CN109051832A - Automate pile truck-loading facilities - Google Patents
Automate pile truck-loading facilities Download PDFInfo
- Publication number
- CN109051832A CN109051832A CN201810961953.2A CN201810961953A CN109051832A CN 109051832 A CN109051832 A CN 109051832A CN 201810961953 A CN201810961953 A CN 201810961953A CN 109051832 A CN109051832 A CN 109051832A
- Authority
- CN
- China
- Prior art keywords
- waggon
- mast
- pile
- walking
- truck
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/11—Stacking of articles by adding to the top of the stack the articles being stacked by direct action of the feeding conveyor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
- B65G67/04—Loading land vehicles
Abstract
The embodiment of the invention discloses a kind of automation pile truck-loading facilities, comprising: at least two pairs fixed columns along front and back arrangement；Angle between mast-up, and the car body panel of freight truck is adjustable；Walking track, it is adjustable in all, up and down, on front-rear direction positions；Waggon, it is movable along walking track, it is tumbled when moving to heap code position cargo from waggon；Controller；And first position sensor, second position sensor and the third place sensor being connect with controller signals.The embodiment of the present invention has the beneficial effect that automatically to cargo pile；Scalability is high；Automatic detection, alarm are completed, daily maintenance and maintenance are convenient for；Meet the requirement of intelligent automation information technology.
Description
Technical field
The present invention relates to cargo transport technical fields, and in particular to a kind of automation pile truck-loading facilities.
Background technique
The cargo using independent packaging such as packed, box-packed at present can only play the work of conveying articles using pipeline entrucking
It also needs manually to carry out pile when with, entrucking.In addition, entrucking scene also needs since car loading operation intelligent automation degree is lower
It wants administrative staff to carry out coordination with central production control unit to dock, car loading operation can't be dissolved into the information of chemical production device
Management platform is to realize unified information system management.For bring the result is that entrucking technology falls behind, the level of informatization is low, pipe
Low efficiency is managed, operation cost is high, and Car Turnover is slow.
Summary of the invention
The purpose of the present invention is to provide a kind of automation pile truck-loading facilities, to solve the existing time-consuming expense of artificial pile
Power, pile are irregular, the degree of automation low the problem of cannot docking with the cargo pipeline of automation.
To achieve the above object, the embodiment of the invention discloses a kind of automation pile truck-loading facilities comprising:
Fixed device, in the car body panel of freight truck can be located in a manner of arrange；
Mast-up, to be installed in rotation on the fixed device in the horizontal plane；
Walking track, under the action of left and right adjusting power device, up and down adjustment power device, front and back adjust power device
Along left and right, upper and lower, position can be adjustably mounted to the mast-up respectively in the front-back direction, and the walking track is along the longitudinal direction
Arrangement；
Waggon, the arranged direction along the walking track are movably mounted with the walking track, the waggon
Quantity be it is multiple, the multiple waggon along it is described walking track arranged direction set gradually, the waggon includes defeated
Vehicle power device and waggon device for discharging are sent, the waggon is along the walking under the driving of the waggon power device
Track movement is unloaded the cargo being located on the goods conveyor by the waggon device for discharging；
Controller, with the control terminal of the left and right adjusting power device, the control terminal of the up and down adjustment power device, institute
Front and back adjusting power device, the control terminal of the waggon power device, the control terminal of the waggon device for discharging is stated to believe
Number connection；And
First position sensor, second position sensor and the third place sensor, are connected with the controller in a signal way.,
The first position sensor is configured to detect the position of the walking track in the lateral direction, and the second position passes
Sensor is configured to detect the position of the walking track in the up-down direction, and the third place sensor is configured to
Detect the position of the walking track in the longitudinal direction.
Optionally, automation pile truck-loading facilities further includes the mast-up attitude detection dress being connected with the controller in a signal way.
It sets and corrects driving device with mast-up posture, in which:
The mast-up Attitute detecting device is fixed on the mast-up, and is configured to detect the mast-up
Angle between length direction and the length direction of transport vehicle carriage；
It is installed on the mast-up in mast-up posture correction driving device, and is corrected in the mast-up posture
The mast-up rotates in the horizontal plane under the driving of driving device.
Optionally, the mast-up can be rotatably set around one jiao of the fixed device, fixed on the fixed device
There is slideway, attitude regulation idler wheel is fixed on the mast-up, the attitude regulation idler wheel is slidably mounted along the slideway,
The pivot center of each slideway to the mast-up is equidistant；The posture correction driving device and the posture tune
Save idler wheel transmission connection.
Optionally, automation pile truck-loading facilities further includes the freight truck acquisition of information being connected with the controller in a signal way.
Module, to obtain the information of freight truck and store to the controller.
Optionally, the waggon power device includes vehicle frame, waggon walking power unit and is rotatably installed on
The multiple of the vehicle frame walk to take turns, and the waggon walking power unit is fixed on the vehicle frame, the waggon walking power list
Member is connect with traction drive described at least one, and the control terminal of the waggon walking power unit and the controller signals connect
It connects；And/or
The waggon device for discharging includes waggon discharging power unit and deflector roll, the waggon discharging power unit
It is fixed on the vehicle frame, the waggon discharging power unit includes the more deflector rolls being rotatably installed on the vehicle frame,
The more deflector rolls parallel arrangement, the waggon discharging power unit and all deflector rolls are sequentially connected, the conveying
The control terminal of vehicle discharging power unit is connected with the controller in a signal way..
Optionally, automation pile truck-loading facilities further includes the pile position sensor being connected with the controller in a signal way.
