CN116573436A - An airport luggage automatic sorting and loading device and system - Google Patents

Abstract

The invention discloses an airport luggage automatic sorting and loading device and system, belonging to the technical field of luggage handling. The conveying line includes the lifting belt line and the lifting and transplanting belt line, and the lifting and transplanting belt line traverses the suitcase to let it leave the lifting conveyor line; the loading robot includes the end effector for supporting the suitcase and the end effector for moving the end effector The mechanical arm; the end effector includes a support plate, a push plate capable of pushing the suitcase off the support plate, and a first power assembly for driving the push plate to move along the support plate. The technical solution adapts to a wide range of luggage specifications, sorts and stacks luggage quickly and efficiently, and causes little damage to luggage.

Description

An airport luggage automatic sorting and loading device and system

technical field

The invention belongs to the technical field of luggage handling, in particular to an airport luggage automatic sorting and loading device and system.

Background technique

At the airport, the luggage that needs to be checked in needs to be weighed and inspected during check-in, and then transported to the back-end basement by the conveyor belt, and then sorted and stored, and sorted to the cargo platform corresponding to the flight. Among them, the back-end basement of airport luggage consignment has many luggage loading circular conveyor lines. Usually, mechanical arms and manipulators are used to grab and load the luggage on the circular conveyor line. Due to the variety of luggage types and miscellaneous categories, the size and The weight is also different. When the manipulator grabs and transfers luggage, it is easy to drop the bag, damage the luggage, and fail to stack and load the car. The sorting and loading process is highly dependent on workers, and it is difficult to automate, especially for heavy checked luggage and luggage. The size is large, the labor intensity of the porters is high, and manual handling is time-consuming and laborious.

Contents of the invention

In order to solve the above technical problems, the technical solution of the present invention is: an airport luggage automatic sorting and loading device, including a lifting conveyor line, a loading robot that stacks the luggage from the lifting conveyor line into the luggage cart, and a baggage identification detection structure for box labels and dimensions;

The lifting conveyor line includes a lifting belt line and a jacking and transplanting belt line connected to the lifting belt line, and the jacking and transplanting belt line traverses the luggage case to allow it to break away from the lifting conveyor line;

The loading robot includes an end effector for supporting the suitcase and a mechanical arm for moving the end effector;

The end effector includes a supporting plate, a push plate capable of pushing the suitcase off the supporting plate, a limiting member for limiting the luggage case to leave the supporting plate, a first power assembly for driving the pushing plate to move along the supporting plate, and a driving limiting member Moving second power pack.

Specifically, the first power assembly includes a slide rail arranged on the lower surface of the top plate, a slider fixedly connected to the top of the push plate, and an air cylinder, which pushes the slide block to move along the slide rail to adjust the gap between the push plate and the baffle plate. distance.

Specifically, the second power assembly includes a rotating motor, a rocker connected to the output end of the rotating motor, one end rotatably connected to the rocker, the other end rotatably connected to the first connecting rod of the second connecting rod, and one end fixedly connected to the second connecting rod. One end is fixedly connected to the third connecting rod of the limiter, wherein the first connecting rod extends vertically and downward along the back of the baffle, and the third connecting rod extends laterally and horizontally along the lower surface of the pallet.

Specifically, the lifting conveying line also includes a descending belt line, several longitudinal conveying shafts arranged on the jacking and transplanting belt line, and a driving member that drives several longitudinally moving conveying shafts to rotate synchronously. Remove lift conveyor line.

Specifically, a luggage guide plate for correcting the angle of the luggage case is arranged on the lifting belt line.

Specifically, the lifting belt line is provided with a movable shovel plate at the joint with the line rail.

Specifically, the lifting and transplanting belt line includes a chassis, a driving shaft, a driven shaft, several belt lines sleeved between the driving shaft and the driven shaft, and a third power assembly that drives the driving shaft to rotate relative to the chassis.

