controls forklift hydraulic mechanism according to mathematical model, makes door Frame lifting hydraulic cylinder, door frame pitching hydraulic cylinder, the co-operating of crotch lifting hydraulic cylinder are conveyed to belt conveyor (3) upper layer is located at The goods packaging box of the setting fork dress coordinate position taken carries out fork dress and disengages it from belt conveyor (3), goods during fork dress The distance between range sensor Real-time Feedback fork carriage (432) and cargo on crotch (432) are to guarantee to pitch dress depth；It completes Forklift controller is believed according to prestowage scheme and cargo vanning location information, freight container inside dimension data after cargo fork dress Breath calculation supporting platform (41) Y-coordinate value that need to the move forward and directive wheel drive actions for controlling slipping part (42) make support platform (41) the stacking position of the Y-coordinate value is moved forward to, then forklift controller control forklift hydraulic mechanism makes door frame go up and down liquid The goods packaging box being located on pallet fork (433) is unloaded in cylinder pressure, door frame pitching hydraulic cylinder, the co-operating of crotch lifting hydraulic cylinder Carrying makes it pile up the cargo vanning position set in cargo vanning location information, and last forklift (4) is restored to original state Completion once piles up, is ready for subsequent stacking；Forklift controller in binning process is piled up to calculate to Industry Control in real time Machine feedback data information；

And so on, industrial control computer is according to the data information of forklift controller Real-time Feedback in due course to chassis conveyer Controller issues control support underframe (2) stepping of support underframe fallback action control instruction and retracts, until before support underframe (2) End exit freight container completely and entire cargo packing case all piled up inside freight container according to prestowage scheme it is whole Together, entire binning process is completed；

C. it unloads operation:

Operation of unloading is the inverse process of incasement operation, and operator is removed by the data input output ports of industrial control computer It cases location information, prestowage scheme, goods packaging box size, goods to the cargo of industrial control computer input freight container It transports other than internal container dimension data information, also inputs sorting information to industrial control computer, sorting information includes basis The different goods packaging boxes of different sorting condition distribution pile up co-ordinate position information；

Forklift control loop is first begin to work, and forklift controller is controlled according to prestowage scheme and cargo vanning location information Fork dress portion (43) retracts after carrying out fork dress to the goods packaging box inside freight container to initial position, and then forklift controls Device control fork dress portion (43) piles up goods packaging box in the setting fork dress coordinate being located on the conveyer belt of belt conveyor (3) upper layer Position, forklift controller is in real time to industrial control computer feedback data information；

The feedback identifying for the barcode scanning identification device in fork carriage (432) that industrial control computer is fed back according to forklift controller Information and the sorting information inputted send belt conveyor action command to chassis conveyor controller, then belt conveyor Control loop is started to work, and it is defeated that the control drum driven movement of chassis conveyor controller makes drive roll reversely rotate drive upper layer It send band to carry goods packaging box and moves back to the corresponding goods packaging box of the goods packaging box setting seat for piling up coordinate position Y coordinate Stop after cursor position；

Then sorting piles up control loop and starts to work, and industrial control computer piles up coordinate position to corresponding goods packaging box Mechanical arm controller issues crawl and piles up control instruction, and mechanical arm controller control sorting mechanical arm (5) coordinate movement makes to grab Manipulator is piled up goods packaging box grab and is piled up after the translation of X-coordinate direction in goods packaging box stacking coordinate position On, automated guided vehicle transports the goods packaging box；

And so on, industrial control computer is according to the data information of forklift controller Real-time Feedback in due course to chassis conveyer Controller issues control support underframe (2) stepping of support underframe forward motion control instruction and advances, until before support underframe (2) End enters freight container and entire cargo packing case is all unloaded according to prestowage scheme, completes process of entirely unloading, finally props up Chassis (2) are supportted to retract to original state.

2. the application method of the logistics code fetch system according to claim 1 suitable for freight container, which is characterized in that The upper table of the upper layer conveyer belt of the baseplane distance belt conveyer (3) of the support platform (41) of used logistics code fetch system Height dimension between face is greater than the height dimension of goods packaging box；

Before the directive wheel drive actions of forklift controller control slipping part (42) make support platform (41) in step b, c After move, simultaneously forklift controller control forklift hydraulic mechanism make door frame lifting hydraulic cylinder, door frame pitching hydraulic cylinder, crotch Lifting hydraulic cylinder co-operating carries out fork dress or stacking to goods packaging box, carries in the upper layer conveyer belt of belt conveyor (3) Pass through below goods packaging box self-supporting platform (41) when goods packaging box moves forward or moves back.

3. the application method of the logistics code fetch system according to claim 1 suitable for freight container, which is characterized in that The support platform (41) of used logistics code fetch system is divide into upper part and lower part, the rear lower hinge of the outer mast of door frame (431) Top sub-headend, the supporting leg for being connected to support platform (41) in succession are mounted on the lower part of support platform (41), support platform (41) it is attached between two parts up and down by pivoting support, pivoting support is equipped with pivoting support hydraulic-driven, revolution Support hydraulic is driven through fluid pressure line and connect with the control valve group of forklift hydraulic mechanism；The forklift electrical control mechanism is also Including support platform rotary loop；

Before the directive wheel drive actions of forklift controller control slipping part (42) make support platform (41) in step b, c After move, simultaneously forklift controller control pivoting support hydraulic-driven movement band moving fork dress portion (43) turn round 180 °, then pitch Installation controller control forklift hydraulic mechanism makes door frame lifting hydraulic cylinder, door frame pitching hydraulic cylinder, crotch lifting hydraulic cylinder association Fork dress or stacking are carried out to goods packaging box with movement.

