CN111422632A

CN111422632A - Unloading method, unloading device and computer readable storage medium

Info

Publication number: CN111422632A
Application number: CN201910023886.4A
Authority: CN
Inventors: 夏世民
Original assignee: Shenzhen Dorabot Robotics Co ltd
Current assignee: Shenzhen Dorabot Robotics Co ltd
Priority date: 2019-01-10
Filing date: 2019-01-10
Publication date: 2020-07-17

Abstract

The invention discloses a discharging method, a discharging device and a computer readable storage medium, wherein the discharging method comprises the following steps: controlling a container lifting device to jack the head of the container, so that the container is adjusted to be in a shape that the tail part is inclined downwards; controlling a movable door plate device at the tail of the container to open from top to bottom; the conveyor is controlled to carry away the dropped goods. The invention has the effect of improving the unloading efficiency.

Description

Unloading method, unloading device and computer readable storage medium

Technical Field

The invention relates to the technical field of logistics sorting, in particular to a discharging method, a discharging device and a computer readable storage medium.

Background

In the field of logistics, when goods need to be transported to the next destination, the goods need to be loaded into containers or loaded into the compartments of trucks and then transported away. When the goods are transferred to the destination, the goods need to be unloaded from the container or the carriage of the truck.

However, due to the need for safe transport of cargo, it is not possible to directly dump the cargo out of the container or car when unloading the cargo. As a result, boxes are currently handled one by one from within the car, usually manually or robotically, while being unloaded. Thus, the existing unloading solutions are inefficient.

Disclosure of Invention

The invention mainly aims to provide a discharging method, a discharging device and a computer readable storage medium, aiming at improving discharging efficiency.

In order to achieve the above object, the unloading method provided by the present invention is used for logistics sorting, and the unloading method includes:

controlling a container lifting device to jack the head of the container, so that the container is adjusted to be in a shape that the tail part is inclined downwards;

controlling a movable door plate device at the tail of the container to open from top to bottom;

the conveyor is controlled to carry away the dropped goods.

Optionally, the opening of the movable door panel device for controlling the tail of the cargo box from top to bottom includes:

setting N preset periods according to the number of the door plates of the movable door plate device at the tail of the container;

in a first preset period, controlling a first door plate close to the top surface of the container to descend so that the goods on the uppermost layer slide out of the container;

in a second preset period, controlling a second door panel positioned below the first door panel to descend;

and in the Nth preset period, controlling the Nth door plate close to the bottom surface of the cargo box to descend so that the cargo at the lowest layer slides out of the cargo box.

Optionally, the unloading method further includes:

controlling the conveyor to move to a position corresponding to the part to be opened of the movable door plate device;

and correspondingly controlling the conveyor to move from top to bottom according to the top-to-bottom opening of the movable door plate device.

Optionally, the unloading method further includes:

when the goods are blocked, the lifting device is controlled to rock the container, or the manipulator is controlled to adjust the goods.

Optionally, the unloading method further includes:

the movable door plate device is controlled to cover the opening of the container.

The invention also provides a discharge device for logistics sorting, which comprises: the device comprises a first lifting device, a movable door plate device, a conveyor, a storage and a processor;

the first lifting device is used for being connected with the head of an external container and used for jacking up the head of the container;

the movable door plate device is used for being connected with an external container and used for closing an opening of the container;

the conveyer is arranged below the movable door plate device and is used for conveying goods;

the storage stores unloading programs;

the processor is used for executing the unloading program to execute the steps of the unloading method.

Optionally, the movable door panel device includes a plurality of connection plates and a lifting driver;

the connecting plates are movably connected in a front-back stacked manner; the last connecting plate is fixedly arranged in position; the foremost connecting plate is connected with the lifting driver and used for moving up and down under the driving of the lifting driver.

Optionally, the connecting plate includes a longitudinally extending plate body, and an upper baffle and a lower baffle respectively connected to the upper end and the lower end of the plate body;

the front plate surface of one plate body is movably connected with the rear plate surface of the other plate body up and down in a sliding manner;

when the movable door plate device is unfolded in place, the lower plate surface of one upper baffle plate is propped against the upper plate surface of the other corresponding lower baffle plate;

when the movable door plate device is contracted in place, the upper plate surface of one upper baffle plate is propped against the lower plate surface of the other corresponding upper baffle plate.

