CN109911657A - Container type cargo intelligence loading system and loading method - Google Patents
Container type cargo intelligence loading system and loading method Download PDFInfo
- Publication number
- CN109911657A CN109911657A CN201910208900.8A CN201910208900A CN109911657A CN 109911657 A CN109911657 A CN 109911657A CN 201910208900 A CN201910208900 A CN 201910208900A CN 109911657 A CN109911657 A CN 109911657A
- Authority
- CN
- China
- Prior art keywords
- pipeline
- container
- plc
- monomer
- lifting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000011068 loading method Methods 0.000 title claims abstract description 29
- 239000000178 monomer Substances 0.000 claims description 73
- 238000012856 packing Methods 0.000 claims description 14
- 239000011159 matrix material Substances 0.000 claims description 10
- 229910003460 diamond Inorganic materials 0.000 claims description 9
- 239000010432 diamond Substances 0.000 claims description 9
- 241000252254 Catostomidae Species 0.000 claims description 5
- 239000002356 single layer Substances 0.000 claims description 5
- 239000000758 substrate Substances 0.000 claims description 5
- 238000003032 molecular docking Methods 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 3
- 238000011144 upstream manufacturing Methods 0.000 claims description 3
- 210000001503 joint Anatomy 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 6
- 238000004519 manufacturing process Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 4
- 230000007306 turnover Effects 0.000 description 4
- 241000196324 Embryophyta Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 230000009885 systemic effect Effects 0.000 description 1
Landscapes
- Control And Safety Of Cranes (AREA)
- Intermediate Stations On Conveyors (AREA)
Abstract
The present invention provides a kind of container type cargo intelligence loading system and loading methods, it can effectively realize the whole-course automation management of container type cargo export to entrucking, improve entrucking efficiency, including pipeline mechanism, rail mechanism, walking mechanism, hoisting mechanism and control system；The pipeline mechanism is set to rail mechanism one end, and walking mechanism is set on rail mechanism, can move along rail mechanism, the hoisting mechanism is connect with walking mechanism, for lifting the container in pipeline mechanism；The control system includes that host computer, ground PLC and lifting PLC, the ground PLC are used to control pipeline mechanism, and lifting PLC is separately connected lifting PLC and host computer for controlling rail mechanism, walking mechanism and hoisting mechanism, ground PLC.
Description
Technical field
The present invention relates to cargo entrucking technical field, specially a kind of container type cargo intelligence loading system and entrucking side
Method.
Background technique
With the raising of modern mechanical degree and unmanned factory, intelligent plant it is universal, more and more enterprises adopt
With automatic production line storage, management and turnover cargo, production line space utilization rate and the efficiency of management can be improved, and reduce artificial
Cost.
But when carrying out turnover cargo link, existing turnover mode still uses traditional turnover mode, for example,
When transporting outward cargo entrucking, still by the way of manual unstacking, carrying, entrucking.This mode working efficiency is low, safety
Difference, enterprises recruit persons for jobs are at high cost, and are difficult to complete to dock with automatic production line.
In view of this, R & D design, which goes out a kind of loading system for being able to solve the above problem and loading method, seems especially heavy
It wants.
Summary of the invention
The present invention provides a kind of container type cargo intelligence loading system and a kind of container type cargo intelligence entrucking sides
Method can effectively realize the whole-course automation management of container type cargo export to entrucking, improve entrucking efficiency.
The technical solution of the container type cargo intelligence loading system is as follows:
Including pipeline mechanism, rail mechanism, walking mechanism, hoisting mechanism and control system；
The pipeline mechanism is set to rail mechanism one end, and walking mechanism is set on rail mechanism, can be along rail mechanism
Mobile, the hoisting mechanism is connect with walking mechanism, for lifting the container in pipeline mechanism；
The pipeline mechanism includes the first pipeline, the second pipeline and third pipeline, the second pipeline both ends point
The first pipeline and third pipeline are not connected not vertically；
The rail mechanism includes two tracks disposed in parallel, is supported below track by more root posts, two tracks
Between region be lorry diamond, and two tracks perpendicular to third pipeline conveying direction be set to third pipeline on
Side, the walking mechanism includes one group of walking dolly being coupled with two tracks, connection lifting below the walking dolly
Mechanism；
The control system includes host computer, ground PLC and lifts PLC, and the ground PLC is for controlling pipeline machine
Structure, lifting PLC are separately connected lifting PLC and host computer for controlling rail mechanism, walking mechanism and hoisting mechanism, ground PLC.
First, second and third pipeline is roller conveyor line structure as a preferred embodiment of the above solution, and first is defeated
Line sending and the second pipeline are differential pipeline, and third pipeline is accumulative and travel type pipeline, first conveying line output terminal end
Mouth is opposite with the side of the second pipeline input terminal, and the second conveying line output terminal port and third pipeline input end side surface phase
Right, third conveying line output terminal is located at below rail mechanism.
First pipeline and the second pipeline, which include at least two sections, as a preferred embodiment of the above solution, independently to transport
Capable roller conveyor line monomer is successively denoted as pipeline monomer one, pipeline monomer two, pipeline monomer along pipeline direction
Three and pipeline monomer four, pipeline monomer two docked with pipeline monomer three, wherein one travelling speed of pipeline monomer is less than
Pipeline monomer two, three travelling speed of pipeline monomer are less than pipeline monomer four, pipeline monomer two and pipeline monomer three
Between and pipeline monomer three and pipeline monomer four between be equipped with photoelectric sensor, four side of pipeline monomer be equipped with CCD phase
Machine and bar code scanner, are respectively used to the appearance images and bar code information of acquisition container, and pipeline monomer four is equipped with an opening
Area, the open region are equipped with one group of jacking rotating mechanism, and the jacking rotating mechanism includes " well " word supporting plate, jacking cylinder, tooth
Wheel group and driving motor, the driven wheel of " well " word supporting plate lower section connection gear group, the driving wheel of gear set connect driving motor, drive
Dynamic motor is rotated by gear set drive " well " word supporting plate, and the gear set lower end surface connects jacking cylinder, passes through jacking cylinder
The lifting of " well " word supporting plate, driving motor, photoelectric sensor, CCD camera, the item of the pipeline monomer one to four can be controlled
The driving motor of code scanner, jacking cylinder and drive gear set rotation is connect with ground PLC.
Third pipeline side is equipped with one group of the 4th pipeline, the 4th conveying as a preferred embodiment of the above solution,
Line is output pipeline, is located at downstream side relative to the second pipeline in third pipeline side, for that will not meet order
It is required that container output.
The horizontal encircling type connecting with ground PLC is equipped at the third pipeline as a preferred embodiment of the above solution, to be packaged
Machine, horizontal encircling type baling press include main body and tape transport frame, and main body is set to third pipeline output port side, and tape transport frame is by the
The output end side of three pipelines upstream extends to the lower section of rail mechanism, and two side stands on the third pipeline are respectively opened
Equipped with a notch, two notches are just opposite, and the tape transport frame can make across the gap the notch and adjacent two rollers
Tape transport frame can be by the roller upper direction of third pipeline to below roller.
The walking mechanism is equipped with driving motor as a preferred embodiment of the above solution, for driving walking mechanism along track
Mobile, hoisting mechanism includes longitudinal extension mechanism and grasping mechanism, and longitudinal extension mechanism is connected by pivoting part and walking mechanism
It connects, grasping mechanism is connected to below longitudinal extension mechanism, and the driving motor is connect with lifting PLC.
The pivoting part includes driving motor and intermeshing driving wheel and driven as a preferred embodiment of the above solution,
Wheel, driving motor are fixed in walking mechanism, are connect with lifting PLC, driving motor output shaft connects driving wheel, and the longitudinal direction is stretched
Contracting mechanism is fork type elevator, and top is equipped with a top plate, and bottom is equipped with a bottom plate, and ceiling center passes through rotating shaft and walking
Mechanism connection, enables longitudinal extension mechanism to turn round around rotating shaft, and top plate is fixedly connected with driving wheel simultaneously, driving wheel and revolution
Axis coaxial arrangement.
The grasping mechanism includes substrate and multiple suckers set on base lower surface as a preferred embodiment of the above solution, more
A sucker connects vacuum pump and air compressor machine by solenoid valve, and the solenoid valve connects lifting PLC simultaneously, and the substrate is stretched with longitudinal
The bottom plate of contracting mechanism is fixedly connected.
The stem height is greater than lorry height as a preferred embodiment of the above solution, the column close to the two sides of lorry headstock
With a laser sensor is respectively provided on the column of the two sides of the tailstock, between the lorry diamond and third pipeline be equipped with swash
Optical sensor is connect with lifting PLC respectively.
The method for carrying out entrucking using above-mentioned loading system is as follows:
S1, container outbound in the way of single layer matrix arrangement, into differential pipeline；
S2, the container of matrix arrangement is divided into using the orthogonal differential pipeline of two groups of conveying directions by single-row row
Column mode, and the container of each column is spaced apart from each other；
S3, single container pass sequentially through differential pipeline and accumulative and travel type pipeline, and stop in accumulative and travel type conveying line output terminal
Only, at this point, multiple containers press the single-row arrangement along pipeline direction in accumulative and travel type conveying line output terminal；
S4, when accumulative and travel type conveying line output terminal arrangement container reach preset quantity when, pipeline stop conveying, accumulative and travel type
It conveys line output terminal and horizontal encircling type baling press is set, baling press carries out whole packing to the container for reaching conveying line output terminal.
S5, walking dolly are moved to above the container of packing along track, and packing container is grabbed and risen by hoisting mechanism
It hangs, then walking dolly drives hoisting mechanism to be moved to above boxcar and transfers cargo to boxcar.
In step s 2, two groups of differential pipelines are divided into the first pipeline and the second pipeline, the first pipeline input terminal
Warehouse is docked, output end docks the side of the input terminal of the second pipeline, and the conveying direction of the first and second pipeline mutually hangs down
Directly.
In step s3, the second pipeline is equipped with camera, bar code scanner and jacking rotating mechanism, to single container
It is sent out in the enterprising crudely-made articles case shape Image Acquisition of the second pipeline and bar code scan, and by container shape image information and bar code information
It send to ground PLC, ground PLC and the orientation where container long side and short side is compared by container shape image information, if
Orientation where the current long side of the container and short side meets the packing requirement in horizontal encircling type baling press, then the second pipeline
The container is driven to continue to be fed forward；It is packaged if orientation where the current long side of the container and short side is not met in horizontal encircling type
Packing requirement in machine, then jacking rotating mechanism jacks up the container, is then rotated by 90 °, then transfers on pipeline and with defeated
Line sending moves forward；It is additionally provided with an output pipeline in accumulative and travel type pipeline side, with accumulative and travel type pipeline vertical butt joint, ground
Face PLC judges cargo by bar code information, if the cargo does not meet order requirements, is determined as Non-Compliance, corresponding
Container accumulative and travel type pipeline is entered by the second pipeline after, exported by output pipeline.
In step s 5, after lorry enters lorry diamond, 5 laser sensors of headstock and the tailstock carry out lorry
Position detection；Laser sensor information collected is sent to ground PLC, and ground PLC sends information to lifting PLC, ground again
Information is fed back to host computer simultaneously by face PLC, and host computer judges that lorry stops according to 5 laser sensor range informations collected
Put it is whether vertical with the conveying direction of accumulative and travel type pipeline, if run-off the straight, after grasping mechanism grabs container, lifting
PLC controls the driving motor work of pivoting part, and hoisting mechanism is made to turn round certain angle in the horizontal direction, so that grasping mechanism
Length direction is vertical with lorry length direction.
The beneficial effect of above-mentioned technical proposal is:
1, the absolute guarantee of safety in production is realized.Instead of traditional artificial entrucking stacking, high altitude operation is avoided, fundamentally
Security risk is prevented.
2, to the accurate tracing and monitoring of export cargo.Goods information asymmetry can be effectively prevent to avoid loss of goods, from
It is dynamic to reject the cargo for not meeting order requirements from pipeline, the accuracy of order is improved, simultaneously for not conforming to symbol order requirements
Cargo orderly recycled.
3, whole-course automation management.Include barcode scanning to the container management after export, takes pictures, turns to, being packaged, lifting and heap
Pile can effectively improve the entrucking efficiency and accuracy of container, reduce cost of labor.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention.
Fig. 2 is the structural schematic diagram of pipeline mechanism of the present invention.
Fig. 3 and Fig. 4 is the structural schematic diagram of the monomer four of the second pipeline in the present invention.
Fig. 5 and Fig. 6 is the structural schematic diagram of jacking rotating mechanism in monomer four.
Fig. 7 and Fig. 8 is the assemble mechanism schematic diagram of walking dolly and hoisting mechanism.
Fig. 9 is the schematic diagram of control system in the present invention.
Specific embodiment
Below in conjunction with attached drawing detailed description of the present invention embodiment.
Container type cargo intelligence loading system
Including pipeline mechanism, rail mechanism, walking mechanism, hoisting mechanism and control system；
The pipeline mechanism is set to rail mechanism one end, and walking mechanism is set on rail mechanism, can be along rail mechanism
Mobile, the hoisting mechanism is connect with walking mechanism, for lifting the container in pipeline mechanism；
The pipeline mechanism includes the first pipeline 1, the second pipeline 2 and third pipeline 3, the second 2 liang of pipeline
End is respectively perpendicular the first pipeline 1 of connection and third pipeline 3；
The rail mechanism includes two tracks 7 disposed in parallel, is supported below track by more root posts, two tracks
Between region be lorry diamond, and two tracks perpendicular to third pipeline 3 conveying direction be set to third pipeline 3 on
Side, the walking mechanism includes one group of walking dolly being coupled with two tracks 8, connects and hangs below the walking dolly 8
Mounting mechanism 9；
The control system includes host computer, ground PLC and lifts PLC, and the ground PLC is for controlling pipeline machine
Structure, lifting PLC are separately connected lifting PLC and host computer for controlling rail mechanism, walking mechanism and hoisting mechanism, ground PLC.
In the present embodiment, first, second and third pipeline is roller conveyor line structure, and 1 He of the first pipeline
Second pipeline 2 be differential pipeline, third pipeline 3 be accumulative and travel type pipeline, the 1 output end port of the first pipeline with
The side of second pipeline, 2 input terminal is opposite, and 2 output end port of the second pipeline is opposite with the input of third pipeline 3 end side surface,
3 output end of third pipeline is located at below rail mechanism.
In the present embodiment, first pipeline 1 and the second pipeline 2 can be independently operated including at least two sections
Roller conveyor line monomer is successively denoted as pipeline monomer 1, pipeline monomer 2 102, pipeline list along pipeline direction
Body 3 201 and pipeline monomer 4 202, pipeline monomer 2 102 are docked with pipeline monomer 3 201, wherein pipeline monomer
One 101 travelling speeds are less than pipeline monomer 2 102, and 3 201 travelling speed of pipeline monomer is less than pipeline monomer 4 202,
It is set between pipeline monomer 2 102 and pipeline monomer 3 201 and between pipeline monomer 3 201 and pipeline monomer 4 202
There is photoelectric sensor, 4 202 side of pipeline monomer is equipped with CCD camera 203 and bar code scanner 204, is respectively used to acquisition goods
The appearance images and bar code information of case, pipeline monomer 4 202 are equipped with an open region 205, and the open region 205 is equipped with one group
Jacking rotating mechanism 206, the jacking rotating mechanism 206 include " well " word supporting plate, jacking cylinder, gear set and driving motor,
The driving wheel of the driven wheel of connection gear group below " well " word supporting plate, gear set connects driving motor, and driving motor passes through gear
Group drives the rotation of " well " word supporting plate, and the gear set lower end surface connects jacking cylinder, can control " well " word by jacking cylinder
The lifting of supporting plate, driving motor, the photoelectric sensor, CCD camera 203, bar code scanner of the pipeline monomer one 101 to four
204, jacking cylinder and the driving motor of drive gear set rotation are connect with ground PLC.
In the present embodiment, 3 side of third pipeline is equipped with one group of the 4th pipeline 4, and the 4th pipeline 4 is
Pipeline is exported, is located at downstream side relative to the second pipeline 2 in 3 side of third pipeline, is wanted for order will not met
The container output asked.
In the present embodiment, the horizontal encircling type baling press connecting with ground PLC is equipped at the third pipeline 3
(201520621470.X), horizontal encircling type baling press include main body 5 and tape transport frame 6, and main body 5 is exported set on third pipeline 3
Port side, tape transport frame 6 are upstream extended to the lower section of rail mechanism, the third by the output end side of third pipeline 3
Two side stands on pipeline 3 respectively offer a notch 301, and two notches 301 are just opposite, and the tape transport frame 6 can be lacked across this
Gap between mouth 301 and adjacent two rollers enables tape transport frame 6 extremely to be rolled by the roller upper direction of third pipeline 3
Cylinder lower section.
In the present embodiment, the walking mechanism is equipped with driving motor and hangs for driving walking mechanism to move along track
Mounting mechanism 9 includes longitudinal extension mechanism 901 and grasping mechanism 902, and longitudinal extension mechanism 901 passes through pivoting part and walking mechanism
Connection, grasping mechanism 902 are connected to 901 lower section of longitudinal extension mechanism, and the driving motor is connect with lifting PLC.
In the present embodiment, the pivoting part includes driving motor and intermeshing driving wheel and driven wheel 907, is driven
Dynamic motor is fixed in walking mechanism, is connect with lifting PLC, driving motor output shaft connects driving wheel, the longitudinal extension machine
Structure 901 is fork type elevator, and top is equipped with a top plate 906, and bottom is equipped with a bottom plate 905, and 906 center of top plate passes through revolution
Axis is connect with walking mechanism, and longitudinal extension mechanism 901 is enable to turn round around rotating shaft, and top plate 906 is fixed with driving wheel simultaneously to be connected
It connects, driving wheel and rotating shaft are coaxially disposed.
In the present embodiment, the grasping mechanism 902 includes substrate 904 and multiple suckers 903 set on base lower surface,
Multiple suckers 903 connect vacuum pump by solenoid valve and air compressor machine (before grabbing container using sucker, first passes through air compressor machine generation
Container upper surface jet is just being pressed to, the dust and impurities of container upper surface are taken out, negative pressure is being generated by vacuum pump, is grabbing goods
Case), the solenoid valve connects lifting PLC simultaneously, and the substrate 904 is fixedly connected with the bottom plate 905 of longitudinal extension mechanism 901.
In the present embodiment, the stem height is greater than lorry height, the column 10 and vehicle close to the two sides of lorry headstock
It is respectively provided with a laser sensor 12 on the column 11 of the two sides of tail, is also set between the lorry diamond and third pipeline 3
There is laser sensor, 5 laser sensors are connect with lifting PLC respectively.
It should be noted that in said structure, the position opposite with the first pipeline 1, third on the second pipeline 2
Position opposite with the second pipeline 2 and the 4th pipeline 4 respectively is equipped with jacking transferring machine on pipeline 3, for making container
It can smoothly enter into next pipeline, this is stream in such a way that jacking transferring machine enables cargo smoothly to pass in and out two strip transmission lines
The prior art of waterline production field.
In 3 docking section of side, the second pipeline 2 and third pipeline of 2 docking section of the first pipeline 1 and the second pipeline
Side, the second pipeline 2 the side of 4 202 docking section of monomer 3 201 and monomer be equipped with photoelectric sensor, for detecting
Whether there is container to pass through, setting photoelectric sensor detects whether that the technology that cargo passes through is flow line production in pipeline side
The prior art in field.
In said structure, the state of the art can be used in fork type elevator, walking dolly.
Container type cargo intelligence loading method
The Integral Thought of loading method is: the first pipeline 1 is docked with freight house, cargo according to single layer matrix arrangement side
Formula export simultaneously enters the first pipeline 1, passes sequentially through the second pipeline 2 and third pipeline 3 is moved to the lower section of hoisting mechanism,
Baling press is first packaged cargo, and grasping mechanism 902 is grabbed, and elevating mechanism is promoted, and walking dolly drives cargo
Walking is until cargo is placed in compartment.
In this course, there are following problems to be solved:
1, before lifting crawl, the container being packaged is single-column type arrangement, and is arranged when container export for single layer matrix form
Column, and be in close contact between each other, therefore need the container of matrix arrangement being dispersed as single container during transportation.
2, (described herein " puts in the orientation of putting required when orientation is packaged with container of putting when container export
Orientation " refers to, the long side of single container and short side relative to pipeline direction be it is parallel or vertically, in order to keep container whole
It arranges together convenient for being packaged, then needs to carry out orientation rotation to container in advance, so that each container being capable of marshalling.) different, then
It needs to carry out container to take pictures and identifies and turn in advance.
3, container needs to carry out barcode scanning before packing, judges whether to be consistent with order.
In conjunction with the above problem, loading method uses following steps:
1, container outbound in the way of single layer matrix arrangement, into the first pipeline 1 (differential pipeline), the first pipeline
1 point is two sections, is followed successively by monomer 1 and monomer 2 102 along pipeline direction, the speed of monomer 1 is less than monomer 2 102
Speed, then the container of matrix arrangement by monomer 1 enter monomer 2 102 when, can be by the row of matrix (perpendicular to first
1 direction of pipeline) away from increase.
2, the second pipeline 2 is also configured as two sections, is followed successively by monomer 3 201 and monomer 4 202, monomer along pipeline direction
3 201 speed is less than the speed of monomer 4 202, and monomer 2 102 and monomer 3 201 form right-angle structure, when a column container by
After monomer 2 102 enters monomer 3 201, the first pipeline 1 is out of service, which is delivered to monomer four by monomer 3 201
When 202, since there are differentials, so that the spacing of the column container will increase；
On monomer 4 202, it is equipped with CCD camera 203 and bar code scanner 204 and jacking rotating mechanism 206, when one
When a container enters 206 region of jacking rotating mechanism, CCD camera 203 and bar code scanner 204 respectively carry out the container
It takes pictures and barcode scanning, required container puts orientation when judging that the container puts orientation by photo, and being packaged with systemic presupposition
It is compared, if they are the same, does not then need to rotate, directly pass through, if not identical, jacking rotating mechanism 206 works, now to container
It is jacked, is then rotated by 90 °, changed it and put orientation.
3, container enters third pipeline 3 (accumulative and travel type pipeline) by the second pipeline 2, direct with the matched container of order
It is delivered to the end of third pipeline 3, third conveying (is then left by the output of output pipeline with the unmatched container of order
Line).
4, when the container of accumulative and travel type conveying line output terminal arrangement reaches preset quantity, pipeline stops conveying, accumulative and travel type
The horizontal encircling type baling press of conveying line output terminal carries out whole packing to the container 12 for being parked in output end.
5, walking dolly is moved to above the container of packing along track, and packing container is grabbed and risen by hoisting mechanism
It hangs, then walking dolly drives hoisting mechanism to be moved to above boxcar and transfers cargo to boxcar.
Wherein, in steps of 5, after lorry enters lorry diamond, the laser sensor of headstock and tailstock two sides is to goods
Vehicle carries out position detection, and rangefinder detects boxcar length；Photoelectric sensor and rangefinder information hair collected
Send to lifting PLC, lifting PLC and send information to ground PLC again, information is fed back to host computer by ground PLC, host computer according to
Four photoelectric sensor range informations collected judge lorry park it is whether vertical with the conveying direction of accumulative and travel type pipeline, if
Run-off the straight, then after grasping mechanism 902 grabs container, the driving motor work of lifting PLC control pivoting part makes to lift
Mechanism turns round certain angle in the horizontal direction, so that the length direction of grasping mechanism 902 is vertical with lorry length direction.
It should be understood that being provided with output pipeline in the present embodiment, it can play to export but not meet order
It is required that container carry out real-time statistics and formerly output, prevent Non-Compliance from entering packing area, while being also convenient for not being inconsistent file
The real-time management of the container singly required.
It please supplement CCD camera model: CV-H500C, barcode scanning gun model: SR-610, electromagnetic valve model: XMD-63DL-M9,
Photoelectric sensor model: GTE-N1211, laser sensor model: SW-LDS50A, rangefinder model: SW-LDS50A, ground
PLC type number: S7-1200, lifting PLC type number: the model of S7-1200, host computer: IPC-610.
Claims (13)
1. container type cargo intelligence loading system, it is characterised in that: including pipeline mechanism, rail mechanism, walking mechanism, lifting
Mechanism and control system；
The pipeline mechanism is set to rail mechanism one end, and walking mechanism is set on rail mechanism, can move along rail mechanism,
The hoisting mechanism is connect with walking mechanism, for lifting the container in pipeline mechanism；
The pipeline mechanism includes the first pipeline, the second pipeline and third pipeline, and the second pipeline both ends are hung down respectively
It is direct-connected to connect the first pipeline and third pipeline；
The rail mechanism includes two tracks disposed in parallel, is supported below track by more root posts, between two tracks
Region be lorry diamond, and two tracks perpendicular to third pipeline conveying direction be set to third pipeline above, institute
Stating walking mechanism includes one group of walking dolly being coupled with two tracks, and hoisting mechanism is connected below the walking dolly；
The control system includes host computer, ground PLC and lifts PLC, and the ground PLC is hung for controlling pipeline mechanism
Dress PLC is separately connected lifting PLC and host computer for controlling rail mechanism, walking mechanism and hoisting mechanism, ground PLC.
2. container type cargo intelligence loading system according to claim 1, it is characterised in that: first, second and third conveying
Line is roller conveyor line structure, and the first pipeline and the second pipeline are differential pipeline, and third pipeline is to accumulate
Formula pipeline, first conveying line output terminal port is opposite with the side of the second pipeline input terminal, the output of the second pipeline
Hold port opposite with third pipeline input end side surface, third conveying line output terminal is located at below rail mechanism.
3. container type cargo intelligence loading system according to claim 2, it is characterised in that: first pipeline and
Two pipelines include at least two sections can independently operated roller conveyor line monomer, be successively denoted as conveying along pipeline direction
Line monomer one, pipeline monomer two, pipeline monomer three and pipeline monomer four, pipeline monomer two and pipeline monomer three are right
It connects, wherein one travelling speed of pipeline monomer is less than pipeline monomer two, and three travelling speed of pipeline monomer is less than pipeline list
Body four is equipped with photoelectric transfer between pipeline monomer two and pipeline monomer three and between pipeline monomer three and pipeline monomer four
Sensor, four side of pipeline monomer are equipped with CCD camera and bar code scanner, are respectively used to the appearance images and bar code of acquisition container
Information, pipeline monomer four are equipped with an open region, and the open region is equipped with one group of jacking rotating mechanism, the jacking rotary machine
Structure includes " well " word supporting plate, jacking cylinder, gear set and driving motor, the driven wheel of connection gear group below " well " word supporting plate,
The driving wheel of gear set connects driving motor, and driving motor is rotated by gear set drive " well " word supporting plate, under the gear set
End face connects jacking cylinder, and the lifting of " well " word supporting plate can be controlled by jacking cylinder, the pipeline monomer one to four
Driving motor, photoelectric sensor, CCD camera, bar code scanner, jacking cylinder and drive gear set rotation driving motor with
Ground PLC connection.
4. container type cargo intelligence loading system according to claim 2, it is characterised in that: third pipeline side
Equipped with one group of the 4th pipeline, the 4th pipeline is output pipeline, in third pipeline side relative to the second conveying
Line is located at downstream side, and the container for that will not meet order requirements exports.
5. container type cargo intelligence loading system according to claim 2, it is characterised in that: set at the third pipeline
There is a horizontal encircling type baling press connecting with ground PLC, horizontal encircling type baling press includes main body and tape transport frame, and main body is set to the
Three pipeline output port sides, tape transport frame are upstream extended under rail mechanism by the output end side of third pipeline
Square, two side stands on the third pipeline respectively offer a notch, and two notches are just opposite, and the tape transport frame can pass through should
Gap between notch and adjacent two rollers, enables tape transport frame by under the roller upper direction to roller of third pipeline
Side.
6. container type cargo intelligence loading system according to claim 2, it is characterised in that: the walking mechanism is equipped with
Driving motor, for driving walking mechanism to move along track, hoisting mechanism includes longitudinal extension mechanism and grasping mechanism, Zong Xiangshen
Contracting mechanism is connect by pivoting part with walking mechanism, and grasping mechanism is connected to below longitudinal extension mechanism, the driving motor
It is connect with lifting PLC.
7. container type cargo intelligence loading system according to claim 6, it is characterised in that: the pivoting part includes driving
Dynamic motor and intermeshing driving wheel and driven wheel, driving motor are fixed in walking mechanism, are connect, are driven with lifting PLC
Motor output shaft connects driving wheel, and the longitudinal extension mechanism is fork type elevator, and top is equipped with a top plate, and bottom is equipped with
One bottom plate, ceiling center are connect by rotating shaft with walking mechanism, and longitudinal extension mechanism is enable to turn round around rotating shaft, and top plate is same
When be fixedly connected with driving wheel, driving wheel and rotating shaft are coaxially disposed.
8. container type cargo intelligence loading system according to claim 7, it is characterised in that: the grasping mechanism includes base
Plate and multiple suckers set on base lower surface, multiple suckers pass through solenoid valve and connect vacuum pump and air compressor machine, the solenoid valve
Lifting PLC is connected simultaneously, and the substrate is fixedly connected with the bottom plate of longitudinal extension mechanism.
9. container type cargo intelligence loading system according to claim 8, it is characterised in that: the stem height is greater than goods
Height is respectively provided with a laser sensor, lorry on the column of the two sides of the column and tailstock of the two sides of lorry headstock
Laser sensor is equipped between diamond and third pipeline, each laser sensor is connect with lifting PLC respectively.
10. container type cargo intelligence loading method, it is characterised in that include the following steps:
S1, container outbound in the way of single layer matrix arrangement, into differential pipeline；
S2, the container of matrix arrangement is divided by single-row arrangement side using the orthogonal differential pipeline of two groups of conveying directions
Formula, and the container of each column is spaced apart from each other；
S3, single container pass sequentially through differential pipeline and accumulative and travel type pipeline, and stop in accumulative and travel type conveying line output terminal, this
When, multiple containers press the single-row arrangement along pipeline direction in accumulative and travel type conveying line output terminal；
S4, when accumulative and travel type conveying line output terminal arrangement container reach preset quantity when, pipeline stop conveying, accumulative and travel type conveying
Horizontal encircling type baling press is arranged in line output terminal, and baling press carries out whole packing to the container for reaching conveying line output terminal.
S5, walking dolly are moved to above the container of packing along track, will be packaged container by hoisting mechanism and be grabbed and lift by crane, so
Walking dolly drives hoisting mechanism to be moved to above boxcar and transfers cargo to boxcar afterwards.
11. container type cargo intelligence loading method according to claim 10, it is characterised in that: in step s 2, two groups
Differential pipeline is divided into the first pipeline and the second pipeline, and the first pipeline input terminal docks warehouse, output end docking second
The side of the input terminal of pipeline, and the conveying direction of the first and second pipeline is mutually perpendicular to.
12. container type cargo intelligence loading method according to claim 11, it is characterised in that: in step s3, second
Pipeline is equipped with camera, bar code scanner and jacking rotating mechanism, to single container in the enterprising crudely-made articles case of the second pipeline
Shape Image Acquisition and bar code scan, and container shape image information and bar code information are sent to ground PLC, ground PLC is logical
It crosses container shape image information to be compared the orientation where container long side and short side, if long side and short side that the container is current
Place orientation meets the packing requirement in horizontal encircling type baling press, then the second pipeline drives the container to continue defeated forward
It send；If orientation where the current long side of the container and short side does not meet the packing requirement in horizontal encircling type baling press, push up
It rises rotating mechanism to jack up the container, then be rotated by 90 °, then transfer on pipeline and with pipeline and move forward；It is accumulating
Formula pipeline side is additionally provided with an output pipeline, and with accumulative and travel type pipeline vertical butt joint, ground PLC passes through bar code information pair
Cargo is judged, if the cargo does not meet order requirements, is determined as Non-Compliance, corresponding container by the second pipeline into
After entering accumulative and travel type pipeline, exported by output pipeline.
13. container type cargo intelligence loading method according to claim 10, it is characterised in that: in step s 5, work as goods
After vehicle enters lorry diamond, 5 laser sensors of headstock and the tailstock carry out position detection to lorry；Laser sensor and survey
Distance meter information collected is sent to ground PLC, meanwhile, ground PLC sends information to lifting PLC, ground PLC for information again
Feed back to host computer, host computer according to 5 laser sensor range informations collected judge lorry park whether with accumulative and travel type
The conveying direction of pipeline is vertical, if run-off the straight, after grasping mechanism grabs container, lifting PLC controls pivoting part
Driving motor work, so that hoisting mechanism is turned round certain angle in the horizontal direction, so that the length direction and lorry of grasping mechanism
Length direction is vertical.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910208900.8A CN109911657B (en) | 2019-03-19 | 2019-03-19 | Intelligent box-type cargo loading system and loading method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910208900.8A CN109911657B (en) | 2019-03-19 | 2019-03-19 | Intelligent box-type cargo loading system and loading method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109911657A true CN109911657A (en) | 2019-06-21 |
| CN109911657B CN109911657B (en) | 2024-03-01 |
Family
ID=66965785
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910208900.8A Active CN109911657B (en) | 2019-03-19 | 2019-03-19 | Intelligent box-type cargo loading system and loading method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109911657B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110525983A (en) * | 2019-08-30 | 2019-12-03 | 嘉兴锦鸿包装有限公司 | Packing case adaptive code stacking method |
| CN112027696A (en) * | 2020-08-20 | 2020-12-04 | 江阴方艾机器人有限公司 | Loading system and loading method thereof |
| CN113651095A (en) * | 2021-09-03 | 2021-11-16 | 四川长虹智能科技有限公司 | Loading system |
| CN115009805A (en) * | 2022-06-21 | 2022-09-06 | 武汉思创智能装备有限公司 | Conveying line system for transferring goods to carriage and transferring method thereof |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3151402A1 (en) * | 1981-12-24 | 1983-07-14 | Mannesmann AG, 4000 Düsseldorf | Device for loading and unloading a vehicle |
| US7695235B1 (en) * | 2002-07-19 | 2010-04-13 | Rallis John H | Automated warehousing and cargo loading system |
| US20110083943A1 (en) * | 2009-10-12 | 2011-04-14 | Dianren Zhang | Conveyor Cargo Handling System and Method of Use |
| CN102756928A (en) * | 2012-07-18 | 2012-10-31 | 哈尔滨博实自动化股份有限公司 | Method and device for automatic cargo loading |
| CN105416965A (en) * | 2015-12-21 | 2016-03-23 | 合肥佳田自动化工程科技有限公司 | Smart warehousing mechanism and control system thereof |
| CN106429483A (en) * | 2016-12-09 | 2017-02-22 | 芜湖哈特机器人产业技术研究院有限公司 | Automatic stacking and truck-loading system and truck-loading method thereof |
| CN107032033A (en) * | 2016-02-04 | 2017-08-11 | 唐山创通科技有限公司 | The intensive storage method of goods smart three-dimensional and intelligent intensive stereo garage system |
| CN107879135A (en) * | 2017-12-14 | 2018-04-06 | 雅化集团三台化工有限公司 | A kind of feeding in continuous material type automatic loading system |
| CN209668339U (en) * | 2019-03-19 | 2019-11-22 | 武汉大润科技有限公司 | Container type cargo intelligence loading system |
-
2019
- 2019-03-19 CN CN201910208900.8A patent/CN109911657B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3151402A1 (en) * | 1981-12-24 | 1983-07-14 | Mannesmann AG, 4000 Düsseldorf | Device for loading and unloading a vehicle |
| US7695235B1 (en) * | 2002-07-19 | 2010-04-13 | Rallis John H | Automated warehousing and cargo loading system |
| US20110083943A1 (en) * | 2009-10-12 | 2011-04-14 | Dianren Zhang | Conveyor Cargo Handling System and Method of Use |
| CN102756928A (en) * | 2012-07-18 | 2012-10-31 | 哈尔滨博实自动化股份有限公司 | Method and device for automatic cargo loading |
| CN105416965A (en) * | 2015-12-21 | 2016-03-23 | 合肥佳田自动化工程科技有限公司 | Smart warehousing mechanism and control system thereof |
| CN107032033A (en) * | 2016-02-04 | 2017-08-11 | 唐山创通科技有限公司 | The intensive storage method of goods smart three-dimensional and intelligent intensive stereo garage system |
| CN106429483A (en) * | 2016-12-09 | 2017-02-22 | 芜湖哈特机器人产业技术研究院有限公司 | Automatic stacking and truck-loading system and truck-loading method thereof |
| CN107879135A (en) * | 2017-12-14 | 2018-04-06 | 雅化集团三台化工有限公司 | A kind of feeding in continuous material type automatic loading system |
| CN209668339U (en) * | 2019-03-19 | 2019-11-22 | 武汉大润科技有限公司 | Container type cargo intelligence loading system |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110525983A (en) * | 2019-08-30 | 2019-12-03 | 嘉兴锦鸿包装有限公司 | Packing case adaptive code stacking method |
| CN112027696A (en) * | 2020-08-20 | 2020-12-04 | 江阴方艾机器人有限公司 | Loading system and loading method thereof |
| CN113651095A (en) * | 2021-09-03 | 2021-11-16 | 四川长虹智能科技有限公司 | Loading system |
| CN115009805A (en) * | 2022-06-21 | 2022-09-06 | 武汉思创智能装备有限公司 | Conveying line system for transferring goods to carriage and transferring method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109911657B (en) | 2024-03-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109911657A (en) | Container type cargo intelligence loading system and loading method | |
| CN209668339U (en) | Container type cargo intelligence loading system | |
| CN109573443B (en) | Warehouse sorting system | |
| WO2022127173A1 (en) | Box-type cargo loading and unloading device | |
| CN105197561A (en) | Automatic tray circulating robot stacking system | |
| CN112758577B (en) | Multi-station storage, picking and stacking conveyor and stacking method | |
| CN110606386A (en) | Intelligent loading and unloading system for containerized goods | |
| CN112811061A (en) | Car is stored in facing material printing machine gravure roll storehouse | |
| CN111689237A (en) | Goods stack transfer system | |
| CN113979154A (en) | Automatic loading system and loading method for carton packaging materials of flat car | |
| US3951277A (en) | Stacker storage system | |
| CN214827425U (en) | Automatic loading machine for bagged materials | |
| CN210117040U (en) | Goods transfer frame | |
| CN211768039U (en) | Warehousing system | |
| CN214877556U (en) | Concrete block or plate storage system | |
| CN207450382U (en) | Box-packed article palletizing apparatus | |
| CN216583121U (en) | Automatic loading system for carton packaging materials of flat car | |
| CN216038401U (en) | Tray storehouse automatic lifting device based on ore dressing medicament adds | |
| CN215591828U (en) | AGV handling system | |
| CN206188018U (en) | Transversely promote hacking machine | |
| CN215591829U (en) | AGV tray lifting machine | |
| CN210944000U (en) | Intelligent loading and unloading system for containerized goods | |
| CN211895207U (en) | Device for loading | |
| CN219688232U (en) | Intelligent loading and unloading machine head and intelligent loading and unloading robot system | |
| CN112919089A (en) | Automobile seat delivery platform compatible with punctuality and storage modes and use method thereof |
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 | ||
| CB02 | Change of applicant information |
Country or region after: China Address after: Room b2-6, 30 / F, building s5-2, block B, Jingkai Wanda Plaza, block 12c2, Wuhan Economic and Technological Development Zone, Wuhan City, Hubei Province, 430000 Applicant after: Wuhan Darun Ecological Environment Technology Development Co.,Ltd. Address before: Room b2-6, 30 / F, building s5-2, block B, Jingkai Wanda Plaza, block 12c2, Wuhan Economic and Technological Development Zone, Wuhan City, Hubei Province, 430000 Applicant before: WUHAN DARUN TECHNOLOGY CO.,LTD. Country or region before: China |
|
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20240131 Address after: No. 1223-611, Building 1, Plot 5, Oakes Colorful Plaza, No. 858, Dujuan Road, Wangyue Subdistrict, Yuelu District, Changsha, 410000, Hunan Province Applicant after: Hunan Runbang Technology Co.,Ltd. Country or region after: China Address before: Room b2-6, 30 / F, building s5-2, block B, Jingkai Wanda Plaza, block 12c2, Wuhan Economic and Technological Development Zone, Wuhan City, Hubei Province, 430000 Applicant before: Wuhan Darun Ecological Environment Technology Development Co.,Ltd. Country or region before: China |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |