CN109319526B - Container loading and storing system and method for bagged materials - Google Patents
Container loading and storing system and method for bagged materials Download PDFInfo
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- CN109319526B CN109319526B CN201811368095.7A CN201811368095A CN109319526B CN 109319526 B CN109319526 B CN 109319526B CN 201811368095 A CN201811368095 A CN 201811368095A CN 109319526 B CN109319526 B CN 109319526B
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- 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
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- 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
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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- Stacking Of Articles And Auxiliary Devices (AREA)
Abstract
The invention discloses a container loading and storing system and method for bagged materials, comprising a gantry crane for transferring empty containers or full cargo containers among an auxiliary loading unit, a container truck and a circulation storage area; a container for creating a closed moisture-proof space for storing or transferring the bagged materials; the auxiliary loading unit is used for realizing material stacking of the whole container chassis; the double-station stacking system is used for conveying the bagged materials to a station of the stacking robot through a belt and stacking the bagged materials on a container chassis on the auxiliary loading unit; a circulation storage area for storing empty containers and filled cargo containers; the invention controls the stacking robot to stack bagged materials through the control system, loads and conveys the container through the auxiliary loading machine set, and lifts and stacks the container through the gantry crane or circulates the storage area. The system is safe and reliable, has low cost, can realize unmanned operation and has high automation degree.
Description
Technical Field
The invention belongs to the field of article transportation, and particularly relates to a container loading and storing system and method for bagged materials, which are suitable for the container loading task of the bagged materials and the short-term storage task of the bagged materials.
Background
At present, after the production of bagged materials (products such as lime, flour, cement, chemical fertilizers, sugar and the like) is finished, the production is still finished mainly by manpower when the vehicle loading work is carried out. Products are usually stacked on a goods shelf or a supporting plate, when the goods are required to be loaded, the supporting plate and the goods are forked up by a forklift to be placed at the edge of a truck, and then the goods are stacked in the truck by manpower. Wherein, no matter the articles with larger weight or dangerous articles exist, the potential safety hazard to staff is large; in addition, due to the difference of the sales light season, factories often need to build a large number of warehouses for storing the sales light season output, and the investment is large. Therefore, developing a loading system with high working efficiency, capable of reducing the labor intensity and without warehouse storage has become an urgent problem for enterprises and society.
Products or patents on the market all have the defects of low loading efficiency, temporary storage of products which are not timely transported, emergency storage warehouse establishment and the like:
the company of the cement stock ZQD100 type movable bag used a novel cargo bed cement car loader used by cement car loader and Anhui conch group, the packaged material can be transported to above the transport vehicle, but stacking of the material into the hopper still requires manual effort.
The Qin Royal island port propyl wharf is modified into a special wharf for loading and unloading bulk chemical fertilizer, and a mobile loading machine with high technical content is used to directly load the bagged chemical fertilizer from the bagging machine into a train carriage. However, products which are not transported out timely need to be transported to a warehouse for temporary storage, and an emergency storage warehouse still needs to be established.
CN203806728U discloses a loading robot, the car and the conveying track are arranged below the gantry crane, and the gantry crane can realize x-direction movement through a ground roller way. The machine gripper is arranged on the gantry crane, so that movement in the y and z directions can be realized. But it uses truss robots to carry a single gripper while palletizing and loading, is inefficient, and also requires the establishment of an emergency storage warehouse.
CN107352290a discloses an automatic loading robot for packaging boxes, which is deep into a carriage to finish automatic stacking through a travelling device at the lower end of a portal frame. Although the automation degree of the loading equipment is higher, products are conveyed to the inside of a carriage through a single conveying line, the loading efficiency is low, and an emergency storage warehouse is required to be built.
Disclosure of Invention
In order to solve the defects in the prior art, one of the purposes of the invention is to provide a container loading and storing system and method for bagged materials, so as to solve the technical problems of low loading efficiency, untimely product transferring, temporary storage, emergency storage warehouse building and the like of the existing loading system.
The invention is realized by the following technical scheme.