Optionally, the unloading apparatus further includes a second lifting device, and the second lifting device is connected to the conveyor to drive the conveyor to lift.

Optionally, the unloading device further comprises a cargo stop plate, and the cargo stop plate is arranged at an edge of one side of the conveyor far away from the movable door plate device.

Optionally, the unloading device further comprises a manipulator, and the manipulator is arranged on one side of the conveyor, which is far away from the movable door panel device.

The invention also provides a computer readable storage medium having stored thereon a landing program, which when executed by a processor implements the steps of the landing method as described above.

The unloading method provided by the invention is characterized in that when in use, the opening of the container is exposed from the upper end, so that at the beginning, the goods at the uppermost layer firstly roll down to the conveyor, and the goods are transported away. Then, the goods on the next upper layer roll down to the conveyor along with the exposed position of the opening, and then are conveyed away until the goods on the bottommost layer roll down to the conveyor and are conveyed away. In the whole unloading process, the goods cannot emerge suddenly, and the condition of stacking and extruding cannot happen. Thereby realized empting the goods safely, and then improved the efficiency of unloading.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

FIG. 1 is a flow chart of a first embodiment of the unloading method of the present invention;

FIG. 2 is a flow chart of a second embodiment of the unloading method of the present invention;

FIG. 3 is a flow chart of a third embodiment of the unloading method of the present invention;

FIG. 4 is a flow chart of a fourth embodiment of the unloading method of the present invention;

FIG. 5 is a flow chart of a fifth embodiment of the unloading method of the present invention;

fig. 6 is a schematic structural view of an embodiment of the unloading device of the invention;

fig. 7 is a schematic view of the unloading device shown in fig. 6 in a state;

fig. 8 is a schematic view of the unloading device shown in fig. 7 from another perspective;

fig. 9 is a schematic view of the unloading device shown in fig. 7 from a further viewing angle;

fig. 10 is a schematic view of the structure of the connecting plate of the discharge device shown in fig. 6.

The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Example one

The embodiment provides a discharge method for logistics sorting.

Referring to fig. 1, the unloading method includes:

step S101, controlling a container lifting device to jack the head of a container, so that the container is adjusted to be in a shape that the tail part is inclined downwards;

step S102, controlling a movable door plate device at the tail of the container to open from top to bottom;

and step S103, controlling the conveyor to carry away the dropped goods.

In the embodiment, when the container is in place, the container lifting device is controlled to lift the head of the container, so that the container is adjusted to be in a tail inclined downward shape. The container can be a container or a carriage of a truck. The lifting device can be a device which is arranged separately and used for supporting the container, and can also be a device belonging to a truck. The lifting device can adopt a hydraulic drive scheme or a screw rod rotation drive scheme and the like. The downward inclination angle of the cargo box can be controlled between 35 degrees and 45 degrees so as to enable the cargo to smoothly slide downwards.

In this embodiment, after the cargo box is adjusted to have the tail inclined downwards, the movable door plate device at the tail of the cargo box is controlled to open from top to bottom. The movable door plate device is used for shielding an opening of the container, and goods in the container are prevented from rolling out of the container in the tilting process. The movable door plate device can be a container which is always blocked at the opening of the container, and can also be temporarily clamped in place when the container is unloaded. The movable door plate device can adopt various schemes to realize the movable effect, such as: the self-body is made of flexible materials, such as canvas or thin plates and the like; or a plurality of movably connected plate structures, such as folding doors, rolling doors or telescopic doors and the like. When the movable door plate device is controlled to be opened from top to bottom, namely the opening of the container is exposed from the upper end until the lower end is exposed, the opening of the container is completely exposed. The process of opening from top to bottom can be continuous or intermittent and periodic; the door can be opened first and then slowly or first and then quickly.

In this embodiment, after the movable door panel device is controlled to open from top to bottom, the conveyor is controlled to transport the dropped goods away. The conveyor can adopt a belt conveyor scheme, and can also adopt a roller or roller scheme. It should be noted that, the steps of this embodiment are not limited to a unique order, but only serve as one implementation. In other embodiments, the conveyor may begin operation before the door is opened.

