CN107572264A - A kind of control system and its control method of cantilever-type full-automatic handling vehicle device - Google Patents

A kind of control system and its control method of cantilever-type full-automatic handling vehicle device Download PDF

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Publication number
CN107572264A
CN107572264A CN201710770950.6A CN201710770950A CN107572264A CN 107572264 A CN107572264 A CN 107572264A CN 201710770950 A CN201710770950 A CN 201710770950A CN 107572264 A CN107572264 A CN 107572264A
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control
goods
stacking
pallet
power component
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CN107572264B (en
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彭春霞
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Mianyang Ever Long Robot Co Ltd
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Mianyang Ever Long Robot Co Ltd
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Abstract

The invention discloses the control system and its control method of a kind of cantilever-type full-automatic handling vehicle device, including control system power control system, integrated scheduling system and vehicle condition detecting system;Described power control system includes transportation power component, feeding Power Component and stacking Power Component;Described integrated scheduling system includes IC information systems, intelligent gateway and execution unit;Described intelligent gateway is connected to user terminal and cloud server by communication module;Described vehicle condition detecting system includes executing agency and range sensor.The beneficial effects of the invention are as follows:The present invention can realize the control that automatic stacking is carried out to goods, be advantageous to improve the efficiency of goods stacking with this and realize continuous non-stop run, reduce the labor intensity of staff and save labour cost, this programme and conventional transmission mechanism, triaxial connecting system etc. with the use of the transport and transfer that goods can be achieved, it is adaptable strong, applied widely the advantages that.

Description

A kind of control system and its control method of cantilever-type full-automatic handling vehicle device
Technical field
The present invention relates to material entrucking field, is a kind of control system of cantilever-type full-automatic handling vehicle device specifically System and its control method.
Background technology
In feed, food, grain, petroleum chemical industry, people's fixture vehicle and the side unloaded are taken in existing bagged material entrucking Formula, bagged material pile is transported to strap end by fork truck on pallet, material on pallet is removed into input dress by a people Vehicle device belt, interior is being transported to by belt, pile is carried out by one to two people in material to compartment, the equipment has dress Unload the shortcomings of efficiency is low, cost of labor is high, safety coefficient is low, Occupational Hazard Factors is big.Thing is also resulted in by manually carrying out stacking Expect that the positional precision of stacking is not high.Easily there is inclined phenomenon in material, due to being jolted caused by road conditions during transport Material can be made to collapse or mutually extrude, be unfavorable for the transport and storage of material.
The content of the invention
Automatic loading can be realized it is an object of the invention to provide one kind to improve entrucking efficiency, save human resources Cantilever-type full-automatic handling vehicle device control system, and a kind of cantilever-type full-automatic handling vehicle device control method,.
The present invention is achieved through the following technical solutions:A kind of control system of cantilever-type full-automatic handling vehicle device, including The control system and power control system being connected respectively with control system, integrated scheduling system and vehicle condition detecting system;
Described power control system includes goods is put to pallet automatically and drives goods to follow pallet to move for realizing Transportation power component dynamic and that power is provided, goods is shifted from pallet for realization and the feeding Power Component of power is provided In the goods handling after transfer to boxcar and the stacking Power Component of stacking will be carried out with for realizing;
IC information systems that described integrated scheduling system includes electrically connecting with control system, electrically connected with control system Intelligent gateway and the execution unit with power control system drive connection;Described intelligent gateway is connected respectively by communication module There are user terminal and cloud server;
Described vehicle condition detecting system includes being connected and can moving relative to boxcar with power control system Executing agency and the range sensor that is arranged in executing agency;Described range sensor is connected with control system.Utilize Power control system loads that pallet, thing shipping are defeated, take out material from pallet, material is transferred to compartment ISN in material respectively The process of the materials such as pile transfer provides power, and is adjusted to the speed of material stacking and material and shifted according to the power size of output Speed it is identical.IC information systems are mainly used in checking information of vehicles, the corresponding loading information of typing after checking, And IC-card is generated with this, the information such as species, the quantity of the material that information of vehicles and needs are filled are deposited in IC-card.Lorry department Machine is freighted after taking IC-card into entrucking region, identification information of swiping the card is carried out in IC card reader, IC card reader is information Material library is sent to, and controls relevant device to remind picking personnel to carry out picking by control unit.By setting vehicle condition to detect System is to measure the size in interior space, consequently facilitating improving interior space profit using being planned to space With rate, and it is easy to confirm quantity and the position of arranged rational goods stacking of goods stacking, so as to be advantageous to improve code The efficiency and precision of pile, realize automated production.
