CN109693903A - A kind of cargo handling system - Google Patents
A kind of cargo handling system Download PDFInfo
- 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
- Authority
- 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
Links
- 238000001514 detection method Methods 0.000 claims description 19
- 230000004888 barrier function Effects 0.000 claims description 5
- 238000000034 method Methods 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 238000012546 transfer Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000002459 sustained effect Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 238000003491 array Methods 0.000 description 1
- 238000012512 characterization method Methods 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000009469 supplementation Effects 0.000 description 1
- 230000005945 translocation Effects 0.000 description 1
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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
-
- 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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
-
- 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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Stacking Of Articles And Auxiliary Devices (AREA)
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
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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910137964.3A CN109693903A (en) | 2019-02-25 | 2019-02-25 | A kind of cargo handling system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910137964.3A CN109693903A (en) | 2019-02-25 | 2019-02-25 | A kind of cargo handling system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109693903A true CN109693903A (en) | 2019-04-30 |
Family
ID=66233588
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910137964.3A Pending CN109693903A (en) | 2019-02-25 | 2019-02-25 | A kind of cargo handling system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109693903A (en) |
Cited By (16)
| 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 |
| CN112722658A (en) * | 2020-12-07 | 2021-04-30 | 上海利兰机械设备有限公司 | Small AGV transfer car unloading method |
| CN112835365A (en) * | 2020-12-31 | 2021-05-25 | 深圳市普渡科技有限公司 | Method and device for setting robot delivery target point, robot and storage medium |
| WO2021097805A1 (en) * | 2019-11-22 | 2021-05-27 | Abb Schweiz Ag | System and method for separating and conveying objects |
| CN112894793A (en) * | 2021-03-26 | 2021-06-04 | 常州先进制造技术研究所 | Modular combined hybrid joint manipulator for cargo handling |
| 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 |
| CN114126970A (en) * | 2019-05-17 | 2022-03-01 | 伊利诺斯工具制品有限公司 | Packaging machine for arranging elements, preferably cartons, on pallets and method thereof |
| CN114348688A (en) * | 2021-11-12 | 2022-04-15 | 中车长江运输设备集团有限公司 | Cargo handling system and method and handling transport vehicle |
| CN114834908A (en) * | 2022-04-07 | 2022-08-02 | 绍兴古越龙山智能装备有限公司 | Automatic loading and unloading system and automatic loading and unloading method |
| WO2023028229A1 (en) * | 2021-08-26 | 2023-03-02 | Material Handling Systems, Inc. | Mobile robot assembly and system for unloading parcels from a cargo area |
| EP4159651A1 (en) * | 2021-09-29 | 2023-04-05 | Fameccanica.Data S.p.A. | A method for forming and handling compound pallet units, and related system |
| US11648676B2 (en) | 2019-05-09 | 2023-05-16 | Mujin, Inc. | Robotic system with a coordinated transfer mechanism |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07101554A (en) * | 1993-10-08 | 1995-04-18 | Murata Mach Ltd | Cargo loading and unloading system for truck |
| KR20090110571A (en) * | 2008-04-18 | 2009-10-22 | 주식회사 메인텍 | Pallet shipment system |
| DE102011012325A1 (en) * | 2011-02-24 | 2012-08-30 | Thyssenkrupp System Engineering Gmbh | Method for e.g. unloading cuboid parcels from cargo container on lorry semi-trailer, involves arranging handler between cargo container of vehicle and storage hall, where handler loads and/or unloads cargos into and/or from container |
| CN103863830A (en) * | 2012-12-10 | 2014-06-18 | 中国五环工程有限公司 | Automatic unstacking system |
| CN105923409A (en) * | 2016-06-25 | 2016-09-07 | 佛山隆深机器人有限公司 | Full-automatic container loading and unloading system |
| CN109279373A (en) * | 2018-11-01 | 2019-01-29 | 西安中科光电精密工程有限公司 | A kind of flexible de-stacking robot palletizer system and method based on machine vision |
| CN209684564U (en) * | 2019-02-25 | 2019-11-26 | 广州达意隆包装机械股份有限公司 | A kind of cargo handling system |
-
2019
- 2019-02-25 CN CN201910137964.3A patent/CN109693903A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07101554A (en) * | 1993-10-08 | 1995-04-18 | Murata Mach Ltd | Cargo loading and unloading system for truck |
| KR20090110571A (en) * | 2008-04-18 | 2009-10-22 | 주식회사 메인텍 | Pallet shipment system |
| DE102011012325A1 (en) * | 2011-02-24 | 2012-08-30 | Thyssenkrupp System Engineering Gmbh | Method for e.g. unloading cuboid parcels from cargo container on lorry semi-trailer, involves arranging handler between cargo container of vehicle and storage hall, where handler loads and/or unloads cargos into and/or from container |
| CN103863830A (en) * | 2012-12-10 | 2014-06-18 | 中国五环工程有限公司 | Automatic unstacking system |
| CN105923409A (en) * | 2016-06-25 | 2016-09-07 | 佛山隆深机器人有限公司 | Full-automatic container loading and unloading system |
| CN109279373A (en) * | 2018-11-01 | 2019-01-29 | 西安中科光电精密工程有限公司 | A kind of flexible de-stacking robot palletizer system and method based on machine vision |
| CN209684564U (en) * | 2019-02-25 | 2019-11-26 | 广州达意隆包装机械股份有限公司 | A kind of cargo handling system |
