CN112919148A - Non-contact type cold chain container drawing, disinfecting, loading and unloading intelligent equipment - Google Patents
Non-contact type cold chain container drawing, disinfecting, loading and unloading intelligent equipment Download PDFInfo
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- CN112919148A CN112919148A CN202110170638.XA CN202110170638A CN112919148A CN 112919148 A CN112919148 A CN 112919148A CN 202110170638 A CN202110170638 A CN 202110170638A CN 112919148 A CN112919148 A CN 112919148A
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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
- B65G65/00—Loading or unloading
- B65G65/30—Methods or devices for filling or emptying bunkers, hoppers, tanks, or like containers, of interest apart from their use in particular chemical or physical processes or their application in particular machines, e.g. not covered by a single other subclass
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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
- B65G69/00—Auxiliary measures taken, or devices used, in connection with loading or unloading
- B65G69/20—Auxiliary treatments, e.g. aerating, heating, humidifying, deaerating, cooling, de-watering or drying, during loading or unloading; Loading or unloading in a fluid medium other than air
Abstract
The invention discloses non-contact type intelligent equipment for taking out, disinfecting, loading and unloading a frozen container, wherein an AGV forklift is used for realizing automatic butt joint, stepping and fork tooth lifting with the frozen container, a pallet accessory is fixed on two fork teeth of the AGV forklift and is used for receiving and arranging goods or placing goods during unloading or loading, a push-pull accessory is fixed at the front part of the AGV forklift and is arranged at the upper part of the pallet accessory, the height is automatically adjusted to be used for taking out goods from a goods position of the frozen container and placing the goods on the pallet accessory for unloading, or pushing the goods from the pallet accessory into the goods position of the frozen container for loading, the front end of a conveyor is in butt joint with the pallet accessory, the rear end of the conveyor is in butt joint with a disinfecting machine, the disinfecting machine is fixed at the rear end of the AGV forklift, a control platform is respectively connected with the AGV forklift, the pallet accessory, the push-pull accessory, the conveyor and the disinfecting machine. The automatic sterilization device realizes the high-efficiency loading and unloading of frozen food containers, avoids personnel from contacting with the external package of frozen food, and isolates infection from the source.
Description
Technical Field
The invention discloses loading and unloading equipment which is specially used for unloading and loading containers and integrates box taking and disinfection by using an AGV forklift and an artificial intelligence technology, and belongs to the field of port loading and unloading artificial intelligence automation. In particular to a non-contact type cold chain container taking, disinfecting, loading and unloading intelligent device for virus carried by cold chain goods at an imported anti-epidemic frozen container.
Background
With the rapid development of computer technology, various technologies (hereinafter referred to as intelligent sensors) such as laser scanners, visual sensors, ultrasonic scanners, magnetic stripe recognizers and the like have promoted the development of artificial intelligent robots, and particularly, the artificial intelligent robots are widely available in various AGV forklifts and intelligent manipulators in the fields of logistics and industry. AGV (automated Guided vehicles), also known as an automated Guided vehicle or an automated Guided vehicle. The automatic guided vehicle has the remarkable characteristics that the automatic guided vehicle is unmanned, an automatic guiding system is arranged on an AGV forklift, the automatic guided vehicle can ensure that the system can automatically run along a preset route without manual navigation, goods are automatically conveyed to a destination from a starting point, and the goods can be lifted to a certain height to be stored and taken. Another characteristic of the AGV forklift is that the flexibility is good, the automation degree is high and the intelligent level is high, and the driving path of the AGV forklift can be flexibly changed according to the storage goods location requirement, the production process flow and the like. The AGV forklift is provided with a loading and unloading and lifting mechanism, can be automatically interfaced with other logistics equipment, and realizes the automation of the whole process of loading, unloading and carrying of goods. In addition, AGV fork truck still has clean production's characteristics, and AGV fork truck relies on the battery from taking to provide power, and the operation in-process noiselessness, pollution-free can use in many places that require operational environment to be clean. The vacuum pump system, the sucker, the linear servo motor and the permanent magnet synchronous servo tractor are mature in technology, and are widely applied to scenes that a manipulator grabs goods, lifts the goods and the like, and the operation efficiency is greatly improved. But still manual work is done in the operation of unpacking and packing in port container transportation, which not only has low efficiency and labor intensity, but also has high cost.
The invention discloses an AGV box drawing and sterilizing pallet truck invention application (application number 202011481817.7) which is submitted to the national intellectual property office in 12/16/2020, and discloses a function of box drawing, sterilizing and stacking based on an AGV by using a multi-shaft manipulator to grab goods through a sucking disc, wherein the multi-shaft manipulator is low in unloading and loading efficiency due to limited operation space in a container and limited quantity of grabbing at one time.
The inventor develops and designs non-contact type intelligent equipment for taking out, disinfecting and loading and unloading frozen containers according to the condition of customer demand investigation, integrates the technologies such as an AGV forklift technology, a horizontal push-pull technology and a three-dimensional visual sensor, a two-dimensional visual sensor, a laser sensor, a photoelectric sensor, an ultrasonic sensor, a magnetic stripe recognizer and a two-dimensional code recognizer, and adds a plurality of necessary tallying mechanisms on loading and unloading goods accessories, so that the unloading and loading efficiency is greatly improved, and the equipment is a more practical and efficient supernatural device for unpacking and loading port containers.
Disclosure of Invention
The invention aims to provide non-contact type intelligent equipment for taking out and disinfecting frozen containers, which is easy to cause infection of loading and unloading workers when the frozen containers are loaded and unloaded manually. This application adopts artificial intelligence technique to accomplish and draws the whole frozen container of case disinfection to unload and the work of loading, avoids workman's contact infection source, stops the infection from the source.