Described execution unit includes being connected with transportation power component puts goods on pallet and band automatically to realize Dynamic goods follows the transportation manipulator of pallet movement, is connected with feeding Power Component and is shifted goods from pallet with realizing And the feeding manipulator of power is provided and is connected with stacking Power Component to realize the goods handling after transfer to lorry In compartment and carry out the palletizing mechanical arm of stacking.Realize that the transfer of material is easy to implement Automated condtrol using manipulator, and drop The labor intensity of low staff, it is advantageously implemented continuous work and improves the efficiency of stacking.
Described execution unit also includes the belt delivery unit being arranged between feeding manipulator and palletizing mechanical arm;Institute The power control system stated also includes the belt motor that drive belt rotates.With this be easy to make material feeding manipulator with Transfer between palletizing mechanical arm can have the time of transition buffer, and the frequency for being conveniently adjusted stacking and feeding is consistent, from And the phenomenon that goods is accumulated or manipulator is idle is avoided the occurrence of, the transmission of long range can be realized using belt is carried out, so that will Feeding manipulator separates with palletizing mechanical arm, avoids feeding manipulator from causing to interfere and shadow when operating with palletizing mechanical arm Ring operating.
Described range sensor is arranged on palletizing mechanical on hand;Described range sensor has five and with executing agency On same point be arranged according to front, rear, left and right, lower five positionses in executing agency for the origin of coordinates.Distance is made with this Sensor can share same set of drive system to reduce the cost of the equipment manufacturing with palletizing mechanical arm, and reduce equipment and account for Ground area, can be detected in real time using range sensor while stacking in the goods and compartment of palletizing mechanical on hand goods it Between distance, so as to be advantageous to improve stacking precision, avoid goods from situation about colliding occur.
Described palletizing mechanical is provided with camera device on hand, and described camera device electrically connects with control system;It is described Camera device use CCD industrial cameras.Shooting work can be carried out using camera device when executing agency enters interior Make, so as to obtain the true picture of interior, by the way that to control system, the image transmitting photographed is had into control system progress Image procossing, analysis, and judge whether interior has goods or other debris to occupy interior space, and root with this Draw according to the processing to image, analysis and occupy compartment space goods, the position of debris and size, according to after processing, analysis To information reasonably adjust follow-up automatic stacking when material stacking position.
Described IC information systems include IC-card, the record card machine that is used cooperatively with IC-card and card reader, RS485 and upper Machine;Described record card machine and described card reader are connected by RS485 with upper machine communication respectively.
A kind of control method of cantilever-type full-automatic handling vehicle device, including following steps:
Step S1:Lorry enters plant area's test point, puts the kind for needing to freight, the tonnage of each kind, license plate number etc. on record Relevant information, staff carry out the relevant informations such as record card operation handlebar kind, tonnage, license plate number and pass through IC information system typings IC In magnetic card, hair fastener gives the driver of the lorry after the completion of record card;
Step S2:Lorry enters loading point, carries out rinsing card operation by IC information systems, IC information systems read IC magnetic cards Interior relevant information, after the completion of Card Reader, the entrucking information transmission of correlation to control system, is by the transmission of IC information systems by control System is according to entrucking information processing and distribution entrucking task;
Step S3:Control system control transportation power component starts, and is piled up the goods in warehouse on pallet with realizing And pallet is driven to be transported from warehouse;
Step S4:When pallet is moved to appointed place, start control system control feeding Power Component, by pallet Goods is shifted;
Step S5:When goods is transferred to the place specified, control system control feeding Power Component departs from goods, and controls Stacking Power Component processed starts, and the goods for transferring to appointed place is transferred to progress stacking in boxcar;
Step S6:Circulation step S3~S5 is until load sufficient amount of goods in the compartment of lorry.
In described step S2, lorry enters after loading point, and control system control executing agency drives range sensor In interior movement to detect the size of interior, range sensor by the data feedback detected to control system, by Control system analyzes and processes to data, draws the length, width and height size in interior space, and according to the dimension layout of goods The stacking position of goods and put in order.
Described set-up of control system has the reference position as reference, control system to be obtained after being analyzed and processed to data Go out the position in compartment and compared with reference position, if compartment and reference position relative tilt, control system control code During pile Power Component stacking, goods is set to rotate to adjust the relative position relation of goods and compartment.It can be avoided with this because goods The space that thing sets with compartment relative tilt and causes goods to occupy increases, so as to improve the utilization rate in interior space.
Also include step S7:After lorry loads sufficient amount of goods, last pallet is detected whether There is remaining goods, if then controlling feeding Power Component to start to drive pallet to return to warehouse to goods using control system Reclaimed;Detected using gravity sensor, described gravity sensor electrically connects with control system.
The present invention compared with prior art, has advantages below and beneficial effect:
The present invention can realize the control that automatic stacking is carried out to goods, be advantageous to the efficiency of raising goods stacking simultaneously with this Continuous non-stop run is realized, the labor intensity of staff is reduced and saves labour cost, and this programme suitability is strong, with Conventional transmission mechanism, triaxial connecting system etc. are adaptable strong, suitable with the use of the transport and transfer that goods can be achieved With scope it is wide the advantages that.
