CN113291774A - Loading and unloading integrated machine and automatic loading and unloading system of container - Google Patents
Loading and unloading integrated machine and automatic loading and unloading system of container Download PDFInfo
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- CN113291774A CN113291774A CN202110738938.3A CN202110738938A CN113291774A CN 113291774 A CN113291774 A CN 113291774A CN 202110738938 A CN202110738938 A CN 202110738938A CN 113291774 A CN113291774 A CN 113291774A
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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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/52—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices
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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
- B65G35/00—Mechanical conveyors 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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
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Abstract
The invention provides a loading and unloading integrated machine and an automatic loading and unloading system of a container. The loading and unloading integrated machine comprises: a support: a first lifting guide rail and a second lifting guide rail are arranged along the height direction of the lifting device; drawing the beam: the beam seat is arranged on the first lifting guide rail through the beam seat, and the beam seat is connected with the first lifting driving mechanism so as to drive the beam seat to move along the height direction of the support; a relative walking structure is arranged between the drawing beam and the beam seat, and the drawing beam is connected with a first walking driving mechanism so as to drive the drawing beam to walk along the beam seat; a first suction cup assembly: the rotary driving mechanism is connected and can rotate relative to the drawing beam; a turnover platform: the second lifting driving mechanism is arranged on the second lifting guide rail, is positioned below the drawing beam and is connected with the second lifting driving mechanism so as to drive the turnover platform to move along the height direction of the support; a controller: is connected with a first lifting driving mechanism, a second lifting driving mechanism, a first walking driving mechanism and a rotating driving mechanism. The automatic loading and unloading system of the container comprises an integrated loading and unloading machine and a conveying track, and can improve the loading and unloading efficiency.
Description
Technical Field
The invention relates to the technical field of loading and unloading machinery, in particular to an integrated loading and unloading machine and an automatic loading and unloading system for a container.
Background
Container freight is the primary mode of logistics transportation.
In the prior art, the main modes and main problems of loading and unloading goods of containers include:
1. and (5) loading and unloading goods by a forklift. And (4) opening the forklift into the container to execute loading and unloading tasks. Because the space in the container is limited, the forklift is inconvenient to move, the forklift needs to repeatedly come in and go out of the container to carry out loading and unloading work, and the loading and unloading efficiency is low.
2. And (4) translating and pushing type stretching and contracting machine. Cargo handling is completed through the lap joint of the telescopic machine and the container body. However, since the telescopic machine can only be installed in a container, the method is not suitable for loading and unloading box-type products, and manual participation is required.
3. To box goods, there are the carton standard and are not unified, and size and specification are various, and traditional loading and unloading goods equipment intelligent degree is low, is not suitable for the processing of flow loading and unloading goods.
4. The problem of container loading and unloading flow management is not solved in the prior art, and other transfer equipment needs to be further borrowed for transportation after goods are taken out of a container.
Disclosure of Invention
The invention aims to solve one of the technical problems, and provides a loading and unloading integrated machine suitable for loading and unloading the container and an automatic loading and unloading system of the container aiming at the problem of loading and unloading the container in the container freight.
In order to achieve the purpose, the invention adopts the technical scheme that:
some embodiments of the present invention first provide a loading and unloading integrated machine, including:
a base frame;
a support: the lifting device is arranged on the base frame, and a first lifting guide rail and a second lifting guide rail are arranged along the height direction of the base frame;
leading and pulling the beam: the beam seat is arranged on the first lifting guide rail through the beam seat, and the beam seat is connected with the first lifting driving mechanism so as to drive the beam seat to move along the height direction of the support; a relative walking structure is arranged between the guiding and shifting beam and the beam seat, and the guiding and shifting beam is connected with a first walking driving mechanism so as to drive the guiding and shifting beam to walk along the beam seat;
a first suction cup assembly: the first sucker seat is rotatably arranged at the end part of the drawing beam and is connected with a rotation driving mechanism so as to drive the first sucker seat to rotate relative to the drawing beam;
a turnover platform: the second lifting driving mechanism is arranged on the second lifting guide rail, is positioned below the drawing beam and is connected with the second lifting driving mechanism so as to drive the turnover platform to move along the height direction of the support;
a controller: is connected with a first lifting driving mechanism, a second lifting driving mechanism, a first walking driving mechanism and a rotating driving mechanism.
In some embodiments of the invention, the device further comprises a conveying roller section, wherein the conveying roller section is overlapped with the turnover platform and is in rotary connection with the turnover platform;
the turnover platform conveys cargos along a first direction, the conveying roller sections convey cargos along a second direction, and the second direction is perpendicular to the first direction.
