CN207293221U - The handler of logistics code fetch system - Google Patents

The handler of logistics code fetch system Download PDF

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Publication number
CN207293221U
CN207293221U CN201720997556.1U CN201720997556U CN207293221U CN 207293221 U CN207293221 U CN 207293221U CN 201720997556 U CN201720997556 U CN 201720997556U CN 207293221 U CN207293221 U CN 207293221U
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support
forklift
roller
code fetch
handler
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郝新浦
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Xuzhou DKEC Electrical Technology Co Ltd
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Xuzhou DKEC Electrical Technology Co Ltd
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Abstract

The utility model discloses a kind of handler of logistics code fetch system, including support underframe (2), ribbon conveyer (3) and forklift (4);The bottom of support underframe (2) is equipped with running part (21);Ribbon conveyer (3) is erected on support underframe (2) along support underframe (2) anteroposterior direction, including chassis conveyer electrical control mechanism, chassis conveyer electrical control mechanism includes chassis conveyor controller and chassis conveyer electrical source of power;Forklift (4) includes support platform (41), slipping part (42), fork dress portion (43), forklift hydraulic mechanism and forklift electrical control mechanism;The industrial control computer of chassis conveyor controller and forklift electrical control mechanism respectively with logistics code fetch system electric control device is electrically connected.Handler the degree of automation of this logistics code fetch system is higher, can realize intelligent operation, improve the efficiency of loading and unloading, especially suitable for being directed to the logistics code fetch system of freight container in the container shipping of logistic storage.

Description

The handler of logistics code fetch system
Technical field
A kind of handler is the utility model is related to, is specifically a kind of logistics code fetch system suitable for freight container Handler, belongs to Intelligent logistics technical equipment field.
Background technology
Intelligent logistics are exactly to utilize the advanced Internet of Things such as bar code, Radio Frequency Identification Technology, sensor, global positioning system Technology is widely used in logistics transport, storage, dispatching, packaging, handling etc. by information processing and network communication technology platform Basic activity link, realizes automatic operation and the high efficiency optimum management of cargo transport process, improves the service of logistic industry Level, reduces cost, reduces natural resources and social resources consumption, and the development of Intelligent logistics will promote the development of regional economy Distributed rationally with world resource, realize socialization.
Logistic storage is the key link in modern Intelligent logistics, is played in links such as connection, transfer, storage, keepings Important function, and warehousing management is also to be generally comprised in logistic storage in occupation of the status of core, accurate warehouse process at the same time Receive, restocking, pick up goods, replenish, delivering, several flows of making an inventory, to realize intelligent distribution, occur homing guidance fortune in the prior art Defeated car, i.e., magnetically or optically wait homing guidance device equipped with electricity, has the transport vehicle of safeguard protection and various transfer functions, thing Driver is not required in stream storage application, using rechargeable battery as its power resources, generally its traveling road can be controlled by computer Line and behavior set up its route of travel to realize the allocation and transportation of warehoused cargo using electromagnetic path, but for replenishing or The handling goods that delivery disengaging warehouse is carried out during container shipping piles up operation and still largely uses manual operation, i.e. operator Member's driving fork truck is loaded and unloaded, especially for carriage of container cargo, although usually pressing transport purpose at present for ease of transporting The cargo collection of all kinds of small-sized packagings is first carried out shipping collection by the different of ground again after being readily transported in the medium duty delivery case put The vanning of vanning, but how rational deployment makes the space availability ratio of container is maximum, how reasonable prestowage is laid out to make container just Sorting problem in the container problems and uninstall process such as multi-destination transport causes the vanning or unloading current one of container Directly use manual operation.
There are following defect for the mode of production of this traditional manual operation vanning or unloading:
1. although storage process or outbound process have realized automation mechanized operation, the vanning or unloading of container still use people Work operates, therefore logistic storage integrated automation degree reduces, efficiency is low;
2. carried out due to being put in storage process or outbound process generally use automated guided vehicle or conveyer belt in the prior art The speed of transmission, manual operation vanning or unloading will keep up with storage or the speed of outbound just can guarantee that the efficiency that storage is transported, because This labor intensity of operating staff is larger;
3. the human factors such as the sense of responsibility of operating personnel, mood have a great influence progress of cargo work.
The content of the invention
In view of the above-mentioned problems of the prior art, the utility model provides a kind of handler of logistics code fetch system, The degree of automation is higher, can realize intelligent operation, improve the efficiency of loading and unloading, especially suitable for pin in the container shipping of logistic storage Logistics code fetch system to freight container.
