CN111071808A - Intelligent unstacking, loading and stacking system - Google Patents
Intelligent unstacking, loading and stacking system Download PDFInfo
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- CN111071808A CN111071808A CN201911399717.7A CN201911399717A CN111071808A CN 111071808 A CN111071808 A CN 111071808A CN 201911399717 A CN201911399717 A CN 201911399717A CN 111071808 A CN111071808 A CN 111071808A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
- B65G67/04—Loading land vehicles
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- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
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- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders
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Abstract
The invention discloses an intelligent unstacking, loading and stacking system which comprises a main belt conveying line, a stacking robot arranged corresponding to the main belt conveying line, an unstacking roller line, a butt-joint conveying line and a robot walking shaft arranged side by side with the main belt conveying line, wherein the unstacking robot is arranged corresponding to the unstacking roller line, a walking platform capable of moving on the robot walking shaft is arranged on the robot walking shaft, the stacking robot is arranged on the walking platform, one end of the butt-joint conveying line is connected with the main belt conveying line, and the other end of the butt-joint conveying line is opposite to the unstacking roller line. The problems that products can be well loaded and transported from a production line or stacked and warehoused from the production line can be well solved, and the loading and transportation of storehouse stored materials and the refurbishment and stacking of the storehouse stored materials can be well completed; the vehicle type and position can be automatically identified in the loading process, stack type and stack track can be automatically planned, an intelligent loading task is completed, and transferring efficiency is improved.
Description
Technical Field
The invention relates to the technical field of intelligent stacking and loading, in particular to an intelligent unstacking, loading and stacking system.
Background
In production enterprises of grains, food, cement, chemical raw materials and the like, bagged materials in a production line or a storehouse need to be loaded into a boxcar. At present the manual work of adopting the belt feeder to carry the carriage with the material is putting, and efficiency is not high.
In the prior art, a small number of automatic stacking devices are used for realizing automatic stacking, but the existing automatic stacking devices are complex in structure, cannot automatically identify relevant information of vehicles, are low in automation degree, need workers to participate in assistance, and cannot meet the requirements of high-yield production lines.
For example, chinese patent 201210248968.7 discloses an automatic loading method and device for goods, which cannot integrate unstacking, loading and stacking, and needs to manually position the carriage position and posture during loading of the goods, cannot automatically identify the pose information of the vehicle, needs manual assistance, and has low automation degree.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an intelligent unstacking, loading and stacking system to achieve the purpose of improving the transfer efficiency.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
the utility model provides an intelligence pile up neatly system of loading of breaking a jam, includes the pile up neatly robot that main belt transfer chain and corresponding main belt transfer chain set up, still includes the cylinder line of breaking a jam, docks the transfer chain and the robot walking axle that sets up side by side with main belt transfer chain, corresponds the cylinder line of breaking a jam and is equipped with the robot of breaking a jam, the epaxial walking platform that can remove on the robot walking axle that is equipped with of robot walking, pile up neatly robot establishes on walking platform, the one end of butt joint transfer chain links to each other with main belt transfer chain, and the other end of butt joint transfer chain sets up with the cylinder line of breaking a jam relatively.
One side of the main belt conveying line is a loading area, and the other side of the main belt conveying line is a stacking area used for stacking on a tray.
One end of the unstacking roller line is arranged opposite to the butt joint conveying line, and a recovery tray warehouse is arranged at the other end corresponding to the unstacking roller line.
And the walking platform or the palletizing robot is provided with a scanner for scanning vehicles or trays to obtain information.
The height of the main belt conveying line is higher than the height of a vehicle side of a vehicle in a loading area.
The walking platform is provided with a supporting frame used for supporting the material bag to be convenient for to grab and clamp and a line shaft roller line used for conveying the main conveying belt material bag to the supporting frame.
And the support frame on the walking platform is arranged between the travelling axis roller line and the stacking robot.
The control method of the intelligent unstacking, loading and stacking system comprises the following steps:
1) starting a system, and selecting a loading or stacking function;
2) if the stacking function is selected: stacking empty trays in place, enabling a robot to reach a designated stacking position, selecting a feeding mode, starting stacking by main belt feeding, and completing stacking;
if the loading function: scanning vehicles, manually rechecking vehicle information, inputting order number, planning loading stacking type and track by a system, selecting a feeding mode, starting loading by a main belt line, and finishing loading;
wherein, the selection of the feeding mode comprises direct feeding or unstacking feeding of the product line.
Compared with the prior art, the invention has the following advantages:
the intelligent unstacking, loading and stacking system is reasonable in structural design, can well solve the problems that products can be loaded and transported from a production line or stacked and warehoused from the production line, and can well finish the loading and transporting of warehouse stored materials and the renovating and stacking of the warehouse stored materials; the vehicle type and position can be automatically identified in the loading process, the stacking type and the stacking track can be automatically planned, the intelligent loading task is completed, and the transferring efficiency is improved; and the structure is compact, and the arrangement and installation are convenient.
Drawings
The contents of the description and the references in the drawings are briefly described as follows:
FIG. 1 is a schematic top view of the system of the present invention.
FIG. 2 is a schematic axial view of the system structure of the present invention.
FIG. 3 is a schematic diagram of the control flow of the system of the present invention.
In the figure:
1. the stacking machine comprises a foundation, 2 main belt conveying lines, 3 a robot seventh shaft, 4 vehicles, 5 stacking tray frames, 6 travelling shaft roller lines, 7 laser radars, 8 stacking clamping jaws, 9 stacking robots, 10 recovery tray warehouses, 11 forklifts, 12 unstacking roller lines, 13 unstacking robots and 14 butt joint conveying lines.
Detailed Description
The following description of the embodiments of the present invention will be made in detail with reference to the accompanying drawings.
As shown in fig. 1 to 3, the intelligent unstacking, loading and stacking system comprises a main belt conveying line 2, a stacking robot 9 arranged corresponding to the main belt conveying line, a unstacking roller line 12, a butt-joint conveying line 14 and a robot walking shaft arranged side by side with the main belt conveying line.
The main belt conveying line and the unstacking roller line are fixed on the foundation 1 through supports, one side of the main belt conveying line is a loading area, the other side of the main belt conveying line is a stacking area used for stacking on a tray, the stacking area is provided with a stacking tray frame 5, loading or stacking on the tray can be carried out according to selection, and the use is flexible and changeable.
The unstacking robot 13 is arranged corresponding to the unstacking roller line 12, a walking platform capable of moving on a robot walking shaft is arranged on the robot walking shaft, the palletizing robot 9 is arranged on the walking platform, one end of a butt joint conveying line is connected with a main belt conveying line, and the other end of the butt joint conveying line is arranged opposite to the unstacking roller line; the walking platform and the position of the stacking robot on the walking platform can be movably adjusted according to the parking position of the vehicle.
One end of the unstacking roller line is arranged opposite to the butt joint conveying line, a recovery material tray warehouse 10 is arranged at the other end corresponding to the unstacking roller line, the unstacking robot is located between one end of the unstacking roller line and the butt joint conveying line, and the firewood stacking robot is also provided with a scanner, so that unstacked material bags can be conveniently transferred to the butt joint conveying line and the main belt conveying line.
A scanner for scanning the vehicle 4 or the pallet to acquire information is arranged on the walking platform or the palletizing robot; the robot walking axis is a seventh axis 3 of the robot.
The scanner is a laser radar 7; the laser radar scans the vehicle and transmits the scanned three-position point cloud data of the truck to the main system; and then the main system processes the collected point cloud data to acquire the space orientation information of the laser radar relative to the truck, and performs coordinate transformation according to calibration data between the laser radar and the palletizing robot to acquire the space orientation information of the truck type area relative to the palletizing robot. Or scanning the position of the pallet on the other side of the main belt conveying line.
The top of fixed frame is equipped with unsettled backup pad, and the both sides of backup pad are passed through the stabilizer blade and are fixed on fixed frame, and the last both ends that correspond the backup pad of fixed frame are equipped with the pivot, and main conveyor belt overlaps in backup pad and pivot, and fixed frame is last to be equipped with and to be used for driving pivot pivoted motor, moves in the backup pad through motor drive main conveyer belt, and the loading capacity is big, carries reliable and stable.
The height of the main belt conveying line is higher than the height of the side wall of a vehicle in the loading area. The walking platform is provided with a supporting frame for supporting the material bag to be convenient for grabbing and clamping and a line shaft roller line 6 for conveying the material bag on the main belt conveying line to the supporting frame; the support frame on the walking platform is arranged between the travelling axis roller line and the stacking robot.
The control method of the intelligent unstacking, loading and stacking system comprises the following steps:
1) starting a system, and selecting a loading or stacking function;
2) if the stacking function is selected: stacking empty trays in place, enabling a robot to reach a designated stacking position, selecting a feeding mode, starting stacking by main belt feeding, and completing stacking;
if the loading function: scanning vehicles, manually rechecking vehicle information, inputting order number, planning loading stacking type and track by a system, selecting a feeding mode, starting loading by a main belt line, and finishing loading;
wherein, the selection of the feeding mode comprises direct feeding or unstacking feeding of the product line.
Specific preferred examples are:
starting a system, and selecting a loading or stacking function;
after the stacking function is selected, the stacking robot drives the laser radar and the walking feeding roller line to move on a seventh axis of the robot along the length direction of the vehicle, the laser radar scans the vehicle and transmits the scanned three-position point cloud data of the truck to the main system; then the main system processes the collected point cloud data to obtain the space orientation information of the laser radar relative to the truck, and coordinate transformation is carried out according to calibration data between the laser radar and the palletizing robot to obtain the space orientation information of a truck type area relative to the palletizing robot; the information comprises the length and width of the carriage, the height type of the vehicle baffle and the depth information of the bottom plate; after the scanning of the vehicle is finished, the system gives the type and position information of the vehicle on an interface according to the data after point cloud analysis, manually confirms the type and size of the vehicle according to the existing vehicle information table, inputs the order number after confirmation, and plans the loading stack type and loading track for the robot according to the order number; after the system plans the loading area, selecting a feeding mode, and starting to select whether the production line feeds or the unstacking system feeds; if the material is fed to the production line, the butt joint conveying line is directly in butt joint with the production line to feed the main belt conveying line, when the material reaches the walking roller line, the system receives a material in-place signal, the stacking robot drives the stacking clamping jaws to carry out loading tasks according to the stacking type and the track planned by the system until the number of orders for loading the order is finished, and after the loading is finished, the stacking robot returns to the initial position to wait for the next loading; if the unstacking system is selected for feeding, manually transporting pallets filled with goods in a warehouse to an unstacking roller line by using a forklift, unstacking the pallets by using the unstacking robot after receiving a pallet in-place signal, feeding the pallets to a butt-joint conveying line, and finishing a loading task by using the palletizing robot as the same as the feeding of the production line; when the goods on the trays are disassembled, the unstacking roller line conveys the empty trays to the recovery tray warehouse, and the unstacking robot waits for the next material tray to be in place and sequentially circulates until the unstacking task is completed.
After the stacking function is selected, the stacking robot drives the laser radar and the walking feeding roller line to move to a designated stacking station on a seventh shaft of the robot, after a tray in-place signal on a tray support is received, a system sends a material requiring signal, and at the moment, whether the material is supplied by a production line or a unstacking system is selected; if the material is supplied to the production line, the butt joint conveying line is directly in butt joint with the production line to supply the material to the main belt conveying line, when the material reaches the walking roller line, the system receives a material in-place signal, the stacking robot drives the stacking clamping jaws 8 to grab the material to stack on a tray support according to a set stack shape, the tray filled with the goods is manually stored in a warehouse by a forklift 11 after the stacking is finished, the robot starts to stack the next round, and the process is sequentially circulated until the stacking task is finished; if the unstacking system is selected for feeding, manually transporting pallets filled with goods in a warehouse to an unstacking roller line by using a forklift, unstacking the pallets by using the unstacking robot after receiving a pallet in-place signal, feeding the pallets to a butt-joint conveying line, and completing a palletizing task by using the palletizing robot 9 as the feeding of the production line; when the goods on the trays are disassembled, the unstacking roller line conveys the empty trays to the recovery tray warehouse, and the unstacking robot waits for the next material tray to be in place and sequentially circulates until the unstacking task is completed.
The intelligent unstacking, loading and stacking system is reasonable in design, can well solve the problems that products can be loaded and transported from a production line or stacked and warehoused from the production line, and can well finish the loading and transportation of warehouse stored materials and the renovation and stacking of the warehouse stored materials; the vehicle type and position can be automatically identified in the loading process, the stacking type and the stacking track can be automatically planned, the intelligent loading task is completed, and the transferring efficiency is improved; and the structure is compact, and the arrangement and installation are convenient.
The above-mentioned features are merely for describing preferred embodiments of the present invention and may be arbitrarily combined to form a plurality of embodiments of the present invention.
The invention is described above with reference to the accompanying drawings, it is obvious that the specific implementation of the invention is not limited by the above-mentioned manner, and it is within the scope of the invention to adopt various insubstantial modifications of the inventive concept and solution, or to apply the inventive concept and solution directly to other applications without modification.
Claims (8)
1. The utility model provides an intelligence pile up neatly system of loading of breaking a jam, includes the pile up neatly machine people of main belt transfer chain and corresponding main belt transfer chain setting, its characterized in that: the robot unstacking device is characterized by further comprising an unstacking roller line, a butt joint conveying line and a robot walking shaft arranged side by side with the main belt conveying line, wherein an unstacking robot is arranged corresponding to the unstacking roller line, a walking platform capable of moving on the robot walking shaft is arranged on the robot walking shaft, the palletizing robot is arranged on the walking platform, one end of the butt joint conveying line is connected with the main belt conveying line, and the other end of the butt joint conveying line is arranged opposite to the unstacking roller line.
2. The intelligent unstacking, loading and stacking system as claimed in claim 1, wherein: one side of the main belt conveying line is a loading area, and the other side of the main belt conveying line is a stacking area used for stacking on a tray.
3. The intelligent unstacking, loading and stacking system as claimed in claim 1, wherein: one end of the unstacking roller line is arranged opposite to the butt joint conveying line, and a recovery tray warehouse is arranged at the other end corresponding to the unstacking roller line.
4. The intelligent unstacking, truck-loading and palletizing system as claimed in claim 2, wherein: and the walking platform or the palletizing robot is provided with a scanner for scanning vehicles or trays to obtain information.
5. The intelligent unstacking, truck-loading and palletizing system as claimed in claim 2, wherein: the height of the main belt conveying line is higher than the height of a vehicle side of a vehicle in a loading area.
6. The intelligent unstacking, loading and stacking system as claimed in claim 1 or 4, wherein: the walking platform is provided with a supporting frame used for supporting the material bag to be convenient for to grab and clamp and a line shaft roller line used for conveying the main conveying belt material bag to the supporting frame.
7. The intelligent unstacking, loading and stacking system as claimed in claim 6, wherein: and the support frame on the walking platform is arranged between the travelling axis roller line and the stacking robot.
8. The utility model provides an intelligence system of pile up neatly of loading of breaking a jam which characterized in that: the control method of the intelligent unstacking, loading and stacking system comprises the following steps:
1) starting a system, and selecting a loading or stacking function;
2) if the stacking function is selected: stacking empty trays in place, enabling a robot to reach a designated stacking position, selecting a feeding mode, starting stacking by main belt feeding, and completing stacking;
if the loading function: scanning vehicles, manually rechecking vehicle information, inputting order number, planning loading stacking type and track by a system, selecting a feeding mode, starting loading by a main belt line, and finishing loading;
wherein, the selection of the feeding mode comprises direct feeding or unstacking feeding of the product line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911399717.7A CN111071808A (en) | 2019-12-30 | 2019-12-30 | Intelligent unstacking, loading and stacking system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911399717.7A CN111071808A (en) | 2019-12-30 | 2019-12-30 | Intelligent unstacking, loading and stacking system |
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| CN111071808A true CN111071808A (en) | 2020-04-28 |
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| CN201911399717.7A Pending CN111071808A (en) | 2019-12-30 | 2019-12-30 | Intelligent unstacking, loading and stacking system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111439596A (en) * | 2020-05-08 | 2020-07-24 | 埃斯顿（湖北）机器人工程有限公司 | An electric porcelain mud brick robot palletizing and depalletizing workstation |
| CN111960122A (en) * | 2020-08-25 | 2020-11-20 | 芜湖志光机械有限公司 | Coordinate robot stacking system and method for automobile accessory loading |
| CN112051813A (en) * | 2020-08-25 | 2020-12-08 | 芜湖志光机械有限公司 | Automatic transportation system and method for automobile accessory loading |
| CN112722657A (en) * | 2020-12-07 | 2021-04-30 | 上海利兰机械设备有限公司 | Automatic loading and unloading method for goods of van truck |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112051813A (en) * | 2020-08-25 | 2020-12-08 | 芜湖志光机械有限公司 | Automatic transportation system and method for automobile accessory loading |
| CN112722657A (en) * | 2020-12-07 | 2021-04-30 | 上海利兰机械设备有限公司 | Automatic loading and unloading method for goods of van truck |
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Application publication date: 20200428 |
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