Brief description of the drawings
Fig. 1 is the theory diagram of this programme;
Fig. 2 is the structural representation of embodiment 3;
Fig. 3 is the structural representation of embodiment 5;
Fig. 4 is range sensor scheme of installation;
Fig. 5 is the theory diagram of embodiment 11;
Wherein 1-X-axis guide rail, 2-Y-axis guide rail, 3-Z axis guide rail, 4-range sensor.
Embodiment
The present invention is described in further detail with reference to embodiment, but the implementation of the present invention is not limited to this.
Embodiment 1:
As shown in figure 1, in the present embodiment, a kind of control system of cantilever-type full-automatic handling vehicle device, including control system System and power control system, integrated scheduling system and the vehicle condition detecting system being connected respectively with control system.In the present embodiment, Described control system uses the computer system of technology maturation under the conditions of prior art, to realize data processing, send instruction The function such as it is controlled.As those skilled in the art, computer system can be utilized to realize the function of Automated condtrol, The concrete structure and operation principle of control system are not repeated herein.
Described power control system includes goods is put to pallet automatically and drives goods to follow pallet to move for realizing Transportation power component dynamic and that power is provided, goods is shifted from pallet for realization and the feeding Power Component of power is provided In the goods handling after transfer to boxcar and the stacking Power Component of stacking will be carried out with for realizing.
Under prior art conditions, motor is the most frequently used power source, is combined using motor direct-drive, or using motor Decelerator is driven, even if the initial power source of hydraulic pressure, baric systerm is also motor.
In the present embodiment, described transportation power component includes the transport motor for providing power.Driven using transport motor Goods in warehouse is transferred on pallet by transportation manipulator.In the present embodiment, in order to realize automatic transfer tray, using transport Belt system is connected with pallet so as to realize the transport of pallet.Described travelling belt system connects with transport motor transmission Connect.The settable one or more of described transport motor.Transportation manipulator and the same motor of travelling belt system share, or point Transport motor that Shi Yong be not different.In the present embodiment, realize that the transfer of goods is those skilled in the art using transportation manipulator Common knowledge and customary means, those skilled in the art can realize above-mentioned function, this programme according to the record of this programme Improvement do not lie in transportation manipulator and the structure of travelling belt system in itself, herein not to transportation manipulator and travelling belt The concrete structure and operation principle of system are repeated.
In the present embodiment, described feeding Power Component includes providing the feeding motor of power.There is provided using feeding motor The power that goods is transferred out of from pallet is realized into the power of the transfer of material.In the present embodiment, by using feeding motor It is used cooperatively with three-shaft linkage system to realize the transfer of material.
In the present embodiment, described stacking Power Component includes the stacking motor for providing power.There is provided using stacking motor The goods being transferred out of from pallet is transferred in compartment and carries out the power of stacking.In the present embodiment, by using stacking electricity Machine is used cooperatively with three-shaft linkage system to realize the transfer of material.Described three-shaft linkage system can realize power output shaft Moving freely to meet the transfer demand of material in spatial dimension.In the present embodiment, described three-shaft linkage system is this The common knowledge and customary means of art personnel, it specifically has diversified forms, and those skilled in the art are according to this programme Record carry out conventional selection any one three-shaft linkage system above-mentioned function can be achieved, herein not to three-shaft linkage system Concrete structure and operation principle are repeated.
Described transport motor, feeding motor and stacking motor is connected with control system respectively, so as to there is control system control System transport motor, feeding motor and stacking motor operate to realize the purpose automatically controlled respectively.
In the present embodiment, described integrated scheduling system includes the IC information systems electrically connected with control system and control The intelligent gateway of system electrical connection and the execution unit with power control system drive connection;Described intelligent gateway passes through communication Module is connected to user terminal and cloud server.
Described IC information systems are arranged at vehicle access control, and lorry enters at gate inhibition by IC information systems to information of vehicles Checked, the corresponding loading information of typing after checking, and IC-card is generated with this, information of vehicles is deposited in IC-card, with And need the information such as the species of filled material, quantity.Truck man is freighted after taking IC-card into entrucking region, in IC Identification information of swiping the card is carried out in card reader, IC card reader controls correlation to set information transmission to material library, and by control unit It is standby to remind picking personnel to carry out picking.While control system is carrying out entrucking action control, also control dynamic information passes Intelligent gateway is defeated by, intelligent gateway is after the intercommunication between realizing heterogeneous networks, then communication module and use by being attached thereto Family terminal and cloud server carry out radio communication, and control dynamic information transfer enters luggage to user terminal and cloud server Car remote monitoring, and control dynamic information carries out real-time storage and record.It is easy to the goods entrucking message tube to information with this Reason.
Described vehicle condition detecting system includes being connected and can moving relative to boxcar with power control system Executing agency and the range sensor 4 that is arranged in executing agency;Described range sensor 4 is connected with control system.
