CN108974964B - Intelligent loading and unloading device for container cargo - Google Patents

Intelligent loading and unloading device for container cargo Download PDF

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Publication number
CN108974964B
CN108974964B CN201810996805.4A CN201810996805A CN108974964B CN 108974964 B CN108974964 B CN 108974964B CN 201810996805 A CN201810996805 A CN 201810996805A CN 108974964 B CN108974964 B CN 108974964B
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China
Prior art keywords
stacking
clamping jaw
grabbing
track
frame
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CN108974964A (en
Inventor
杨青丰
冯宝林
李露
徐林森
施云高
孙鹏
张攀峰
高磊
徐潺潺
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Hefei Institutes of Physical Science of CAS
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Hefei Institutes of Physical Science of CAS
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Priority to CN201810996805.4A priority Critical patent/CN108974964B/en
Publication of CN108974964A publication Critical patent/CN108974964A/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G61/00Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G57/00Stacking of articles
    • B65G57/02Stacking of articles by adding to the top of the stack
    • B65G57/16Stacking of articles of particular shape
    • B65G57/20Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical
    • B65G57/22Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical in layers each of predetermined arrangement

Abstract

The invention discloses an intelligent loading and unloading device for container cargoes, which comprises a frame, wherein a track conveying mechanism, a grabbing mechanism, a turnover and correction mechanism, a stacking mechanism and a tray conversion mechanism are arranged on the frame, and the track conveying mechanism comprises a first conveying track and a second conveying track which are perpendicular to each other; the grabbing mechanism comprises a grabbing mounting frame, an imaging probe and two groups of vacuum chucks, and goods in the container are sucked through the two groups of vacuum chucks; the overturning and correcting mechanism comprises a mounting bracket, a first hydraulic cylinder, a correcting motor and an industrial camera; the stacking mechanism comprises a stacking clamping jaw, a clamping jaw mounting plate, a cantilever beam and a main body bracket, and the main body bracket is fixed on the frame; the tray conversion mechanism is arranged below the left side of the second conveying track, and the clamping jaw is used for placing the clamped goods on the bracket on the stacking track for stacking. Compared with the prior art, the invention has the following advantages: the intelligent recognition, rapid loading and unloading, overturning and correcting and stacking of cargoes in the container can be realized.

Description

Intelligent loading and unloading device for container cargo
Technical Field
The invention relates to an intelligent loading and unloading device for container cargoes.
Background
At present, the cargo in the container is mainly unloaded by a manual carrying method, and the cargo is not favorable for loading and unloading the large-scale container cargo due to more cargoes, lower manual efficiency and higher cost.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides an intelligent container cargo loading and unloading device so as to automatically and intelligently identify, rapidly load and unload, overturn and reset cargoes in a container and stack the cargoes.
The invention is realized by the following technical scheme:
an intelligent loading and unloading device for container cargoes comprises a frame, wherein a track conveying mechanism, a grabbing mechanism, a turnover and righting mechanism, a stacking mechanism and a tray conversion mechanism are arranged on the frame,
the track conveying mechanism comprises a first conveying track and a second conveying track, the first conveying track extends along the left-right direction, the second conveying track extends along the front-back direction, and the inlet end of the second conveying track is connected with the outlet end of the first conveying track;
the grabbing mechanism is arranged on one side of the first conveying track and is close to the inlet end of the first conveying track, the grabbing mechanism comprises a grabbing installation frame, an imaging probe and two groups of vacuum chucks, the imaging probe is arranged on the grabbing installation frame, the two groups of vacuum chucks comprise a horizontal vacuum chuck group which is horizontally arranged and a vertical vacuum chuck group which is vertically arranged, goods in a container are sucked through the two groups of vacuum chucks, one side of the grabbing installation frame is arranged on a vertical sliding rail in a sliding mode through a first sliding block, the vertical sliding rail is rotatably arranged on a vertical rotating shaft and can rotate around the rotating shaft, the rotating shaft is arranged on a first horizontal sliding rail which is longitudinally extended through a second sliding block in a sliding mode, a supporting rod which horizontally extends leftwards is arranged at the left end of the first horizontal sliding rail, the supporting rod is arranged on a second horizontal sliding rail which is horizontally extended, and the second horizontal sliding rail is fixed on the rack;
the turnover correcting mechanism is arranged on one side of the first conveying track and is close to the outlet end of the first conveying track, the turnover correcting mechanism comprises a horizontal mounting bracket, one end of the mounting bracket drives the mounting bracket to lift through a first hydraulic cylinder, the other end of the mounting bracket is provided with a correcting motor and an industrial camera, the industrial camera is used for detecting whether the direction of goods below is inclined or not, an output shaft of the correcting motor vertically extends downwards and is connected with a correcting mounting plate, a plurality of correcting suckers are arranged at the bottom of the correcting mounting plate, and the plurality of correcting suckers are positioned above the first conveying track;
the stacking mechanism is arranged above the second conveying rail and near the outlet end, and comprises a stacking clamping jaw, a clamping jaw mounting plate, a cantilever beam and a main body support, wherein the main body support is fixed on the frame, the cantilever beam is horizontally arranged along the left-right direction, one end of the cantilever beam is arranged on the main body support in a sliding manner and can slide up and down along the main body support, the clamping jaw mounting plate is arranged on the cantilever beam and can move back and forth along the cantilever beam, and the stacking clamping jaw is arranged at the bottom of the clamping jaw mounting plate and is used for clamping goods positioned at the outlet end of the second conveying rail;
the tray conversion mechanism is arranged below the left side of the second conveying track and comprises a tray frame, a stacking track is arranged in the tray frame, a bracket is arranged on the stacking track, and the stacking clamping jaws are used for placing the clamped goods on the bracket to be stacked.