In order to achieve the purpose, the invention relates to non-contact intelligent equipment for taking out, disinfecting and loading and unloading a frozen container, which comprises an AGV fork truck, a pallet accessory, a push-pull accessory, a conveyor, a disinfector and a control platform, wherein the AGV fork truck is used for realizing automatic butt joint, stepping and fork tooth lifting with the frozen container, the pallet accessory is fixed on two fork teeth of the AGV fork truck and is used for receiving and managing goods or arranging the goods during unloading or loading, the push-pull accessory is fixed at the front part of the AGV fork truck and on the upper part of the pallet accessory, the automatic height adjustment is carried out for taking out goods from a goods position of the frozen container and placing the goods on the pallet accessory for unloading or pushing the goods from the pallet accessory into the goods position of the frozen container for loading, the conveyor is fixed on one side or two sides of the AGV fork truck, the front end of the conveyor is butted with the pallet accessory, the rear end of the conveyor is butted with the disinfector for conveying the goods, the sterilizer is fixed and is used for carrying out comprehensive automatic disinfection to the goods surface at AGV fork truck's rear end, and control platform is connected with AGV fork truck, pallet accessory, push-and-pull accessory, conveyer and sterilizer respectively, controls the collaborative work of relevant part.
The invention relates to a pallet accessory, which comprises a blade-shaped panel at the front end and a comprehensive goods-handling platform at the rear end, wherein a transverse roller transmission mechanism and a goods-handling disc form the comprehensive goods-handling platform, correspond to a conveyor, the goods-handling disc is fixed at one side or two sides of the comprehensive goods-handling platform and is in non-contact butt joint with the conveyor, the goods-handling disc comprises longitudinal power conveying rollers, passive universal balls and an electric annular rotary disc, the electric annular rotary disc is fixed at the central position of the goods-handling disc, a plurality of longitudinal power conveying rollers are fixed at the front end and the rear end of the electric annular rotary disc at equal intervals, a plurality of passive universal balls are uniformly arranged between the longitudinal power conveying rollers and the electric annular rotary disc and at the center of the electric annular rotary disc.
Furthermore, a box pushing device is fixedly arranged on a frame on the side edge of the pallet and used for pushing the goods to the other side or the center from one side of the pallet accessory during loading, the box pushing device comprises a hydraulic or electric push rod structure and a push plate, the hydraulic or electric push rod is fixedly connected to the frame on the side edge of the pallet, and the push plate is fixed at the free end of the hydraulic or electric push rod.
Further, it is proposed to provide a (e.g. right-hand) side pallet adjacent to the conveyor with a turner for turning the goods transported from the conveyor 90 degrees outside the pallet attachments during loading.
The push-pull accessory comprises a lifting frame, a lifting unit, a linear motor, a base plate, a vacuum pump system, a sucker and an intelligent sensor, wherein the lifting unit is fixed on the lifting frame and moves up and down along the lifting frame, the linear motor fixed on the lifting unit is connected with the base plate, the sucker and the intelligent sensor are both fixed on the base plate, the sucker is connected with the vacuum pump system, and the intelligent sensor is a video sensor and is used for acquiring front image data and acquiring the position and height of a cargo to be picked.
The lifting unit comprises a lifting frame, lifting plates, counterweight slideways, counterweight sliders, permanent magnet synchronous traction machines and traction ropes, wherein four stand columns of the lifting frame are respectively composed of a pair of channel steel with opposite openings, an up-and-down moving space is formed from the bottom to the top of the lifting frame, the front ends and the rear ends of the lifting plates are respectively arranged between the front pair of stand columns and the rear pair of stand columns formed by the channel steel, pulleys fixed on the side surfaces of the two ends of the lifting plates are embedded into the stand columns, the counterweight sliders on the left side and the right side are in sliding connection with the counterweight slideways fixed on the left side and the right side of the inner side of the lifting frame, the permanent magnet synchronous servo traction machines with two traction wheels rotating in opposite directions are fixed at the bottom of the lifting frame, the two traction ropes respectively wound on the two traction wheels of the permanent magnet synchronous traction machines respectively bypass two structural steel middle guide pulleys on the The upper end of the falling plate is provided with a hook.
The invention relates to a conveyor which comprises a hydraulic lifting device, a conveyor main body, bolt rollers and limit chutes, wherein the two limit chutes are fixedly arranged at the position, close to the front end of a sterilizer, of an AGV forklift chassis, correspondingly, the two sides of the rear end of the conveyor main body are respectively fixedly provided with the bolt rollers, the bolt rollers are embedded into the limit chutes and are in sliding connection with the bolt rollers, the middle part of the conveyor main body is fixed at the middle position of the side edge of the AGV forklift chassis through the hydraulic lifting device, and the front end of the conveyor main body is in non-contact butt joint with a pallet accessory.
Specifically, the control platform comprises an AGV forklift control system, a pallet accessory control system, a push-pull accessory control system, a conveyor control system, a sterilizing machine control system and a total dispatching platform, wherein the AGV forklift control system is connected with the AGV forklift, the AGV forklift control system is used for dispatching the AGV forklift and sending a control command to the AGV forklift, the AGV forklift controls the AGV forklift to move forwards and backwards, move leftwards and rightwards or lift fork teeth and tilt forwards and backwards based on the received control command, the pallet accessory control system is communicated with the pallet accessory and is used for conveying the control command to the pallet accessory, the pallet accessory is used for controlling the working state of corresponding parts based on the received control command, the push-pull accessory control system is communicated with the push-pull accessory and is used for conveying the control command to the push-pull accessory, the push-pull accessory is used for controlling the working state of the corresponding parts based on the received control command, and the conveyor control system, the control instruction is transmitted to the conveyor, the conveyor controls the working state of the corresponding component based on the received control instruction, the sterilizing machine control system is connected with the sterilizing machine, the sterilizing machine control system sends the control instruction to the sterilizing machine to control the sterilizing machine to sterilize the goods, and the total dispatching platform is respectively connected with the AGV forklift control system, the pallet accessory control system, the push-pull accessory control system, the lifting conveyor control system and the sterilizing machine control system to control the working sequence of each component.
