CN109693903A - A kind of cargo handling system - Google Patents

A kind of cargo handling system Download PDF

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Publication number
CN109693903A
CN109693903A CN201910137964.3A CN201910137964A CN109693903A CN 109693903 A CN109693903 A CN 109693903A CN 201910137964 A CN201910137964 A CN 201910137964A CN 109693903 A CN109693903 A CN 109693903A
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CN
China
Prior art keywords
conveying device
cargo
handling
robot
conveying
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.)
Pending
Application number
CN201910137964.3A
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Chinese (zh)
Inventor
何令
严祖雄
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Guangzhou Tech Long Packaging Machinery Co Ltd
Original Assignee
Guangzhou Tech Long Packaging Machinery Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Guangzhou Tech Long Packaging Machinery Co Ltd filed Critical Guangzhou Tech Long Packaging Machinery Co Ltd
Priority to CN201910137964.3A priority Critical patent/CN109693903A/en
Publication of CN109693903A publication Critical patent/CN109693903A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02Storage devices
    • B65G1/04Storage devices mechanical
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02Storage devices
    • B65G1/04Storage devices mechanical
    • B65G1/0492Storage devices mechanical with cars adapted to travel in storage aisles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02Storage devices
    • B65G1/04Storage devices mechanical
    • B65G1/137Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G61/00Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for

Abstract

The present invention discloses a kind of cargo handling system, cargo handling system includes control system, automatic handling device and handling device, automatic handling device and handling device are connect with control system signal, the remote wireless control to automatic handling device and handling device is realized using control system, the demand in cargo handling process to manpower can be reduced, it avoids the phenomenon that automated machine occurs in carrying scene and manual operation coexists, existing security hidden trouble during reduction handling goods.

Description

A kind of cargo handling system
Technical field
The present invention relates to automatic loading and unloading goods technical field more particularly to a kind of cargo handling systems.
Background technique
The handling of container are usually made of entrucking and two parts of unloading, and entrucking is usually by packaged product from cargo Storage area utilizes at pallet carrying to container, and product is orderly piled up by being transferred to internal container on pallet;It unloads then It is an opposite process, i.e., by the Product Uninstallation inside container and piles up on pallet, and then be transported to storage area.
With the continuous development of industrial technology, occur the automatic loading and unloading device of container in some fields, but due to The degree of automation of automatic loading and unloading device is not high, and most of place, which still needs, carries out handling goods using the mode of human assistance, Need a large amount of artificial participation.During artificial supplementation is completed to load and unload, not only there is very big security risk, Er Qieren The cost is relatively high for work, so that handling benefit is lower, can not play the purpose for improving handling benefit.
Summary of the invention
The purpose of the embodiment of the present invention is: providing a kind of cargo handling system, can be automatically finished Containerizable Cargo The loading and unloading of object.
In order to achieve the above object, the invention adopts the following technical scheme:
A kind of cargo handling system, including control system, automatic handling device and handling device, the automatic loading and unloading are provided Device and the handling device are connect with the control system signal;
The automatic handling device includes automatic stacking machine and tray handling device;
The tray handling device be used for by the handling device using the cargo that pallet is brought be transferred to it is described from The working region of activity code stack machine, and the empty pallet of the working region is transferred to the transport zone of tray handling device simultaneously,
Or, for the empty pallet to be transferred to the workspace by the transport zone of the tray handling device Domain, and the pallet that the working region Internal Code puts the cargo well is transferred to the handling device;
The handling device is for the cargo to be carried to by picking region according to the position of the automatic handling device On the automatic handling device, or the cargo is carried to storage region by the automatic handling device, and will be described Empty pallet is carried to/or carry and leave the transport zone.
As a preferred technical solution of the invention, the automatic stacking machine includes first movement platform and described The first robot, arrangement conveying device and the second robot set gradually on first movement platform, first robot uses The cargo is transferred in the arrangement conveying device by the working region in realizing, or, by the cargo by the row It is transferred in column conveying device on the empty pallet of the working region;
The arrangement conveying device for the cargo is subjected to orderly arrangement and be delivered to first robot or At second robot;
Second robot be used for by the cargo by arrangement conveying device transfer simultaneously stacking to specified region, Or, the cargo by the specified region de-stacking and is transferred in the arrangement conveying device.