After the lorry of goods to be installed is stopped in place, the compartment of lorry is located at the lower section of range sensor 44, in order to enter Row detection data.This programme utilizes the mobile drive of executing agency using control system control drive system driving executing agency Range sensor 44 moves relative to boxcar, and the data detected by range sensor 44 can measure interior sky Between size, consequently facilitating improve interior space availability ratio using being planned to interior space, and just In the quantity for confirming goods stacking and the position of arranged rational goods stacking.The described data detected include sensor Apart from the distance of car body inwall and the distance of sensor distance car body bottom.This programme can realize goods from warehouse Overall process automatically controls in compartment, during do not need artificial interference and human users, save people so as to play Power resource, reduce human cost and reduce the effect of labor intensity, can increase the unit interval compared to artificial carrying stacking The quantity and efficiency of interior stacking, so as to improve the efficiency of goods export, advantageously reduce time cost.
Specifically include following steps:
Step S1:Lorry enters plant area's test point, puts the kind for needing to freight, the tonnage of each kind, license plate number etc. on record Relevant information, staff carry out the relevant informations such as record card operation handlebar kind, tonnage, license plate number and pass through IC information system typings IC In magnetic card, hair fastener gives the driver of the lorry after the completion of record card;
Step S2:Lorry enters loading point, carries out rinsing card operation by IC information systems, IC information systems read IC magnetic cards Interior relevant information, after the completion of Card Reader, the entrucking information transmission of correlation to control system, is by the transmission of IC information systems by control System is according to entrucking information processing and distribution entrucking task;
Step S3:Control system control transportation power component starts, and is piled up the goods in warehouse on pallet with realizing And pallet is driven to be transported from warehouse;
Step S4:When pallet is moved to appointed place, start control system control feeding Power Component, by pallet Goods is shifted;
Step S5:When goods is transferred to the place specified, control system control feeding Power Component departs from goods, and controls Stacking Power Component processed starts, and the goods for transferring to appointed place is transferred to progress stacking in boxcar;
Step S6:Circulation step S3~S5 is until load sufficient amount of goods in the compartment of lorry.
Embodiment 2:
On the basis of above-described embodiment, in the present embodiment, described execution unit includes being driven with transportation power component Connect to realize goods is put to pallet automatically and drives goods to follow pallet to move transportation manipulator and feeding Power Component Drive connection with realize by goods shifted from pallet and provide power feeding manipulator and with stacking Power Component be driven connect Connect in the goods handling after transfer to boxcar and will carry out the palletizing mechanical arm of stacking to realize.Described transportation manipulator With transport motor drive connection, feeding manipulator is connected with feeding motor, and palletizing mechanical arm is connected with stacking motor. It can realize to control using control system with this and transport turning, stopping to control the action of transportation manipulator for motor, utilize control system System control feeding motor turn, stop to control the action of feeding manipulator, using control system control stacking motor turn, stop come Control the action of palletizing mechanical arm.Material is realized being utilized respectively transportation manipulator, feeding manipulator and palletizing mechanical arm Transfer, Automated condtrol is easy to implement with this, and reduces the labor intensity of staff, is advantageously implemented continuous work and is improved The efficiency of stacking.Described transportation manipulator, feeding manipulator and palletizing mechanical arm is using ripe under the conditions of prior art Robot manipulator structure can be achieved, and those skilled in the art can realize above-mentioned function according to the record of this programme, herein not to fortune Defeated manipulator, the concrete structure of feeding manipulator and palletizing mechanical arm and operation principle are repeated.In the present embodiment, other are not The part of description is identical with the content of above-described embodiment, therefore does not repeat.
Embodiment 3:
As shown in Fig. 2 on the basis of above-described embodiment, in the present embodiment, described three-shaft linkage system includes setting X-axis guide rail 1, the Y-axis guide rail 2 being slidably mounted in X-axis guide rail 1 and the Z axis being slidably mounted in Y-axis guide rail 2 on support Guide rail 3, described transportation manipulator, feeding manipulator or palletizing mechanical arm are arranged in Z axis guide rail 3.X-axis guide rail is utilized with this The relative slip of the 1 relative slip and/or Y-axis guide rail 2 and Z axis guide rail 3 with Y-axis guide rail 2 drives transportation manipulator, feeding machinery Hand or palletizing mechanical arm movement, so as to realize the mobile drive goods using transportation manipulator, feeding manipulator or palletizing mechanical arm Thing moves.In the present embodiment, described is slidably installed as prior art means, including rack and pinion engagement transmission, hydraulic pressure The diversified forms such as cylinder driving, pneumatic cylinder driving, linear electric motors driving, belt system driving drive Y-axis guide rail 2 in X-axis guide rail 1 Upper slip, or driving Z axis guide rail 3 are slided in Y-axis guide rail 2, and those skilled in the art are according to specifically needing to carry out conventional choosing Any i.e. achievable above-mentioned function is selected, the specific drive form and structure not used herein to executing agency repeat. In the present embodiment, other parts not described are identical with the content of above-described embodiment, therefore do not repeat.
