CN207275774U - A kind of intelligence loading system - Google Patents
A kind of intelligence loading system Download PDFInfo
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- CN207275774U CN207275774U CN201721153611.5U CN201721153611U CN207275774U CN 207275774 U CN207275774 U CN 207275774U CN 201721153611 U CN201721153611 U CN 201721153611U CN 207275774 U CN207275774 U CN 207275774U
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- loading system
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Abstract
The utility model provides a kind of intelligent loading system, including：De-stacking device, it includes unstacking robot, branch mailbox mechanism, and branch mailbox mechanism includes sequentially connected first conveyer belt, the second conveyer belt, and the speed of the first conveyer belt is less than the speed of the second conveyer belt；Unstacking robot, for cargo to be positioned over the first conveyer belt；Long arm robot, it includes pedestal, transmitting device, fixture equipped with swing mechanism, and transmitting device includes mechanical arm, conveyer belt, the adjusting mechanism for adjusting mechanical arm pitch angle；Mechanical arm is arranged on pedestal, and adjusting mechanism is arranged on pedestal；Fixture is arranged on the free end of mechanical arm；Vision positioning device, vision positioning device include being used for the sensor unit for measuring car parameter.The utility model global design is compact, strong applicability；It is compatible strong, it is adapted to various types of compartments；Automatically control positioning accuracy height, good reliability；Full-automatic operation, it is efficient, easy to manage, save entreprise cost.
Description
Technical field
It the utility model is related to a kind of intelligent loading system.
Background technology
With the development of the society, the development of enterprise, high efficiency, stability to existing logistic storage propose new want
Ask.Logistics goods rely on forklift transport from warehouse to compartment at present, and manually carry out loading/unloading vehicles, and worker is out of warehouse by cargo
Remove into compartment, porter's physical work intensity is big, is inconvenient to walk about in compartment, and environment temperature is higher, and working environment is severe.
During current loading-unloading vehicle, worker be engaged in carry labor intensity is big, be engaged in carry industry personnel it is fewer and fewer, logistics effect
Rate can not be lifted further.With the reinforcement of national labor laws and regulations, the requirement to labor safety and occupational protection is more next
It is higher, cause logistics cost higher and higher.Therefore, the problem of how efficiently managing warehousing system, becoming urgent need to resolve in the industry.
During current entrucking, mostly using manipulator is placed in interior, pile is carried out to cargo, can be less
The labor intensity of existing worker.But requirement of this structure to compartment is larger, it is necessary to compartment has larger space, could be to machine
Tool hand is accurately positioned.Current storage loading-unloading vehicle platform can not realize being accurately positioned for compartment, cause manipulator loading and unloading
Easily occur deviation in journey, cause loading-unloading vehicle process to break down, influence overall efficiency.
Conventional mechanical entrucking means rely primarily on negative-pressure adsorption-type fixture or clipping fixture, wherein, clipping folder
Tool is in entrucking process, and there are larger gap between adjacent cargo, cargo is put insecure, often occurs due to gap mistake
Phenomena such as tilting, toppling over caused by big, is also easy to that cargo surfaces are caused to damage, influences the sale of product；Suction grips pair
Fixture it is more demanding, the required energy is larger, and in use, high failure rate, the requirement to cargo is stringenter,
In whole palletization, speed is slower, is unfavorable for the development of automation.
Utility model content
The defects of for the prior art, the utility model provide a kind of intelligent loading system, and it is heavy that it releases porter
Manual labor, wide adaptability；Production efficiency is improved, manual labor is significantly reduced, reduces the synthesis cost of enterprise, is improved
The automation level of enterprises.
To achieve these goals, the utility model provides a kind of intelligent loading system, it includes：
De-stacking device, it includes unstacking robot, branch mailbox mechanism, branch mailbox mechanism include sequentially connected first conveyer belt,
Second conveyer belt, the speed of the first conveyer belt are less than the speed of the second conveyer belt；Unstacking robot, for cargo to be positioned over
One conveyer belt；
Long arm robot, it includes pedestal, transmitting device, fixture equipped with swing mechanism, transmitting device include mechanical arm,
Conveyer belt, the adjusting mechanism for adjusting mechanical arm pitch angle；Mechanical arm is arranged on pedestal, and adjusting mechanism is arranged on pedestal
On；Fixture is arranged on the free end of mechanical arm；
Vision positioning device, vision positioning device include being used for the sensor unit for measuring car parameter.