To achieve these goals, the handler of this logistics code fetch system includes support underframe, ribbon conveyer and fork Installation;
The bottom of support underframe is equipped with running part, and running part includes support roller set and roller set driving;Support roller set Including the support disk roller being symmetrical set, support roller set is arranged to multigroup and at least one set of along support underframe anteroposterior direction Roller set is supported to be driven equipped with roller set, support underframe is by supporting roller set to set up the longitudinal rail installed in loading/unloading platform On;The front end of support underframe has open U-shaped opening structure;
Ribbon conveyer is erected on support underframe along support underframe anteroposterior direction, ribbon conveyer include drive roll, Driven roller, roller station, conveyer belt and chassis conveyer electrical control mechanism;Roller station sets up and is installed on drive roll and driven roller Between, it is in upper and lower structures that conveyer belt head and the tail connection, which is wrapped on drive roll, driven roller and roller station, is set on drive roll There is a drum driven, chassis conveyer electrical control mechanism includes chassis conveyor controller, is electrically connected with chassis conveyor controller Chassis conveyer electrical source of power, support underframe control loop, ribbon conveyer control loop, drum driven and chassis conveyer control Device processed is electrically connected;The roller set driving is electrically connected with chassis conveyor controller;
Forklift includes support platform, slipping part, fork dress portion, forklift hydraulic mechanism and forklift electrical control mechanism;Support Platform is located at the surface of ribbon conveyer, and support platform has the support leg extended downwardly, and support platform is by supporting leg support If on support underframe;
Slipping part is arranged between the support leg of support platform and support underframe, including the directive slide track worked in coordination and is led To wheel;Directive slide track anteroposterior direction is horizontally set on support underframe and directive slide track front end extends forwardly into the U of support underframe On the left and right sides plate of shape aperture position;The installation connection of the support leg bottom of directive wheel and support platform, directive wheel are equipped with and lead To wheel drive;
Fork dress portion includes door frame, goods shelf and pallet fork;Door frame includes the inner upright mounting and outer mast for coordinating socket installation, inside door Door frame guiding mechanism is equipped between frame and outer mast, the rear lower of outer mast is articulated and connected in the front end of support platform, outer mast It is connected by door frame pitching hydraulic cylinder with support platform, inner upright mounting is connected by door frame lifting hydraulic cylinder with outer mast, passes through control The flexible of door frame lifting hydraulic cylinder processed can realize that inner upright mounting extends downwardly or upwards along door frame guiding mechanism from outer mast bottom Retraction acts;Goods shelf is fitted and connected by the slip of the front end face of crotch guiding mechanism and inner upright mounting and the frame body of goods shelf leads to Cross crotch lifting hydraulic cylinder to be connected with inner upright mounting, barcode scanning identification device and range sensor are additionally provided with goods shelf;Pallet fork or so It is symmetrical arranged as two pieces, set up by pallet fork sliding guide mechanism on goods shelf, and pallet fork is set by left and right directions Pallet fork passage component and goods shelf installation connect;
Forklift hydraulic mechanism includes the hydraulic power unit being installed in support platform and control valve group, hydraulic power unit pass through liquid Pressure pipe road is connected with control valve group, control valve group by fluid pressure line respectively with door frame lifting hydraulic cylinder, door frame pitching hydraulic cylinder Connected with crotch lifting hydraulic cylinder;
Forklift electrical control mechanism include forklift controller, forklift electrical source of power, the elements of a fix movement control loop, away from From feedback control loop, pallet fork span regulating loop, control loop is reprinted, forklift controller includes data input/output terminal Mouthful, forklift controller elapses component, goods with pressing machine electrical source of power, the control valve group of forklift hydraulic mechanism, pallet fork respectively Barcode scanning identification device and range sensor on crotch are electrically connected;Forklift controller is electrically connected with chassis conveyor controller.
As further improvement of the utility model scheme, the baseplane distance belt conveyer of the support platform Height dimension between the upper surface of upper strata conveyer belt is more than the height dimension of goods packaging box.
As further improvement of the utility model scheme, the support platform is divided into two parts up and down, door frame it is outer The rear lower articulated connection of door frame is installed in the lower part of support platform in the top sub-headend of support platform, support leg, branch It is attached between two parts up and down of support platform by pivoting support, pivoting support is equipped with pivoting support hydraulic-driven, returns Turn support hydraulic and be driven through fluid pressure line to be connected with the control valve group of forklift hydraulic mechanism;The forklift electrical control mechanism Further include support platform rotary loop.
It is described that multigroup support disk roller is arranged to along support underframe anteroposterior direction as the preferred solution of the utility model Group is uniformly arranged along support underframe anteroposterior direction and at least two groups of support roller sets drive equipped with roller set, and each support The disk roller revolution driving of axis of rotation vertical direction setting, disk roller revolution driving and chassis conveyor controller are equipped with disk roller It is electrically connected.
As further improvement of the utility model scheme, pattern-recognition sensor, institute are further included on the goods shelf The forklift electrical control mechanism stated further includes fork holding position position control loop, and the forklift controller is sensed with pattern-recognition Device is electrically connected.
As a kind of embodiment of the utility model pallet fork passage component, pallet fork passage component includes level frame If the two pieces pallet fork passage hydraulic cylinder that on goods shelf, telescopic direction is reversed, two pieces pallet fork passage hydraulic cylinder Telescopic end is connected with two pieces pallet fork respectively, and two pieces pallet fork elapses control valve group of the hydraulic cylinder respectively with forklift hydraulic mechanism and passes through Fluid pressure line connects.
As further improvement of the utility model scheme, the pallet fork is equipped with side clamping plate.
As further improvement of the utility model scheme, the directive slide track of the slipping part is through a support underframe left side The guide groove structure of right biside plate.
As further improvement of the utility model scheme, the ribbon conveyer is set up installed in the interior of support underframe Portion.
As further improvement of the utility model scheme, the support disk roller is to include middle part path section and both ends are big The symmetrical dumbbell structure of footpath section, the length dimension of path section and the guide rail width dimensional fits of longitudinal rail, path section Outer surface and longitudinal rail press fit, the outer surface of major diameter section and loading/unloading platform press fit.
Compared with prior art, the handler of this logistics code fetch system for being suitable for freight container is fully digitalization Control unit, can be seamlessly connected with the number bus of logistics code fetch system and realize concentration digital management, it is possible to achieve completely Digitlization handling;Since including support underframe, ribbon conveyer and forklift, ribbon conveyer includes chassis conveying Electrical Control machine Structure, forklift include forklift electrical control mechanism, and chassis conveyor controller and forklift electrical control mechanism respectively with logistics code fetch The industrial control computer of system electric control device is electrically connected, therefore the industrial control computer of the electric control gear of logistics code fetch system The cargo vanning positional information, prestowage scheme, goods packaging box for receiving freight container pile up coordinate position, goods packaging box ruler After the data messages such as very little, freight container inside dimension, industrial control computer can pass through bottom according to the prestowage scheme inputted Frame conveyer electrical control mechanism controls support underframe coordinate after longitudinal rail is gone forward to move, and when incasement operation is controlled by forklift Device controls ribbon conveyer and forklift work compound, it is possible to achieve the conveyer belt transport of goods packaging box, goods packaging box exist Fork dress inside freight container is piled up with handling, the goods packing that can be realized when operating inside freight container of unloading On the fork dress of case, stacking to the conveyer belt of goods packaging box, the transport of the conveyer belt of goods packaging box, complete computer auto-control Operation can be avoided because of influence of the human factors such as operating personnel's sense of responsibility, mood to manufacturing schedule, while can be from operating personnel The limitation of operative skill qualification, it is entirely avoided manual operation there are the drawbacks of, can realize intelligent operation, improve handling Efficiency, especially suitable for being directed to the logistics code fetch system of freight container in the container shipping of logistic storage.
