CN115535650A - Control system and method suitable for unloading device of container with tray - Google Patents
Control system and method suitable for unloading device of container with tray Download PDFInfo
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- CN115535650A CN115535650A CN202211327697.4A CN202211327697A CN115535650A CN 115535650 A CN115535650 A CN 115535650A CN 202211327697 A CN202211327697 A CN 202211327697A CN 115535650 A CN115535650 A CN 115535650A
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- 230000007246 mechanism Effects 0.000 claims description 66
- 230000000903 blocking effect Effects 0.000 claims description 20
- 230000009471 action Effects 0.000 claims description 13
- 230000008569 process Effects 0.000 claims description 8
- 238000004891 communication Methods 0.000 claims description 5
- 230000008859 change Effects 0.000 claims description 4
- 238000012546 transfer Methods 0.000 claims description 4
- 238000005516 engineering process Methods 0.000 claims description 3
- 230000005484 gravity Effects 0.000 claims description 2
- 238000007599 discharging Methods 0.000 abstract description 6
- 238000004458 analytical method Methods 0.000 abstract description 2
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- 230000014509 gene expression Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/30—Methods or devices for filling or emptying bunkers, hoppers, tanks, or like containers, of interest apart from their use in particular chemical or physical processes or their application in particular machines, e.g. not covered by a single other subclass
- B65G65/34—Emptying devices
- B65G65/40—Devices for emptying otherwise than from the top
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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
- B65G15/00—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration
- B65G15/30—Belts or like endless load-carriers
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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
- B65G17/00—Conveyors having an endless traction element, e.g. a chain, transmitting movement to a continuous or substantially-continuous load-carrying surface or to a series of individual load-carriers; Endless-chain conveyors in which the chains form the load-carrying surface
- B65G17/30—Details; Auxiliary devices
- B65G17/38—Chains or like traction elements; Connections between traction elements and load-carriers
- B65G17/40—Chains acting as load-carriers
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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
- B65G47/82—Rotary or reciprocating members for direct action on articles or materials, e.g. pushers, rakes, shovels
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention is suitable for a control system and a control method of a discharging device of a box-cargo container equipped with a tray, relates to the technical field of container discharging and transferring, and particularly relates to a control system and a control method of a quick discharging device of a box-cargo container transported by a tray. The invention comprises the following steps: the device comprises a central control system, a measuring unit, a block unloading system, an intermediate conveying system and a whole goods conveying system; the measuring unit is connected with the central control system, transmits the measured data to the central control system, and the central control system carries out analysis processing; the central control system is connected with the block unloading system, the intermediate conveying system and the whole goods conveying system, and sends the analyzed and processed results to the block unloading system, the intermediate conveying system and the whole goods conveying system in a command mode. The technical scheme of the invention solves the problems of complex control system and high cost in the prior art.
Description
Technical Field
The invention is suitable for a control system and a control method of a discharging device of a box-cargo container equipped with a tray, relates to the technical field of container discharging and transferring, and particularly relates to a control system and a control method of a quick discharging device of a box-cargo container transported by a tray.
Background
At present, containers for storing boxed goods mainly adopt a manual carrying mode or a unloading mode of combining a forklift and a boarding bridge, and a small amount of container loading and unloading platforms are integrally pushed; and foreign countries have full-automatic unloading robots developed by universities. The problems of low unloading speed and low unloading efficiency are faced when the containers are unloaded by adopting manual carrying or a unloading mode combining a forklift and a boarding bridge; the integral pushing container loading and unloading platform also needs manual assistance; fully automatic discharge robots have not been put into production and use because of the complex control systems and expensive price.
In view of the above problems in the prior art, it is necessary to develop a novel control system and method for a cargo container unloader with a tray, which is suitable for a cargo container with a tray.
Disclosure of Invention
The technical problems of complex control system and high cost proposed by the prior art are solved by a control system and method suitable for a container unloading device with a tray. The invention mainly utilizes the sensor and the prestored structure parameter table of the unloading device to carry out program control, thereby achieving the effects of reducing the participation degree of workers, simplifying a control system and reducing the manufacturing cost.
