CN113979154A - Automatic loading system and loading method for carton packaging materials of flat car - Google Patents
Automatic loading system and loading method for carton packaging materials of flat car Download PDFInfo
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- CN113979154A CN113979154A CN202111492616.1A CN202111492616A CN113979154A CN 113979154 A CN113979154 A CN 113979154A CN 202111492616 A CN202111492616 A CN 202111492616A CN 113979154 A CN113979154 A CN 113979154A
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- 238000011068 loading method Methods 0.000 title claims abstract description 109
- 239000005022 packaging material Substances 0.000 title description 6
- 239000000463 material Substances 0.000 claims abstract description 63
- 238000012856 packing Methods 0.000 claims abstract description 18
- 230000000007 visual effect Effects 0.000 claims description 20
- 230000005540 biological transmission Effects 0.000 claims description 15
- 238000000034 method Methods 0.000 claims description 11
- 238000003780 insertion Methods 0.000 description 5
- 230000037431 insertion Effects 0.000 description 5
- 238000012545 processing Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
- B65G67/04—Loading land vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/005—Control arrangements
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Abstract
The invention discloses an automatic loading system and a loading method for carton packing materials of a flat car, and belongs to the technical field of loading of carton packing materials.
Description
Technical Field
The invention relates to the technical field of loading of carton-packed materials, in particular to an automatic loading system and an automatic loading method for carton-packed materials of a flat car.
Background
The current carton packing material need use the flatbed transportation, and the flatbed often is long 17.5 to 23 meters, and a loading needs 3 people at least, and fork truck is driven by 1 person to current loading mode, forks the goods of tray to the flatbed on, by another 2 people one case sign indicating number goods until accomplishing the loading, need 6 to 8 hours just can fill 1 car, and whole operation process is long consuming time, and intensity of labour is big, and the cost of labor is high.
Disclosure of Invention
In order to solve the technical problems, the invention provides an automatic loading system and a loading method for carton packaging materials of a flat car, which realize the automatic loading of the flat car, shorten the time of a loading section of the carton packaging materials and reduce the labor cost of loading.
In order to achieve the purpose, the technical scheme adopted by the invention for solving the technical problems is as follows: automatic loading system of flatbed carton packing material, including flexible conveyer, flexible conveyer's one end stretches into in the loading passageway, park the flatbed in the loading passageway of flexible conveyer below, there is pile up neatly arm along its length direction sliding connection on the loading passageway of flexible conveyer top, flexible conveyer's the other end is provided with the robot of breaking a jam, the both sides of the robot of breaking a jam are provided with the position of breaking a jam of placing full pile up a jam material respectively.
The loading passageway includes a plurality of interval arrangement portal frames, and the upper end of a plurality of portal frames is fixed continuous through the link, and the lower extreme of a plurality of portal frames is fixed continuous through buried bolt in advance and ground.
And traveling rails are arranged on two sides of the loading channel along the length direction of the loading channel, and the traveling rails are in sliding fit with the stacking mechanical arm.
The stacking mechanical arm is further provided with a loading visual system used for identifying whether a corresponding area on the flat car is full of stacks, and the loading visual system is connected with the stacking mechanical arm through a controller so as to control the stacking mechanical arm to move to the area to be stacked along the walking track.
The stacking mechanical arm is a four-axis mechanical arm, and the execution end of the stacking mechanical arm is connected with a loading sucker; the unstacking robot is a six-axis robot, and the execution end of the unstacking robot is connected with a unstacking sucker.
The unstacking position comprises a transmission platform, one end of the transmission platform is provided with a plurality of empty tray storage positions, the other end of the transmission platform is provided with a plurality of full stacking positions, and the empty tray storage positions and the full stacking positions are arranged side by side.
The lower part of the empty tray storage position is provided with a lifting mechanism for supporting the tray to lift, and two sides of the empty tray storage position are respectively provided with a positioning and supporting mechanism for inserting and positioning the tray at the bottommost layer.
The full stack position next to empty tray storage position sets up to the work position of breaking a jam, and the top of two bits of breaking a jam is striden and is equipped with the locating support, install visual system of breaking a jam on the locating support, visual system of breaking a jam with the robot of breaking a jam links to each other in order to control the robot of breaking a jam breaks a jam operation at the work position of breaking a jam that corresponds.
The unstacking visual system is connected with the transmission platform, the lifting mechanism and the positioning support mechanism through the controller so as to control the empty trays to enter the empty tray storage position for storage and convey full-stack materials to the unstacking working position.
