CN115593940A - A kind of operation line and method for automatic grabbing, unloading, disinfection and stacking of goods in a container - Google Patents

Abstract

The invention provides an automatic grabbing and unloading disinfection and stacking operation line and method for goods in a container, which includes an autonomously advancing automatic grabbing and unloading device for carton-packed goods in a container, which is used to grab the goods and place the goods in a movable place Connect the electric telescopic roller group; the head end of the electric telescopic roller group can be connected to the automatic grabbing and unloading device for cartoned goods in the self-propelled container; the other end is connected to the entrance of the automatic disinfection device, and the outlet end of the automatic disinfection device is connected to the The head end of the outgoing idler set is connected, and the tail end of the outgoing idler set is connected to the robot automatic palletizing system, which is used to grab the goods on the outgoing idler set and stack them. The present invention provides an efficient, automated and intelligent integrated solution for the unloading, disinfection and palletizing of carton-packed goods in cold chain logistics enterprises.

Description

A kind of operation line and method for automatic grabbing, unloading, disinfection and stacking of goods in a container

technical field

The invention relates to the technical field of unloading, disinfection and stacking, in particular to an operation line and method for automatically grabbing, unloading, disinfection and stacking of goods in containers.

Background technique

In the global logistics and transportation industry, cold chain containers, as the main carrier for the transfer and transportation of various foods that require low-temperature storage, carry a large number of railway and ocean logistics tasks. In the process of logistics and transportation, the efficiency of unloading and palletizing is the limit of logistics speed. An important reason, but at present, the loading and unloading of goods mostly adopts manual handling, which is labor-intensive and inefficient. Moreover, for imported cold chain goods, it is necessary to increase the six-sided disinfection process of the goods during unloading. Therefore, in order to improve the automation and intelligence level of container cold chain cargo unloading, disinfection and palletizing operations, it is urgent to develop an intelligent unloading disinfection palletizing operation line for cold chain container carton cargo.

For the unloading, disinfection and palletizing technology of goods in cold chain containers, from the current technical difficulties, the most demanding and technically difficult is the automatic unloading technology of carton-packed goods. There are almost no mature automatic unloading equipment and technologies in China. There are few mature applications of such technologies in foreign countries. And there are very few studies on the integrated operation line of carton-packed goods automation and intelligent unloading, disinfection and palletizing technology.

How to improve the automation and intelligence level of unloading, disinfection and palletizing of goods in cold chain containers, reduce the labor cost of enterprises and the labor intensity of workers, and reduce the virus that may exist on the surface of goods. The development of an intelligent, efficient and safe cold chain container carton-loaded unloading, disinfection and palletizing integrated operation line is of great significance for improving the high-quality development of cold chain container logistics.

Contents of the invention

According to the above technical problems, an operation line and method for automatic grabbing, unloading, disinfection and stacking of goods in a container are provided.

The technical means adopted in the present invention are as follows:

An automatic grabbing, unloading, disinfection and stacking operation line for goods in a container, comprising:

The self-propelled automatic grabbing and unloading device for carton-packed goods in the container is used to grab the goods and place the goods on the continuous electric telescopic roller group;

The head end of the continuous electric telescopic roller set is connected to the automatic grabbing and unloading device for cartoned goods in the self-propelling container, and is used to transfer goods;

An automatic disinfection device, the head end of which is connected to the tail end of the continuous electric telescopic idler group, used for automatic disinfection of the goods delivered by the continuous electric telescopic idler group, and transfers the goods to the shipping tray roller set;

The head end of the outgoing idler roller set is connected to the tail end of the automatic disinfection device for transferring goods; and,

The robot automatic palletizing system is connected with the tail end of the outgoing idler roller set, and is used for grabbing the goods on the outgoing idler roller set and stacking them.

Preferably, the self-propelling automatic grabbing and unloading device for cartoned goods in the container includes a motion system, a grabbing system, a visual recognition system, and an electric telescopic roller mechanism; the visual inspection system scans and identifies the goods, and judges whether the goods are position and give a motion control command to drive the motion system to make the grabbing system reach the designated position, the grabbing system grabs the goods and puts them on the electric telescopic roller mechanism, and the electric telescopic roller mechanism The tail of the roller mechanism is connected with the head end of the continuous electric telescopic roller group.

Preferably, the motion system includes an electric walking platform that moves longitudinally along the X direction in the horizontal direction, a horizontal and longitudinal movement mechanism in the X direction, a horizontal and lateral movement mechanism in the Y direction, a slewing mechanism, a vertical lifting mechanism in the Z direction, and a vertical auxiliary movement in the Z direction. Lifting mechanism; the grabbing system includes a vertical grabbing suction cup mechanism and a horizontal grabbing combined sucker mechanism;

The installation end of the X-direction horizontal and longitudinal movement mechanism is installed on the electric walking platform vehicle, and its output end moves horizontally and longitudinally along the X direction;

The installation end of the Y-direction horizontal movement mechanism is installed on the output end of the X-direction horizontal longitudinal movement mechanism, and the output end of the Y-direction horizontal movement mechanism moves horizontally and laterally along the Y direction;

The installation end of the slewing mechanism is installed on the output end of the Y-direction horizontal movement mechanism, and its output end rotates around its Z-direction central axis;

The installation end of the Z-direction vertical lifting mechanism is installed on the output end of the slewing mechanism, and its output end moves vertically along the Z-direction;

The installation end of the Z-direction vertical auxiliary lifting mechanism is installed on the output end of the Z-direction vertical lifting mechanism, and its output end moves vertically along the Z-direction;

The vertical grabbing suction cup mechanism is installed on the output end of the Z-direction vertical auxiliary lifting mechanism to realize the grabbing of the middle and lower goods; the horizontal grabbing combined sucker mechanism is located above the vertical grabbing suction cup mechanism, And installed on the output end of the Z-direction auxiliary lifting mechanism to realize the grasping of the upper goods;

The fixed end of the electric telescopic roller mechanism is installed at the tail end of the electric walking platform vehicle, opposite to the head end of the continuous electric telescopic roller group, and its telescopic end stretches horizontally along the X direction.