With waggon walking states sensor, in which:
The pile position sensor is installed on the walking track, to determine the position of cargo pile；
The waggon walking states sensor is installed on the end of the waggon, to control the walking of the waggon
State.
Optionally, automation pile truck-loading facilities further includes crossbeam, stringer and Telescopic suspension rod, the both ends difference of the crossbeam
It is fixed on the opposite side of the mast-up, the crossbeam is arranged in left-right direction, and the walking track is fixed on the telescopic hoist
The lower end of bar；
The stringer is slidably mounted on the cross under the driving of the left and right adjusting power device in left-right direction
Beam；
The Telescopic suspension rod is slidably mounted on institute under the driving that the front and back adjusts power device along the longitudinal direction
State stringer；
The Telescopic suspension rod is telescopically arranged along the vertical direction under the driving of the up and down adjustment power device.
Optionally, automation pile truck-loading facilities further includes the counter being connected with the controller in a signal way., the counting
Device is installed on the fixed device, the mast-up or the walking track, to count the packaging quantity of the cargo of entrucking.
Optionally, automation pile truck-loading facilities further include the video recording device that is connected with the controller in a signal way. and
Display screen, in which:
The video recording device is installed on the mast-up, the walking track, the crossbeam, the stringer, described
Telescopic suspension rod or on the waggon of front end, to obtain the video image of the pile process of cargo；
The display screen is installed on the column or is removably fixed on freight truck, with the pile of the cargo to acquisition
The video image of process plays back.
Optionally, automation pile truck-loading facilities further includes warning device, the warning device and the controller signals
Connection, works as appearance:
Angle between the length direction of the car body panel of the length direction and freight truck of the mast-up, which is greater than, to be stored in
It is default angle, the left and right adjusting power-unit failure, the up and down adjustment power-unit failure in the controller, described
Front and back adjusts power-unit failure, the waggon power-unit failure, the waggon device for discharging failure, the counter
Failure, the pile position sensor failure, the waggon walking states sensor fault, first position sensor fault,
Alarm activation when at least one of second position sensor fault, the third place sensor fault situation, and
The display screen shows corresponding fault message.
The embodiment of the present invention has the advantages that
By adjusting declination error, front and back error, left and right error and the stacking height of walking track and vehicle body Board position, make
Heap code position can accurately be run to by obtaining waggon, and cargo can accurately be fallen under the action of waggon device for discharging
Enter to need the position of pile, to complete automated job, high degree of automation, pile is neat；
Can extend to cargo pipeline (tail end of goods packing line), further increase the range of automated job,
Adapt to the needs of large-scale processing；
Plant failure detects, automatically convenient for daily maintenance and maintenance；
By obtaining the information of freight truck, the archives of freight truck, and the ruler of the car body panel according to freight truck are established
It is very little to formulate corresponding cargo stacking form (by way of the write-in program into controller), meet intelligent automation information technology
Requirement.
Detailed description of the invention
Fig. 1 is the schematic perspective view for automating one embodiment of pile truck-loading facilities；
Fig. 2 is the schematic perspective view of one embodiment of waggon.
In figure:
100, fixed device；110, rotation axis；
200, mast-up；210, left and right adjusting power device；220, up and down adjustment power device；230, front and back adjusts power
Device；
300, walking track；
400, waggon；410, vehicle frame；420, wheel is walked；430, deflector roll；440, pile position sensor；450, garage is conveyed
Walk state sensor；
510, mast-up Attitute detecting device；511, slideway；512, attitude regulation idler wheel；520, mast-up posture correction is driven
Dynamic device；
600, crossbeam；
700, stringer；
800, Telescopic suspension rod；
900, freight truck；910, car body panel.
Specific embodiment
The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention..
The embodiment of the invention discloses a kind of automation pile truck-loading facilities referring to Figures 1 and 2 comprising:
Fixed device 100, in the car body panel 910 of freight truck 900 can be located in a manner of arrange, set for other
Standby installation provides installation foundation, in addition, fixed device 100 uses cage structure, for light-weight design requirement for maximum
Change ground to mitigate weight, save manufacturing cost, using fixed column, be designed for symmetrical structure, fixed column use at
To the mode of appearance, i.e. the first from left is right, in addition, considering for stability, fixed column at least should be two pairs, one in front and one in back sets
It sets, the lower end of fixed column is pushed against ground, and the upper end of fixed column provides the installation foundation of other parts；
Mast-up 200, by rotating mast-up 200, is made with being installed in rotation on fixed device 100 in the horizontal plane
The angle obtained between the length direction of mast-up 200 and the length direction of car body panel 910 is maintained at tolerance range (such as 3 °)
It is interior, to be the neatly packed condition that provides the foundation of cargo；
Walking track 300 adjusts power dress in left and right adjusting power device 210, up and down adjustment power device 220, front and back
Under the action of setting 230 along left and right, up and down, position can be adjustably mounted to mast-up 200 respectively in the front-back direction, pass through adjust row
Walk track 300 in three-dimensional space left and right, up and down, the position of front and back so that the accurate pile of cargo arrives heap code position, walking track
300 arrange along the longitudinal direction；
Waggon 400 is movably mounted with walking track 300 along the arranged direction of walking track 300, to will be located at
Cargo pile on waggon 400 to heap code position, the quantity of waggon 400 be it is multiple, multiple waggons 400 are along walking track
300 arranged direction is set gradually, and waggon 400 includes waggon power device and waggon device for discharging, is moved in waggon
Waggon 400 is moved along walking track 300 under the driving of power device, will be located at goods conveyor by waggon device for discharging
Cargo on 400 unloads；
Controller, with the control terminal of left and right adjusting power device 210, the control terminal of up and down adjustment power device 220, front and back
Adjust the equal signal connection of power device 230, the control terminal of waggon power device, the control terminal of waggon device for discharging；And
First position sensor, second position sensor and the third place sensor, connect with controller signals, first
Position sensor is configured to the position of detection walking track 300 in the lateral direction, and second position sensor is arranged to
The position of enough detection walking tracks 300 in the up-down direction, the third place sensor are configured to detection walking track 300 and exist
Position on front-rear direction.A left side is detected respectively by first position sensor, second position sensor, the third place sensor
Position right, up and down, on the direction of front and back three, and the position signal is delivered in controller, and is stored in controller
Corresponding position data is compared, and when wherein at least one position difference, adjusts power dress to the left and right by controller
210, up and down adjustment power device 220, the front and back adjusting transmission working signal of power device 230 are set, until moving to three positions
Position signal detected by sensor is consistent with the corresponding position data of storage in the controller.