In some embodiments of the invention, further comprising:
unstacking, stacking and conveying section: the conveying roller section is arranged behind the conveying roller section along the conveying direction, and the conveying roller section is rotatably connected with the unstacking and stacking conveying section;
second sucking disc subassembly: comprises a second sucker seat and a plurality of second suckers arranged on the second sucker seat;
a second bracket: the third travelling rail is arranged on the base frame and arranged along the height direction of the second bracket;
the second sucker seat is installed on the third travelling rail and connected with a third lifting driving mechanism to drive the second sucker seat to move along the height direction of the second support, and the second sucker faces to the conveying end face of the unstacking and stacking conveying section.
In some embodiments of the invention, the unstacking and palletising conveyor section comprises:
the first fixed conveying section: the conveying roller section is rotationally connected with the first fixed conveying section;
a second fixed conveying section: the second fixed conveying mechanism is arranged at an interval with the first fixed conveying section and comprises a second fixed frame and a second fixed conveying mechanism arranged on the second fixed frame;
the flexible section of carrying sets up between first fixed section of carrying and the fixed section of carrying of second, includes:
a first carrier plate: is connected to the first fixed frame;
a second bearing plate: is connected to the second fixed frame;
conveying rollers: the number of the filter is several;
the scissor telescopic rod group: the device comprises a plurality of scissor rods which are arranged in a shaft joint manner, wherein two scissor rods close to one end of a first fixing frame are respectively hinged to the first fixing frame, two hinged points are arranged at intervals up and down, and a conveying roller is arranged at the hinged point above the two hinged points; two scissor rods close to one end of the second fixing frame are respectively hinged to the second fixing frame, the two hinge points are arranged at intervals up and down, and conveying rollers are arranged at the upper hinge points; conveying rollers are arranged at the upper hinging points of two adjacent scissor rods in the scissor telescopic rod group;
and a fourth traveling rail is arranged on the base frame, and the first fixing frame and the second fixing frame are both arranged on the fourth traveling rail.
In some embodiments of the invention, the cargo handling device further comprises an image collector for collecting cargo information closest to one side of the cargo handling integrated machine, and the controller is linked with the image collector and controls the first lifting driving mechanism, the second lifting driving mechanism, the first walking driving mechanism and the rotation driving mechanism to move according to the collected image information.
In some embodiments of the invention, adjusting plates are arranged along the side edges of the conveying roller sections, and two end parts of each adjusting plate are in an arc shape which is bent towards the outer sides of the conveying roller sections.
In some embodiments of the present invention, the base frame is disposed on an AGV cart, and universal wheels and steering wheels are mounted at the bottom of the cart.
The invention further provides an automatic loading and unloading system for the container, which comprises the loading and unloading integrated machine; further comprising:
conveying a track: the device comprises a telescopic end, wherein the telescopic end is connected with a discharging end of the loading and unloading integrated machine and is used for pushing the loading and unloading integrated machine and conveying goods;
a killing room: the conveying track passes through the sterilizing room;
pile up neatly mechanism: the stacking manipulator is positioned behind the killing room along the conveying direction, comprises a multi-degree-of-freedom stacking manipulator, is arranged on the side of the telescopic conveying track, and is used for stacking cargoes;
the control system comprises: the device is used for controlling the work of the conveying track, the sterilizing room and the stacking mechanism;
the transverse width of the loading and unloading integrated machine is smaller than the width of the cavity of the container body of the container, and the loading and unloading integrated machine can be transferred and configured in the container and used for taking goods in the container.
In some embodiments of the invention, the loading and unloading system further comprises:
the first visual inspection mechanism: the stacking mechanism is arranged on the side or above the telescopic conveying track, is positioned at the front end of the stacking mechanism along the conveying direction and is used for extracting first image information of goods released to the telescopic conveying track by the loading and unloading integrated machine;
a reversing shifting fork: the device is arranged behind the first visual detection mechanism along the goods conveying direction, can be rotatably arranged on the side of the conveying track and is connected with a rotary driving mechanism, and the rotary driving mechanism is connected with a control system;
the control system collects first image information, extracts the size of the goods based on the first image information, and generates a control signal for rotating the driving mechanism when the size of the goods is ultra-wide.
In some embodiments of the invention, the loading and unloading system further comprises:
the second visual detection mechanism: the stacking mechanism is arranged on the side or above the conveying track, is positioned at the front end of the stacking mechanism along the conveying direction and is used for extracting second image information of conveyed goods;
the layer detaching mechanism comprises: the second visual detection mechanism is arranged behind the first visual detection mechanism along the conveying direction of the goods and is used for layer splitting treatment of the multilayer goods; the layer detaching mechanism is connected with the control system;
the control system collects second image information, judges whether the number of the cargo layers is greater than 1 or not based on the second image information, and controls the layer detaching mechanism to execute layer detaching work when the number of the cargo layers is greater than 1.