Brief description of the drawings
Three-dimensional structure when the logistics code fetch system that Fig. 1 applies to freight container carries out handling freight container is illustrated Figure;
Fig. 2 is that structure of the utility model forklift when fork dress or store items packing case work on ribbon conveyer is shown It is intended to;
Fig. 3 is structure diagram when the utility model forklift carries goods packaging box reach work;
Fig. 4 is structure when the utility model forklift pitches dress or the work of store items packing case inside freight container Schematic diagram;
Fig. 5 is the utility model when fork dress being carried out by the way of support platform revolution or store items packing case works Structure diagram;
Fig. 6 is the top view of Fig. 4;
Fig. 7 is the structure diagram of the utility model support disk roller.
In figure:1st, loading/unloading platform, 11, longitudinal rail, 2, support underframe, 21, running part, 3, ribbon conveyer, 4, fork dress Machine, 41, support platform, 42, slipping part, 43, fork dress portion, 431, door frame, 432, goods shelf, 433, pallet fork, 5, sorting mechanical arm.
Embodiment
The utility model is described further below in conjunction with the accompanying drawings (below to pitch dress portion 43 towards the side of freight container Described to for front).
As shown in Figure 1, this logistics code fetch system for being suitable for freight container includes loading/unloading platform 1, handler, sorting Device and electric control gear.
The longitudinal rail 11 being arranged in parallel is equipped with the loading/unloading platform 1 in the longitudinal direction, longitudinal rail 11 is at least Extend to the front end of loading/unloading platform 1.
As shown in Fig. 2, Fig. 5, Fig. 6, the handler includes support underframe 2, ribbon conveyer 3 and forklift 4.
The bottom of support underframe 2 is equipped with running part 21, and running part 21 includes support roller set and roller set driving;Support roller Wheel group includes the support disk roller being symmetrical set, and support disk roller matches somebody with somebody to merge with longitudinal rail 11 to be erected on longitudinal rail 11, Support roller set is arranged to multigroup and at least one set of support roller set along 2 anteroposterior direction of support underframe and is driven equipped with roller set, Support underframe 2 is installed on longitudinal rail 11 by supporting roller set to set up;There is open U-shaped to open for the front end of support underframe 2 Mouth structure, U rows hatch frame operate easy to the upper lower fork dress of forklift 4, avoid movement interference;
Ribbon conveyer 3 is erected on support underframe 2 along 2 anteroposterior direction of support underframe, and ribbon conveyer 3 includes actively rolling Cylinder, driven roller, roller station, conveyer belt and chassis conveyer electrical control mechanism;Roller station is set up installed in drive roll and driven Between roller, it is in upper and lower structures that conveyer belt head and the tail connection, which is wrapped on drive roll, driven roller and roller station, drive roll Drum driven is equipped with, chassis conveyer electrical control mechanism includes chassis conveyor controller and is electrically connected with chassis conveyor controller The chassis conveyer electrical source of power connect, drum driven are electrically connected with chassis conveyor controller;The roller set driving and bottom Frame conveyor controller is electrically connected;
Forklift 4 includes support platform 41, slipping part 42, fork dress portion 43, forklift hydraulic mechanism and the automatically controlled machine of forklift Structure;Support platform 41 is located at the surface of ribbon conveyer 3, and support platform 41 has the support leg extended downwardly, support platform 41 are set up on support underframe 2 by support leg;
Slipping part 42 is arranged between the support leg of support platform 41 and support underframe 2, including the guiding worked in coordination is slided Rail and directive wheel;Directive slide track anteroposterior direction is horizontally set on support underframe 2 and directive slide track front end extends forwardly into support On the left and right sides plate of the U-shaped opening position of chassis 2;Directive wheel and the support leg bottom installation of support platform 41 connect, and are oriented to Wheel, which is equipped with, is oriented to wheel drive;
Fork dress portion 43 includes door frame 431, goods shelf 432 and pallet fork 433;Door frame 431 includes the inside door for coordinating socket installation Frame and outer mast, are equipped with door frame guiding mechanism between inner upright mounting and outer mast, the rear lower articulated connection of outer mast is flat in support The front end of platform 41, outer mast are connected by door frame pitching hydraulic cylinder with support platform 41, by controlling door frame pitching hydraulic cylinder It is flexible to realize that door frame 431 is overall along its articulated shaft anteroposterior direction pitching motion, inner upright mounting by door frame lifting hydraulic cylinder with Outer mast connects, and flexible inner upright mounting can be realized along door frame guiding mechanism from outer mast bottom by control door frame lifting hydraulic cylinder End extends downwardly or retraction action upwards;Goods shelf 432 slides the company of fitting by crotch guiding mechanism with the front end face of inner upright mounting Connect and the frame body of goods shelf 432 is connected by crotch lifting hydraulic cylinder with inner upright mounting, by controlling stretching for crotch lifting hydraulic cylinder Contracting can realize that goods shelf 432 moves up and down action along crotch guiding mechanism on inner upright mounting, and barcode scanning is additionally provided with goods shelf 432 Identification device and range sensor;Pallet fork 433 is symmetrical set as two pieces, is installed on by the erection of pallet fork sliding guide mechanism On goods shelf 432, and the pallet fork that pallet fork 433 is set by left and right directions elapses component and the installation connection of goods shelf 432, passes through control The action of pallet fork passage component processed can realize the adjusting of span between pallet fork 433;
Forklift hydraulic mechanism includes the hydraulic power unit being installed in support platform 41 and control valve group, hydraulic power unit pass through Fluid pressure line is connected with control valve group, control valve group by fluid pressure line respectively with door frame lifting hydraulic cylinder, door frame pitching hydraulic pressure Cylinder is connected with crotch lifting hydraulic cylinder;
Forklift electrical control mechanism include forklift controller, forklift electrical source of power, the elements of a fix movement control loop, away from From feedback control loop, pallet fork span regulating loop, reprint control loop, forklift controller respectively with pressing machine power electric Source, the control valve group of forklift hydraulic mechanism, pallet fork passage component, barcode scanning identification device and Distance-sensing on goods shelf 432 Device is electrically connected.