The technical means adopted by the invention are as follows:
a control system for a container unloader adapted to be fitted with a pallet, comprising: the device comprises a central control system, a measuring unit, a blocking unloading system, an intermediate conveying system and a whole goods conveying system;
furthermore, the measuring unit is connected with the central control system, and transmits the measured data to the central control system for analysis and processing by the central control system;
furthermore, the central control system is connected with the block unloading system, the intermediate conveying system and the whole goods conveying system, and sends the analyzed and processed results to the block unloading system, the intermediate conveying system and the whole goods conveying system in a command mode.
Further, the measurement unit includes: the device comprises a head laser range finder, a push plate camera, five push plate laser range finders, a lifting sliding table encoder, a forward sliding table encoder, an electric cylinder encoder and a series of conveying chain pressure sensors;
furthermore, the head laser range finder is arranged on the front side surface of the lifting sliding table of the block unloading module, points to the opposite side wall, is electrically connected with the central control system, and is used for sensing the position of the cargo module in the head area of the block unloading module in real time and controlling the conveying chain to stop acting;
furthermore, the push plate camera is fixedly arranged on the push plate, points to the rear direction of the unloading device, is electrically connected with the central control system and is used for carrying out image recognition on the size of the goods.
Furthermore, the five push plate laser range finders are all arranged on the push plate, one of the five push plate laser range finders points to the rear direction of the unloading device, is electrically connected with the central control system and is used for assisting the camera to perform image recognition; the other four push plate laser range finders are uniformly arranged in the length direction of the push plates and are electrically connected with the central control system, and the distances between each point on the push plates and a first plane below the push plates are transmitted back in real time for controlling the goods pushing action of the unloading mechanism;
furthermore, the lifting sliding table encoder, the forward sliding table encoder and the electric cylinder encoder are respectively positioned in driving motors of respective sliding tables or electric cylinders, are electrically connected with the central control system and are used for recording the positions of respective sliding table sliding blocks;
further, a series of pressure sensors are arranged below the bracket of each section of the conveying chain mechanism and electrically connected with the central control system, and are used for detecting the bearing of the corresponding section of the conveying chain in real time so as to control the action of the conveying chain.
Further, the central control system includes: the system comprises a main control chip, a power supply unit and a communication unit;
furthermore, a change table of the tail height of the unpowered conveyor of the middle conveying system relative to the elongation of the electric cylinder and a change table of the bottom height of the blocked unloading module pointed by the four push plate laser range finders relative to the position of a sliding block of the forward sliding table are prestored in the main control chip;
further, the communication unit is used for sending instructions like a motor from the main control chip;
further, the power supply unit supplies power to a control system of the entire device.
Further, the blocked unloading system comprises: the unloading mechanism comprises a forward sliding table motor, a lifting sliding table motor, a plurality of conveying chain control motors, a hydraulic system and a tray dragging-back control motor, wherein the forward sliding table motor and the lifting sliding table motor are arranged on a forward sliding table and a lifting sliding table of the unloading mechanism;
furthermore, the hydraulic system is electrically connected with a hydraulic cylinder of the tray dragging mechanism and a main control chip, and is used for driving the tray dragging mechanism to integrally drag the goods out of the container box into the blocking unloading system;
furthermore, the plurality of conveying chain control motors at each section are electrically connected with the main control chip and used for conveying the single cargo module to the range of the unloading mechanism;
furthermore, the forward moving sliding table motor and the lifting sliding table motor are electrically connected with the main control chip, and the unloading mechanism is controlled to unload the goods of the single goods module from the blocking unloading system to the unpowered conveyor of the middle conveying system.
Further, the intermediate conveyance system includes: the driving motor of the electric cylinder and the power conveyer;
furthermore, the electric cylinder and a driving motor of the power conveyer are both arranged on the middle conveying module and are electrically connected with the main control chip;
further, the electric cylinder acts to control the inclination angle of the unpowered conveyor;
further, a driving motor of the power conveyor controls the power conveyor to be started or stopped, and the goods are conveyed to the whole goods conveying system.