The unloading method provided by this embodiment is in operation, since the opening of the container is exposed from the upper end, the load on the uppermost layer will initially roll down onto the conveyor and the batch will be transported away. Then, the goods on the next upper layer roll down to the conveyor along with the exposed position of the opening, and then are conveyed away until the goods on the bottommost layer roll down to the conveyor and are conveyed away. In the whole unloading process, the goods cannot emerge suddenly, and the condition of stacking and extruding cannot happen. Thereby realized empting the goods safely, and then improved the efficiency of unloading.

Example two

The embodiment provides a discharging method. The present embodiment is based on the above embodiments, and the steps thereof are described in detail. The method comprises the following specific steps:

referring to fig. 2, the controlling the opening of the movable door panel device at the tail of the container from top to bottom includes:

step S201, setting N preset periods according to the number of the door plates of the movable door plate device at the tail of the container;

step S202, in a first preset period, controlling a first door plate close to the top surface of the container to descend so as to enable goods on the uppermost layer to slide out of the container;

step S203, in a second preset period, controlling a second door panel positioned below the first door panel to descend;

and S204, in an Nth preset period, controlling the Nth door plate close to the bottom surface of the container to descend so as to enable the goods at the lowest layer to slide out of the container.

Other steps of this embodiment are the same as those of the above embodiment, and reference may be made to the above embodiment for details, which are not described herein again.

In this embodiment, after the cargo box is adjusted such that the tail portion thereof is inclined downward, N preset periods are set according to the number of the door panels of the movable door panel device at the tail portion of the cargo box. The number of the door panels of the movable door panel device can be two, three, four or five … …. Accordingly, the N preset periods may be two, three, four or five … …. The step can be set once during each unloading; or after the first new setting, the subsequent unloading process inherits the first new setting, so that the new setting can be omitted under the condition of no change.

In this embodiment, after the preset period is obtained, the first door panel close to the top surface of the cargo box is controlled to descend for a first preset period, so that the cargo at the uppermost layer slides out of the cargo box. When the first door panel is controlled to descend, the position of the first door panel can be sensed by a specific sensor, so that whether the first door panel descends in place or not is judged; or a servo motor is adopted to sense the feeding distance, so that whether the first door plate descends in place or not is judged. During the first predetermined period, the uppermost load will almost entirely roll off onto the conveyor and be carried away by the conveyor.

In this embodiment, after the first preset period, the second door panel located below the first door panel is controlled to descend within a second preset period. The scheme for controlling the second door panel to descend can refer to the scheme related to the first door panel, and is not described herein again. During the second predetermined period, the new uppermost load will almost entirely roll off onto the conveyor and be carried away by the conveyor.

In this embodiment, after the second preset period, the third preset period, the fourth preset period, … … are performed until the nth preset period, and in the nth preset period, the nth door panel close to the bottom surface of the cargo box is controlled to descend so that the cargo at the lowermost layer slides out of the cargo box. The scheme for controlling the descending of the nth door panel can refer to the scheme related to the first door panel, and is not described herein again. In the Nth preset period, the last goods are all rolled onto the conveyor and are carried away by the conveyor.

The unloading method provided by the embodiment can accurately and regularly unload goods and ensure the unloading rhythm, thereby ensuring that the goods cannot be gushed out in a large amount and the goods are extruded mutually.

Of course, in other embodiments, the size of the opening that is enlarged may be used as a reference for each cycle, or the size of the lowering of the flap assembly may be used as a reference for each cycle.

EXAMPLE III

referring to fig. 3, the unloading method further includes:

step S301, controlling a conveyor to move to a position corresponding to a part to be opened of the movable door panel device;

step S302, correspondingly controlling the conveyor to move from top to bottom according to the opening of the movable door plate device from top to bottom.

In this embodiment, after the container is tilted, the conveyor is controlled to move to a position corresponding to the portion of the movable door panel device to be opened. In which the movable door panel device is lowered by one door panel in a first predetermined period in the beginning, so that the conveyor will be moved to a position corresponding to the lowered one door panel, for example, in the vicinity of the second door panel from above.

