CN115535868A

CN115535868A - Unloading system and unloading method

Info

Publication number: CN115535868A
Application number: CN202211507590.8A
Authority: CN
Inventors: 刘继卫; 孔德军; 李德华; 赵子林; 林禹希; 颜鹏; 刘磊; 王程伟; 刘朕
Original assignee: FAW Jiefang Automotive Co Ltd
Current assignee: FAW Jiefang Automotive Co Ltd
Priority date: 2022-11-29
Filing date: 2022-11-29
Publication date: 2022-12-30

Abstract

The application relates to a discharge system and a discharge method. The discharge system comprises: a support; the moving mechanism is movably arranged on the bracket; the unloading mechanism comprises a seat body, a frame lifting appliance and a magnetic suction mechanism, wherein the seat body is fixed on the moving mechanism, and the frame lifting appliance and the magnetic suction mechanism are respectively fixed on the seat body; the shooting equipment is used for acquiring a top view of the frame or the interval support, determining the position of the frame or the interval support, and alternately stacking the frame and the interval support from bottom to top; the controller is respectively electrically connected with the shooting equipment, the moving mechanism, the frame lifting appliance and the magnetic suction mechanism and is used for controlling the moving mechanism to move, moving the unloading mechanism to the position of the frame or the interval support, controlling the frame lifting appliance to grab the frame for transferring, or controlling the magnetic suction mechanism to suck the interval support for transferring. The unloading system can unload the frame and the interval supports at the same time, and unloading is not needed by means of manpower or other auxiliary unloading devices, so that the effect of improving the unloading efficiency of the frame is realized.

Description

Unloading system and unloading method

Technical Field

The application relates to the technical field of vehicles, in particular to a discharging system and a discharging method.

Background

During frame transport, a truck typically carries a plurality of frames, spaced apart from each other using spacer supports between the frames.

In the prior art, the carriage is generally unloaded by adopting a movable frame matched with a mechanical suspension arm, and the spacing support for spacing the carriage needs to be unloaded manually or by using other unloading devices.

However, conventional frame unloading systems suffer from inefficient frame unloading because they only unload the frame and require additional labor or other unloading devices to unload the spacer, have a low degree of unloading automation, and are time consuming to unload.

Disclosure of Invention

In view of the above, it is desirable to provide an unloading system and an unloading method capable of improving unloading efficiency of a vehicle frame.

In one aspect, the present application provides a discharge system, comprising:

a support;

the moving mechanism is movably arranged on the bracket;

the unloading mechanism comprises a base body, a frame lifting appliance and a magnetic suction mechanism, wherein the base body is fixed on the moving mechanism, and the frame lifting appliance and the magnetic suction mechanism are respectively fixed on the base body;

the shooting equipment is used for acquiring a top view of a frame or a spacing support and determining the position of the frame or the spacing support, wherein the frame and the spacing support are alternately stacked from bottom to top;

and the controller is respectively electrically connected with the shooting equipment, the moving mechanism, the frame lifting appliance and the magnetic suction mechanism and is used for controlling the moving mechanism to move, the unloading mechanism to move to the frame or the position of the interval support and controlling the frame lifting appliance to grab the frame for transferring or controlling the magnetic suction mechanism to suck the interval support for transferring.

In one embodiment, the frame spreader comprises:

the opening and closing motor is fixed on the seat body;

the two telescopic motors are respectively fixed at two ends of the opening and closing motor, which have opposite movement directions, and are arranged in parallel;

the four lifting claws are respectively fixed on two ends of the two telescopic motors;

the shooting equipment is also used for determining the size of the vehicle frame according to the top view of the vehicle frame;

the controller is further electrically connected with the opening and closing motor and the two telescopic motors respectively and used for controlling the opening and closing motor and/or the two telescopic motors to act until the distance between every two of the four lifting claws meets the size of the frame.

In one embodiment, the frame spreader further comprises:

the lifting appliance rotating motor is arranged between the base body and the moving mechanism;

the controller is also electrically connected with the hanger rotating motor and is used for controlling the hanger rotating motor to act until the axes of the two telescopic motors are parallel to the axis of the frame.

In one embodiment, the frame spreader further comprises:

four lifting claw rotating motors which correspond to the four lifting claws one by one, wherein each lifting claw rotating motor is arranged between the corresponding lifting claw and the telescopic motor;

the controller is also electrically connected with the four lifting claw rotating motors and is used for controlling the four lifting claw rotating motors to act so as to switch the four lifting claws between the unfolding state and the folding state.

In one embodiment, the magnetic attraction mechanism is located at the center of a figure surrounded by the four lifting claws.

In one embodiment, the traveling mechanism includes:

the cross beam is slidably arranged on the bracket;

the first motor is fixed on the cross beam;

the trolley is movably arranged on the cross beam, and the moving direction of the trolley is perpendicular to the sliding direction of the cross beam;

the second motor is fixed on the trolley;

the lifting platform is arranged on the trolley, and the seat body is fixed on the lifting platform;

the controller is respectively electrically connected with the first motor, the second motor and the lifting platform and is used for controlling at least one of the first motor to drive the cross beam to slide on the support, the second motor to drive the trolley to move on the cross beam and the lifting platform to lift until the unloading mechanism moves to the position of the frame or the spaced support.