According to one embodiment of the invention, a container loading and storing system for bagged materials comprises:
the gantry crane automatically identifies the container according to the task instruction of the control system and is used for transferring the empty container or the full cargo container among the auxiliary loading unit, the container truck and the circulation storage area;
the container is a detachable buckling type container and is used for building a closed moisture-proof space to store or transport bagged materials;
the auxiliary loading unit is used for opening the detachable buckled container, carrying the container chassis, moving intermittently according to the stacking instruction of the control system, and realizing the material stacking of the whole container chassis by the auxiliary double-station stacking system;
the double-station stacking system is used for conveying bagged materials to stations of a stacking robot through a belt, automatically identifying the position of an auxiliary loading unit through machine vision, controlling the position of the auxiliary loading unit to move and adjust, and stacking the bagged materials on a container chassis on the auxiliary loading unit through the stacking robot;
a circulation storage area for storing empty containers and full cargo containers;
the control system is used for acquiring the position information of the bagged materials and the auxiliary loader collected by the binocular vision components on the gantry crane and the double-station stacking system, controlling the stacking robot to stack the bagged materials, and controlling the auxiliary loader unit to convey the container and adjust the position.
Preferably, the gantry crane comprises a ground rail, a pair of beam supports are arranged on the ground rail through wheel groups, a double beam group is arranged on the beam supports, two mobile car groups, two lifting assemblies and two binocular vision assemblies I are connected between the double beam groups in a sliding manner, and a lifting hook is arranged on each mobile car group correspondingly; and a cab mounted on the beam support.
Preferably, the two binocular vision assemblies I are respectively installed on the two mobile car groups.
Preferably, the cab is arranged between a pair of beam support columns, the beam support columns are a pair of support columns distributed in a splayed shape, and the view of the cab is wide.
Preferably, the container comprises a container chassis and a sealing fence, the container chassis and the sealing fence are buckled to form a closed container body, the sealing fence is of a frame structure, connecting pins are arranged at the bottoms of four sides of the frame, and penetrate through the sealing fence and the container chassis and are locked through threads.
Preferably, the top of the closed box body is provided with hanging rings which are symmetrically distributed across the box body; and a sealing groove embedded with a sealing ring is arranged in the chassis frame of the container.
Preferably, the auxiliary loading unit is an auxiliary loading chassis carried by a plurality of movable wheel sets, and pin opening and closing assemblies matched with the connecting pins are respectively arranged on four corners of the upper surface of the auxiliary loading chassis and are used for realizing automatic disassembly and buckling of the container.
Preferably, the double-station stacking system comprises a main belt line connected with a bagged material feeding area and a plurality of auxiliary belt lines in butt joint with the main belt line, wherein a stacking robot is arranged at the end part of each auxiliary belt line, and a binocular vision assembly II is arranged above the stacking robot.
The invention correspondingly provides a container loading and storing method of bagged materials of the system, which comprises the following steps:
1) The control system controls the auxiliary loading unit to move into the effective working range of the gantry crane;
2) Cab personnel control the wheel sets of the gantry crane to move to the position above the idle container along the ground rail;
3) The binocular vision component I on the gantry crane automatically identifies the lifting hook and the container lifting ring, and the control system sends information acquired by the binocular vision component I to a display screen in a cab of the gantry crane to assist a driver in hanging the container;
4) The operator in the cab controls the position adjustment of the travelling crane wheel set and the position adjustment of the two mobile vehicle groups, and then controls the lifting assembly to act, so that the lifting hook hooks the container lifting ring, and the idle container is lifted and placed on the chassis of the auxiliary loading unit;
5) After the operator confirms that the container is placed on the chassis of the auxiliary loading unit, a container separation instruction is sent to the control system;
6) The control system controls the pin opening and closing assembly on the chassis of the auxiliary loading unit to synchronously separate from the connecting pins of the container;
7) The operator in the cab controls the lifting assembly of the gantry crane to act, so that the lifting hook breaks away the separated container sealing fence from the container chassis; the driver's cab personnel control the wheel set to move along the ground rail to leave the operation channel of the auxiliary loading unit;