Specifically, the shape of travel switch can be used in first position sensor, second position sensor, the third place sensor
Formula.
Mast-up 200 is installed on a kind of form of fixed device 100 are as follows: it is fixed with rotation axis 110 on fixed device 100,
The rotation hole with 110 clearance fit of rotation axis is offered on mast-up 200, is matched by rotation hole and the gap of rotation axis 110
It closes, so that mast-up 200 is rotated around rotation axis 110.
Further embodiment of this invention further includes the mast-up Attitute detecting device 510 and mast-up connecting with controller signals
Posture corrects driving device 520, in which:
Mast-up Attitute detecting device 510 is fixed on mast-up 200, and is configured to the length of detection mast-up 200
Spend the angle between the length direction of the car body panel 910 of direction and freight truck 900；
It is installed on mast-up 200 in mast-up posture correction driving device 520, and corrects driving dress in mast-up posture
Mast-up 200 under 520 driving is set to rotate in the horizontal plane.
The length direction of mast-up 200 and the car body panel of freight truck 900 are detected by mast-up Attitute detecting device 510
Angle between 910 length direction, and the angle is changed into electric signal and is sent to controller, in the controller with storage
Angle threshold value (as ± 5 °) be compared, when being located in the angle threshold value, i.e. the posture of expression mast-up 200 meets installation
It is required that the angle threshold can be any value determine according to actual needs, it is intended that preventing on walking track 300
Deflection angle between the direction of motion of waggon 400 and the length direction (i.e. front-rear direction) of car body panel 910 is excessive and causes goods
Object pile is irregular；When not being located in the angle threshold value, i.e. the posture of expression mast-up 200 is unsatisfactory for installation requirement, at this point,
Controller sends working signal to mast-up posture correction driving device 520, and mast-up posture corrects driving device 520 and works,
It is lifted on and rotates in the horizontal plane, when rotateing in place in the angle threshold, controller corrects driving dress to mast-up posture
Set 520 transmission stopping signals.
A kind of concrete form of above-mentioned mast-up Attitute detecting device 510 is image visual transducer, is hung by acquisition
Shelve the image of 200 image, the car body panel 910 of freight truck 900, and compare two images, and pair a kind of scheme are as follows: compare
The gap at the edge of two images, when gap is uniform and consistency is higher (positioned at any default threshold being stored in controller
Value), i.e. mast-up posture is met the requirements；Conversely, when gap is larger along the edge of mast-up 200, the edge variation of car body panel 910
(beyond any preset threshold being stored in controller), i.e. the posture of mast-up 200 is unsatisfactory for requiring, that is, mast-up 200
The deflection angle of opposite car body panel 910 is excessive, is not able to satisfy the required precision of stacks of cargo code, and controller is rectified to mast-up posture at this time
Positive driving device 520 sends working signal, and mast-up posture corrects the rotation that driving device 520 drives mast-up 200 in horizontal plane
Turn.
A kind of mounting structure of mast-up 200 are as follows: mast-up 200 can be rotatably set around one jiao for fixing device 100, Gu
Determine to be fixed with slideway 511 on device 100, attitude regulation idler wheel 512 is fixed on mast-up 200, attitude regulation idler wheel 512 is along cunning
Road 511 is slidably mounted, and the pivot center of each slideway 511 to mast-up 200 is equidistant；Posture corrects driving device
It is sequentially connected with attitude regulation idler wheel 512.The posture of mast-up 200 need to be consistent with the car body panel 910 of freight truck 900,
Meanwhile being needed for the miniaturization of structural volume design, fixed device 100 is rectangle cage structure, theoretically, mast-up
200 pivot center can be located at any position in fixed device 100, inventors have found that by the pivot center of mast-up 200
It is arranged under the structure type of one jiao (i.e. apex angle) of the fixation device 100 of rectangle: the radius of gyration (lifting of mast-up 200
The diagonal distance of the pivot center of frame 200, pivot center) it is maximum, i.e., attitude regulation idler wheel 512 rolls lifts under fixed range
The rotational angle of frame 200 is minimum, conducive to the accurate control for the rotational angle for guaranteeing mast-up 200.In addition, inventors have found that such as
The each attitude regulation idler wheel 512 of fruit corrects driving device by a posture respectively, and driving needs to arrange multiple posture correction drivings
Device increases equipment cost, weight.Therefore, it is rolled using the diagonal attitude regulation for the pivot center for being only located at mast-up 200
Wheel 512 has a posture correction driving device driving, other attitude regulation idler wheels 512 are used as driven wheel.