In some embodiments of the invention, the second visual inspection mechanism is located behind the first visual inspection mechanism in the direction of cargo conveyance.
In some embodiments of the invention, the loading and unloading system further comprises:
a third visual detection mechanism: the stacking mechanism is arranged on the side of the conveying track, is positioned at the front end of the stacking mechanism along the conveying direction, or is arranged on two sides of the conveying track in parallel with the stacking mechanism and is used for acquiring third image information of goods;
and the control system acquires third image information and generates a rotation control signal of the stacking manipulator based on the third image information according to the third image information, so that the relative clamping angle of the stacking manipulator and the goods is the same when the stacking manipulator clamps the goods each time.
The invention provides a loading and unloading integrated machine and an automatic loading and unloading system of a container, which have the beneficial effects that:
1. the loading and unloading integrated machine can be arranged in the container, occupies small space, can automatically complete loading and unloading treatment of multilayer cargos and has high loading and unloading efficiency.
2. The device is suitable for epidemic situation requirements, and can complete the whole process of cargo loading and unloading and killing.
3. The multi-vision system is configured, direction adjustment, layer splitting processing and the like can be completed, and standardized processing of cargo loading and unloading work is guaranteed.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1 is a schematic view of a loading and unloading integrated machine;
FIG. 2 is a schematic view of the structure of the loading and unloading integrated machine;
FIG. 3 is a schematic view of a top cargo sucking structure of the loading and unloading integrated machine;
FIG. 4 is a schematic view of a structure of a loading and unloading integrated machine for sucking lower-layer cargos;
FIG. 5 is a schematic view of a structure of the loading and unloading integrated machine for sucking bottom layer cargo;
FIG. 6 is a partial enlarged view of the adjustment plate;
FIG. 7 is a schematic structural view of an unstacking, stacking and conveying section;
FIG. 8 is a schematic diagram of a container auto-loading and unloading system;
1-base frame, 101-AGV trolley, 1011-universal wheel, 102-fourth traveling rail;
2-bracket, 201-first lifting rail, 202-second lifting rail;
3-leading and pulling beam, 301-beam seat,
4-pallet roll, 401-pallet rack, 402-set of rolls,
5-a first sucker component, 501-a first sucker seat, 502-a first sucker;
6-air storage tank;
7-conveying the roller section;
8-axis one;
9-a unstacking and stacking conveying section, 901-a first fixing frame, 902-a first fixed conveying mechanism, 903-a second fixing frame, 904-a second fixed conveying mechanism, 905-a first bearing plate, 906-a second bearing plate, 907-a conveying roller and 908-a scissor telescopic rod group;
10-a second sucker assembly, 1001-a second sucker seat, 1002-a second sucker;
11-second carriage, 1101-third running rail;
12-adjusting plate, 1201-arc segment;
13-a conveying track;
14-a killing room;
15-a palletizing manipulator;
16-a material taking station;
17-a first visual inspection mechanism;
18-a shifting fork;
19-a second visual detection mechanism;
20-a layer detaching mechanism;
21-axis two;
22-integrated loading, unloading and loading machine;
23-a container;
24-a guardrail;
25-third visual inspection mechanism.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It will be understood that when an element is referred to as being "disposed on," "connected to" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element. The terms "first" and "second" are used for descriptive purposes only and are not intended to imply relative importance.
It is to be understood that the terms "upper," "lower," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention and simplicity in description, and do not indicate or imply that the referenced devices or elements must be in a particular orientation, constructed and operated in a particular orientation, and thus are not to be considered limiting of the present invention.
A first embodiment of the present invention provides a loading and unloading integrated machine that can be used for loading and unloading processing of transportation facilities such as container vehicles.
Loading and unloading integrated machine, the structure of which refers to fig. 1 and 2, comprises:
the base frame 1 is used as a supporting base of the whole loading and unloading integrated machine, and rollers can be arranged at the bottom of the base frame 1 for moving conveniently; furthermore, for example, the controllability is improved, the base frame 1 can be arranged on the AGV trolley 101, the bottom of the AGV trolley is provided with a steering wheel and a universal wheel 1011, the whole equipment of the loading and unloading integrated machine is arranged on the intelligent walking trolley by the structure, and the base frame 1 is used as an external load bearing unit of the intelligent walking trolley and can enable the whole equipment to move freely according to the actual working conditions;
and (3) a bracket 2: a first lifting guide rail 201 and a second lifting guide rail 202 are arranged on the base frame 1 along the height direction; specifically, the bracket 2 includes double-sided columns arranged at intervals, the first lifting guide rail 201 is arranged at one side (inner side) opposite to the double-sided columns, and the second lifting guide rail 202 is arranged at the front end face of the double-sided columns, where, when the loading and unloading integrated machine works, the side facing the goods is defined as the front end face; in this embodiment, the support 2 includes four opposite columns, and then two columns located at the front side are provided with the second lifting guide rails 202, and the four columns are provided with the first lifting guide rails 201; the directions of the first lifting rail 201 and the second lifting rail 202 are parallel and all along the height direction of the bracket 2;
leading and pulling beam 3: the beam seat 301 is mounted on the first lifting guide rail 201 through the beam seat 301, a clamping block can be arranged on the beam seat 301 and clamped in the first lifting guide rail 201, and the beam seat 301 is connected with a first lifting driving mechanism so as to drive the beam seat 301 to move along the height direction of the bracket 2; a relative walking structure is arranged between the drawing beam 3 and the beam seat 301, for example, a rail can be arranged on one surface of the beam matched with the beam seat 301, and a clamping block is arranged on the beam seat 301 and clamped in the rail of the beam seat 301; the leading and pulling beam 3 is connected with a first walking driving mechanism so as to drive the leading and pulling beam 3 to walk along the beam seat 301; the walking direction of the leading and pulling beam 3 relative to the beam base 301 is vertical to the direction of the first lifting guide rail 201; based on the structure, the beam can move in two degrees of freedom in the height direction and the front-back direction to adapt to the positions of cargos with different heights and different depths, wherein the depth refers to the position of the cargos relative to the container buckle;
first suction cup assembly 5: the first sucking disc seat 501 is rotatably arranged at the end part of the drawing beam 3, and the first sucking disc seat 501 is connected with a rotation driving mechanism so as to drive the first sucking disc seat 501 to rotate relative to the drawing beam 3; the first suction disc assembly is used for sucking goods to be loaded and unloaded, and in order to ensure the working area, a plurality of first suction discs 502 are arranged on the first suction disc seat 501 in rows and columns; the first suction disc 502 is a pneumatic suction disc, and the base frame 1 is also provided with an air storage tank 6 for supplying air to the first suction disc 502;
turnover platform 4: the lifting mechanism comprises a tray frame 401 and a roller set arranged on the upper end face of the tray frame, wherein the tray frame 401 is arranged on a second lifting guide rail 202, is positioned below a guiding and shifting beam 3 and is connected with a second lifting driving mechanism so as to drive a turnover platform 4 to move along the height direction of a support 2; the turnover platform 4 can walk in the height direction of the bracket 2 to be close to or far away from the deflector beam 3 and work in cooperation with the first sucker component 5;
a controller: is connected with a first lifting driving mechanism, a second lifting driving mechanism, a first walking driving mechanism and a rotating driving mechanism.
In order to be applied to a container, the transverse width of the integrated loading and unloading machine is smaller than the width of the cavity of the container body of the container, so that the integrated loading and unloading machine can be transferred and arranged in the container for loading and unloading the container.
When the loading and unloading work is carried out, the rear door of the container 23 is opened, and the base frame 1 is moved into the container. For preventing the position from being inaccurate and causing loading and unloading accidents, the loading and unloading of the front two rows of cargos need manual monitoring. Taking the unloading worker as an example, the unloading is started from the goods close to the door position of the container.
Referring to fig. 3 to 5, the first tray sucking mechanism 5 is illustrated in an operating state when picking and placing goods on different layers.
Adjusting the height position of the deflector beam 3 to enable the beam base 301 to walk along the first lifting guide rail 201 and align with the goods on the outermost layer and the uppermost layer; adjusting the front and rear positions of the leading and pulling beam 3 to enable the leading and pulling beam 3 to travel towards the direction close to the outermost layer and the uppermost layer of goods along the track on the beam seat 301; the position of the turnover platform 4 is adjusted, so that the tray frame 401 can walk along the direction of the second lifting guide rail 202 and move to the position below the first suction cup component.
Usually, the goods on the uppermost layer are stacked along the top of the container, and the first suction disc component cannot move to the upper part of the goods and is unloaded by sucking the side edges of the goods. The number of the goods taken at one time is determined according to the number of the first suction cups 502. Taking the case cargo as an example, the larger the number of the first suction cups 502, the larger the number of the containers that can be sucked at a time. The optimal position for the epicyclic platform 4 is at the lower end of the lowermost container that the first suction pan 502 can suck. After the first suction cup 502 sucks the container, the position of the guiding and pulling beam 3 is adjusted to enable the container to walk along the beam seat 301, and the container is pulled backwards to the turnover platform 4. Multiple layers of goods can be sucked each time. The goods placed on the turnaround platform 4 will be transported backwards.
After the top container is taken out, the angle of the first suction cup 501 is adjusted as appropriate, and the container is rotated in the direction of the bottom of the container. The deflector beam 3 is further moved to move over the container and the first suction cup 502 is pneumatically actuated to suck the container. At this time, a layer of multiple goods can be sucked. After the goods are taken, the guiding and pulling beam 3 is moved and walks backwards to the upper part of the turnover platform 4. The goods placed on the turnaround platform 4 will be transported backwards.
The base frame 1 is moved at any time along with the progress of the loading and unloading work, so that the loading and unloading integrated machine is matched with the loading and unloading work.
In some embodiments of the invention, the container further comprises an image collector facing the goods to be loaded and unloaded in the container and used for collecting the information of the goods closest to one side of the loading and unloading integrated machine, and the controller is linked with the image collector and controls the first lifting driving mechanism, the second lifting driving mechanism, the first walking driving mechanism and the rotation driving mechanism to move according to the collected image information.
Specifically, the arrangement of the containers in the front row is analyzed based on the image information collected by the image collector, and the starting working position and the working state of the first tray assembly are judged according to the arrangement size of the containers, the distance between the upper end part and the roof, the size of the containers, the boundary and the like. For example, if it is determined that the distance between the top of the container and the roof accommodates a first suction cup assembly, the first suction cup assembly 5 moves to the roof and rotates to suck a single layer of goods, otherwise, a plurality of layers of goods are sucked. If the top layer goods are close to the car roof, the first suction disc assembly 5 absorbs the goods aligned to the uppermost layers for the first time, the turnover platform 4 aligns to the goods on the lowermost layer of the goods which can be absorbed by the first suction disc assembly 5, the goods on the lower layer are stopped, and the absorbed goods on the upper layer are received. For example, when taking and putting upper goods, take 2 layers of goods once as an example, based on image information, look for the lowest of second layer of goods, turnover platform 4 moves to the height of third layer of goods, backstop third layer of goods.
In some embodiments of the invention, the device further comprises a conveying roller section 7 which is overlapped with the turnover platform 4 and is in rotary connection with the turnover platform;
the turnover platform 4 conveys goods along a first direction, and the conveying roller section 7 conveys goods along a second direction which is vertical to the first direction. The conveying roller section 7 conveys and turns to control the width size of the whole loading and unloading integrated machine.
The conveying roller section 7 can adopt various types of conveying structures such as belt conveying rollers, carrier rollers and the like. In order to solve the connection between the conveying roller section 7 and the turnover platform 4, a first connecting shaft 8 can be arranged on the edge of the turnover platform 4, and the edge of the conveying roller section 7 is connected to the first shaft 8, so that the whole conveying roller section 7 can rotate along the first shaft 8.
This configuration of the conveyor roller section 7 makes it suitable for adapting to the height of the turnaround platform 4.
In some embodiments of the invention, further comprising:
unstacking, stacking and conveying section 9: the conveying roller section 7 is arranged behind the conveying roller section 7 along the conveying direction, and the conveying roller section 7 is rotatably connected with the unstacking and stacking conveying section 9;
second chuck assembly 10: comprises a second sucker seat 1001 and a plurality of second suckers 1002 arranged on the second sucker seat 1001;
second bracket 11: a third travelling rail 1101 is arranged on the base frame 1 along the height direction of the second bracket 11;
the second suction cup holder 1001 is mounted on the third travelling rail 1101 and connected to the third lifting drive mechanism to drive the second suction cup holder 1001 to move along the height direction of the second support 11, and the second suction cup 1002 faces the conveying end face of the unstacking and stacking conveyor section 9.
The second sucker assembly 10 is used for carrying out layer splitting treatment on multilayer goods. As previously mentioned, the first chuck assembly 5 may be operated in a drag-and-drop multi-level pick-up mode, requiring a de-lamination process for subsequent handling. When the goods are judged to be conveyed on the unstacking and stacking conveying section 9 in multiple layers, the second chassis assembly 10 is controlled to work, so that the goods on the uppermost layer are sucked layer by layer and then placed on the unstacking and stacking conveying section 9 at the rear.
In order to solve the problem of installation between the conveying roller section 7 and the unstacking and stacking conveying section 9, a second shaft 21 can be arranged on the unstacking and stacking conveying section 9, and the conveying roller section 7 is connected with the second shaft 21 and can rotate relative to the second shaft 21. Based on the structure, the conveying roller section 7 forms a structure with two ends capable of rotating, and is capable of being replaced to match loading and unloading of multilayer goods.
In some embodiments of the invention, the unstacking, palletizing and conveying section structure, referring to fig. 7, comprises:
the first fixed conveying section: the device comprises a first fixing frame 901 and a first fixed conveying mechanism 902 arranged on the first fixing frame, wherein a conveying roller section is rotationally connected with a first fixed conveying section;
a second fixed conveying section: the second fixed conveying section is arranged at an interval with the first fixed conveying section and comprises a second fixed frame 903 and a second fixed conveying mechanism 904 arranged on the second fixed frame 903;
the flexible section of carrying sets up between first fixed section of carrying and the fixed section of carrying of second, includes:
first carrier plate 905: is connected to the first mount 901;
second carrier plate 906: is connected to the second fixing frame 903;
conveying roller 907: the number of the filter is several;
scissor set 908: the device comprises a plurality of shear fork rods which are arranged in a shaft connection mode, wherein two shear fork rods close to one end of a first fixing frame 901 are hinged to the first fixing frame 901 respectively, two hinge points are arranged at intervals up and down, and conveying rollers are arranged at the upper hinge points; two scissor rods close to one end of the second fixing frame 903 are hinged to the second fixing frame 903 respectively, the two hinged points are arranged at intervals up and down, and conveying rollers are arranged at the hinged points above the two hinged points; conveying rollers are arranged at the upper hinging points of two adjacent scissor rods in the scissor telescopic rod group;
the base frame 1 is provided with a fourth traveling rail 102, and the first fixing frame 901 and the second fixing frame 902 are both installed on the fourth traveling rail 102.
In some embodiments of the present invention, the adjusting plates 12 are disposed along the side edges of the conveying roller segments 7, referring to fig. 6, two end portions of the adjusting plates 12 are in an arc shape bending towards the outer side of the conveying roller segments to form arc segments 1201, a straight segment 1202 is disposed between the arc segments 1201, and the straight segment 1202 faces the side end face of the goods. The adjusting plate 12 can adjust the direction of the distorted goods to prevent the goods from falling off the conveying roller.
The working process of the loading and unloading integrated machine is described above by taking unloading as an example. The loading process is opposite to the unloading process, and the second sucker assembly 9 is used for stacking in the loading process.
Based on the integrated loading and unloading machine 22, the present invention further provides a container automatic loading and unloading system in some embodiments. Referring to fig. 8, in addition to the aforementioned loader/unloader 22, the loader/unloader further includes:
the conveying track 13: the device comprises a telescopic end, wherein the telescopic end is connected with a discharging end of the loading and unloading integrated machine and is used for pushing the loading and unloading integrated machine and conveying goods; the conveying track 13 can be a multi-section structure, and can adopt a multi-section assembled structure such as a linear conveying section, a bending conveying section and the like in cooperation with the conveying direction; the loading and unloading integrated machine is arranged on the AGV trolley, and when the telescopic end stretches, the AGV trolley is pushed and pulled to move so as to drive the loading and unloading integrated machine to adapt to the position of the goods;
a killing room 14: the conveying track passes through the sterilizing room;
pile up neatly mechanism: the stacking manipulator 15 is arranged behind the killing room along the conveying direction, comprises a multi-degree-of-freedom stacking manipulator, is arranged on the side of the telescopic conveying track, and is used for stacking cargoes;
a material taking station 16: a plurality of stacking manipulators can be arranged, products picked and placed by the stacking manipulator 15 can be placed at the material taking station 16, and the next step of processing can be carried out through a forklift;
the control system comprises: for controlling the operation of the conveying track 13, the sterilizing chamber 14 and the palletizing mechanism.
When the goods are loaded and unloaded, the goods unloaded by the loading and unloading integrated machine 22 are conveyed backwards through the conveying rails 13, enter the sterilizing station 14 for sterilization, and are then arranged on the material taking station 16 one by one through the stacking mechanism for subsequent treatment.
In some embodiments of the invention, the loading and unloading system further comprises:
the first visual detection mechanism 17: the camera is arranged on the side or above the telescopic conveying track, is positioned at the front end of the stacking mechanism along the conveying direction and is close to the discharging position of the loading and unloading integrated machine, and is used for extracting first image information of goods released to the telescopic conveying track by the loading and unloading integrated machine;
the reversing shifting fork 18: the device is arranged behind the first visual detection mechanism 17 along the goods conveying direction, can be rotatably arranged on the side of the conveying track 13 and is connected with a rotary driving mechanism, and the rotary driving mechanism is connected with a control system;
the control system collects first image information, extracts the size of the goods based on the first image information, and generates a control signal for rotating the driving mechanism when the size of the goods is ultra-wide.
Since the width of the killing room 14 is fixed, the size of the cargo box exceeding the width of the killing room 14 cannot pass through the killing room, considering that the size of the cargo box and the initial stacking direction of the cargo box in the cargo box will affect the conveying posture on the conveying track 13. It can be determined whether the size of the goods exceeds the width of the sterilizing compartment 14 based on the first image information, and when the size exceeds the width, the shift fork 18 is operated to adjust the direction of the carton so that the carton can pass through the sterilizing compartment 14.
In some embodiments of the invention, the loading and unloading system further comprises:
second visual detection mechanism 19: the second image information is arranged on the side or above the conveying track 13, is positioned at the front end of the stacking mechanism along the conveying direction and is used for extracting second image information of conveyed goods;
layer detaching mechanism 20: the second visual detection mechanism 19 is arranged behind the second visual detection mechanism along the goods conveying direction and is used for the layer splitting treatment of the multilayer goods; the layer detaching mechanism 20 can also adopt a sucker mechanism as a loading and unloading integrated machine, or adopt other forms such as a mechanical arm and the like, and the layer detaching mechanism 20 is connected with a control system;
the control system collects second image information, judges whether the number of the cargo layers is greater than 1 or not based on the second image information, and controls the layer detaching mechanism to execute layer detaching work when the number of the cargo layers is greater than 1.
As described above, the loading and unloading integrated machine also has a layer-splitting function, and can perform layer-splitting processing on two layers of goods. If the carton is thinner, more than two layers of cartons can be taken each time, the layer splitting function is further added, the layer splitting treatment can be further carried out, and single-layer goods are guaranteed to finally pass through the sterilizing chamber 14.
In some embodiments of the invention, the second visual inspection mechanism 19 is located behind the first visual inspection mechanism 17 in the direction of cargo conveyance.
In some embodiments of the invention, the loading and unloading system further comprises:
third visual detection mechanism 25: the stacking mechanism is arranged on the side of the conveying track, is positioned at the front end of the stacking mechanism along the conveying direction, or is arranged on two sides of the conveying track in parallel with the stacking mechanism and is used for acquiring third image information of goods;
the control system collects the third image information, and generates a rotation control signal of the stacking manipulator 15 based on the third image information according to the third image information, so that the relative clamping angle of the stacking manipulator 15 and the goods is the same when the stacking manipulator 15 clamps the goods each time.
The stacking manipulator 15 can rotate with multiple degrees of freedom, for example, goods can be conveniently taken and placed, and the stacking manipulator can be designed to rotate by 360 degrees. By adjusting the rotation angle of the stacking manipulator 15, the clamping angle can be ensured to be always consistent when the goods are clamped at each time, and the direction of the goods placed on the material taking station 16 is consistent.
For protection, a guard rail 24 may be provided around the conveyor track 13, in particular the palletizing manipulator 15.
After the work is finished, the telescopic end of the conveying track 13 can be controlled to retract so as to recover the loading and unloading integrated machine.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. Loading and unloading goods all-in-one, its characterized in that includes:
a base frame;
a support: the base frame is provided with a first lifting guide rail and a second travelling rail and a second lifting guide rail along the height direction;
leading and pulling the beam: the beam seat is arranged on the first lifting guide rail through the beam seat, and the beam seat is connected with the first lifting driving mechanism so as to drive the beam seat to move along the height direction of the support; a relative walking structure is arranged between the guiding and shifting beam and the beam seat, and the guiding and shifting beam is connected with a first walking driving mechanism so as to drive the guiding and shifting beam to walk along the beam seat;
a first suction cup assembly: the first sucker seat is rotatably arranged at the end part of the drawing beam and is connected with a rotation driving mechanism so as to drive the first sucker seat to rotate relative to the drawing beam;
a turnover platform: the second lifting driving mechanism is arranged on the second lifting guide rail, is positioned below the drawing beam and is connected with the second lifting driving mechanism so as to drive the turnover platform to move along the height direction of the support;
a controller: is connected with a first lifting driving mechanism, a second lifting driving mechanism, a first walking driving mechanism and a rotating driving mechanism.
2. The integrated loader-unloader and loader machine according to claim 1, further comprising a conveyor roller segment overlapping the transfer platform and rotationally coupled thereto;
the turnover platform conveys cargos along a first direction, the conveying roller sections convey cargos along a second direction, and the second direction is perpendicular to the first direction.
3. The integrated loader-unloader of claim 2, further comprising:
unstacking, stacking and conveying section: the conveying roller section is arranged behind the conveying roller section along the conveying direction, and the conveying roller section is rotatably connected with the unstacking and stacking conveying section;
second sucking disc subassembly: comprises a second sucker seat and a plurality of second suckers arranged on the second sucker seat;
a second bracket: the third travelling rail is arranged on the base frame and arranged along the height direction of the second bracket;
the second sucker seat is installed on the third travelling rail and connected with a third lifting driving mechanism to drive the second sucker seat to move along the height direction of the second support, and the second sucker faces to the conveying end face of the unstacking and stacking conveying section.