8) The operator in the cab confirms that the separated container sealing fence is separated from the container chassis, and sends a stacking instruction to the control system;
9) The control system controls the auxiliary loading unit to carry the container chassis into a stacking corridor of the double-station stacking system;
10 Conveying bagged materials produced by the production line to the material picking positions of the two stacking robots respectively by a belt line of the double-station stacking system;
11 The binocular vision component II of the double-station stacking system collects images of the auxiliary loading unit and transmits the images to the control system, and the control system calculates the current position of the auxiliary loading unit through image processing and adjusts the position;
12 The control system controls the palletizing robot to pick up the bagged materials at the material picking position and load the bagged materials on the chassis of the auxiliary loading unit with the container chassis according to a certain arrangement sequence;
13 After stacking of the materials, the control system controls the auxiliary loading unit to move to the effective working range of the gantry crane, and a driver in a cab controls the crane to adjust the position, so that the lifting hook places the container sealing fence on the container chassis filled with the materials;
14 After the operator confirms that the container sealing fence is placed on the container chassis which is full of materials, a container closing instruction is sent to the control system;
15 The control system controls the pin opening and closing assembly on the chassis of the auxiliary loading unit to synchronously insert the connecting pins of the container;
16 A driver's cab personnel controls the gantry crane to lift the closed container filled with the materials; conveying the closed container filled with the materials to a circulation storage area or transferring the closed container to the position right above a truck to be loaded;
17 The operator in the cab controls the lifting assembly of the gantry crane to control the lifting hook to drop the container, and the container is placed in a circulation storage area or transferred to a truck to be loaded.
Due to the adoption of the technical scheme, the invention has the following beneficial effects:
1. the invention adopts the structure form of automatic disassembly and connection of the container, and the processes of disassembly, connection and the like of the container do not need manual assistance, thereby realizing unmanned work in intermediate links, saving cost investment and avoiding personnel operation danger;
2. according to the gantry crane, the binocular vision assembly is adopted for automatically identifying and positioning the lifting hook and the container lifting hook, so that the hooking task is assisted to be manually executed, the container is not required to be hooked in a manual assistance manner, and the dangerous links of personnel operation are avoided;
3. the invention adopts a container form that the upper part and the lower part can form a sealed inner space, and can be placed in a rain and snow environment to ensure that the products carried in the interior are in a dry environment for storing in an open square, thereby avoiding the high capital construction cost for constructing a warehouse;
4. according to the invention, a double-station stacking system is adopted, materials are stacked on the container chassis in advance, and the periphery of the container chassis is free from interference of stand columns, barrier plates and the like to the movement route of the stacking robot, so that the convenience degree and the stacking efficiency of the materials are improved;
5. according to the invention, the binocular stereoscopic vision assembly is adopted to perform three-dimensional contour recognition, position detection and real-time monitoring of the bagged materials and the material stack on the auxiliary loading unit, so that the full-automatic stacking of the bagged products on the container chassis is realized by controlling two stacking robots, unmanned operation is realized, and the automation degree is high;
6. the invention adopts a container loading mode of fully loaded products, namely, the sealed rail of the container lifted by the gantry crane is arranged on the container chassis, and the whole container is lifted by the gantry crane for loading, so that the invention is simple and efficient, and the time for waiting for loading when the vehicle stops is greatly shortened.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate and do not limit the invention, and together with the description serve to explain the principle of the invention:
FIG. 1 is a layout diagram of a container loading and storage system for bagged materials;
FIG. 2 is a schematic view of gantry crane composition;
FIG. 3 is a schematic view of the container composition (closed state);
FIG. 4 is a schematic view of the container composition (disassembled state);
FIG. 5 is a schematic diagram of the auxiliary loader assembly;
fig. 6 is a schematic diagram of a dual station stacking system.
In fig. 1: the system comprises a 1-gantry crane, a 2-container, a 3-auxiliary loading unit, a 4-double-station stacking system, a 5-transfer storage area, a 6-return container truck, a 7-truck to be loaded, an 8-loaded truck and a 9-control system.