As a preferred technical solution of the invention, first robot and/or second robot and/or Vision detection system is provided in the arrangement conveying device, the vision detection system is for realizing the shape to the cargo With the detection and feedback of position.
As a preferred technical solution of the invention, first robot and/or second robot are used Contact automatically adjusts fixture, for realizing the carrying of the cargo of different shape and size.
As a preferred technical solution of the invention, the circumference of the mobile platform is provided with safety detecting system, The safety detecting system includes path identifier, location indentifier and distance measuring sensor, and the path identifier is for knowing The driving path of the not described mobile platform, the position of the location indentifier mobile platform for identification, the ranging pass Sensor is for measuring the distance between the mobile platform and barrier, to control the movement of the mobile platform.
As a preferred technical solution of the invention, the tray handling device includes the first conveying device, second Conveying device and third conveying device, first conveying device and second conveying device are set to the third conveying dress The side set, the third conveying device is far from described in the correspondence of one end of first conveying device and second conveying device Working region setting, the third conveying device alternative and first conveying device or second conveying device connect It connects, so that the pallet is defeated between first conveying device and second conveying device and the third conveying device It send.
As a preferred technical solution of the invention, first conveying device is parallel with second conveying device Setting, and second conveying device is located at the top of first conveying device, the third conveying device is set to described First conveying device and second conveying device are close to the side of the automatic stacking machine, the height of the third conveying device It is adjustable, it is connect with selective with first conveying device or second conveying device.
As a preferred technical solution of the invention, the tray handling device further includes the second mobile platform, institute The first conveying device, second conveying device and the third conveying device is stated to be set on second mobile platform.
As a preferred technical solution of the invention, the third conveying device includes lifting assembly and is set to institute State the conveying assembly on lifting assembly, the conveying assembly alternative and first conveying device and the second conveying device it Between convey the pallet.
As a preferred technical solution of the invention, the fast third conveying device of institute has not less than first conveying The highest adjusting position of height where device and the minimum adjusting position not higher than height where second conveying device.
The invention has the benefit that by setting control system to the long distance wireless of automatic handling device and handling device Control, it is possible to reduce to the demand of manpower in cargo handling process, avoid automated machine occur at carrying scene and manual operation is total The phenomenon that depositing reduces existing security hidden trouble during handling goods.
Detailed description of the invention
The present invention will be further described in detail below based on the drawings and embodiments.
Fig. 1 be the embodiment of the present invention described in automatic handling device a state under structural schematic diagram (to specified region into When row stacking).
Fig. 2 is the structural schematic diagram under another state of automatic handling device described in the embodiment of the present invention (to specified region When carrying out de-stacking).
Fig. 3 is that the structural schematic diagram under one state of cargo handling system described in the embodiment of the present invention (carries out specified region When stacking).
Fig. 4 be described in the embodiment of the present invention under another state of cargo handling system structural schematic diagram (to specified region into When row de-stacking).
In figure:
1, automatic handling device;11, automatic stacking machine;111, first movement platform;112, the first robot;113, it arranges Conveying device;114, the second robot;12, tray handling device;121, the second mobile platform;122, the first conveying device; 123, the second conveying device;124, third conveying device;125, lifting assembly;2, handling device;3, pallet;4, cargo.
Specific embodiment
To keep the technical problems solved, the adopted technical scheme and the technical effect achieved by the invention clearer, below It will the technical scheme of the embodiment of the invention will be described in further detail in conjunction with attached drawing, it is clear that described embodiment is only It is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those skilled in the art exist Every other embodiment obtained under the premise of creative work is not made, shall fall within the protection scope of the present invention.
In the description of the present invention unless specifically defined or limited otherwise, term " connected ", " connection ", " fixation " are answered It is interpreted broadly, for example, it may be being fixedly connected, may be a detachable connection, or is integral;It can be mechanical connection, It can be electrical connection;It can be directly connected, the company inside two elements can also be can be indirectly connected through an intermediary Logical or two elements interaction relationship.For the ordinary skill in the art, can be understood with concrete condition above-mentioned The concrete meaning of term in the present invention.