Embodiment 4:
On the basis of above-described embodiment, in the present embodiment, described execution unit also includes being arranged on feeding manipulator Belt delivery unit between palletizing mechanical arm.Described power control system also includes the belt driving that drive belt rotates Motor.Using control system control belt motor turn, stop drive belt turn, stop so that goods feeding machinery Transported between hand and palletizing mechanical arm.Goods is placed on belt by feeding manipulator, is taken away goods by belt, palletizing mechanical Hand removes goods from belt again.Had with the transfer that this is easy to enable material between feeding manipulator and palletizing mechanical arm The time of buffering is crossed, is easy to adjust the frequency of stacking and feeding to being consistent, so as to avoid the occurrence of the speed because feeding The phenomenon for causing goods to accumulate more than the speed of stacking, or the speed of feeding are less than the speed of stacking and cause palletizing mechanical arm Idle phenomenon.The transmission of long range can be realized using belt is carried out, so as to which feeding manipulator and palletizing mechanical arm be separated, Feeding manipulator is avoided to cause to interfere when operating with palletizing mechanical arm and influence to operate.Feeder can also be reduced with this The stroke of tool hand and palletizing mechanical arm is so as to shorten goods as the time needed for warehouse to the whole stroke in compartment, so as to be advantageous to carry High workload efficiency.In the present embodiment, other parts not described are identical with the content of above-described embodiment, therefore do not repeat.
Embodiment 5:
As shown in Figure 3, Figure 4, on the basis of above-described embodiment, in the present embodiment, described range sensor 4 is arranged on Palletizing mechanical is on hand.Range sensor 4 and palletizing mechanical arm is enabled to share same set of drive system to reduce production with this Cost, and can be detected in real time using range sensor 4 in stacking in the goods and compartment of palletizing mechanical on hand goods it Between distance, so as to be advantageous to improve stacking precision.In the present embodiment, other parts not described with above-described embodiment Hold identical, therefore do not repeat.In the present embodiment, other parts not described are identical with the content of above-described embodiment, therefore do not repeat.
Embodiment 6:
On the basis of above-described embodiment, in the present embodiment, described power control system also includes and palletizing mechanical arm It is connected to drive the palletizing mechanical arm device of rotation driving that palletizing mechanical arm rotates.Described control system internal memory contains work For the standard of reference, the data that control system is fed back according to range sensor 4 calculate deviation angle of the compartment relative to standard. When controlling transport goods using control system, coordinate system is established using described standard as reference, then draw goods stacking position One of point reference coordinate, control palletizing mechanical hand-motion goods movement to the reference coordinate corresponding to position and put Lower goods.When relative to standard the skews such as translation, rotation occur for compartment, then corresponding reference coordinate can change.If car Railway carriage or compartment is simply simply translated, then the numeral of skew is added and subtracted on the basis of reference coordinate original coordinate value.If compartment is relative to mark Standard rotates, then calculates the coordinate value corresponding to reference coordinate by trigonometric function.In the present embodiment, to the seat of reference coordinate Scale value is calculated as common knowledge, and not as the improvement of this programme, as those skilled in the art with reference to known to it Common knowledge can realize the effect above, and this programme is not repeated the detailed process of calculating.In the present embodiment, other are not retouched The part stated is identical with the content of above-described embodiment, therefore does not repeat.
Embodiment 7:
On the basis of above-described embodiment, in the present embodiment, described range sensor 4 has five and with executing agency Same point be arranged according to front, rear, left and right, lower five positionses in executing agency for the origin of coordinates.Described five away from It is identical with the distance between the origin of coordinates from sensor 4, calculating of the later stage to car sizes is easy to this.First with the machine of execution Structure drives range sensor 4 is overall to move down, and its distance apart from car bottom is detected by the range sensor 4 of bottom, Then show whole distances when acute variation occurs for the data detected by the range sensor 4 positioned at front, rear, left and right orientation Sensor 4 enters interior, and the height dimension of interior is used as using the data detected by now bottom.Movement is held Row mechanism moves in compartment, chooses wherein at least two groups of data and is used as reference to can obtain interior size.For example, by The range data detected by range sensor 4 that front, rear, left and right, lower five positionses arrange is (a, b, c, d, e), compartment Long L=a+b, the wide W=c+d in compartment, the high H=e in compartmentmax.Described range data is anti-by computer sensor 4 of adjusting the distance The data of feedback obtain after being handled, and its detailed process handled is the common knowledge of those skilled in the art, and not as this The improvement of scheme, scheme of the those skilled in the art according to described in the application can realize the effect above, herein not logarithm Repeated according to the detailed process of processing.Length and width dimensions bagL, bagW and bagH according to known to goods, it becomes possible to calculate car The quantity that can be fed.Or in the case where not filling compartment, the quantity of instruction control charging is sent by control system.This In embodiment, described range sensor 4 uses laser sensor.This programme is by using five range sensors 4 and sets In the front, rear, left and right using the same origin of coordinates as reference point, lower five positionses, with this can step detection in place, improve inspection The efficiency of survey.Avoid sensor from being further added by and caused by waste, be also prevented from because number of sensors not enough and cause detection essence Degree difference needs the position for adjusting sensor that detection is repeated several times.In the present embodiment, other parts not described and above-mentioned implementation The content of example is identical, therefore does not repeat.