Further, the frame bottom is equipped with the vertical walking wheel that can walk along left and right directions and the horizontal walking wheel that can walk along fore-and-aft direction, horizontal walking wheel includes four, and every horizontal walking wheel sets up in the bottom of support arm, the support arm is the V-arrangement, the middle part of support arm articulates in the frame, the top of support arm is connected with the piston rod of the second pneumatic cylinder that corresponds, the cylinder body of second pneumatic cylinder rotates the setting in the frame, stretches out and draws back through the piston rod of pneumatic cylinder, and then drives the support arm and rotate round the pin joint to drive the horizontal walking wheel of support arm bottom and go up and down.
Further, in the grabbing mechanism, the grabbing mounting frame comprises two vertical grabbing mounting plates which are arranged left and right, the two grabbing mounting plates are connected through an upper row of connecting rods and a lower row of connecting rods, two ends of each of the two rows of connecting rods are hinged to the two grabbing mounting plates respectively, the two grabbing mounting plates are a left grabbing mounting plate and a right grabbing mounting plate respectively, a plurality of first inclined telescopic rods are arranged at the bottom of each left grabbing mounting plate, the telescopic ends of the first telescopic rods are hinged to the middle parts of the lower row of connecting rods in a one-to-one correspondence mode respectively, a plurality of second telescopic rods are arranged on each right grabbing mounting plate, the second telescopic rods are arranged in a row along the front-to-back direction, the telescopic ends of each second telescopic rod extend rightwards and are connected with respective first sucker units, each first sucker unit comprises a first sucker mounting seat and a plurality of horizontally-right vacuum suckers arranged on the first sucker mounting seat, and the first sucker units at the right ends of the second telescopic rods form a horizontal vacuum sucker group; the right side of the right grabbing mounting plate is further provided with a plurality of second sucker units, each second sucker unit comprises a second sucker mounting seat and a plurality of vertical downward vacuum suckers arranged on the second sucker mounting seat, and the plurality of second sucker units form the vertical vacuum sucker group.
Further, in the stacking mechanism, a first stacking motor and a driven wheel are arranged on the main body support, a driving wheel is arranged on an output shaft of the first stacking motor, the driven wheel is located below the driving wheel, the driving wheel is connected with the driven wheel through belt transmission, one end of the cantilever beam is fixedly arranged on the belt through a connecting block, and the belt is driven to operate through the first stacking motor, so that the cantilever beam is driven to move up and down.
Further, in the stacking mechanism, a rack is arranged on the cantilever beam, a gear matched with the rack is arranged on one side of the clamping jaw mounting plate, and the second stacking motor drives the gear to rotate, so that the clamping jaw mounting plate is driven to move left and right along the cantilever beam.
Further, in the pile up neatly mechanism, pile up neatly clamping jaw is including the relative movable clamping jaw and the fixed clamping jaw that set up around, fixed clamping jaw is fixed in clamping jaw mounting panel bottom, be equipped with the rodless cylinder on the clamping jaw mounting panel, movable clamping jaw top is connected with the slider of rodless cylinder, drives movable clamping jaw along fore-and-aft direction round trip movement through the rodless cylinder, and then realizes the clamp of pile up neatly clamping jaw or unclamp.