Further, the order delivery system includes: a driving motor of each section of the whole goods conveyor belt;
furthermore, the driving motor of each section of the whole goods conveying belt is arranged on the whole goods conveying module and is electrically connected with the main control chip.
A method of controlling a control system for a pallet container unloader comprising the steps of:
71. during initial operation, a container or a container truck is parked in a designated area, so that the tray dragging mechanism is inserted into the bottom of the tray and the fork groove;
72. the tray dragging back control motor acts to drive the tray dragging back mechanism to extend out of a freight box of the truck and be inserted into a fork groove at the bottom of the tray; the hydraulic system on the tray dragging-back mechanism is started, the tray dragging-back mechanism acts to control the tray dragging-back mechanism to lift the tray and the goods, the tray dragging-back mechanism controls the motor to start, the tray dragging-back mechanism is controlled to drag the tray and the goods into the block unloading system, finally the hydraulic system unloads the load, the tray dragging-back mechanism acts to separate the goods from the tray dragging-back mechanism, and the weight of the goods is borne by the conveying chain structure; after the gravity of the goods is borne by the conveying chain mechanism, the pressure sensor feeds back the pressure value of each section of conveying chain to the main control chip, if the pressure of the conveying chain is greatly increased relative to the preset no-load pressure from the ith section, the pressure of the foremost goods module is pressed on the ith section of conveying chain at the moment;
then entering a measuring process of goods;
73. at the moment, the blocking and unloading system is in an initial state, namely the forward sliding table control sliding block is positioned at the foremost end, the lifting sliding table is positioned at a half of the stroke, the camera on the backward pushing plate shoots the front of the goods, and meanwhile, the laser ranging sensor in the same direction as the camera measures the distance from the camera to the goods module and is used for calculating the height h of the single goods through an image recognition technology;
74. after the height of the cargo is measured, the conveying chain controls the motor to act, the conveying chain mechanism conveys the foremost cargo module to the head of the block unloading module, the main control chip controls the conveying chain from the 0 th section to the i +2 th section to act, and the foremost cargo module (the first cargo module) is conveyed to the head area of the block unloading module; when the head laser detector senses that the measured distance is suddenly reduced greatly, the fact that the foremost cargo module is transmitted to the head area of the block unloading module is shown, and after the lifting sliding table and the forward sliding table of the unloading mechanism adjust the position of the push plate, the forward sliding table drives the push plate to push the cargos to the unpowered pusher of the middle conveying system;
75. when all the goods modules are transferred to the middle conveying system, the conveying chain mechanism transfers the rest forklift trays out of the blocking unloading module, so that the forklift trays fall into a goods basket below the blocking unloading module, and simultaneously, the next goods module is conveyed to the head part of the blocking unloading module;
76. and repeating the step 74 and the step 75, and transferring all the goods modules to a whole goods conveying system by the intermediate conveying system, wherein the whole goods conveying system sequentially conveys the sorted goods to the tail part of the system for sorting and stacking by a robot or a human.
Further, the action control process of the unloading mechanism comprises the following steps: the size calibration and unloading action of the cargo module;
further, the object module size is scaled as: the forward sliding table slide block is kept at the foremost end in the process of conveying the goods module to the head part of the block unloading module by the conveying chain; after the goods module is conveyed to the head area of the blocking unloading module, the lifting sliding table sliding block moves to the topmost end; then the sliding table sliding block moves backwards, and the four push plate laser range finders measure the distances between the four push plate laser range finders and the cargo module respectively; then the main control chip converts the shortest distance measured on the respective traveling paths of the four push plate laser range finders into the maximum height of the cargo module, and records the maximum value of the four maximum heights as H; meanwhile, the main control chip compares the measured distance with a pre-stored no-load height gauge, if the distances measured by the four push plate laser distance measuring instruments are not greatly different from the no-load height gauge, the data of the encoder of the forward sliding table at the moment are recorded, and the data are used as the length d of the cargo module;
further, the unloading movement is as follows: after the size calibration of the cargo module is completed, the tail part of the unpowered conveyor controlled by the action of the electric cylinder of the middle conveying system is positioned at the height H-1.4H; the forward moving sliding table sliding block continues to move backwards for 5cm, and the lifting sliding table sliding block moves downwards to a position where the height of the lower edge of the push plate is H-0.8H; then the sliding table sliding block moves forwards to push all the current top-layer goods of the goods module to the unpowered conveyor of the middle conveying system; after the top layer goods are all pushed onto the unpowered conveyor of the middle conveying system, the forward sliding table moves backwards to a distance d, the lifting sliding table sliding block moves downwards for a distance h, the electric cylinder controls the height of the tail portion of the conveyor to descend for a distance h, and the top layer goods are pushed for the second time.
Furthermore, the electric cylinder of the middle conveying system is controlled by the central control system to push out the goods modules layer by layer, so that the inclination angle of the unpowered conveyor is controlled to be reduced layer by layer, and the goods modules are ensured to fall onto the unpowered conveyor completely and are transferred to the whole goods conveying system.
Compared with the prior art, the invention has the following advantages:
1. the control system for the unloading device of the container and cargo provided with the tray can reduce the detention time of the container or the container and cargo in the unloading place;
2. the control system for the unloading device of the container with the tray is suitable for the container with the tray, is easy to realize automation, and saves labor cost;
3. the control system and the control method for the unloading device of the box container with the tray can reduce the power of the whole machine when the conveying chain conveys the cargo module forwards;
4. the control system and the control method for the unloading device of the box container with the pallet are convenient for separating the pallet of the forklift from goods.
In conclusion, the technical scheme of the invention solves the problems of complex control system and high cost in the prior art.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a control system framework of the present invention;
FIG. 2 is a flow chart of a method of controlling a conveyor chain according to the present invention;
FIG. 3 is a flow chart of the control mode of the discharge mechanism of the present invention;
FIG. 4 is a schematic diagram of the overall composition of the present invention
FIG. 5 is a schematic view of a conveyor chain and cargo module of the present invention
FIG. 6 is a diagram of a laser rangefinder on a discharge mechanism in a control system according to the present invention;
fig. 7 is a schematic view of the electric cylinder and the unpowered conveyor of the intermediate conveyor system of the present invention.
In the figure: 1. the device comprises a block unloading system 1.31, a head laser range finder 1.32, a push plate camera 1.33, a push plate laser range finder 1.34, an unloading mechanism forward sliding table 1.35, a block unloading module lifting sliding table 2, an intermediate conveying system 2.1, an unpowered conveyor 2.2, an electric cylinder 3, a whole goods conveying system 4 and a goods module.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an", and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus that are known by one of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the directional terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc., are generally based on the orientation or positional relationship shown in the drawings, and are used for convenience of description and simplicity of description only, and in the absence of any contrary indication, these directional terms are not intended to indicate and imply that the device or element so referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore should not be considered as limiting the scope of the present invention: the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.
For ease of description, spatially relative terms such as "over 8230 \ 8230;,"' over 8230;, \8230; upper surface "," above ", etc. may be used herein to describe the spatial relationship of one device or feature to another device or feature as shown in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary terms "at 8230; \8230; above" may include both orientations "at 8230; \8230; above" and "at 8230; \8230; below". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and unless otherwise stated, the terms have no special meaning, and therefore, the scope of the present invention should not be construed as being limited.
As shown in fig. 1, the present invention provides a control system for a quick unloading device of a container with pallets, comprising a central control system, a measuring unit, a block unloading system, an intermediate conveying system and a whole goods conveying system. The central control system comprises a main control chip, a power supply unit and a communication unit. The measuring unit comprises a head laser range finder, five push plate laser range finders, a push plate camera, a lifting sliding table encoder, a forward moving sliding table encoder, an electric cylinder encoder and a series of conveying chain pressure sensors. The block unloading system comprises an unloading mechanism, a conveying chain mechanism and a tray dragging mechanism; the unloading mechanism comprises a forward sliding table motor and a lifting sliding table motor; the conveying chain mechanism comprises a plurality of conveying chain control motors of all sections; wherein the tray dragging mechanism comprises a hydraulic system and a tray dragging control motor. The intermediate conveying system comprises an electric cylinder and a driving motor of the power conveyor. The whole goods conveying system comprises a driving motor of each section of whole goods conveying belt.
As shown in fig. 4, 5 and 7, the main actuators of the control system comprise a block unloading module 1, an intermediate conveying system 2 and a full-load conveying system 3; the block unloading system comprises a tray dragging-back mechanism 1.1, a conveying chain mechanism 1.2 and an unloading mechanism 1.3; the intermediate conveying system mainly comprises an unpowered conveyor 2.1, an electric cylinder 2.2 and a sliding block 2.3.
As shown in fig. 5, all the pallets and the loads carried by the pallets in the same length section in the front-back direction in the block unloading module are named as load modules 4 (1), 4 (2), 4 (3), 4 (4).
As shown in fig. 6, the forward sliding table 1.34 is arranged at the head of the blocking and unloading module, and the direction of the sliding table is parallel to the bottom surface; the lifting sliding table 1.35 is arranged on a sliding block of the forward sliding table 1.34, and the direction of the lifting sliding table 1.35 is parallel to the direction of the forward sliding table; a push plate of the unloading mechanism is fixedly arranged on a slide block of the lifting sliding table 1.35; the head laser range finder 1.31 is arranged on the front side surface of the lifting sliding table of the blocking unloading module and points to the opposite side wall; the push plate camera 1.32 is fixedly arranged on the push plate, points to the rear direction of the unloading device and can shoot the front side of the goods module; the five push plate laser range finders 1.33 are all arranged on the push plate, and one direction of the five push plate laser range finders is the same as the shooting direction of the push plate camera 1.32; the other four push plate laser range finders 1.33 are uniformly arranged in the length direction of the push plate, and the direction is parallel to the lifting sliding table 1.35.
As shown in fig. 2, after the weight of the goods is borne by the conveying chain mechanism, the pressure sensor feeds back the pressure value of each section of conveying chain to the main control chip; if the pressure of the conveying chain of the section i is greatly increased relative to the preset no-load pressure, the main control chip controls the conveying chain from the section 0 to the section i +2 to act, and the foremost cargo module (first cargo module) is conveyed forwards to the head area of the block unloading module; when the head laser range finder senses a sudden and substantial decrease in the measured distance, this indicates that the front-most cargo module has been transferred to the region of the head of the chunking discharge module, at which point the discharge mechanism can push the cargo onto the unpowered conveyor of the intermediate conveyor system.
As shown in fig. 4. The action process of the unloading mechanism comprises the steps of calibrating the size of the cargo module and unloading; the cargo module size calibration functions as: the forward slide block remains at the forward most end during transfer of the cargo module to the head of the block discharge module by the conveyor chain. After the goods module is conveyed to the head area of the blocking unloading module, the lifting sliding table sliding block moves to the topmost end; the sliding table sliding block is further moved forwards and moves backwards, and in the period, the four push plate laser range finders measure the respective distances between the four push plate laser range finders and the cargo module; further converting the shortest distance measured on the respective advancing path of the four push plate laser range finders into the maximum height of the cargo module by the main control chip, and recording the maximum value of the four maximum heights as H; meanwhile, the main control chip compares the measured distance with a pre-stored no-load height gauge, if the distances measured by the four push plate laser distance measuring instruments are not greatly different from the no-load height gauge, the data of the encoder of the forward sliding table at the moment are recorded, and the data are used as the length d of the cargo module; the unloading movement is as follows: after the size calibration of the cargo module is completed, the tail part of the unpowered conveyor controlled by the action of the electric cylinder of the middle conveying system is positioned at the height H-1.4H; the forward sliding table sliding block continues to move backwards for 5cm, and the lifting sliding table sliding block moves downwards to a position where the height of the lower edge of the push plate is H-0.8H; the sliding table sliding block is further moved forwards to push all the current top-layer cargos of the cargo module to the unpowered conveyor of the middle conveying system; after the top layer goods are all pushed onto the unpowered conveyor of the middle conveying system, the forward sliding table moves backwards to a distance d, the lifting sliding table sliding block moves downwards for a distance h, and the electric cylinder controls the height of the tail of the conveyor to descend for a distance h to start pushing the goods for the second time.
Further explanation is as follows:
1. in the process that the tray is dragged back by the tray dragging back mechanism, the stress surface of the tray is the upper surface of the tray forklift groove; after the hydraulic system of the tray dragging mechanism unloads, the tray is located on the conveying chain, and the stress surface of the tray is the lower surface of the lower boss of the tray.
2. The push plate camera and the laser range finder are matched for use, when the calibration is located at the unit shooting distance, in the visual field shot by the camera, the actual length represented by each pixel is transmitted to the cargo module by the conveying chain mechanism when the distance between the cargo module and the camera is the unit distance, the cargo module is shot, and then the size of a single box cargo is judged through image recognition.
3. The tail part of the unpowered conveyor is provided with a limiting slide block, the head part of the blocking unloading module is provided with a sliding groove vertical to the bottom surface, and the tail part of the unpowered conveyor is in sliding connection with the head part of the blocking unloading system. When the elongation of the electric cylinder of the intermediate conveying system is changed, the limiting slide block at the tail part of the unpowered conveyor slides in the chute at the head part of the blocking unloading module; the sliding block below the unpowered conveyor slides in the sliding groove of the powered conveyor.
4. The state (initial state) in which the unloading mechanism has not started operating is: the sliding table is moved forwards to control the sliding block to move to the foremost end; the lifting sliding table control sliding block is lifted to a half of the stroke, a camera on the push plate shoots the front of the goods, and the height h of the single goods is calculated through an image recognition technology.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (9)
1. A control system for a container unloader adapted to be fitted with a pallet, comprising:
the control system for a container unloader fitted with a tray, comprising: the device comprises a central control system, a measuring unit, a block unloading system, an intermediate conveying system and a whole goods conveying system;
the measuring unit is connected with the central control system, transmits the measured data to the central control system, and is analyzed and processed by the central control system;
the central control system is connected with the block unloading system, the intermediate conveying system and the whole goods conveying system, and sends the analyzed and processed results to the block unloading system, the intermediate conveying system and the whole goods conveying system in a command mode.
2. A control system for a container unloader suitable for use with pallets as set forth in claim 1, wherein:
the measuring unit comprises: the device comprises a head laser range finder (1.31), a push plate camera (1.32), five push plate laser range finders (1.33), a lifting sliding table encoder, a forward sliding table encoder, an electric cylinder encoder and a series of conveying chain pressure sensors;
the head laser range finder (1.31) is arranged on the front side surface of the lifting sliding table (1.35) of the blocking and unloading module, points to the opposite side wall, is electrically connected with the central control system, and is used for sensing the position of a cargo module in the head area of the blocking and unloading module in real time and controlling the stop action of a conveying chain;
and the push plate camera (1.32) is fixedly arranged on the push plate, points to the rear direction of the unloading device, is electrically connected with the central control system and is used for carrying out image recognition on the size of the goods.
The five push plate laser range finders (1.33) are all arranged on the push plates, one of the five push plate laser range finders points to the rear direction of the unloading device, is electrically connected with the central control system and is used for assisting the camera (1.32) to perform image recognition; the other four push plate laser range finders are uniformly arranged in the length direction of the push plates, are electrically connected with the central control system, and return the distance between each point on the push plates and a first plane below the push plates in real time for controlling the cargo pushing action of the unloading mechanism;
the lifting sliding table encoder, the forward sliding table encoder and the electric cylinder encoder are respectively positioned in driving motors of respective sliding tables or electric cylinders, are electrically connected with the central control system and are used for recording the positions of sliding blocks of the respective sliding tables;
the series of pressure sensors are arranged below the bracket of each section of the conveying chain mechanism, are electrically connected with the central control system and are used for detecting the bearing of the corresponding section of the conveying chain in real time so as to control the action of the conveying chain.
3. A control system for a container unloading device adapted to be fitted with pallets, as claimed in claim 1, wherein:
the central control system comprises: the system comprises a main control chip, a power supply unit and a communication unit;
the main control chip is prestored with a change table of the height of the tail part of the unpowered conveyor of the middle conveying system relative to the elongation of the electric cylinder and a change table of the height of the bottom surface of the blocked unloading module pointed by the four push plate laser range finders relative to the position of the slide block of the forward sliding table;
the communication unit is used for sending instructions from the main control chip like a motor;
the power supply unit supplies power to a control system of the whole device.
4. A control system for a container unloading device adapted to be fitted with pallets, as claimed in claim 1, wherein:
the blocking unloading system comprises: the forward sliding table motor and the lifting sliding table motor are arranged on the forward sliding table (1.34) and the lifting sliding table (1.35) of the unloading mechanism, the plurality of sections of conveying chain control motors are arranged on the conveying chain mechanism, and the hydraulic system and the tray dragging control motor are arranged on the tray dragging mechanism;
the hydraulic system is electrically connected with a hydraulic cylinder of the tray dragging mechanism and a main control chip and is used for driving the tray dragging mechanism to integrally drag the goods out of the container box into the block unloading system;
the plurality of conveying chain control motors at each section are electrically connected with the main control chip and are used for conveying a single cargo module to the range of the unloading mechanism;
the forward moving sliding table motor and the lifting sliding table motor are electrically connected with the main control chip, and the unloading mechanism is controlled to unload the goods of the single goods module from the blocking unloading system to the unpowered conveyor of the middle conveying system.
5. A control system for a container unloading device adapted to be fitted with pallets, as claimed in claim 1, wherein:
the intermediate transfer system comprises: driving motors for the electric cylinder and the power conveyor;
the electric cylinder and a driving motor of the power conveyer are both arranged on the middle conveying module and are electrically connected with the main control chip;
the electric cylinder acts to control the inclination angle of the unpowered conveyor (2.1);
and the driving motor of the power conveyer controls the start and stop of the power conveyer to convey the goods to the whole goods conveying system.
6. A control system for a container unloader suitable for use with pallets as set forth in claim 1, wherein:
the whole goods conveying system comprises: a driving motor of each section of the whole goods conveyor belt;
and the driving motor of each section of the whole goods conveying belt is arranged on the whole goods conveying module and is electrically connected with the main control chip.
7. A control method for a control system for a palletized container unloader as claimed in any of claims 1 to 6, wherein:
the control method comprises the following steps:
71. during initial operation, a container or a container truck is parked in a designated area, so that the tray dragging-back mechanism is inserted into the bottom of the tray and the fork groove;
72. the tray dragging back control motor acts to drive the tray dragging back mechanism to extend out of a freight box of the truck and be inserted into a fork groove at the bottom of the tray; the hydraulic system on the tray dragging mechanism is started, the tray dragging mechanism acts to control the tray dragging mechanism to lift the tray and the goods, the tray dragging mechanism controls the motor to start, the tray dragging mechanism is controlled to drag the tray and the goods into the block unloading system, finally the hydraulic system unloads the load, the tray dragging mechanism acts to separate the goods from the tray dragging mechanism, and the weight of the goods is all borne by the conveying chain structure; after the gravity of the goods is borne by the conveying chain mechanism, the pressure sensor feeds back the pressure value of each section of conveying chain to the main control chip, if the pressure of the conveying chain is greatly increased relative to the preset no-load pressure from the ith section, the pressure of the foremost goods module is pressed on the ith section of conveying chain at the moment;
then entering a measuring process of goods;
73. at the moment, the blocking and unloading system is in an initial state, namely the forward sliding table control slide block is positioned at the foremost end, the lifting sliding table is positioned at a half of the stroke, the camera on the backward pushing plate shoots the front of the goods, and meanwhile, the laser ranging sensor in the same direction as the camera measures the distance from the camera to the goods module and is used for calculating the height h of the single goods through an image recognition technology;
74. after the height of the cargo is measured, the conveying chain controls the motor to act, the conveying chain mechanism conveys the foremost cargo module to the head of the block unloading module, the main control chip controls the conveying chain from the 0 th section to the i +2 th section to act, and the foremost cargo module (the first cargo module) is conveyed to the head area of the block unloading module; when the head laser detector senses that the measured distance is suddenly reduced greatly, the fact that the foremost cargo module is transmitted to the head area of the block unloading module is shown, and after the lifting sliding table and the forward sliding table of the unloading mechanism adjust the position of the push plate, the forward sliding table drives the push plate to push the cargos to the unpowered pusher of the middle conveying system;
75. after the goods modules are completely transferred to the middle conveying system, the conveying chain mechanism transfers the remaining forklift trays out of the block unloading module to enable the forklift trays to fall into a goods basket below the conveying chain mechanism, and meanwhile, the next goods module is conveyed to the head of the block unloading module;
76. and repeating the step 74 and the step 75, and transferring all the goods modules to a whole goods conveying system by the intermediate conveying system, wherein the whole goods conveying system sequentially conveys the sorted goods to the tail part of the system for sorting and stacking by a robot or a human.
8. A control method for a control system for a palletized container de-loader as claimed in claim 7, characterized in that:
the action control process of the unloading mechanism comprises the following steps: the size calibration and unloading action of the cargo module;
the size of the object module is calibrated as follows: the forward sliding table slide block is kept at the foremost end in the process of conveying the goods module to the head part of the block unloading module by the conveying chain; after the goods module is conveyed to the head area of the blocking unloading module, the lifting sliding table sliding block moves to the topmost end; then the sliding table sliding block moves backwards, and the four push plate laser range finders measure the distances between the four push plate laser range finders and the cargo module respectively; then the main control chip converts the shortest distance measured on the respective traveling paths of the four push plate laser range finders into the maximum height of the cargo module, and records the maximum value of the four maximum heights as H; meanwhile, the main control chip compares the measured distance with a pre-stored no-load height gauge, if the distances measured by the four push plate laser distance measuring instruments are not greatly different from the no-load height gauge, the data of the encoder of the forward sliding table at the moment are recorded, and the data are used as the length d of the cargo module;
the unloading movement is as follows: after the size calibration of the cargo module is completed, the tail part of the unpowered conveyor controlled by the action of the electric cylinder of the middle conveying system is positioned at the height H-1.4H; the forward moving sliding table sliding block continues to move backwards for 5cm, and the lifting sliding table sliding block moves downwards to a position where the height of the lower edge of the push plate is H-0.8H; then the forward sliding table sliding block moves forward to push all the current top-layer cargoes of the cargo module to the unpowered conveyor of the middle conveying system; after the top layer goods are all pushed onto the unpowered conveyor of the middle conveying system, the forward sliding table moves backwards to a distance d, the lifting sliding table sliding block moves downwards for a distance h, and the electric cylinder controls the height of the tail of the conveyor to descend for a distance h to start pushing the goods for the second time.
9. A control method for a control system for a palletized container de-loader as claimed in claim 7, characterized in that:
the electric cylinder of the middle conveying system is controlled by the central control system to push out the goods modules layer by layer, so that the inclination angle of the unpowered conveyor is controlled to be reduced layer by layer, and the goods modules are ensured to fall onto the unpowered conveyor completely and transferred to the whole goods conveying system.
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Application publication date: 20221230 Assignee: Dalian Ruixin Swing Platform Technology Co.,Ltd. Assignor: Dalian Maritime University Contract record no.: X2023210000160 Denomination of invention: Control system and method for unloading device of container cargo equipped with pallets Granted publication date: 20230829 License type: Common License Record date: 20231019 |
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