Preferably, the Z-direction vertical auxiliary lifting mechanism includes a first auxiliary lifting mechanism and a second auxiliary lifting mechanism, and the first auxiliary lifting mechanism, the second auxiliary lifting mechanism and the Z-direction vertical lifting mechanism form a compact Three-axis parallel superposition linkage vertical displacement device;

The mounting end of the first auxiliary lifting mechanism is installed on the output end of the Z-direction vertical lifting mechanism, and its output end moves vertically along the Z-direction;

The installation end of the second auxiliary lifting mechanism is installed on the output end of the first auxiliary lifting mechanism, and its output end moves vertically along the Z direction;

Both the horizontal grabbing combined suction cup mechanism and the vertical grabbing sucker mechanism are installed on the output end of the second auxiliary mechanism.

Preferably, the horizontally grabbing combined suction cup mechanism includes a support seat fixedly connected to the output end of the second auxiliary mechanism, and a horizontally arranged bottom tray is fixed on the support seat, and a vertical tray is arranged above the bottom tray. The vertical suction cup group and the horizontal push-pull cylinder group that drive the vertical suction cup group to move telescopically along the direction of the vertical suction cup group; a reversible horizontal suction cup group is arranged above the vertical suction cup group, and the reversible horizontal The suction cup group is connected to the vertical suction cup group through a rotating cylinder assembly, and the rotating cylinder assembly is used to drive the reversible horizontal suction cup group to turn over;

The vertical grab suction cup mechanism is mounted on the bottom of the bottom tray.

Preferably, the set of continuous electric telescopic idlers includes at least one telescopic idler mechanism, the telescopic idler mechanism includes liftable outriggers, a telescopic idler main body arranged on the liftable outriggers, and a driving The first driving motor system for the work of the idler on the main body of the telescopic idler; the main body of the telescopic idler is provided with a first anti-deviation baffle, when two or more than two telescopic idler mechanisms are used, The two adjacent telescopic idler mechanisms are connected as a whole by the first connecting bolt.

Preferably, the automatic disinfection device includes a frame, and an anti-corrosion idler transmission mechanism is arranged inside the frame, and the head end of the anti-corrosion idler transmission mechanism is connected to the tail end of the continuous electric telescopic idler group. connected, the tail end of the anti-corrosion idler roller transmission mechanism is connected with the head end of the delivery idler set;

In the frame, there are six groups of liquid spraying systems near the head of the frame, and the six groups of liquid spraying systems are respectively arranged on the upper, lower, left, right, and front sides of the frame. , finally, it is used to spray the goods on the transmission mechanism of the anti-corrosion idler roller on six sides, the spray system includes at least one spray unit, and the spray unit is used to spray disinfectant on the goods;

In the frame, four sets of ultraviolet photocatalytic coupling and disinfecting components are arranged near the tail of the frame, and the four groups of ultraviolet photocatalytic coupling and disinfecting components are respectively arranged on the upper and lower sides of the frame. Bottom, left, right; the ultraviolet photocatalytic coupling disinfecting component includes a ultraviolet lamp group, a photocatalytic substrate and a photocatalyst coating, and the ultraviolet lamp group emits ultraviolet light to realize ultraviolet disinfecting; the photocatalyst coating is Under the condition of ultraviolet light, active oxygen species are generated to realize the degradation and disinfecting effect.

Preferably, the tail of the delivery idler set has a baffle, and the bottom of the delivery idler set has a dripping water tank, and the top side wall of the delivery idler set has a second deviation protection barrier board and position sensor.

Preferably, the robotic automated palletizing system includes a robot body, and the robot has an end effector for palletizing goods.

The invention also discloses a method for automatically grabbing, unloading, disinfecting and stacking goods in a container, including:

S1. Preparations

The door of the container to be unloaded is manually opened, and the automatic grabbing and unloading device for the carton-filled goods in the self-propelled container runs to the front of the container door to complete the preparatory work before the automatic grabbing and unloading operation;

S2. Cargo unloading process

S21. The visual recognition system starts to identify and locate the container, and generates a motion control command; the motion system drives the grabbing system to a designated position according to the motion control command;

S22. The grabbing system grabs the goods and puts them on the electric telescopic idler mechanism for delivery;

S23, repeat steps S21-S22 to unload goods in a cycle;

S3, cargo delivery process

S31. The goods on the electric telescopic idler mechanism enter the set of connectable electric telescopic idlers;

S32. The set of connectable electric telescopic rollers transmits the goods to the automatic disinfection device;

S4. Cargo disinfection process

S41. The automatic disinfection device sterilizes the goods;

S5. Cargo palletizing process

S51. The sterilized goods enter the delivery idler set;

S52. The robotic automatic palletizing system palletizes the goods on the delivery roller set until unloading is completed.