Further, in the tray conversion mechanism, two rows of pile up neatly tracks around being equipped with in the tray frame, preceding row pile up neatly track bottom is equipped with pushing mechanism, pushing mechanism is used for pushing the empty bracket that is located preceding row pile up neatly track on the back row pile up neatly track, pile up neatly clamping jaw will press from both sides the goods of getting and put into the bracket on the back row pile up neatly track and pile up neatly.
Further, the pushing mechanism comprises a pushing cylinder and a pushing connecting rod, a piston rod of the pushing cylinder extends backwards along the front-back direction, the pushing connecting rod is located behind the pushing cylinder and is obliquely arranged, one end of the pushing connecting rod, which is low, is connected with the piston rod of the pushing cylinder, one end of the pushing connecting rod, which is high, extends out of the top of the front-row stacking track, a supporting guide rod extending downwards vertically is arranged in the middle of the pushing connecting rod, the bottom of the supporting guide rod can slide forwards and backwards in a corresponding guiding chute, and the pushing connecting rod is driven to move forwards and backwards through the pushing cylinder, so that the top end of the pushing connecting rod pushes the bracket.
Further, a driving cabin is further arranged on one side of the frame.
Compared with the prior art, the invention has the following advantages:
the intelligent container cargo loading and unloading device is provided with the track conveying mechanism, the grabbing mechanism, the overturning and correcting mechanism, the stacking mechanism and the tray switching mechanism, the cargoes stored in the container are subjected to cargo feature recognition through the grabbing mechanism, then the cargoes are grabbed through the vacuum chuck group and placed on the track conveying mechanism, the cargoes are conveyed through the track conveying mechanism, then the inclined cargoes are corrected through the corresponding overturning and correcting mechanism, so that the cargoes face to be consistent, finally the cargoes are clamped and placed on the brackets placed on the tray switching mechanism through the stacking mechanism to be stacked, and finally the brackets of the piled cargoes are transported to the designated positions through the forklift, so that automatic and rapid loading and unloading of the container cargoes are truly realized, unified management in industry is facilitated, the problems of lower manual efficiency and high cost in the traditional manual conveying method are solved, time and labor are saved, cost is reduced, and labor force is saved.
Drawings
Fig. 1 is a schematic perspective view of the present invention.
Fig. 2 is a schematic perspective view of a frame portion of the present invention.
Fig. 3 is a schematic perspective view of the grasping mechanism of the invention.
Fig. 4 is a schematic perspective view of the turnover correcting mechanism part of the present invention.
Fig. 5 is a schematic perspective view of the palletizing mechanism of the present invention.
Fig. 6 is a side view of the tray transfer mechanism of the present invention.
Reference numerals in the drawings: the device comprises a frame, a longitudinal travelling wheel, a transverse travelling wheel, a 13 supporting arm, a 14 second hydraulic cylinder, a 2 track conveying mechanism, a 21 first conveying track, a 22 second conveying track, a 3 grabbing mechanism, a 31 grabbing installation frame, a 311 left grabbing installation plate, a 312 right grabbing installation plate, a 313 lower row connecting rod, a 314 first telescopic rod, a 315 second telescopic rod, a 32 horizontal vacuum chuck group, a 33 vertical vacuum chuck group, a 34 first sliding block, a 35 vertical sliding rail, a 36 rotating shaft, a 37 second sliding block, a 38 first horizontal sliding rail, a 39 supporting rod, a 310 second horizontal sliding rail, a 4 turnover correcting mechanism, a 41 installation frame, a 42 first hydraulic cylinder, a 43 correcting installation plate, a 5 stacking mechanism, a 51 non-rod cylinder, a 52 clamping jaw installation plate, a 53 cantilever beam, a 54 main body frame, a 55 first stacking motor, a 56 driven wheel, a 57 driving wheel, a 58 belt, a 59 rack, a 510 gear, a 511 movable clamping jaw, a 512 fixed clamping jaw, a 6 tray converting mechanism, a 61 front row stacking track, a 62 rear row stacking track, a 63 pushing cylinder, a 64 pushing and a 65 supporting rod.
Detailed Description
The following describes in detail the examples of the present invention, which are implemented on the premise of the technical solution of the present invention, and detailed embodiments and specific operation procedures are given, but the scope of protection of the present invention is not limited to the following examples.