In the utility model, realized in warehouse logistics by de-stacking device, long arm robot and positioner and disguised automatically
Car process, its process is simple, efficiently, without human intervention.
In the utility model, by setting long arm robot to replace original multistage conveyer belt, realize that cargo directly passes through
Long arm robot carries out entrucking, simplifies system；Long arm robot realizes the adjustment of multiple frees degree, directly positions the code in compartment
Stack position is put, and impulse stroke is small, and work efficiency is high；Long arm robot is fixedly mounted in workshop, by vision positioning device to needing
Want the compartment of entrucking to be positioned, complete entrucking, it is not necessary to which extra hoistable platform, without frequently action, improves system
Reliability.
Another kind embodiment according to the present utility model, mechanical arm include basis arm, telescopic arm, and basis arm is set
On pedestal, telescopic arm is telescopically located in basis arm.
Another kind embodiment according to the present utility model, conveyer belt is telescopic conveyer belt, telescopic conveyer belt
The telescopic adjustment component for being used for adjusting conveying strip length is equipped with, mechanical arm is equipped with the correction for being used for adjusting telescopic conveyer belt
Mechanism.In the present solution, telescopic adjustment component includes counter weight type telescopic adjustment component or telescopic rod telescopic adjustment component；Wherein,
Counter weight type telescopic adjustment component is by setting the counterweight of constant weight on telescopic conveyer belt, and counterweight is equipped with multiple
Conveyer belt buffer area, during conveyer belt stretches, the height of counterweight can change to change mechanical arm upper conveyor belt
Length.Telescopic rod telescopic adjustment component includes fixed link and mobile bar, and more piece is equipped between mobile bar and fixed link and is conveyed
Band buffer area, during conveyer belt stretches, the position of motion bar can change, to change the length of mechanical arm upper conveyor belt
Degree；Correspondingly, motion bar is equipped with resetting-mechanism, such as flexible restoring organ etc..
Another kind embodiment according to the present utility model, fixture include linking arm, supporting rack, are arranged on supporting rack
On feeding conveyer belt, supporting plate；Linking arm one end connects mechanical arm, other end connection supporting rack；Supporting plate is set by transmission component
Put on supporting rack；Transmission component drives supporting plate along the position fore-aft motion close to supporting rack.
In the present solution, one end of linking arm is rotatably coupled mechanical arm, realizing whole fixture can be with pitch rotation one
Fixed angle, which is provided with the motor for adjusting angle, ensures in palletization, and the supporting plate of fixture is horizontal；
The other end hinged support frame of mechanical arm, the telescopic component for being used for adjusting connection arm lengths is equipped with linking arm, passes through the company of adjusting
The length of arm is connect, adjusts the direction of cargo stacking at fixture pallet, realizes that when tilting, fixture can be carried out voluntarily when compartment exists
Correction, improves the total quality of stacking, ensures closely to connect between adjacent cargo.
It is according to the present utility model another kind embodiment, supporting plate be equipped be used for transmission cargo driving roller-way,
For increasing the movable telescopic plate of supporting plate stacking area, driving roller-way corresponds to the setting of movable telescopic plate.Roller-way is driven to set
At the middle part of supporting plate, movable telescopic plate number is two, it is symmetrical arranged the both sides of driving roller-way.Roller-way is driven to be equipped with electricity
Machine, it is possible to achieve Double-directional rotary.Under the action of roller-way is driven, cargo is placed on supporting plate according to certain rule automatically.
Another kind embodiment according to the present utility model, supporting rack are equipped with movable baffle；Feeding conveyer belt
Equipped with the adjustable backplate in position, backplate corresponds to movable baffle plate setting.Movable baffle fit feeding conveyer belt works, code
During pile, active blocking plate closing simultaneously props up cargo, and supporting plate detaches under the action of transmission component from cargo bottom, and cargo enters
Compartment specified location.
