CN113697342B

CN113697342B - Cargo transportation stacking method in cargo unmanned cabin

Info

Publication number: CN113697342B
Application number: CN202110839837.5A
Authority: CN
Inventors: 曾鹏; 范东; 刘泽峰; 熊泽华; 杨帧
Original assignee: Aerospace Era Feipeng Co ltd
Current assignee: Aerospace Era Feipeng Co ltd
Priority date: 2021-07-23
Filing date: 2021-07-23
Publication date: 2023-05-05
Anticipated expiration: 2041-07-23
Also published as: CN113697342A

Abstract

The invention discloses a cargo transportation stacking method in a cargo unmanned cabin, which comprises the following steps: s1, scanning goods input into a cabin, collecting goods information and confirming the goods; s2, classifying and numbering cargoes according to the cargo information; s3, distributing goods shelves according to the classification information, and conveying the goods to a position corresponding to the target shelf; s4, adjusting the goods positions of the goods shelves and stacking the goods on the corresponding goods positions; s5, after the goods are piled up, collecting goods piling up information; s6, the goods information and the goods stacking information are made into a form for query and retrieval. The invention has the characteristics of quick and stable transportation and stacking, convenient searching and capacity-increasing storage racks.

Description

Cargo transportation stacking method in cargo unmanned cabin

Technical Field

The invention relates to the field of cargo transportation and storage, in particular to a cargo transportation and stacking method in an unmanned cabin of freight transportation.

Background

Along with the development of electronic commerce in China, the cargo transportation amount is larger and larger, and the application of the freight unmanned aerial vehicle is wider and wider. In the cargo transportation management of unmanned cabin, mainly carry and stack the goods with the manual mode, unmanned cabin's cargo transportation volume is big, and not only the manual labor volume is big, the cost of labor is high, work efficiency is low, and tracking information to the goods is still undefined moreover, has the transportation goods to lose, the problem such as disordered is stacked to the goods easily, is difficult to quick, effectively find the position of stacking of goods, also easily drops because of rocking in unmanned plane transportation.

In addition, the loading on the goods shelves is fixed, can not carry out effectual loading according to different needs in the in-process of using and use, simultaneously to darker goods shelves, when loading the goods, need the manual work to stack the goods to goods shelves higher, darker position, not only increase the amount of labour of work like this, stack and take the in-process and still bump down outside goods easily, lead to the goods to drop the damage.

Therefore, the existing cargo unmanned cabin has the problems that the cargo is stacked in a disordered manner, the cargo is difficult to find quickly, the cargo loading amount is fixed, and the cargo is easy to drop.

Disclosure of Invention

The invention aims to provide a cargo transportation stacking method in a cargo unmanned cabin. The invention has the characteristics of quick and stable transportation and stacking, convenient searching and capacity-increasing storage racks.

The technical scheme of the invention is as follows: the cargo transportation stacking method in the cargo unmanned cabin comprises the following steps:

s1, scanning goods input into a cabin, collecting goods information and confirming the goods;

s2, classifying and numbering cargoes according to the cargo information;

s3, distributing goods shelves according to the classification information, and conveying the goods to a position corresponding to the target shelf;

s4, adjusting the goods positions of the goods shelves and stacking the goods on the corresponding goods positions;

s5, after the goods are piled up, collecting goods piling up information;

s6, the goods information and the goods stacking information are made into a form for query and retrieval.

In the method for transporting and stacking goods in the unmanned cargo aircraft cabin, the step S1 is specifically that the goods are provided with identification codes with goods information, the transportation device in the aircraft cabin is provided with a recognizer, and the goods identification codes input into the aircraft cabin are scanned by the recognizer to collect the goods information and confirm the goods.

In the method for stacking cargo in the unmanned cargo aircraft cabin, in the step S1, the cargo information includes cargo type, cargo quality, cargo volume and destination.

In the method for transporting and stacking goods in the unmanned cargo aircraft cabin, the method further comprises the step of quality inspection of the goods between the step S2 and the step S3, and if the goods are detected to be damaged, recording is performed and the goods are discharged.