In addition, left and right adjusting power device 210, up and down adjustment power device 220, front and back adjusting power device 230, posture
Correcting driving device can be selected servo motor, and the control terminal of servo motor is connect with controller signals, pass through control servo electricity
The rotation direction of machine encloses number, angle to realize the stroke on left and right directions, the stroke in up and down direction, the row on front-rear direction
The rotation direction and angle of journey, mast-up 200 in the horizontal plane, to meet the requirement of above-mentioned cargo pile.
In order to realize automatic information, the embodiment of the invention also includes the freight truck 900 connecting with controller signals letters
Breath obtains module, to obtain the information of freight truck 900 and store to controller.The information of freight truck 900 includes car owner's name
Claim, vehicle, license plate number, 910 size of loading car body panel (length), loading capacity etc., and the freight truck 900 that will acquire
Information store to controller, establish the archives of the freight truck 900.
The information of freight truck 900 can be obtained by way of scanning the two-dimensional code, i.e., according to the above-mentioned of freight truck 900
Information generates two dimensional code, and the embodiment of the present invention is by such as camera two-dimensional code scanning device that connect with controller signals to two
Code scanning is tieed up, acquisition of information is convenient, fast.
A kind of specific structure of waggon power device are as follows: waggon power device includes that vehicle frame 410, waggon walking are dynamic
Power unit and be rotatably installed on vehicle frame 410 it is multiple walk wheel 420, waggon walking power unit be fixed on vehicle frame 410, it is defeated
Garage's walking power unit is sent to walk 420 transmission connection of wheel, the control terminal and controller of waggon walking power unit at least one
Signal connection.Controller walks 420 rotation of wheel by control waggon walking power unit, waggon walking power unit driving,
So that waggon 400 along walking track 300 forward, need the position of pile so that the cargo being located on waggon 400 is delivered to
It sets, after the completion of cargo falls pile from waggon 400, waggon 400 is walked backward, to complete to reset, is received next
Need the cargo of pile.
A kind of specific structure of waggon device for discharging are as follows: including waggon discharging power unit and deflector roll 430, waggon
Discharging power unit is fixed on vehicle frame 410, and waggon discharging power unit includes more and is rotatably installed on vehicle frame 410
Deflector roll 430, more deflector rolls 430 are arranged in parallel, and waggon discharging power unit and all deflector rolls 430 are sequentially connected, waggon
The control terminal of discharging power unit is connect with controller signals.Cargo is unloaded by waggon device for discharging and pile is to needs
The position of pile.Specifically, between cargo is held up upwards by more deflector rolls 430, and the lower edge of cargo and vehicle frame 410 are kept
Gap is rotated in the driving lower guide roll 430 of waggon discharging power unit, is kept so as to that will be located on deflector roll 430, with vehicle frame 410
The cargo in gap is sent to the front end of vehicle frame 410, and subsequent cargo is fallen.
In addition, waggon walking power unit, waggon discharging power unit can select servo motor.
In order to further increase automated job degree, the embodiment of the invention also includes the heaps connecting with controller signals
400 walking states sensor 450 of code position sensor 440 and waggon, in which:
Pile position sensor 440 is installed on walking track 300, to determine the position of cargo pile, pile position sensing
A kind of form of device 440 is infrared inductor；
Waggon walking states sensor 450 is installed on the end of waggon 400, to control the walking shape of waggon 400
State, waggon walking states sensor 450 are touch sensor.Specifically, waggon 400 is walked forward, until heap code bit
It sets sensor 440 and detects cargo and need to send signal to controller behind the position of pile, controller is walked power list to waggon
Member sends stop sign, and walking power unit stops continuing to walk forward, and then, controller is sent out to waggon discharging power unit
Working signal is sent, is rotated in the driving lower guide roll 430 of waggon discharging power unit cargo to be fed forward, controller is to defeated
Garage's walking power unit is sent to send reset signal, waggon 400 is walked backward under the driving of waggon walking power unit, directly
It is detected to waggon walking states sensor 450 and runs to the adjacent waggon 400 in 400 rear of waggon, complete conveying
The reset of vehicle 400, to complete the pile of a cargo.
A kind of mounting means of walking track 300 is as follows: the embodiment of the invention also includes crossbeam 600, stringer 700 and stretching
Sunpender 800, the both ends of crossbeam 600 are individually fixed in the opposite side of mast-up 200, and crossbeam 600 is arranged in left-right direction, rail of walking
Road 300 is fixed on the lower end of Telescopic suspension rod 800；
Stringer 700 is slidably mounted on crossbeam 600 in left-right direction under the driving of left and right adjusting power device 210；
Telescopic suspension rod 800 is slidably mounted on stringer under the driving that front and back adjusts power device 230 along the longitudinal direction
700；
Telescopic suspension rod 800 is telescopically arranged along the vertical direction under the driving of up and down adjustment power device 220.
The tool of above-mentioned left and right adjusting power device 210, up and down adjustment power device 220, front and back adjusting power device 230
Body structure can use: nibble including servo motor, with the gear of the power output end transmission connection of servo motor, with the gear
The structure type of the rack gear of conjunction.
In addition, counter is installed on fixed device the embodiment of the invention also includes the counter connecting with controller signals
100, mast-up 200 or walking track 300 on, to count the packaging quantity of the cargo of entrucking.Counter is Photoinduction type counter,
Such as infrared counting device.Counted by packaging quantity of the counter to the cargo of entrucking, convenient for cargo management and will go out
The data of goods amount are stored, the requirement of Mazu's automatic information.