In the present invention unless specifically defined or limited otherwise, fisrt feature second feature "upper" or "lower" It may include that the first and second features directly contact, also may include that the first and second features are not direct contacts but pass through it Between other characterisation contact.Moreover, fisrt feature includes the first spy above the second feature " above ", " above " and " above " Sign is right above second feature and oblique upper, or is merely representative of first feature horizontal height higher than second feature.Fisrt feature exists Second feature " under ", " lower section " and " following " include that fisrt feature is directly below and diagonally below the second feature, or is merely representative of First feature horizontal height is less than second feature.
As shown in Figures 1 to 4, in this present embodiment, 4 handling system of a kind of cargo of the present invention, is set using automation Cargo 4 is carried to specified region from picking region by standby realize, or cargo 4 is carried to storage region from specified region.Specifically , 4 handling system of cargo includes control system, automatic handling device 1 and handling device 2, automatic handling device 1 and handling device 2 connect with control system signal, realize the long distance wireless control to automatic handling device 1 and handling device 2 using control system System, it is possible to reduce to the demand of manpower in cargo handling process, avoid automated machine occur at carrying scene coexisting with manual operation The phenomenon that, reduce existing security hidden trouble during handling goods 4.
In embodiments of the present invention, control system is for controlling automatic handling device 1 and handling device 2 for cargo 4 by taking Goods area domain is carried and is piled up to specified region, or cargo 4 by specified region de-stacking and is carried to storage region.It is set by this Meter, can reduce the wiring of automatic handling device 1, solve the problems, such as difficult wiring, can be according to practical situation selection control system The installation site of system enhances the flexibility of the control system installation.
Wherein picking region can be the warehouse for storing cargo 4, or for the interim cargo 4 to packaging cargo in case Stack ground;Specified region is the position that cargo 4 needs to be loaded stacking, in embodiments of the present invention by taking container as an example.At it In his embodiment, specified region can also be freight house or haulage vehicle etc.;Storage region is the goods after cargo 4 is unloaded by container The purpose of 4 staging area of object or 4 storage repository of cargo.
In embodiments of the present invention, the orderly stacking of the cargo 4 that automatic handling device 1 is used to carry handling device 2 to come Extremely specified region, or by 4 de-stacking of cargo in specified region and it is transferred to handling device 2, to realize the loading to container and unload Goods.
Specifically, automatic handling device 1 includes automatic stacking machine 11 and tray handling device 12.
When needing the orderly stacking of cargo 4 to container, stacking is being held in the palm from picking region by handling device 2 first The whole disk of cargo 4 on disk 3 is carried at tray handling device 12, and is placed on the designated position of tray handling device 12.Then The cargo 4 brought is transferred to the working region of automatic stacking machine 11 by tray handling device 12, and simultaneously by the sky of working region Pallet is transferred to transport zone.Finally cargo 4 is orderly piled up to specified region by automatic stacking machine 11 again.
When needing cargo 4 by container de-stacking and being carried to storage region, deposited first by handling device 2 by pallet 3 The transport zone that empty pallet is carried to tray handling device 12 by area is put, then, tray handling device 12 is by empty pallet by shifting The pallet 3 that working region Internal Code puts cargo 4 well is transferred to moving away from for tray handling device 12 to working region by zone-transfer Position, finally, the pallet 3 for having piled up cargo 4 is transferred to storage region by handling device 2.
It is realized by setting tray handling device 12 to the position transfer of empty pallet and the pallet 3 for having piled up cargo 4, can be kept away Exempt from the interval time that automatic stacking machine 11 waits empty pallet or cargo 4, to realize the continuous productive process of the handling of cargo 4, greatly promote Working efficiency.