4. the application method of the logistics code fetch system according to claim 1 or 2 or 3 suitable for freight container, special Sign is that used logistics code fetch system is set as the support roller set of multiple groups along branch along support underframe (2) front-rear direction Support chassis (2) front-rear direction is uniformly arranged and at least two groups support roller set drives equipped with roller set, and each support roller On be equipped with the roller revolution driving of axis of rotation vertical direction setting, roller revolution driving is electrically connected with chassis conveyor controller It connects；Longitudinal rail (11) disposed in parallel is set as multiple groups on the front-rear direction, and two adjacent groups longitudinal direction disposed in parallel is led The distance of X-coordinate value is greater than the width dimensions of freight container between rail (11), and loading/unloading platform is also set in the lateral direction on (1) Have quantity with support roller set it is identical, it is disposed in parallel, with longitudinal rail (11) intersect be in matts structure cross slide way, And the distance between axles size between the distance between adjacent two pieces cross slide way and front-rear direction upper backup roll wheel group is identical；Described Electric control gear further includes support underframe translational loop；

This application method for being suitable for the logistics code fetch system of freight container further includes step d support underframe translation: This retracts after being suitable for the handling of logistics code fetch system one freight container of completion of freight container to initial position, support Chassis translational loop is started to work, and industrial control computer control chassis conveyor controller keeps all roller revolution drivings same When it is equidirectional be rotated by 90 °, then all rollers are all transformed to left and right directions by front-rear direction, then chassis conveyor controller Control roller revolution driving movement makes to support roller set to be dragged to carry support underframe (2) the mobile X-coordinate value of coordinate to the left or to the right Distance loads and unloads station to another, and then industrial control computer control chassis conveyor controller turns round all rollers Equidirectional be rotated by 90 ° reverts to front-rear direction simultaneously for driving.

5. the application method of the logistics code fetch system according to claim 1 or 2 or 3 suitable for freight container, special Sign is, further includes pattern-recognition sensor in the fork carriage (432) of used logistics code fetch system, the forklift electricity Control mechanism further includes fork holding position position control loop, the forklift controller of the forklift electrical control mechanism and pattern-recognition Sensor electrical connection；

Forklift controller is according to cargo size information and pattern-recognition sensor during cargo fork fills in step b, c The cargo location information of feedback establishes cargo pattern-recognition data model, and by the cargo pattern-recognition data model with have been established Fork holding position and fork dress depth mathematical model carry out correction integration, finally according to correction integration after mathematical model control it is hydraulic System makes door frame pitching hydraulic cylinder, the movement of crotch lifting hydraulic cylinder carry out fork dress.

6. the application method of the logistics code fetch system according to claim 5 suitable for freight container, which is characterized in that The data input output ports of used logistics code fetch system further include radio receiving transmitting module, and the electric control gear further includes Wireless receiving and dispatching control loop；

Industrial control computer utilizes wireless transmission by radio receiving transmitting module and wireless receiving and dispatching control loop in the step a Cargo vanning location information, prestowage scheme, the cargo for receiving freight container from upper end network pile up coordinate position, cargo ruler Very little, freight container inside dimension data information；

Industrial control computer is in real time to upper end network feedback data information in step b, the c cargo handling process.

7. the application method of the logistics code fetch system according to claim 1 or 2 or 3 suitable for freight container, special Sign is that the pallet fork (433) of used logistics code fetch system is equipped with side clamping plate；

In step b, c after completing the fork dress of goods packaging box, forklift controller controls pallet fork span regulating loop Task makes that the span of pallet fork (433) reduces, side clamping plate clamps goods packaging box again.

8. the application method of the logistics code fetch system according to claim 1 or 2 or 3 suitable for freight container, special Sign is that the pallet fork passage component of used logistics code fetch system includes that pallet fork passage servo motor and horizontal erection are mounted on Bidirectional screw bar in fork carriage (432), bidirectional screw bar is connect with pallet fork passage servo motor and bidirectional screw bar or so two There is oppositely oriented screw structure, the pallet fork (433) is equipped with and is coupled with bidirectional screw bar on side pole body Screw on bidirectional screw bar, pallet fork passage servo motor are electrically connected with the forklift controller of forklift electrical control mechanism；

Forklift controller adjusts pallet fork (433) by the positive and negative rotation that control pallet fork elapses servo motor in step b, c Between span.

9. the application method of the logistics code fetch system according to claim 1 or 2 or 3 suitable for freight container, special Sign is, the pallet fork passage component of used logistics code fetch system include horizontal erection be mounted on it is on fork carriage (432), stretch Contract contrary setting two pieces pallet fork passage hydraulic cylinder, two pieces pallet fork elapse hydraulic cylinder telescopic end respectively with two pieces pallet fork (433) it connects, two pieces pallet fork passage hydraulic cylinder is connect with the control valve group of forklift hydraulic mechanism by fluid pressure line respectively；

Forklift controller makes two pieces pallet fork elapse stretching for hydraulic cylinder by controlling forklift hydraulic mechanism in step b, c The unbalance loading of the span between length different adjustment pallet fork (433) or pallet fork (433) fork dress piles up position out.