In addition, the embodiment of the invention also includes the video recording devices and display screen that connect with controller signals, in which:
Video recording device be installed on mast-up 200, walking track 300, crossbeam 600, stringer 700, Telescopic suspension rod 800 or
On the waggon 400 of front end, to obtain the video image of the pile process of cargo；
Display screen is installed on column or is removably fixed on freight truck 900, with the pile process of the cargo to acquisition
Video image playback.The video image of the pile process of cargo is obtained by video recording device, passes through video figure for the later period
The playback of picture traces pile process, facilitates inspection loading quality.
It since the power unit of the embodiment of the present invention, power device, sensor are more, therefore is the reliable of raising system work
Property, later maintenance and maintenance convenience, the embodiment of the invention also includes warning device, warning device and the controller signals
Connection, works as appearance:
Angle between the length direction of the car body panel 910 of the length direction and freight truck 900 of mast-up 200, which is greater than, to be deposited
Store up default angle in controller, 210 failure of left and right adjusting power device, 220 failure of up and down adjustment power device, front and back tune
Save 230 failure of power device, 400 power-unit failures, waggon device for discharging failure, counter failure, pile position sensing
440 failure of device, 450 failure of waggon walking states sensor, first position sensor fault, second position sensor fault,
The starting of at least one of the third place sensor fault situation Times alarm device, and display screen shows corresponding failure letter
Breath accordingly, can be by the default so that display screen shows different failures of controller when different failure situations occur
Code checks corresponding trouble location with facilitating, and reduces the position determination of fault time.
The recognition mechanism of above-mentioned failure situations is as follows:
Angle between the length direction of the car body panel 910 of the length direction and freight truck 900 of mast-up 200, which is greater than, to be deposited
Default angle in controller is stored up, by mast-up Attitute detecting device 510 to 200 posture of mast-up, freight truck 900
910 posture of car body panel carries out detection comparison to identify；
The identification of 210 failure of left and right adjusting power device are as follows: single in the interior first position detection of a preset time (such as 30 seconds)
Position data detected by member always can not be corresponding with the position data being stored in controller；
The identification of 220 failure of up and down adjustment power device are as follows: single in the interior second position detection of a preset time (such as 30 seconds)
Position data detected by member always can not be corresponding with the position data being stored in controller；
The identification of front and back adjusting 230 failure of power device are as follows: single in the interior the third place detection of a preset time (such as 30 seconds)
Position data detected by member always can not be corresponding with the position data being stored in controller；
The identification of waggon power-unit failure: one after controller sends job number to waggon walking power unit
In preset time (such as 30 seconds), controller does not receive the signal of pile position sensor 440；
The identification of waggon device for discharging failure: after controller sends working signal to waggon discharging power unit
In one preset time (30 seconds), controller does not receive the signal of the transmission of waggon walking states sensor 450；
Counter failure, 440 failure of pile position sensor, 450 failure of waggon walking states sensor, first position
The identification of sensor fault, second position sensor fault, the third place sensor fault is respectively that controller does not receive phase
The signal answered or the corresponding signal received continue constant.
In addition, above-mentioned controller can be MCU, i.e. micro-control unit (Microcontroller Unit), also known as singly
Piece microcomputer (Single Chip Microcomputer) or single-chip microcontroller.
The specific work process for carrying out cargo pile using the embodiment of the present invention is as follows.
One, 900 two-dimensional barcode information database of freight truck generates:
To the 900 typing following data of freight truck of fixed delivery of cargo:
Car owner's title, vehicle, license plate number, 910 size of loading car body panel (length), deadweight capacity, pile rule: by packet
Pack specification (40 kilograms/bag, 50 kilograms/bag) two kinds of specification programmings.Wherein 900 length direction of freight truck is (before i.e. above-mentioned
Rear direction) be row, width direction (i.e. above-mentioned left and right directions) be it is capable, short transverse (i.e. above-mentioned up and down direction) is layer.From
The left side starts as first row, be to the right successively second row, third row,,, arrangement.Be the first row since headstock, successively to
Vehicle rear direction be the second row,,,, arrangement.Most it is beneath be first layer, be upwards in turn second,,, layer arrangement.Pile rule
Then are as follows: first row first layer the first row starts, be followed successively by the second row of first row first layer,,, until first row first layer it is last
A line, first row first layer terminate.Start second row,,, until first layer pile terminate, start the second layer,,, pile make
Until the last layer pile terminates, entrucking finishes industry.
Two, entrucking armament-related work:
Load-carrying vehicle data input: when load-carrying vehicle enters factory, all information of the vehicle are on the two dimensional code of the vehicle, the vehicle
Into when entrucking region, all information related with this entrucking by two-dimensional code scanning device automatically scanning and will be sent to
MCU。
Staff selects packaging bag specification (40 kilograms/bag or 50 kilograms/bag) in interactive interface, and MCU issues pile knot
Structure optional directive, the interactive interface are the application software interacted by above-mentioned display screen.
Contraposition sign on: after freight truck 900 is parked into loading area, driver walks out driver's cabin, mast-up appearance
State correction driving device 520 provides signal to MCU；
Align operation: such as imaging sensor mast-up posture apparatus for correcting is by the vehicle body of cargo freight truck 900 to be installed
The practical attitude data of plate 910 is sent to MCU, and MCU is obtained by the way that processing is compared with the attitude data of the fixed device 100 of heap
The data that piling structure needs to adjust in front and rear, left and right and drift angle direction out, MCU adjusts power device 230 forwards, backwards, left and right is adjusted
Save power device 210, mast-up posture correction driving device 520 issue instruction, these driving mechanisms will be required according to instruction into
Row adjust automatically.
The adjustment of pile mechanism height: MCU will be according to vehicle body in loading truck two-dimensional barcode information after aligning adjustment
Processing is compared with the height of piling structure for 910 height of plate, and processing result is sent to up and down adjustment power device 220,
Track 300 of walking under the driving of up and down adjustment power device 220 drops to the height and position of first layer first row loading.