In embodiments of the present invention, automatic stacking machine 11 includes on first movement platform 111 and first movement platform 111 The first robot 112, arrangement conveying device 113 and the second robot 114 set gradually.Wherein, the first robot 112 is used for It realizes and is transferred to cargo 4 in arrangement conveying device 113 by working region, or by cargo 4 by being shifted in arrangement conveying device 113 To the empty pallet of working region;Arrangement conveying device 113 is for carrying out orderly arrangement for cargo 4 and being delivered to the first machine At people 112 or the second robot 114;Second robot 114 is used to cargo 4 shifting simultaneously stacking extremely by arrangement conveying device 113 Container, or cargo 4 by container de-stacking and is transferred in arrangement conveying device 113.
In embodiments of the present invention, first movement platform 111 can drive the first robot 112, the second robot 114 and Arrangement conveying device 113 moves freely in specified region, to realize automatic stacking machine 11 during stacking and de-stacking Free displacement, realization are put and are carried to the cargo 4 of different location.
When needing to pile up cargo 4 to container, by the first robot 112 by goods from tray handling device 12 Object 4 grabs, and then rotates certain angle and is placed into arrangement conveying device 113, then arranges conveying device 113 to cargo 4 It is while arrangement that cargo 4 is defeated along the direction progress of the second robot 114 from the position close to the first robot 112 It send, so that cargo 4 is exported in an orderly manner to the operating area of the second robot 114, it is finally defeated by the crawl arrangement of the second robot 114 After sending the cargo 4 on device 113 to rotate certain angle, the position that will be specified in the orderly stacking to container of cargo 4 is completed Palletization operations.
When needing by 4 de-stacking of cargo in container and when being transferred to storage region, the second robot 114 first is by cargo 4 de-stackings and grabbing are placed into arrangement conveying device 113, are carried out followed by arrangement conveying device 113 to cargo 4 preliminary whole Reason and arrangement, and be delivered in the operating area of the first robot 112, it is finally by the first robot 112 that cargo 4 is defeated from arranging It send on the specified empty pallet that tray handling device 12 is picked up and be placed on device 113.
Since arrangement conveying device 113 is arranged between the first robot 112 and the second robot 114, pass through the first machine Device people 112 and the second robot 114 execute de-stacking and palletization operations respectively, can reduce the first robot 112 and the second robot 114 rotational angle and amplitude of fluctuation.In addition, the setting of arrangement conveying device 113 can also realize the temporary work to cargo 4 With, it reduces cargo 4 and is trapped in the time in the first robot 112 and the second robot 114, meanwhile, arrangement conveying device 113 Ranking function can also be achieved the ordered arrays to cargo 4, reduce the crawl difficulty of the first robot 112 and the second robot 114, It is effective to improve working efficiency.
In embodiments of the present invention, the first robot 112 and/or the second robot 114 and/or arrangement conveying device 113 On be provided with vision detection system, vision detection system for realizing shape and position to cargo 4 detection and feedback.
Specifically, vision detection system can be arranged in simultaneously in the first robot 112 and the second robot 114, or only exist It is arranged in first robot 112 or the second robot 114.By setting vision detection system can accurate judgement cargo 4 position, Shape, size and number information can enable the more accurate reasonable arrangement stacking mode of the control system of automatic handling device 1 And accurately and effectively control robot motion.Wherein, vision detection system includes two-dimensional visual detection system and 3D vision Detection system proposes the position of cargo 4, shape, size and number in conjunction with the characteristics of two-dimensional visual technology and 3D vision technology For more accurate information, provided safeguard for the high intelligence and full automatic realization of the device of automatic loading and unloading cargo 4.
In other embodiments, the other positions of automatic handling device 1 can also be arranged in vision detection system, as long as energy Enough detections and judgement realized to the position, shape and size of cargo 4.For example, vision detection system can also be mounted on It arranges in conveying device 113, or vision detection system is mounted in the swing arm of the first robot 112 and the second robot 114. And multiple vision inspection apparatus realizations can be set according to actual needs to the precise positioning of cargo 4.
In embodiments of the present invention, the first robot 112 and/or the second robot 114 are using contact automatic adjustment folder Tool, for realizing the carrying of the cargo 4 of different shape and size.Wherein contact automatic adjustment fixture be can adjust automatically machine People's clamping jaw can make folding size and angle adjustment, by by the first robot according to 4 size shape of cargo detected 112 and second robot 114 fixture be set as contact automatic adjustment fixture, it can be achieved that the first robot 112 and the second machine Crawl of the device people 114 to the cargo 4 of different sizes and shapes improves the different rule of 114 pairs of the first robot 112 and the second robot The adaptability of the cargo 4 of lattice, and solve when being loaded in mixture at the same time to the cargo of plurality of specifications 4, robot working efficiency drop It is low or can not complete grab and pile up the problem of.
The circumference of mobile platform of the present invention is provided with safety detecting system, and safety detecting system includes Path Recognition Device, location indentifier and distance measuring sensor, the driving path of path identifier mobile platform for identification, location indentifier are used In the position of identification mobile platform, distance measuring sensor is for measuring the distance between mobile platform and barrier, to control movement The movement of platform.
Wherein, the driving path of path identifier mobile platform for identification, enables automatic handling device 1 according to setting Good route running;The stop position of location indentifier mobile platform for identification, in actual operation, due to position sensing It is arranged so that handling device 2 can accurately rest at the tray handling device 12 of automatic handling device 1 every time, realizes goods The carrying of object 4 and pallet 3.Distance measuring sensor the distance between the circumference of mobile platform and barrier for identification are moved with controlling Translocation distance of the moving platform in container, avoids automatic handling device 1 from colliding with barrier, it is ensured that automatic handling device 1 safety.In the present embodiment, distance measuring sensor is laser scanner.
For the convenience for further increasing 1 safety of automatic handling device and using, safety detecting system further includes Emergency stop switch, direction controller, speed control, blinker and LED signal lamp.Wherein, emergency stop switch is for controlling The on-off of power supply can stop mobile platform by force when there is an emergency by emergency stop switch by dump.Direction control Automatic handling device 1 of the device processed for means control mobile platform can pass through direction controller and speed control when breaking down Guarantee the normal use of automatic handling device 1.Blinker is used to indicate the form direction of mobile platform row, LED signal lamp It is used to indicate the open state of mobile platform, provides the effect of instruction for user.The setting of safety detecting system can be comprehensive Monitoring mobile platform state of doing exercises, provide safety guarantee for the traveling of mobile platform.
In embodiments of the present invention, tray handling device 12 includes the first conveying device 122,123 and of the second conveying device Third conveying device 124, the first conveying device 122 and the second conveying device 123 are set to the side of third conveying device 124, Areas inside operating is arranged in the one end of third conveying device 124 far from the first conveying device 122 and the second conveying device 123, the Three conveying device 124 is alternative to be connect with the first conveying device 122 or the second conveying device 123, so that pallet 3 is defeated first It send and is conveyed between device 122 and the second conveying device 123 and third conveying device 124.
Pallet 3 and sky equipped with cargo 4 are conveyed respectively by the first conveying device 122 of setting and the second conveying device 123 Pallet, and realized by third conveying device 124 and the pallet 3 and empty pallet that are respectively provided with cargo 4 are delivered to corresponding first In conveying device 122 and the second conveying device 123.
When needing the orderly stacking of cargo 4 to container, handling device 2 will be piled up from picking region in pallet first Cargo 4 on 3 is carried in the first conveying device 122 together with the whole disk of pallet 3, while third conveying device 124 is by working region The empty pallet at place is transferred in the second conveying device 123, and then it is defeated to be transferred to third by the starting of the first conveying device 122 for cargo 4 It send on device 124, then empty pallet is carried to 3 storage area of pallet by handling device 2, and last handling device 2 is carried new again 4 to the first conveying device 122 of cargo, to realize the non-interruptible supply of cargo 4.
When needing cargo 4 by container de-stacking and being carried to storage region, deposited first by handling device 2 from pallet 3 The region to be transferred that empty pallet is carried to the second conveying device 123 by area is put, while third conveying device 124 will be at working region The pallet 3 for filling cargo 4 is transferred in the first conveying device 122, and then empty pallet is delivered to third by the second conveying device 123 In conveying device 124, empty pallet is delivered at the working region of the first specified robot 112 by third conveying device 124 again. At the same time, the first conveying device 122 will fill the pallet 3 of cargo 4 by the first conveying device 122 close to automatic stacking machine 11 Side is delivered to close to the side of handling device 2, and cargo 4 is transferred to storage region by handling device 2.