Cited By (27)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111618852B (en) * | 2019-05-09 | 2021-07-27 | 牧今科技 | Robot system with coordinated transfer mechanism |
| CN111618852A (en) * | 2019-05-09 | 2020-09-04 | 牧今科技 | Robot system with coordinated transfer mechanism |
| US11648676B2 (en) | 2019-05-09 | 2023-05-16 | Mujin, Inc. | Robotic system with a coordinated transfer mechanism |
| CN114126970A (en) * | 2019-05-17 | 2022-03-01 | 伊利诺斯工具制品有限公司 | Packaging machine for arranging elements, preferably cartons, on pallets and method thereof |
| US11866217B2 (en) | 2019-05-17 | 2024-01-09 | Illinois Tool Works Inc. | Packaging machine for arrangement of elements, preferably cartons, on pallets, and method for this |
| 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 |
| CN114650954B (en) * | 2019-11-22 | 2023-10-20 | Abb瑞士股份有限公司 | System and method for separating and transporting objects |
| CN114650954A (en) * | 2019-11-22 | 2022-06-21 | Abb瑞士股份有限公司 | System and method for separating and conveying objects |
| WO2021097805A1 (en) * | 2019-11-22 | 2021-05-27 | Abb Schweiz Ag | System and method for separating and conveying objects |
| US12017872B2 (en) | 2020-05-29 | 2024-06-25 | Sacmi Tech S.P.A. | Loading/unloading assembly and system for flat ceramic products and method to transport flat ceramic product |
| 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 |
| CN112722658A (en) * | 2020-12-07 | 2021-04-30 | 上海利兰机械设备有限公司 | Small AGV transfer car unloading method |
| 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 |
| CN112835365A (en) * | 2020-12-31 | 2021-05-25 | 深圳市普渡科技有限公司 | Method and device for setting robot delivery target point, robot and storage medium |
| CN112835365B (en) * | 2020-12-31 | 2024-04-12 | 深圳市普渡科技有限公司 | Method and device for setting robot delivery target point, robot and storage medium |
| CN112894793A (en) * | 2021-03-26 | 2021-06-04 | 常州先进制造技术研究所 | Modular combined hybrid joint manipulator for cargo handling |
| WO2023028229A1 (en) * | 2021-08-26 | 2023-03-02 | Material Handling Systems, Inc. | Mobile robot assembly and system for unloading parcels from a cargo area |
| EP4159651A1 (en) * | 2021-09-29 | 2023-04-05 | Fameccanica.Data S.p.A. | A method for forming and handling compound pallet units, and related system |
| US11834280B2 (en) | 2021-09-29 | 2023-12-05 | Fameccanica.Data S.P.A. | Method for forming and handling compound pallet units, and related system |
| WO2023082694A1 (en) * | 2021-11-12 | 2023-05-19 | 中车长江运输设备集团有限公司 | Goods loading and unloading system and method, and loading and unloading transport vehicle |
| CN114348688B (en) * | 2021-11-12 | 2024-05-28 | 中车长江运输设备集团有限公司 | Cargo handling system, cargo handling method and cargo handling transport vehicle |
| CN114348688A (en) * | 2021-11-12 | 2022-04-15 | 中车长江运输设备集团有限公司 | Cargo handling system and method and handling transport vehicle |
| CN114834908A (en) * | 2022-04-07 | 2022-08-02 | 绍兴古越龙山智能装备有限公司 | Automatic loading and unloading system and automatic loading and unloading method |
| CN114834908B (en) * | 2022-04-07 | 2024-04-16 | 绍兴古越龙山智能装备有限公司 | Automatic loading and unloading system and automatic loading and unloading method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109693903A (en) | A kind of cargo handling system | |
| CN111099374B (en) | Automatic storage and sorting system | |
| CN108861289B (en) | Warehouse and order completion system | |
| CN107226310A (en) | A kind of AGV tears zero sorting trolley and method open | |
| CN105366302B (en) | Complete sequence electrical steel piece Automatic Combined system | |
| JPH08505595A (en) | Palletizer | |
| CN107428467A (en) | Automatic container processing equipment and method | |
| CN109319525A (en) | A kind of the intelligent heavy-load loading system and method for whole pile entrucking | |
| TWM632560U (en) | Logistics sorting system | |
| CN109319526B (en) | Container loading and storing system and method for bagged materials | |
| CN207046205U (en) | A kind of AGV tears zero sorting trolley open | |
| EP3248915A1 (en) | Apparatus for sorting objects | |
| CN112758577B (en) | Multi-station storage, picking and stacking conveyor and stacking method | |
| CN106241397A (en) | Autoclave aerated concrete building block pallet-free stacking and stacking technology | |
| CN109759337A (en) | A kind of packages system and method | |
| CN113526122A (en) | High breast board area cuts off freight train powder bag intelligence loading and unloading car production line | |
| CN109693944A (en) | A kind of keel pack Palletizer and method automatically | |
| JP7248364B2 (en) | Box volume system | |
| CN207511402U (en) | A kind of sorting device | |
| CN110421542B (en) | Intelligent robot for loading and unloading box packages | |
| CN112896900A (en) | Container transferring system and method, container transferring device and robot | |
| CN209684564U (en) | A kind of cargo handling system | |
| CN209684565U (en) | A kind of tray handling device | |
| CN108249169A (en) | A kind of intelligent classification storage system based on port transport | |
| WO2023143346A1 (en) | Container transfer system |
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 | ||
| CB02 | Change of applicant information |
Address after: 510530 No. 23 Yunpu Road, Huangpu District, Guangzhou City, Guangdong Province Applicant after: Guangzhou Tech-Long Packing Machinery Co., Ltd. Address before: 510530 Guangdong city of Guangzhou province Luogang District YUNPU Road No. 23 Applicant before: Guangzhou Tech-Long Packing Machinery Co., Ltd. |
|
| CB02 | Change of applicant information |