Referring to fig. 1 to 6, the embodiment discloses an intelligent container cargo handling device, which comprises a frame 1, wherein a track conveying mechanism 2, a grabbing mechanism 3, a turnover correcting mechanism 4, a stacking mechanism 5 and a tray converting mechanism 6 are arranged on the frame 1. A driving cabin is also arranged on one side of the frame 1.
The bottom of the frame 1 is provided with a longitudinal travelling wheel 11 capable of travelling along the left-right direction and a transverse travelling wheel 12 capable of travelling along the front-back direction, each transverse travelling wheel 12 comprises four transverse travelling wheels 12 arranged at the bottom end of a supporting arm 13, the supporting arm 13 is in a V shape, the middle part of the supporting arm 13 is hinged on the frame 1, the top end of the supporting arm 13 is connected with a piston rod of a corresponding second hydraulic cylinder 14, the cylinder body of the second hydraulic cylinder 14 is rotatably arranged on the frame 1, the piston rod of the hydraulic cylinder stretches out and draws back, and then the supporting arm 13 is driven to rotate around a hinge point, so that the transverse travelling wheel 12 at the bottom of the supporting arm 13 is driven to lift. When the intelligent loading and unloading device needs to walk along the left-right direction, the piston rods of the four hydraulic cylinders extend out to drive the four supporting arms 13 to rotate around respective hinge points, so that the transverse travelling wheels 12 at the bottoms of the four supporting arms 13 are driven to ascend, the four transverse travelling wheels 12 are retracted upwards, and the longitudinal travelling wheels 11 play a role at the moment, so that the longitudinal walking of the whole intelligent loading and unloading device is realized. When the intelligent loading and unloading device needs to walk along the front-back direction, the piston rods of the four hydraulic cylinders retract to drive the four supporting arms 13 to reversely rotate around respective hinge points, so that the transverse travelling wheels 12 at the bottoms of the four supporting arms 13 are driven to descend, when the transverse travelling wheels 12 contact the ground, the transverse travelling wheels continue to descend, and finally the longitudinal travelling wheels 11 are separated from the ground, and the transverse travelling wheels 12 play a role, so that the transverse travelling of the whole intelligent loading and unloading device is realized.
The rail conveying mechanism 2 includes a first conveying rail 21 and a second conveying rail 22, the first conveying rail 21 extending in the left-right direction, the second conveying rail 22 extending in the front-rear direction, and an inlet end of the second conveying rail 22 being engaged with an outlet end of the first conveying rail 21. The two conveying tracks comprise a plurality of conveying rollers, and the conveying rollers are driven to rotate through chain wheels and chain transmission, so that the conveying of cargoes is realized.
The grabbing mechanism 3 is arranged on one side of the first conveying track 21 and is close to the inlet end of the first conveying track 21, the grabbing mechanism 3 comprises a grabbing mounting frame 31, an imaging probe and two groups of vacuum chucks, the imaging probe is arranged on the grabbing mounting frame 31, the two groups of vacuum chucks comprise a horizontal vacuum chuck group 32 which is horizontally arranged and a vertical vacuum chuck group 33 which is vertically arranged, goods in a container are sucked through the two groups of vacuum chucks to be horizontally grabbed or vertically grabbed, one side of the grabbing mounting frame 31 is slidably arranged on a vertical sliding rail 35 through a first sliding block 34, the vertical sliding rail 35 is rotatably arranged on a vertical rotating shaft 36 and can rotate around the rotating shaft 36, the rotating shaft 36 is slidably arranged on a first horizontal sliding rail 38 which is longitudinally extended through a second sliding block 37, the left end of the first horizontal sliding rail 38 is provided with a supporting rod 39 which horizontally extends leftwards, the supporting rod 39 is slidably arranged on a second horizontal sliding rail 310 which is horizontally extended, and the second horizontal sliding rail 310 is fixedly arranged on the frame 1. The driving mode of the first sliding block 34 sliding up and down on the vertical sliding rail 35, the second sliding block 37 sliding back and forth on the first horizontal sliding rail 38, and the supporting rod 39 sliding left and right on the second horizontal sliding rail 310 is an electric driving mode. Thereby realizing the adjustment of the positions of the grasping mounting frame 31 and the two groups of vacuum chucks thereon in the vertical direction, the left-right direction and the front-back direction.