In a preferred embodiment, the first conveying device 122 is arranged in parallel with the second conveying device 123, and second Conveying device 123 is located at the top of the first conveying device 122, and third conveying device 124 is set to the first conveying device 122 and Two conveying devices 123 are close to the side of automatic stacking machine 11, and the height of third conveying device 124 is adjustable, with selectivity and first Conveying device 122 or the connection of the second conveying device 123.
Since the first conveying device 122 and the second conveying device 123 to be arranged in parallel, so that tray handling device 12 has The double-deck structure for conveying, the first conveying device 122 and the second conveying device 123 can divide with 124 cooperative cooperating of third conveying device Not Wan Cheng pallet 3 and empty pallet with cargo 4 transport, enable at the first robot 112 and the second robot 114 In the state of continuous work, the continuous productive process of the handling of cargo 4 is realized, working efficiency is greatly improved.
Further, third conveying device 124 includes lifting assembly 125 and the conveying group being set on lifting assembly 125 Part, conveying assembly is alternative to convey pallet 3, third conveying dress between the first conveying device 122 and the second conveying device 123 Setting 124 has not less than the highest adjusting position of 122 place height of the first conveying device and not higher than 123 institute of the second conveying device In the minimum adjusting position of height.
The adjustment to the height of third conveying device 124 is realized by setting conveying assembly, firstly, adjustable third conveying The height of device 124 connects it with the first conveying device 122 and the second conveying device 123 under state respectively at various height It is logical.
When needing the cargo 4 in container carrying out de-stacking and stacking to storage region, handling device 2 holds in the palm sky first Disk is carried to the region to be transferred of the first conveying device 122, then adjusts third conveying device 124 and the first conveying device 122 Positioned at sustained height, then it is defeated can be delivered to third by the first conveying device 122 by the starting of the first conveying device 122 for empty pallet It send on device 124, secondly the cargo 4 that container Internal Code is put well is carried out de-stacking and is transferred to third conveying dress by automatic stacking machine 11 It sets on 124 empty pallet;After cargo 4 is reprinted well, the height of third conveying device 124 is adjusted, third conveying device 124 is made It is located at sustained height with the second conveying device 123, then starts third conveying device 124 and be transferred to the pallet 3 for filling cargo 4 In second conveying device 123, the second last conveying device 123 transfers them to the transport zone of handling device 2, handling device 2 Cargo 4 is carried to specified region.
When needing to pile up the cargo 4 in specified region to the specified region of container, handling device 2 will be filled first The pallet 3 of cargo 4 is carried on the transport zone of the second conveying device 123 by specified region, then adjusts third conveying device 124 and second conveying device 123 be located at sustained height, will be loaded with by then starting the second conveying device 123 by 3 turns of pallet of cargo 4 It moves in third conveying device 124, secondly, the height of third conveying device 124 declines, so that automatic stacking machine 11 can be more preferable The cargo 4 on pallet 3 is piled up to specified region;After the cargo 4 on pallet 3 is completely transferred to specified region, adjustment The height of third conveying device 124 makes the high unity of third conveying device 124 and the first conveying device 122, and then third is defeated Device 124 is sent to start, by empty pallet by being transferred in third conveying device 124 in first conveying device 122, last first conveying Empty pallet is transferred to region to be transferred by the starting of device 122, and empty pallet is transferred to 3 storage area of pallet by handling device 2.
The first conveying device 122, the second conveying device 123 and the third conveying device 124 described in the present invention can be with It is the structures such as conveyer belt or the conveying roller of the conveying that can complete cargo 4.
In embodiments of the present invention, tray handling device 12 further includes the second mobile platform 121, the first conveying device 122, Second conveying device 123 and third conveying device 124 are set on the second mobile platform 121.By by tray handling device 12 It is arranged on the second mobile platform 121, it can be achieved that the movement of tray handling device 12, makes tray handling device 12 can be with Automatic Code Stack machine 11 realizes linkage, guarantees the orderly progress of the carrying of cargo 4.And it is provided on the second mobile platform 121 and first The identical safety detecting system of mobile platform 111, to realize that the motion profile to the second mobile platform 121 controls.