Compared with the prior art, the present invention has the following advantages:

1. The present invention provides an efficient and intelligent integrated solution for the unloading, disinfection and palletizing of cartoned goods in cold chain logistics enterprises.

2. The self-propelling automatic grabbing and unloading device for boxed goods in containers provided by the present invention has a compact structure, small volume, and is movable, which meets the platform size limit of most cold chain enterprises and the cartons in the small space size of the container. Fast, efficient and automated unloading of goods.

3. The self-propelling automatic grabbing and unloading device for containerized goods provided by the present invention adopts the design of electric telescopic rollers, which not only meets the needs of stretching out when unloading, but also meets the needs of retraction during visual recognition, and realizes the visual recognition system. Large stroke retracement.

4. The self-propelling automatic grabbing and unloading device for boxed goods in containers provided by the present invention adopts a compact three-axis parallel superimposed linkage mechanism design for vertical lifting, which greatly increases the number of cartons to be unloaded while ensuring compact width and height. The adaptability within a large stroke height range can realize the full-section unloading and stomping operation requirements of standard containers.

5. The self-propelling automatic grabbing and unloading device for containerized goods provided by the present invention adopts the controllable flipping horizontal suction cup group to increase the grasping of the upper surface of the flat carton and increase the reliability of the grasping. Powerful supplement for lack of suction when sucking.

6. The disinfecting device provided by the present invention realizes the killing and inactivation of viruses, microorganisms, etc. through chemical spray killing, ultraviolet killing and photocatalytic killing coupling synergy; And photocatalysis enhances the disinfection ability of chemical disinfection liquid at low temperature (-1℃～-80℃). At the same time, both ultraviolet light and photocatalysis have disinfection ability. They are compatible with chemical spray disinfection, ultraviolet disinfection and photocatalytic disinfection Superimposed, effectively reducing the amount of chemical disinfection liquid used, to achieve high-efficiency, no dead ends, green and low-cost disinfection.

Based on the above reasons, the present invention can be widely promoted in fields such as intelligent unloading, disinfection and palletizing.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are some embodiments of the present invention. Those skilled in the art can also obtain other drawings based on these drawings without creative work.

Fig. 1 is a structural schematic diagram of an automatic grabbing, unloading, disinfection and palletizing operation line for cargo in a container according to the present invention.

Fig. 2 is a three-dimensional schematic diagram of an automatic grabbing and unloading device for carton-packed goods in an autonomously traveling container according to the present invention.

Fig. 3 is a three-dimensional schematic diagram of another viewing angle of the automatic grabbing and unloading device for carton-packed goods in an autonomously traveling container of the present invention.

Fig. 4 is a side view of the automatic grabbing and unloading device for carton-packed goods in an autonomously traveling container according to the present invention.

Fig. 5 is a front view of an automatic grabbing and unloading device for carton-packed goods in an autonomously traveling container according to the present invention.

Fig. 6 is a schematic diagram of the Z-direction vertical auxiliary lifting mechanism and the grabbing system of the present invention.

Fig. 7 is a structural schematic diagram of the electric walking platform vehicle of the present invention.

Fig. 8 is a schematic structural diagram of a set of continuous electric telescopic rollers according to the present invention.

Fig. 9 is a structural schematic diagram of the telescopic idler mechanism of the present invention.

Fig. 10 is a schematic structural view of the automatic disinfection device of the present invention.

Fig. 11 is a schematic diagram of the interior of the automatic disinfection device of the present invention.

Fig. 12 is a schematic diagram of the structure of the ultraviolet photocatalytic coupling disinfecting component of the present invention.

Fig. 13 is a structural schematic diagram of the delivery idler set of the present invention.

Fig. 14 is a structural schematic diagram of the robot automatic palletizing system of the present invention.

In the picture:

1. Automatic grabbing and unloading device for carton-loaded goods in self-propelled containers; 101. Electric walking platform vehicle; 1011. Operating platform; 1012. Electric drive wheel set; 1013. Embedded drawer-type electric control cabinet system; 1014. Measurement Distance sensor group; 1015, console; 102, X-direction horizontal and vertical movement mechanism; 103, Y-direction horizontal and lateral movement mechanism; 104, rotary mechanism; 105, Z-direction vertical lifting mechanism; 106, Z-direction vertical auxiliary lifting mechanism; 1061 , the first auxiliary lifting mechanism; 1062, the second auxiliary lifting mechanism; 107, the electric telescopic roller mechanism; 108, the vertical grab suction cup mechanism; 109, the horizontal grab combination sucker mechanism; group; 1093, horizontal push-pull cylinder group; 1094, rotating cylinder assembly; 1095, reversible horizontal suction cup group; 1096, bottom tray; 1010, visual recognition system;

2. Connectable electric telescopic roller group; 201. Main body of telescopic roller; 202. First drive motor system; 203. First connecting pin; 204. First anti-deviation baffle; 205. Liftable outrigger;

3. Automatic disinfection device; 301, frame; 302, anti-rust roller transmission mechanism; 303, liquid spray system; 304, ultraviolet photocatalytic coupling disinfecting component; 3041, ultraviolet lamp group; 3042, photocatalytic substrate; 3043, Photocatalyst coating; 305, waste liquid filtration and recovery device; 306, protective curtain; 307, external liquid storage tank;

4. Shipping idler group; 401, idler mechanism; 402, second drive motor system; 403, second deviation protection baffle; 404, position sensor; 405, dripping water tank;

5. Robotic automatic palletizing system; 501. Robot body; 502. Base; 503. Pneumatic grabbing end effector; 504. Electrical control system; 505. Air compressor.

detailed description

It should be noted that, in the case of no conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and examples.