Another kind embodiment according to the present utility model, linking arm, which is equipped with, to be used to adjust stretching for connection arm lengths
Contracting component.Telescopic component is slide rail type, which is provided with servomotor and accurately controls, by adjusting the length of linking arm, adjustment folder
Have the direction of cargo stacking at supporting plate, realize when compartment is in the presence of tilting, can voluntarily be corrected, improve the overall matter of stacking
Amount, ensures closely to connect between adjacent cargo.
Another kind embodiment according to the present utility model, adjusting mechanism include screw, sliding block, drive rod, driving
One end of bar is arranged on screw, other end connection mechanical arm by sliding block.Screw is equipped with motor, drives screw to turn by motor
It is dynamic, sliding block action is further driven to, realizes the pitching motion for the mechanical arm being connected with drive rod.
Another kind embodiment according to the present utility model, the second conveyer belt are conveyed by the 3rd transmission band connection
Band, the 3rd conveyer belt are equipped with the steering mechanism for the placing direction for being used to adjust cargo.
Another kind embodiment according to the present utility model, is equipped with Universal caster on movable telescopic plate, supporting plate.
The presence of Universal caster, reduces the frictional force between cargo babinet and supporting plate, reduces the damage to cargo surfaces, easier
By cargo conveying in place.
Another kind embodiment according to the present utility model, intelligent loading system further include control device, de-stacking dress
Put, long arm robot, vision positioning device are electrically connected control device.Control device further includes some position sensors, alarm
Unit, operation panel.In whole automated process, there is provided multiple position sensors, for detecting whole transmitting procedure
Abnormal conditions；Whole entrucking process is monitored using man-machine interface, realizes the utilization for maximizing human resources.
In the utility model, the cargo of flood is placed the first conveyer belt by unstacking robot, the angle of flood cargo be with
What the boundary line of the first conveyer belt and the second conveyer belt coordinated, so that the center of gravity for not having any two cargo crosses friendship at the same time
Boundary line.
In the utility model, long arm robot is equipped with the angle compensation of multiple positions, realizes to compartment horizontal level, car
Railway carriage or compartment relative to multiple positions such as mechanical arm fixed position compensation.
A kind of workflow of the utility model is as follows：The vehicle parking of entrucking is needed to be operated to specified entrucking station
Personnel confirm vehicle parking in place；(or factory management system is given by network) the vehicle car is inputted by system man-machine interface
Railway carriage or compartment bulk and the kind and quantity (can be one or more cargos) for needing loading cargo；Pass through vision positioning device pair
The parameter of vehicle is acquired；Start loading system, long arm robot is by vision positioning device automatically into compartment and automatic
Positioning, control device calculate and set entrucking pile type automatically, automatically generate entrucking robot program；Fork truck is by the card equipped with product
Plate, forks from warehouse and carries (or tiered warehouse facility goes out pile and directly transports, it is not necessary to carrying fork truck) and work to unstacking robot
Position；Unstacking robot send cargo to branch mailbox mechanism (after the completion of unstacking robot carries a snap-gauge product, automatically by empty calorie plate
It is transported on empty calorie plate cylinder line that code is folded successively), and sequence ground is transported on the conveyer belt in long-armed flexible robot successively, is grown
Arm stretch robot according to the instruction of control device the automatic loading process in compartment.
The utility model is beneficial in that：
1st, global design is compact, strong applicability；
2nd, realize from de-stacking, be transmitted to the automation of stacking；
3rd, system compatibility is strong, is adapted to various types of compartments；
4th, positioning accuracy height, good reliability are automatically controlled；
5th, whole system full-automation operation, it is efficient, easy to manage, save entreprise cost.
The utility model is described in further detail below in conjunction with the accompanying drawings.
Brief description of the drawings
Fig. 1 is a kind of overall structure diagram of intelligent loading system of embodiment 1；
Fig. 2 is a kind of part-structure schematic diagram of intelligent loading system of embodiment 1, and which show de-stacking part；
Fig. 3 is a kind of operation principle schematic diagram of the de-stacking part of intelligent loading system of embodiment 1；
Fig. 4 is a kind of structure diagram of the long arm robot of intelligent loading system of embodiment 1；
Fig. 5 is a kind of structure diagram of the fixture of intelligent loading system of embodiment 1；
Fig. 6 is a kind of principle schematic of the detection car position of intelligent loading system of embodiment 1；
Fig. 7 is a kind of principle schematic of the detection car parameter of intelligent loading system of embodiment 1.
