CN209242217U - A kind of container entrucking of bagged material and stocking system - Google Patents
A kind of container entrucking of bagged material and stocking system Download PDFInfo
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- CN209242217U CN209242217U CN201821900696.3U CN201821900696U CN209242217U CN 209242217 U CN209242217 U CN 209242217U CN 201821900696 U CN201821900696 U CN 201821900696U CN 209242217 U CN209242217 U CN 209242217U
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- container
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- bagged material
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Abstract
Container entrucking and stocking system the utility model discloses a kind of bagged material, including circulation memory block, gantry crane, double-station palletizing system, auxiliary entrucking unit, lorry and control system；Gantry crane is across in circulation memory block track, gantry crane and double-station palletizing system are equipped with binocular vision component, control system obtains the double-station palletizing system bagged material of binocular vision component acquisition, assists the information on entrucking unit, control robot palletizer piles up the bagged material of belt conveyor line to the container of auxiliary entrucking unit, and gantry crane lifts on container to circulation memory block or lorry.Tthe utility model system is safe and reliable, at low cost, can be realized unmanned operation, high degree of automation.
Description
Technical field
The utility model goods transportation field, be especially suitable for bagged material container entrucking task and bagged material it is short
Phase stores task, particularly, is related to container entrucking and the stocking system of a kind of bagged material.
Background technique
After the completion of bagged material (products such as lime, flour, cement, chemical fertilizer, sugar) production at present, vehicle loading work is carried out
When, still completed mainly by manpower.Product stacks are then usually passed through into fork truck when needing entrucking on shelf or supporting plate
Supporting plate is forked to the edge for being placed on lorry together with cargo, it then again will be inside cargo code to lorry by manpower.Wherein, regardless of
It is that the biggish article of weight or dangerous material all can there are biggish security risks to staff；Further, since sale is light prosperous
Season difference, factory generally requires to build the storage that a large amount of warehouse carries out period of slack sales yield, and capital investment is big.So exploitation
A kind of work efficiency is high, can mitigate manual labor's intensity, the loading system without warehouse storage, has become enterprise and society is urgent
It solves the problems, such as.
There are the interim storage needs of entrucking low efficiency, the product of transhipment not in time in product or patent at present on the market
The disadvantages of building emergency storage repository:
The ZQD100 type Mobil loader for bagged cement and Anhui that Tonghua cement limited liability company, Yatai Group uses
Packaged material can be transported to the top of haulage vehicle, but object by the novel load bed cement carloader that conch group uses
There is still a need for artificial in material heap pile to wagon box to complete.
The third harbour of PORT OF QINHUANGDAO transform dispersion fertilizer handling single user wharf as, uses the very high movable loading of technology content
The bagged chemical fertilizer come out from bagger can be directly loaded up to railway carriage by machine.But it transports product not in time to need to be transported to storehouse
It is kept in library, it is still desirable to establish emergency storage repository.
CN203806728U discloses a kind of entrucking robot, and automobile and delivery track are placed in below gantry crane, gantry crane
It can realize that the direction x is mobile by ground roller-way.Machine handgrip is placed on gantry crane the movement, it can be achieved that the direction y, z.But it is utilized
Truss robot carries single handgrip entrucking in stacking, low efficiency, and also needs to establish emergency storage repository.
CN107352290A discloses a kind of packing case automatic loading robot, by the running gear of portal frame lower end,
Go deep into interior and completes automatic stacking.Although the degree of automation of this kind of truck-loading facilities is higher, passing through single pipeline will
Product is sent to interior, and entrucking low efficiency also needs to establish emergency storage repository.
Utility model content
To solve drawbacks described above existing in the prior art, one of the objects of the present invention is to provide a kind of bagged materials
Container entrucking and stocking system and method, to solve existing loading system entrucking low efficiency, transhipment product not in time faces
When storage need to build the emergency technical problems such as storage repository.
The present invention is realized by following technical proposals.