In one embodiment, the lift platform comprises:

a platform body;

the two winding drums are fixed on the trolley, each winding drum is wound with a rope, and one ends of the ropes of the two winding drums are respectively fixed at two opposite ends of the platform body;

the third motor is fixed on the trolley and is in transmission connection with the two winding drums;

the controller is electrically connected with the third motor and is used for controlling the third motor to drive the two winding drums to wind and unwind the rope until the unloading mechanism moves to the position of the frame or the interval support.

In one embodiment, the lifting platform further comprises:

the two guide columns are oppositely arranged on the platform body and penetrate through the trolley; alternatively, the first and second electrodes may be,

and the two guide columns are oppositely arranged on the trolley and penetrate through the platform body.

In one embodiment, the lift platform further comprises:

and the guide wheel is fixed on the platform body and/or the trolley.

In another aspect, the present application provides a method of unloading, the method of unloading comprising:

acquiring a top view of a frame or a spacing support, and determining the position of the frame or the spacing support, wherein the frame and the spacing support are alternately stacked from bottom to top;

controlling the moving mechanism to move, and moving the unloading mechanism to the position of the frame or the interval support;

if the top view of the frame is obtained, controlling a frame lifting appliance to grab the frame for transfer;

and if the acquired plan view of the interval support is the plan view of the interval support, controlling a magnetic suction mechanism to suck the interval support for transfer.

According to the unloading system and the unloading method, the controller can determine the position of the frame or the spacing support according to the top view of the frame or the spacing support acquired by the shooting equipment, so that the moving mechanism is controlled to move to the position of the frame or the spacing support. During the movement, the unloading mechanism moves along with the moving mechanism. When the shooting equipment acquires the top view of the frame, the controller controls the frame lifting appliance to grab the frame for transferring; when the shooting equipment acquires the top view of the interval support, the controller controls the magnetic suction mechanism to suck the interval support for transfer. Through supporting frame and interval and shoot the location, control discharge mechanism removes the assigned position, and rethread discharge mechanism's frame hoist uninstallation frame and discharge mechanism's magnetism is inhaled mechanism and is unloaded the interval and support, can unload frame and interval support respectively, need not unload with the help of artifical or other supplementary uninstallation device again to improve frame unloading efficiency, and reduce the unloading cost.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments or the conventional technologies of the present application, the drawings used in the description of the embodiments or the conventional technologies will be briefly introduced below, it is obvious that the drawings in the description below are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a schematic view of the construction of an unloading system in one embodiment;

FIG. 2 is a schematic diagram of the construction of a frame spreader in one embodiment;

FIG. 3 is a schematic diagram of the construction of a frame spreader in one embodiment;

FIG. 4 is a schematic diagram of the construction of a frame spreader in one embodiment;

FIG. 5 is a schematic diagram of a magnetic attraction mechanism in one embodiment;

FIG. 6 is a schematic view of the traveling mechanism in one embodiment;

FIG. 7 is a schematic structural view of a lifting platform in one embodiment;

FIG. 8 is a schematic diagram of an embodiment of the lift platform;

FIG. 9 is a schematic diagram of the construction of the lift platform in one embodiment;

FIG. 10 is a schematic diagram of the construction of the lift platform in one embodiment;

fig. 11 is a flow diagram of a discharge method in an embodiment.

Description of reference numerals:

10. a support; 20. the device comprises a moving mechanism, 210, a cross beam, 220, a first motor, 230, a trolley, 240, a second motor, 250, a lifting platform, 2510, a platform body, 2521, a first winding drum, 2522, a second winding drum, 2530, a third motor, 2541, a first guide column, 2542 and a second guide column; 30. the unloading mechanism comprises a 310 unloading mechanism, a base body, a 320 unloading mechanism, a frame lifting appliance, a 3210 opening and closing motor, a 3221 unloading mechanism, a first telescopic motor, a 3222 unloading mechanism, a second telescopic motor, 3230 lifting claws, 3231 lifting claws, a first lifting claw rotating motor, 3240 lifting claws, 3241 lifting claw rotating motor, 3250 lifting claws, 3251 lifting claw rotating motor, 3260 lifting claws, 3261 lifting claws, a fourth lifting claw rotating motor, 3270 lifting appliance rotating motor, 330 magnetic attraction mechanisms; 40. a photographing device; 50. and a controller.

Detailed Description

To facilitate an understanding of the present application, the present application will now be described more fully with reference to the accompanying drawings. Embodiments of the present application are set forth in the accompanying drawings. This application may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the present application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

It will be understood that, as used herein, the terms "first," "second," and the like may be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish one element from another.

Spatial relational terms, such as "under," "below," "under," "over," and the like may be used herein to describe one element or feature's relationship to another element or feature as illustrated 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 the device in the figures is turned over, elements or features described as "below" or "beneath" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary terms "under" and "under" can encompass both an orientation of above and below. In addition, the device may also include additional orientations (e.g., rotated 90 degrees or other orientations) and the spatial descriptors used herein interpreted accordingly.