In the method for transporting and stacking goods in the unmanned cargo compartment, the step S4 is specifically to judge whether a space exists on the movable plate on the uppermost cargo space on the goods shelf, and if not, push the movable plate outwards to expose the fixed plate; if the fixed plate and the movable plate have no empty space, the goods are transferred to the goods space of the next layer until the goods are put on the empty goods space of the corresponding goods shelf.

In the method for stacking cargo in the unmanned cargo aircraft cabin, in the step S5, stacking information includes stacking positions and loading times of cargo.

In the cargo transportation stacking method in the cargo unmanned cabin, the goods shelf comprises a base, a goods shelf body and a placing and taking device are arranged on the base, a plurality of layers of goods positions are arranged on the goods shelf body, a fixed plate and a movable plate are arranged on each layer of goods position, the movable plates are connected to the fixed plate in a sliding mode through pulleys, movable belts are arranged on the fixed plate and the movable plate, and a separation plate is arranged on the movable belts; one side of the goods shelf body is provided with a lifting chain connected through a lifting motor, and the lifting chain is fixedly connected with the placing and taking device.

In the cargo transportation stacking method in the cargo unmanned cabin, limit frames are arranged on two sides of the goods shelf body, sliding grooves are formed in the limit frames, moving frames penetrating through the sliding grooves are arranged on two sides of the movable plate, and a driver for pushing the moving frames is arranged on the goods shelf body.

In the cargo transportation stacking method in the cargo unmanned cabin, the placing and taking device comprises a bottom frame connected with a lifting chain, a conveying plate is rotatably connected to the bottom frame, a conveying belt is arranged on the conveying plate, a pushing cylinder is arranged below the conveying plate, a piston rod of the pushing cylinder is hinged to the conveying plate, a taking frame is arranged above the conveying plate, horizontal chains driven by a horizontal motor are arranged on two sides of the taking frame, a linear module perpendicular to the horizontal chains is fixedly connected to the horizontal chains, and a taking manipulator is arranged on a sliding table of the linear module.

In the cargo transportation stacking method in the cargo unmanned cabin, the cargo taking manipulator comprises a connecting rod connected with the sliding table, a bowl-shaped pushing block is arranged at the end part of the connecting rod, a gripper is arranged in the pushing block, and a driving cylinder for driving the gripper to extend out of the pushing block to clamp the cargo is arranged in the connecting rod.

Compared with the prior art, the invention can rapidly acquire various information of the goods, and can carry out classified stacking and quality inspection corresponding to the information of the goods, so that damaged goods are removed, the quality of the goods is ensured, and meanwhile, the stacking space is saved, and automatic conveying and storage are realized; forms are also manufactured to facilitate searching; the goods shelves for stacking goods adopt the design of capacity increment, can adjust goods space structure according to the quantity of goods, satisfy the storing capacity of different demands to the cooperation is put and is got the device and is made the goods stack quick, convenient, neat, stable, reduces the goods and drops and drop the phenomenon of damage.

Therefore, the invention has the characteristics of quick and stable transportation and stacking, convenient searching and capacity-increasing of the goods shelves.

Drawings

FIG. 1 is a schematic view of the structure of a pallet of the present invention;

FIG. 2 is a schematic structural view of a fixing plate;

FIG. 3 is a schematic diagram of a connection structure of a movable plate and a fixed plate;

FIG. 4 is a side view of the positioning device;

FIG. 5 is a top view of the pick-up device;

fig. 6 is a schematic structural view of the picking robot.

Reference numerals: 1. a base; 2. a shelf body; 21. a cargo space; 22. a lifting chain; 23. a limiting frame; 3. a picking device; 31. a chassis; 32. a conveying plate; 33. a pushing cylinder; 34. a fetching frame; 35. a horizontal chain; 36. a linear module; 37. a fetching manipulator; 371. a connecting rod; 372. a pushing block; 373. a grip; 374. a driving cylinder; 41. a fixing plate; 42. a movable plate; 43. a pulley; 44. a moving belt; 45. a partition plate; 46. a moving rack; 47. a driver.

The invention is further described below with reference to the drawings and the detailed description.

Detailed Description

Embodiments of the invention: the cargo transportation stacking method in the cargo unmanned cabin comprises the following steps:

s1, an identification code with cargo information is arranged on the cargo, an identifier is arranged on a transportation device in the cabin, the cargo identification code is scanned and input into the cabin through the identifier, the cargo information is collected, and the cargo is confirmed; the cargo information includes the kind of cargo, the cargo quality, the cargo volume, the transportation destination, and the like. The transport means may be shuttle carts, transfer robots, cargo conveyor belts or the like.

S2, classifying and numbering cargoes according to the cargo information; and inspecting the quality of the goods, and if the goods are detected to be damaged, recording and discharging the goods. The goods at the same destination are stacked on the same goods shelf by sorting the destinations of the goods.

s4, judging whether a vacancy exists on the movable plate 42 on the goods space 21 on the uppermost layer on the goods shelf, if not, pushing the movable plate 42 outwards to expose the fixed plate 41 on the lower layer; if no empty space exists on the fixed plate 41 and the movable plate 42, transferring to the goods space 21 of the next layer until the goods are put on the empty goods space 21 of the corresponding goods shelf;

s5, after the goods are piled up, collecting goods piling up information; the stacking information includes the stacking position, the time to put on the shelf, and the like of the goods.

According to the method, various information of the goods can be quickly obtained, the goods are classified, stacked and inspected according to the information of the goods, damaged goods are removed, the quality of the goods is ensured, meanwhile, stacking space is saved, and automatic conveying and storage are realized; forms are also manufactured to facilitate searching; the goods shelves of stacking goods have adopted the design that can increase the capacity, can be according to the goods quantity, adjust goods position 21 structure, satisfy the storing capacity of different demands to the cooperation is put and is got device 3 and is made goods stack quick, convenient, neat, stable, reduces the goods and drops the phenomenon of falling and damage.

As shown in fig. 1-6, the goods shelf comprises a base 1, a goods shelf body 2 and a placing and taking device 3 are arranged on the base 1, a plurality of layers of goods places 21 are arranged on the goods shelf body 2, a fixed plate 41 and a movable plate 42 are arranged on each layer of goods place 21, the movable plate 42 is slidably connected on the fixed plate 41 through a pulley 43, a movable belt 44 is arranged on each of the fixed plate 41 and the movable plate 42, a separation plate 45 is arranged on the movable belt 44, and a goods storage space is formed between every two adjacent separation plates 45; one side of the goods shelf body 2 is provided with a lifting chain 22 connected through a lifting motor, and the lifting chain 22 is fixedly connected with the placing and taking device 3.

The goods shelves are provided with a plurality of goods shelves 21, each goods shelf 21 is provided with a fixed plate 41 and a movable plate 42, the structure of the goods shelves 21 can be adjusted according to the quantity of the goods, the goods can be stacked on the movable plates 42 and the fixed plates 41 at the same time, so that the effective capacity expansion of the goods shelves 21 is realized, the storage space is increased, and the storage capacity of different demands is met; the movable belts 44 are arranged on the fixed plate 41 and the movable plate 42, so that the goods can be conveniently distributed in the whole storage space, the goods taking manipulator 37 does not need to extend into the goods shelf, and the phenomena of collision, falling and falling of the goods are reduced. The division board 45 that sets up is convenient for distinguish the goods on the one hand, and on the other hand cooperates and gets thing manipulator 37 and put the goods neat, avoids dropping of goods in the unmanned aerial vehicle transportation.

The lifting chain 22 is utilized to move the placing and taking device 3 to different heights for placing and taking goods, the operation is convenient, no-gap or little-gap installation is realized between the placing and taking device 3 and the goods shelf, the goods shelf structure is compact, the space is saved, and the production cost of the goods shelf can be reduced.