In the grabbing mechanism 3, the grabbing mounting frame 31 comprises two vertical grabbing mounting plates which are arranged left and right, the two grabbing mounting plates are connected through an upper row of connecting rods and a lower row of connecting rods, two ends of the two rows of connecting rods are hinged with the two grabbing mounting plates respectively, the two grabbing mounting plates are a left grabbing mounting plate 311 and a right grabbing mounting plate 312 respectively, a plurality of first telescopic rods 314 which incline are arranged at the bottom of the left grabbing mounting plate 311, the telescopic ends of the first telescopic rods 314 are hinged with the middle parts of the lower row of connecting rods 313 in a one-to-one correspondence manner respectively, a plurality of second telescopic rods 315 are arranged on the right grabbing mounting plate 312, the plurality of second telescopic rods 315 are arranged in a row along the front-to-back direction, the telescopic end of each second telescopic rod 315 stretches out to the right and is connected with a respective first sucker unit, each first sucker unit comprises a first sucker mounting seat and a plurality of horizontally-right vacuum suckers arranged on the first sucker mounting seat, and the first sucker units at the right end of the second telescopic rods 315 form a horizontal vacuum sucker group 32; the right side of the right grip mounting plate 312 is also provided with a plurality of second suction cup units, each of which includes a second suction cup mounting base and a plurality of vertical downward vacuum suction cups disposed on the second suction cup mounting base, the plurality of second suction cup units forming a vertical vacuum suction cup group 33. Wherein, the plurality of first telescopic rods 314 and the plurality of second telescopic rods 315 are driven to automatically extend and retract by respective pneumatic cylinders. The right grabbing mounting plate 312 is driven to move in the vertical direction and the left-right direction through the plurality of first telescopic rods 314, so that fine adjustment of positions of two groups of vacuum chucks on the right grabbing mounting plate 312 in the vertical direction and the left-right direction is achieved. The plurality of first suction cup units are driven to stretch and retract by the plurality of second telescopic rods 315, so that the position of the horizontal vacuum suction cup group 32 in the left-right direction is finely adjusted.
The upset is right mechanism 4 and is set up in first delivery track 21 one side and is close to the exit end of first delivery track 21, upset is right mechanism 4 and is included horizontally installing support 41, its lift of one end of installing support 41 through first pneumatic cylinder 42 drive, the other end of installing support 41 is equipped with and is right motor 43 and industry camera, industry camera is used for detecting whether the direction of the goods of below is crooked, the vertical downwardly extending of output shaft of right motor 43 and is connected with and is right mounting panel 44, it is equipped with a plurality of suction cups to right the mounting panel 44 bottom, a plurality of suction cups that right are located the top of first delivery track 21. When the industrial camera detects that the position of the goods is not in the required direction, the first hydraulic cylinder 42 drives the mounting bracket 41 to move downwards to the position above the goods, the goods are grabbed by the righting sucker and ascend, the grabbed goods are rotated under the action of the righting motor 43, and after the goods reach the required direction, the goods after being righted are placed on the first conveying track 21. The goods then move from the first conveyor track 21 onto the second conveyor track 22 so that the goods move to the operating range of the stacking mechanism.
The stacking mechanism 5 is arranged above the second conveying rail 22 and near the outlet end, the stacking mechanism 5 comprises stacking clamping jaws, a clamping jaw mounting plate 52, a cantilever beam 53 and a main body support 54, the main body support 54 is fixed on the frame 1, the cantilever beam 53 is horizontally arranged along the left-right direction, one end of the cantilever beam 53 is slidably arranged on the main body support 54 and can slide up and down along the main body support 54, the clamping jaw mounting plate 52 is arranged on the cantilever beam 53 and can move back and forth along the cantilever beam 53, and the stacking clamping jaws are arranged at the bottom of the clamping jaw mounting plate 52 and are used for clamping cargos at the outlet end of the second conveying rail 22. In the stacking mechanism 5, a main body bracket 54 is provided with a first stacking motor 55 and a driven wheel 56, an output shaft of the first stacking motor 55 is provided with a driving wheel 57, the driven wheel 56 is positioned below the driving wheel 57, the driving wheel 57 and the driven wheel 56 are in transmission connection through a belt 58, one end of a cantilever beam 53 is fixedly arranged on the belt 58 through a connecting block, and the belt 58 is driven to operate through the first stacking motor 55 so as to drive the cantilever beam 53 to move up and down.
In the stacking mechanism 5, a rack 59 is arranged on the cantilever beam 53, a gear 510 matched with the rack 59 is arranged on one side of the clamping jaw mounting plate 52, and the second stacking motor drives the gear 510 to rotate, so that the clamping jaw mounting plate 52 is driven to move left and right along the cantilever beam 53, and further the stacking clamping jaw on the clamping jaw mounting plate 52 is driven to move left and right.
In the stacking mechanism 5, the stacking clamping jaw comprises a movable clamping jaw 511 and a fixed clamping jaw 512 which are oppositely arranged front and back, the fixed clamping jaw 512 is fixed at the bottom of a clamping jaw mounting plate 52, a rodless cylinder 51 is arranged on the clamping jaw mounting plate 52, the top end of the movable clamping jaw 511 is connected with a sliding block of the rodless cylinder 51, the movable clamping jaw 511 is driven to move back and forth along the front and back direction through the rodless cylinder 51, and further clamping or loosening of the stacking clamping jaw is achieved.
In the stacking mechanism 5, a belt 58 is driven to operate by a first stacking motor 55, so that the cantilever beam 53 and a stacking clamping jaw on the cantilever beam are driven to move up and down; the second palletizing motor drives the gear 510 to rotate, thereby driving the jaw mounting plate 52 and palletizing jaws thereon to move left and right. When the goods move to the working range of the stacking mechanism 5, the stacking clamping jaw moves to the upper part of the goods on the second conveying track 22 along the left-right direction under the action of the second stacking motor, then the stacking clamping jaw descends under the action of the first stacking motor 55, and the movable clamping jaw 511 moves to the direction close to the fixed clamping jaw 512 under the action of the rodless cylinder 51, so that the goods are clamped. Then under the drive of second pile up neatly motor, pile up neatly clamping jaw left moved to the top of tray conversion mechanism 6, under the drive of first pile up neatly motor 55 again, pile up neatly clamping jaw and the goods that the clamp got slowly descend, place the goods on the bracket of tray conversion mechanism 6 and pile up neatly.
The pallet converting mechanism 6 is arranged below the left side of the second conveying track 22, the pallet converting mechanism 6 comprises a pallet frame, a stacking track is arranged in the pallet frame, a bracket is arranged on the stacking track, and the stacking clamping jaws are used for stacking the clamped goods on the bracket.
In the pallet converting mechanism 6, two rows of stacking rails are arranged in the pallet frame, a pushing mechanism is arranged at the bottom of the front row of stacking rails 61 and used for pushing empty brackets on the front row of stacking rails 61 into the rear row of stacking rails 62, and the stacking clamping jaws are used for stacking clamped cargoes on the brackets on the rear row of stacking rails 62. The pushing mechanism comprises a pushing cylinder 63 and a pushing connecting rod 64, a piston rod of the pushing cylinder 63 extends backwards along the front-back direction, the pushing connecting rod 64 is located behind the pushing cylinder 63 and is obliquely arranged, one low end of the pushing connecting rod 64 is connected with the piston rod of the pushing cylinder 63, one high end of the pushing connecting rod 64 extends out of the top of the front-row stacking rail 61, a supporting guide rod 65 extending vertically downwards is arranged in the middle of the pushing connecting rod 64, the bottom of the supporting guide rod 65 can slide forwards and backwards in a corresponding guiding chute, and the pushing connecting rod 64 is driven to move forwards and backwards through the pushing cylinder 63, so that the top end of the pushing connecting rod 64 pushes a bracket. In the pallet conversion mechanism 6, two rows of stacking rails comprise a plurality of stacking conveying rollers, and the plurality of stacking conveying rollers are driven to rotate through chain wheels and chain transmission, so that the upper brackets and cargoes are conveyed. During operation, the empty brackets are generally placed on the front-row stacking rail 61, when goods need to be stacked, the empty brackets on the front-row stacking rail 61 are pushed back into the right section of the rear-row stacking rail 62 through the pushing mechanism, the empty brackets enter the stacking area, the clamped goods are placed on the brackets of the rear-row stacking rail 62 by the stacking clamping jaws to be stacked, the brackets after stacking are moved to the left on the rear-row stacking rail 62 to be non-stacking areas, and finally the brackets of the stacked goods are transported to the designated positions through the forklift.
During operation, the intelligent loading and unloading device reaches the position of the container, after positioning, the distance from the vacuum chuck group to the goods in the container is identified through the imaging probe, the position before the vacuum chuck group is grabbed is positioned, then the grabbing mechanism 3 acts, the goods are sucked from the container through the vacuum chuck group of the grabbing mechanism 3 and conveyed onto the first conveying track 21, the goods are conveyed leftwards through the first conveying track 21, and when the goods reach the lower part of the overturning and correcting mechanism 4, the position of the skewed goods is corrected through the overturning and correcting mechanism 4. The goods after the return move to the second conveying track 22 and are conveyed backwards along the second conveying track 22, when the goods move to the working range of the stacking mechanism 5, the stacking mechanism 5 acts, the stacking clamping jaws clamp the goods, then the stacking clamping jaws move leftwards to the upper part of the right section of the rear-row stacking track 62 under the driving of the second stacking motor, the stacking clamping jaws and the clamped goods slowly descend under the driving of the first stacking motor 55, the goods are placed on the brackets of the rear-row stacking track 62 to be stacked, and finally the stacking clamping jaws are loosened and returned to the initial position so as to clamp the next goods, so that the stacking function of one good is completed. When the goods stacked on the brackets exceeds a certain weight, the brackets after stacking are moved to the left on the rear-row stacking rails 62 to a non-stacking area, the brackets of the stacked goods are finally transported to a designated position through a forklift, and meanwhile, the empty brackets on the front-row stacking rails 61 are pushed back into the right section of the rear-row stacking rails 62 through a pushing mechanism to enter a stacking area for stacking of the next goods.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.

Claims (7)

1. An intelligent loading and unloading device for container cargoes, which is characterized in that: comprises a frame, a track conveying mechanism, a grabbing mechanism, a turnover and normalization mechanism, a stacking mechanism and a tray conversion mechanism are arranged on the frame,
the track conveying mechanism comprises a first conveying track and a second conveying track, the first conveying track extends along the left-right direction, the second conveying track extends along the front-back direction, and the inlet end of the second conveying track is connected with the outlet end of the first conveying track;
the grabbing mechanism is arranged on one side of the first conveying track and is close to the inlet end of the first conveying track, the grabbing mechanism comprises a grabbing installation frame, an imaging probe and two groups of vacuum chucks, the imaging probe is arranged on the grabbing installation frame, the two groups of vacuum chucks comprise a horizontal vacuum chuck group which is horizontally arranged and a vertical vacuum chuck group which is vertically arranged, goods in a container are sucked through the two groups of vacuum chucks, one side of the grabbing installation frame is arranged on a vertical sliding rail in a sliding mode through a first sliding block, the vertical sliding rail is rotatably arranged on a vertical rotating shaft and can rotate around the rotating shaft, the rotating shaft is arranged on a first horizontal sliding rail which is longitudinally extended through a second sliding block in a sliding mode, a supporting rod which horizontally extends leftwards is arranged at the left end of the first horizontal sliding rail, the supporting rod is arranged on a second horizontal sliding rail which is horizontally extended, and the second horizontal sliding rail is fixed on the rack;
the turnover correcting mechanism is arranged on one side of the first conveying track and is close to the outlet end of the first conveying track, the turnover correcting mechanism comprises a horizontal mounting bracket, one end of the mounting bracket drives the mounting bracket to lift through a first hydraulic cylinder, the other end of the mounting bracket is provided with a correcting motor and an industrial camera, the industrial camera is used for detecting whether the direction of goods below is inclined or not, an output shaft of the correcting motor vertically extends downwards and is connected with a correcting mounting plate, a plurality of correcting suckers are arranged at the bottom of the correcting mounting plate, and the plurality of correcting suckers are positioned above the first conveying track;
the stacking mechanism is arranged above the second conveying rail and near the outlet end, and comprises a stacking clamping jaw, a clamping jaw mounting plate, a cantilever beam and a main body support, wherein the main body support is fixed on the frame, the cantilever beam is horizontally arranged along the left-right direction, one end of the cantilever beam is arranged on the main body support in a sliding manner and can slide up and down along the main body support, the clamping jaw mounting plate is arranged on the cantilever beam and can move back and forth along the cantilever beam, and the stacking clamping jaw is arranged at the bottom of the clamping jaw mounting plate and is used for clamping goods positioned at the outlet end of the second conveying rail;
the tray conversion mechanism is arranged below the left side of the second conveying track and comprises a tray frame, a stacking track is arranged in the tray frame, a bracket is arranged on the stacking track, and the stacking clamping jaw is used for placing the clamped goods on the bracket for stacking;
in the grabbing mechanism, the grabbing mounting frame comprises two vertical grabbing mounting plates which are arranged left and right, the two grabbing mounting plates are connected through an upper row of connecting rods and a lower row of connecting rods, two ends of the two rows of connecting rods are hinged with the two grabbing mounting plates respectively, the two grabbing mounting plates are a left grabbing mounting plate and a right grabbing mounting plate respectively, a plurality of first inclined telescopic rods are arranged at the bottom of the left grabbing mounting plate, the telescopic ends of the first telescopic rods are hinged with the middle parts of the lower row of connecting rods in a one-to-one correspondence manner respectively, a plurality of second telescopic rods are arranged on the right grabbing mounting plate, the second telescopic rods are arranged in a row along the front-to-back direction, the telescopic ends of each second telescopic rod extend rightwards and are connected with respective first sucker units, each first sucker unit comprises a first sucker mounting seat and a plurality of horizontally-right vacuum suckers arranged on the first sucker mounting seat, and the first sucker units at the right ends of the second telescopic rods form a horizontal vacuum sucker group; the right side of the right grabbing mounting plate is also provided with a plurality of second sucker units, each second sucker unit comprises a second sucker mounting seat and a plurality of vertical downward vacuum suckers arranged on the second sucker mounting seat, and the plurality of second sucker units form the vertical vacuum sucker group;
in the pile up neatly mechanism, pile up neatly clamping jaw is including the relative movable clamping jaw and the fixed clamping jaw that set up around, fixed clamping jaw is fixed in clamping jaw mounting panel bottom, be equipped with the rodless cylinder on the clamping jaw mounting panel, movable clamping jaw top is connected with the slider of rodless cylinder, drives movable clamping jaw along fore-and-aft direction round trip movement through the rodless cylinder, and then realizes the clamp of pile up neatly clamping jaw or unclamp.
2. An intelligent container cargo handling device as defined in claim 1, wherein: the frame bottom is equipped with the vertical walking wheel that can walk along left and right directions to and the horizontal walking wheel that can walk along fore-and-aft direction, horizontal walking wheel includes four, and every horizontal walking wheel sets up in the bottom of support arm, the support arm is the V-arrangement, the middle part of support arm articulates in the frame, the top of support arm is connected with the piston rod of the second pneumatic cylinder that corresponds, the cylinder body of second pneumatic cylinder rotates and sets up in the frame, stretches out and draws back through the piston rod of pneumatic cylinder, and then drives the support arm and rotate round the pin joint to drive the horizontal walking wheel of support arm bottom and go up and down.
3. An intelligent container cargo handling device as defined in claim 1, wherein: in the stacking mechanism, a first stacking motor and a driven wheel are arranged on a main body support, a driving wheel is arranged on an output shaft of the first stacking motor, the driven wheel is located below the driving wheel, the driving wheel is connected with the driven wheel through belt transmission, one end of the cantilever beam is fixedly arranged on the belt through a connecting block, and the belt is driven to operate through the first stacking motor, so that the cantilever beam is driven to move up and down.
4. An intelligent container cargo handling device as defined in claim 1, wherein: in the stacking mechanism, a rack is arranged on the cantilever beam, a gear matched with the rack is arranged on one side of the clamping jaw mounting plate, and the gear is driven to rotate by a second stacking motor so as to drive the clamping jaw mounting plate to move left and right along the cantilever beam.
5. An intelligent container cargo handling device as defined in claim 1, wherein: in the tray conversion mechanism, two rows of pile up neatly tracks around being equipped with in the tray frame, preceding row pile up neatly track bottom is equipped with pushing mechanism, pushing mechanism is used for pushing the empty bracket that is located on the preceding row pile up neatly track on the back row pile up neatly track, pile up neatly clamping jaw will press from both sides the goods of getting and put into the bracket on the back row pile up neatly track and pile up neatly.
6. An intelligent container cargo handling device as defined in claim 5, wherein: the pushing mechanism comprises a pushing cylinder and a pushing connecting rod, a piston rod of the pushing cylinder extends backwards along the front-back direction, the pushing connecting rod is located behind the pushing cylinder and is obliquely arranged, one end of the pushing connecting rod, which is low, is connected with the piston rod of the pushing cylinder, one end of the pushing connecting rod, which is high, extends out of the top of the front-row stacking rail, a supporting guide rod extending downwards vertically is arranged in the middle of the pushing connecting rod, the bottom of the supporting guide rod can slide forwards and backwards in a corresponding guiding chute, and the pushing connecting rod is driven to move forwards and backwards through the pushing cylinder, so that the top end of the pushing connecting rod pushes the bracket.
7. An intelligent container cargo handling device as defined in claim 5, wherein: one side of the frame is also provided with a driving cabin.
CN201810996805.4A 2018-08-29 2018-08-29 Intelligent loading and unloading device for container cargo Active CN108974964B (en)

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