Three, loading operation:
Feeding instruction: after height adjusts, MCU issues green instruction, operator to cargo central production control unit
After member sees green instruction, illustrate that preparing entrucking work terminates, it can be with feeding.
Starting pipeline running: multiple waggons 400 on walking track 300 receive on production pipeline
Cargo.
The programming of the 1st packet pile of first layer first row: when the 1st packet cargo reaches heap code position, infrared inductor issues signal
Instruction is issued to No. 1 position (positioned at the position of the waggon 400 of walking 300 front end of track) waggon device for discharging to MCU, MCU
Relay, the power supply of waggon device for discharging disconnects, and deflector roll 430 stops operating, meanwhile, MCU provides instruction to No. 1 position and conveys
The relay power of vehicle power device, waggon walking power unit is connected, and is walked wheel 420 and being run to the 1st packet heap code position forward,
The touch sensor at 1 number is touched, MCU is sent the signal to, the waggon discharging that MCU issues instructions to No. 1 position is dynamic
The relay of power unit, waggon discharging power unit is connected and is rotated forward, meanwhile, it walks wheel 420 and is retreated with synchronizing speed, when
Wheel 420 is walked when backing in situ, is touched on No. 2 positions (position with the adjacent waggon 400 of waggon 400 of No. 1 position)
Touch sensor, MCU issue instruction after receiving signal, walk 420 relays of wheel and disconnect, stop retreating, but waggon discharging
Power unit continuation rotates forward, waits the 2nd packet pile, and the 1st packet pile terminates.
Remaining pile programming on 2nd packet and piling structure: when the 2nd packet cargo reaches heap code position, infrared inductor is issued
Signal is to MCU, and (No. 1 pile is that same waggon unloads with No. 2 piles for MCU sending instruction to No. 2 position waggon discharging power units
Expect device), having on waggon device for discharging has deflector roll 430 to invert, meanwhile, MCU provides instruction to No. 2 position waggon power and fills
The walking gear set, the relay power for walking wheel 420 are connected, and are walked wheel 420 and are run to the 1st packet heap code position forward, touch No. 1
Touch sensor at code sends the signal to MCU, and MCU issues instructions to No. 2 position waggons 400, and deflector roll 430 stops turning
Dynamic, the 2nd packet pile of No. 2 position waggons 400 terminates.By the 2nd packet pile programming action, start the 3rd, the 4th ... until pile
Last end-of-packet of structure length direction.First layer first row stacking operation terminates, and prepares first layer second row stacking operation.
Waggon 400 resets: MCU walks the sheet of wheel 420 touch sensors sending receiving last 1 packet of first layer first row
After arranging pile end signal, driving instruction is issued to waggon power device, waggon 400 returns to original position, while deflector roll 430 is transported
Turn.
Piling structure horizontal position switching action: MCU issues driving instruction to first position sensor, track 300 of walking
Move to first layer second row position.,,, until last row of first layer terminate.
Walking 300 raised position switching action of track: receiving first layer, last arranges what last 1 packet pile terminated to MCU
It after signal, issues and instructs to up and down adjustment power device 220, walking 300 structure of track is integrally promoted, and starts second layer first row heap
Code operation.Second layer first row position is since rightmost.And so on, to the last a row terminates.
Walking 300 homing action of track: after freight truck 900 is freighted, MCU issues reset instruction, track 300 of walking
It is returned to normal armed state, pipeline (such as belt), the waggon device for discharging of cargo production line shut down.
Although above having used general explanation and specific embodiment, the present invention is described in detail, at this
On the basis of invention, it can be made some modifications or improvements, this will be apparent to those skilled in the art.Therefore,
These modifications or improvements without departing from theon the basis of the spirit of the present invention are fallen within the scope of the claimed invention.
Claims (10)
1. a kind of automation pile truck-loading facilities characterized by comprising
Fixed device, in the car body panel of freight truck can be located in a manner of arrange；
Mast-up, to be installed in rotation on the fixed device in the horizontal plane；
Walking track, along a left side under the action of left and right adjusting power device, up and down adjustment power device, front and back adjust power device
It is right, position can be adjustably mounted to the mast-up respectively up and down, in the front-back direction, walking track cloth along the longitudinal direction
It sets；
Waggon, the arranged direction along the walking track are movably mounted with the walking track, the number of the waggon
It is multiple for measuring, and the multiple waggon is set gradually along the arranged direction of the walking track, and the waggon includes waggon
Power device and waggon device for discharging, the waggon is along the walking track under the driving of the waggon power device
Movement is unloaded the cargo being located on the goods conveyor by the waggon device for discharging；
Controller, with the control terminal of the left and right adjusting power device, the control terminal of the up and down adjustment power device, it is described before
The equal signal of power device, the control terminal of the waggon power device, the control terminal of the waggon device for discharging is adjusted afterwards to connect
It connects；And
First position sensor, second position sensor and the third place sensor, are connected with the controller in a signal way., described
First position sensor is configured to detect the position of the walking track in the lateral direction, the second position sensor
It is configured to detect the position of the walking track in the up-down direction, the third place sensor is configured to detect
The position of the walking track in the longitudinal direction.
2. automation pile truck-loading facilities according to claim 1, which is characterized in that further include and the controller signals
The mast-up Attitute detecting device and mast-up posture of connection correct driving device, in which:
The mast-up Attitute detecting device is fixed on the mast-up, and is configured to detect the length of the mast-up
Angle between the length direction of the car body panel of direction and freight truck；
It is installed on the mast-up in mast-up posture correction driving device, and corrects and drives in the mast-up posture
The mast-up rotates in the horizontal plane under the driving of device.