Compared with the prior art, the invention has the following beneficial effects: research and development a section artificial intelligence based on AGV fork truck technique draws case disinfection loading and unloading intelligent device, it draws the blank that case disinfection does not have artificial intelligence and equips to fill import frozen food frozen container loading and unloading goods, and draw case disinfecting equipment and AGV fork truck technique integrated organically into an artificial intelligence non-contact type frozen container and draw case disinfection loading and unloading intelligence to equip with artificial intelligence, a supporting pile up neatly machinery of breaking a jam again, thereby realize the high-efficient loading and unloading goods disinfection automation of frozen food frozen container, avoid personnel's contact frozen food extranal packing, isolated infection from the source.
Drawings
Fig. 1 is a general view of a non-contact type container drawing, disinfecting, loading and unloading intelligent device according to embodiment 1.
Fig. 2 is a diagram showing a pallet accessory according to embodiment 1.
Fig. 3 is a configuration diagram of a push-pull accessory according to embodiment 1.
Fig. 4 is a schematic structural view of the lifting unit according to embodiment 1.
Fig. 5 is a schematic view of a structure of a part of a conveyor according to embodiment 1.
Fig. 6 is a schematic structural diagram of a control platform according to embodiment 1.
Fig. 7 is a general view of the non-contact type container drawing, disinfecting, loading and unloading intelligent device according to embodiment 2.
Fig. 8 is a pallet accessory configuration diagram according to embodiment 2.
Detailed Description
In order to more clearly illustrate the contents of the present invention, the present invention will be further described with reference to the accompanying drawings and specific examples:
example 1:
the non-contact type cold chain container unloading, disinfecting, loading and unloading intelligent equipment comprises an AGV forklift 1, a pallet accessory 2, a push-pull accessory 3, a conveyor 4, a disinfector 5 and a control platform 6, wherein the AGV forklift 1 is used for realizing automatic butt joint, stepping, fork tooth lifting and forward tilting and backward tilting with a frozen container, the pallet accessory 2 is fixed on two fork teeth of the AGV forklift 1 and moves along with the movement of the fork teeth and is used for receiving and arranging goods or placing goods and arranging goods when unloading or loading, the push-pull accessory 3 is fixed on the upper portion of the pallet accessory 2 in front of the AGV forklift 1 and is used for taking out goods from a goods position of the frozen container to be placed on the pallet accessory 2 for unloading or pushing the goods into the goods position of the frozen container from the pallet accessory 2 for loading, the conveyor 4 is fixed on two sides of the forklift 1, the front end of the conveyor 4 is in non-contact type butt joint with the pallet accessory 2, the rear end is butted with a sterilizer 5 and is used for conveying goods between the pallet accessory 2 and the sterilizer 5, the sterilizer 5 is fixed at the rear end of the AGV forklift 1 and is used for comprehensively and automatically sterilizing the surfaces of the goods, and the control platform 6 is respectively connected with the AGV forklift 1, the pallet accessory 2, the push-pull accessory 3, the conveyor 4 and the sterilizer 5.
In order to ensure that the AGV forklift 1 can smoothly enter and exit the refrigerated container, the overall size of the non-contact type cold chain container drawing, disinfecting, loading and unloading intelligent equipment is smaller than the internal size (length multiplied by width multiplied by 11800mm multiplied by 2290mm multiplied by 2540mm) of the refrigerated container, for example, the length multiplied by width multiplied by height of the equipment is 5000mm multiplied by 2200mm multiplied by 2450 mm.
The AGV fork truck 1 that this embodiment relates to has adopted the full free lift technology (like portal height 2450mm lifting height 2100mm), has kept the basic fork truck function of leaning forward backward, side or bottom fixed mounting intelligent sensor around the AGV fork truck chassis, gather the image or digit or analog data in its field of vision scope in real time, and handle it and confirm and the distance between the peripheral object, ensure that AGV fork truck and freezing container loading and unloading mouth accurate butt joint, keep and the distance between the object realizes keeping away the barrier. In order to prevent the refrigerated container from being collided by the swinging heads of the pallet accessory 2 and the push-pull accessory 3 when the AGV forklift advances due to the fact that the width of the AGV forklift body is too wide, four damping wheels (not shown in the drawing) are symmetrically arranged on the two side bodies of the AGV forklift. When the AGV forklift advances in the freezing container, the damping wheels abut against the inner wall of the freezing container and roll along the inner wall of the freezing container, so that the stability of the AGV forklift in the advancing process is kept. AGV fork truck 1 is the AGV fork truck that prior art has navigation and keeps away barrier function.
As shown in fig. 2, the pallet attachment 2 according to the present embodiment has a length equal to the width of the AGV forklift 1, for example, 2200mm, and the width may be set to 750mm, and the pallet attachment 2 is a load/unload container. The front end of the pallet accessory 2 is provided with a blade-shaped panel 201 with the length of 2200mm and the width of 200mm, the rear end of the pallet accessory is provided with a comprehensive tally platform 202 with the length of 2200mm and the width of 550mm, two ends of the comprehensive tally platform 202 are respectively provided with a tally disc 203 with the length of 550mm and the width of 550mm, and the middle of the comprehensive tally platform 202 (with the length of 1100mm multiplied by the width of 550mm) is provided with two transverse roller transmission mechanisms 204 with the length of 550mm and the width of 550 mm.