According to one embodiment of present invention, a kind of container entrucking of bagged material and stocking system, which is characterized in that
Including circulation memory block, gantry crane, double-station palletizing system, auxiliary entrucking unit, lorry and control system；Gantry row
For vehicle across in circulation memory block track, the gantry crane and double-station palletizing system are equipped with binocular vision component, control
System obtains the double-station palletizing system bagged material of binocular vision component acquisition, assists the information on entrucking unit, control code
Pile robot piles up the bagged material of belt conveyor line to the detachable buckle-type container bottom of auxiliary entrucking unit, and
Detachable buckle-type container is fastened through auxiliary entrucking unit, detachable buckle-type container is lifted to circulation by gantry crane
On memory block or lorry.
Preferably, the gantry crane includes track, is provided with a pair of beams by wheel group in track and supports, crossbeam branch
Double crossbeam groups are provided in support, being slidably connected between double crossbeam groups, it is double that there are two locomotive group, two raising components and two
Mesh visual component I, corresponding each locomotive group are equipped with a crampon；It further include the driving being located on cross beam support
Room.
Preferably, described two binocular vision components I are separately mounted in two locomotive groups.
Preferably, the driver's cabin is located between a pair of beams support post, and cross beam support is a pair of in splayed configuration distribution
Support column, driver's cabin is unobscured.
Preferably, the container includes container bottom and sealing fence composition, and the two forms closed case after fastening,
The sealing fence is frame-type structure, is equipped with connecting pin in four side bottom of frame, connecting pin is through sealing fence and collects
Vanning chassis, passes through screw-threaded coupling.
Preferably, the symmetrical hanging ring across cabinet is equipped at the top of closed case；The container bottom frame
In be equipped with embedding sealing circle seal groove.
Preferably, the auxiliary carloader chassis that the auxiliary entrucking unit is carried by several movable pulley units, is assisting
Carloader chassis upper surface four is respectively equipped with the pin movable component matched with connecting pin on angle, for realizing container
It is automatic fractionation and fastening.
Preferably, the double-station palletizing system includes the main belt line connecting with bagged material supplied materials area, He Yuzhu skin
Several auxiliary belt lines with line docking are equipped with robot palletizer in the end of each auxiliary belt line, set above robot palletizer
Set binocular vision component II.
The utility model has the advantages that due to taking above technical scheme
1. the processes such as container splits, connects are not required to present invention employs automatic fractionation, connection container structure form
Human assistance is wanted, has accomplished the unmanned work of intermediate link, has saved cost input, it is dangerous to avoid personnel's operation；
2. gantry crane of the present invention using binocular vision component carry out crampon and container suspension hook automatic identification and
Positioning, indirect labor execute hook task, do not need human assistance hooking container, avoid personnel's operation danger link；
3. can be placed in present invention employs the container form that upper and lower two parts can form inner space sealing
In sleet environment, guarantees that the internal product carried is in dry environment, stored for open deck, eliminate and build warehouse
Great number capital cost；
4. the present invention uses double-station palletizing system, material is piled up onto container bottom in advance, container bottom four
Week interferes robot palletizer moving line without column, breast board etc., improves material and piles up convenience and pile up efficiency；
5. the three-D profile that the present invention carries out bagged material using binocular stereo vision component, assists entrucking unit feeding pile
Identification, position detection and real time monitoring, and then realize full-automatic bagged product of piling up to collection by two robot palletizers of control
It cases on chassis, unmanned operation, high degree of automation；
6. that is, gantry crane handling container seals fence present invention employs the container-type entrucking mode of fully loaded product
It is installed on container bottom, entire container entrucking is sling by gantry crane, is simple and efficient, substantially reduces vehicle parking etc.
Time to entrucking.
Detailed description of the invention
Attached drawing described herein is used to provide a further understanding of the present invention, and is constituted part of this application,
It does not constitute improper limits to the present invention, in the accompanying drawings:
Fig. 1 is container entrucking and the stocking system layout of bagged material；
Fig. 2 is gantry crane composition schematic diagram；
Fig. 3 is container composition (closed state) composition schematic diagram；
Fig. 4 is container composition (disassembled form) composition schematic diagram；
Fig. 5 assists entrucking unit composition schematic diagram；
Fig. 6 is double-station palletizing system composition schematic diagram.
In Fig. 1: 1- gantry crane, 2- container, 3- assist entrucking unit, 4- double-station palletizing system, 5- circulation storage
Container carrier is given back in area, 6-, 7- waits for loading truck, 8- loading truck, 9- control system.
In Fig. 2: 1-1- track, 1-2- wheel group, 1-3- cross beam support, the bis- crossbeam groups of 1-4-, 1-5- locomotive group, 1-6-
Raising component, 1-7- binocular vision component I, 1-8- crampon, 1-9- driver's cabin.
In Fig. 3, Fig. 4: 2-1- container bottom, 2-2- seal fence, 2-3- connecting pin, 2-4- container hanging ring.
In Fig. 5: 3-1- assists carloader chassis, 3-2 movable pulley unit, 3-3- pin movable component.
In Fig. 6: the main belt line of 4-1-, the auxiliary belt line of 4-2-, 4-3- robot palletizer, 4-4- binocular vision component II.
Specific embodiment
The utility model is described in detail below in conjunction with attached drawing and specific embodiment, in the signal of this utility model
Property embodiment and explanation be used to explain the utility model, but be not intended to limit the scope of the present invention.
As shown in Figure 1, the container entrucking of the bagged material of the utility model and stocking system, comprising:
A set of gantry crane 1, sufficient amount of container 2, a set of auxiliary entrucking unit 3, a set of double-station palletizing system
4, circulation memory block 5 open enough, give back container carrier 6, to loading truck 7, loading truck 8, control system 9, each section
It acts on as follows:
Gantry crane 1, according to control system assignment instructions, automatic identification container 2 (including after vacant container, fractionation
Container and fill cargo container), for the position transfer of container 2, by vacant container 2 from giving back container carrier 6
Upper (perhaps circulate memory block 5) be transported on auxiliary entrucking unit 3 or will fill cargo container 2 from auxiliary entrucking unit 3 or
Person's (perhaps circulate memory block 5) is transported to on loading truck 7 or fill cargo container 2 and be transported to stream from auxiliary entrucking unit 3
Unloading storage area 5.
Container 2 belongs to a kind of detachable buckle-type container, has vacant container 2 and fills 2 liang of cargo container
Kind state, stores or transports bagged material for building enclosed moisture-resistant space.
Entrucking unit 3 is assisted, four pins of collection (and closure) vanning 2 are used to open, by container from sealing fence 2-2
It is separated with container bottom 2-1, i.e., hangs sealing fence 2-2 using crampon 1-8, container bottom 2-1 is stayed in auxiliary
It helps on the auxiliary carloader chassis 3-1 of entrucking unit 3, delivery container bottom 2-1 to the stacking corridor of double-station palletizing system 4
It is interior, instruct intermediary position mobile according to stacking, double-station palletizing system 4 realizes that the material of entire container bottom 2-1 is stacked.
Double-station palletizing system 4 passes through Belt Conveying bagged material to robot palletizer work under control system control
Position assists 3 position of entrucking unit using machine vision automatic identification, and control auxiliary entrucking unit 3 carries out the mobile adjustment in position, code
Pile robot piles up bagged material onto the container bottom 2-1 on auxiliary entrucking unit 3.
Circulate memory block 5, for store the vacant container 2 for not yet having enough time casing, filling of not yet having enough time transporting
Cargo container 2.
The present invention is by gantry crane 1 and entrucking unit 3 is assisted to carry out the movement and fractionation of container 2, then utilizes double
Station palletizing system 4 pile up inside bagged material container 2, is then lifted by gantry crane 1 to circulation memory block 5,
Leave concentratedly and the moisture-proof sealed storage of realization bagged material, or by the lifting of gantry crane 1 to realize on loading truck 7
The rapid wagon loading of bag cargo substantially reduces the time that vehicle parking waits entrucking.The hook of gantry crane 1 hangs container 2, realizes
The position of container is mobile；Hook hangs fully loaded with cargo container 2 by being transferred on circulation 5 ground of memory block on loading truck,
It can hook and hang idle container 2 by being transferred on circulation 5 ground of memory block or on auxiliary entrucking unit 3 on lorry.
As shown in Fig. 2, gantry crane 1 includes track 1-1, a pair of beams branch is provided with by wheel group 1-2 on track 1-1
1-3 is supportted, double crossbeam group 1-4 are provided on cross beam support 1-3, being slidably connected between double crossbeam group 1-4, there are two locomotive groups
1-5, two raising component 1-6 and two I 1-7 of binocular vision component, corresponding each locomotive group 1-5 are equipped with a hoisting hook
Hook 1-8；It further include the driver's cabin 1-9 for being located at 1-3 on cross beam support.Two binocular vision component 1-7 are separately mounted to two
On a locomotive group 1-5, binocular vision viewing field of camera can cover the formation up and down of crampon 1-8, on the one hand, be driver's cabin
Video monitoring is provided in 1-9, it on the other hand, can be with automatic identification and positioning crampon 1-8 and container hanging ring 2-4, automatically
The hook that control gantry crane 1 carries out container 2 hangs task.Driver's cabin 1-9 is located between a pair of beams support 1-3 column, crossbeam
Supporting 1-3 is a pair of support column in splayed configuration distribution, guarantees that operator's visual field covering open enough in driver's cabin 1-9 is whole
A system.
I 1-7 of binocular vision component that operator is located at gantry crane 1 carries out target identification and positioning, independently manipulates vehicle
Wheel group 1-2 is moved along the track 1-1 realization direction x, two locomotive group 1-5 are moved along double crossbeam group 1-4 realization direction y,
The component 1-6 that adjusts hoisting is moved to the surface of container 2, then controls crampon 1-8 hook and slings idle container 2.
As shown in figure 3, container 2 belongs to a kind of detachable, buckle-type container, there is vacant container 2 and fill goods
2 two states of object container.Including the closed case that container bottom 2-1 and the sealing fence 2-2 fastened with it are constituted, sealing
Fence 2-2 be frame-type structure, four side bottom of frame be equipped with connecting pin 2-3, connecting pin 2-3 through sealing fence 2-2
With container bottom 2-1, by the screw-threaded coupling on pin 2-3, container bottom 2-1 and sealing fence 2-2 pass through four companies
Outbound nail 2-3 is connected as one；2 inner space of the container sealing being linked together.It is equipped at the top of closed case across case
Symmetrical container the hanging ring 2-4, two container hanging ring 2-4 of body hangs container for crampon 1-8 hook.Container
The seal groove of embedding sealing circle is equipped in the frame of chassis.
As shown in figure 4, hanging 1-8 after four pin 2-3 of container 2 are opened using gantry crane hook and hooking packaging
Case hanging ring 2-4 hangs sealing fence 2-2, container bottom 2-1 is stayed in the auxiliary carloader chassis 3-1 of auxiliary entrucking unit 3
On.
As shown in figure 5, the auxiliary carloader chassis 3-1 that auxiliary entrucking unit 3 is carried by several movable pulley unit 3-2,
It is respectively equipped with the pin movable component 3-3 matched with connecting pin on the auxiliary angle of the carloader chassis upper surface 3-1 four, is used
In the automatic fractionation and fastening of realizing container.Entrucking unit 3 is assisted to be responsible for being detached from the connecting pin 2-3 of container 2；Fully loaded goods
After object, auxiliary entrucking unit 3 is responsible for plugging together the connecting pin 2-3 of container 2.
As shown in fig. 6, double-station palletizing system 4 includes main the belt line 4-1, He Yuzhu connecting with bagged material supplied materials area
Two auxiliary belt line 4-2 of belt line docking are equipped with robot palletizer 4-3 in the end of each auxiliary belt line, in each stacking machine
II 4-4 of binocular vision component is respectively provided with above device people.Entrucking unit 3 is assisted to deliver container bottom 2-1 to double-station stacking system
In the stacking corridor of system 4；The intermittent movement of control system control auxiliary entrucking unit 3, double-station palletizing system 4 realize entire collection
The material of vanning chassis 2-1 is stacked.
The container entrucking of the utility model bagged material and storage process are as follows:
1) control system 9 controls entrucking unit 3 and moves in the efficient working range of gantry crane 1；
2) the wheel group 1-2 of driver's cabin personnel control gantry crane 1 moves to idle 2 top of container along track 1-1；
3) gantry crane 1 carries out the automatic knowledge of crampon 1-8 and container suspension hook 2-4 using I 1-7 of binocular vision component
The binocular vision component 1-7 information acquired is not sent to gantry crane and drives indoor display screen with positioning, control system 9,
Auxiliary cab personnel carry out container 2 and hang；
4) position is adjusted with two locomotive group 1-5 in the y-direction driver's cabin personnel control vehicle wheel group 1-2 in the x-direction
Position adjustment, control raising component 1-6 movement, makes weight suspension hook 1-8 hook container hanging ring 2-4, slings idle container 2；Dragon
The wheel group 1-2 of door driving 1 is moved along track 1-1, two locomotive group 1-5 are adjusted along the direction y sync bit, by suspension hook
Container 2 move to auxiliary entrucking unit 3 surface；Raising component 1-6 control crampon 1-8 places container 2
Onto auxiliary entrucking unit chassis 3-1；
5) after driver's cabin personnel confirm that container 2 is placed on auxiliary entrucking unit chassis 3-1, container separation finger is sent
It enables to control system 9；
6) synchronous four for being detached from container 2 of four pin movable component 3-3 of the control of control system 9 auxiliary carloader 3
Connecting pin 2-3；
7) collection that the raising component 1-6 control crampon 1-8 of driver's cabin personnel control gantry crane 1 will have been separated
Vanning sealing fence 2-2 is detached from container bottom 2-1；Driver's cabin personnel control wheel 1-2 group moves from auxiliary along track 1-1
Help the operation channel of entrucking unit 3；
8) driver's cabin personnel confirm that the separated container sealing fence 2-2 opened is detached from container bottom 2-1, send stacking
It instructs to control system 9；
9) control of control system 9 auxiliary entrucking unit 3 delivers the stacking of container bottom 2-1 to double-station palletizing system 4
In corridor；
10) the bagged product source that the main belt line 4-1 of double-station palletizing system 4, two auxiliary belt 4-2 lines produce producing line
What source was constantly transported to two robot palletizer 4-3 respectively picks up discharge position；
11) image of II 4-4 of the binocular vision component acquisition auxiliary entrucking unit 3 of double-station palletizing system 4, and be transferred to
Control system 9, control system 9 control its and carry out position by image procossing, the current position for assisting entrucking unit 3 of resolving
Adjustment, control system 9 will assist the location information of entrucking unit to be sent to robot palletizer 4-3, and control robot palletizer 4-3
Bagged material is piled up onto the container bottom 2-1 above auxiliary entrucking unit chassis 3-1；
12) control system 9 cooperates II 4-4 of binocular vision component to carry out bagged material, assist the three of entrucking unit feeding pile
Outline identification, position detection and real time monitoring are tieed up, and then is automatically piled up by two robot palletizer 4-3 realizations of control packed
On product to container bottom 2-1；The intermittent movement of control auxiliary entrucking unit 3, and then complete entire container bottom 2-1's
Material is stacked；
13) material stacks completion on container bottom 2-1, and the control auxiliary entrucking unit 3 of control system 9 moves to gantry row
In the efficient working range of vehicle 1；Driver's cabin personnel control gantry crane 1 runs to the top of auxiliary entrucking unit 3, then controls
Raising component 1-6 makes crampon 1-8 that container sealing fence 2-2 to be placed into the container bottom 2-1 for being fully loaded with material
On；
14) driver's cabin personnel confirm that container sealing fence 2-2 has been placed in the container bottom for being fully loaded with material
After 2-1 is upper, container close command is sent to control system 9；
15) four pin movable component 3-3 of the control of control system 9 auxiliary entrucking unit 3, which are synchronized, plugs together the four of container 2
A connecting pin 2-3；
16) the raising component 1-6 of driver's cabin personnel control gantry crane 1, makes crampon 1-8 by the closing of fully loaded material
Container 2 is sling；Then the wheel group 1-2 of control gantry crane 1 is moved along track 1-1, two locomotive group 1-5 are along y
The closing container 2 of fully loaded material is transported to circulation memory block 5 or is transferred to loading truck 7 by the adjustment of direction sync bit
Surface；
17) the raising component 1-6 of driver's cabin personnel control gantry crane 1, falls crampon 1-8 by container 2, will
Container 2 is placed on circulation storage ground 5 or is transferred to on loading truck 7；Then two locomotive group 1-5 are controlled to carry out
The adjustment of the direction y position, controls raising component 1-6, is detached from crampon 1-8 and container 2.
Tthe utility model system solves the interim storage of existing loading system entrucking low efficiency, the product of transhipment not in time
Need to build the technical problems such as emergency storage repository, system is safe and reliable, at low cost, can be realized unmanned operation, automates journey
Degree is high.
The utility model is not limited to above-described embodiment, on the basis of technical solution disclosed by the utility model, this
For the technical staff in field according to disclosed technology contents, not needing creative labor can be special to some of which technology
Sign makes some replacements and deformation, these replacements and deformation are within the protection scope of the present utility model.
Claims (8)
1. a kind of container entrucking of bagged material and stocking system, which is characterized in that including circulation memory block, gantry crane,
Double-station palletizing system, auxiliary entrucking unit, lorry and control system；The gantry crane is across in circulation memory block track
On, the gantry crane and double-station palletizing system are equipped with binocular vision component, and control system obtains binocular vision component and adopts
Information on the double-station palletizing system bagged material of collection, auxiliary entrucking unit, control robot palletizer is by belt conveyor line
Bagged material is piled up to the detachable buckle-type container bottom of auxiliary entrucking unit, and removable through auxiliary entrucking unit fastening
Buckle-type container is unloaded, is lifted on detachable buckle-type container to circulation memory block or lorry by gantry crane.
2. the container entrucking of bagged material according to claim 1 and stocking system, which is characterized in that gantry row
Vehicle includes track, is provided with a pair of beams by wheel group in track and supports, double crossbeam groups is provided on cross beam support, in double cross
It is slidably connected between beam group there are two locomotive group, two raising components and two binocular vision components, corresponding each locomotive
Group is equipped with a crampon；It further include the driver's cabin being located on cross beam support.
3. the container entrucking of bagged material according to claim 2 and stocking system, which is characterized in that described two double
Mesh visual component is separately mounted in two locomotive groups.
4. the container entrucking of bagged material according to claim 2 and stocking system, which is characterized in that the driver's cabin
It is located between a pair of beams support post, cross beam support is a pair of support column in splayed configuration distribution.
5. the container entrucking of bagged material according to claim 1 and stocking system, which is characterized in that the container
Including container bottom and the closed case fastened with it, the closed case constitutes frame-type structure by sealing fence, in frame
Four sides bottom be equipped with connecting pin, connecting pin through sealing fence and the bolt on container bottom in lock.
6. the container entrucking of bagged material according to claim 4 and stocking system, which is characterized in that in closed case
Top is equipped with the symmetrical container hanging ring across cabinet；It is close equipped with embedding sealing circle in the container bottom frame
Sealing groove.
7. the container entrucking of bagged material according to claim 1 or 4 and stocking system, which is characterized in that described auxiliary
The auxiliary carloader chassis for helping entrucking unit to be carried by several movable pulley units, at the auxiliary angle of carloader chassis upper surface four
On be respectively equipped with the pin movable component matched with connecting pin, for realizing container it is automatic fractionation and fastening.
8. the container entrucking of bagged material according to claim 1 and stocking system, which is characterized in that the double-station
Palletizing system includes the main belt line connecting with bagged material supplied materials area, several auxiliary belt lines of He Yuzhu belt line docking,
It is equipped with robot palletizer in the end of each auxiliary belt line, binocular vision component is set above robot palletizer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821900696.3U CN209242217U (en) | 2018-11-16 | 2018-11-16 | A kind of container entrucking of bagged material and stocking system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821900696.3U CN209242217U (en) | 2018-11-16 | 2018-11-16 | A kind of container entrucking of bagged material and stocking system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112061816A (en) * | 2020-11-10 | 2020-12-11 | 山东伟豪思智能仓储装备有限公司 | Automatic loading system of container |
-
2018
- 2018-11-16 CN CN201821900696.3U patent/CN209242217U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112061816A (en) * | 2020-11-10 | 2020-12-11 | 山东伟豪思智能仓储装备有限公司 | Automatic loading system of container |
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