The automatic loading method for the carton packaging materials of the flat car comprises the following steps:
1) forking the full stack pallet to a full stack position by a forklift;
2) the unstacking robot sucks the materials on the unstacking working position and places the materials on the telescopic conveyor;
3) the telescopic conveyor conveys the materials to the foremost end and is positioned in a loading area at the head or tail of the flat car;
4) the stacking mechanical arm stacks and loads materials along the length direction of the flat car according to a stacking program of loading;
5) when all the materials on the unstacking working position are conveyed, the conveying platform acts to convey the empty trays on the unstacking working position to the empty tray storage positions, the empty trays on the empty tray storage positions are lifted and positioned, meanwhile, the full-stack materials are conveyed to the unstacking working position again, and the full-stack trays are placed to the empty full-stack positions through the forklift;
6) and (5) loading according to the method of the steps 2) to 5) until the whole flat car is stacked.
The invention has the beneficial effects that:
1. according to the invention, the carriage of the flat car is poured into the loading channel, the full-stack materials on the stack removing position are conveyed to the telescopic conveyor through the stack removing robot, the full-stack materials are conveyed to the foremost end of the telescopic conveyor and are positioned in the head or tail area of the flat car through the telescopic conveyor, and the materials are sucked by the stacking mechanical arm and then stacked on the flat car according to a set program.
2. The loading visual system and the unstacking visual system are arranged, the loading visual system is arranged on the stacking mechanical arm and can identify whether a corresponding area on the flat car is full of stacks or not, if the stacking of the corresponding area is finished, the stacking mechanical arm slides to other areas on the loading channel to load the flat car, the whole flat car can be stacked without moving the flat car, and the loading efficiency and the loading stability are improved; the visual system that breaks a jam sets up on the position of breaking a jam, and whether distinguishable work position that breaks a jam that corresponds is in empty goods state, if be in empty goods state, the machine people that breaks a jam can select other work positions that break a jam that are in full stack state to break a jam with the empty tray of the work position that breaks a jam that corresponds transport empty tray storage bit on, the work position that breaks a jam in the same time is occupied by full stack material, has guaranteed the continuity of the transportation of breaking a jam.
3. According to the invention, the unstacking positions on two sides of the telescopic conveyor are designed into two stations, one is an empty tray storage position, the other is a full stack position, the two stations are respectively provided with a plurality of stations which are all arranged on the transmission platform, when materials on the unstacking working position on the full stack position are completely conveyed, the empty tray on the unstacking working position can be transported to the empty tray storage position for storage under the action of the transmission platform, the lifting mechanism and the positioning support mechanism, the unstacking working position at the same time is occupied by the full stack materials, and as the full stack positions are provided with a plurality of stations, the full stack materials can be supplemented to the empty full stack position in enough time, so that the continuity of loading operation is ensured.
In conclusion, the automatic loading system realizes automatic loading of the flat car, shortens the time of a loading section of carton packing materials, improves the loading stability and reduces the labor cost of loading.
Drawings
The contents of the expressions in the various figures of the present specification and the labels in the figures are briefly described as follows:
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a top view of FIG. 1;
the labels in the above figures are: 1. the automatic unstacking machine comprises a telescopic conveyor, 2 a loading channel, 21 a portal frame, 22 a connecting frame, 23 a walking track, 3 a flat car, 4 a stacking mechanical arm, 5 an unstacking robot, 6 an unstacking position, 61 a transmission platform, 62 an empty tray storage position, 621 a lifting mechanism, 622 a positioning support mechanism, 63 a full stacking position, 631 an unstacking working position, 7 a loading visual system, 8 a loading sucker, 9 a unstacking sucker, 10 a positioning support and 11 an unstacking visual system.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and the following embodiments are used for illustrating the present invention and are not intended to limit the scope of the present invention.
In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The specific implementation scheme of the invention is as follows: as shown in fig. 1 and 2, an automatic loading system for carton packaging materials of a flat car comprises a telescopic conveyor 1, one end of the telescopic conveyor 1 extends into a loading channel 2, a flat car 3 is parked in the loading channel 2 below the telescopic conveyor 1, a stacking mechanical arm 4 is connected to the loading channel 2 above the telescopic conveyor 1 in a sliding mode along the length direction of the stacking mechanical arm, an unstacking robot 5 is arranged at the other end of the telescopic conveyor 1, and unstacking positions 6 for placing full-stack materials are arranged on two sides of the unstacking robot 5 respectively. Before loading, pour the carriage of flatbed 3 into loading passageway 2 in, carry flexible conveyer 1 through destacking robot 5 with full buttress material on destacking position 6 on, carry flexible conveyer 1's foremost and be located flatbed 3's locomotive or rear of a vehicle region through flexible conveyer 1 with full buttress material, absorb the back with the material through hacking machinery arm 4 and pile up neatly on flatbed 3 according to the procedure of setting for, whole loading process has realized automaticly, has shortened the time of carton packing material loading workshop section, has reduced the human cost of loading.