In order to make the purpose, 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 in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is only some embodiments of the present invention, but not all embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and in no way taken as limiting the invention, its application or uses. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

It should be noted that the terminology used here is only for describing specific embodiments, and is not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural, and it should also be understood that when the terms "comprising" and/or "comprising" are used in this specification, they mean There are features, steps, operations, means, components and/or combinations thereof.

The relative arrangements of components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. At the same time, it should be clear that, for the convenience of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship. Techniques, methods and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such techniques, methods and devices should be considered part of the description. In all examples shown and discussed herein, any specific values should be construed as exemplary only, and not as limitations. Therefore, other examples of the exemplary embodiment may have different values. It should be noted that like numerals and letters denote like items in the following figures, therefore, once an item is defined in one figure, it does not require further discussion in subsequent figures.

In the description of the present invention, it should be understood that orientation words such as "front, back, up, down, left, right", "horizontal, vertical, vertical, horizontal" and "top, bottom" etc. indicate the orientation Or positional relationship is generally based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description. In the absence of a contrary description, these orientation words do not indicate or imply the device or element referred to. It must have a specific orientation or be constructed and operated in a specific orientation, so it should not be construed as limiting the scope of the present invention: the orientation words "inside and outside" refer to inside and outside relative to the outline of each part itself.

For the convenience of description, spatially relative terms may be used here, such as "on ...", "over ...", "on the surface of ...", "above", etc., to describe the The spatial positional relationship between one device or feature shown and other devices or features. 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, devices described as "above" or "above" other devices or configurations would then be oriented "beneath" or "above" the other devices or configurations. its underlying device or construction". Thus, the exemplary term "above" can encompass both an orientation of "above" and "beneath". The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptions used herein interpreted accordingly.

In addition, it should be noted that the use of words such as "first" and "second" to define components is only for the convenience of distinguishing corresponding components. To limit the protection scope of the present invention.

Example 1

As shown in Figure 1, an automatic grabbing, unloading, disinfection and stacking operation line for goods in containers, including:

The self-propelling automatic grabbing and unloading device 1 for the carton-packed goods in the container is used to grab the goods and place the goods on the continuous electric telescopic roller group 2;

The head end of the continuous electric telescopic roller set 2 is connected to the automatic grabbing and unloading device 1 for cartoned goods in the self-propelling container, and is used to transfer goods;

The automatic disinfection device 3, whose head end is connected with the tail end of the connectable electric telescopic roller group 2, is used for automatic disinfection of the goods delivered by the continuous electric telescopic roller group 2, and transfers the goods to Shipping roller group 4;

The delivery roller set 4 is connected to the tail end of the automatic disinfection device 3 at its head end for transferring goods;

The robotic automatic palletizing system 5 is connected to the tail end of the outgoing idler roller set 4 and is used to grab the goods on the outgoing idler roller set 4 and stack them.

As shown in Figures 2 to 5, the self-propelling automatic grabbing and unloading device 1 for cartoned goods in a container includes a motion system, a grabbing system, a visual recognition system 1010 and an electric telescopic idler mechanism 107; the visual inspection system 1010 scans and identifies the goods, judges the position of the goods and gives motion control instructions, drives the motion system to make the grabbing system reach the designated position, and the grabbing system grabs the goods and puts them on the electric telescopic pallet On the roller mechanism 107 , the tail of the electric telescopic idler mechanism 107 is connected to the head end of the continuous electric telescopic idler set 2 .

The motion system includes an electric walking platform vehicle 101 that moves longitudinally along the X direction in the horizontal direction, a horizontal and longitudinal movement mechanism 102 in the X direction, a horizontal and lateral movement mechanism 103 in the Y direction, a turning mechanism 104, a vertical lifting mechanism 105 in the Z direction, and a vertical movement mechanism in the Z direction. Vertical auxiliary lifting mechanism 106; the grabbing system includes a vertical grabbing suction cup mechanism 108 and a horizontal grabbing combined sucker mechanism 109;

The mounting end of the X-direction horizontal and vertical movement mechanism 102 is installed on the electric walking platform vehicle 101, and its output end moves horizontally and longitudinally along the X direction; the X-direction horizontal and longitudinal movement mechanism 102 can adopt slide rails, slide tables, motors and The way of lead screw, or the way of using slide table, slide rail and cylinder, can be adopted in various ways.

The mounting end of the Y-direction horizontal movement mechanism 103 is installed on the output end of the X-direction horizontal longitudinal movement mechanism, and the output end of the Y-direction horizontal movement mechanism 103 moves horizontally along the Y direction; The moving mechanism 103 can adopt the mode of slide rail, slide table, motor and leading screw, or adopt the mode of slide table, slide rail and cylinder, and the mode can adopt various.

The mounting end of the slewing mechanism 104 is installed on the output end of the Y-direction horizontal movement mechanism 102, and its output end rotates around its Z-direction central axis; the slewing mechanism 103 can use a motor-driven gear to drive the central gear to rotate, And the way that the central gear is fixed on the rotary table can also adopt the mode that the motor directly drives the rotary table, etc., and any mechanism that can achieve rotation is all right.

The mounting end of the Z-direction vertical lifting mechanism 105 is installed on the output end of the slewing mechanism 104, and its output end moves vertically along the Z-direction;

As shown in Figure 6, the mounting end of the Z-direction vertical auxiliary lifting mechanism 106 is installed on the output end of the Z-direction vertical lifting mechanism 105, and its output end moves vertically along the Z-direction; the Z-direction vertical auxiliary lifting mechanism 106 includes a first auxiliary lifting mechanism 1061 and a second auxiliary lifting mechanism 1062, the first auxiliary lifting mechanism 1061, the second auxiliary lifting mechanism 1062 and the Z-direction vertical lifting mechanism 105 constitute a compact three-axis parallel superposition linkage Vertical displacement device;

The mounting end of the first auxiliary lifting mechanism 1061 is installed on the output end of the Z-direction vertical lifting mechanism 105, and its output end moves vertically along the Z-direction;

The mounting end of the second auxiliary lifting mechanism 1062 is installed on the output end of the first auxiliary lifting mechanism 105, and its output end moves vertically along the Z direction;

The Z-direction vertical lifting mechanism 105, the first auxiliary lifting mechanism 1061 and the second auxiliary lifting mechanism 1062 can adopt the mode of slide rail, slide table, motor and lead screw, or adopt the mode of slide table, slide rail and cylinder, and the mode can be adopted diverse.

As shown in FIG. 6 , the horizontally grasping combined suction cup mechanism 109 includes a support seat 1091 fixedly connected to the output end of the second auxiliary mechanism 1062, and a horizontal bottom tray 1096 is fixed on the support seat 1091, The bottom tray 1096 is provided with a vertical suction cup group 1092 and a horizontal push-pull cylinder group 1093 that drives the vertical suction cup group 1092 to move telescopically along the direction of the vertical suction cup group 1092; above the vertical suction cup group 1092 A reversible horizontal suction cup group 1095 is provided, and the reversible horizontal suction cup group 1095 is connected to the vertical suction cup group 1092 through a rotating cylinder assembly 1094, and the rotating cylinder assembly 1094 is used to drive the reversible horizontal suction cup group 1095 flip;

The vertically grabbing suction cup mechanism 108 is installed on the bottom of the bottom tray 1096, and the vertically grabbing sucker mechanism 108 realizes grabbing of the middle and lower goods.

The vertical sucker group 1092 absorbs the side of the carton box, and the controllable turning horizontal sucker group 1095 flips down to realize the adsorption on the upper surface of the carton box. Under the retraction pulling force of the horizontal push-pull cylinder group 1093, the carton box is pulled out onto the bottom pallet 1096.

As shown in Figure 7, the electric walking platform vehicle 101 includes a working platform 1011, an electric drive wheel set 1012, a built-in drawer type electric control cabinet system 1013, a distance measuring sensor group 1014, and a console 1015; Cabinet system 1013 includes the control system of the entire device; where:

The work platform 1011 realizes the installation of the X-direction horizontal and vertical movement mechanism 102, the electric telescopic idler mechanism 107 and the console 1015; the electric drive wheel set 1012 realizes the self-propelled movement of the electric walking platform vehicle 101; the built-in drawer type electric control cabinet system 1013 Including the control system, it realizes the installation and processing of the control system of the whole device; the ranging sensor group 1014 is equipped with 8 sensors in total, distributed around the electric walking platform vehicle 101, and 2 are distributed on each side; the console 1015 realizes the visualization of the control system And external operation, the electric walking platform vehicle 101 is guided by the vision system and the ranging sensors on both sides, according to the needs of the unloading position, it is driven by numerical control to realize the autonomous progress of the unloading process.

The fixed end of the electric telescopic roller mechanism 107 is installed on the tail end of the electric walking platform vehicle 101, opposite to the head end of the continuous electric telescopic roller group 2, and its telescopic end is horizontally along the X To stretch. The front leg of the electric telescopic roller mechanism 2 adopts arc transition and single-point support to meet the needs of avoiding the bottom plate of the Y-direction horizontal lateral movement mechanism 103 during the telescopic process; the electric telescopic roller mechanism 2 has two When it is stretched out, it is used to grab the goods for transfer, and when it is retracted, it is used to increase the field of view distance during visual recognition. The switching between the two working states is controlled alternately by the program.

As shown in Fig. 8, the continuous electric telescopic roller group 2 adopts electric telescopic rollers as a whole, and the continuous electric telescopic roller group 2 includes at least one telescopic roller mechanism. As shown in Fig. 9, the telescopic The idler mechanism includes a liftable leg 205, a telescopic roller body 201 arranged on the liftable leg 205, and a first drive motor system 202 that drives the roller on the telescopic roller body 201 to work; The telescopic idler main body 201 is provided with a first anti-deviation baffle 204. When two or more telescopic idler mechanisms are used, two adjacent telescopic idler mechanisms use the first connecting pin 203 The telescopic idler mechanism located at the head is connected as a whole with the fixed end of the electric telescopic idler mechanism 107 using the first connecting pin. The lifting way of the liftable support leg 205 can adopt the way of arranging multiple pin holes and positioning pins to realize height selection.

The electric telescopic idler mechanism 107 and the telescopic idler main body 201 have a telescopic frame and a driving mechanism for driving the telescopic frame to expand and contract, and the telescopic frame has an idler and a motor for driving the idler to work.

As shown in Figures 10 to 12, the automatic disinfection device 3 includes a frame 301, and an anti-corrosion roller transmission mechanism 302 is arranged in the frame 301, and the head end of the anti-rust roller transmission mechanism 302 is connected to the The tail end of the electric telescopic roller group 2 can be connected as a whole through the first connecting pin 203, and the tail end of the anti-corrosion roller transmission mechanism 302 is connected with the head end of the shipping roller group 4;

In the frame 301, six groups of liquid spray systems 303 are arranged near the head of the frame 301, and the six groups of liquid spray systems 303 are respectively arranged on the upper, lower, and left sides of the frame. , right, front, and rear, used to spray the goods on the anti-corrosion idler roller transmission mechanism 302 on six sides, the spray system 303 includes at least one spray unit, and the spray unit is used to spray the goods spray disinfectant;

In the frame 301, four groups of ultraviolet photocatalytic coupling killing components 304 are arranged near the tail of the frame 301, and the four groups of ultraviolet photocatalytic coupling killing components 304 are respectively arranged on the frame Up, down, left, and right in 301; the ultraviolet photocatalytic coupling killing assembly 304 includes an ultraviolet lamp group 3041, a photocatalytic substrate 3042 and a photocatalyst coating 3043, and the ultraviolet lamp group 3041 emits ultraviolet light to realize ultraviolet elimination Killing effect; the photocatalyst coating 3043 generates active oxygen species (including ·O ² − , H ₂ O ₂ , ·OH and ¹ O ₂ , etc.) The frame 301 is provided with a waste liquid filtration and recovery device 305 at the bottom of the anti-corrosion roller transmission mechanism 302, with protective curtains 306 at both ends, and an external liquid storage tank 307 on the side wall;

As shown in Figure 13, the delivery idler set 4 includes an idler mechanism 401, a second driving motor system 402, a second deviation protection baffle 403, a position sensor 404, and a dripping water tank 405; the idler mechanism 401 There is a baffle at the tail of the roller mechanism, the drip receiving tank 405 is located at the bottom of the idler mechanism 401, the second deviation protection baffle 403 and the position sensor 404 are located on the side wall of the idler mechanism 401, and the second drive motor system is used to drive the idler mechanism 401 work. The idler mechanism 401 is connected as a whole with the anti-corrosion idler transmission mechanism through the second connecting pin.

As shown in FIG. 14 , the robot automatic palletizing system 5 includes a robot body 501 , a robot body seat 501 on a base 502 , the robot body 501 has a pneumatic grasping end effector 503 , an electrical control system 504 and an air compressor 505 .

Example 2

As shown in Figures 1 to 14, a method for automatically grabbing, unloading, disinfecting and stacking goods in a container adopts the operation line provided in Embodiment 1, including:

S1. Preparations

Manually open the door of the container to be unloaded, and run the automatic grabbing and unloading device 1 for the carton-filled goods in the self-propelled container to the front of the container door to complete the preparatory work before the automatic grabbing and unloading operation;

S2. Cargo unloading process

S21. Visual recognition

S211. The visual recognition system 1010 starts to identify and locate the container, and generates a motion control command;

S212, judging whether to use the horizontal grasping combined suction cup mechanism 109 or the vertical grasping suction cup mechanism 108 for grasping;

S213. Form a corresponding motion strategy after determining the coordinate points of the container; the motion system drives the grabbing system to a designated position according to a motion control instruction;

S22. The grabbing system grabs the goods and puts them on the electric telescopic idler mechanism 2 for delivery;

S221. Automatic grabbing and unloading of the goods in the upper carton;

S2221. Make the horizontal grasping combined suction cup mechanism 109 run to the upper position to be grasped;

S2222, the operation of the horizontal push-pull cylinder group 1093 makes the horizontal grasping combined suction cup mechanism 109 push out horizontally; for flat cartons, when the vertical suction cup group 1092 is sucked to the side of the carton, the controllable flip horizontal suction cup group 1095 is under the action of the rotating cylinder assembly 1094 Turn over to realize the auxiliary suction cup on the upper surface of the carton;

S2223, after grabbing the goods, the horizontal push-pull cylinder group 1093 makes the horizontal grab combined suction cup mechanism 109 horizontally pulled back, and now the goods fall on the bottom pallet 1096.

S2224. The motion system drives the horizontal grasping combined suction cup mechanism 109 to descend and rotate 90° to the unloading position; synchronously, the electric telescopic idler mechanism 107 extends;

S2225. The horizontal push-pull cylinder group 1093 pushes out the horizontal grasping combined suction cup mechanism 109 for unloading; for flat cartons, the controllable turning horizontal suction cup group 1095 turns over under the action of the rotating cylinder assembly 1094 to release the suction on the upper surface of the carton; The goods fall on the electric telescopic roller mechanism 107.

S222. Automatic grabbing and unloading of the middle and lower carton goods;

S2221. The vertical grabbing suction cup mechanism 108 moves to the position to be grabbed at the middle and lower part; synchronously, the electric walking platform vehicle 101 advances the distance of one container;

S2222. Grab the goods vertically by the sucker mechanism 108;

S2223. The motion system makes the vertical grabbing suction cup mechanism 108 first raised to a certain height, and then rotated 90° to the unloading position after retreating a certain safe distance; synchronously, the electric telescopic idler mechanism 107 extends;

S2224, grabbing the suction cup mechanism vertically to unload the goods, and the goods fall on the electric telescopic roller mechanism 107;

S23, cycle unloading, steps S21-S22 are carried out in a cycle;

S3, cargo delivery process

S31. The carton-packed goods after unloading enter the continuous electric telescopic roller group 2; the first deviation protection baffle 204 regulates the irregular goods during the transmission process;

S32. Send the goods to the automatic disinfection device 3;

S4. Cargo disinfection process

S41. The automatic disinfection device 3 performs rapid and efficient disinfection of the goods by ultraviolet photocatalysis and disinfectant coupling multi-energy field with no dead angle on six sides;

S5. Cargo palletizing process

S51, the sterilized goods enter the delivery roller group 4; the second deviation protection baffle 403 regulates the sterilized irregular goods; enter the position to be stacked, and the position sensor 404 detects that the carton enters the predetermined position;

S52. The operation of the robot body 501 makes the pneumatic grabbing end effector 503 grab the carton, put it into the pallet, and stack it circularly until the unloading is completed.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than limiting them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: It is still possible to modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the various embodiments of the present invention. scope.

Claims (10)

1. The utility model provides an automatic goods snatchs in container and unloads disinfection and pile up neatly operation line which characterized in that includes:

the automatic grabbing and unloading device for the carton goods in the autonomous traveling container is used for grabbing the goods and placing the goods on the continuous electric telescopic carrier roller group;

the head end of the continuous electric telescopic carrier roller group is connected with the automatic carton goods grabbing and unloading device in the autonomous advancing container and is used for transferring goods;

the head end of the automatic disinfection device is connected with the tail end of the continuous electric telescopic carrier roller group and is used for automatically disinfecting the goods transmitted by the continuous electric telescopic carrier roller group and transmitting the goods to the delivery carrier roller group;

the head end of the delivery carrier roller group is connected with the tail end of the automatic disinfection device and is used for transferring goods; and the number of the first and second groups,

and the robot automatic stacking system is connected with the tail end of the delivery carrier roller group and is used for grabbing the goods on the delivery carrier roller group and stacking the goods.

2. The automatic cargo grabbing, unloading, disinfecting and stacking line for containers as claimed in claim 1, wherein the automatic carton cargo grabbing and unloading device for the autonomous container comprises a moving system, a grabbing system, a visual recognition system and an electric telescopic carrier roller mechanism; the visual detection system scans and identifies the goods, judges the positions of the goods and gives a motion control instruction, the motion system is driven to enable the grabbing system to reach the designated position, the grabbing system grabs and places the goods on the electric telescopic carrier roller mechanism, and the tail part of the electric telescopic carrier roller mechanism is connected with the head end of the continuous electric telescopic carrier roller group.

3. The automatic cargo grabbing, unloading, disinfecting and palletizing line as claimed in claim 2, wherein the motion system comprises an electric walking platform car moving longitudinally along the X direction in the horizontal direction, an X-direction horizontal longitudinal moving mechanism, a Y-direction horizontal transverse moving mechanism, a swing mechanism, a Z-direction vertical lifting mechanism and a Z-direction vertical auxiliary lifting mechanism; the grabbing system comprises a vertical grabbing sucker mechanism and a horizontal grabbing combined sucker mechanism;

the mounting end of the X-direction horizontal longitudinal moving mechanism is mounted on the electric walking platform car, and the output end of the X-direction horizontal longitudinal moving mechanism moves in the X direction in the horizontal direction;

the mounting end of the Y-direction horizontal transverse moving mechanism is mounted on the output end of the X-direction horizontal longitudinal moving mechanism, and the output end of the Y-direction horizontal transverse moving mechanism moves along the Y direction in the horizontal direction;

the mounting end of the swing mechanism is mounted on the output end of the Y-direction horizontal transverse moving mechanism, and the output end of the swing mechanism rotates around the Z-direction central axis of the swing mechanism;

the mounting end of the Z-direction vertical lifting mechanism is mounted on the output end of the slewing mechanism, and the output end of the Z-direction vertical lifting mechanism vertically moves along the Z-direction;

the mounting end of the Z-direction vertical auxiliary lifting mechanism is mounted on the output end of the Z-direction vertical lifting mechanism, and the output end of the Z-direction vertical auxiliary lifting mechanism vertically moves along the Z-direction;

the vertical grabbing sucker mechanism is arranged at the output end of the Z-direction vertical auxiliary lifting mechanism to grab the middle and lower goods; the horizontal grabbing combined sucker mechanism is positioned above the vertical grabbing sucker mechanism and is arranged at the output end of the Z-direction auxiliary lifting mechanism to grab upper goods;

the fixed end of the electric telescopic carrier roller mechanism is installed at the tail end of the electric walking platform car and is opposite to the head end of the continuous electric telescopic carrier roller group, and the telescopic end of the electric telescopic carrier roller mechanism stretches out and draws back along the X direction in the horizontal direction.

4. The automatic cargo grabbing, unloading, disinfecting and palletizing line as claimed in claim 3, wherein the Z-direction vertical auxiliary lifting mechanism comprises a first auxiliary lifting mechanism and a second auxiliary lifting mechanism, and the first auxiliary lifting mechanism, the second auxiliary lifting mechanism and the Z-direction vertical lifting mechanism form a compact three-axis parallel-stacking linkage vertical displacement device;

the mounting end of the first auxiliary lifting mechanism is mounted at the output end of the Z-direction vertical lifting mechanism, and the output end of the first auxiliary lifting mechanism vertically moves along the Z-direction;

the mounting end of the second auxiliary lifting mechanism is mounted at the output end of the first auxiliary lifting mechanism, and the output end of the second auxiliary lifting mechanism vertically moves along the Z-direction;

and the horizontal grabbing combined sucker mechanism and the vertical grabbing sucker mechanism are both arranged at the output end of the second auxiliary mechanism.

5. The automatic cargo grabbing, unloading, disinfecting and palletizing line as claimed in claim 4, wherein the horizontal grabbing combined sucker mechanism comprises a bracket base fixedly connected with the output end of the second auxiliary mechanism, a horizontally arranged bottom tray is fixed on the bracket base, a vertical sucker group and a horizontal push-pull cylinder group for driving the vertical sucker group to move in a telescopic manner along the vertical sucker group are arranged above the bottom tray; a turnable horizontal sucker group is arranged above the vertical sucker group, the turnable horizontal sucker group is connected with the vertical sucker group through a rotary cylinder assembly, and the rotary cylinder assembly is used for driving the turnable horizontal sucker group to turn;

the vertical grabbing sucker mechanism is arranged at the bottom of the bottom tray.

6. The automatic cargo grabbing, unloading, disinfecting and stacking line as claimed in claim 1, wherein the set of connectable electrically retractable idler rollers comprises at least one retractable idler mechanism, the retractable idler mechanism comprises a liftable leg, a retractable idler body arranged on the liftable leg, and a first driving motor system for driving an idler on the retractable idler body to work; the telescopic carrier roller comprises a telescopic carrier roller body and is characterized in that a first deviation-preventing baffle is arranged on the telescopic carrier roller body, and two or more telescopic carrier roller mechanisms are adopted, and every two adjacent telescopic carrier roller mechanisms are connected into a whole through a first connecting pin.

7. The automatic cargo grabbing, unloading, disinfecting and stacking line as claimed in claim 1, wherein the automatic disinfecting device comprises a frame, an anti-corrosion roller transmission mechanism is arranged in the frame, the head end of the anti-corrosion roller transmission mechanism is connected with the tail end of the continuous electric telescopic roller group, and the tail end of the anti-corrosion roller transmission mechanism is connected with the head end of the shipment roller group;

six groups of liquid spraying systems are arranged at the position, close to the head of the rack, in the rack, and are respectively arranged at the upper part, the lower part, the left part, the right part, the front part and the rear part in the rack and used for six-side spraying on the goods on the anti-corrosion carrier roller transmission mechanism;

four groups of ultraviolet light catalysis coupling killing assemblies are arranged at the tail part close to the rack in the rack, and the four groups of ultraviolet light catalysis coupling killing assemblies are respectively arranged at the upper part, the lower part, the left part and the right part in the rack; the ultraviolet light catalytic coupling sterilizing component comprises an ultraviolet lamp set, a photocatalytic substrate and a photocatalyst coating, wherein the ultraviolet lamp set emits ultraviolet light to realize an ultraviolet sterilizing effect; the photocatalyst coating generates active oxygen species under the ultraviolet illumination condition, and the degradation and sterilization effects are realized.

8. The automatic cargo grabbing, unloading, disinfecting and palletizing line in a container as claimed in claim 1, wherein a baffle is arranged at the tail part of the discharging carrier roller group, a liquid dropping water receiving groove is arranged at the bottom of the discharging carrier roller group, and a second deviation protection baffle and a position sensor are arranged on the side wall of the top part of the discharging carrier roller group.

9. An automated pick-off, sterilization and palletization line for goods inside containers as in claim 1, characterized in that said robotic automated palletization system comprises a robot body having an end effector for palletizing goods.

10. The method for automatically grabbing, unloading, disinfecting and palletizing goods in a container as claimed in any one of claims 2 to 9, which comprises the following steps:

s1, preparation work

Manually opening a container door to be unloaded, and operating the automatic grabbing and unloading device for the carton goods in the autonomous marching type container to the front of the container door to finish preparation work before automatic grabbing and unloading operation;

s2, cargo unloading process

S21, the visual recognition system starts to recognize and position the container to generate a motion control instruction; the motion system drives the grabbing system to reach a specified position according to a motion control instruction;

s22, the grabbing system grabs the goods and places the goods on the electric telescopic carrier roller mechanism for transmission;

s23, repeating the steps S21-S22 to carry out cyclic unloading;

s3, cargo transferring process

S31, enabling goods on the electric telescopic carrier roller mechanism to enter the continuous electric telescopic carrier roller set;

s32, the continuous electric telescopic carrier roller group conveys the goods to the automatic disinfection device;

s4, goods disinfection process

S41, disinfecting the goods by the automatic disinfection device;

s5, cargo stacking process

S51, the disinfected goods enter the delivery carrier roller group;

and S52, the robot automatic stacking system stacks the goods on the discharging carrier roller group until the discharging is completed.

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