Embodiment
Embodiment 1
A kind of intelligent loading system is present embodiments provided, as shown in figs. 1-7, including de-stacking device 1, long arm robot
2nd, fixture 3, vision positioning device 4, control device 5.
Wherein, de-stacking device 1, as shown in Fig. 2, it includes unstacking robot 11, branch mailbox mechanism 12, branch mailbox mechanism 12 includes
Sequentially connected first conveyer belt 121, the second conveyer belt 122, the speed of the first conveyer belt 121 are less than the speed of the second conveyer belt
122；The cargo of flood is picked up by unstacking robot 11, unstacking robot 11 includes de-stacking mechanical arm 111, sliding support
112nd, the vacuum cup 113 of the working end of de-stacking mechanical arm 111 is arranged at, vacuum cup 113 is directly from the top of flood cargo
Flood cargo is picked up.De-stacking mechanical arm 111 rotates flood cargo certain angle, which be engaged with boundary line
, so that flood cargo, in transmit process, the center of gravity of each cargo can pass through boundary line one by one from the first conveyer belt 121
Enter the second conveyer belt 122 after 123；Operation principle as shown in figure 3, boundary line 123 perpendicular to the first conveyer belt 121 sender
To, it can be seen that under the transmission of the first conveyer belt 121, the center of gravity of each cargo will pass through boundary line 123 one by one, and be not in
The center of gravity of two cargos enters the possibility of the second conveyer belt 122 from the first conveyer belt 121 at the same time, and cargo enters the second conveyer belt
After 122, since the transfer rate of the second conveyer belt 122 is very fast so that cargo quickly leaves, and widen between each cargo away from
From so as to fulfill the fractionation to flood cargo.Cargo after being split is sent to the 3rd conveyer belt 124.
Long arm robot 2, as shown in figure 4, it includes pedestal 21, swing mechanism 22, transmitting device 23, fixture 3.Wherein,
Pedestal 21 is equipped with fixed frame 211, and fixed frame 211 is equipped with Auxiliary support, and swing mechanism 22 is located on pedestal 21, it includes branch
Seat 221, rotary flange 222, regulation motor are supportted, support base 221 is fixed at ground, and pedestal 21 is connected by rotary flange 222
Support base 221 is connect, drives support base 221 to carry out rotary motion by regulation motor.Transmitting device 23, it includes mechanical arm 231
And it is located at the conveyer belt 232 on mechanical arm 231, the adjusting mechanism 24 for 231 pitch angle of adjusting mechanical arm；Mechanical arm 231
It is located on fixed frame 211, adjusting mechanism 24 is arranged on pedestal 21.Wherein, mechanical arm 231 includes basis arm 233, telescopic arm
234, basis arm 233 is arranged on fixed frame 211, is carried out between basis arm 233 and fixed frame 211 by being laterally hinged with axis 235
Hinged, optimized integration arm 233, which can surround, is laterally hinged with the progress pitch rotation of axis 235；Telescopic arm 234 is telescopically located at basis arm
Inside 233, telescopic arm 234 can set more piece, correspondingly, servomotor is provided with basis arm 233, flexible for controlling
The collapsing length of arm 234.Conveyer belt 232 is telescopic conveyer belt, which is provided with the weight set for adjusting 232 length of conveyer belt
Part 236.The position that balance weight assembly 236 is corresponded in basis arm 233 is equipped with fixing piece 237, during telescopic arm 234 is flexible,
The height of balance weight assembly 236 changes, and ensures in whole transmitting procedure, and conveyer belt 232 keeps certain rate of tension, protects
Hold the stability of transmission.Adjusting mechanism 24, it include screw 241, the regulation motor 242 for driving screw 241, sliding block 243,
Drive rod 244, fixed plate 245, regulation motor 242 are installed on pedestal, and fixed plate 245 corresponds to regulation motor 242 and is installed on base
On seat 1,241 one end of screw is drivingly connected adjustment motor 242, and the other end is rotatably arranged in fixed plate 245, on sliding block 243
Equipped with screw thread, it coordinates with screw 241, with screw 241 rotation into row position change；244 one end of drive rod, which is fixed, to be connected
Sliding block 243 is connected to, the other end is fixedly connected with basis arm 233.Pass through the position of adjusting slider 243, the level of adjustment basis arm 233
Highly, the overall pitching motion of mechanical arm 231 is realized.
Fixture 3, as shown in figure 5, it is arranged on the movable end of telescopic arm 234, including linking arm 31, supporting rack 32, sets
Put feeding conveyer belt 33, supporting plate 34 on supporting rack 32；31 one end of linking arm connects telescopic arm 234, other end connection support
Frame 32；Supporting plate 34 is arranged on supporting rack 31 by slide rail type transmission component 341；Band is acted by slide rail type transmission component 341
Dynamic supporting plate 34 is acted along close to the position of supporting rack 32.One end of linking arm 31 is with passing through horizontally hinged axis 311 and telescopic arm 234
It is hinged, linking arm 31 can relative telescopic arm 234 carry out pitch rotation, driven by servomotor, to position therebetween into
Row adjustment, realizes and the horizontal tilt angle in compartment is compensated.31 other end of linking arm passes through hinged vertically with supporting rack 32
Axis 312 is hinged.Linking arm 31 has two, in a wherein linking arm 31, equipped with for adjusting 31 length of linking arm
Flexible slide 313, it accurately controls the length of linking arm 31 by Serve Motor Control.Supporting rack 32, which is equipped with, lives
Dynamic formula baffle 321, it corresponds to feeding conveyer belt 33 and sets, and movable baffle 321 includes the first opening-closing plate 322 and the second opening-closing plate
323；First opening-closing plate 322 is located on supporting rack 32, and the second opening-closing plate 323 is slidably disposed on the first opening-closing plate 322, phase
Answer, the first opening-closing plate 322 is equipped with push rod 324, and supporting rack 32 is equipped with slide 325, and push rod 324 passes through push rod sliding block 326
Connecting sliding rail 325；324 number of push rod is two, passes through servomotor Synchronization Control.Supporting plate 34 is equipped with and is used for transmission cargo
Driving roller-way 341, driving roller-way 341 correspond to the first opening-closing plate 322 set, driving roller-way 341 be equipped with multiple rollers 342,
In the bottom of driving roller-way 341, equipped with lower skateboard 343, the 343 table second of lower skateboard is smooth, is withdrawn backward easy to whole supporting plate 34.
On the position for driving the both sides of roller-way 341, symmetrically there are two groups of movable telescopic plates 344, movable telescopic plate 344 can be to outside
Stretch out, for increasing the area of supporting plate 34, the limited block for preventing that cargo from dropping is equipped with the edge of movable telescopic plate 344
345；On position on supporting plate 34 except driving roller-way 341, equipped with Universal caster 346, facilitate cargo in driving roller-way 341
Under driving, edge is smoothly reached, is preferably piled up on supporting plate 34 easy to cargo.Feeding conveyer belt 33, its correspondence are movable
Baffle 321 is installed on supporting rack 32, which is provided with the backplate 331 for adjusting 33 width of feeding conveyer belt.Backplate 331 is set
In the both sides of feeding conveyer belt 33, by the distance of servomotor adjustment between the two, on backplate 331, equipped with auxiliary transmission
Live-roller 332, be active live-roller on one of backplate, be slave drive roller on another piece of backplate.On the one hand in cargo
It is not in tilt to ensure cargo in course of conveying, on the other hand ensure that the stability of transmittance process.
Vision positioning device 4, as shown in fig. 6-7, it includes being used for the first sensor group and use for measuring car position
In the second sensor group of measurement measurement car parameter.Three displacement sensors that first sensor group is fixedly mounted, such as Fig. 6 institutes
Show, distance of the compartment far from loading system (i.e. test point) can be obtained by first sensor 41, second sensor 42, pass through
Three sensors 43 obtain the distance between first sensor 41, second sensor 42, and a deviation in compartment is obtained by calculation
Angle, exceeds setting range if the deviation from angle, then needs to be adjusted the position in compartment；It is inclined to this by control device 5
Digression degree compensates calculating, it is ensured that is not in because inclination of vehicle problem causes the failure of stacking in pile compensation.The
Two sensor groups are installed on fixture 3, it includes three sensors, as shown in fig. 7, the 4th sensor 44, the 5th sensor 45
Test fixture 3 is respectively intended to distance L1, L2 of compartment side, then box width is L1+ clamp jaw widths+L2, the 6th sensor
46 are used for distance L3 of the measured material front end far from compartment, then car length is the long-armed extended lengths from compartment afterbody of L3+.