Specifically, the jacking and transplanting belt line also includes four horizontal cylinders installed on the chassis, wherein the output ends of two horizontal cylinders are respectively connected to the two ends of the drive shaft in rotation, and the output ends of the remaining two horizontal cylinders are respectively connected to the driven shaft. both ends of the shaft.

Specifically, one side of the lifting conveyor line is provided with a ground rail and a third power assembly that drives the loading robot to translate along the ground rail.

The present invention also relates to an automatic sorting and loading system for airport luggage, which includes the automatic sorting and loading device for airport luggage according to claims 1 to 9.

Compared with the prior art, the technical solution provided by the invention has the following advantages:

1. Set up the jacking and transplanting belt line to move the suitcase laterally away from the lifting conveyor line, and then support the suitcase on the pallet. The docking is smooth, there is no need to grab the luggage, there is no damage to the luggage, and it is between the lifting conveyor line and the loading robot Fast and efficient transfer of baggage between transitions.

2. The three sides of the pallet are unobstructed, which can be adapted to suitcases of various specifications, reducing the workload of manual sorting and loading. At the same time, setting limit pieces to improve the load-bearing stability during transportation and prevent the suitcase from falling.

3. The push plate is installed, which can push the suitcase out of the pallet, improve the efficiency of suitcase stacking, facilitate the stable establishment of the palletizing pattern, and reduce the damage to the suitcase during the loading process.

Description of drawings

Fig. 1 is the overall structural diagram of the automatic sorting and loading system of airport luggage in the embodiment of the present invention;

Fig. 2 is the overall structural diagram of the airport luggage automatic sorting and loading device in the embodiment of the present invention;

Fig. 3 is the assembly drawing of lifting conveyor line in the embodiment of the present invention;

Figure 4 is an exploded view of the lifting conveyor line in the embodiment of the present invention;

Fig. 5 is the structural diagram of loading robot in the embodiment of the present invention;

Fig. 6 is a structural diagram of an end effector in an embodiment of the present invention;

Fig. 7 is a structural diagram of the second power assembly in the embodiment of the present invention;

Fig. 8 is a flow chart of the airport luggage automatic sorting and loading system in the embodiment of the present invention.

As shown in the figure:

1. Line track; 2. Lifting conveyor line; 21. Lifting belt line; 211. Lifting belt; 212. Movable shovel plate; 213. Luggage guide plate; 214. Strut; 22. Lifting and transplanting belt line; 221. Chassis; 222, driving shaft; 223, vertically moving conveying shaft; 224, transplanting belt; 225, lifting cylinder; 226, driven shaft; 23, falling belt line; 24, baffle plate; 3, loading robot; End effector; 311, support plate; 312, push plate; 313, first power assembly; 314, limit piece; 315, side plate; 316, top plate; 317, second power assembly; 3171, rotating motor; 3172, Rocker; 3173, first connecting rod; 3174, second connecting rod; 3175, third connecting rod; 32, six-axis robotic arm; 33, base; 34, ground rail; 4, luggage cart; 5, identifier; 6. 3D vision camera.

Detailed ways

For ease of understanding, the airport luggage automatic sorting and loading device and system will be described below in conjunction with embodiments. It should be understood that these embodiments are only for illustrating the present invention and are not intended to limit the scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" etc. The indicated orientation or positional relationship is based on the orientation and positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplification of the description, rather than indicating or implying that the referred device or element must have a specific orientation, use a specific orientation construction and operation, therefore, should not be construed as limiting the invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and should not be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that unless otherwise specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. Connected or integrally connected; it can be mechanically connected or electrically connected; it can be directly connected or indirectly connected through an intermediary, and it can be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention in specific situations.

As shown in Figures 1 to 2, an automatic airport luggage sorting and loading device includes a ring-shaped line rail 1, a lifting conveyor line 2, a loading robot 3, and a luggage cart 4. On the four lifting conveyor lines 2, the suitcases placed on the line rail 1 will be transported to the lifting conveyor line 2 by the line rail 1, and the loading robot 3 will stack the luggage output by the lifting conveyor line 2 into the luggage cart 4.