The two sides of the goods shelf body 2 are provided with limiting frames 23, the limiting frames 23 are provided with sliding grooves, the two sides of the movable plate 42 are provided with moving frames 46 penetrating through the sliding grooves, and the goods shelf body 2 is provided with a driver 47 for pushing the moving frames 46. The driver 47 may be a motor-ball screw structure or an electric push rod structure, or other existing driving structures for driving the movable plate 42 to move horizontally.

Put and get device 3 includes the chassis 31 of being connected with lift chain 22, rotates on the chassis 31 and is connected with conveying board 32, is equipped with the conveyer belt on the conveying board 32, and the below of conveying board 32 is equipped with promotes cylinder 33, promotes the piston rod of cylinder 33 and conveying board 32 articulated, and the top of conveying board 32 is equipped with gets thing frame 34, gets the both sides of thing frame 34 and is equipped with horizontal chain 35 through horizontal motor drive, fixedly connected with and horizontal chain 35 looks vertically sharp module 36 on the horizontal chain 35, is equipped with on the slip table of sharp module 36 and gets thing manipulator 37.

The conveying plate 32 is rotatably connected to the placing and taking device 3, the state of the conveying plate 32 can be changed by driving the pushing cylinder 33, and when goods are required to be placed into the placing and taking device 3 or taken down from the placing and taking device 3, the conveying plate 32 is in an inclined state, so that the goods can be conveniently conveyed; when goods are required to be put on the goods shelf from the putting and taking device 3 or taken out from the goods shelf to the putting and taking device 3, the conveying plate 32 is in a horizontal state, and the goods are more convenient and quicker to take; the multi-direction movement of the object taking manipulator is realized through the cooperation of the horizontal chain 35 and the linear module 36, so that the goods can be conveniently placed in the storage space of the goods space 21 at different positions, the labor intensity of workers is reduced, and the working efficiency is improved.

The object taking manipulator 37 comprises a connecting rod 371 connected with a sliding table, a bowl-shaped pushing block 372 is arranged at the end part of the connecting rod 371, a gripper 373 is arranged in the pushing block 372, and a driving cylinder 374 for driving the gripper 373 to extend out of the pushing block 372 and clamp objects is arranged in the connecting rod 371. The push block 372 arranged on the object taking manipulator 37 enables the front end of the push block 372 to be in contact with goods when taking objects, so that the goods are kept flat, then the clamping hand stretches out to clamp the goods, and the accuracy and strength of clamping the goods are improved.

The working process comprises the following steps: when the stacked goods are transported in the unmanned cabin, the goods are transported to the corresponding goods shelves through the transport device, the transport plate 32 is adjusted to an inclined state, the goods are placed on the transport plate 32, then the transport plate 32 is adjusted to a horizontal state, the goods are moved to the positions corresponding to the goods places 21 by using the lifting chains 22 and the transport belts, and meanwhile the goods taking manipulator 37 is adjusted by using the horizontal chains 35 and the linear modules 36, so that the goods taking manipulator 37 accurately grabs the goods and places the goods on the corresponding goods places 21;

when grabbing goods, the front end of the pushing block 372 is contacted with the goods, so that the goods are contacted with the isolation plate 45, the goods are kept flat, then the handles 373 are extended to clamp the goods, and the clamping accuracy and strength of the goods are improved; to put the grabbed goods into the empty storage space, the retracting grippers 373 are hidden into the pushing blocks 372, and the pushing blocks 372 are driven to push the goods, so that the goods are contacted with the isolation plates 45, and the goods are placed flatly and stably;

when stacking the goods, if the storage space at the forefront side of the movable plate 42 is full, the movable belt 44 is moved backwards to enable the goods to retreat, and the goods are continuously stored in the empty storage space; when the storage space on the movable plate 42 is full, the movable plate 42 is pushed by the driver 47 to move to the side far away from the picking device 3, the fixed plate 41 is exposed, and then goods are put into the storage space of the fixed plate 41 in the same way, so that the accommodating capacity of the goods shelf is increased.

Claims

1. The cargo transportation stacking method in the cargo unmanned cabin is characterized by comprising the following steps of: the method comprises the following steps:

s2, classifying and numbering cargoes according to the cargo information;

s5, after the goods are piled up, collecting goods piling up information;

s6, making the goods information and the goods stacking information into a form for inquiry and retrieval;

the goods shelf comprises a base (1), a goods shelf body (2) and a placing and taking device (3) are arranged on the base (1), a plurality of layers of goods places (21) are arranged on the goods shelf body (2), a fixed plate (41) and a movable plate (42) are arranged on each layer of goods place (21), the movable plate (42) is slidably connected onto the fixed plate (41) through a pulley (43), a movable belt (44) is arranged on each of the fixed plate (41) and the movable plate (42), and a separation plate (45) is arranged on each of the movable belts (44); one side of the goods shelf body (2) is provided with a lifting chain (22) connected through a lifting motor, and the lifting chain (22) is fixedly connected with the placing and taking device (3).

2. The method of cargo transportation stacking within a cargo unmanned aircraft cabin of claim 1, wherein: the step S1 is specifically that the goods are provided with identification codes with goods information, the transportation device in the cabin is provided with a recognizer, the goods identification codes in the cabin are scanned and input through the recognizer, the goods information is collected, and the goods are confirmed.

3. The method of cargo transportation stacking within a cargo unmanned aircraft cabin of claim 1, wherein: in the step S1, the cargo information includes the kind of cargo, the cargo quality, the cargo volume, and the transportation destination.

4. The method of cargo transportation stacking within a cargo unmanned aircraft cabin of claim 1, wherein: and the step S2 and the step S3 also comprise the step of quality inspection of the goods, and if the goods are detected to be damaged, recording and discharging the goods.

5. The method of cargo transportation stacking within a cargo unmanned aircraft cabin of claim 1, wherein: step S4 is to judge whether a gap exists on a movable plate on the uppermost goods space on the goods shelf, if not, the movable plate is pushed out to expose a fixed plate; if the fixed plate and the movable plate have no empty space, the goods are transferred to the goods space of the next layer until the goods are put on the empty goods space of the corresponding goods shelf.

6. The method of cargo transportation stacking within a cargo unmanned aircraft cabin of claim 1, wherein: in the step S5, the stacking information includes a stacking position and a loading time of the goods.

7. The method of cargo transportation stacking within a cargo unmanned aircraft cabin of claim 1, wherein: limiting frames (23) are arranged on two sides of the goods shelf body (2), sliding grooves are formed in the limiting frames (23), moving frames (46) penetrating through the sliding grooves are arranged on two sides of the movable plates (42), and a driver (47) for pushing the moving frames (46) is arranged on the goods shelf body (2).

8. The method of cargo transportation stacking within a cargo unmanned aircraft cabin of claim 1, wherein: put and get device (3) including chassis (31) be connected with elevating chain (22), rotate on chassis (31) and be connected with delivery board (32), be equipped with the conveyer belt on delivery board (32), the below of delivery board (32) is equipped with promotes cylinder (33), the piston rod of promoting cylinder (33) is articulated with delivery board (32), the top of delivery board (32) is equipped with gets thing frame (34), the both sides of getting thing frame (34) are equipped with horizontal chain (35) through horizontal motor drive, fixedly connected with and horizontal chain (35) looks vertically sharp module (36) on horizontal chain (35), be equipped with on the slip table of sharp module (36) and get thing manipulator (37).

9. The method of cargo transportation stacking within a cargo unmanned aircraft cabin of claim 8, wherein: get thing manipulator (37) include connecting rod (371) of being connected with the slip table, the tip of connecting rod (371) is equipped with ejector pad (372) of bowl form, and the inside of ejector pad (372) is equipped with tongs (373), and the inside of connecting rod (371) is equipped with drive tongs (373) and stretches out ejector pad (372) and press from both sides actuating cylinder (374) of getting the goods.