In the present embodiment, since the tank wall in compartment is watt prismatic, in the detection box width time, in certain successive range
It is interior, multiple points are detected, the shortest distance being calculated is the width in compartment.
In the present embodiment, guiding mechanism, and multiple position sensors are equipped with conveyer belts at different levels, position sensor is used
Accumulated to detect at this with the presence or absence of prolonged cargo, correspondingly, the system is equipped with alarm unit, for reminding personnel to carry out
Check the fault condition and emergency shutdown at scene.Controller and intelligent automation software are equipped with control device, realizes whole dress
Car process automation.
Although the utility model is disclosed above with preferred embodiment, the model of the utility model implementation is not limited to
Enclose.Any those of ordinary skill in the art, in the invention scope for not departing from the utility model, improve when can make a little,
I.e. every equal improvement done according to the utility model, should be the scope of the utility model and is covered.
Claims (10)
1. a kind of intelligence loading system, it is characterised in that the intelligence loading system includes：
De-stacking device, it includes unstacking robot, branch mailbox mechanism, the branch mailbox mechanism include sequentially connected first conveyer belt,
Second conveyer belt, the speed of first conveyer belt are less than the speed of second conveyer belt；The unstacking robot, for inciting somebody to action
Cargo is positioned over first conveyer belt；
Long arm robot, it includes pedestal, transmitting device, fixture equipped with swing mechanism, the transmitting device include mechanical arm,
Conveyer belt, the adjusting mechanism for adjusting the mechanical arm pitch angle；The mechanical arm is arranged on the pedestal, the tune
Section mechanism is arranged on the pedestal；The fixture is arranged on the free end of the mechanical arm；
Vision positioning device, the vision positioning device include being used for the sensor unit for measuring car parameter.
2. intelligence loading system as claimed in claim 1, it is characterised in that the mechanical arm includes basis arm, telescopic arm, institute
State basis arm to be arranged on the pedestal, the telescopic arm is telescopically located in the basis arm.
3. intelligence loading system as claimed in claim 2, it is characterised in that the conveyer belt is telescopic conveyer belt, described
Telescopic conveyer belt is equipped with the telescopic adjustment component for being used for adjusting the conveying strip length, and the mechanical arm, which is equipped with, to be used to adjust
The deviation correction mechanism of the whole telescopic conveyer belt.
4. intelligence loading system as claimed in claim 1, it is characterised in that the fixture includes linking arm, supporting rack, setting
Feeding conveyer belt, supporting plate on support frame as described above；One end of the linking arm connects the mechanical arm, described in other end connection
Supporting rack；The supporting plate is arranged on support frame as described above by transmission component.
5. intelligence loading system as claimed in claim 4, it is characterised in that the supporting plate is equipped with the drive for being used for transmission cargo
Dynamic roller-way, the movable telescopic plate for increasing the supporting plate stacking area, the driving roller-way correspond to the movable telescopic
Plate is set.
6. intelligence loading system as claimed in claim 4, it is characterised in that support frame as described above is equipped with movable baffle；Institute
State feeding conveyer belt and be equipped with the adjustable backplate in position, the backplate corresponds to the movable baffle plate setting.
7. intelligence loading system as claimed in claim 4, it is characterised in that the linking arm, which is equipped with, to be used to adjust linking arm
The telescopic component of length.
8. intelligence loading system as claimed in claim 1, it is characterised in that the adjusting mechanism includes screw, sliding block, driving
Bar, one end of the drive rod are arranged on the screw by the sliding block, and the other end connects the mechanical arm.
9. intelligence loading system as claimed in claim 1, it is characterised in that second conveyer belt is connected by the 3rd conveyer belt
The conveyer belt is connect, the 3rd conveyer belt is equipped with the steering mechanism for the placing direction for being used to adjust cargo.
10. intelligence loading system as claimed in claim 1, it is characterised in that the intelligence loading system further includes control dress
Put, the de-stacking device, the long arm robot, the vision positioning device are electrically connected the control device.
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