It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or be connected to the other element through intervening elements. Further, "connection" in the following embodiments is understood to mean "electrical connection", "communication connection", or the like, if there is a transfer of electrical signals or data between the connected objects.

As used herein, the singular forms "a", "an" and "the" may include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises/comprising," "includes" or "including," etc., specify the presence of stated features, integers, steps, operations, components, parts, or combinations thereof, but do not preclude the presence or addition of one or more other features, integers, steps, operations, components, parts, or combinations thereof. Also, as used in this specification, the term "and/or" includes any and all combinations of the associated listed items.

As discussed in the background of the invention, prior art frame unloading systems suffer from inefficient frame unloading, which has been found by the inventor to be due to the fact that prior art frame unloading systems only unload frames, and the spacing between the frames requires manual or other means for unloading, thereby reducing unloading efficiency.

For the above reasons, in one embodiment, as shown in fig. 1, the present application provides a discharge system comprising: a support 10, a traveling mechanism 20, a discharge mechanism 30, a photographing apparatus 40, and a controller 50. Wherein the traveling mechanism 20 is movably arranged on the support 10. The unloading mechanism 30 includes a seat body 310, a frame hanger 320 and a magnetic attraction mechanism 330, the seat body 310 is fixed on the moving mechanism 20, and the frame hanger 320 and the magnetic attraction mechanism 330 are respectively fixed on the seat body 310. The photographing apparatus 40 is used to acquire a top view of the carriage or the spacer support, and determine the position of the carriage or the spacer support, which are alternately stacked from bottom to top. The controller 50 is electrically connected to the photographing apparatus 40, the moving mechanism 20, the frame hanger 320 and the magnetic attraction mechanism 330, and is configured to control the moving mechanism 20 to move, move the unloading mechanism 30 to the frame or the position of the spaced support, control the frame hanger 320 to grab the frame for transfer, or control the magnetic attraction mechanism 330 to attract the spaced support for transfer.

The frame is a base body of the automobile, generally comprises two longitudinal beams and a plurality of cross beams, and is used for supporting and connecting each assembly of the automobile, keeping each assembly at a relatively correct position and bearing various loads inside and outside the automobile. Spacer supports refer to components used to space vehicle frames from one another during transportation of the vehicle frames. In the process of transporting the frames, the transport vehicle usually carries a plurality of rows of multi-layer frames, and every two frames on each row of frames are provided with interval supports.

Specifically, the support 10 is composed of upright columns, bearing beams and connecting rods, and the four upright columns are respectively and vertically arranged on four top corners of the unloading area. The unloading area refers to a rectangular area range for unloading the frame and the interval supports. The two bearing beams are horizontally arranged in parallel and are respectively connected with two upright posts, and the two connecting rods are horizontally arranged in parallel and are respectively connected with the rest two upright posts.

The traveling mechanism 20 is provided on the two receiving beams of the rack 10 and is movable along the receiving beams. The photographing apparatus 40 is disposed above the stand 10 so as to acquire a plan view of the carriage or the space support, and acquire position information of the carriage or the space support in the horizontal direction and the vertical direction of the unloading area from the plan view of the carriage or the space support. The magnetic attraction mechanism 330 is an electromagnetic chuck, which is composed of a disk-shaped steel shell and an excitation coil in the shell, and attracts magnetic conductive objects by magnetic force.

Illustratively, the transport vehicle carries two rows of frames, each row is provided with three layers of frames, and a spacing support is arranged between every two three layers of frames. After the transport vehicle moves to the designated unloading area, the shooting equipment 40 shoots and identifies the frame on the first layer of the transport vehicle. The photographing apparatus 40 may use a three-dimensional laser scanner. The three-dimensional laser scanner obtains the top view of the first layer in the two rows of frames, and obtains the position information of the first layer of frames in the unloading area. The first layer refers to the first layer from top to bottom in the vertical direction.

The controller 50 controls the moving mechanism 20 to move to a position above the first-tier frame in the first row according to the position information, and then controls the frame hanger 320 of the unloading mechanism 30 to grab the first-tier frame in the first row and transfer to the conveying mechanism (not shown) for placement. The transfer mechanism can transport the unloaded carriage to another designated location. The position of the transfer mechanism can be selected according to the layout requirements of the actual process, and is not limited herein. Similarly, the controller 50 controls the traveling mechanism 20 to move to a position above the second row of first-tier frames, and controls the frame hangers 320 of the unloading mechanism 30 to grasp the second row of first-tier frames and transfer the second row of first-tier frames to the transfer mechanism for placement.