In an alternative embodiment, automatic stacking machine 11 and tray handling device 12 can be arranged in the same movement On platform, the position to guarantee automatic stacking machine 11 and tray handling device 12 is relatively constant, guarantees automatic stacking machine 11 and support Effective cooperation of disc processing device 12.
In embodiments of the present invention, the optional AGV fork truck of handling device 2.AGV fork truck is run without pilot steering, wirelessly The homing guidance fork truck of scheduling, avoids the need for the work of pilot steering allotment, further improves 4 handling system of cargo oneself Dynamicization.
In a preferred embodiment of the invention, automatic stacking machine 11, tray handling device 12 and handling device 2 are adopted It is powered with battery, and is connect between control system by wireless telecommunications, to reduce the wiring problem in whole system, and Avoid limitation and lineation problem brought by the setting of wire rod.
In the description of this article, it is to be understood that term " on ", "lower", " right side ", etc. orientation or positional relationships be based on Orientation or positional relationship shown in the drawings is merely for convenience of description and simplification and operates, rather than the dress of indication or suggestion meaning It sets or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to limit of the invention System.In addition, term " first ", " second ", are only used to distinguish between description, have no special meaning.
In the description of this specification, the description of reference term " embodiment ", " example " etc. means to combine the embodiment Or example particular features, structures, materials, or characteristics described are included at least one embodiment or example of the invention.? In this specification, schematic expression of the above terms be may not refer to the same embodiment or example.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should It considers the specification as a whole, the technical solutions in the embodiments can also be appropriately combined, and forming those skilled in the art can With the other embodiments of understanding.
The technical principle of the invention is described above in combination with a specific embodiment.These descriptions are intended merely to explain of the invention Principle, and shall not be construed in any way as a limitation of the scope of protection of the invention.Based on the explanation herein, the technology of this field Personnel can associate with other specific embodiments of the invention without creative labor, these modes are fallen within Within protection scope of the present invention.

Claims (10)

1. a kind of cargo handling system, which is characterized in that including control system, automatic handling device and handling device, it is described from Dynamic handler and the handling device are connect with the control system signal;
The automatic handling device includes automatic stacking machine and tray handling device;
The tray handling device is used to the handling device being transferred to the Automatic Code using the cargo that pallet is brought The working region of stack machine, and the empty pallet of the working region is transferred to the transport zone of tray handling device simultaneously,
Or, for the empty pallet to be transferred to the working region by the transport zone of the tray handling device, and The pallet that the working region Internal Code puts the cargo well is transferred to the handling device;
The handling device is used to for the cargo being carried to by picking region according to the position of the automatic handling device described On automatic handling device, or the cargo is carried to storage region by the automatic handling device, and empty held in the palm described Disk is carried to/or carry and leave the transport zone.
2. cargo handling system according to claim 1, which is characterized in that the automatic stacking machine includes that first movement is flat The first robot for being set gradually on platform and the first movement platform, arrangement conveying device and the second robot, described the One robot is transferred in the arrangement conveying device for realizing by the cargo by the working region, or, by the goods Object in the arrangement conveying device by being transferred on the empty pallet of the working region;
The arrangement conveying device is for carrying out orderly arrangement for the cargo and being delivered to first robot or described At second robot;
Second robot is used to shift the cargo by the arrangement conveying device and stacking is to specified region, or, will The cargo is by the specified region de-stacking and is transferred in the arrangement conveying device.
3. cargo handling system according to claim 2, which is characterized in that first robot and/or described second It is provided with vision detection system in robot and/or the arrangement conveying device, the vision detection system is for realizing to institute State the shape of cargo and the detection of position and feedback.
4. cargo handling system according to claim 2, which is characterized in that first robot and/or described second Robot automatically adjusts fixture using contact, for realizing the carrying of the cargo of different shape and size.
5. cargo handling system according to claim 2, which is characterized in that the circumference of the mobile platform is provided with safety Detection system, the safety detecting system include path identifier, location indentifier and distance measuring sensor, the Path Recognition The driving path of the device mobile platform for identification, the position of the location indentifier mobile platform for identification, institute Distance measuring sensor is stated for measuring the distance between the mobile platform and barrier, to control the movement of the mobile platform.