4. A loader and unloader machine as claimed in claim 3 wherein the de-stacking palletising conveyor section comprises:
the first fixed conveying section: the conveying roller section is rotationally connected with the first fixed conveying section;
a second fixed conveying section: the second fixed conveying mechanism is arranged at an interval with the first fixed conveying section and comprises a second fixed frame and a second fixed conveying mechanism arranged on the second fixed frame;
the flexible section of carrying sets up between first fixed section of carrying and the fixed section of carrying of second, includes:
a first carrier plate: is connected to the first fixed frame;
a second bearing plate: is connected to the second fixed frame;
conveying rollers: the number of the filter is several;
the scissor telescopic rod group: the device comprises a plurality of scissor rods which are arranged in a shaft joint manner, wherein two scissor rods close to one end of a first fixing frame are respectively hinged to the first fixing frame, two hinged points are arranged at intervals up and down, and a conveying roller is arranged at the hinged point above the two hinged points; two scissor rods close to one end of the second fixing frame are respectively hinged to the second fixing frame, the two hinge points are arranged at intervals up and down, and conveying rollers are arranged at the upper hinge points; conveying rollers are arranged at the upper hinging points of two adjacent scissor rods in the scissor telescopic rod group;
and a fourth traveling rail is arranged on the base frame, and the first fixing frame and the second fixing frame are both arranged on the fourth traveling rail.
5. The integrated loading, unloading and loading machine of claim 1, further comprising an image collector for collecting information of the cargo closest to the integrated loading, unloading and loading machine, wherein the controller is linked with the image collector and controls the first lifting driving mechanism, the second lifting driving mechanism, the first walking driving mechanism and the rotation driving mechanism to move according to the collected information of the image.
6. An integrated loader and unloader according to claim 1 wherein the base frame is mounted on an AGV cart having universal wheels and steering wheels mounted on the bottom thereof.
7. A container handling robot system comprising a loading and unloading kiosk as claimed in any one of claims 1 to 5; further comprising:
conveying a track: the device comprises a telescopic end, wherein the telescopic end is connected with a discharging end of the loading and unloading integrated machine and is used for pushing the loading and unloading integrated machine and conveying goods;
a killing room: the conveying track passes through the sterilizing room;
pile up neatly mechanism: the stacking manipulator is positioned behind the killing room along the conveying direction, comprises a multi-degree-of-freedom stacking manipulator, is arranged on the side of the telescopic conveying track, and is used for stacking cargoes;
the control system comprises: the device is used for controlling the work of the conveying track, the sterilizing room and the stacking mechanism;
the transverse width of the loading and unloading integrated machine is smaller than the width of the cavity of the container body of the container, and the loading and unloading integrated machine can be transferred and configured in the container and used for taking goods in the container.
8. The container crane system of claim 6, further comprising:
the first visual inspection mechanism: the stacking mechanism is arranged on the side or above the telescopic conveying track, is positioned at the front end of the stacking mechanism along the conveying direction and is used for extracting first image information of goods released to the telescopic conveying track by the loading and unloading integrated machine;
a reversing shifting fork: the device is arranged behind the first visual detection mechanism along the goods conveying direction, can be rotatably arranged on the side of the conveying track and is connected with a rotary driving mechanism, and the rotary driving mechanism is connected with a control system;
the control system collects first image information, extracts the size of the goods based on the first image information, and generates a control signal for rotating the driving mechanism when the size of the goods is ultra-wide.
9. The container crane system of claim 6 or 7, further comprising:
the second visual detection mechanism: the stacking mechanism is arranged on the side or above the conveying track, is positioned at the front end of the stacking mechanism along the conveying direction and is used for extracting second image information of conveyed goods;
the layer detaching mechanism comprises: the second visual detection mechanism is arranged behind the first visual detection mechanism along the conveying direction of the goods and is used for layer splitting treatment of the multilayer goods; the layer detaching mechanism is connected with the control system;
the control system collects second image information, judges whether the number of the cargo layers is greater than 1 or not based on the second image information, and controls the layer detaching mechanism to execute layer detaching work when the number of the cargo layers is greater than 1.
10. The container crane system of claim 6, 7 or 8, further comprising:
a third visual detection mechanism: the stacking mechanism is arranged on the side of the conveying track, is positioned at the front end of the stacking mechanism along the conveying direction, or is arranged on two sides of the conveying track in parallel with the stacking mechanism and is used for acquiring third image information of goods;
and the control system acquires third image information and generates a rotation control signal of the stacking manipulator based on the third image information according to the third image information, so that the relative clamping angle of the stacking manipulator and the goods is the same when the stacking manipulator clamps the goods each time.
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| CN202110738938.3A CN113291774B (en) | 2021-06-30 | 2021-06-30 | Loading and unloading integrated machine and automatic loading and unloading system of container |
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| CN202110738938.3A CN113291774B (en) | 2021-06-30 | 2021-06-30 | Loading and unloading integrated machine and automatic loading and unloading system of container |
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| CN113291774B CN113291774B (en) | 2021-12-17 |
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