In fig. 2: 1-1-ground rail, 1-2-wheel set, 1-3-crossbeam support, 1-4-double-crossbeam set, 1-5-mobile car set, 1-6-lifting assembly, 1-7-binocular vision assembly I, 1-8-lifting hook and 1-9-cab.
Fig. 3 and 4: the container comprises a 2-1-container chassis, a 2-2-sealing fence, a 2-3-connecting pin and a 2-4-container hanging ring.
In fig. 5: 3-1-auxiliary loader chassis, 3-2 movable wheel sets, 3-3-pin opening and closing components.
In fig. 6: the device comprises a 4-1-main belt line, a 4-2-auxiliary belt line, a 4-3-palletizing robot and a 4-4-binocular vision component II.
Detailed Description
The present invention will now be described in detail with reference to the drawings and the specific embodiments thereof, wherein the exemplary embodiments and descriptions of the present invention are provided for illustration of the invention and are not intended to be limiting.
As shown in fig. 1, the container loading and storing system for bagged materials of the present invention includes:
the system comprises a set of gantry crane 1, a sufficient number of containers 2, a set of auxiliary loading units 3, a set of double-station stacking system 4, a sufficient wide circulation storage area 5, a return container truck 6, a truck to be loaded 7, a loaded truck 8 and a control system 9, wherein the functions of the parts are as follows:
the gantry crane 1 automatically identifies the container 2 (including an empty container, a split container and a full cargo container) according to a control system task instruction, is used for position transfer of the container 2, conveys the empty container 2 from a return container truck 6 (or a circulation storage area 5) to an auxiliary loading unit 3, conveys the full cargo container 2 from the auxiliary loading unit 3 or (or the circulation storage area 5) to a truck 7 to be loaded, or conveys the full cargo container 2 from the auxiliary loading unit 3 to the circulation storage area 5.
The container 2 belongs to a detachable buckling type container, and has two states of an empty container 2 and a full cargo container 2, and is used for creating a closed dampproof space to store or transport bagged materials.
The auxiliary loading unit 3 is used for opening four pins of the container loading unit 2, separating the container from the sealing fence 2-2 and the container chassis 2-1, namely, lifting the sealing fence 2-2 by using the lifting hooks 1-8, leaving the container chassis 2-1 on the auxiliary loading machine chassis 3-1 of the auxiliary loading unit 3, carrying the container chassis 2-1 into a stacking corridor of the double-station stacking system 4, moving according to the intermittent position of stacking instructions, and realizing the material stacking of the whole container chassis 2-1 by the double-station stacking system 4.
The double-station stacking system 4 is used for conveying bagged materials to stations of a stacking robot through a belt under the control of the control system, automatically identifying the position of the auxiliary loading unit 3 by utilizing machine vision, controlling the auxiliary loading unit 3 to carry out position movement adjustment, and stacking the bagged materials on a container chassis 2-1 on the auxiliary loading unit 3 by the stacking robot.
A circulation storage area 5 for storing unoccupied containers 2 that have not yet been available for boxing, and filled cargo containers 2 that have not yet been available for shipping.
According to the invention, the gantry crane 1 and the auxiliary loading unit 3 are used for moving and splitting the container 2, then the double-station stacking system 4 is used for stacking the bagged material container 2, and then the gantry crane 1 is used for hoisting the bagged material to the circulation storage area 5, so that concentrated storage and moisture-proof airtight storage of the bagged material are realized, or the gantry crane 1 is used for hoisting the bagged material to the truck 7 to be loaded, so that the quick loading of the bagged material is realized, and the time for the vehicle to park and wait for loading is greatly shortened. The gantry crane 1 hooks the container 2 to realize the position movement of the container; the container 2 hooked with the loaded goods is transferred to the truck to be loaded from the ground of the circulation storage area 5, and the container 2 which is free to be hooked can also be transferred to the ground of the circulation storage area 5 or the auxiliary loading machine set 3 from the truck.