Multiple the sorting mechanical arms 5 and mechanical arm that the sorting equipment includes being arranged at left and right sides of handler are automatically controlled Mechanism, sorting mechanical arm 5, which is set up, to be installed on loading/unloading platform 1, and sorting mechanical arm 5 includes at least the X that left and right directions movement is set The Z coordinate driving that the Y-coordinate driving and vertical direction movement that coordinate driving, anteroposterior direction movement are set are set, sorts mechanical arm 5 Minor details be equipped with include grasping mechanism crawl pile up manipulator, mechanical arm electrical control mechanism include machinery arm controller and with machinery The mechanical arm electrical source of power that arm controller is electrically connected, X-coordinate driving, Y-coordinate driving and Z coordinate driving are controlled with mechanical arm respectively Device is electrically connected.
The electric control gear include industrial control computer, support underframe control loop, ribbon conveyer control loop, Control loop is piled up in forklift control loop, sorting;Industrial control computer includes data input output ports, Industry Control meter Calculation machine is electrically connected with chassis conveyor controller, forklift controller and mechanical arm controller respectively.
This is suitable for the logistics code fetch system of freight container in original state, and support underframe 2 is stuck in loading/unloading platform 1 Front edge setting position, forklift 4 is stuck in the setting fork dress coordinate position of the top of ribbon conveyer 3.
This is suitable for the operation principle of the logistics code fetch system of freight container:The vehicle parking of freight container will be loaded with Behind under loading/unloading platform 1, chamber door face forklift 4 setting position, the bottom plate of freight container is and loading/unloading platform 1 at this time Upper plane it is concordant, operating personnel open chamber door, while the data that operating personnel pass through industrial control computer after being docked Input/output port inputs the cargo vanning positional information, prestowage scheme, cargo bag of freight container to industrial control computer Coordinate position, goods packaging box size, freight container inside dimension data message are piled up in vanning.
During incasement operation, support underframe control loop is first begin to work;Industrial control computer is matched somebody with somebody according to what is inputted Load scheme, goods packaging box size and freight container inside dimension data message calculate the reach of support underframe 2 and enter shipping collection Depth and Y-coordinate value that the support underframe 2 need to move forward inside vanning 6 are sent to chassis conveyor controller, while the bottom of to Frame conveyor controller sends support underframe forward motion control instruction, chassis conveyor controller control roller set drive actions Make support roller set drag carry support underframe 2 forward coordinate be moved to above-mentioned calculating support underframe 2 move forward Y-coordinate value, branch The roller set of 2 front end of support underframe departs from longitudinal rail 11, crosses loading/unloading platform 1 and shipping packaging during support chassis 2 moves forward The docking location of case enters the setting position inside freight container 6 and positioning, and chassis conveyor controller is controlled to industry in real time Computer feedback data information processed;
The cargo that need to be cased transports attached to sorting mechanical arm 5 successively first by automated guided vehicle according to prestowage scheme Near setting goods packaging box piles up coordinate position, and then sorting piles up control loop and works first;Industrial control computer to Mechanical arm controller sends crawl and piles up control instruction, and mechanical arm controller control sorting mechanical arm 5 coordinate movement makes crawl code Put manipulator be moved to goods packaging box pile up coordinate position surface and Z-direction move down and cargo captured;Crawl Mechanical arm controller controls the 5 coordinate movement of sorting mechanical arm crawl stacking mechanical hand shovelling and moves to goods on cargo Z-direction afterwards The baseplane of matter packaging box is more than the upper table of the upper strata conveyer belt of ribbon conveyer 3 apart from the distance between loading/unloading platform 1 size Setting Z coordinate position of the identity distance from the distance between loading/unloading platform 1 size;Then mechanical arm controller control sorting mechanical arm 5 Coordinate movement makes crawl pile up mechanical hand shovelling and cargo to move to setpoint distance along X-coordinate, which is goods packaging box Pile up the X-coordinate value between coordinate position and the conveyer belt widthwise central of ribbon conveyer 3;Then mechanical arm controller control is grabbed Code fetch, which is put manipulator Z-direction and moved down, piles up cargo;Mechanical arm controller is in real time to industrial control computer feedback coefficient It is believed that breath;
Then ribbon conveyer control loop is started to work;Industrial control computer is according to having inputted goods packaging box size The Y-coordinate of setting fork dress coordinate position need to be moved forward to by piling up coordinate position data information calculating goods packaging box with goods packaging box Value and the Y-coordinate value that the goods packaging box need to move forward are sent to chassis conveyor controller, while are controlled to chassis conveyer Device sends ribbon conveyer action directive, and the control drum driven action of chassis conveyor controller makes the positive rotation of drive roll Turn to drive upper strata conveyer belt to carry after goods packaging box moves forward to setting fork dress coordinate position and stop, chassis conveyor controller is real When to industrial control computer feedback data information;