6. cargo handling system according to claim 1, which is characterized in that the tray handling device includes the first conveying Device, the second conveying device and third conveying device, first conveying device and second conveying device are set to described The side of third conveying device, the third conveying device far from first conveying device and second conveying device one The corresponding working region setting in end, the third conveying device alternative and first conveying device or described second defeated Device is sent to connect, so that the pallet is in first conveying device and second conveying device and the third conveying device Between convey.
7. cargo handling system according to claim 6, which is characterized in that first conveying device and described second defeated Device is sent to be arranged in parallel, and second conveying device is located at the top of first conveying device, the third conveying device First conveying device and second conveying device are set to close to the side of the automatic stacking machine, the third conveying The height of device is adjustable, is connect with selective with first conveying device or second conveying device.
8. cargo handling system according to claim 6, which is characterized in that the tray handling device further includes the second shifting Moving platform, it is mobile that first conveying device, second conveying device and the third conveying device are set to described second On platform.
9. cargo handling system according to claim 7, which is characterized in that the third conveying device includes lifting assembly With the conveying assembly being set on the lifting assembly, the conveying assembly alternative and first conveying device and second The pallet is conveyed between conveying device.
10. cargo handling system according to claim 6, which is characterized in that the fast third conveying device of institute, which has, to be not less than The highest adjusting position of height where first conveying device and minimum not higher than height where second conveying device Adjusting position.
CN201910137964.3A 2019-02-25 2019-02-25 A kind of cargo handling system Pending CN109693903A (en)

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110963219A (en) * 2019-11-05 2020-04-07 广西志得实业有限公司 Intelligent production line for disassembling and assembling container freight yard station
CN111618852A (en) * 2019-05-09 2020-09-04 牧今科技 Robot system with coordinated transfer mechanism
IT201900012600A1 (en) * 2019-07-22 2021-01-22 Elett 80 S P A APPARATUS AND METHOD FOR THE FORMATION OF COMBINED LOADING UNITS
CN112357509A (en) * 2020-10-13 2021-02-12 歌尔光学科技有限公司 Control method and device for material taking and discharging system and material taking and discharging system
CN112551188A (en) * 2020-12-16 2021-03-26 青岛大地厚生科技有限责任公司 AGV draws case disinfection pile up neatly car
WO2021097805A1 (en) * 2019-11-22 2021-05-27 Abb Schweiz Ag System and method for separating and conveying objects
WO2021240464A1 (en) * 2020-05-29 2021-12-02 Sacmi Tech S.p.A Loading/unloading assembly and system for flat ceramic products and method to transport flat ceramic products

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111618852A (en) * 2019-05-09 2020-09-04 牧今科技 Robot system with coordinated transfer mechanism
CN111618852B (en) * 2019-05-09 2021-07-27 牧今科技 Robot system with coordinated transfer mechanism
IT201900012600A1 (en) * 2019-07-22 2021-01-22 Elett 80 S P A APPARATUS AND METHOD FOR THE FORMATION OF COMBINED LOADING UNITS
EP3770087A1 (en) * 2019-07-22 2021-01-27 Elettric 80 S.p.A. Apparatus and method for the formation of combined load units
CN110963219A (en) * 2019-11-05 2020-04-07 广西志得实业有限公司 Intelligent production line for disassembling and assembling container freight yard station
WO2021097805A1 (en) * 2019-11-22 2021-05-27 Abb Schweiz Ag System and method for separating and conveying objects
WO2021240464A1 (en) * 2020-05-29 2021-12-02 Sacmi Tech S.p.A Loading/unloading assembly and system for flat ceramic products and method to transport flat ceramic products
CN112357509A (en) * 2020-10-13 2021-02-12 歌尔光学科技有限公司 Control method and device for material taking and discharging system and material taking and discharging system
CN112551188A (en) * 2020-12-16 2021-03-26 青岛大地厚生科技有限责任公司 AGV draws case disinfection pile up neatly car

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