3. automation pile truck-loading facilities according to claim 2, which is characterized in that the mast-up is around the fixed dress
One jiao set can be rotatably set, and slideway is fixed on the fixed device, attitude regulation idler wheel is fixed on the mast-up,
The attitude regulation idler wheel is slidably mounted along the slideway, the pivot center of each slideway to the mast-up away from
From equal；The posture correction driving device and the attitude regulation idler wheel are sequentially connected.
4. automation pile truck-loading facilities according to claim 1, which is characterized in that further include and the controller signals
The freight truck data obtaining module of connection, to obtain the information of freight truck and store to the controller.
5. automation pile truck-loading facilities described in any one of -4 according to claim 1, which is characterized in that the waggon is dynamic
Power device include vehicle frame, waggon walking power unit and be rotatably installed on the vehicle frame it is multiple walk wheel, the conveying
Garage's walking power unit is fixed on the vehicle frame, and the waggon walking power unit and at least one described traction drive connect
It connects, the control terminal of the waggon walking power unit is connected with the controller in a signal way.；And/or
The waggon device for discharging includes waggon discharging power unit and deflector roll, and the waggon discharging power unit is fixed
In the vehicle frame, the waggon discharging power unit includes the more deflector rolls being rotatably installed on the vehicle frame, described
More deflector roll parallel arrangements, the waggon discharging power unit and all deflector rolls are sequentially connected, and the waggon unloads
The control terminal of material power unit is connected with the controller in a signal way..
6. automation pile truck-loading facilities according to claim 5, which is characterized in that further include equal and controller letter
Number connection pile position sensor and waggon walking states sensor, in which:
The pile position sensor is installed on the walking track, to determine the position of cargo pile；
The waggon walking states sensor is installed on the end of the waggon, to control the walking shape of the waggon
State.
7. automation pile truck-loading facilities according to claim 6, which is characterized in that further include crossbeam, stringer and flexible
Sunpender, the both ends of the crossbeam are individually fixed in the opposite side of the mast-up, and the crossbeam is arranged in left-right direction, the row
Walk the lower end that track is fixed on the Telescopic suspension rod；
The stringer is slidably mounted on the crossbeam under the driving of the left and right adjusting power device in left-right direction；
The Telescopic suspension rod is slidably mounted on described vertical along the longitudinal direction under the driving that the front and back adjusts power device
Beam；
The Telescopic suspension rod is telescopically arranged along the vertical direction under the driving of the up and down adjustment power device.
8. automation pile truck-loading facilities according to claim 7, which is characterized in that further include and the controller signals
The counter of connection, the counter are installed on the fixed device, the mast-up or the walking track, to count dress
The packaging quantity of the cargo of vehicle.
9. automation pile truck-loading facilities according to claim 8, which is characterized in that further include equal and controller letter
Number connection video recording device and display screen, in which:
The video recording device is installed on the mast-up, the walking track, the crossbeam, the stringer, described flexible
Sunpender or on the waggon of front end, to obtain the video image of the pile process of cargo；
The display screen is installed on the column or is removably fixed on freight truck, with the pile process of the cargo to acquisition
Video image playback.
10. automation pile truck-loading facilities according to claim 9, which is characterized in that it further include warning device, the report
Alarm device is connected with the controller in a signal way., and works as appearance:
Angle between the length direction of the car body panel of the length direction and freight truck of the mast-up is described greater than being stored in
Default angle, the left and right adjusting power-unit failure in controller, the up and down adjustment power-unit failure, the front and back
Adjust power-unit failure, the waggon power-unit failure, the waggon device for discharging failure, counter event
Barrier, the event of the pile position sensor failure, the waggon walking states sensor fault, the first position sensor
Alarm dress when at least one of barrier, the second position sensor fault, the third place sensor fault situation
Starting is set, and the display screen shows corresponding fault message.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810961953.2A CN109051832B (en) | 2018-08-22 | 2018-08-22 | Automatic stacking and loading equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810961953.2A CN109051832B (en) | 2018-08-22 | 2018-08-22 | Automatic stacking and loading equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109051832A true CN109051832A (en) | 2018-12-21 |
| CN109051832B CN109051832B (en) | 2023-09-12 |
Family
ID=64687921
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810961953.2A Active CN109051832B (en) | 2018-08-22 | 2018-08-22 | Automatic stacking and loading equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109051832B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109976244A (en) * | 2019-03-18 | 2019-07-05 | 东风柳州汽车有限公司 | Chassis type recognition methods |
| CN110223020A (en) * | 2019-06-11 | 2019-09-10 | 国电靖远发电有限公司 | The grey vehicle transportation resources of bill electronization, apparatus and system |
| CN110217601A (en) * | 2019-06-11 | 2019-09-10 | 南京大学 | A kind of bag cargo stacking flexible assembly line structure and its control method |
| CN111099309A (en) * | 2020-01-14 | 2020-05-05 | 嵊州陌桑高科股份有限公司 | Automatic feeding method of culture frame in industrial silkworm breeding |
| CN111790622A (en) * | 2020-07-07 | 2020-10-20 | 圆智自动化科技(西安)有限公司 | Power saving method and system for packet supply table of cross-belt sorting machine |
| WO2022221375A1 (en) * | 2021-04-13 | 2022-10-20 | Hoss Industries, LLC | System and method for commodity terminal order automation |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005219884A (en) * | 2004-02-06 | 2005-08-18 | Nippon Yusoki Co Ltd | Automatic transfer device |
| CN204980075U (en) * | 2015-06-23 | 2016-01-20 | 广州焙欧机械设备有限公司 | Metal guipure transmission system |
| CN106429483A (en) * | 2016-12-09 | 2017-02-22 | 芜湖哈特机器人产业技术研究院有限公司 | Automatic stacking and truck-loading system and truck-loading method thereof |
| CN107444932A (en) * | 2016-05-31 | 2017-12-08 | 广州达意隆包装机械股份有限公司 | A kind of robot automatic loading system |
| CN107572264A (en) * | 2017-08-31 | 2018-01-12 | 绵阳汇久机器人有限公司 | A kind of control system and its control method of cantilever-type full-automatic handling vehicle device |
| CN107585597A (en) * | 2017-09-08 | 2018-01-16 | 广州圣益龙自动控制技术有限公司 | A kind of intelligent loading system |
| CN108002007A (en) * | 2017-11-30 | 2018-05-08 | 苏州哈工众志自动化科技有限公司 | Extension system goes up automatically in a kind of robot |
-
2018
- 2018-08-22 CN CN201810961953.2A patent/CN109051832B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005219884A (en) * | 2004-02-06 | 2005-08-18 | Nippon Yusoki Co Ltd | Automatic transfer device |
| CN204980075U (en) * | 2015-06-23 | 2016-01-20 | 广州焙欧机械设备有限公司 | Metal guipure transmission system |
| CN107444932A (en) * | 2016-05-31 | 2017-12-08 | 广州达意隆包装机械股份有限公司 | A kind of robot automatic loading system |
| CN106429483A (en) * | 2016-12-09 | 2017-02-22 | 芜湖哈特机器人产业技术研究院有限公司 | Automatic stacking and truck-loading system and truck-loading method thereof |
| CN107572264A (en) * | 2017-08-31 | 2018-01-12 | 绵阳汇久机器人有限公司 | A kind of control system and its control method of cantilever-type full-automatic handling vehicle device |
| CN107585597A (en) * | 2017-09-08 | 2018-01-16 | 广州圣益龙自动控制技术有限公司 | A kind of intelligent loading system |
| CN108002007A (en) * | 2017-11-30 | 2018-05-08 | 苏州哈工众志自动化科技有限公司 | Extension system goes up automatically in a kind of robot |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109976244A (en) * | 2019-03-18 | 2019-07-05 | 东风柳州汽车有限公司 | Chassis type recognition methods |
| CN110223020A (en) * | 2019-06-11 | 2019-09-10 | 国电靖远发电有限公司 | The grey vehicle transportation resources of bill electronization, apparatus and system |
| CN110217601A (en) * | 2019-06-11 | 2019-09-10 | 南京大学 | A kind of bag cargo stacking flexible assembly line structure and its control method |
| CN111099309A (en) * | 2020-01-14 | 2020-05-05 | 嵊州陌桑高科股份有限公司 | Automatic feeding method of culture frame in industrial silkworm breeding |
| CN111099309B (en) * | 2020-01-14 | 2021-06-22 | 嵊州陌桑高科股份有限公司 | Automatic feeding method of culture frame in industrial silkworm breeding |
| CN111790622A (en) * | 2020-07-07 | 2020-10-20 | 圆智自动化科技(西安)有限公司 | Power saving method and system for packet supply table of cross-belt sorting machine |
| WO2022221375A1 (en) * | 2021-04-13 | 2022-10-20 | Hoss Industries, LLC | System and method for commodity terminal order automation |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109051832B (en) | 2023-09-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109051832A (en) | Automate pile truck-loading facilities | |
| CN106865243B (en) | Automatic material loading mechanical arm control system and control method thereof | |
| CN105986693B (en) | A kind of intelligent three-dimensional shutdown system based on transfer robot and vehicle-carrying plate | |
| CN207275774U (en) | A kind of intelligence loading system | |
| CN108045825A (en) | A kind of rotatable load bed shuttle for carrying manipulator | |
| CN107472932A (en) | Carloader and loading system | |
| EP0996581B1 (en) | Satellite vehicle for moving pallet units in and out of storage with transportation vehicles | |
| DE112017004070T5 (en) | ROBOTERKARTONENTLADER | |
| CN206345307U (en) | Automatic picking delivering device based on automatic guided vehicle | |
| CN208326757U (en) | A kind of automatic loading system with laser ranging positioning function | |
| CN208008022U (en) | A kind of new type auto loading system | |
| CN112573222B (en) | Flexible automatic loading system based on machine vision positioning | |
| CN206569714U (en) | Sheet material tilts feed mechanism | |
| CN107176487A (en) | The full-automatic collection piling system of offset printing corrugation facing machine | |
| CN106379685A (en) | Automatic goods taking and unloading equipment based on unmanned carrier | |
| CN110053988A (en) | A kind of bagged cement automatic loading device and control method | |
| CN109205326A (en) | Robot palletizer and its working method | |
| CN112651694A (en) | Intelligent management system and intelligent management method for warehouse goods | |
| CN209337677U (en) | Automate pile truck-loading facilities | |
| CN207726112U (en) | A kind of rotatable load bed shuttle carrying manipulator | |
| CN202499553U (en) | Destacking and entrucking conveying device for bagged material | |
| CN109677312A (en) | The AGV and control method of bilayer conveying two-dimension code navigation | |
| CN106276025B (en) | Abnormal shape expects one-to-one automatic access Intelligent cargo cabinet | |
| CN206427765U (en) | Suitable for the automatic loading device into bag material | |
| CN114751130B (en) | Intelligent factory is with three-dimensional intelligent circulation storage frame |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |