CN110723449B - Intelligent logistics loading and unloading system for tray-free transportation - Google Patents

Intelligent logistics loading and unloading system for tray-free transportation Download PDF

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Publication number
CN110723449B
CN110723449B CN201911030282.9A CN201911030282A CN110723449B CN 110723449 B CN110723449 B CN 110723449B CN 201911030282 A CN201911030282 A CN 201911030282A CN 110723449 B CN110723449 B CN 110723449B
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conveyor
tray
loading
goods
chain plate
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CN110723449A (en
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张明
王海元
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • 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
    • B60—VEHICLES IN GENERAL
    • B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
    • B60P1/00—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading
    • B60P1/36—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading using endless chains or belts thereon
    • 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
    • B65G17/00—Conveyors having an endless traction element, e.g. a chain, transmitting movement to a continuous or substantially-continuous load-carrying surface or to a series of individual load-carriers; Endless-chain conveyors in which the chains form the load-carrying surface
    • B65G17/06—Conveyors having an endless traction element, e.g. a chain, transmitting movement to a continuous or substantially-continuous load-carrying surface or to a series of individual load-carriers; Endless-chain conveyors in which the chains form the load-carrying surface having a load-carrying surface formed by a series of interconnected, e.g. longitudinal, links, plates, or platforms
    • 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
    • B65G35/00—Mechanical conveyors not otherwise provided for
    • 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
    • B65G37/00—Combinations of mechanical conveyors of the same kind, or of different kinds, of interest apart from their application in particular machines or use in particular manufacturing processes
    • 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
    • B65G41/00—Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames
    • B65G41/001—Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames with the conveyor adjustably mounted on the supporting frame or base
    • B65G41/003—Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames with the conveyor adjustably mounted on the supporting frame or base mounted for linear movement only
    • 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
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
    • 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
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/82—Rotary or reciprocating members for direct action on articles or materials, e.g. pushers, rakes, shovels
    • 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
    • B65G69/00—Auxiliary measures taken, or devices used, in connection with loading or unloading
    • B65G69/22—Horizontal loading or unloading platforms
    • 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
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0235—Containers
    • B65G2201/0258—Trays, totes or bins
    • 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
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • B65G2203/041—Camera

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Loading Or Unloading Of Vehicles (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

The invention discloses an intelligent logistics loading and unloading system for tray-free transportation, which solves the problem of cargo handling in a carriage by utilizing a vehicle-mounted conveying mechanism and a loading and unloading platform, saves labor cost, improves cargo loading and unloading efficiency, reduces the use amount of the loading and unloading platform, a forklift and a truck, and reduces buffer inventory; the problem of automatically removing pallets when goods with pallets are loaded from a common warehouse, a three-dimensional intelligent warehouse to a carriage or are directly loaded on line is solved, and the problem of automatically loading pallets when goods without pallets are loaded from the carriage to the common warehouse and the three-dimensional intelligent warehouse is solved, so that the goods with pallets can be transported without pallets, the transportation space is saved, the problem of high cost of pallet recovery and turnover is avoided, and the transportation safety is improved; the single-sided reciprocating plate chain conveyor is used, so that the self weight of the chain plate can be effectively reduced. The invention has strong applicability, is compatible with common trucks and platforms such as van-type trucks and railing-type trucks, and the like, simultaneously considers trays with different heights, is suitable for intelligent loading and unloading of various bagged and boxed goods, and meets the requirements of the logistics industry.

Description

Intelligent logistics loading and unloading system for tray-free transportation
Technical Field
The invention relates to the technical field of cargo transportation, loading and unloading systems, in particular to an intelligent logistics loading and unloading system for tray-free transportation.
Background
For the logistics industry, loading and unloading are important links of cargo transportation. The loading and unloading mode of the existing van truck is to transfer goods from the outside or the tail part of a carriage to the head part of the carriage or from the head part of the carriage to the outside or the tail part of the carriage through manual work and forklift operation, and the goods are sequentially stacked and placed. The aging population continuously increases the cost of human resources, the shortage of the human resources for 50 kg-grade transportation operation is increased, and the manual operation is long in time consumption and poor in operation continuity, so that the transportation cost is increased. When the forklift is used for loading and unloading operation, goods are loaded and unloaded by the movement of the forklift in the carriage, the up-and-down moving space of the goods on the forklift needs to be reserved, and the loading and unloading space is wasted; the space of the carriage is limited, and the operation difficulty of the forklift is high; and the forklift moves in the carriage in a reciprocating way in the loading and unloading process, the loading and unloading time is longer, and the vehicle utilization rate is low. Carrying out tray-free transportation: when goods loading, leave the tray of pile up neatly goods and recycle once more, save transportation space, promote transportation security, reduce the use and the recovery of tray, reduce the cost of transportation, no tray transportation is a trend of future commodity circulation trade. Therefore, an automatic loading and unloading system is urgently needed to load and unload the goods, so that tray-free transportation of the goods is realized.
The existing automatic loading and unloading system has complex mechanical mechanisms of a vehicle-mounted conveying device and a platform conveying device, great changes to trucks and platforms, high manufacturing cost and small compatibility to the trucks and the platforms. Therefore, scientific researchers also provide some ideas of automatic loading and unloading systems, for example, the Chinese utility model patent with the publication number of CN208561027U provides an automatic loading and unloading device for tray goods, a steel platform for a forklift to pass through is arranged on a platform conveying device, the device is compatible with a common truck and a common platform, high-efficiency loading and unloading of goods are realized, the compatibility is strong, but the device cannot realize the transportation of goods without trays, and the intelligent degree is low; also, as a logistics system capable of automatically loading and unloading vehicles proposed in chinese patent application No. CN110182615A, the logistics system pushes goods onto a flat plate of a container when being extended by a telescopic mechanism, and pulls out the goods in the container when being contracted, but the logistics system is only suitable for transporting goods using paper pallets or plastic pallets, and has poor compatibility with ordinary pallets and van trucks.
Disclosure of Invention
The invention aims to make up the defects of the prior art, provides an intelligent logistics loading and unloading system for tray-free transportation, can realize intelligent loading and unloading and tray-free transportation of goods with trays from a warehouse or a transfer station to a carriage, saves transportation space, solves the problem of goods transportation in the carriage, is compatible with common vans and platforms such as van type and railing type goods, and can be suitable for tray-free transportation and intelligent loading and unloading of various bagged and boxed goods.
The invention is realized by the following technical scheme:
an intelligent logistics loading and unloading system for tray-free transportation comprises a vehicle-mounted conveying mechanism and a loading and unloading platform;
the loading and unloading platform comprises a conveyor I, a stack type visual detection device, a loading and unloading tray device and a positioning and moving horizontal rail device;
the first conveyor is stably butted with a first stack type visual detection device, the first stack type visual detection device detects the integrity and inclination of the stack type of the goods, the first stack type visual detection device is stably butted with a loading and unloading tray device and a positioning and moving horizontal rail device respectively, the positioning and moving horizontal rail is stably butted with a vehicle-mounted conveying mechanism, the loading and unloading tray device is used for separating the goods from the tray or placing the goods on the tray, and the positioning and moving horizontal rail device is used for conveying the goods separated from the tray to the vehicle-mounted conveying mechanism or conveying the goods conveyed out of the vehicle-mounted conveying mechanism to the loading and unloading tray device.
The stack type visual detection device comprises a stack type detection conveyor, a to-be-tidied stack type conveyor and a stack type visual detection and control mechanism I; the stacking type detection conveyor is a conveyor capable of rotating by 90 degrees, one end of the stacking type detection conveyor is in smooth butt joint with the conveyor, the other end of the stacking type detection conveyor is in smooth butt joint with a loading and unloading tray device or the stacking type conveyor to be tidied through 90-degree rotation, the first stacking type visual detection and control mechanism is installed above the stacking type detection conveyor, and the control output end of the first stacking type visual detection and control mechanism is connected with the control end of the stacking type detection conveyor.
The loading and unloading tray device comprises a cargo push-out mechanism, a conveyor II, a tray stop plate and an automatic tray warehouse, wherein the cargo push-out mechanism comprises a first push-out device, a second push-out device and a side plate; one end of a second conveyor is stably butted with the stack type visual detection device, the other end of the second conveyor is stably butted with the automatic tray warehouse, the left side of the second conveyor is butted with a first ejector, the right side of the second conveyor is butted with a tray stop plate, the upper edge of the tray stop plate is higher than the height of a tray on the conveying surface of the second conveyor, the side plate is positioned above the second conveyor and is perpendicular to the second conveyor, the side plate is positioned behind the first ejector and the second ejector, the positioning and moving horizontal rail device is positioned on the right side of the second conveyor and is parallel to the second conveyor, the second ejector is positioned on the right side of the positioning and moving horizontal rail device and is arranged opposite to the first ejector, and the tray stop plate, the first ejector and the second ejector are aligned in position.
The positioning and moving horizontal track mechanism comprises a first chain plate conveyor, a second chain plate conveyor, a horizontal track and a visual detection and control mechanism II; the horizontal track is arranged in parallel with the conveyor, the first chain plate conveyor and the second chain plate conveyor are arranged on the horizontal track in parallel and can respectively move back and forth and be positioned on the horizontal track, and the second visual detection and control mechanism is fixedly arranged on the second chain plate conveyor; the visual detection and control mechanism II can automatically detect the truck parking position, the height of the chain plate, the cargo containing space of the carriage and the height of the upper surface of the cargo pallet on the conveyor II when the cargo is loaded and unloaded.
When the first chain plate conveyor and the second chain plate conveyor move to be parallel to the tray blocking plate, one ends of the first chain plate conveyor and the second chain plate conveyor are in butt joint with the tray blocking plate, when the first chain plate conveyor and the second chain plate conveyor move to be parallel to the vehicle-mounted conveying device, the other ends of the first chain plate conveyor and the second chain plate conveyor are in stable butt joint with the vehicle-mounted conveying device, and the vehicle-mounted conveying device and the ejector II are placed on the right side of the horizontal track in parallel;
the height of the first chain plate conveyor and the height of the second chain plate conveyor are adjustable, and the height difference between the first chain plate conveyor and the second chain plate conveyor is one tray height.
The heights of the first chain plate conveyor and the second chain plate conveyor are respectively adjusted through respective hydraulic jacking mechanisms.
The vehicle-mounted conveying device is formed by connecting a plurality of single-sided reciprocating plate chain conveyors in series, and a driving part of the vehicle-mounted conveying device is placed between a chain plate and a carriage bottom plate.
And a baffle is additionally arranged at the front part of the vehicle-mounted conveying device.
The vehicle-mounted conveying mechanism is arranged on a carriage bottom plate, and the loading and unloading platform is arranged on a platform or the ground.
The invention has the advantages that: 1. the invention utilizes the vehicle-mounted conveying mechanism, solves the problem of carrying goods in the carriage, saves labor cost, improves the goods loading and unloading efficiency, reduces the use amount of a loading and unloading platform, a forklift and a truck, and reduces buffer inventory;
2. the invention utilizes the loading and unloading platform to solve the problem of automatically removing the pallets when the goods with the pallets are loaded from the common warehouse, the three-dimensional intelligent warehouse to the carriage or are directly loaded on line, and the problem of automatically loading the pallets when the goods without the pallets are loaded from the carriage to the common warehouse and the three-dimensional intelligent warehouse, thereby realizing the pallet-free transportation of the goods with the pallets, saving the transportation space, avoiding the problem of high cost of pallet recovery and turnover, and improving the transportation safety;
3. the invention adopts the visual detection mechanism, can realize the unmanned loading and unloading of goods, and has high intelligence degree;
4. the invention has strong applicability, is compatible with common trucks and platforms such as van-type, railing-plate type and flat-plate type, simultaneously considers trays with different specifications and sizes, is suitable for tray-free transportation and intelligent loading and unloading of various bagged and boxed goods, and meets the butt joint requirement of the intelligent logistics industry.
Drawings
FIG. 1 is a schematic top view of the overall configuration of the intelligent handling system of the present invention;
fig. 2 is a partially enlarged view of fig. 1.
FIG. 3 is a schematic view of the cargo pushing apparatus of FIG. 1;
FIG. 4 is a schematic view of the positioning and moving horizontal track assembly of FIG. 1;
FIG. 5 is a schematic structural diagram of the on-board transport mechanism of the intelligent loading and unloading system of the present invention;
fig. 6 is a top view of fig. 5.
Figure 7 is an enlarged fragmentary view of the single-face reciprocating plate link conveyor of figure 5.
Detailed Description
As shown in fig. 1 and 2, the intelligent logistics loading and unloading system for palletless transportation in this embodiment includes a vehicle-mounted conveying mechanism and a loading and unloading platform, wherein the vehicle-mounted conveying mechanism is installed on a platform floor, and the loading and unloading platform is installed on a platform or the ground.
The loading and unloading platform comprises a conveyor I1, a stack type visual detection device 2, a loading and unloading tray device 3 and a positioning and moving horizontal rail device 4.
The stack type visual detection device 2 comprises a stack type detection conveyor 21, a to-be-tidied stack type conveyor 22 and a stack type visual detection and control mechanism I23, wherein the stack type detection conveyor 21 is a conveyor capable of rotating 90 degrees, and one end of the stack type detection conveyor is stably butted with the conveyor I1.
As shown in fig. 3, the handling tray device 3 includes a cargo pushing mechanism 31, a second conveyor 32, a tray blocking plate 33, and an automatic tray magazine 34, where the cargo pushing mechanism 31 includes a first pusher 311, a second pusher 312, and a side plate 313, one end of the second conveyor 32 is stably butted against the stack detection conveyor 21, the other end is butted against the automatic tray magazine 34, a side surface of the second conveyor 32 is butted against the tray blocking plate 33, and the other side surface is provided with the first pusher 311.
As shown in fig. 4, the positioning and moving horizontal rail device 4 includes a first slat conveyor 41, a second slat conveyor 42, a horizontal rail 43, a hydraulic jacking mechanism 44, and a second visual inspection and control mechanism 45, the first slat conveyor 41 and the second slat conveyor 42 are placed in parallel on the horizontal rail 43 and can respectively move back and forth on the horizontal rail 43 and are positioned, one end of the first slat conveyor 41 and the second slat conveyor 42 can be butted with the tray blocking plate 33, the other end can be butted with the vehicle-mounted slat chain conveyor line, and the second pusher 312 and the vehicle-mounted conveyor device are placed in parallel on one side of the horizontal rail.
The heights of the conveying lines of the first chain conveyor 41 and the second chain conveyor 42 are automatically adjustable and are different from the height of the conveying line of the second conveyor 32 by the height of the tray 6.
As shown in fig. 5, 6 and 7, the vehicle-mounted conveying device is composed of a plurality of single-sided reciprocating plate chain conveyors 5, a driving part 51 of the vehicle-mounted conveying device is placed between a chain plate 53 and a compartment bottom plate, the driving part comprises a motor and a planetary gear reducer, and a baffle plate 52 is additionally arranged at the front part of the vehicle-mounted conveying device.
The first stack type visual detection and control mechanism 23 can automatically detect the integrity and inclination of the stack type, and the second visual detection and control mechanism 45 can automatically detect the parking position of the truck, the height of the chain plate 52, the cargo containing space of the carriage and the height of the upper surface of the cargo pallet on the second conveyor when the cargo is loaded and unloaded.
The loading work process of the intelligent logistics loading and unloading system for tray-free transportation of the embodiment is as follows:
1) and (3) parking of the truck: the truck is parked at the truck-parking position.
2) Visual inspection: the second visual detection and control mechanism 45 can automatically detect the cargo space in the carriage during cargo loading and unloading.
3) And (4) ex-warehouse: if the goods in the carriage are not full, the goods stacked by the pallets are conveyed to the conveyor I1 from a common warehouse or a three-dimensional intelligent warehouse by a common forklift or an AGV forklift, or the goods are directly conveyed to the conveyor I1 by a production conveying line.
4) Detecting the stack shape: goods 7 advance to buttress type along conveyer 1 and detect conveyer 21 department, and visual detection equipment 23 automated inspection buttress type is complete, the slope condition, if the buttress type is complete, the slope is less than 5 degrees, the goods then advances to conveyer two 32 departments along buttress type detection conveyer 21, otherwise, buttress type detection conveyer 21 will rotate 90 degrees, and the goods then advances to waiting to sort buttress type conveyer 22 department along conveyer 21.
5) Goods tray removal: the first pusher 311 and the first pusher 312 are in the state shown in fig. 2, the goods continue to move forward along the second conveyor 32 to the position where the front end of the goods just contacts the side plate 313, the first plate link conveyor 41 moves along the horizontal rail 43, the first plate link conveyor 41 is aligned with the corresponding goods, and at the moment, the height of the first plate link conveyor 41 is adjusted through the hydraulic jacking mechanism 44 by means of the second visual detection and control mechanism 45 to be consistent with the height of the upper surface of the pallet; the first pusher 311 pushes the goods from one side of the goods, the second pusher 312 slightly pushes the goods from the other side of the goods, the pallets are still left on the second conveyor 32 due to the blocking of the pallet blocking plate 33, the second conveyor 32 continues to move forwards and enters the automatic pallet warehouse 34, the goods are pushed to the first chain conveyor 41 through the upper surface of the pallet blocking plate 33, and the operation of removing the pallets 6 from the goods is completed.
6) Next pallet cargo goes to pallet: returning the first ejector 311 and the second ejector 312 to the state shown in fig. 2, advancing the first chain conveyor 41 and the second chain conveyor 42 along the horizontal rail 43 to align the second chain conveyor 42 with the next pallet cargo at the second conveyor 32, and adjusting the height of the first chain conveyor 42 to be consistent with the height of the upper surface of the pallet through the hydraulic jacking mechanism 44 by means of the second visual detection and control mechanism 45; the height of the second plate chain conveyor 42 is adjusted through a hydraulic jacking mechanism 44, so that the heights of the upper surfaces of the chain plates and the trays are consistent; the first pusher 311 pushes the goods from one side of the goods, the second pusher 312 slightly pushes the goods from the other side of the goods, the pallets are still left on the second conveyor 32 due to the blocking of the second pallet blocking plate 33, the goods continue to move forwards along the second conveyor 32 and enter the automatic pallet warehouse 34, the goods are pushed to the second chain conveyor 42 through the upper surface of the second pallet blocking plate 33, the goods are pushed to the pallet removing operation is completed, and the first pusher 311 and the second pusher 312 return to the state in fig. 2.
7) Loading goods: the parking position of the truck and the height of the chain plate 52 are automatically detected by the visual detection and control mechanism II 45 when the truck is loaded and unloaded, the plate chain conveyor I41 and the chain plate conveyor II 42 move to the position aligned with the vehicle-mounted plate chain conveyor 5 along the horizontal rail 43, the heights of the plate chain conveyor I41 and the chain plate conveyor II 42 are adjusted by the hydraulic jacking mechanism 44 to enable the plate chain conveyor I41 and the chain plate conveyor II 42 to be stably butted with the vehicle-mounted plate chain conveyor 5, the cargos on the plate chain conveyor I41 and the chain plate conveyor II 42 move forwards to the vehicle-mounted plate chain conveyor 5 along respective conveying lines, and the truck head is moved by the truck tail.
8) And sequentially circulating the working processes 2) to 7) to finish the loading of the cargos of the whole vehicle.
The unloading work process of the intelligent logistics loading and unloading system for tray-free transportation of the embodiment is as follows:
1) and (3) parking of the truck: the truck is parked at the truck-parking position.
2) Visual inspection: and whether goods exist in the carriage or not can be automatically detected through the second visual detection and control mechanism 45.
3) Automatic unloading: if the goods exist, the parking position of the truck and the height of the chain plate 52 are automatically detected by the visual detection and control mechanism II 45 when the goods are loaded and unloaded, so that the plate chain conveyor I41 and the plate chain conveyor II 42 move to the position aligned with the vehicle-mounted plate chain conveyor 5 along the horizontal rail 43, the heights of the plate chain conveyor I41 and the plate chain conveyor II 42 are adjusted by the hydraulic jacking mechanism 44 to enable the plate chain conveyor I41 and the plate chain conveyor II 42 to be stably butted with the vehicle-mounted plate chain conveyor 5, and the goods on the vehicle-mounted plate chain conveyor 5 move forwards to the plate chain conveyor I41 and the plate chain conveyor II 42.
4) And (4) loading a tray: the trays in the automated tray magazine 34 advance along the second conveyor 32 to a position aligned with the first ejector 311.
5) Loading the goods into a tray in sequence: the first plate link conveyor 41 moves along the horizontal rail 43, so that the goods are aligned with the tray on the conveyor 32, and the front ends of the goods just contact the side plates 313; adjusting the height of the first plate chain conveyor 41 through a hydraulic jacking mechanism 44 by means of a second visual detection and control mechanism 45 to be consistent with the height of the upper surface of the tray; the second ejector 312 pushes the goods from one side of the goods, the first ejector 311 slightly pushes the goods from the other side of the goods, the goods are pushed to the tray at the second conveyor 32, and the first ejector 311 and the first ejector 312 return to the original position.
The goods advance to the stack type detection conveyor 21 along the second conveyor 32, at the moment, the second plate link conveyor 42 moves along the horizontal rail 43, so that the goods on the second plate link conveyor 42 are aligned with the tray on the conveyor 32, and the front end of the goods just contacts the side plate 313; the height of the second plate chain conveyor 42 is adjusted through a hydraulic jacking mechanism 44 by means of a second visual detection and control mechanism 45, so that the height of the second plate chain conveyor is consistent with that of the upper surface of the tray; the second pusher 312 pushes the goods from one side of the goods, the first pusher 311 slightly pushes the goods from the other side of the goods, and the goods are pushed to the pallet at the second conveyor 32, so that the goods palletizing operation is completed.
6) Detecting the stack shape: goods move forward to the buttress type detection conveyor 21 along the second conveyor 32, the visual detection mechanism 23 automatically detects the complete and inclined condition of the buttress type, if the complete and inclined condition of the buttress type is less than 5 degrees, the goods move forward to the first conveyor 1 along the buttress type detection conveyor 21, otherwise, the buttress type detection conveyor 21 rotates by 90 degrees, and the goods move forward to the buttress type conveyor 22 to be tidied along the conveyor 21.
7) Warehousing: bagged or boxed goods with trays are stacked on the conveyor I1, and a common forklift or an AGV forklift is used for transporting a warehouse or a three-dimensional intelligent warehouse.
And sequentially circulating the working processes 2) to 7) to finish the unloading of the cargos of the whole vehicle.

Claims (5)

1. The utility model provides an intelligent commodity circulation handling system of no tray transportation which characterized in that: comprises a vehicle-mounted conveying mechanism and a loading and unloading platform; the loading and unloading platform comprises a conveyor I, a stack type visual detection device, a loading and unloading tray device and a positioning and moving horizontal rail device; the first conveyor is stably butted with a first stack type visual detection device, the first stack type visual detection device detects the integrity and inclination of the stack type of the goods, the first stack type visual detection device is stably butted with a loading and unloading tray device and a positioning and moving horizontal rail device respectively, the positioning and moving horizontal rail is stably butted with a vehicle-mounted conveying mechanism, the loading and unloading tray device is used for separating the goods from the tray or placing the goods on the tray, and the positioning and moving horizontal rail device is used for conveying the goods separated from the tray to the vehicle-mounted conveying mechanism or conveying the goods conveyed out of the vehicle-mounted conveying mechanism to the loading and unloading tray device;
the stack type visual detection device comprises a stack type detection conveyor, a to-be-tidied stack type conveyor and a stack type visual detection and control mechanism I; the stacking type detection conveyor is a conveyor capable of rotating by 90 degrees, one end of the stacking type detection conveyor is in smooth butt joint with the conveyor, the other end of the stacking type detection conveyor is in smooth butt joint with the loading and unloading tray device or the stacking type conveyor to be tidied respectively through 90-degree rotation, the first stacking type visual detection and control mechanism is installed above the stacking type detection conveyor, and the control output end of the first stacking type visual detection and control mechanism is connected with the control end of the stacking type detection conveyor;
the loading and unloading tray device comprises a cargo push-out mechanism, a conveyor II, a tray stop plate and an automatic tray warehouse, wherein the cargo push-out mechanism comprises a first push-out device, a second push-out device and a side plate; one end of a second conveyor is stably butted with the stack type visual detection device, the other end of the second conveyor is stably butted with the automatic tray warehouse, the left side of the second conveyor is butted with a first ejector, the right side of the second conveyor is butted with a tray blocking plate, the upper edge of the tray blocking plate is higher than the height of a tray on the conveying surface of the second conveyor, a side plate is positioned above the second conveyor and is perpendicular to the second conveyor, the side plate is positioned behind the first ejector and the second ejector, the positioning and moving horizontal track device is positioned on the right side of the second conveyor and is parallel to the second conveyor, the second ejector is positioned on the right side of the positioning and moving horizontal track device and is arranged opposite to the first ejector, and the tray blocking plate, the first ejector and the second ejector are aligned in position;
the positioning and moving horizontal track mechanism comprises a first chain plate conveyor, a second chain plate conveyor, a horizontal track and a visual detection and control mechanism II; the horizontal track is arranged in parallel with the conveyor, the first chain plate conveyor and the second chain plate conveyor are arranged on the horizontal track in parallel and can respectively move back and forth and be positioned on the horizontal track, and the second visual detection and control mechanism is fixedly arranged on the second chain plate conveyor; when the first chain plate conveyor and the second chain plate conveyor move to be parallel to the tray blocking plate, one ends of the first chain plate conveyor and the second chain plate conveyor are in butt joint with the tray blocking plate, when the first chain plate conveyor and the second chain plate conveyor move to be parallel to the vehicle-mounted conveying device, the other ends of the first chain plate conveyor and the second chain plate conveyor are in stable butt joint with the vehicle-mounted conveying device, and the vehicle-mounted conveying device and the ejector II are placed on the right side of the horizontal track in parallel; the height of the first chain plate conveyor and the height of the second chain plate conveyor are adjustable, and the height difference between the first chain plate conveyor and the second chain plate conveyor is one tray height.
2. The intelligent logistics handling system of palletless transportation of claim 1, wherein: the heights of the first chain plate conveyor and the second chain plate conveyor are respectively adjusted through respective hydraulic jacking mechanisms.
3. The intelligent logistics handling system of palletless transportation of claim 1, wherein: the vehicle-mounted conveying device is formed by connecting a plurality of single-sided reciprocating plate chain conveyors in series, and a driving part of the vehicle-mounted conveying device is placed between a chain plate and a carriage bottom plate.
4. The intelligent logistics handling system of palletless transportation of claim 3, wherein: and a baffle is additionally arranged at the front part of the vehicle-mounted conveying device.
5. The intelligent logistics handling system of palletless transportation of claim 1, wherein: the vehicle-mounted conveying mechanism is arranged on a carriage bottom plate, and the loading and unloading platform is arranged on a platform or the ground.
CN201911030282.9A 2019-10-28 2019-10-28 Intelligent logistics loading and unloading system for tray-free transportation Active CN110723449B (en)

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