In this embodiment, after the dumping of the goods is started, the conveyor is correspondingly controlled to move from top to bottom according to the opening of the movable door panel device from top to bottom. Wherein the conveyor will always be positioned below the exposed opening for catching all falling cargo.

According to the unloading method provided by the embodiment, the position of the conveyor is adjusted during unloading, so that the conveyor is close to the lower end of the opening exposed by the container, the falling distance of the goods is reduced, the impact force is reduced, and the effect of safely receiving the goods is achieved.

Example four

The embodiment provides a discharging method. The present embodiment is based on the above embodiments, and additionally adds steps. The method comprises the following specific steps:

referring to fig. 4, the unloading method further includes:

and S404, controlling the lifting device to shake the container or controlling the manipulator to adjust the goods when the goods are blocked.

In this embodiment, if the system determines that the goods are stuck in the container or stuck on the conveyor, the jammed goods in the container can be dredged by shaking the container, or the box at the jammed part is moved by the manipulator, so as to achieve the dredging effect.

EXAMPLE five

referring to fig. 5, the unloading method further includes:

the unloading method further comprises the following steps:

and S501, controlling the movable door plate device to cover the opening of the container.

In this embodiment, the movable door panel device is defined to be independent for temporarily covering the opening of the container when the container is dumped.

EXAMPLE six

The embodiment provides a discharge device for logistics sorting.

As shown in fig. 6 and 7, the discharge apparatus comprises: a first lifting device 100, a moveable door panel apparatus 200, a conveyor 300, a storage, and a processor.

The first lifting device 100 is used to be connected to the head of the outer container 400 to lift the head of the container 400. Wherein, the first lifting device 100 may be hydraulically driven, pneumatically driven, electrically driven, etc.; can be a push rod, a screw rod and the like.

The floating door panel assembly 200 is adapted to be coupled to an exterior cargo container 400 for closing the opening of the cargo container 400. The movable door panel device 200 may be made of a flexible material, such as canvas or a thin plate; or a plurality of movably connected plate structures, such as folding doors, rolling doors or telescopic doors and the like.

The conveyor 300 is disposed below the movable door panel device 200, and is used for conveying goods. The conveyor can adopt a belt conveyor scheme, and can also adopt a roller or roller scheme.

The storage stores a discharge program.

The processor is configured to execute the unloading procedure to perform the steps of the unloading method according to any one of the above embodiments.

Since the present embodiment has all the technical features of the unloading method, the present embodiment also has the beneficial effects of the unloading method. Please refer to the above embodiments, which are not described herein.

In operation, the unloading device 200 of the present embodiment is shown in fig. 7, and the movable door panel device 200 is lowered. Now as shown in fig. 8, the open top of the cargo box 400 is exposed; the uppermost cargo in the cargo box 400 will be exposed at this time. As shown in fig. 9, the goods will roll out of the exposed opening under the influence of gravity and fall onto the conveyor 300 to be carried away. The movable door panel assembly 200 will then be lowered again, eventually to the lowest position, during which the cargo will roll out of the opening in an orderly, top-to-bottom progression.

Referring to fig. 10 in combination, the movable door panel device 200 further includes a plurality of connecting plates 210 and a lifting driver 220.

The connecting plates 210 are movably connected in a front-back stacked manner; the last connecting plate 210 is fixedly arranged; the foremost one of the connection plates 210 is connected to the lifting driver 220 to move up and down by the driving of the lifting driver 220.

In the embodiment, the movable door panel device 200 is formed by a telescopic and laminated multi-panel structure, so that the movable door panel device has the advantages of being capable of being reduced, convenient to transport and store and small in occupied space when in use; furthermore, the telescopic laminated structure only moves along the plate plane direction, so that the movable direction is single, and the movement is easier to control.

Further, the connection plate 210 includes a plate body 211 extending longitudinally, and an upper baffle 212 and a lower baffle 213 connected to upper and lower ends of the plate body 211, respectively.

The front plate surface of one plate body 211 is movably connected with the rear plate surface of the other plate body 211 in an up-down sliding manner.

When the movable door panel device 200 is unfolded to a proper position, the lower plate surface of one of the upper baffle plates 212 abuts against the upper plate surface of the other corresponding lower baffle plate 213.

When the movable door panel device 200 is retracted to the proper position, the upper plate surface of one of the upper baffle plates 212 abuts against the lower plate surface of the other corresponding upper baffle plate 212.

In this embodiment, the connection plate 210 is movably connected to the i-shaped plate structure, so that during the descending process, the upper end of the upper baffle 212 pushes the lower baffle 213 to descend; during the ascending process, the lower end of the upper baffle 212 drives the lower baffle 213 to ascend.

Referring to fig. 6 again, further, the unloading apparatus further includes a second lifting device 500, and the second lifting device 500 is connected to the conveyor 300 for driving the conveyor 300 to lift. The second lifting device 500 may adopt a belt conveyor scheme, or may adopt a roller or roller scheme.

The unloading equipment that this embodiment provided can drive conveyer 300 through setting up second elevating gear 500 and rise to can avoid the goods to fall highly too high, and the impact force that leads to falling damages the goods.

Referring again to fig. 6, further, the unloading apparatus further comprises a cargo stop plate 600, and the cargo stop plate 600 is disposed on an edge of the conveyor 300 far from the movable door panel device 200. The stop plate 600 may be made of metal, plastic, or the like.

When cargo rolls out of the cargo box and falls from one side of the conveyor 300, the cargo tends to fall from the other side of the conveyor 300 due to inertia. The unloading apparatus provided in this embodiment can prevent the goods from falling off from the other side of the conveyor 300 by providing the goods stop plate 600.

Referring again to fig. 6, further, the unloading apparatus further comprises a manipulator 700, and the manipulator 700 is disposed on a side of the conveyor 300 away from the movable door panel device 200. The manipulator 700 may be a humanoid manipulator or a manipulator that operates on XYZ rails.

The unloading equipment provided by the embodiment can effectively interfere in the situation of goods blockage by arranging the mechanical arm 700.

EXAMPLE seven

The present embodiment provides a computer-readable storage medium.

The computer readable storage medium has stored thereon a goods sorting program which, when executed by a processor, implements the steps of the goods sorting method as described above.

Since the present embodiment has all the technical features of the above goods sorting method, the present embodiment also has the beneficial effects of the above goods sorting method. Please refer to the above embodiments, which are not described herein.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.

Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.

While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.

Claims

1. An unloading method for logistics sorting, characterized in that the unloading method comprises the following steps:

the conveyor is controlled to carry away the dropped goods.

2. A method of unloading according to claim 1, wherein said controlling the opening of the movable door panel means of the tail of the container from top to bottom comprises:

3. A method of unloading according to claim 1, wherein the method of unloading further comprises:

4. A method of unloading according to claim 1, wherein the method of unloading further comprises:

5. A method of unloading according to claim 1, wherein the method of unloading further comprises:

6. A discharge apparatus for logistics sorting, the discharge apparatus comprising: the device comprises a first lifting device, a movable door plate device, a conveyor, a storage and a processor;

the storage stores unloading programs;

the processor is configured to execute the unloading procedure for performing the steps of the unloading method according to any one of the preceding claims 1 to 5.

7. An unloading apparatus as claimed in claim 6, wherein the movable door panel means comprises a plurality of link plates and a lift drive;

8. An unloading apparatus according to claim 7, wherein the connecting plate comprises a longitudinally extending plate body, and upper and lower retaining plates connected to upper and lower ends of the plate body, respectively;

9. An unloading apparatus as claimed in claim 6, wherein the unloading apparatus further comprises second lifting means connected to the conveyor for driving the conveyor up and down.

10. A discharge apparatus according to claim 6, further comprising a cargo stop plate provided at an edge of a side of the conveyor remote from the moveable door panel means.

11. An unloading apparatus as claimed in claim 6, wherein the unloading apparatus further comprises a robot arm, the robot arm being located on a side of the conveyor remote from the moveable door means.

12. A computer-readable storage medium, having stored thereon a landing program, which when executed by a processor, carries out the steps of a landing method according to any one of claims 1 to 5.