After the first two rows of carriages have been removed, the three-dimensional laser scanner continues to acquire top views of the exposed spaced supports on the two rows of carriages. Based on the position information of the spacers provided in the top view, the controller 50 controls the moving mechanism 20 to move to a position above the exposed spacers in the first row, and controls the magnetic attraction mechanism 330 of the unloading mechanism 30 to attract the exposed spacers in the first row and transfer the spacers to the temporary spacers (not shown). Similarly, the controller 50 controls the moving mechanism 20 to move to a position above the exposed spacer supports in the second row, and controls the magnetic attraction mechanism 330 of the unloading mechanism 30 to attract the exposed spacer supports in the second row for transferring to the temporary spacer storage shelves. The position of the spacing support temporary storage rack can be selected according to the layout requirements of the actual process, and is not limited herein.

After the first tier of frames and spacers are removed, the unloading system repeats the method to unload the second and third tiers of frames and spacers.

According to the unloading system, the controller can determine the position of the frame or the spacing support according to the top view of the frame or the spacing support acquired by the shooting equipment, so that the moving mechanism is controlled to move to the position of the frame or the spacing support. During the movement, the unloading mechanism moves along with the moving mechanism. When the shooting equipment acquires the top view of the frame, the controller controls the frame lifting appliance to grab the frame for transfer; when the shooting equipment acquires the top view of the interval support, the controller controls the magnetic suction mechanism to suck the interval support for transfer. Through supporting frame and interval and shoot the location, control discharge mechanism removes the assigned position, and frame hoist uninstallation frame and discharge mechanism's of rethread discharge mechanism magnetism is inhaled the mechanism and is unloaded the interval and support, can unload frame and interval support, and need not unload with the help of artifical or other supplementary uninstallation device again to improve frame unloading efficiency, and reduce the unloading cost.

In one embodiment, as shown in fig. 2, the frame spreader 320 includes a motor 3210, two telescoping motors, and four lifting claws.

The switching motor 3210 is fixed to the base 310. The two telescopic motors are respectively fixed at two ends of the switching motor 3210 with opposite moving directions and are arranged in parallel. Wherein, the two telescopic motors comprise a first telescopic motor 3221 and a second telescopic motor 3222. Specifically, a first telescoping motor 3221 and a second telescoping motor 3222 are respectively fixed at two ends of the switching motor 3210, which have opposite moving directions, and are arranged in parallel to each other.

The four lifting claws are respectively fixed at two ends of the two telescopic motors. The four lifting claws include a first lifting claw 3230, a second lifting claw 3240, a third lifting claw 3250 and a fourth lifting claw 3260. Specifically, a first claw 3230 and a second claw 3240 are fixed to both ends of the first telescopic motor 3221, respectively, and a third claw 3250 and a fourth claw 3260 are fixed to both ends of the second telescopic motor 3222, respectively. The opening and closing motor 3210 controls the width of the frame hanger 320, i.e., the distance between the first and

third jaws

3230 and 3250 or the distance between the second and

fourth jaws

3240 and 3260. The moving direction of the switching motor 3210 thus refers to the width direction of the carriage hanger 320. Therefore, the two telescopic motors are respectively fixed at two opposite moving directions of the opening and closing motor 3210, which means that the two telescopic motors are arranged at two widthwise ends of the frame hanger 320, that is, at one end where the first lifting claw 3230 and the second lifting claw 3240 are located and at one end where the third lifting claw 3250 and the fourth lifting claw 3260 are located.

The photographing device is also used for determining the size of the vehicle frame according to the top view of the vehicle frame. The controller is further electrically connected to the switching motor 3210, the first telescoping motor 3221, and the second telescoping motor 3222, respectively, and is configured to control at least one of the switching motor 3210, the first telescoping motor 3221, and the second telescoping motor 3222 to move until a distance between each of the first lifting claw 3230, the second lifting claw 3240, the third lifting claw 3250, and the fourth lifting claw 3260 satisfies a size of the vehicle frame.

Specifically, the opening and closing motor 3210 controls the width of the frame hanger 320. The first telescopic motor 3221 and the second telescopic motor 3222 control the length of the carriage hanger 320, which is embodied as follows: a first telescoping motor 3221 controls the distance between the first jaw 3230 and the second jaw 3240, and a second telescoping motor 3222 controls the distance between the third jaw 3250 and the fourth jaw 3260.

And the shooting equipment determines the size of the frame, in particular the width and length information of the frame according to the acquired top view of the frame. The shooting equipment feeds back the size of the vehicle frame to the controller. When the controller controls the traveling mechanism to move to the position above the frame, the controller controls the opening and closing motor 3210 of the frame hanger 320 to operate according to the width information of the frame until the width of the frame hanger 320 is consistent with the width of the frame. The controller controls the first telescoping motor 3221 and the second telescoping motor 3222 of the frame hanger 320 to operate according to the length information of the frame until the length of the frame hanger 320 is consistent with the length of the frame. In addition, the controller may also control the first telescopic motor 3221 and the second telescopic motor 3222 to operate according to the length information of the vehicle frame, and then control the opening and closing motor 3210 to operate according to the width information of the vehicle frame until the distance between every two four lifting claws meets the size of the vehicle frame.

In this embodiment, the distance between four lifting claws on the frame lifting appliance is adjusted by controlling the opening and closing motor, the first telescopic motor and the second telescopic motor so as to keep consistent with the size of the frame, and the frame lifting appliance can smoothly grab the frame. In addition, the mode of adaptively adjusting the distance between the lifting claws of the frame lifting appliance can meet the grabbing requirements of frames of different vehicle types.

In one embodiment, as shown in fig. 3, the frame spreader further includes a spreader rotation motor 3270. The hoist rotating motor 3270 is provided between the seat body 310 and the traveling mechanism 20.

The controller is also electrically connected with the spreader rotating motor 3270, and is used for controlling the spreader rotating motor 3270 to act until the axes of the first telescopic motor 3221 and the second telescopic motor 3222 are parallel to the axis of the vehicle frame.

Specifically, when the controller controls the traveling mechanism to move the frame spreader above the frame, the controller determines the axis position of the frame according to the top view of the frame, controls the spreader rotating motor 3270 to act, and rotates the frame spreader in the horizontal direction until the axes of the first telescoping motor 3221 and the second telescoping motor 3222 and the axis of the frame are parallel to each other on the vertical plane. The axis of the vehicle frame refers to a central axis in the length direction of the vehicle frame, and the axes of the first telescoping motor 3221 and the second telescoping motor 3222 refer to a symmetry axis determined by the first telescoping motor 3221 and the second telescoping motor 3222, and the direction of the symmetry axis coincides with the length direction of the vehicle frame hanger 320. In addition, the controller may also control the operation of the spreader rotating motor 3270 until a straight line defined by the first and

second stretching motors

3221 and 3222 is parallel to the central axis of the vehicle frame in the width direction on a vertical plane.

In this embodiment, through hoist rotating electrical machines horizontal rotation frame hoist to the axis of first flexible motor and the flexible motor of second is parallel with the axis of frame, realizes the accurate location of frame hoist in the position top of frame, and the frame is grabbed to convenient follow-up frame hoist after descending to the assigned position. In addition, the hanger rotating motor adaptively horizontally rotates the frame hanger to finish accurate positioning of the frame hanger, so that the position deviation of the transport vehicle in the unloading area or the influence of the position deviation of the frame when the frame is loaded on the transport vehicle on the grabbing of the frame hanger can be avoided.

In one embodiment, as shown in fig. 4, the vehicle frame hanger further comprises four lifting claw rotating motors, one-to-one corresponding to the four lifting claws, each lifting claw rotating motor being arranged between the corresponding lifting claw and the telescopic motor.

Among them, the four suspension claw rotation motors include a first suspension claw rotation motor 3231, a second suspension claw rotation motor 3241, a third suspension claw rotation motor 3251, and a fourth suspension claw rotation motor 3261. Specifically, a first claw rotating motor 3231, a second claw rotating motor 3241, a third claw rotating motor 3251, and a fourth claw rotating motor 3261 correspond one-to-one to the first claw 3230, the second claw 3240, the third claw 3250, and the fourth claw 3260, respectively. The first lifting claw rotating motor 3231 is disposed between the first lifting claw 3230 and the first telescopic motor 3221; the second jaw rotation motor 3241 is provided between the second jaw 3240 and the first telescopic motor 3221; a third jaw rotation motor 3251 is provided between the third jaw 3250 and the second telescopic motor 3222; the fourth jaw rotation motor 3261 is disposed between the fourth jaw 3260 and the second telescopic motor 3222.

The controller is also electrically connected with the four lifting claw rotating motors and is used for controlling the four lifting claw rotating motors to act so as to switch the four lifting claws between the unfolding state and the folding state. Specifically, the controller is electrically connected to the first, second, third, and fourth

jaw rotating motors

3231, 3241, 3251, and 3261, and is configured to control the first, second, third, and fourth

jaw rotating motors

3231, 3241, 3251, and 3261 to operate, so as to switch the first, second, third, and

fourth jaws

3230, 3240, 3250, and 3260 between the deployed and stowed states.

Specifically, when the frame hanger is to grasp a frame, the first jaw 3230, the second jaw 3240, the third jaw 3250 and the fourth jaw 3260 are simultaneously deployed, which is specifically represented by: the first, second, third, and fourth

claw rotating motors

3231, 3241, 3251, and 3261 control the first, second, third, and

fourth claws

3230, 3240, 3250, and 3260 to rotate clockwise or counterclockwise by 90 ° on the horizontal plane, respectively, and at this time, the directions of the four claws are parallel to the width direction of the frame and perpendicular to the length direction of the frame.

When the frame spreader places the frame on the transfer mechanism, the first 3230, second 3240, third 3250 and fourth 3260 jaws are retracted simultaneously. Similarly, first finger 3230, second finger 3240, third finger 3250 and fourth finger 3260 are rotated 90 ° counterclockwise or clockwise on a horizontal plane, with the four fingers oriented perpendicular to the width of the frame and parallel to the length of the frame. The four jaws are shown in a stowed position in figure 4.

In this embodiment, four lifting claws on the frame lifting appliance are respectively controlled by four lifting claw rotating motors, so that the four lifting claws are in an unfolded state when the frame lifting appliance is used for grabbing the frame, and the four lifting claws are in a folded state when the frame lifting appliance is used for placing the frame, so that the grabbing and placing functions of the frame lifting appliance on the frame can be realized.

In one embodiment, as shown in FIG. 5, the magnetic attraction mechanism 330 is centered in the pattern enclosed by the first jaw 3230, the second jaw 3240, the third jaw 3250, and the fourth jaw 3260.

Specifically, the first hanging claw 3230, the second hanging claw 3240, the third hanging claw 3250 and the fourth hanging claw 3260 are rectangular, and the magnetic attraction mechanism 330 is fixed on the base 310 and is located in a vertical direction determined by the center of the rectangle. Because the spacer supports are made of magnetic conductive materials and have light weight, the magnetic attraction mechanism 330 can complete the absorption and the placement of the spacer supports. When the magnetic attraction mechanism 330 is powered on, the magnetic attraction mechanism 330 attracts the interval supports; when the magnetic mechanism 330 is de-energized, the magnetic mechanism 330 is placed on the spacer supports.

In this embodiment, because the interval support is placed on the central point of frame puts, through establishing the magnetism mechanism at the center of the figure that four lifting claws enclose, can make things convenient for magnetism to inhale the mechanism and snatch the interval support, accomplish the unloading of interval support.

In one embodiment, as shown in fig. 6, the travel mechanism includes a cross beam 210, a first motor 220, a trolley 230, a second motor 240, and a lift platform 250.

The beam 210 is slidably disposed on the bracket. The first motor 220 is fixed to the cross member 210. The trolley 230 is movably disposed on the cross beam 210, and the moving direction of the trolley 230 is perpendicular to the sliding direction of the cross beam 210. The second motor 240 is fixed to the trolley 230. The lifting platform 250 is disposed on the trolley 230, and the base body 310 is fixed on the lifting platform 250.

The controller is electrically connected to the first motor 220, the second motor 240 and the lifting platform 250 respectively, and is used for controlling at least one of the first motor 220 to drive the cross beam 210 to slide on the bracket, the second motor 240 to drive the trolley 230 to move on the cross beam 210, and the lifting platform 250 to lift until the unloading mechanism 30 moves to the position of the frame or the spaced support.

Specifically, the first motor 220 drives the beam 210 to move in the direction of the load beam on the bracket. The second motor 240 drives the trolley 230 to move on the beam 210, and the trolley 230 is arranged on the beam 210 because the beam 210 is parallel to the connecting rod on the bracket, so that the trolley 230 can move along the direction of the bearing beam or the connecting rod of the bracket. Further, the discharge mechanism 30 is arranged on the trolley 230, so that the discharge mechanism 30 can move along the direction of the load beam or the direction of the connecting rod of the support. One end of the lifting platform 250 is connected to the trolley 230, and the other end of the lifting platform 250 is connected to the base body 310 of the unloading mechanism 30, so that the unloading mechanism 30 can move in the vertical direction through the lifting platform 250.

Illustratively, the controller determines the position of the carriage or spacer support in the horizontal direction within the unloading area based on a top view of the carriage or spacer support provided by the camera. The controller first controls the first motor 220 and the second motor 240 to operate, moves the unloading mechanism 30 to a position above the frame or the spaced support, determines the position of the frame or the spaced support in the unloading area in the vertical direction, and controls the lifting platform 250 to operate until the plane of the four lifting claws of the unloading mechanism 30 is at the same height as the lower bottom surface of the frame, or the lower bottom surface of the magnetic attraction mechanism of the unloading mechanism 30 is at the same height as the upper surface of the spaced support.

In this embodiment, the unloading mechanism can be moved to the frame or the grabbing position of the interval support by the driving of the first motor, the second motor and the lifting platform.

In one embodiment, as shown in fig. 7, the lift platform includes a platform body 2510, two drums, and a third motor 2530.

Two drums are fixed to the trolley 230, each drum having a cable wound around it, one end of the cable of the two drums being fixed to the opposite ends of the platform body 2510, respectively. The two reels include a first reel 2521 and a second reel 2522. Specifically, the first reel 2521 and the second reel 2522 are fixed to the trolley 230, a rope is wound around the first reel 2521 and the second reel 2522, and one end of the rope of the first reel 2521 and the second reel 2522 is fixed to the opposite ends of the platform body 2510, respectively. The third motor 2530 is fixed on the trolley 230 and is in transmission connection with the first reel 2521 and the second reel 2522. Wherein, opposite ends of the platform body 2510 may be both ends in the length direction of the platform body 2510.

The controller is electrically connected to the third motor 2530, and is used for controlling the third motor 2530 to drive the first drum 2521 and the second drum 2522 to wind and unwind the rope, so as to control the elevation of the platform body 2510 until the unloading mechanism moves to the position of the carriage or the spaced support.

Specifically, the trolley 230 is further provided with a speed reducer (not shown). The speed reducer is provided between the third motor 2530 and the first and

second reels

2521 and 2522. Since the rotation speed of the third motor 2530 is too large, the speed reducer is used to reduce the rotation speed of the third motor 2530 to a suitable rotation speed. The third motor 2530 is in transmission connection with the first winding drum 2521 and the second winding drum 2522 through a speed reducer. The base 310 is fixed to the lifting platform 250, specifically, the base 310 is fixed to the platform body 2510 of the lifting platform.

When the controller controls the third motor 2530 to retract the rope, the distance between the trolley 230 and the platform body 2510 is shortened, and since one end of the platform body 2510 is connected to the unloading mechanism 30, the trolley 230 is disposed on the cross beam 210, the height position of the trolley 230 is fixed, the platform body 2510 is raised, and the unloading mechanism is raised. When the controller controls third motor 2530 to lengthen the line, the distance between trolley 230 and platform body 2510 increases, at which time the discharge mechanism descends.

In this embodiment, the length of the rope connecting the trolley and the lifting platform is controlled by the first winding drum, the second winding drum and the third motor, so that the lifting platform and the unloading mechanism can move in the vertical direction.

In one embodiment, as shown in fig. 8, the lift platform further comprises two guide posts. The two guide posts are oppositely disposed on the platform body 2510 and penetrate the trolley 230. Wherein the two guide posts include a first guide post 2541 and a second guide post 2542. Specifically, a first guide post 2541 and a second guide post 2542 are oppositely disposed on the platform body 2510 and extend through the trolley 230.

Specifically, first and

second guide columns

2541 and 2542 extend vertically through the trolley 230 for guiding the platform body 2510 to move along the vertical direction of the first and

second guide columns

2541 and 2542. During the ascending or descending of the platform body 2510, since the first guide post 2541 and the second guide post 2542 vertically penetrate through the trolley 230 and the height position of the trolley 230 is fixed, the first guide post 2541 and the second guide post 2542 can ascend or descend relative to the trolley 230.

In this embodiment, through two guide posts, can make lift platform remove along the guide post direction, even lift platform removes along vertical direction, avoid lift platform to remove the in-process and take place and control the skew.

In one embodiment, as shown in fig. 9, the lift platform further includes two guide posts. The two guide posts are oppositely disposed on the trolley 230 and extend through the platform body 2510. Wherein the two guide posts include a first guide post 2541 and a second guide post 2542. Specifically, a first guide post 2541 and a second guide post 2542 are oppositely disposed on the trolley 230 and extend through the platform body 2510.

Specifically, first and

second guide posts

2541 and 2542 extend through platform body 2510 in a vertical direction for guiding movement of platform body 2510 in the direction of first and

second guide posts

2541 and 2542. During the ascending or descending of the platform body 2510, since the first and

second guide columns

2541 and 2542 are disposed on the trolley 230 and penetrate through the platform body 2510, the height position of the trolley 230 is fixed, and therefore the height positions of the first and

second guide columns

2541 and 2542 are also fixed, so that the platform body 2510 ascends or descends relative to the first and

second guide columns

2541 and 2542.

In one embodiment, as shown in fig. 10, the lift platform further comprises guide wheels.

The guide wheels are fixed to the platform body 2510 and/or the trolley 230.

Specifically, four guide wheels are fixed to four ends of the carriage 230, and the other four guide wheels correspond to the four guide wheels of the carriage 230 in position and are fixed to four ends of the platform body 2510. The four guide wheels on the trolley 230 are respectively connected with the first reel 2521 and the second reel 2522 through ropes, and the four guide wheels on the trolley 230 are respectively connected with the other four guide wheels on the platform body 2510 corresponding to the trolley 230 in the vertical direction through ropes.

In one embodiment, as shown in fig. 11, there is provided a method of unloading comprising:

s112, acquiring a top view of the frame or the interval support, determining the position of the frame or the interval support, and alternately stacking the frame and the interval support from bottom to top.

Specifically, after the loading frame and the transport vehicles supported at intervals are parked in the unloading area range, an operator simultaneously presses two starting unloading buttons and sends a starting unloading signal to the controller. In the process of transporting the frames, the transport vehicle usually carries a plurality of rows of multi-layer frames, and every two frames on each row of frames are provided with interval supports.

And after the controller receives the unloading starting signal, the shooting equipment is controlled to shoot the first layer of the frame, and the position of the frame is determined.

After the first layer of frame is dismounted, the controller controls the shooting equipment to shoot the interval supports exposed out of the first layer, and the positions of the interval supports are determined.

And S114, controlling the moving mechanism to move, and moving the unloading mechanism to the position of the frame or the interval support.

Specifically, the controller controls the first motor, the second motor and the lifting platform to operate according to the acquired position of the frame or the interval support, and the unloading mechanism is moved to the position of the frame or the interval support and further moved to the grabbing position of the frame or the interval support.

And S116, if the top view of the frame is obtained, controlling the frame lifting appliance to grab the frame for transfer.

Specifically, when the shooting device obtains a top view of the vehicle frame, the controller first controls the operation of the spreader rotating motor on the vehicle frame spreader 320, so as to ensure that the axes of the first telescopic motor and the second telescopic motor are parallel to the axis of the vehicle frame. The controller controls the four lifting claw rotating motors to operate, and the four lifting claws are unfolded simultaneously, so that the vehicle frame is grabbed.