As shown in fig. 2, the gantry crane 1 comprises a ground rail 1-1, a pair of beam supports 1-3 are arranged on the ground rail 1-1 through wheel sets 1-2, a double beam set 1-4 is arranged on the beam supports 1-3, two movable car sets 1-5, two lifting assemblies 1-6 and two binocular vision assemblies I1-7 are connected between the double beam sets 1-4 in a sliding manner, and a lifting hook 1-8 is arranged on each movable car set 1-5; and a cab 1-9 arranged on the beam support 1-3. The two binocular vision components 1-7 are respectively arranged on the two mobile vehicle groups 1-5, and binocular vision camera vision fields can cover the upper and lower forming of the lifting hooks 1-8, so that video monitoring is provided in the cab 1-9 on one hand, and the lifting hooks 1-8 and the container lifting rings 2-4 can be automatically identified and positioned on the other hand, so that the gantry crane 1 can be automatically controlled to carry out the hooking task of the container 2. The cab 1-9 is arranged between a pair of upright posts of the beam support 1-3, and the beam support 1-3 is a pair of splayed support posts, so that the visual field of operators in the cab 1-9 is ensured to be wide enough to cover the whole system.
The operator is located the binocular vision subassembly I1-7 of planer-type crane 1 and carries out target recognition and location, independently controls wheelset 1-2 and realizes x direction motion along ground rail 1-1, and two mobile car sets 1-5 realize y direction motion along double beam group 1-4, adjusts and plays to rise subassembly 1-6 and remove directly over container 2, then control lifting hook 1-8 and collude idle container 2.
As shown in fig. 3, the container 2 is a detachable, snap-fit container having two states, an empty container 2 and a full cargo container 2. The container comprises a container chassis 2-1 and a sealed box body formed by a sealed fence 2-2 buckled with the container chassis 2-1, wherein the sealed fence 2-2 is of a frame structure, connecting pins 2-3 are arranged at the bottoms of four sides of the frame, the connecting pins 2-3 penetrate through the sealed fence 2-2 and the container chassis 2-1, the container chassis 2-1 and the sealed fence 2-2 are locked through threads on the pins 2-3, and the container chassis 2-1 and the sealed fence 2-2 are connected into a whole through four connecting pins 2-3; the internal space of the integrated container 2 is sealed. The top of the closed box body is provided with container hanging rings 2-4 which are symmetrically distributed across the box body, and the two container hanging rings 2-4 are used for lifting hooks 1-8 to hook and hang the container. And a sealing groove embedded with a sealing ring is arranged in the frame of the container chassis.
As shown in fig. 4, after the four pins 2-3 of the container 2 are opened, the container hanging ring 2-4 can be hung by using the gantry crane hook 1-8 to hang away the sealing fence 2-2, so that the container chassis 2-1 is left on the auxiliary loader chassis 3-1 of the auxiliary loader set 3.
As shown in fig. 5, the auxiliary loader unit 3 is an auxiliary loader chassis 3-1 carried by a plurality of movable wheel sets 3-2, and pin opening and closing assemblies 3-3 matched with connecting pins are respectively arranged on four corners of the upper surface of the auxiliary loader chassis 3-1 and are used for realizing automatic disassembly and buckling of containers. The auxiliary loading unit 3 is in charge of separating from the connecting pins 2-3 of the container 2; after the cargo is fully loaded, the auxiliary loading unit 3 is responsible for inserting the connecting pins 2-3 of the container 2.
As shown in fig. 6, the double-station stacking system 4 comprises a main belt line 4-1 connected with a bagged material feeding area and two auxiliary belt lines 4-2 butted with the main belt line, stacking robots 4-3 are arranged at the end parts of the auxiliary belt lines, and binocular vision assemblies II 4-4 are arranged above each stacking robot. The auxiliary loading unit 3 carries the container chassis 2-1 into a stacking corridor of the double-station stacking system 4; the control system controls the intermittent movement of the auxiliary loading unit 3, and the double-station stacking system 4 realizes material stacking of the whole container chassis 2-1.