Then forklift control loop is started to work;Industrial control computer sends forklift fork dress to forklift controller Action directive, forklift controller control pallet fork passage component actuation according to the goods packaging box dimension information of input first The span between pallet fork 433 is set to adjust to the setting width dimensions for coordinating goods packaging box size;Then forklift controller root Cargo is established according to the feedback identifying information of the barcode scanning identification device on the goods packaging box dimension information and goods shelf 432 inputted Pitch holding position and fork dress depth mathematical model;As shown in Fig. 2, then forklift controller controls forklift liquid according to mathematical model Press mechanism makes door frame lifting hydraulic cylinder, door frame pitching hydraulic cylinder, crotch lifting hydraulic cylinder co-operating be pointed to ribbon conveyer 3 The goods packaging box of setting fork dress coordinate position on the conveyer belt of upper strata carries out fork dress and disengages it from ribbon conveyer 3, and fork filled The distance between range sensor Real-time Feedback goods shelf 432 and cargo in journey on goods shelf 432 fill depth to ensure to pitch;Such as Shown in Fig. 3, forklift controller is according in prestowage scheme and cargo vanning positional information, freight container after completing cargo fork dress Y-coordinate value that portion's dimension data information calculation supporting platform 41 need to move forward simultaneously controls the directive wheel drive actions of slipping part 42 to make Support platform 41 moves forward to the stacking position of the Y-coordinate value, as shown in figure 4, then forklift controller control forklift hydraulic pressure Mechanism makes door frame lifting hydraulic cylinder, door frame pitching hydraulic cylinder, crotch lifting hydraulic cylinder co-operating be pointed to the goods on pallet fork 433 Matter packaging box, which carries out unloading, makes it pile up the cargo vanning position set in cargo cases positional information, and last forklift 4 is extensive It is multiple to complete once to pile up to original state, be prepared to enter into follow-up stacking;It is real-time to pile up forklift controller in binning process To industrial control computer feedback data information;
And so on, industrial control computer is in due course defeated to chassis according to the data message of forklift controller Real-time Feedback Send machine controller to send 2 stepping of control support underframe of support underframe fallback action control instruction to retract, until before support underframe 2 Freight container is exited at end completely and entire cargo packing case all piled up inside freight container according to prestowage scheme it is whole Together, whole binning process is completed.
Unload operation be incasement operation inverse process, the data input/output terminal that operating personnel pass through industrial control computer Mouth is except the cargo vanning positional information to industrial control computer input freight container, prestowage scheme, goods packaging box ruler Beyond very little, freight container inside dimension data message, sorting information also is inputted to industrial control computer, sorting information includes The different goods packaging boxes distributed according to different sorting conditions pile up co-ordinate position information;
Forklift control loop is first begin to work, and forklift controller is according to prestowage scheme and cargo vanning positional information Control fork dress portion 43 retracts to initial position, then forklift control after fork dress is carried out to the goods packaging box inside freight container Device control fork dress portion 43 processed is piled up in the setting fork dress coordinate bit on 3 upper strata conveyer belt of ribbon conveyer by goods packaging box Put, forklift controller is in real time to industrial control computer feedback data information;
The feedback for the barcode scanning identification device on goods shelf 432 that industrial control computer is fed back according to forklift controller is known Other information and the sorting information inputted send ribbon conveyer action command to chassis conveyor controller, then belt conveying Machine control loop is started to work, and the control drum driven action of chassis conveyor controller makes drive roll reversely rotate drive upper strata Conveyer belt moves to the setting that the corresponding goods packaging box of the goods packaging box piles up coordinate position Y-coordinate after carrying goods packaging box Stop after coordinate position;
Then sorting piles up control loop and starts to work, and industrial control computer piles up coordinate bit to corresponding goods packaging box The mechanical arm controller put sends crawl and piles up control instruction, and mechanical arm controller control sorting mechanical arm 5 coordinate movement makes to grab Code fetch puts manipulator and goods packaging box capture and is piled up after the translation of X-coordinate direction in goods packaging box stacking coordinate position On, automated guided vehicle can transport the goods packaging box;
And so on, industrial control computer is in due course defeated to chassis according to the data message of forklift controller Real-time Feedback Send machine controller to send 2 stepping of control support underframe of support underframe forward motion control instruction to advance, until before support underframe 2 End is all unloaded completely into freight container and entire cargo packing case according to prestowage scheme, completes whole process of unloading, branch Support chassis 2 retracts to original state.
For simplify control, as further improvement of the utility model scheme, the baseplane of the support platform 41 Height dimension between the upper surface of the upper strata conveyer belt of distance belt conveyer 3 is more than the height dimension of goods packaging box, i.e. The face forward all the time of dress portion 43 is pitched in goods packaging box cargo handling process, takes the mode that only control forklift 4 moves back and forth to goods Matter packaging box carries out fork dress and stacking, the goods when the upper strata conveyer belt of ribbon conveyer 3 carries goods packaging box reach or rear shifting The lower section of matter packaging box self-supporting platform 41 is passed through.
In order to shorten the length of the directive slide track of slipping part 42 while reduce the height of support platform 41, and then realize more Firmly fork dress, as further improvement of the utility model scheme, as shown in figure 5, the support platform 41 is divided to be upper and lower Two parts, the rear lower articulated connection of the outer mast of door frame 431 are installed on branch in the top sub-headend of support platform 41, support leg In the lower part for supportting platform 41, it is attached between two parts up and down of support platform 41 by pivoting support, on pivoting support Equipped with pivoting support hydraulic-driven, pivoting support hydraulic-driven is connected by the control valve group of fluid pressure line and forklift hydraulic mechanism Connect, the action by controlling pivoting support hydraulic-driven can realize the top split-phase of support platform 41 for support platform 41 Lower part is rotated;The forklift electrical control mechanism further includes support platform rotary loop;Goods packaging box cargo handling process In take support platform 41 to carry out fork dress and stacking to goods packaging box with the mode that moving fork dress portion 43 turns round, being arranged such can be with Make, the baseplane of support platform 41 and then substantially reduces the height of support platform 41 close to the upper strata conveyer belt of ribbon conveyer 3 Degree, realize more securely fork dress, meanwhile, the distance that the mode of revolution can move back and forth support platform 41 is relatively reduced, into And realize the length for the directive slide track for shortening slipping part 42.
In order to improve the efficiency of loading and unloading, the vehicle that generally use is loaded with freight container directly drives away replacement after completing to load and unload The mode that the next vehicle for being loaded with freight container is loaded and unloaded, i.e., by way of mobile freight container, can also adopt The mode of the vehicle of freight container is loaded with multiple handling stations, translation, or by the way of translating, loading and unloading device, due to First way handler needs to wait for be loaded and unloaded after vehicle enters loading/unloading lot, and second scheme realizes that translation carries There is the vehicle of freight container is relatively difficult, need to additionally set translation to hold in the palm to carry facility, and the third scheme is equipped with multiple dresses Can be realized in the case of unloading parking stall a loading/unloading lot can be carried out during being loaded and unloaded handling vehicle supplement and then Realize handler work continuously, efficiency it is higher with respect to the former two, therefore preferably the third scheme, i.e. as the utility model Preferred solution, this be suitable for freight container logistics code fetch system using more loading/unloading lots, itself from shifting by the way of, it is described Be arranged to multigroup support roller set along 2 anteroposterior direction of support underframe and be uniformly arranged along 2 anteroposterior direction of support underframe and at least Two groups of support roller sets drive equipped with roller set, and the roller of axis of rotation vertical direction setting is equipped with each support disk roller Revolution driving is taken turns, disk roller revolution driving can realize that the rotating direction of support disk roller becomes between anteroposterior direction and left and right directions Change, disk roller revolution driving is electrically connected with chassis conveyor controller;The longitudinal rail 11 being arranged in parallel on the anteroposterior direction It is arranged to multigroup, the distance of X-coordinate value is more than the width of freight container between the longitudinal rail 11 that two adjacent groups are arranged in parallel Size, be additionally provided with the lateral direction on loading/unloading platform 1 quantity it is identical with support roller set, it is being arranged in parallel, with longitudinally leading Rail 11 intersects the cross slide way in matts structure, and the distance between adjacent two pieces cross slide way and anteroposterior direction upper backup roll Distance between axles size between wheel group is identical;The electric control gear further includes support underframe translational loop;When this is suitable for shipping The logistics code fetch system of container retracts to initial position, support underframe translational loop after completing the handling of a freight container Start to work, industrial control computer control chassis conveyor controller makes the equidirectional rotation at the same time of all disk roller revolution drivings 90 °, then all disk rollers left and right directions is all transformed to by anteroposterior direction, then chassis conveyor controller control disk roller revolution Drive actions make support roller set drag carry 2 leftward or rightward coordinate of support underframe movement X-coordinate value distance to another Station is loaded and unloaded, then industrial control computer control chassis conveyor controller makes all disk roller revolution drivings equidirectional at the same time It is rotated by 90 ° and reverts to anteroposterior direction, you can loads and unloads carry out charge and discharge operations on station herein.
In order to ensure accurately fork dress, as further improvement of the utility model scheme, also wrapped on the goods shelf 432 Pattern-recognition sensor is included, the forklift electrical control mechanism further includes fork holding position position control loop, the forklift Controller is electrically connected with pattern-recognition sensor;Forklift controller is sensed according to goods packaging box dimension information and pattern-recognition The cargo location information of device feedback establishes cargo pattern-recognition data model, and by the cargo pattern-recognition data model with it is built Vertical fork holding position and fork dress depth mathematical model carries out correction integration, and the mathematical model after finally being integrated according to correction controls fork Installation hydraulic mechanism makes door frame lifting hydraulic cylinder, door frame pitching hydraulic cylinder, the co-operating of crotch lifting hydraulic cylinder carry out fork dress.
Goods packaging box slides from the left and right sides of pallet fork 433 is unexpected during fork dress in order to prevent, as the utility model Further improvement project, the pallet fork 433 is equipped with side clamping plate, and side clamping plate is symmetrical set respectively to be set symmetrical The left and right sides for the two pieces pallet fork 433 put;For the less goods packaging box of weight, after the fork dress of goods packaging box is completed, Task reduces the span of pallet fork 433 to forklift controller control pallet fork span regulating loop again, and then realizes side clamping plate pair The clamping of goods packaging box.
In order to ensure that the directive slide track of slipping part 42 is capable of providing firm support guide when fork freights matter packaging box, make For further improvement of the utility model scheme, the directive slide track of the slipping part 42 is through the left and right sides of support underframe 2 The guide groove structure of plate.
For the less goods packaging box of size, in order to improve the space availability ratio inside freight container, this reality is used as With a kind of embodiment of Novel pallet fork passage component, pallet fork passage component includes horizontal erection and is installed on goods shelf Two pieces pallet fork that on 432, telescopic direction is reversed passage hydraulic cylinder, the telescopic end of two pieces pallet fork passage hydraulic cylinder respectively with Two pieces pallet fork 433 connects, and two pieces pallet fork elapses control valve group of the hydraulic cylinder respectively with forklift hydraulic mechanism and passes through fluid pressure line Connection;Controlling forklift hydraulic mechanism two pieces pallet fork is elapsed the extension elongation difference of hydraulic cylinder by forklift controller can be with Realize the adjusting of span and the unbalance loading position of pallet fork 433 between pallet fork 433.
In order to reduce the overall center of gravity of support underframe 2 and then realize that support underframe 2 more securely moves back and forth, this is used as The further improvement project of utility model, the ribbon conveyer 3 are set up installed in the inside of support underframe 2, and in order to just It is not less than the upper plane of support underframe 2 in the upper surface of fork dress, the upper strata conveyer belt of ribbon conveyer 3.
Since support underframe 2 needs stepping to advance or retreat in cargo handling process, and the roller set of 2 front end of support underframe can take off Enter the setting position inside freight container 6 from longitudinal rail 11, the docking location for crossing loading/unloading platform 1 and freight container Put, therefore in order to ensure support and guide effect that roller set consolidates, as further improvement of the utility model scheme, such as scheme Shown in 7, the support disk roller is the symmetrical dumbbell structure for including middle part path section and both ends major diameter section, path section The guide rail width dimensional fits of length dimension and longitudinal rail 11 are the outer surface of path section and 11 press fit of longitudinal rail, big The outer surface of footpath section and 1 press fit of loading/unloading platform.
This handler for being suitable for the logistics code fetch system of freight container is fully digitalization control unit, Ke Yiyu The number bus of logistics code fetch system, which is seamlessly connected, realizes concentration digital management, it is possible to achieve fully digitalization is loaded and unloaded;Due to Including support underframe 2, ribbon conveyer 3 and forklift 4, ribbon conveyer 3 includes chassis conveyer electrical control mechanism, forklift 4 Including forklift electrical control mechanism, and chassis conveyor controller and forklift electrical control mechanism are filled with logistics code fetch system electric control respectively The industrial control computer put is electrically connected, therefore the industrial control computer of the electric control gear of logistics code fetch system receives shipping collection The cargo vanning positional information of vanning, prestowage scheme, goods packaging box pile up coordinate position, goods packaging box size, shipping collection After the data messages such as inside dimension of casing, industrial control computer can convey electromechanics according to the prestowage scheme inputted by chassis Control the coordinate after longitudinal rail 11 is gone forward of mechanism controls support underframe 2 to move, when incasement operation is controlled by forklift controller 4 work compound of ribbon conveyer 3 and forklift, it is possible to achieve the conveyer belt of goods packaging box transports, goods packaging box is in shipping Fork dress and the handling of internal container are piled up, unload operation when can realize goods packaging box inside freight container Pitch on stacking to the conveyer belt of dress, goods packaging box, the conveyer belt transport of goods packaging box, complete computer auto-control operation It can avoid because of influence of the human factors such as operating personnel's sense of responsibility, mood to manufacturing schedule, while can be operated from operating personnel The limitation of technical ability qualification, it is entirely avoided manual operation there are the drawbacks of, can realize intelligent operation, improve handling effect Rate, especially suitable for being directed to the logistics code fetch system of freight container in the container shipping of logistic storage.

Claims (10)

1. a kind of handler of logistics code fetch system, it is characterised in that the handler includes support underframe (2), band Formula conveyer (3) and forklift (4);
The bottom of support underframe (2) is equipped with running part (21), and running part (21) includes support roller set and roller set driving;Support Roller set includes the support disk roller that is symmetrical set, support roller set along support underframe (2) anteroposterior direction be arranged to it is multigroup and At least one set support roller set drives equipped with roller set, and support underframe (2) is flat installed in handling by supporting roller set to set up On the longitudinal rail (11) of platform (1);The front end of support underframe (2) has open U-shaped opening structure;
Ribbon conveyer (3) is erected on support underframe (2) along support underframe (2) anteroposterior direction, and ribbon conveyer (3) includes master Dynamic roller, driven roller, roller station, conveyer belt and chassis conveyer electrical control mechanism;Roller station set up be installed on drive roll and Between driven roller, it is in upper and lower structures that conveyer belt head and the tail connection, which is wrapped on drive roll, driven roller and roller station, actively Roller is equipped with drum driven, and chassis conveyer electrical control mechanism includes chassis conveyor controller and chassis conveyor controller The chassis conveyer electrical source of power of electrical connection, support underframe control loop, ribbon conveyer control loop, drum driven and chassis Conveyor controller is electrically connected;The roller set driving is electrically connected with chassis conveyor controller;Chassis conveyor controller It is electrically connected with the industrial control computer of logistics code fetch system electric control device;
Forklift (4) includes support platform (41), slipping part (42), fork dress portion (43), forklift hydraulic mechanism and forklift electricity Control mechanism;Support platform (41) is located at the surface of ribbon conveyer (3), and support platform (41) has the support extended downwardly Leg, support platform (41) are set up by support leg and are installed on support underframe (2);
Slipping part (42) is arranged between the support leg of support platform (41) and support underframe (2), including the guiding worked in coordination Slide and directive wheel;Directive slide track anteroposterior direction is horizontally set on support underframe (2) and directive slide track front end extends forwardly into On the left and right sides plate of the U-shaped opening position of support underframe (2);Directive wheel and the support leg bottom installation of support platform (41) connect Connect, directive wheel, which is equipped with, is oriented to wheel drive;
Fork dress portion (43) includes door frame (431), goods shelf (432) and pallet fork (433);Door frame (431) includes coordinating socket installation Inner upright mounting and outer mast, be equipped with door frame guiding mechanism between inner upright mounting and outer mast, the rear lower articulated connection of outer mast in The front end of support platform (41), outer mast are connected by door frame pitching hydraulic cylinder with support platform (41), and inner upright mounting passes through door frame Lifting hydraulic cylinder is connected with outer mast, by controlling the flexible of door frame lifting hydraulic cylinder that inner upright mounting can be realized along door frame Guiding machine Structure is extended downwardly from outer mast bottom or retraction action upwards;Before goods shelf (432) is by crotch guiding mechanism and inner upright mounting End face slip is fitted and connected and the frame body of goods shelf (432) is connected by crotch lifting hydraulic cylinder with inner upright mounting, goods shelf (432) barcode scanning identification device and range sensor are additionally provided with;Pallet fork (433) is symmetrical set to be slided for two pieces, by pallet fork Move guiding mechanism and set up and be installed on goods shelf (432), and the pallet fork that is set by left and right directions of pallet fork (433) elapse component and Goods shelf (432) installation connection;
Forklift hydraulic mechanism includes the hydraulic power unit being installed in support platform (41) and control valve group, hydraulic power unit pass through liquid Pressure pipe road is connected with control valve group, control valve group by fluid pressure line respectively with door frame lifting hydraulic cylinder, door frame pitching hydraulic cylinder Connected with crotch lifting hydraulic cylinder;
It is anti-that forklift electrical control mechanism includes forklift controller, forklift electrical source of power, elements of a fix movement control loop, distance Present control loop, pallet fork span regulating loop, reprint control loop, forklift controller respectively with pressing machine electrical source of power, fork Control valve group, pallet fork passage component, the barcode scanning identification device on goods shelf (432) and the range sensor electricity of installation hydraulic mechanism Connection;Forklift controller is electrically connected with the industrial control computer of logistics code fetch system electric control device.
2. the handler of logistics code fetch system according to claim 1, it is characterised in that the support platform (41) Baseplane distance belt conveyer (3) upper strata conveyer belt upper surface between height dimension be more than goods packaging box height Spend size.
3. the handler of logistics code fetch system according to claim 1, it is characterised in that the support platform (41) Be divided into up and down two parts, the outer mast of door frame (431) rear lower articulated connection in support platform (41) top sub-headend, branch Support leg is installed in the lower part of support platform (41), is carried out between two parts up and down of support platform (41) by pivoting support Connection, pivoting support are equipped with pivoting support hydraulic-driven, and pivoting support hydraulic-driven passes through fluid pressure line and forklift hydraulic pressure The control valve group connection of mechanism;The forklift electrical control mechanism further includes support platform rotary loop.
4. the handler of the logistics code fetch system according to claim 1 or 2 or 3, it is characterised in that the edge support Chassis (2) anteroposterior direction is arranged to multigroup support roller set and is uniformly arranged along support underframe (2) anteroposterior direction and at least two groups Roller set is supported to be driven equipped with roller set, and the disk roller for being equipped with the setting of axis of rotation vertical direction on each support disk roller returns Turn driving, disk roller revolution driving is electrically connected with chassis conveyor controller.
5. the handler of the logistics code fetch system according to claim 1 or 2 or 3, it is characterised in that the goods shelf (432) pattern-recognition sensor is further included on, the forklift electrical control mechanism further includes fork holding position position control loop, institute The forklift controller stated is electrically connected with pattern-recognition sensor.
6. the handler of the logistics code fetch system according to claim 1 or 2 or 3, it is characterised in that the pallet fork pushes away Move component and be installed on two pieces pallet fork passage hydraulic cylinder on goods shelf (432), telescopic direction is reversed including horizontal set up, Two pieces pallet fork passage hydraulic cylinder telescopic end be connected respectively with two pieces pallet fork (433), two pieces pallet fork elapse hydraulic cylinder respectively with fork The control valve group of installation hydraulic mechanism is connected by fluid pressure line.
7. the handler of the logistics code fetch system according to claim 1 or 2 or 3, it is characterised in that the pallet fork (433) it is equipped with side clamping plate.
8. the handler of the logistics code fetch system according to claim 1 or 2 or 3, it is characterised in that the slipping part (42) directive slide track is through the guide groove structure of plate at left and right sides of support underframe (2).
9. the handler of the logistics code fetch system according to claim 1 or 2 or 3, it is characterised in that the belt is defeated Machine (3) is sent to set up installed in the inside of support underframe (2).
10. the handler of the logistics code fetch system according to claim 1 or 2 or 3, it is characterised in that the support Disk roller is the symmetrical dumbbell structure for including middle part path section and both ends major diameter section, and length dimension and the longitudinal direction of path section are led The guide rail width dimensional fits of rail (11), outer surface and longitudinal rail (11) press fit, the outer surface of major diameter section of path section With loading/unloading platform (1) press fit.
CN201720997556.1U 2017-08-10 2017-08-10 The handler of logistics code fetch system Active CN207293221U (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107298272A (en) * 2017-08-10 2017-10-27 徐州德坤电气科技有限公司 A kind of handler of logistics code fetch system
WO2019213904A1 (en) * 2018-05-10 2019-11-14 深圳蓝胖子机器人有限公司 Cargo loading and unloading vehicle and cargo transfer system
CN111874665A (en) * 2020-08-06 2020-11-03 福建诚壹实业有限公司 Closed intelligent automatic loading platform suitable for low-temperature refrigeration house
CN112770990A (en) * 2018-09-28 2021-05-07 自动导向有限责任公司 Collaborative automated logistics facility

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107298272A (en) * 2017-08-10 2017-10-27 徐州德坤电气科技有限公司 A kind of handler of logistics code fetch system
WO2019213904A1 (en) * 2018-05-10 2019-11-14 深圳蓝胖子机器人有限公司 Cargo loading and unloading vehicle and cargo transfer system
CN112770990A (en) * 2018-09-28 2021-05-07 自动导向有限责任公司 Collaborative automated logistics facility
CN111874665A (en) * 2020-08-06 2020-11-03 福建诚壹实业有限公司 Closed intelligent automatic loading platform suitable for low-temperature refrigeration house
CN111874665B (en) * 2020-08-06 2022-03-11 福建诚壹实业有限公司 Closed intelligent automatic loading platform suitable for low-temperature refrigeration house

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