Embodiment 8:
On the basis of above-described embodiment, in the present embodiment, described control system is fed back receiving range sensor 4 Data after, the length, width and height size in interior space is simulated, is calculated using the data.In the present embodiment, profit The common knowledge that data processing is those skilled in the art can be carried out with control system, herein not to the specific mistake of data processing Journey and principle are repeated.In the present embodiment, some algorithm for calculating compartment length and width is as follows:
In the present embodiment, the distance between described range sensor 4 is ignored, or as when calculating During knowing that parameter adds calculating.The data detected using range sensor 4 carry out calculating that the inside dimension in compartment has Precision is high, detection is rapid, is advantageously implemented the advantages of automation, can accelerate the whole process of goods entrucking.In the present embodiment, Other parts not described are identical with the content of above-described embodiment, therefore do not repeat.
Embodiment 9:
On the basis of above-described embodiment, in the present embodiment, described control system calculates the length in interior space After width and height dimensions, the quantity and arranging situation of stacking are capable of according to the Size calculation goods of goods.
If goods has identical length and width dimensions, and bagL=bagW.During stacking, make the side of goods and the side wall in compartment Concordantly, calculating the quantity of goods that each layer is capable of stacking using control system isAccording to transport The demand of amount selects the number of plies of stacking in each compartment.
If the length and width dimensions of goods are different, and bagL ≠ bagW.During stacking, goods has compartment length to thing relative to compartment Material length and compartment length two kinds of stacking modes wide to material, are calculated using control systemWithTwo kinds of data simultaneously choose stacking mode wherein corresponding to maximum and carry out stacking, such as whenCode is carried out to the mode that material is grown using compartment length Pile.WhenIt is less thanUse the compartment length mode wide to material Carry out stacking.The material of maximum quantity can be put in same layer with this, so as to improve the utilization rate in compartment space and same Car can deliver the quantity of goods on the premise of not overweight.So as to be advantageous to improve transport efficiency and reduce transport into This.In the present embodiment, other parts not described are identical with the content of above-described embodiment, therefore do not repeat.
Embodiment 10:
On the basis of above-described embodiment, in the present embodiment, camera device is provided with described executing agency, it is described Camera device electrically connects with control system.In the present embodiment, camera device is set to be set close to underlying range sensor 4 Put, when executing agency drives range sensor 4 to move, camera device is with the synchronizing moving of range sensor 4 and to interior Situation is taken pictures, and the image photographed is uploaded into control system, and Treatment Analysis is carried out by control system.Due in actual behaviour It is only inconvenient with detection of the range sensor 4 for debris in the railing and compartment around compartment during work, by make away from It is capable of detecting when whether interior has goods or other debris with being used in combination for camera device from sensor 4, and passes through Processing is carried out to the image photographed and can interpolate that around compartment whether there is railing.If have really in compartment goods or other Debris, the image photographed is handled using control system and obtains the size of the goods or debris, occupied sky Between the data such as size and position, control system combines these data and calculates the size of interior remaining space.According to right The analysis of image judges it is the identical goods or other debris transported with this batch needs existing for interior.If It is goods, control system is analyzed according to the data of image and range sensor 4, judges whether the goods needs to be moved It is dynamic.If the location of the goods does not meet the requirement put, the control system control machinery hand-motion goods movement arrives Suitable position.How to judge whether being suitable reference by location embodiment 5.If existing for interior being other debris, Then control system goes out the size of interior Spatial Residual and with this rational distribution goods stacking according to the Size calculation of debris Position, to cause goods to be avoided with debris.Because manipulator can not necessarily capture debris, debris can not be captured in manipulator In the case of, then do not consider using manipulator movement debris.Processing and analysis of the described control system for image, for sky Between size be calculated as existing ripe technology, the content that those skilled in the art record according to this programme can realize above-mentioned effect Fruit, the processing procedure of control system is not repeated herein.
In the present embodiment, described camera device uses CCD industrial cameras.High frequency can be carried out using CCD industrial cameras Shooting, realize that ten width of shooting per second to the efficiency of hundreds of width pictures, are easy to the processing of control system by shooting substantial amounts of picture Analysis.And the time length that CCD industrial cameras can continuously work, it is advantageously implemented the continuous uninterrupted of lift truck entirety Work, avoid causing whole producing line to be stopped work because of the shut-down of CCD industrial cameras.In the present embodiment, other parts not described It is identical with the content of above-described embodiment, therefore do not repeat.
Embodiment 11:
As shown in figure 5, on the basis of above-described embodiment, in the present embodiment, described IC information systems include IC-card, with Record card machine and card reader that IC-card is used cooperatively, RS485 and host computer;Described record card machine and described card reader lead to respectively RS485 is crossed to be connected with upper machine communication.
By using IC card information system because IC-card have small volume, in light weight, strong antijamming capability, be easy to carry, The characteristics of easy to use, convenient keeping.And it is safe, IC-card implements its safe plan in terms of hardware and software etc. is several Slightly, can be with the access features of different zones in control card, encrypting IC card has security password in itself, if attempting illegally to enter it The then card self-destruction of row data access, can not be written and read again.The electrostatic strong antijamming capability of antimagnetic, the anti-some strength of IC-card, Reliability is higher than magnetic card.Service life length is longer, general rewritable more than 100,000 times.Integrated cost is not high, the reading of IC-card The easy popularization of write device low cost more simple and reliable than the read-write equipment of magnetic card is easy to maintenance.To the peace of the not high IC-card of network requirement Full reliability reduces its real-time in application environment to computer network, sensitive requirements, extremely meets current system It is required that being advantageous to apply in the not high environment of network quality, there is high cost performance.
Described host computer is connected with control system.Described intelligent gateway is HINET intelligent gateways.It is because HINET Intelligent gateway is one and integrates a variety of internet communication technologies, towards the device talk end product of industrial circle.What it was included A variety of interconnection network access modes such as 3G, 4G, WIFI, are adapted to various network application environments, there is provided the safety being available anywhere is led to Interrogate link.The data channel of high speed is provided for the information system management of equipment, offer safety is achieved for each function of whole system Reliable guarantee and solid foundation.HINET intelligent gateways are using full industrialization hardware design platform, with reference to advanced software work( Can so that enterprise can minimum investment scope in Fast Construction scale industrial equipment communication network, provided for client Include the multi-service passage including data, voice, video.Meet very much industrial requirement herein.
Described communication module is the ZIGBEE modules being connected with intelligent gateway.Here be using ZIGBEE modules because Unlike CDMA nets or the GSM net of mobile communication, it is industry spot Automated condtrol data that ZigBee-network, which is mainly, for it Transmit and establish, thus, it has simple, easy to use, reliable operation, low-cost feature.And mobile radio communication is mainly Established for voice communication, each base station value is general more than million yuans, and each ZigBee " base station " is no To 1000 yuans.Each ZigBee-network node itself can not only be used as monitored object, such as its sensing for being connected Device directly carries out data acquisition and monitoring, can also be transmitted through the data information come by the other network node of transfer automatically.In addition, Each ZigBee-network node FFD can also oneself signal covering in the range of, and it is multiple do not undertake network information transfer appoint The isolated child node RFD wireless connections of business, so there is high cost performance using ZIGBEE modules in the present system.It is described User terminal use voice broadcasting system.In the present embodiment, other parts not described are identical with the content of above-described embodiment, Therefore do not repeat.
Embodiment 12:
On the basis of above-described embodiment, in the present embodiment, after lorry loads sufficient amount of goods, to last Individual pallet carries out having detected whether remaining goods.By setting gravity sensor on pallet, make gravity sensor and control System electrically connects.With the reduction of quantity of goods on pallet, the data that gravity sensor detects change therewith, gravity sensor By the data Real-time Feedback detected to control system, handled by control system and recorded.Finally fed back when gravity sensor Compared with data are by the control system data that gravity sensor feeds back when not having material on pallet, if both are identical, Show there is no material on pallet, show to have there remains material on pallet if both are different.Control system controls feeding power packages Part starts and drives pallet to return to warehouse in order to be reclaimed to material.In the present embodiment, described gravity sensor is existing There is technology, the content that those skilled in the art dare to record according to this fanal can realize above-mentioned function, herein not to gravity sensitive The concrete structure and mounting means of device are repeated.In the present embodiment, other parts not described and the content of above-described embodiment It is identical, therefore do not repeat.
It is described above, be only presently preferred embodiments of the present invention, any formal limitation not done to the present invention, it is every according to Any simply modification, the equivalent variations made according to the technical spirit of the present invention to above example, each fall within the protection of the present invention Within the scope of.

Claims (10)

  1. A kind of 1. control system of cantilever-type full-automatic handling vehicle device, it is characterised in that:Including control system and respectively with Power control system, integrated scheduling system and the vehicle condition detecting system of control system connection;
    Described power control system include being used to realize goods is put to pallet automatically and drive goods to follow pallet mobile and The transportation power component of power is provided, goods is shifted from pallet for realization and the feeding Power Component and use of power are provided In the goods handling after transfer to boxcar and the stacking Power Component of stacking will be carried out in realizing;
    Described integrated scheduling system includes the IC information systems electrically connected with control system, the intelligence electrically connected with control system Gateway and the execution unit with power control system drive connection;Described intelligent gateway is connected to use by communication module Family terminal and cloud server;
    Described vehicle condition detecting system includes being connected and can holding relative to what boxcar moved with power control system Row mechanism and the range sensor being arranged in executing agency(4);Described range sensor(4)It is connected with control system.
  2. A kind of 2. control system of cantilever-type full-automatic handling vehicle device according to claim 1, it is characterised in that:It is described Execution unit include being connected with transportation power component and goods is put to pallet automatically and drive goods to follow support to realize The transportation manipulator of disk movement, it is connected with feeding Power Component and to realize goods is shifted from pallet and power is provided Feeding manipulator and being connected with stacking Power Component in the goods handling after transfer to boxcar and will be carried out with realizing The palletizing mechanical arm of stacking.
  3. A kind of 3. control system of cantilever-type full-automatic handling vehicle device according to claim 2, it is characterised in that:It is described Execution unit also include being arranged on belt delivery unit between feeding manipulator and palletizing mechanical arm;Described dynamic Control System also includes the belt motor that drive belt rotates.
  4. A kind of 4. control system of cantilever-type full-automatic handling vehicle device according to Claims 2 or 3, it is characterised in that: Described range sensor(4)It is arranged on palletizing mechanical on hand;Described range sensor(4)There are five and with executing agency On same point be arranged according to front, rear, left and right, lower five positionses in executing agency for the origin of coordinates.
  5. A kind of 5. control system of cantilever-type full-automatic handling vehicle device according to claim 4, it is characterised in that:It is described Palletizing mechanical be provided with camera device on hand, described camera device electrically connects with control system;Described camera device is adopted With CCD industrial cameras.
  6. 6. a kind of control system of cantilever-type full-automatic handling vehicle device according to any one of claim 1,2,3,5, It is characterized in that:Described IC information systems include IC-card, the record card machine being used cooperatively with IC-card and card reader, RS485 and Host computer;Described record card machine and described card reader are connected by RS485 with upper machine communication respectively.
  7. 7. a kind of control method of cantilever-type full-automatic handling vehicle device according to any one of claim 1-6, it is special Sign is:Including following steps:
    Step S1:Lorry enters plant area's test point, puts the correlations such as the kind for needing to freight, the tonnage of each kind, license plate number on record Information, staff carry out the relevant informations such as record card operation handlebar kind, tonnage, license plate number and pass through IC information system typing IC magnetic cards Interior, hair fastener gives the driver of the lorry after the completion of record card;
    Step S2:Lorry enters loading point, carries out rinsing card operation by IC information systems, IC information systems are read in IC magnetic cards Relevant information, after the completion of Card Reader, the transmission of IC information systems by the entrucking information transmission of correlation to control system, by control system According to entrucking information processing and distribution entrucking task;
    Step S3:Control system control transportation power component starts, and is piled up the goods in warehouse on pallet and band with realizing Dynamic pallet transports from warehouse;
    Step S4:When pallet is moved to appointed place, start control system control feeding Power Component, by the goods on pallet Shifted;
    Step S5:When goods is transferred to the place specified, control system control feeding Power Component departs from goods, and control code Pile Power Component starts, and the goods for transferring to appointed place is transferred to progress stacking in boxcar;
    Step S6:Circulation step S3 ~ S5 is until load sufficient amount of goods in the compartment of lorry.
  8. A kind of 8. control method of cantilever-type full-automatic handling vehicle device according to claim 7, it is characterised in that:It is described Step S2 in, lorry enter loading point after, control system control executing agency drive range sensor(4)In interior Move to detect the size of interior, range sensor(4)By the data feedback detected to control system, by control system Data are analyzed and processed, draw the length, width and height size in interior space, and the code of the dimension layout goods according to goods Put and put in order in stack position.
  9. A kind of 9. control method of cantilever-type full-automatic handling vehicle device according to claim 8, it is characterised in that:It is described Set-up of control system have reference position as reference, control system draws the position in compartment after being analyzed and processed to data And compared with reference position, if compartment and reference position relative tilt, control system control stacking Power Component code During pile, goods is set to rotate to adjust the relative position relation of goods and compartment.
  10. A kind of 10. control method of cantilever-type full-automatic handling vehicle device according to claim 8, it is characterised in that:Also Including step S7:After lorry loads sufficient amount of goods, last pallet is carried out to have detected whether remaining goods Thing, goods is reclaimed with driving pallet to return to warehouse if then controlling feeding Power Component to start using control system; Detected using gravity sensor, described gravity sensor electrically connects with control system.
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