The line track 1 includes an endless belt line driven by a motor to rotate circularly. On the side of the line track 1 close to the entry end of the lifting conveyor line 2, a support for an identifier 5 is provided. It is used to identify the label pasted on the luggage and read the flight information corresponding to the label. If the luggage belongs to this flight, it will be moved into the luggage trolley 4. After reaching the line rail 1, it is transferred to the next lifting conveyor line 2 by the line rail 1.

Another bracket for supporting and installing a 3D vision camera 6 is also provided on the line rail 1 between the identifier 5 support and the lifting conveyor belt, and the 3D vision camera 6 takes pictures of the size of the suitcase and transmits the information to the end effector 31 , the end effector 31 adjusts the position of the push plate 312 to be suitable for luggage loading, and the oversized luggage detected by the recognizer 5 and the 3D vision camera 6 or the recognized luggage that does not belong to this flight are handled manually.

As shown in Figures 3 to 4, the lifting conveyor line 2 includes a lifting belt line 21 connected to the wire rail 1, a jacking and transplanting belt line 22 connected to the lifting belt line 21, a descending belt line 23, and a belt line 23 that is arranged on the side away from the loading robot 3. The baffle plate 24 on the side, the setting of the baffle plate 24 can prevent luggage from falling to the inner side of the line rail 1 .

The lifting belt line 21 includes a lifting belt 211 arranged obliquely, a movable shovel plate 212 and a luggage guide plate 213 arranged at the junction of the lifting belt 211 and the line rail 1, wherein a support rod 214 is arranged on one side of the lifting belt 211, and the support rod 214 It extends to the surface of the lifting belt 211 and is fixedly connected to the luggage guide plate 213 at the end of the extension. The luggage guide plate 213 is not in contact with the surface of the lifting belt 211, so it is not affected by the rotation of the lifting belt 211 and there is no friction. Specifically, the luggage guide plate The part of 213 located at the upper end of the lifting belt 211 is parallel to the baffle plate 24, and the width of the channel for luggage to pass through remains unchanged. The part of the luggage guide plate 213 located at the lower end of the lifting belt 211 is not parallel to the baffle plate 24. The channel width between the luggage guide plate 213 and the baffle plate 24 gradually decreases, which is used to correct the luggage case placement angle.

Lifting and transplanting belt line 22 comprises chassis 221, driving shaft 222, driven shaft 226, some transplanting belts 224 that are sleeved between driving shaft 222 and driven shaft 226, the first part that drives driving shaft 222 to rotate relative to chassis 221. Three power components and four lifting cylinders 225 installed on the chassis 221, the output ends of two lifting cylinders 225 in the four lifting cylinders 225 are respectively connected to the two ends of the drive shaft 222 in rotation, and the output ends of the remaining two lifting cylinders 225 are connected in rotation The two ends of the driven shaft 226 can lift the height of the driving shaft 222 or the driven shaft 226 by the lifting cylinder 225, and then adjust the height of the jacking and transplanting belt line 22, and change the jacking and transplanting belt line 22 to translate the luggage case. Let it break away from the height of the suitcase when lifting the conveying line 2; the jacking and transplanting belt line 22 also includes a number of longitudinally moving conveying shafts 223 and driving parts that drive several longitudinally moving conveying shafts 223 to rotate synchronously, specifically several longitudinally moving conveying shafts 223 There are gears at the ends of the gears, the gears are connected by racks, and the driving part drives one of the longitudinal conveying shafts 223 to rotate to drive all the longitudinal conveying shafts 223 to rotate synchronously and in the same direction. The three power assemblies stop running, and the transplanting belt 224 is static, and the driving part drives the vertically moving conveying shaft 223 to rotate, and the suitcase is moved to the descending belt line 23 by the original running direction.

The descending belt line 23 includes a descending belt arranged obliquely, and is used to move back the luggage case that does not belong to this flight after identification to the line rail 1 .

As shown in FIGS. 5 to 7 , the loading robot 3 includes an end effector 31 supporting the suitcase, a six-axis robot arm 32 for moving the end effector 31 , a base 33 located at the lower end of the six-axis robot arm 32 , and a The ground rail 34 on one side of the conveyor line 2 and the third power assembly that drives the loading robot 3 to translate along the ground rail 34, the base 33 can slide along the ground rail 34, so that the end effector 31 can place the luggage on the lifting conveyor line In any one of the two luggage carts 4 on the outside of 2, increasing the transverse operation span of the end effector 31 can cover the stacking work of the two luggage carts 4.

The end effector 31 includes a support plate 311, a push plate 312 capable of pushing the suitcase away from the support plate 311, a first power assembly 313 for driving the push plate 312 to move along the support plate 311, and a set on the support plate 311 to limit the suitcase. The stopper 314 that breaks away from the supporting plate 311, the side plate 315 fixed on one side of the supporting plate 311, the top plate 316 fixed on the upper end of the side plate 315, and the second power assembly 317 that drives the limiter 314 to move, the limiter 314 is located at The edge of the supporting plate 311 , wherein both sides of the side plate 315 and their relatives are unobstructed, can reduce the restriction on the size of the suitcase and improve the adaptability of the end effector 31 .

The first power assembly 313 includes a slide rail arranged on the lower surface of the top plate 316, a slide block fixedly connected to the top of the push plate 312, and a horizontal air cylinder, and the horizontal air cylinder pushes the slide block to move along the slide rail, thereby adjusting distance between.

The second power assembly 317 includes two rotating motors 3171 installed on the top of the side plate 315 towards the side of the push plate 312. The output end of each rotating motor 3171 passes through the side plate 315 and is connected with a rocker 3172, which is away from the rotating One end of the output end of the motor 3171 is rotatably connected to a first connecting rod 3173, the bottom of the first connecting rod 3173 is rotatably connected to a second connecting rod 3174, and the end of the second connecting rod 3174 away from the first connecting rod 3173 is fixedly connected to a third connecting rod 3175, the end of the third connecting rod 3175 is fixedly connected to the stopper 314, wherein the first connecting rod 3173 extends vertically along the side plate 315 away from the downward direction, and the third connecting rod 3175 extends laterally and horizontally along the lower surface of the supporting plate 311 , the rotating motor 3171 drives the rocker 3172 to rotate, the rocker 3172 drives the first connecting rod 3173 to move, the first connecting rod 3173 drives the second connecting rod 3174 to rotate, and then drives the stopper 314 to rotate, and the stopper 314 rotates 90° or After 270°, the stopper 314 is partially positioned above the supporting plate 311 to limit the movement of the suitcase and prevent it from falling.

As shown in Fig. 1 and Fig. 8, the present invention also relates to an airport luggage automatic sorting and loading system, which includes an airport luggage automatic sorting and loading device, and the system consists of a conveying system, a stacking system and a transmission system. The sensing and measuring system consists of, specifically, the conveying system includes a lifting conveyor line 2 and a luggage cart 4, the palletizing system includes a loading robot 3, and the sensing and measuring system includes a detection structure for detecting luggage, that is, a 2D code scanning recognizer 5 and 3D vision camera 6 can realize docking on the original airport circular rail 1, and carry out code scanning identification and classification of luggage; the detection structure can identify the size of the suitcase to be grabbed, and the loading robot 3 can adapt to suitcases of various specifications , luggage bags and other materials; the luggage palletizing system plans the loading and palletizing type according to the measured luggage size. Its operation process is as follows:

S1: Draw a parking space on the outer side of the ring track 1 corresponding to the lifting conveyor line 2, and manually discharge the luggage cart 4 to the marking area of the parking space;

S2: The suitcase with the label goes through the security check and enters the circular track 1, and the label has the flight number corresponding to the suitcase;

S3: Assign the flight information of this palletizing to the loading robot 3;

S4: The luggage passes through the 2D code scanning recognizer 5 to identify and read the flight number of the suitcase, and then the 3D visual camera 6 measures the size and posture of the suitcase;

S5: The luggage guide plate 213 corrects the posture of the suitcase, and the loading robot 3 grabs the luggage corresponding to the flight information and stacks it on the luggage trolley 4; the loading robot 3 moves on the ground rail 34 and can cover the codes of the two luggage trolleys 4 Stack work;

S6: Uncaught luggage returns to line track 1, and is transported by line track 1 to the next grabbing station or to the manual processing area. Oversized luggage or unidentified luggage is manually handled.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it can still modify the technical solutions described in the aforementioned 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 depart from the scope of the technical solutions of the embodiments of the present invention.

Claims (10)

1. The automatic sorting and loading device for the luggage cases of the airports is characterized by comprising a lifting conveying line, a loading robot for stacking the luggage cases from the lifting conveying line into the luggage cases and a detection structure for identifying labels and sizes of the luggage cases;

the lifting conveying line comprises a lifting belt line and a lifting transplanting belt line connected with the lifting belt line, and the lifting transplanting belt line transversely moves the luggage case so as to be separated from the lifting conveying line;

the loading robot comprises an end effector for supporting the trunk and a mechanical arm for moving the end effector;

the end effector comprises a supporting plate, a push plate capable of pushing the luggage case to be separated from the supporting plate, a limiting piece used for limiting the luggage case to be separated from the supporting plate, a first power assembly driving the push plate to move along the supporting plate and a second power assembly driving the limiting piece to move.

2. The automated airport luggage case sorting and loading system of claim 1, wherein the first power assembly comprises a slide rail disposed on the lower surface of the top plate, a slider fixedly connected to the top of the push plate, and a cylinder pushing the slider to move along the slide rail for adjusting the distance between the push plate and the baffle.

3. The automated airport luggage case sorting and loading device of claim 1, wherein the second power assembly comprises a rotating motor, a rocker connected to an output end of the rotating motor, a first connecting rod with one end rotatably connected to the rocker and the other end rotatably connected to the second connecting rod, and a third connecting rod with one end fixedly connected to the second connecting rod and the other end fixedly connected to the limiting member, wherein the first connecting rod extends vertically away from the downward along the baffle, and the third connecting rod extends horizontally and horizontally along a lower surface of the pallet.

4. The automated airport luggage case sorting and loading apparatus of claim 1, wherein the lifting conveyor line further comprises a descending belt line, a plurality of longitudinally moving conveyor shafts disposed on the lifting and transplanting belt line, and a driving member for driving the plurality of longitudinally moving conveyor shafts to rotate synchronously, and wherein the luggage case is moved out of the lifting conveyor line along with the rotation of the longitudinally moving conveyor shafts.

5. The automated airport luggage case sorting and loading apparatus of claim 1, wherein the lifting belt line is provided with a luggage guide plate for correcting a luggage case placement angle.

6. The automated airport luggage case sorting and loading system of claim 1, wherein the lifting strap line is provided with a movable blade at a junction with the line rail.

7. The automated airport luggage case sorting and loading apparatus of claim 1, wherein the jacking and transplanting belt lines comprise a chassis, a drive shaft, a driven shaft, a plurality of belt lines sleeved between the drive shaft and the driven shaft, and a third power assembly for driving the drive shaft to rotate relative to the chassis.

8. The automated airport luggage case sorting and loading device of claim 7, wherein the jacking and transplanting belt line further comprises four horizontal cylinders mounted on the chassis, wherein two horizontal cylinder outputs are respectively rotatably connected with two ends of the driving shaft, and the remaining two horizontal cylinder outputs are respectively rotatably connected with two ends of the driven shaft.

9. The automated airport luggage case sorting and loading apparatus of claim 1, wherein one side of the lift conveyor line is provided with a ground rail and a third power assembly that drives the loading robot to translate along the ground rail.

10. An airport luggage automatic sorting and loading system, characterized in that the airport luggage automatic sorting and loading system comprises the airport luggage automatic sorting and loading device of claims 1 to 9.