After the frame lifting appliance grabs the frame, the controller controls the lifting platform to operate, and the frame lifting appliance is lifted to a safe height. The controller controls the first motor and the second motor to operate, and the frame lifting appliance on the unloading mechanism is moved to the position above the conveying mechanism. And finally, the controller controls the rotary motor of the lifting appliance to operate, and the vehicle frame is ensured to be positioned right above the conveying mechanism.

When the controller receives the in-place signal sent by the conveying mechanism, the controller controls the operation of the lifting platform to lower the frame lifting appliance onto the conveying mechanism. The conveying mechanism sends the in-place signal of the frame to the controller, the controller controls the four lifting claw rotating motors to operate, and the four lifting claws are respectively retracted, so that the frame is placed.

And S118, if the acquired top view of the interval support is the top view of the interval support, controlling the magnetic suction mechanism to suck the interval support for transfer.

Specifically, what the equipment of shooing acquireed obtained is the top view of interval support, and the mechanism circular telegram is inhaled to controller control magnetism, and the interval support is inhaled to the mechanism of inhaling of magnetism.

After the magnetic attraction mechanism absorbs the interval supports, the controller controls the lifting platform to operate, and the magnetic attraction mechanism is lifted to a safe height. The controller controls the first motor and the second motor to operate, and the magnetic suction mechanism on the unloading mechanism is moved to the position above the temporary storage rack supported at intervals. The controller controls the operation of the lifting platform again, and the magnetic attraction mechanism is lowered to the temporary storage rack supported at intervals. And finally, the controller controls the magnetic attraction mechanism to be powered off, and the magnetic attraction mechanism is placed on the interval supports.

In one embodiment, after the discharge mechanism completes discharging the carriage or spacer support, the controller controls the operation of the lift platform to raise the discharge mechanism to a safe height.

It should be understood that, although the steps in the flowchart of fig. 11 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not limited to being performed in the exact order illustrated and, unless explicitly stated herein, may be performed in other orders. Moreover, at least a portion of the steps in fig. 11 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the steps or stages is not necessarily sequential, but may be performed alternately or alternatively with other steps or at least a portion of the steps or stages in other steps.

In the description herein, references to the description of "some embodiments," "other embodiments," "desired embodiments," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, a schematic description of the above terminology may not necessarily refer to the same embodiment or example.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. An unloading system, characterized in that the unloading system comprises:

a support;

the moving mechanism is movably arranged on the bracket;

the shooting equipment is used for acquiring a top view of the frame or the interval support and determining the position of the frame or the interval support, wherein the frame and the interval support are alternately stacked from bottom to top;

and the controller is respectively electrically connected with the shooting equipment, the moving mechanism, the frame lifting appliance and the magnetic suction mechanism and is used for controlling the moving mechanism to move, moving the unloading mechanism to the position of the frame or the interval support and controlling the frame lifting appliance to grab the frame for transferring or controlling the magnetic suction mechanism to suck the interval support for transferring.

2. The unloading system of claim 1, wherein the frame spreader comprises:

the opening and closing motor is fixed on the seat body;

the two telescopic motors are respectively fixed at two ends of the opening and closing motor with opposite movement directions and are arranged in parallel;

the shooting equipment is also used for determining the size of the frame according to the top view of the frame;

3. The unloading system of claim 2, wherein the frame spreader further comprises:

the lifting appliance rotating motor is arranged between the seat body and the moving mechanism;

the controller is also electrically connected with the lifting appliance rotating motor and used for controlling the lifting appliance rotating motor to act until the axes of the two telescopic motors are parallel to the axis of the frame.

4. The unloading system of claim 2, wherein the frame spreader further comprises:

5. The discharge system of claim 2, wherein the magnetically attractive mechanism is located at the center of the figure enclosed by the four lifting claws.

6. A discharge system according to any of claims 1-5, wherein the travel mechanism comprises:

the cross beam is slidably arranged on the bracket;

the first motor is fixed on the cross beam;

the second motor is fixed on the trolley;

the controller is electrically connected with the first motor, the second motor and the lifting platform respectively and is used for controlling at least one of the first motor to drive the cross beam to slide on the support, the second motor to drive the trolley to move on the cross beam and the lifting platform to lift until the unloading mechanism moves to the frame or the position of the interval support.

7. The unloading system of claim 6, wherein the lifting platform comprises:

a platform body;

the controller is also electrically connected with the third motor and is further used for controlling the third motor to drive the two winding drums to wind and unwind the rope until the unloading mechanism moves to the position of the frame or the interval support.

8. The unloading system of claim 7, wherein the lifting platform further comprises:

the two guide columns are oppositely arranged on the platform body and penetrate through the trolley; alternatively, the first and second liquid crystal display panels may be,

9. The unloading system of claim 7, wherein the lifting platform further comprises:

and the guide wheel is fixed on the platform body and/or the trolley.

10. Unloading method, characterized in that it is applied to an unloading system according to any of claims 1-9, the unloading method comprising: