CN208716462U - Loading system - Google Patents
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- CN208716462U CN208716462U CN201821332712.3U CN201821332712U CN208716462U CN 208716462 U CN208716462 U CN 208716462U CN 201821332712 U CN201821332712 U CN 201821332712U CN 208716462 U CN208716462 U CN 208716462U
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Abstract
The utility model has gone out a kind of loading system, comprising: carloader, carloader include movable chassis and the robot system that is arranged on chassis, are able to enter interior and carry out stacking；Flexible Roller conveyor is connected with carloader, and the Roller conveyor that stretches is used for conveying articles；Hydraulic elevating platform, can adjust height it is identical as the height in compartment to realize so that carloader can enter compartment by hydraulic elevating platform；The bottom connection in levelling device and compartment touching, for leveling compartment；Detection device is set on carloader, for detecting real time position of the carloader relative to compartment；Control platform, the data for being acquired according to levelling device, control levelling device are flexible leveling compartment, adjusting the height of hydraulic elevating platform and controlling carloader work according to the detection data of detection device.Loading system provided by the utility model forms a set of full automatic loading system, reduces manual intervention chance, further increases automatization level.
Description
Technical field
The utility model relates to automatic material flow technical fields, in particular to a kind of loading system.
Background technique
With the development of China's economic level, the cost of labor in production is constantly promoted, and more and more enterprises are faced with life
It produces cost and sharply increases the universal phenomenon with lack of labor；This labor intensity height of entrucking work, especially compartment entrucking, skill
The work post that art content is low, salary and conditions is low, working environment is severe, mobility of people is big, recruitment and management are all extremely difficult.
Currently, logistic industry is either stored in a warehouse or transit link, reach higher automatization level, is entrucking only
Still generally using the manually store items in railway carriage, cargo is conveyed into railway carriage link by entrucking operation in part by conveyer,
But finally still has and manually piled up, be not able to achieve automation.
The cargo that exports to foreign countries generally uses pallet carrying, and cargo and pallet are directly mounted in fork truck into compartment.This side
Formula increases pallet cost, and to occupy cabin space, cargo and compartment inner wall gap larger for pallet, charging burden it is few and
And it is easy collision, transportation cost is high, and cargo is easy impaired.
Existing carloader is broadly divided into two major classes, and one kind is the automation equipment of special plane form, and another kind of is robot.Its
In, special plane class automation equipment has the disadvantage in that carloader is developed on demand generally according to target goods size；To more specifications,
Various sizes of cargo can not automatically switch to pile up；Carloader shifts the cargo for preparing to pile up on the cargo piled up onto
Face, it may appear that stuck or not in place phenomenon.Although robot flexibility is high, generally there are piling up, speed is slow, at high cost
Problem is not also promoted.The above two classes entrucking mode has that common is to walk unstable in compartment, is easy collision
Inner wall, wheel undercarriage are high to the flatness requirement of compartment bottom surface, and are easy to damage compartment bottom surface by pressure.
Utility model content
The utility model aims to solve at least one of the technical problems existing in the prior art.
For this purpose, a purpose of the utility model, proposes a kind of loading system.
In view of this, a purpose of the utility model proposes a kind of loading system, comprising: carloader, carloader packet
The robot system for including movable chassis and being arranged on chassis, carloader are able to enter interior and carry out stacking；Flexible rolling
Cylinder line, is connected with carloader, can follow the mobile length to adjust flexible Roller conveyor of carloader, the Roller conveyor that stretches is for defeated
Delivery object；Hydraulic elevating platform, hydraulic elevating platform can adjust height it is identical as the height in compartment to realize so that entrucking
Machine can enter compartment by hydraulic elevating platform；Levelling device is touched with the bottom connection in compartment, for leveling compartment；Detection
Device is set on carloader, for detecting real time position of the carloader relative to compartment；Control platform, with carloader, flexible
Roller conveyor, hydraulic elevating platform, compartment levelling device and detection device are connected, and control platform according to levelling device for adopting
The data of collection, control levelling device are flexible to level compartment, adjust the height of hydraulic elevating platform and according to detection device
Detection data controls carloader work.
Loading system provided by the utility model, comprising: carloader, flexible Roller conveyor, hydraulic elevating platform, leveling dress
It sets, detection device and control platform.Carloader is placed on hydraulic elevating platform, when lorry is accommodated to entrucking position, first passes through leveling
Device levels the bottom of boxcar, and the stabilization and level of vehicle body are ensured by compartment levelling device, while can mend
The difference in height for repaying shipment railway platform, hydraulic elevating platform and different compartments avoids in the prior art, and compartment inner bottom surface injustice causes
Walking it is unstable the problems such as；After leveling compartment, control platform controls hydraulic elevating platform and adjusts height, so that hydraulic lifting
The table top of platform and the bottom surface in compartment are mutually horizontal, enter interior in control carloader, stretch Roller conveyor and carloader phase
Connection, with the movement of carloader, flexible Roller conveyor is extended in compartment, further, detects carloader by detection device
Relative to the real time position in compartment, the position of carloader and robot system relative to compartment is determined, and thereby determine that cargo code
The position put.By loading system provided by the present application, automatic loading is carried out to the cargo on flexible Roller conveyor by carloader
Work passes through the stacking effect of the real-time sill vehicle cargo of detection device during entrucking, form closed loop feedback, reduces manual intervention
Chance further increases automatization level.Further, carloader includes moveable chassis, realizes the freedom of carloader
It is mobile, it can be moved according to the outline data in the compartment that detection device detects, to adjust carloader in compartment
Position and the position of the store items determined according to the outline data in compartment are moved；Carloader further includes system, robot
System realizes the stacking to cargo by robot system, promotes the stacking efficiency of cargo, goods after the uniformity of stacking and stacking
The stability that object is put.Further, it by the way that flexible Roller conveyor is arranged, can will stretch in the case where no cargo entrucking
Roller conveyor is withdrawn, and to reduce the occupied area of flexible Roller conveyor, simultaneous retractable Roller conveyor is suitable for different entrucking distances, is applicable in
Range is wide.
In addition, the loading system of above-mentioned technical proposal provided by the utility model can also have following supplementary technology special
Sign:
In the above-mentioned technical solutions, it is preferable that loading system further include: unstacker is stretched for cargo to be installed to be carried to
On contracting Roller conveyor.
In the technical scheme, by the way that unstacker is arranged, realization robot de-stacking promotes the automatization level of entrucking,
Further, control platform is connected with unstacker, and specifically, after the parking in place of compartment vehicle, control platform controls compartment leveling
Device levels and positions compartment, and carloader drives into compartment with flexible Roller conveyor, and cargo crawl is placed on by unstacking robot stretches
On contracting Roller conveyor, the robot system on carloader grabs cargo stacking, and sequentially from bottom to top, from the inside to surface, carloader is automatic
It retreats the carloader after filling a vehicle and returns to hydraulic elevating platform, realize the truck fill flow of a set of automation, solve
The industry problems of automatic loading in the prior art.
In any of the above-described technical solution, it is preferable that loading system further include: de-stacking Roller conveyor, with flexible Roller conveyor
One end is connected, and cargo to be installed is placed on de-stacking Roller conveyor by unstacker, is delivered to flexible Roller conveyor by de-stacking Roller conveyor
On.
In the technical scheme, loading system is additionally provided with de-stacking Roller conveyor, is connected with one end of flexible Roller conveyor, side
Unstacker directly place goods on de-stacking Roller conveyor so that cargo is transmitted to flexible rolling by de-stacking Roller conveyor
On cylinder line, the length of flexible Roller conveyor is shortened by the way that de-stacking Roller conveyor is arranged, and then after reducing flexible roller linear shrinkage
Volume, while the time required for flexible Roller conveyor extends also is shortened, promote efficiency of installing software；Further, de-stacking Roller conveyor
It can be arranged in simultaneously on a pedestal with unstacker, shorten unstacker at a distance from de-stacking roller line bracket, further mention
High de-stacking efficiency.
In any of the above-described technical solution, it is preferable that loading system further include: stacking Roller conveyor is arranged on chassis, code
Pile Roller conveyor is connected with the other end of flexible Roller conveyor, cargo to be installed through flexible Roller conveyor be delivered to stacking Roller conveyor so that
Robot system moves to take carry out stacking.
In the technical scheme, loading system further includes stacking Roller conveyor, i.e., the cargo of loading system provided by the present application
Pipeline is de-stacking Roller conveyor, the flexible Roller conveyor being connected with de-stacking Roller conveyor, the code being connected with the other end of flexible Roller conveyor
On the one hand pile Roller conveyor is reduced the entire length of flexible Roller conveyor by setting stacking Roller conveyor, reduces flexible Roller conveyor
Volume；On the one hand the fixation to flexible Roller conveyor is realized by stacking Roller conveyor, to guarantee the stability of entire pipeline；Into
One step is piled up Roller conveyor and is arranged on chassis, positioned at the side of robot system, stretch Roller conveyor by with stacking Roller conveyor
It is attached fixation, so that flexible Roller conveyor is flexible with the mobile realization of carloader.
In any of the above-described technical solution, it is preferable that chassis is the caterpillar chassis of servo motor driving.
In the technical scheme, chassis is the caterpillar chassis driven by servo motor, is driven using servo motor
It is dynamic to adjust the motion track of carloader by changing the positive and negative rotation of motor, it is ensured that the direction that carloader is run in compartment
It is parallel with the side wall in compartment.Further, crawler belt is rubber belt track, and rubber belt track adapts to complicated bottom surface, do not weigh compartment wounded
Bottom surface.
In any of the above-described technical solution, it is preferable that robot system further include: superstructure is arranged on chassis；Cloud
Platform driving mechanism and holder guiding mechanism, are arranged on chassis, are connected with robot system, for driving robot system
It is mobile relative to chassis；Control platform is connected with holder driving mechanism, for controlling the work of holder driving mechanism.
In the technical scheme, holder guiding mechanism and holder driving mechanism, the machine of carloader are housed on caterpillar chassis
Device people's system is mounted in holder driving mechanism, and control platform corrects left and right position by holder guiding mechanism and holder driving mechanism
Deviation is set, entire left-right position correction course does not need crawler belt operating, difficulty and required time that position is adjusted are substantially reduced,
Improve the accuracy of system operation.By using self-correcting caterpillar chassis, while accurate guide-localization is provided, adapt to
Concave-convex bottom surface in compartment, and do not weigh compartment bottom surface wounded.Further, holder guiding mechanism passes through the installation of the connectors such as bolt
On chassis, robot system is mounted on holder guiding mechanism, and holder guiding mechanism plays guiding to robot system and determines
The effect of position, and reduce the frictional force between robot system and chassis；Further, holder driving mechanism is led with holder
It is connected to mechanism, for controlling the position of holder guiding mechanism.
Further, holder guiding mechanism can be guideway, that is, include guide rail and guide rail slide block, guide rail and guide rail slide block
In one be arranged on chassis, another is arranged on the pedestal of robot system.Holder driving mechanism can be with are as follows: ball wire
Thick stick, speed reducer and servo motor composition.The servo motor of driving ball-screw is installed on caterpillar chassis, lead screw and servo electricity
It is attached between machine by speed reducer.The pedestal of two feed screw nuts of outfit on lead screw, nut and robot system is fastenedly connected.
When needing to control robot system lateral position, the rotation of servo motor need to be only controlled according to locational requirement.
In any of the above-described technical solution, it is preferable that detection device includes: laser radar detection module, for obtaining vehicle
The outline data in compartment；Control platform is specifically used for the outline data that obtains according to laser radar detection module, by image procossing,
It determines position of the chassis with respect to compartment, and controls hydraulic elevating platform adjusting height or control carloader and move into compartment.
In the technical scheme, laser radar detection module is used for the positioning on carloader chassis.When carloader is outside compartment
When portion, mainly worked by laser radar detection module, it, can be at this point, laser radar detection module is by non-contact scanning
It obtains the outline data in compartment and is sent to control platform, control platform passes through correlation according to the outline data in the compartment received
Image processing algorithm, can be obtained position of the carloader chassis with respect to compartment, when analyze compartment basal surface position be higher than dress
When the chassis of vehicle device, then controls hydraulic elevating platform and increase until the chassis with compartment is remained basically stable, control platform is sending control
System instruction so that carloader starts to be moved to interior, and then improves the Automated water of entire loading system to carloader
It is flat.
In any of the above-described technical solution, it is preferable that detection device further include: contact range finder module is arranged on chassis
Crawler belt side front-end and back-end, for detecting position offset and the angular deviation of crawler belt；Control platform is specifically used for basis
The position offset and angular deviation that contact range finder module obtains, determine position of the chassis with respect to compartment, control servo motor
The travel track on positive and negative rotation adjusting chassis.
In the technical scheme, contact type distance measuring device is used to detect position offset and the angular deviation of crawler belt；Work as dress
Vehicle device can directly contact compartment inner wall in interior by contact type distance measuring device, obtain position of the chassis relative to compartment
It sets.Specifically, the flexible material roller group on contact type distance measuring device can be rolled along wavy interior compartment side wall, can be examined in real time
The left-right position offset and angular deviation of crawler belt are surveyed, contact type distance measuring device sends out the left-right position offset and angular deviation of crawler belt
It send to control platform, control platform adjusts angle by the positive and negative rotation of control track drive servo motor according to the deviation data of acquisition
Spend deviation, it is ensured that carloader direction of travel is parallel with compartment.
Specifically, contact type distance measuring device is telescopically disposed in the side on chassis, stretching and vehicle when needing to measure
The inner wall in compartment is in contact, and contact type distance measuring device includes displacement sensor, and displacement sensor can be contactless laser
Displacement sensor, ultrasonic displacement sensor are also possible to linear displacement transducer, stay wire displacement sensor of contact etc.；
When not needing measurement, contact type distance measuring device can be shunk completely, save space.
In any of the above-described technical solution, it is preferable that robot system includes: mechanical arm, is rotatably arranged in holder
On guiding mechanism；The end of mechanical arm is arranged in, for grabbing cargo in sucked type handgrip.
In the technical scheme, by the way that rotatable mechanical arm is arranged, to realize automatically entrucking, at the end of mechanical arm
Portion is arranged sucked type handgrip, crawl material flexible in operation precisely, rapidly and efficiently, stability it is high, operating efficiency is high, further really
The position offset for protecting cargo after piling up is not exceeded, eliminates the accumulated error of stacking.
In any of the above-described technical solution, it is preferable that detection device further include: 3D visual sensing module is arranged in sucker
On formula handgrip, for obtaining the carriage wall outline data in compartment；Control platform is specifically used for being obtained according to 3D visual sensing module
Carriage wall outline data, determine the stacking position of cargo.
In the technical scheme, 3D visual sensing module is mainly used for determining position of the robot relative to compartment.Due to
Cargo size is of different sizes, and compartment has the unfavorable factors such as deformation and exists, even if carloader bobbin movement has arrived accurate position,
But when actually piling up, it is still desirable to be corrected to the position of stacking.For this purpose, the detection device of robot carloader exists
The cleft hand end of robot is provided with 3D visual sensing module, is scanned to the 3D profile of compartment wall, it is hereby achieved that quasi-
True cargo piles up position, and carriage wall outline data is sent to control platform by 3D visual sensing module, and control platform controls entrucking
Machine is moved to cargo and piles up position, and the loading system of the application determines the code of cargo by the analysis to compartment Internal periphery data
Position and stacking sequence are put, realizes that cargo turns to and intersect the problem piled up.It realizes the effect for preventing cargo from collapsing, improves packet
The compatibility of dress mode, cargo size versatility.
In any of the above-described technical solution, it is preferable that 3D visual sensing module is also used to obtain the profile of cargo after stacking
Data；Control platform is specifically used for the outline data of cargo after the stacking obtained according to 3D visual sensing module, after judging stacking
Whether the position offset of cargo meets preset range, and controls robot system to the stacking position of cargo according to judging result
It is corrected.
In the technical scheme, 3D visual sensing module is also used to obtain the outline data of cargo after stacking, and will pile up
The outline data of cargo is sent to control platform, cargo after control platform is piled up according to the outline data judgement of cargo after stacking afterwards
Position offset whether meet preset range, carloader is controlled if having exceeded preset range and is readjusted beyond default wheel
The placement position of the cargo of wide data portion is corrected, and is realized the effect for preventing cargo from collapsing, is improved the simultaneous of manner of packing
Capacitive, cargo size versatility.
In any of the above-described technical solution, it is preferable that carloader further include: limiting device is used for positioned at the bottom in compartment
The tire of the lorry of stop is limited；When control platform is specifically used for receiving lorry berthing signal, limiting device is controlled
Movement limits tire.
In the technical scheme, the vehicle of stop is limited by the way that limiting device is arranged, it is existing avoids the occurrence of car slipping etc.
As guaranteeing the stability in compartment；Further, after lorry to stop, control platform control limiting device limits tire.
Specifically, limiting device includes that adsorption piece adsorbs tire or limiting device includes fasteners, after lorry is stopped, control
Platform courses fasteners processed be located on tire, limit to it.
The additional aspect and advantage of the utility model will become obviously in following description section, or practical new by this
The practice of type is recognized.
Detailed description of the invention
The above-mentioned and/or additional aspect and advantage of the utility model from the description of the embodiment in conjunction with the following figures will
Become obvious and be readily appreciated that, in which:
Fig. 1 shows the structural schematic diagram of the loading system of one embodiment according to the present utility model；
Fig. 2 shows the top views of the loading system of embodiment illustrated in fig. 1；
Fig. 3 shows the structural schematic diagram of the loading system of further embodiment according to the present utility model；
Fig. 4 shows the top view of the loading system of embodiment illustrated in fig. 4.
Wherein, the appended drawing reference in Fig. 1 to Fig. 4 and the corresponding relationship between component names are as follows:
1 loading system, 2 stop lines, 10 carloaders, 12 chassis, 14 robot systems, 20 flexible Roller conveyors, 30 hydraulic liters
Drop platform, 40 levelling devices, 50 control platforms, 60 unstackers, 70 de-stacking Roller conveyors, 80 stacking Roller conveyors, 90 limiting devices,
100 compartments.
Specific embodiment
In order to be more clearly understood that the above objects, features, and advantages of the utility model, with reference to the accompanying drawing and have
The utility model is further described in detail in body embodiment.It should be noted that in the absence of conflict, this Shen
The feature in embodiment and embodiment please can be combined with each other.
Many details are explained in the following description in order to fully understand the utility model, still, this is practical
Novel to be implemented using other than the one described here other modes, therefore, the protection scope of the utility model is simultaneously
It is not limited by the specific embodiments disclosed below.
1 to Fig. 4 the loading system 1 that some embodiments of the utility model provides is illustrated with reference to the accompanying drawing.
As shown in Figures 1 to 4, one embodiment of the utility model proposes a kind of loading system 1, comprising: carloader
10, carloader 10 includes movable chassis 12 and the robot system 14 being arranged on chassis 12, and carloader 10 is able to enter vehicle
Stacking is carried out inside compartment 100；Flexible Roller conveyor 20, is connected with carloader 10, and the movement of carloader 10 can be followed to stretch to adjust
The length of contracting Roller conveyor 20, the Roller conveyor 20 that stretches are used for conveying articles；Hydraulic elevating platform 30, hydraulic elevating platform 30 can be adjusted
Section height is identical as the height in compartment 100 to realize, so that carloader 10 can enter compartment by hydraulic elevating platform 30
100；Levelling device 40 is touched with the bottom connection in compartment 100, for leveling compartment 100；Detection device is set to carloader 10
On, for detecting real time position of the carloader 10 relative to compartment 100；Control platform 50, with carloader 10, flexible Roller conveyor
20, hydraulic elevating platform 30, compartment levelling device 40 and detection device are connected, and control platform 50 is used for according to levelling device
The data of 40 acquisitions, control levelling device 40 are flexible to level compartment 100, the height for adjusting hydraulic elevating platform 30, Yi Jigen
It works according to the detection data control carloader 10 of detection device.
Loading system 1 provided by the utility model, comprising: carloader 10, flexible Roller conveyor 20, hydraulic elevating platform 30,
Levelling device 40, detection device and control platform 50.Carloader 10 is placed on hydraulic elevating platform 30, and lorry is accommodated to entrucking position
When, it first passes through levelling device 40 and the bottom of boxcar 100 is leveled, vehicle body is ensured by compartment levelling device 40
It is stable and horizontal, while can compensate for the difference in height of shipment railway platform, hydraulic elevating platform 30 and different compartments 100, it avoids existing
Have in technology, walks the problems such as unstable caused by 100 inner bottom surface of compartment is uneven；After leveling compartment 100, control platform 50 is controlled
Hydraulic elevating platform 30 processed adjusts height, so that the table top of hydraulic elevating platform 30 and the bottom surface in compartment 100 are mutually horizontal,
Control carloader 10 enters inside compartment 100, and flexible Roller conveyor 20 is connected with carloader 10, with the shifting of carloader 10
Dynamic, flexible Roller conveyor 20 extends in compartment 100, further, detects carloader 10 relative to compartment by detection device
100 real time position determines the position of carloader 10 and robot system 14 relative to compartment 100, and thereby determines that cargo code
The position put.By loading system 1 provided by the present application, the cargo on flexible Roller conveyor 20 is carried out by carloader 10 automatic
Entrucking work, passes through the stacking effect of the real-time sill vehicle cargo of detection device during entrucking, form closed loop feedback, reduces artificial
Intervene chance, further increases automatization level.Further, carloader 10 includes moveable chassis 12, realizes entrucking
Machine 10 moves freely, and can be moved according to the outline data in the compartment 100 that detection device detects, to adjust entrucking
Machine 10 is moved in the position of position and the store items determined according to the outline data in compartment 100 in compartment 100；
Carloader 10 further includes robot system 14, realizes the stacking to cargo by robot system 14, promotes the stacking effect of cargo
Rate, the stability that cargo is put after the uniformity of stacking and stacking.It further, can be with by the way that flexible Roller conveyor 20 is arranged
In the case where no cargo entrucking, flexible Roller conveyor 20 is withdrawn, to reduce the occupied area of flexible Roller conveyor 20, simultaneously
Flexible Roller conveyor 20 is suitable for different entrucking distances, applied widely.
In one embodiment of the utility model, it is preferable that as shown in Figures 1 to 4, loading system 1 further include: de-stacking
Machine 60, for cargo to be installed to be carried to flexible Roller conveyor 20.
In this embodiment, by the way that unstacker 60 is arranged, realization robot de-stacking promotes the automatization level of entrucking,
Further, control platform 50 is connected with unstacker 60, and specifically, after the parking in place of 100 vehicle of compartment, control platform 50 is controlled
Compartment levelling device 40 processed levels and positions compartment 100, and carloader 10 drives into compartment 100 with flexible Roller conveyor 20, de-stacking
Cargo crawl is placed on flexible Roller conveyor 20 by robot, and the robot system 14 on carloader 10 grabs cargo stacking, sequence
From bottom to top, from the inside to surface, 10 automatic backing of carloader carloader 10 after filling a vehicle returns to hydraulic elevating platform 30,
The truck fill flow for realizing a set of automation solves the industry problems of automatic loading in the prior art.
In one embodiment of the utility model, it is preferable that as shown in Figures 1 to 4, loading system 1 further include: de-stacking
Roller conveyor 70 is connected with one end of flexible Roller conveyor 20, and cargo to be installed is placed on de-stacking Roller conveyor 70 by unstacker 60,
It is delivered on flexible Roller conveyor 20 by de-stacking Roller conveyor 70.
In this embodiment, loading system 1 is additionally provided with de-stacking Roller conveyor 70, is connected with one end of flexible Roller conveyor 20
It connects, facilitates unstacker 60 and directly place goods on de-stacking Roller conveyor 70, so that cargo passes through de-stacking Roller conveyor 70
It is transmitted on flexible Roller conveyor 20, shortens the length of flexible Roller conveyor 20 by the way that de-stacking Roller conveyor 70 is arranged, and then reduce
Volume after the flexible contraction of Roller conveyor 20, while also shortening flexible Roller conveyor 20 and extending the required time, promote installation effect
Rate；Further, de-stacking Roller conveyor 70 and unstacker 60 can be arranged in simultaneously on a pedestal, shorten unstacker 60 and tear open
The distance of 70 bracket of pile Roller conveyor, further improves de-stacking efficiency.
In one embodiment of the utility model, it is preferable that as shown in figure 4, loading system 1 further include: stacking roller
Line 80 is arranged on chassis 12, and stacking Roller conveyor 80 is connected with the other end of flexible Roller conveyor 20, and cargo to be installed is through flexible
Roller conveyor 20 is delivered to stacking Roller conveyor 80 so that robot system 14 moves to take carry out stacking.
In this embodiment, loading system 1 further includes stacking Roller conveyor 80, i.e., the goods of loading system 1 provided by the present application
Object pipeline is de-stacking Roller conveyor 70, and the flexible Roller conveyor 20 being connected with de-stacking Roller conveyor 70 is another with flexible Roller conveyor 20
The connected stacking Roller conveyor 80 in end, the entire length of flexible Roller conveyor 20 is reduced by the way that 80 one side of stacking Roller conveyor is arranged,
Reduce the volume of flexible Roller conveyor 20；On the one hand the fixation to flexible Roller conveyor 20 is realized by stacking Roller conveyor 80, to protect
Demonstrate,prove the stability of entire pipeline；Further, it piles up Roller conveyor to be arranged on chassis 12, positioned at the one of robot system 14
Side, the Roller conveyor 20 that stretches is by being attached fixation with stacking Roller conveyor 80, so that flexible Roller conveyor 20 is with carloader 10
Mobile realization it is flexible.
In one embodiment of the utility model, it is preferable that as shown in figures 1 and 3, chassis 12 is servo motor drive
Dynamic caterpillar chassis.
In this embodiment, chassis 12 is the caterpillar chassis driven by servo motor, is driven using servo motor
It is dynamic to adjust the motion track of carloader 10 by changing the positive and negative rotation of motor, it is ensured that carloader 10 is transported in compartment 100
Capable direction is parallel with the side wall in compartment 100.Further, crawler belt is rubber belt track, and rubber belt track adapts to complicated bottom surface,
100 bottom surface of compartment is not weighed wounded.
In specific embodiment, the pedestal of robot system 14 is mounted with that four support foot mechanisms and four brace mechanisms ensure to fill
The stability of vehicle device 10,
In one embodiment of the utility model, it is preferable that robot system 14 further include: superstructure, setting exist
On chassis 12；Holder driving mechanism and holder guiding mechanism, are arranged on chassis 12, are connected with robot system 14, use
It is mobile relative to chassis 12 in driving robot system 14；Control platform 50 is connected with holder driving mechanism, for controlling cloud
The work of platform driving mechanism.
In this embodiment, holder guiding mechanism and holder driving mechanism, carloader 10 are housed on caterpillar chassis 12
Robot system 14 be mounted in holder driving mechanism, control platform 50 pass through holder guiding mechanism and holder driving mechanism school
Positive left-right position deviation, entire left-right position correction course do not need crawler belt operating, substantially reduce difficulty and the institute of position adjusting
The time needed improves the accuracy of system operation.By using the caterpillar chassis 12 of self-correcting, accurate guide-localization is provided
While, the concave-convex bottom surface in compartment 100 is adapted to, and do not weigh 100 bottom surface of compartment wounded.Further, holder guiding mechanism
It is mounted on chassis 12 by connectors such as bolts, robot system 14 is mounted on holder guiding mechanism, holder guiding mechanism
Play the role of guiding and positioning to robot system 14, and reduces the friction between robot system 14 and chassis 12
Power；Further, holder driving mechanism is connected with holder guiding mechanism, for controlling the position of holder guiding mechanism.
Further, holder guiding mechanism can be guideway, that is, include guide rail and guide rail slide block, guide rail and guide rail slide block
In one be arranged on chassis 12, another is arranged on the pedestal of robot system 14.Holder driving mechanism can be with are as follows: rolling
Ballscrew, speed reducer and servo motor composition.The servo motor of driving ball-screw is installed on caterpillar chassis 12, lead screw
It is attached between servo motor by speed reducer.Two feed screw nuts, the bottom of nut and robot system 14 are equipped on lead screw
Seat is fastenedly connected.When needing to control 14 lateral position of robot system, turning for servo motor need to be only controlled according to locational requirement
It is dynamic.
In one embodiment of the utility model, it is preferable that detection device includes: laser radar detection module, is used for
Obtain the outline data in compartment 100；Control platform 50 is specifically used for the outline data obtained according to laser radar detection module, leads to
Image procossing is crossed, determines position of the chassis 12 with respect to compartment 100, and controls hydraulic elevating platform 30 and adjusts height or control entrucking
Machine 10 moves into compartment 100.
In this embodiment, laser radar detection module is used for the positioning on 10 chassis 12 of carloader.When carloader 10 is in vehicle
It when 100 outside of compartment, is mainly worked by laser radar detection module, at this point, laser radar detection module is swept by contactless
It retouches, the outline data in compartment 100 can be obtained and is sent to control platform 50, control platform 50 is according to the compartment 100 received
Outline data by relevant image processing algorithm, can be obtained the position in the opposite compartment 100 in 10 chassis of carloader 12, when point
When the basal surface position in precipitation compartment 100 is higher than the chassis 12 of carloader 10, then controls hydraulic elevating platform 30 and increase until and vehicle
The chassis 12 in compartment 100 is remained basically stable, and control platform 50 is sending control instruction to carloader 10, so that carloader 10 starts to move
To compartment 100, and then improve the automatization level of entire loading system 1.
In one embodiment of the utility model, it is preferable that detection device further include: contact range finder module, setting
In the front-end and back-end of the crawler belt side on chassis 12, for detecting position offset and the angular deviation of crawler belt；Control platform 50 has
The position offset and angular deviation that body is used to be obtained according to contact range finder module, determine position of the chassis 12 with respect to compartment 100
It sets, control servo motor positive and negative rotation adjusts the travel track on chassis 12.
In this embodiment, contact type distance measuring device is used to detect position offset and the angular deviation of crawler belt；Work as entrucking
Machine 10 can directly contact 100 inner wall of compartment at 100 inside of compartment by contact type distance measuring device, obtain chassis 12 relative to
The position in compartment 100.Specifically, the flexible material roller group on contact type distance measuring device can be along wavy 100 inside of compartment
Wall rolls, can real-time detection crawler belt left-right position offset and angular deviation, contact type distance measuring device is by the left-right position of crawler belt
Offset and angular deviation are sent to control platform 50, and control platform 50 is watched according to the deviation data of acquisition by controlling track drive
The positive and negative rotation for taking motor adjusts angular deviation, it is ensured that 10 direction of travel of carloader is parallel with compartment 100.
Specifically, contact type distance measuring device is telescopically disposed in the side on chassis 12, when needing to measure stretch out with
The inner wall in compartment 100 is in contact, and contact type distance measuring device includes displacement sensor, and displacement sensor can be contactless
Laser displacement sensor, ultrasonic displacement sensor are also possible to linear displacement transducer, the stay wire displacement sensor of contact
Deng；When not needing measurement, contact type distance measuring device can be shunk completely, save space.
In one embodiment of the utility model, it is preferable that robot system 14 includes: mechanical arm, is rotationally set
It sets on holder guiding mechanism；The end of mechanical arm is arranged in, for grabbing cargo in sucked type handgrip.
In this embodiment, by the way that rotatable mechanical arm is arranged, to realize automatically entrucking, in the end of mechanical arm
Sucked type handgrip is set, crawl material flexible in operation precisely, rapidly and efficiently, stability it is high, operating efficiency is high, further assures that
The position offset of cargo is not exceeded after stacking, eliminates the accumulated error of stacking.
In one embodiment of the utility model, it is preferable that detection device further include: 3D visual sensing module, setting
On sucked type handgrip, for obtaining the carriage wall outline data in compartment 100；Control platform 50 is specifically used for being passed according to 3D vision
Feel the carriage wall outline data that module obtains, determines the stacking position of cargo.
In this embodiment, 3D visual sensing module is mainly used for determining position of the robot relative to compartment 100.By
Of different sizes in cargo size, there are the unfavorable factors such as deformation and exist in compartment 100, even if 10 chassis 12 of carloader has moved to standard
True position, still, when actually piling up, it is still desirable to be corrected to the position of stacking.For this purpose, robot carloader 10
Detection device is provided with 3D visual sensing module in the cleft hand end of robot, is scanned to the 3D profile of compartment wall, thus
Accurate cargo can be obtained and pile up position, carriage wall outline data is sent to control platform 50 by 3D visual sensing module, is controlled
Platform 50 controls carloader 10 and is moved to cargo stacking position, and the loading system 1 of the application passes through to 100 Internal periphery data of compartment
Analysis with determine cargo stacking position and stacking sequence, realize cargo turn to and intersect pile up problem.Realization prevents goods
The effect that object collapses improves the compatibility of manner of packing, cargo size versatility.
In one embodiment of the utility model, it is preferable that 3D visual sensing module is also used to obtain cargo after stacking
Outline data；Control platform 50 is specifically used for the outline data of cargo after the stacking obtained according to 3D visual sensing module, sentences
Whether the position offset that rear cargo is put in short in size meets preset range, and controls robot system 14 to cargo according to judging result
Stacking position corrected.
In this embodiment, 3D visual sensing module is also used to obtain the outline data of cargo after stacking, and will be after stacking
The outline data of cargo is sent to control platform 50, goods after control platform 50 is piled up according to the outline data judgement of cargo after stacking
Whether the position offset of object meets preset range, and carloader 10 is controlled if having exceeded preset range and is readjusted beyond pre-
If the placement position of the cargo of outline data part is corrected, realizes the effect for preventing cargo from collapsing, improve manner of packing
Compatibility, cargo size versatility.
In one embodiment of the utility model, it is preferable that as shown in figures 1 and 3, carloader 10 further include: limit
Device 90, positioned at the bottom in compartment 100, the tire for the lorry to stop is limited；Control platform 50 is specifically used for connecing
When receiving lorry berthing signal, the control movement of limiting device 90 limits tire.
In this embodiment, it is limited by the vehicle of 90 pairs of limiting device stops of setting, it is existing to avoid the occurrence of car slipping etc.
As guaranteeing the stability in compartment 100；Further, lorry stop after, control platform 50 control limiting device 90 to tire into
Row limit.Specifically, limiting device 90 adsorbs tire including adsorption piece or limiting device 90 includes fasteners, goods
After vehicle is stopped, control platform 50 controls fasteners and be located on tire, limits to it.
In specific embodiment, the entrucking process of loading system 1 is as follows: as depicted in figs. 1 and 2, lorry refers to according to stop line 2
After the parking stall shown is stopped in place, control platform 50 controls compartment levelling device 40 and levels and position compartment 100, control limit
Position device 90 limits the tire of lorry, and the adjustment of hydraulic elevating platform 30 height and the bottom surface in compartment 100 are at the same level, and detects
Device obtains compartment outline data, determines the stacking position of cargo；As shown in Figure 3 to Figure 4, carloader 10 is with flexible Roller conveyor
20 drive into compartment 100, and cargo crawl is placed on by unstacker 60, and on de-stacking Roller conveyor 70, cargo is conveyed through de-stacking Roller conveyor 70
To flexible Roller conveyor 20, then it is transmitted to stacking Roller conveyor 80, the robot system 14 on carloader 10 is in stacking Roller conveyor 80
Upper crawl cargo stacking is to position is piled up, sequentially from bottom to top, from the inside to surface, after 10 automatic backing of carloader is until fill a vehicle
Carloader 10 returns on hydraulic elevating platform 30.As shown in figure 4, carloader 10, in 100 inlet of compartment, detection device obtains
Pick-up compartment outline data, behind the stacking position for determining cargo, then the inside driven into compartment 100 carries out code goods.The utility model
The loading system 100 of offer combines the advanced technologies such as automation control, vision, sensing, navigation algorithm, accumulates a set of automation
System realizes the truck fill flow of a set of automation, solves the industry problems of automatic loading in the prior art.In the mistake of entrucking
Cheng Zhong, holder driving mechanism and holder guiding mechanism correction carloader chassis left-right position deviation and control platform 50
Angular deviation is adjusted by the positive and negative rotation of control track drive servo motor according to the deviation data of acquisition, it is ensured that carloader 10 is advanced
Direction is parallel with compartment 100.
In the present invention, the terms such as term " installation ", " connected ", " connection ", " fixation " shall be understood in a broad sense, example
Such as, " connection " may be fixed connection or may be dismantle connection, or integral connection；" connected " can be directly connected,
It can also be indirectly connected through an intermediary.For the ordinary skill in the art, can understand as the case may be
The concrete meaning of above-mentioned term in the present invention.
In the description of this specification, the description of term " one embodiment ", " some embodiments ", " specific embodiment " etc.
Mean that particular features, structures, materials, or characteristics described in conjunction with this embodiment or example are contained at least the one of the utility model
In a embodiment or example.In the present specification, schematic expression of the above terms are not necessarily referring to identical embodiment
Or example.Moreover, the particular features, structures, materials, or characteristics of description can be in any one or more embodiment or examples
In can be combined in any suitable manner.
The above descriptions are merely preferred embodiments of the present invention, is not intended to limit the utility model, for this
For the technical staff in field, various modifications and changes may be made to the present invention.It is all in the spirit and principles of the utility model
Within, any modification, equivalent replacement, improvement and so on should be included within the scope of protection of this utility model.
Claims (12)
1. a kind of loading system characterized by comprising
Carloader, the carloader include movable chassis and the robot system that is arranged on the chassis, the carloader
It is able to enter interior and carries out stacking；
Flexible Roller conveyor, is connected with the carloader, can follow the carloader mobile to adjust the flexible Roller conveyor
Length, the flexible Roller conveyor be used for conveying articles；
Hydraulic elevating platform, the hydraulic elevating platform can adjust height it is identical as the height in the compartment to realize so that
The compartment can be entered by the hydraulic elevating platform by obtaining the carloader；
Levelling device is touched with the bottom connection in the compartment, for leveling the compartment；
Detection device is set on the carloader, for detecting real time position of the carloader relative to the compartment；
Control platform, with the carloader, the flexible Roller conveyor, the hydraulic elevating platform, the levelling device and institute
It states detection device to be connected, the control platform is flexible to level described in the compartment, adjusting for controlling the levelling device
The height of hydraulic elevating platform and the control carloader work.
2. loading system according to claim 1, which is characterized in that further include:
Unstacker, for cargo to be installed to be carried to the flexible Roller conveyor.
3. loading system according to claim 2, which is characterized in that further include:
De-stacking Roller conveyor is connected with one end of the flexible Roller conveyor, and the cargo to be installed is placed into institute by the unstacker
It states on de-stacking Roller conveyor, is delivered on the flexible Roller conveyor by the de-stacking Roller conveyor.
4. loading system according to claim 1, which is characterized in that further include:
Stacking Roller conveyor is arranged on the chassis, and the stacking Roller conveyor is connected with the other end of the flexible Roller conveyor,
Cargo to be installed is delivered to the stacking Roller conveyor so that the robot system moves to take carry out stacking through the flexible Roller conveyor.
5. loading system according to any one of claim 1 to 4, which is characterized in that
The chassis is the caterpillar chassis of servo motor driving.
6. loading system according to any one of claim 1 to 4, which is characterized in that further include: holder driving mechanism and
Holder guiding mechanism is arranged on the chassis, is connected with the robot system, for driving the robot system
It is mobile relative to the chassis；
The control platform is connected with the holder driving mechanism, for controlling the holder driving mechanism work.
7. loading system according to claim 5, which is characterized in that the detection device includes:
Laser radar detection module, for obtaining the outline data in the compartment；
The control platform is specifically used for determining the position in the relatively described compartment in the chassis, and control according to the outline data
It makes the hydraulic elevating platform adjusting height or the control carloader moves into the compartment.
8. loading system according to claim 5, which is characterized in that the detection device further include:
The front-end and back-end of the crawler belt side on the chassis are arranged in, for detecting the crawler belt in contact range finder module
Position offset and angular deviation；
The control platform is specifically used for determining that the chassis is relatively described according to the position offset and the angular deviation
The position in compartment controls the travel track that the servo motor positive and negative rotation adjusts the chassis.
9. loading system according to claim 6, which is characterized in that the robot system includes:
Mechanical arm is rotatably arranged in the holder driving mechanism；
The end of the mechanical arm is arranged in sucked type handgrip, for grabbing the cargo.
10. loading system according to claim 9, which is characterized in that the detection device further include:
3D visual sensing module is arranged on the sucked type handgrip, for obtaining the carriage wall outline data in the compartment；
The control platform is specifically used for determining the stacking position of cargo according to the carriage wall outline data.
11. loading system according to claim 10, which is characterized in that
The 3D visual sensing module is also used to obtain the outline data of cargo after stacking；
The control platform is specifically used for the outline data according to cargo after the stacking, controls the robot system to described
It is corrected the stacking position of cargo.
12. loading system according to any one of claim 1 to 4, which is characterized in that further include:
Limiting device, positioned at the bottom in the compartment, the tire for the lorry to stop is limited；
The control platform is specifically used for the control limiting device movement and limits to the tire.
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| CN201821332712.3U CN208716462U (en) | 2018-08-17 | 2018-08-17 | Loading system |
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|---|---|---|---|
| CN201821332712.3U CN208716462U (en) | 2018-08-17 | 2018-08-17 | Loading system |
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| CN110155752A (en) * | 2019-06-10 | 2019-08-23 | 佛山市杰邦自动化科技有限公司 | A kind of propelling movement type carloader |
| CN110342271A (en) * | 2019-07-22 | 2019-10-18 | 广东嘉腾机器人自动化有限公司 | A kind of automatically handling material A GV and material handling method |
| CN110482271A (en) * | 2019-08-08 | 2019-11-22 | 江西吉安国泰特种化工有限责任公司 | A kind of emulsifying ammonium nitrate fuel explosive automatic loading system |
| CN111071127A (en) * | 2019-12-31 | 2020-04-28 | 广州逻得智能科技有限公司 | Cargo loading and unloading system and cargo loading and unloading method |
| CN111362019A (en) * | 2020-03-26 | 2020-07-03 | 荆州市康海传动机械制造有限公司 | Complete set loading system |
| CN111703919A (en) * | 2020-06-23 | 2020-09-25 | 合肥泰禾光电科技股份有限公司 | Car loader, car loading system and car loading method |
| CN112249740A (en) * | 2020-09-24 | 2021-01-22 | 意欧斯物流科技(上海)有限公司 | Automatic loading method and system after automatic ex-warehouse of intelligent warehousing project tray |
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| CN112551196A (en) * | 2020-12-10 | 2021-03-26 | 上海克来机电自动化工程股份有限公司 | Logistics system control method, device and medium |
| CN112722895A (en) * | 2021-01-21 | 2021-04-30 | 挪科智能设备(上海)有限公司 | Full-automatic car loader |
| CN112722657A (en) * | 2020-12-07 | 2021-04-30 | 上海利兰机械设备有限公司 | Automatic loading and unloading method for goods of van truck |
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| CN110155752A (en) * | 2019-06-10 | 2019-08-23 | 佛山市杰邦自动化科技有限公司 | A kind of propelling movement type carloader |
| CN110342271A (en) * | 2019-07-22 | 2019-10-18 | 广东嘉腾机器人自动化有限公司 | A kind of automatically handling material A GV and material handling method |
| CN110482271A (en) * | 2019-08-08 | 2019-11-22 | 江西吉安国泰特种化工有限责任公司 | A kind of emulsifying ammonium nitrate fuel explosive automatic loading system |
| CN111071127A (en) * | 2019-12-31 | 2020-04-28 | 广州逻得智能科技有限公司 | Cargo loading and unloading system and cargo loading and unloading method |
| CN111362019A (en) * | 2020-03-26 | 2020-07-03 | 荆州市康海传动机械制造有限公司 | Complete set loading system |
| CN111362019B (en) * | 2020-03-26 | 2021-11-12 | 荆州市康海传动机械制造有限公司 | Complete set loading system |
| CN111703919A (en) * | 2020-06-23 | 2020-09-25 | 合肥泰禾光电科技股份有限公司 | Car loader, car loading system and car loading method |
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| CN112722657A (en) * | 2020-12-07 | 2021-04-30 | 上海利兰机械设备有限公司 | Automatic loading and unloading method for goods of van truck |
| CN112551196A (en) * | 2020-12-10 | 2021-03-26 | 上海克来机电自动化工程股份有限公司 | Logistics system control method, device and medium |
| CN112722895B (en) * | 2021-01-21 | 2024-05-24 | 挪科智能设备(上海)有限公司 | Full-automatic loading machine |
| CN112722895A (en) * | 2021-01-21 | 2021-04-30 | 挪科智能设备(上海)有限公司 | Full-automatic car loader |
| CN114261453B (en) * | 2021-12-27 | 2023-08-29 | 深圳市乐惠光电科技有限公司 | Mobile Power Supply System |
| CN114261453A (en) * | 2021-12-27 | 2022-04-01 | 深圳市乐惠光电科技有限公司 | Mobile power supply system |
| CN114655731B (en) * | 2022-04-01 | 2023-11-14 | 烟台清科嘉机器人联合研究院有限公司 | Cargo loading and unloading method and system for truck |
| CN114655731A (en) * | 2022-04-01 | 2022-06-24 | 烟台清科嘉机器人联合研究院有限公司 | Method and system for loading and unloading goods of truck |
| CN114852728A (en) * | 2022-06-20 | 2022-08-05 | 西安威仁自动化科技有限公司 | Intelligent loading and unloading robot for van vehicle |
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| CN117003019B (en) * | 2023-10-07 | 2024-02-13 | 季华实验室 | Intelligent loading system and loading method |
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