Specifically, loading passageway 2 wherein includes a plurality of interval arrangements's portal frame 21, and the upper end of a plurality of portal frames 21 is passed through link 22 welded fastening and is linked to each other, and the lower extreme of a plurality of portal frames 21 passes through buried bolt fixed connection in advance with ground, and this loading passageway 2's simple structure, it is firm stable, the cost of manufacture is low. The two sides of the loading channel 2 are connected with a walking track 23 through angle steel along the length direction of the loading channel, a support frame is connected onto the walking track 23 in a sliding mode, a stacking mechanical arm 4 is installed on the support frame, a roller is installed at the sliding connection position of the support frame and the walking track 23, a servo motor is installed on one roller, and the stacking mechanical arm 4 can be automatically driven to reach an appointed position.
In particular, the stacking mechanical arm 4 is also provided with a loading vision system 7 for identifying whether the corresponding area on the flat car 3 is full of stacks, the loading vision system 7 is connected with the stacking mechanical arm 4 through a controller, can convert the image of the stacking condition of the lower flat car 3 into stacking data after processing and transmit the stacking data to the controller, the controller analyzes the stacking data, if the stacking area on the flat car 3 is already stacked, then controller control pile up neatly arm 4 moves the next region of treating the pile up neatly of flatbed 3 along walking track 23, if the region of piling up neatly has not accomplished the pile up neatly on the flatbed 3, controller control pile up neatly arm 4 continues to carry out the loading pile up neatly according to the original procedure of setting for of controller, and whole pile up neatly loading process need not to remove flatbed 3 and can accomplish the pile up neatly with flatbed 3, has improved the efficiency and the stability of loading. In addition, the structure of the loading vision system 7 is the existing structure, and details about the working principle of the loading vision system are not repeated, and details about the control program related to controlling the robot action after the loading vision system 7 is connected with the robot controller are also relatively mature technology, and details about the data transmission relationship between the vision system and the controller are not repeated here.
Specifically, the stacking mechanical arm 4 is a four-axis mechanical arm, so that high-speed taking and placing can be completed, stacking efficiency is improved, the execution end of the stacking mechanical arm 4 is connected with a loading sucker 8, and stable loading and stacking are realized by sucking materials through the loading sucker 8; the unstacking robot 5 is arranged as a six-axis robot, so that the unstacking flexibility is stronger, the execution end of the unstacking robot 5 is connected with an unstacking sucker 9, and materials are sucked through the unstacking sucker 9 to realize stable carrying of the materials.
Specifically, the unstacking position 6 comprises a conveying platform 61, the conveying platform 61 can be set to be a roller conveyor, one end of the conveying platform 61 is provided with a plurality of empty tray storage positions 62, the storage quantity of empty trays is increased, the other end of the conveying platform 61 is provided with a plurality of full stacking positions 63, the empty tray storage positions 62 and the full stacking positions 63 are arranged side by side, empty trays can be transferred to the empty tray storage positions 62 through transmission of the driving conveying platform 61, full-stack materials are automatically conveyed to the empty full stacking positions 63, and unstacking continuity is guaranteed.
Specifically, a lifting mechanism 621 for supporting the lifting of the tray is arranged below the empty tray storage location 62, the lifting mechanism 621 includes a lifting cylinder and a lifting platform connected with an execution end of the lifting cylinder, two sides of the empty tray storage location 62 are respectively provided with a positioning support mechanism 622 for inserting and positioning the tray at the bottommost layer, the positioning support mechanism 622 includes a horizontal cylinder and a positioning insertion plate connected with the execution end of the horizontal cylinder, the positioning insertion plate is inserted into the tray side hole at the bottommost layer under the driving of the horizontal cylinder, and the plane where the tray at the bottommost layer is located and the transmission platform 61 are separated by a distance of at least one tray thickness. When the materials on the full stack position 63 are all carried, the empty trays are driven to be transported to the empty tray storage position 62 under the action of the transmission platform 61, the empty trays are transported to the jacking platform, the jacking platform jacks the empty trays upwards under the action of the jacking cylinder and contacts the empty trays arranged in a stacked mode, the horizontal cylinder acts to drive the positioning insertion plates to move outwards to separate from the empty trays, the jacking platform continues to jack upwards for a set distance under the action of the jacking cylinder, the horizontal cylinder acts to drive the positioning insertion plates to move towards the center of the empty tray storage position 62, the positioning insertion plates are inserted into the side holes of the empty trays at the bottommost layer, and automatic storage of the empty trays is achieved.
Specifically, a full stack position 63 next to the empty tray storage position 62 is set as an unstacking working position 631, positioning brackets 10 are spanned above two unstacking positions 6, an unstacking visual system 11 is mounted on each positioning bracket 10, and the unstacking visual system 11 is connected with the unstacking robot 5 through a controller to control the unstacking robot 5 to perform unstacking operation at the corresponding unstacking working position 631; the unstacking vision system 11 is connected to the transfer platform 61, the lifting mechanism 621 and the positioning support mechanism 622 via a controller to control the empty trays to enter the empty tray storage location 62 for storage and to deliver full stacks of material to the unstacking work location 631. The unstacking visual system 11 is arranged on the unstacking position 6, and can identify whether the corresponding unstacking working position 631 is in an empty cargo state or not, if the unstacking visual system is in the empty cargo state, the unstacking robot 5 can select other unstacking working positions 631 in a full stack state to unstack and convey the empty trays of the corresponding unstacking working positions 631 to the empty tray storage position 62, and the unstacking working positions 631 in the same time are occupied by full stack materials, so that the continuity of unstacking transportation is ensured.
The method for automatically loading the 3-carton packing materials of the flat car by using the automatic loading system comprises the following steps:
1) a full stack pallet is forked onto the full stack position 63 using a forklift.
2) The unstacking robot 5 sucks the material on the unstacking work position 631 and places the material on the telescopic conveyor 1.
3) The flexible conveyor 1 conveys the materials to the foremost end, and the materials are located at the head of the flat car 3 or the loading area of the tail of the car through the stretching of the flexible conveyor 1.
4) The stacking mechanical arm 4 is used for stacking and loading materials along the length direction of the flat car 3 according to a stacking procedure of loading. Specifically, the loading vision system 7 converts the image processing of the stacking condition of the lower flat car 3 into stacking data and transmits the stacking data to the controller, the controller analyzes the stacking data, if the stacking of the stacking area on the flat car 3 is not completed, the controller controls the stacking mechanical arm 4 to continue to carry out loading stacking according to the originally set program of the controller, if the stacking area on the flat car 3 is completed, the controller controls the stacking mechanical arm 4 to move to the next stacking area to be stacked on the flat car 3 along the walking track 23, the whole stacking loading process can complete stacking of the flat car 3 without moving the flat car 3, and the loading efficiency and stability are improved.
5) When the material on the unstacking work station 631 has been completely conveyed, the transfer platform 61 acts to transport the empty trays on the unstacking work station 631 to the empty tray storage location 62, the empty trays on the empty tray storage location 62 are lifted into position, while the full stack of material is again transported to the unstacking work station 631, and the full stack of trays is placed on the empty full stack location 63 by the forklift.
Specifically, when the unstacking vision system 11 recognizes that all the materials on the corresponding unstacking working position 631 are conveyed, the controller controls the unstacking robot 5 to select other unstacking working positions 631 in a full stack state for unstacking, meanwhile, the conveying platform 61 acts to convey empty trays on the unstacking working positions 631 to the empty tray storage position 62, and after the empty trays are lifted to a set distance by the lifting mechanism 621, the positioning support mechanism 622 acts to position the empty trays;
after a certain number of empty trays are temporarily stored in the empty tray storage position 62, the conveying platform 61 moves to convey the empty trays in the unstacking working position 631 to the empty tray storage position 62, the empty trays are lifted by the lifting mechanism 621 and contact the empty trays stacked above, the positioning support mechanism 622 moves to separate the empty trays from the empty trays, and after the lifting mechanism 621 continues to lift the empty trays stacked above for a set distance, the positioning support mechanism 622 moves to position the empty tray at the bottommost end.
At the same time, the full stack of material is again conveyed to the unstacking station 631 by the conveying platform, and the full stack pallet is placed on the empty full stack station 63 by the forklift.
6) And (5) loading according to the method of the steps 2) to 5) until the whole flat car 3 is completely stacked.
In conclusion, the automatic loading system realizes automatic loading of the flat car, shortens the time of a loading section of carton packing materials, improves the loading stability and reduces the labor cost of loading.
While the foregoing is directed to the principles of the present invention, other and further embodiments of the invention may be devised without departing from the basic scope thereof, and the scope thereof is determined by the claims that follow.
Claims (10)
1. The utility model provides an automatic loading system of flatbed carton packing material, a serial communication port, including flexible conveyer, flexible conveyer's one end stretches into in the loading passageway, park the flatbed in the loading passageway of flexible conveyer below, there is pile up neatly arm along its length direction sliding connection on the loading passageway of flexible conveyer top, flexible conveyer's the other end is provided with the robot of breaking a jam, the both sides of the robot of breaking a jam are provided with the position of breaking a jam of placing full buttress material respectively.
2. The automatic loading system of carton packing materials of flat cars according to claim 1, characterized in that: the loading passageway includes a plurality of spaced arrangement's portal frame, and the upper end of a plurality of portal frames is fixed continuous through the link, and the lower extreme of a plurality of portal frames is fixed continuous through buried bolt in advance and ground.
3. The automatic loading system of carton packing materials of flat cars according to claim 1, characterized in that: and traveling rails are arranged on two sides of the loading channel along the length direction of the loading channel, and the traveling rails are in sliding fit with the stacking mechanical arm.
4. The automatic loading system of carton packing materials of flat cars according to claim 3, characterized in that: the stacking mechanical arm is further provided with a loading visual system used for identifying whether a corresponding area on the flat car is full of stacks, and the loading visual system is connected with the stacking mechanical arm through a controller so as to control the stacking mechanical arm to move to the area to be stacked along the walking track.
5. The automatic loading system of carton packing materials of flat cars according to claim 1, characterized in that: the stacking mechanical arm is a four-axis mechanical arm, and the execution end of the stacking mechanical arm is connected with a loading sucker; the unstacking robot is a six-axis robot, and the execution end of the unstacking robot is connected with a unstacking sucker.
6. The automatic loading system of carton packing materials of flat cars according to claim 1, characterized in that: the unstacking position comprises a transmission platform, one end of the transmission platform is provided with a plurality of empty tray storage positions, the other end of the transmission platform is provided with a plurality of full stacking positions, and the empty tray storage positions and the full stacking positions are arranged side by side.
7. The automatic loading system of carton packing materials of flat cars according to claim 6, characterized in that: the lower part of the empty tray storage position is provided with a lifting mechanism for supporting the tray to lift, and two sides of the empty tray storage position are respectively provided with a positioning and supporting mechanism for inserting and positioning the tray at the bottommost layer.
8. The automatic loading system of carton packing materials of flat cars according to claim 7, characterized in that: the full stack position next to empty tray storage position sets up to the work position of breaking a jam, and the top of two bits of breaking a jam is striden and is equipped with the locating support, install visual system of breaking a jam on the locating support, visual system of breaking a jam with the robot of breaking a jam links to each other in order to control the robot of breaking a jam breaks a jam operation at the work position of breaking a jam that corresponds.
9. The automatic loading system of carton packing materials of flat cars according to claim 7, characterized in that: the unstacking visual system is connected with the transmission platform, the lifting mechanism and the positioning support mechanism through the controller so as to control the empty trays to enter the empty tray storage position for storage and convey full-stack materials to the unstacking working position.
10. An automatic loading method for a carton packing material of a flat car, which applies the automatic loading system as claimed in any one of claims 1 to 9, and is characterized by comprising the following steps:
1) forking the full stack pallet to a full stack position by a forklift;
2) the unstacking robot sucks the materials on the unstacking working position and places the materials on the telescopic conveyor;
3) the telescopic conveyor conveys the materials to the foremost end and is positioned in a loading area at the head or tail of the flat car;
4) the stacking mechanical arm stacks and loads materials along the length direction of the flat car according to a stacking program of loading;
5) when all the materials on the unstacking working position are conveyed, the conveying platform acts to convey the empty trays on the unstacking working position to the empty tray storage positions, the empty trays on the empty tray storage positions are lifted and positioned, meanwhile, the full-stack materials are conveyed to the unstacking working position again, and the full-stack trays are placed to the empty full-stack positions through the forklift;
6) and (5) loading according to the method of the steps 2) to 5) until the whole flat car is stacked.
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| CN114572719B (en) * | 2022-03-17 | 2023-08-15 | 安徽元古纪智能科技有限公司 | Flexible automatic loading and unloading vehicle robot system and method |
| CN115072413A (en) * | 2022-06-22 | 2022-09-20 | 杭州蓝芯科技有限公司 | Carrying method of automatic carrying device for truss type bagged car loader |
| CN117003019A (en) * | 2023-10-07 | 2023-11-07 | 季华实验室 | Intelligent loading system and loading method |
| CN117003019B (en) * | 2023-10-07 | 2024-02-13 | 季华实验室 | Intelligent loading system and loading method |
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