The invention relates to a container loading and storing method of bagged materials, which comprises the following steps:
1) The control system 9 controls the loading unit 3 to move into the effective working range of the gantry crane 1;
2) Cab personnel control the wheel sets 1-2 of the gantry crane 1 to move above the idle container 2 along the ground rail 1-1;
3) The gantry crane 1 adopts a binocular vision component I1-7 to automatically identify and position the lifting hooks 1-8 and the container lifting hooks 2-4, and the control system 9 sends information acquired by the binocular vision component 1-7 to a display screen in a cab of the gantry crane to assist a driver in hanging the container 2;
4) The operator in the cab controls the position adjustment of the travelling crane wheel set 1-2 along the x direction and the position adjustment of the two mobile vehicle groups 1-5 along the y direction, controls the lifting assembly 1-6 to act, and enables the heavy lifting hook 1-8 to hook the container lifting ring 2-4 to lift the idle container 2; the wheel set 1-2 of the gantry crane 1 moves along the ground rail 1-1, the two mobile vehicle sets 1-5 synchronously adjust positions along the y direction, and the container 2 of the lifting hook is moved to be right above the auxiliary loading unit 3; the lifting assembly 1-6 controls the lifting hook 1-8 to place the container 2 on the chassis 3-1 of the auxiliary loading unit;
5) After the driver's cab personnel confirms that the container 2 is placed on the chassis 3-1 of the auxiliary loading unit, a container separation instruction is sent to the control system 9;
6) The control system 9 controls the four pin opening and closing assemblies 3-3 of the auxiliary loader 3 to synchronously separate from the four connecting pins 2-3 of the container 2;
7) The operator of the cab controls the lifting assembly 1-6 of the gantry crane 1 to control the lifting hook 1-8 to separate the separated container sealing fence 2-2 from the container chassis 2-1; the driver controls the wheel 1-2 group to move along the ground rail 1-1 to leave the running channel of the auxiliary loading unit 3;
8) The operator in the cab confirms that the separated container sealing fence 2-2 is separated from the container chassis 2-1, and sends a stacking instruction to the control system 9;
9) The control system 9 controls the auxiliary loading unit 3 to carry the container chassis 2-1 into a stacking corridor of the double-station stacking system 4;
10 A main belt line 4-1 and two auxiliary belts 4-2 of the double-station stacking system 4 continuously convey bagged products produced by the production line to pick-up positions of the two stacking robots 4-3 respectively;
11 The binocular vision component II 4-4 of the double-station stacking system 4 collects images of the auxiliary loading unit 3 and transmits the images to the control system 9, and the control system 9 processes and solves the position of the current auxiliary loading unit 3 through the images and controls the position of the current auxiliary loading unit 3 to be adjusted; the control system 9 sends the position information of the auxiliary loading unit to the palletizing robot 4-3, and controls the palletizing robot 4-3 to place bagged materials on the container chassis 2-1 above the auxiliary loading unit chassis 3-1;
12 The control system 9 is matched with the binocular vision assembly II 4-4 to perform three-dimensional contour recognition, position detection and real-time monitoring of bagged materials and material stacks on the auxiliary loading unit, and further the two palletizing robots 4-3 are controlled to realize full-automatic palletizing of bagged products on the container chassis 2-1; intermittent movement of the auxiliary loading unit 3 is controlled, so that material stacking of the whole container chassis 2-1 is completed;
13 The stacking of the materials on the container chassis 2-1 is completed, and the control system 9 controls the auxiliary loading unit 3 to move into the effective working range of the gantry crane 1; the operator of the cab controls the gantry crane 1 to run above the auxiliary loading unit 3, and then controls the lifting assembly 1-6 to enable the lifting hook 1-8 to place the container sealing fence 2-2 on the container chassis 2-1 which is full of materials;
14 After the operator confirms that the container sealing fence 2-2 has been placed on the container chassis 2-1 that has been filled with material, a container closing instruction is sent to the control system 9;
15 The control system 9 controls the four pin opening and closing assemblies 3-3 of the auxiliary loading unit 3 to synchronously insert and close the four connecting pins 2-3 of the container 2;
16 A cab operator controls the lifting assembly 1-6 of the gantry crane 1 to enable the lifting hook 1-8 to lift the closed container 2 filled with materials; then controlling the wheel sets 1-2 of the gantry crane 1 to move along the ground rail 1-1, and synchronously adjusting the positions of the two mobile vehicle sets 1-5 along the y direction, and conveying the closed container 2 filled with materials to the circulation storage area 5 or transferring the closed container to the position right above the truck 7 to be loaded;
17 A cab operator controls the lifting assembly 1-6 of the gantry crane 1 to enable the lifting hooks 1-8 to drop the container 2, and place the container 2 on the circulation storage ground 5 or transfer the container 2 to the truck 7 to be loaded; then the two movable car sets 1-5 are controlled to carry out y-direction position adjustment, and the lifting components 1-6 are controlled to separate the lifting hooks 1-8 from the container 2.
The system solves the technical problems that the existing loading system is low in loading efficiency, temporary storage of products which are not transferred timely is needed to be established with an emergency storage warehouse, and the like, is safe and reliable, low in cost, capable of realizing unmanned operation and high in automation degree.
The invention is not limited to the above embodiments, and based on the technical solution disclosed in the invention, a person skilled in the art may make some substitutions and modifications to some technical features thereof without creative effort according to the technical content disclosed, and all the substitutions and modifications are within the protection scope of the invention.
Claims (7)
1. A container loading and storage system for bagged materials, comprising:
the gantry crane automatically identifies the container according to the task instruction of the control system and is used for transferring the empty container or the full cargo container among the auxiliary loading unit, the container truck and the circulation storage area;
the container is a detachable buckling type container and is used for building a closed moisture-proof space to store or transport bagged materials;
the auxiliary loading unit is used for opening the detachable buckled container, carrying the container chassis, moving intermittently according to the stacking instruction of the control system, and realizing the material stacking of the whole container chassis by the auxiliary double-station stacking system;
the double-station stacking system is used for conveying bagged materials to stations of a stacking robot through a belt, automatically identifying the position of an auxiliary loading unit through machine vision, controlling the auxiliary loading unit to carry out position movement adjustment, and stacking the bagged materials on a container chassis on the auxiliary loading unit by the stacking robot;
a circulation storage area for storing empty containers and full cargo containers;
the control system is used for acquiring the position information of the bagged materials and the auxiliary loading unit acquired by the binocular vision component I on the gantry crane and the binocular vision component II on the double-station stacking system, controlling the stacking robot to stack the bagged materials, controlling the auxiliary loading unit to transport the container and adjusting the position;
the container comprises a container chassis and a closed box body buckled with the container chassis, wherein the closed box body is of a frame structure formed by sealing fences, connecting pins are arranged at the bottoms of four sides of the frame, and penetrate through the sealing fences and bolts on the container chassis to be locked;
the auxiliary loading unit comprises an auxiliary loading unit chassis carried by a plurality of movable wheel units, and pin opening and closing assemblies matched with connecting pins are respectively arranged on four corners of the upper surface of the auxiliary loading unit chassis and used for realizing automatic disassembly and buckling of containers.
2. The system for loading and storing the bagged materials into the container according to claim 1, wherein the gantry crane comprises a ground rail, a pair of beam supports are arranged on the ground rail through wheel groups, a double beam group is arranged on the beam supports in a erected mode, two movable vehicle groups, two lifting assemblies and two binocular vision assemblies I are connected between the double beam groups in a sliding mode, and a lifting hook is arranged on each movable vehicle group; and a cab mounted on the beam support.
3. The bagged material container loading and storing system of claim 2, wherein the two binocular vision assemblies are installed on two mobile car units respectively.
4. The system of claim 2, wherein the cab is disposed between a pair of beam support columns, the beam support being a pair of splayed support columns.
5. The system for loading and storing bagged materials in container according to claim 4, wherein the top of the closed container body is provided with container hanging rings which are symmetrically distributed across the container body; and a sealing groove embedded with a sealing ring is arranged in the chassis frame of the container.
6. The system for loading and storing bagged materials in containers according to claim 1, wherein the double-station stacking system comprises a main belt line connected with the bagged materials feeding area and a plurality of auxiliary belt lines in butt joint with the main belt line, a stacking robot is arranged at the end part of each auxiliary belt line, and a binocular vision component II is arranged above the stacking robot.
7. A method of shipping and storing bagged materials of the system of any one of claims 1 to 6, comprising the steps of:
1) The control system controls the auxiliary loading unit to move into the effective working range of the gantry crane;
2) Cab personnel control the wheel sets of the gantry crane to move to the position above the idle container along the ground rail;
3) The binocular vision component I on the gantry crane automatically identifies the lifting hook and the container lifting ring, and the control system sends information acquired by the binocular vision component I to a display screen in a cab of the gantry crane to assist a driver in hanging the container;
4) The operator in the cab controls the position adjustment of the travelling crane wheel set and the position adjustment of the two mobile vehicle groups, and then controls the lifting assembly to act, so that the lifting hook hooks the container lifting ring, and the idle container is lifted and placed on the chassis of the auxiliary loading unit;
5) After the operator confirms that the container is placed on the chassis of the auxiliary loading unit, a container separation instruction is sent to the control system;
6) The control system controls the pin opening and closing assembly on the chassis of the auxiliary loading unit to synchronously separate from the connecting pins of the container;
7) The operator in the cab controls the lifting assembly of the gantry crane to act, so that the lifting hook breaks away the separated container sealing fence from the container chassis; the driver's cab personnel control the wheel set to move along the ground rail to leave the operation channel of the auxiliary loading unit;
8) The operator in the cab confirms that the separated container sealing fence is separated from the container chassis, and sends a stacking instruction to the control system;
9) The control system controls the auxiliary loading unit to carry the container chassis into a stacking corridor of the double-station stacking system;
10 Conveying bagged materials produced by the production line to the material picking positions of the two stacking robots respectively by a belt line of the double-station stacking system;
11 The binocular vision component II of the double-station stacking system collects images of the auxiliary loading unit and transmits the images to the control system, and the control system calculates the current position of the auxiliary loading unit through image processing and adjusts the position;
12 The control system controls the palletizing robot to pick up the bagged materials at the material picking position and load the bagged materials on the chassis of the auxiliary loading unit with the container chassis according to a certain arrangement sequence;
13 After stacking of the materials, the control system controls the auxiliary loading unit to move to the effective working range of the gantry crane, and a driver in a cab controls the crane to adjust the position, so that the lifting hook places the container sealing fence on the container chassis filled with the materials;
14 After the operator confirms that the container sealing fence is placed on the container chassis which is full of materials, a container closing instruction is sent to the control system;
15 The control system controls the pin opening and closing assembly on the chassis of the auxiliary loading unit to synchronously insert the connecting pins of the container;
16 A driver's cab personnel controls the gantry crane to lift the closed container filled with the materials; conveying the closed container filled with the materials to a circulation storage area or transferring the closed container to the position right above a truck to be loaded;
17 The operator in the cab controls the lifting assembly of the gantry crane to control the lifting hook to drop the container, and the container is placed in a circulation storage area or transferred to a truck to be loaded.
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| CN201811368095.7A CN109319526B (en) | 2018-11-16 | 2018-11-16 | Container loading and storing system and method for bagged materials |
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| CN110027994A (en) * | 2019-03-29 | 2019-07-19 | 天津二建建筑工程有限公司 | Prefabricated components intensively stack Secondary Transport system |
| CN112520089B (en) * | 2020-12-18 | 2022-07-29 | 杭州景业智能科技股份有限公司 | Automatic fast-assembling system of lead-acid battery |
| CN112418568B (en) * | 2021-01-25 | 2021-04-06 | 苏州澳昆智能机器人技术有限公司 | Semi-online stack type planning method and robot |
| CN114219842B (en) * | 2021-12-14 | 2022-08-12 | 东南大学 | Visual identification, distance measurement and positioning method in port container automatic loading and unloading operation |
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