Specifically, the tally tray 203 comprises longitudinal power conveying rollers 207, passive universal balls 205 and an electric annular turntable 206, the electric annular turntable 206 is fixed at the center of the tally tray 203, a plurality of longitudinal power conveying rollers 207 are fixed at the front end and the rear end of the electric annular turntable 206 at equal intervals, and a plurality of passive universal balls 205 are uniformly arranged between the longitudinal power conveying rollers 207 and the electric annular turntable 206 and at the center of the electric annular turntable 206.
Further, a box pushing device (not shown) is fixedly arranged on the frame at the side of the pallet 203, the box pushing device comprises a hydraulic or electric push rod structure and a push plate, the hydraulic or electric push rod is fixedly connected to the frame at the side of the pallet 203, and the push plate is fixed at the free end of the hydraulic or electric push rod. When loading, the hydraulic or electric push rod is started to push the goods from the goods sorting tray 203 to the transverse roller transmission mechanism 204, and an external force is applied in the transverse direction, so that the goods longitudinally transported on the conveyor can be conveniently transferred to the transverse roller transmission mechanism 204 by the goods sorting tray 203.
Further, it is proposed that a box turner (not shown) is provided at a position of the pallet arrangement 203 close to the conveyor, for turning the goods transferred from the conveyor 90 degrees to the outside of the pallet accessory 2 when loading the goods, which is suitable for a case where the remaining space on the pallet accessory 2 is not enough to directly place the goods transferred from the conveyor, but the goods can be placed after turning the goods 90 degrees.
As shown in fig. 3 and 4, the push-pull accessory 3 according to the present embodiment includes a lifting frame 301, a lifting unit, a linear motor 307, a base plate 308, a vacuum pump system (not shown), a suction cup 310 and an intelligent sensor (not shown), wherein the lifting unit is fixed on the lifting frame 301, the lifting unit moves up and down along the lifting frame 301, the linear motor 307 fixed on the lifting unit is connected with the base plate 308, the suction cup 310 and the intelligent sensor are both fixed on the base plate 308, the suction cup 310 is connected with the vacuum pump system, and the intelligent sensor is used for collecting front image data and obtaining a position and a height of a cargo to be scooped. The linear motor 307, the base plate 308, the vacuum pump system (not shown in the figure), the suction cup 310 and the intelligent sensor form a hand picking unit, and goods with different heights are picked along with the up-and-down movement of the lifting unit.
Specifically, as shown in fig. 4, the lifting unit includes a lifting frame 301, a lifting plate 302, a counterweight slideway 311, a counterweight slider 303, upper and lower hooks 304, a permanent magnet synchronous traction machine 305 and a hoisting rope 306, four upright posts 309 of the lifting frame 301 are respectively composed of a pair of channel steel with opposite openings, pulleys fixed on two end sides of the lifting plate 302 are respectively embedded into the channel steel on the left and right sides and slide along the inner wall of the channel steel, the counterweight slider 303 on the left and right sides is connected with the counterweight slideway 311 fixed on the left and right sides of the inner side of the lifting frame 301 in a sliding manner, the permanent magnet synchronous servo traction machine 305 with two traction wheels rotating in opposite directions is fixed at the bottom of the lifting frame 301, the two hoisting ropes 306 respectively wound on two traction wheels of the permanent magnet synchronous traction machine respectively bypass a guide pulley 312 in the middle of two structural steels on the left and right sides of the bottom of the lifting frame 301 to be connected with the lower ends of One end of the sliding block 303 is connected with the upper ends of the upper and lower hooks 304 of the lifting plate 302.
The working principle of the lifting unit is the same as that of a lifting elevator, the lifting plates 302 are lifted through the traction hauling rope 306, the picking hand unit is driven to move up and down, and linear motors respectively fixed on the left lifting plate 302 and the right lifting plate 302 enter and exit and drive the suction cups 310 through the base plates 308 to complete picking and placing of goods with different heights.
Specifically, four stands of crane 301 all have the relative a pair of channel-section steel of opening to constitute, the channel-section steel lower extreme is fixed on AGV fork truck 1's chassis, the upper end is fixed with structural steel all around, crane 301's external dimension is as long as 1200mm wide 1100mm high 2450mm (inside dimension is long 1160mm wide 960mm high 2450mm), the width of channel-section steel is as 70mm groove depth 10mm, four pairs of channel-section steel mouth relatively form four spaces (width is as 50mm) stand, set up a lifter plate 302 of length 1200mm wide 50mm thickness 20mm between two space stand spaces in front and back.
As shown in fig. 4, the conveyor 4 according to this embodiment is a cargo passage for connecting the pallet means 2 and the sterilizer 5, and has a front end that is lifted and lowered randomly to be in non-contact abutment with the pallet means 2 and a rear end that is in abutment with the driving mechanism of the sterilizer 5, and the width of the rear end of the conveyor 4 is larger than the width of the driving mechanism of the sterilizer 5 and the surface of the conveyor belt of the conveyor 4 and the surface of the driving mechanism of the sterilizer 5 are on the same horizontal plane when the conveyor 4 is in a horizontal state. Conveyer 4 includes hydraulic pressure elevating gear 401, conveyer main part 402, bolt gyro wheel 403 and spacing spout 404, be close to the fixed two spacing spouts 404 that set up of 5 front ends departments of sterilizer in AGV fork truck 1 chassis, correspondingly, a bolt gyro wheel 403 is all fixed in conveyer main part 402 rear end both sides, in embedding spacing spout 404 rather than sliding connection of bolt gyro wheel 403, conveyer main part 402 middle part is fixed at AGV fork truck 1 chassis side intermediate position through hydraulic pressure elevating gear 401, conveyer main part 402 front end and 2 non-contact docks of pallet accessory. Under the drive of the hydraulic lifting device 401, the rear end of the conveyor main body 402 moves along the limiting sliding groove 404, and in the process that the front end of the conveyor main body 402 is lifted, the front end of the conveyor main body 402 is arranged at the lower end of the pallet accessory 2 or close to the pallet accessory 2, and the gap between the front end of the conveyor main body 402 and the pallet accessory 2 is not enough for goods to fall off.
As shown in fig. 5, specifically, the control platform 6 includes an AGV forklift control system 601, a pallet accessory control system 602, a push-pull accessory control system 603, a conveyor control system 604, a sterilizer control system 605 and a total scheduling platform 606, the AGV forklift control system 601 is connected to the AGV forklift 1, the AGV forklift control system 601 is used for scheduling the AGV forklift 1 and sending a control instruction to the AGV forklift 1, the AGV forklift 1 controls the AGV forklift 1 to move forward and backward, move left and right, or lift and tilt fork tines forward and backward based on the received control instruction, the pallet accessory control system 602 is in data communication with the pallet accessory 2 and transmits the control instruction to the pallet accessory 2, the pallet accessory 2 controls the working state of the corresponding component based on the received control instruction, the push-pull accessory control system 603 is in communication with the push-pull accessory 3 and transmits the control instruction to the push-pull accessory 3, the push-pull accessory 3 controls the working state of the corresponding component based on the received, the lifting conveyor control system 604 is communicated with the conveyor 4 and used for conveying control instructions to the conveyor 4, the conveyor 4 controls the working states of corresponding parts based on the received control instructions, the sterilizing machine control system 605 is connected with the sterilizing machine 5, the sterilizing machine control system 605 sends the control instructions to the sterilizing machine 5 to control the sterilizing machine to sterilize cargos, and the general dispatching platform 606 is respectively connected with the AGV forklift control system 601, the pallet accessory control system 602, the push-pull accessory control system 603, the lifting conveyor control system 604 and the sterilizing machine control system 605 to control the working sequence of all the parts and realize orderly work. Control platform can set up between the intelligent control of freezer, also can the staff with behind the device handheld panel computer control and operation, realizes non-contact control, avoids personnel to contact the goods.
Specifically, the smart sensor includes, but is not limited to, a three-dimensional vision sensor, a two-dimensional vision sensor, a laser sensor, a photoelectric sensor, an ultrasonic sensor, a magnetic stripe recognizer, a two-dimensional code recognizer, and the like.
Furthermore, the non-contact intelligent equipment for drawing, disinfecting and loading and unloading the cold chain container further comprises a stacking unstacker and a telescopic conveyor, wherein one end of the telescopic conveyor is fixed on a station of the stacking unstacker, and the other end of the telescopic conveyor is connected with a transmission mechanism in the disinfecting machine 5. Specifically, the stacking unstacker is a gantry type or manipulator type stacking unstacker.
The intelligent equipment unloading process of unloading of the non-contact cold chain container of drawing case disinfection loading and unloading that this embodiment relates to does:
(1) after receiving a feedback signal that the AGV forklift control system 601 confirms that the AGV forklift control system 601 is docked with the refrigerated container, the total dispatching platform 606 sends a control instruction to the pallet accessory control system 602, the push-pull accessory control system 603, the lifting conveyor control system 604 and the sterilizing machine control system 605, and the pallet accessory control system 602, the push-pull accessory control system 603, the conveyor control system 604 and the sterilizing machine control system 605 are started;
(2) the height and the position of a to-be-picked goods surface are determined through an intelligent sensor on a base plate 308 of a push-pull accessory 3, a picking hand unit is lifted and aligned to a highest goods layer of the to-be-picked goods surface under the driving of a lifting unit, meanwhile, a goods plate accessory 2 is lifted to the lowest point of the highest goods of the to-be-picked goods surface under the driving of fork teeth and stays at the lower side of the base plate 308 of the push-pull accessory 3, and the goods layer can grab a layer of goods at one time according to a sucking disc and can pick out the goods to be defined on the goods plate accessory 2;
(3) the base plate 308 and the suction cup 310 are pushed out to align with a to-be-drawn goods layer under the driving of the linear motor 307, the vacuum pump system is started, the suction cup 310 sucks goods, the linear motor 307 drives the suction cup 310 to return, the to-be-drawn goods layer falls on the pallet accessory 2, the vacuum pump system is closed, and the goods are separated from the suction cup 310;
(4) the pallet attachment 2 is driven by the fork teeth to descend by a cargo surface and is aligned with the lowest point of a cargo layer to be picked, the hydraulic device 401 drives the conveyor main body 402 to move to be in butt joint with the pallet attachment 2, and the pallet attachment is in an elevation angle shape (such as 7 degrees);
(5) the two transverse roller transmission mechanisms 204 respectively rotate leftwards and rightwards, goods respectively move to the goods sorting trays 203 at two sides from the middle part, and the longitudinal power conveying roller 207 rotates to further convey the goods from the goods sorting trays 203 to the conveyor 4; in order to prevent large goods from being excessively long (for example, more than 550mm) and being clamped at the goods sorting plate 203, when the goods are transferred from the goods sorting plate 203 to the conveyor 4 from the transverse roller transmission mechanism 204, the electric annular turntable 206 is lifted (for example, 5mm), rotates 90 degrees from inside to outside and then falls down, so that the goods are turned to vertically enter the conveyor 4;
(6) the conveyer 4 transfers the goods to a transmission mechanism in the sterilizer 5, and the goods are input into the sterilizer 5 by the transmission mechanism and sterilized in the sterilizer 5;
(7) the rear end of a transmission mechanism of the sterilizing machine 5 is externally connected with a telescopic conveyor, the goods are sterilized and transferred to the telescopic conveyor, the telescopic conveyor conveys the goods to a stacking unstacker station for stacking according to rules, and after a standard stack is completed, a forklift transports the stacked goods to a refrigeration house; one end of the telescopic conveyor is fixed on a station of the stacking unstacker, and the other end of the telescopic conveyor is connected with a transmission mechanism in the sterilizer 5 and extends or retracts along with the advancing of the AGV forklift 1;
(8) after one layer of goods is picked, under the driving of the lifting unit, the picking hand unit is descended to be aligned with a second layer of goods to be picked, the steps (2) - (7) are repeated until only one layer of goods is picked on the surface of the goods to be picked, the goods plate accessory 2 is descended to the floor of the container in an inclined angle shape under the driving of the fork teeth, the push-pull accessory 3 is aligned with the surface of the goods to be picked to catch the whole row of goods to pull the goods into the goods plate accessory 2, the push-pull accessory 3 is ascended to one goods surface, the goods plate accessory 2 is ascended to be in an inclined angle shape to be in a butt joint position with the conveyor 4, the steps (5) - (7) are repeated, and the picking of one goods surface is completed;
(9) and (5) the AGV forklift 1 advances by one cargo level surface, and the steps (2) to (8) are repeated until the cargoes of the whole container are completely unloaded.
In actual work, the goods are placed extremely irregularly, especially, the length of some goods exceeds 550mm, and transversely place in the container, and it is also horizontal when the goods is pulled to pallet accessory 2, and the electronic cyclic annular carousel that reason on the pallet 203 rises (as 5mm) this moment and rotates 90 degrees from inside to outside makes horizontal goods change vertical and fall down again, and the goods is carried on conveyer 4 by the running roller of reason pallet 203.
The process of inspection of imported cold chain goods by customs in China during epidemic prevention is that the container truck is unloaded before stopping on the platform of inspection of customs, the unloading process is as above, after the inspection of goods by customs, the goods need to be loaded into the refrigeration container, and the loading needs to be disinfected again according to the requirement of epidemic prevention. The loading process of the non-contact type refrigerated container unloading, disinfecting, loading and unloading intelligent equipment related to the embodiment is specifically described below.
The loading process of the container is just opposite to the unloading process, the motor systems such as a transmission mechanism, a conveyor and the like carry out reverse operation relative to the unloading process, compared with the unloading process, the size of an outer package of goods to be loaded into the container is known, so that according to the internal size of the container and the size of the outer package of the goods, a packing arrangement method is calculated before the container is loaded, except the goods with the over-thin thickness (such as 9mm) and the goods which need to be vertically placed through calculation, the goods are uniformly and horizontally placed, the loading efficiency can be improved, meanwhile, the conveyor is suggested to be always in a horizontal state, a pallet accessory is in an inclined angle shape and is in butt joint with the conveyor, and the stacking task of the goods placement is completed by the pallet accessory and a push-pull accessory.
The loading process that non-contact frozen container that embodiment relates to was drawn case disinfection loading and unloading intelligence and is equipped specifically includes following steps:
(1) the front end of a telescopic conveyor is butted with a transmission mechanism of a sterilizer 5 at the tail end of an AGV forklift 1, the rear end of the telescopic conveyor is butted with a stacking unstacker, and an AGV forklift control system 601 controls the AGV forklift 1 to be butted with a refrigerated container;
(2) after receiving a feedback signal that the AGV forklift control system 601 confirms that the AGV forklift control system is in butt joint with the refrigerated container, the total dispatching platform 606 sends a control instruction to the pallet accessory control system 602, the push-pull accessory control system 603, the conveyor control system 604 and the sterilizing machine control system 605, and the pallet accessory control system 602, the push-pull accessory control system 603, the conveyor control system 604 and the sterilizing machine control system 605 are started;
(3) an AGV forklift 1 drives into the container, an intelligent sensor on a base plate 308 of a push-pull accessory 3 determines that the front end of a pallet accessory 2 is away from the inner front wall of the container by a cargo length plus an operating distance (such as 20mm) to stop the container, a conveyor control system 604 controls a conveyor main body 402 to be in a horizontal position, the pallet accessory 2 is in butt joint with the conveyor main body 402 under the driving of fork teeth, and a push-pull accessory control system 603 controls the push-pull accessory 3 to be at least one cargo surface above the pallet accessory 2;
(4) the stacking unstacker starts to grab the checked goods one by one from the stacking tray and vertically places the goods on the telescopic conveyor, and the goods are sterilized by the sterilizer 5 and then are conveyed to the tallying tray 203 of the pallet accessory 2 by the conveyor 4;
(5) goods are conveyed to the front end of the pallet accessory 2 by the longitudinal rollers of the pallet management plate 203, the box pushing devices on the pallet management plates 203 at the two ends of the pallet accessory 2 horizontally push the goods to the transverse roller transmission mechanisms 204 which rotate from outside to inside, and the goods are sequentially arranged from the outer sides of the two ends to the middle until the pallet accessory 2 is full;
(6) the pallet accessory 2 descends to the bottom of the container, the push-pull accessory 3 descends to the push-pull cargo position of the pallet accessory 2 from a height higher than one cargo surface of the conveyor 4, the push-pull accessory 3 pushes the base plate 308 to push the whole row of cargos into the container from the pallet accessory 2, at the moment, the push-pull accessory 3 withdraws the base plate 308 and ascends to a position higher than one cargo surface of the conveyor 4 to stop, the pallet accessory 2 ascends to a horizontal position of the conveyor 4 to stop descending, and the process is repeated under the command of the intelligent sensor, the pallet accessory 2 and the push-pull accessory 3 are fed in and out vertically to complete a cargo surface packing task, and at the moment, the AGV forklift 1 retreats by an operation distance and repeats the operation until the cargo surface packing task is completed.
The common situation is that when the goods are basically placed in the pallet accessory 2, a certain space is left at the edge of the pallet accessory 2, and the goods cannot be placed according to the conventional placing method, but when the goods can be easily placed in a standing mode after being turned over by 90 degrees, the two transverse transmission mechanisms 204 on the pallet accessory 2 move to one side, if the goods are rotated from right to left, the goods are concentrated to the left side, the box turner arranged at the rear end of the pallet tidying 203 on the right side of the pallet accessory 2 forcibly turns over the goods conveyed to the pallet tidying 203 on the right side of the pallet accessory 2 by the conveyor 4 by 90 degrees, the goods are conveyed to the front end of the pallet accessory 2 by the longitudinal rollers of the pallet tidying 203, and the base plates 308 of the push-pull accessory 3 push the whole row of goods on the pallet accessory 2 into the container and circulate until the goods are completely.
In another situation, when the vertical placement of the goods is almost full of the container, the vertical placement is not performed, but there is still room for the horizontal placement or the standing placement of the goods, the goods vertically enter the pallet accessory 2 goods handling disk 203, (when the goods need to stand, the box turner forcibly turns the goods by 90 degrees), the goods are lifted by the electric annular turntable (5mm) of the goods handling disk 203 and rotate by 90 degrees from outside to inside, then are conveyed to the front end of the pallet accessory 2 by the longitudinal rollers of the goods handling disk 203, the goods are horizontally pushed by the box pushers 203 at the two ends of the pallet accessory 2 to the transverse roller transmission mechanism 204 rotating from outside to inside, the goods are sequentially arranged from the two ends to the middle until the pallet accessory 2 is fully placed, and the base plate 308 of the push-pull accessory 3 pushes the goods in the whole row on the pallet accessory 2 into the container, and the process is circulated until the goods are completely loaded.
The above unloading and loading process is a preferred mode and is not intended to limit the application. The non-contact intelligent equipment for unloading, disinfecting and loading and unloading the cold chain container can also be used for unloading or loading by adopting other methods, for example, when loading and unloading the goods, the conveyor is always in a horizontal state, and the task of stacking the goods is completed by lifting a pallet accessory and a push-pull accessory.
Example 2
In embodiment 1, a sterilizer 5 is fixed on each of the left and right sides of a chassis of an AGV forklift 1, a conveyor is respectively arranged on each of the left and right sides, 2 pallets are arranged on each of the left and right sides of a pallet accessory 2, and two transverse transmission mechanisms 204 are provided, so that although the working efficiency is improved, the structural complexity of the device is increased, and the cost is increased. In order to balance the cost and the working efficiency, the embodiment is further modified from the embodiment 1.
The non-contact intelligent equipment for unloading, disinfecting and loading and unloading the cold-chain container, as shown in fig. 7 and 8, only one right-side disinfecting machine 5 is arranged, correspondingly, only one right-side conveyor 4 is arranged, a pallet tidying 203 is arranged on the right side of a pallet accessory 2 close to the conveyor 4, a complete transverse roller transmission mechanism 204 is arranged between the left side of the pallet accessory 2 and the right-side pallet tidying 203, goods can be unloaded through the transverse roller transmission mechanism 204 and the pallet tidying 203 of the pallet accessory 2 simultaneously, the goods are conveyed to the conveyor 4 through the pallet tidying 203 in sequence, the goods are conveyed to the disinfecting machine 5 through the conveyor 4 to be disinfected, the disinfected goods are conveyed to a stacking and unstacking machine area through a telescopic conveyor, the stacking and unstacking machine stacks the goods and then conveys the goods through a forklift, and other situations in unloading are the same as those in embodiment 1. During loading, the stacking unstacker takes out the goods one by one from the stacking pallet, vertically puts the goods on the telescopic conveyor, conveys the goods to the sterilizer 5 to sterilize the goods and then conveys the goods to the pallet tidying mechanism 203 on the pallet accessory 2 through the conveyor 4, the box pusher on the pallet tidying mechanism 203 pushes the goods into the transverse roller transmission mechanism 204, the goods are conveyed to the left side of the pallet accessory 2 through the transverse roller transmission mechanism 204, when the pallet accessory 2 is full of the goods, the base plate 308 of the push-pull accessory 3 pushes the goods on the pallet accessory 2 into the container in a whole row, and other scenes in loading are the same as those in embodiment 1.
Claims (8)
1. A non-contact intelligent equipment for taking out, disinfecting and loading and unloading a frozen container is characterized by comprising an AGV forklift, a pallet accessory, a push-pull accessory, a conveyor, a disinfector and a control platform, wherein the AGV forklift is used for realizing automatic butt joint, stepping and fork tooth lifting with the frozen container, the pallet accessory is fixed on two fork teeth of the AGV forklift and is used for receiving and managing goods or placing the goods during unloading or loading, the push-pull accessory is fixed at the front part of the AGV forklift and is arranged on the upper part of the pallet accessory, automatic height adjustment is carried out so as to draw out goods from a goods position of the frozen container and discharge the goods on the pallet accessory or push the goods into the goods position of the frozen container from the pallet accessory for loading, the conveyor is fixed on one side or two sides of the AGV forklift, the front end of the conveyor is in butt joint with the pallet accessory, the rear end of the conveyor is in butt joint with the disinfector and is used for conveying the goods between the pallet accessory and the disinfector, the disinfector is fixed at the rear end of, the control platform is respectively connected with the AGV forklift, the pallet accessory, the push-pull accessory, the conveyor and the sterilizer, and controls the cooperative work of related parts.
2. The non-contact intelligent equipment for taking out boxes, sterilizing, loading and unloading of the refrigerated containers as claimed in claim 1, wherein the pallet accessory comprises a blade-shaped panel at the front end and a comprehensive tallying platform at the rear end, the transverse roller transmission mechanism and the tallying disk form the comprehensive tallying platform corresponding to the conveyor, the tallying disk is fixed on one side or two sides of the comprehensive tallying platform and is in non-contact butt joint with the conveyor, the tallying disk comprises longitudinal power conveying rollers, passive universal balls and an electric annular turntable, the electric annular turntable is fixed at the center of the pallet, the plurality of longitudinal power conveying rollers are fixed at the front end and the rear end of the electric annular turntable at equal intervals, the plurality of passive universal balls are uniformly arranged between the longitudinal power conveying rollers and the electric annular turntable and at the center of the electric annular turntable, and the transverse roller transmission mechanism and the tallying disk are connected.
3. The intelligent non-contact type intelligent equipment for taking out, disinfecting and loading and unloading the frozen container as claimed in claim 2, wherein a box pushing device is fixedly arranged on a frame at the side edge of the pallet and used for pushing the goods from one side of the pallet to the other side or the center when loading the goods, the box pushing device comprises a hydraulic or electric push rod structure and a push plate, the hydraulic or electric push rod is fixedly connected on the frame at the side edge of the pallet, and the push plate is fixed at the free end of the hydraulic or electric push rod.
4. The intelligent equipment for unloading, sterilizing and loading/unloading of the non-contact type refrigerated container as recited in claim 3, wherein a container turnover device is disposed at a position of a tally tray close to the conveyor for turning the goods transferred from the conveyor 90 degrees to the outside of the pallet attachment when loading the goods.
5. The non-contact intelligent equipment for taking out the boxes, disinfecting, loading and unloading the frozen containers as claimed in claim 1, wherein the push-pull accessory comprises a lifting frame, a lifting unit, a linear motor, a base plate, a vacuum pump system, a suction cup and an intelligent sensor, the lifting unit is fixed on the lifting frame, the lifting unit moves up and down along the lifting frame, the linear motor fixed on the lifting unit is connected with the base plate, the suction cup and the intelligent sensor are both fixed on the base plate, the suction cup is connected with the vacuum pump system, and the intelligent sensor is a video sensor and is used for collecting front image data and acquiring the position and height of a cargo to be taken out.
6. The non-contact intelligent device for unloading, disinfecting and loading and unloading the refrigerated container according to claim 5, wherein the lifting unit comprises a lifting frame, lifting plates, counterweight slideways, counterweight sliders, permanent magnet synchronous traction machines and traction ropes, four upright posts of the lifting frame are respectively composed of a pair of channel steel with opposite openings, an up-and-down moving space is formed from the bottom to the top of the lifting frame, the front and rear ends of the lifting plate are respectively arranged between the front and rear pairs of upright posts formed by the channel steel, pulleys fixed on the side surfaces of the two ends of the lifting plate are embedded in the upright posts, the counterweight sliders on the left and right sides are in sliding connection with the counterweight slideways fixed on the left and right sides of the inner side of the lifting frame, the permanent magnet synchronous servo traction machines with two traction wheels rotating in opposite directions are fixed at the bottom of the lifting frame, the two traction ropes respectively wound on the two traction wheels of the permanent magnet, the other two hauling ropes are respectively connected with the counterweight sliding block through the middle guide pulleys of the left and right cross beams at the top of the lifting frame, and the other ends of the hauling ropes are connected with the lifting hook at the upper end of the lifting plate.
7. The non-contact intelligent equipment for taking out boxes, sterilizing, loading and unloading of the refrigerated containers of the non-contact type as claimed in claim 1, wherein the conveyor comprises a hydraulic lifting device, a conveyor main body, two limit chutes and two corresponding bolt rollers, the two limit chutes are fixedly arranged on the chassis of the AGV forklift near the front end of the sterilizer, the bolt rollers are correspondingly fixed on two sides of the rear end of the conveyor main body, the bolt rollers are embedded into the limit chutes and are slidably connected with the bolt rollers, the middle part of the conveyor main body is fixed at the middle position of the side edge of the chassis of the AGV forklift through the hydraulic lifting device, and the front end of the conveyor main body is in non-contact butt.
8. The non-contact intelligent equipment for unloading, disinfecting and loading and unloading the frozen container as claimed in claim 1, wherein the control platform comprises an AGV forklift control system, a pallet accessory control system, a push-pull accessory control system, a conveyor control system, a disinfector control system and a total dispatching platform, the AGV forklift control system is connected with the AGV forklift, the AGV forklift control system is used for dispatching the AGV forklift and sending a control command to the AGV forklift, the AGV forklift controls the AGV forklift to move forwards and backwards, move leftwards and rightwards or lift and lean forwards and lean backwards based on the received control command, the pallet accessory control system is in data communication with the pallet accessory and transmits the control command to the pallet accessory, the pallet accessory controls the working state of the corresponding part based on the received control command, the push-pull accessory control system is in communication with the push-pull accessory and transmits the control command to the push-pull accessory, the push-pull accessory controls the working state of the corresponding component based on the received control instruction, the conveyor control system is communicated with the conveyor and conveys the control instruction to the conveyor, the conveyor controls the working state of the corresponding component based on the received control instruction, the sterilizing machine control system is connected with the sterilizing machine and sends the control instruction to the sterilizing machine to control the sterilizing machine to sterilize goods, and the general dispatching platform is respectively connected with the AGV fork truck control system, the pallet accessory control system, the push-pull accessory control system, the lifting conveyor control system and the sterilizing machine control system to control the working sequence of each component.
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