CN210682547U

CN210682547U - Cargo unstacking, conveying and loading system

Info

Publication number: CN210682547U
Application number: CN201921074061.7U
Authority: CN
Inventors: 赵得军; 朱学建; 姜卫国; 冯渝; 石建兵; 张行
Original assignee: Wuhan Rentian Robot Engineering Co ltd
Current assignee: Wuhan Rentian Robot Engineering Co ltd
Priority date: 2019-07-10
Filing date: 2019-07-10
Publication date: 2020-06-05
Anticipated expiration: 2029-07-10

Abstract

The utility model discloses a goods conveying loading system that breaks a jam, including conveying mechanism and automatic car loader, automatic car loader includes pile up neatly robot, fixed frame and running gear, and pile up neatly robot sets firmly in fixed frame, and running gear sets up in fixed frame bottom, and conveying mechanism's output is connected with fixed frame; the fixed frame is arranged above the loading cargo surface in a spanning mode, and the output ends of the palletizing robot and the conveying mechanism move back and forth along the length direction of the loading cargo surface along with the fixed frame through the walking device. Realize continuous transport and automatic loading, the integration degree is high, and work efficiency is high, because pile up neatly machine people strides outside the automobile body, more general automatic truck loader compatibility is good, practices thrift the cost of labor, can carry and load the goods letter sorting that becomes the buttress to the target car on.

Description

Cargo unstacking, conveying and loading system

Technical Field

The utility model relates to a commodity circulation loading technical field, concretely relates to goods transport loading system that breaks a jam.

Background

In a production enterprise, when products need to be loaded from a warehouse and transported outside, a method which is commonly adopted is that a forklift worker forks a stacked goods stack in the warehouse into a truck carriage, and then the worker disassembles the stack, carries the stack and loads the stack. The working mode is complicated, the efficiency is low, the labor intensity is high, and the labor cost of enterprises is increased. With the development of scientific technology in China, the automatic loading technology enters a rapid development stage, and industrial automation equipment can replace people to perform heavy labor in various industries and can improve the working efficiency and the product quality. And use the full-automatic loading system loading of robot to shorten the artifical distance of coming and going transport material, shorten loading pile up neatly time, reduce intensity of labour, reduce the goods damage, reduce the loading and unloading cost, improve work efficiency, can use with other conveying equipment and the cooperation of material sorting system, it is the reduction in production cost of modernization enterprise, the ideal instrument of increase efficiency, a series of benefits that it brought are also very obvious, it is more advanced to compare traditional artifical loading, it has become an inevitable trend!to use the automatic loading system to replace artifical loading!

Disclosure of Invention

The to-be-solved technical problem of the utility model is, to the above-mentioned defect that prior art exists, provide a goods transport loading system that breaks a jam, realize carrying in succession and automatic loading, the degree of integration is high, and work efficiency is high, because outside the pile up neatly machine people strides and arranges the automobile body in, more general automatic loading machine compatibility is good, practices thrift the cost of labor, can carry and load to the target car with the goods letter sorting of becoming the buttress.

The utility model discloses a solve the technical scheme that above-mentioned technical problem adopted and be:

a goods unstacking, conveying and loading system comprises a conveying mechanism and an automatic loader, wherein the automatic loader comprises a stacking robot, a fixed rack and a traveling device;

the fixed frame is arranged above the loading cargo surface in a spanning mode, and the output ends of the palletizing robot and the conveying mechanism move back and forth along the length direction of the loading cargo surface along with the fixed frame through the walking device.

According to the technical scheme, the guide rails are arranged on two sides of the loading and carrying surface, the traveling device is arranged on the guide rails and moves back and forth along the guide rails, and the fixed rack is of a gantry structure.

According to the technical scheme, the walking device comprises walking wheels and a driving motor, the walking wheels are arranged at the bottom of the fixed rack and are connected with the walking wheels, and the driving motor drives the walking wheels to move along the guide rails.

According to the technical scheme, the conveying mechanism comprises the telescopic conveyor and the cargo transferring and conveying mechanism, the output end of the telescopic conveyor is in butt joint with the input end of the cargo transferring and conveying mechanism, and the cargo transferring and conveying mechanism is fixedly arranged on the fixed rack.

According to the technical scheme, the cargo transferring and conveying mechanism comprises the differential separating belt conveyor, the grabbing roller way and the transferring frame, the differential separating belt conveyor and the grabbing roller way are sequentially arranged on the transferring frame, and the transferring frame is fixedly connected with the fixed frame.

According to the technical scheme, a steering mechanism is connected between the differential separation belt conveyor and the grabbing roller way, and a material pushing mechanism is arranged on the grabbing roller way.

According to the technical scheme, the input end of the telescopic conveyor is provided with the unstacking and transferring system, the unstacking and transferring system comprises the unstacking robot and the automatic conveying mechanism, and the automatic conveying mechanism is arranged on one side of the unstacking robot.

According to the technical scheme, the output end of the automatic conveying mechanism is sequentially connected with the transition conveying device and the tray transfer roller way.

According to the technical scheme, a visual detection system is arranged above or on one side of the automatic conveying mechanism.

According to the technical scheme, the goods unstacking, conveying and loading system further comprises a controller and a positioning system, the control system is respectively connected with the conveying mechanism, the stacking robot, the traveling device and the positioning system, the positioning system comprises a plurality of sensors, and the sensors are respectively arranged on two sides and front and back sides of the conveying mechanism and front and back strokes of the fixed frame; the device is used for detecting and positioning the walking position of the walking device in real time and the position relation between the conveying mechanism and the stacking robot relative to the loading truck.

The utility model discloses following beneficial effect has:

realize continuous transport and automatic loading, the integration degree is high, and work efficiency is high, because pile up neatly machine people strides outside the automobile body, more general automatic truck loader compatibility is good, practices thrift the cost of labor, can carry and load the goods letter sorting that becomes the buttress to the target car on.

Drawings

FIG. 1 is an elevation view of an embodiment of the invention, showing a cargo unstacking, conveying and loading system;

FIG. 2 is an elevation view of an unstacking transport system in an embodiment of the invention;

fig. 3 is an elevation view of a cargo transferring and conveying mechanism according to an embodiment of the present invention;

fig. 4 is an elevation view of the automatic loading machine in the embodiment of the present invention;

fig. 5 is an elevation view of a positioning system in an embodiment of the invention;

in the figure, 10-cargo unstacking, conveying and loading system, 11-stacked cargo, 12-cargo, 13-pallet, 14-truck cargo plane, 15-bulk pallet cargo, 16-arranged cargo;

100-automatic conveying mechanism, 200-unstacking and transferring system, 210-visual detection system, 220-unstacking robot, 230-unstacking clamp, 240-transition conveying device, 250-tray transferring roller way, 300-telescopic conveyor, 400-cargo transferring and conveying mechanism, 410-transferring rack, 420-differential separation belt conveyor, 430-steering mechanism, 440-grabbing roller way, 450-pushing mechanism, 500-automatic car loader and 510-traveling device; 520-a fixed frame; 530-a palletizing robot; 540-stacking clamps; 550-positioning system, 551-front-end ranging sensor, 552-side-end ranging sensor, 553-height ranging sensor, 554-driving distance ranging sensor.

Detailed Description

The present invention will be described in detail with reference to the accompanying drawings and examples.

Referring to fig. 1 to 5, the utility model provides an embodiment goods unstacking, conveying and loading system 10, including a conveying mechanism and an automatic loader 500, the automatic loader 500 includes a palletizing robot 530, a fixed frame 520 and a traveling device 510, the palletizing robot 530 is fixed on the fixed frame 520, the traveling device 510 is arranged at the bottom of the fixed frame 520, the output end of the conveying mechanism is connected with the fixed frame 520;

the fixed rack 520 spans over the loading surface, and the output ends of the palletizing robot 530 and the conveying mechanism move back and forth along the length direction of the loading surface along with the fixed rack 520 through the walking device 510; the palletizing robot 530 grabs the goods conveyed on the conveyor in the truck carriage for palletizing.

Further, the loading and loading surface is a stacking surface of the wagon box during loading, the fixed frame 520 spans over the wagon box, and the fixed frame 520 can move back and forth along the length direction of the wagon box through the traveling device 510.

Furthermore, guide rails are arranged on two sides of the loading and carrying surface, the traveling device 510 is arranged on the guide rails, the traveling device 510 moves back and forth along the guide rails, and the fixed rack 520 is of a gantry structure.

Further, the guide rails are arranged on the ground on two sides of the loading and carrying surface and arranged along the length direction of the loading and carrying surface.

Further, running gear 510 includes walking wheel and driving motor, and the walking wheel is arranged and driving motor in the bottom of fixed frame 520, and the walking wheel sets up on the guide rail, and driving motor is connected with the walking wheel, and driving motor drives the walking wheel and removes along the guide rail.

Further, the conveying mechanism comprises a telescopic conveyor 300 and a cargo transferring and conveying mechanism 400, the output end of the telescopic conveyor is in butt joint with the input end of the cargo transferring and conveying mechanism 400, and the cargo transferring and conveying mechanism 400 is fixedly arranged on the fixed rack 520; the cargo transferring and conveying mechanism 400 may move along with the fixed frame 520, and the cargo transferring and conveying mechanism 400 is used to transfer cargo and arrange the cargo to wait, and facilitates the palletizing robot 530 to grab the cargo.

Further, cargo transferring and conveying mechanism 400 includes differential separation belt feeder 420, snatchs roll table 440 and transports frame 410, and differential separation belt feeder 420 sets gradually on transporting frame 410 with snatchs roll table 440, transports frame 410 and is connected fixedly with fixed frame 520.

Further, a steering mechanism 430 is connected between the differential separation belt conveyor 420 and the grabbing roller way 440, and a material pushing mechanism 450 is arranged on the grabbing roller way 440; the steering mechanism 430 is used for steering the conveyed goods to be horizontal or longitudinal required for palletizing and grabbing, the goods enter the grabbing roller way 440 to be arranged, after the goods are arranged to a specified number, the pushing mechanism 450 horizontally pushes the goods arranged to the specified number to one side of the grabbing roller way 440, the palletizing robot 530 waits for grabbing, and meanwhile, the new goods are not influenced to continuously enter the grabbing roller way 440.

Further, the input end of the differential separating belt conveyor 420 is in butt joint with the output end of the telescopic conveyor 300, the output end of the differential separating belt conveyor 420 is in butt joint with the input end of the steering mechanism 430, and the output end of the steering mechanism 430 is in butt joint with the input end of the grabbing roller table 440.

Further, the transfer frame 410 is hung on the fixed frame 520 and disposed below the palletizing robot 530.

Further, the steering mechanism 430 comprises a roller conveyor and a blocking device, wherein the blocking device is arranged on one side of a conveying channel on the roller conveyor; when the blocking device blocks one side of the conveyed goods, the goods are turned and then enter the grabbing roller way 440 to be arranged and waiting for grabbing.

Furthermore, the blocking device comprises a blocking cylinder and a blocking block, the blocking cylinder is arranged on one side of the roller conveyor, and the blocking block is connected with a piston rod of the blocking cylinder.

Further, the material pushing mechanism 450 includes a horizontal pushing plate, a connecting rod and a material pushing cylinder, the material pushing cylinder is fixedly disposed below the grabbing roller way 440, the pushing plate is longitudinally disposed on one side of the grabbing roller way 440, the material pushing cylinder is connected with the lower end of the connecting rod, the upper end of the connecting rod penetrates through a gap between rollers of the grabbing roller way 440 and is connected with the pushing plate, and the material pushing cylinder drives the pushing plate to move back and forth horizontally through the connecting rod for horizontally pushing the arranged goods to one side of the grabbing roller way 440.

Further, the input end of the telescopic conveyor 300 is provided with an unstacking transportation system 200, the unstacking transportation system 200 comprises an unstacking robot 220 and an automatic conveying mechanism 100, and the automatic conveying mechanism 100 is arranged on one side of the unstacking robot 220; the automatic conveying mechanism 100 is used for conveying the stacked goods 11, and the unstacking robot 220 is used for detaching and grabbing the stacked goods 11 onto the telescopic conveyor 300.

Further, the output end of the automatic conveying mechanism 100 is sequentially connected with a transition conveying device 240 and a tray transfer roller table 250.

Further, a visual inspection system 210 is disposed above or on one side of the automatic conveying mechanism 100.

Furthermore, the automatic car loader is also provided with a visual detection system which is connected with the controller and used for detecting the unstacking condition of the automatic conveying mechanism and the stacking condition of the loading cargo surface, and the controller is convenient for adjusting the action positions of the unstacking robot and the stacking robot in real time.

Further, the cargo unstacking, conveying and loading system 10 further comprises a controller and a positioning system 550, wherein the control system is respectively connected with the conveying mechanism, the palletizing robot 530, the traveling device 510 and the positioning system 550, the positioning system comprises a plurality of sensors, and the sensors are respectively arranged on two sides and the front end of the conveying mechanism and on the front and back strokes of the fixed frame; the device is used for detecting and positioning the walking position of the walking device in real time and the position relation between the conveying mechanism and the stacking robot relative to the loading truck, and avoids touch during moving.

Further, the sensors distributed on both sides of the conveying mechanism are side distance measuring sensors 552, the sensor distributed on the front end of the conveying mechanism is a front end distance measuring sensor 551, and the sensor distributed on the front and rear strokes of the fixed frame is a driving distance measuring sensor 554.

Further, the lower part of the transfer rack is also provided with a height distance measuring sensor 553 for detecting the distance between the transfer rack and the loading and carrying surface, and avoiding the touch during the moving process.

Further, the robot bodies of the palletizing robot 530 and the unstacking robot 220 are respectively provided with a grabbing clamp, the grabbing clamp comprises a clamping plate, and a plurality of suckers are distributed on the clamping plate.

The utility model discloses a theory of operation:

the utility model provides a goods transport loading system 10 that unstacks for 11 goods that become the buttress transport and load on target freight train that the target freight train has the cargo surface, for conventional railing formula freight train or high fence freight train, the goods 11 that become the buttress include tray and a plurality of the goods, it is a plurality of the goods stack in on the tray to can realize that same freight train loads to multiple specification tray goods. The cargo unstacking, conveying and loading system 10 comprises: the automatic conveying mechanism 100 is used for conveying the stacked goods 11, and is connected with a production line or a vertical warehouse; the unstacking and transferring system 200 is used for separating and sorting the pallets and the stacked part of the goods, unstacking the goods 12 row by row/column by column according to an actual stacking type to the telescopic conveyor 300, and conveying the pallets to a designated place; a telescopic conveyor, one end of which is connected to the unstacking and transferring system 200 to receive the goods, and the other end of which extends to a goods transferring and conveying mechanism 400, and which is used for conveying the goods to the goods transferring and conveying mechanism 400 and can change the length of a conveying path thereof; one end of the cargo transferring and conveying mechanism 400 is connected to the telescopic conveyor and used for receiving the unstacked materials sent by the telescopic conveyor and separating, turning and arranging the unstacked materials, and the other end of the cargo transferring and conveying mechanism 400 is connected with the automatic car loader 500 and used for realizing the grabbing of the arranged materials by the automatic car loader 500; automatic carloader 500, automatic carloader 500 be used for set up in the cargo carrying face, the selective connect in of automatic carloader 500 telescopic conveyer is in order to receive the goods, automatic carloader 500 can be relative the loading end removes and is used for putting things in good order the goods.

Further, the transportation system 200 of breaking a jam contains visual detection system 210, robot 220, anchor clamps 230 of breaking a jam, transition conveyor 240 and tray and transports roll table 250, visual detection system 210 is used for right the goods that become a jam that automatic conveyor carried and come carries out the scanning recognition of buttress type, position coordinate, robot 220, the anchor clamps 230 of breaking a jam are used for with the scanning recognition become a jam goods and carry out the split according to system program, and will split down the goods transport extremely on the telescopic conveyor, transition conveyor 240 connects in automatic conveying mechanism 100 for will not satisfy the split condition the pallet goods carry and keep in, tray transport roll table 250 is used for receiving and has accomplished the empty tray of goods split, and will empty tray carries to appointed place.

Further, the cargo transferring and conveying mechanism 400 is integrally arranged on the frame of the automatic loading machine 500, the cargo transferring and conveying mechanism 400 comprises a differential separating belt conveyor 420, a steering mechanism 430, a grabbing roller table 440 and a pushing mechanism 450, wherein one end of the differential separating belt conveyor 420 is connected with the telescopic conveyor, used for receiving the goods in transverse or longitudinal row sent by the telescopic conveyor, the other end of the differential separation belt conveyor 420 is connected with the grabbing roller table 440, used for separating the goods in transverse or longitudinal row through differential speed, the steering mechanism 430 is used for steering the separated goods according to the requirement to realize transverse 4-box row arrangement, the grabbing roller table 440 is used for arranging the transverse box bodies with the front end flowing into a tight transverse 4-box header, the pushing mechanism 450 is configured to push the goods to the position to be grabbed of the automatic loading machine 500.

Further, the automatic car loader 500 comprises a traveling device 510, a fixed frame 520, a palletizing robot 530, palletizing clamps 540 and a positioning system 550, wherein the traveling device 510 is arranged below the fixed frame 520, the palletizing robot 530 is arranged above the fixed frame 520, the palletizing clamps 540 are arranged on the palletizing robot 530, the traveling device 510 adopts a ground track and portal frame arm support installation form and is used for realizing the traveling of the automatic car loader 500 on the loading surface, and the palletizing robot 530 and the palletizing clamps 540 are used for palletizing and loading 4 boxes of finished goods in a row.

Further, the positioning system 550 is disposed on two sides and in front and at the back of the cargo transferring and conveying mechanism 400, and is relatively fixed to the fixed frame 520, and is configured to detect the coordinates of the relative position between the automatic loading device 500 and the loading surface 14 and the initial position distance between the automatic loading device 500 and the traveling device 510 in real time, and feed back the coordinates and the distance to the control system, so as to construct a loading stack type diagram of the cargo 12 on the loading surface 14.

A goods unstacking, conveying and loading method is applied to a freight car unstacking, conveying and loading system, wherein an automatic conveying mechanism 100 conveys the stacked goods 11 to an unstacking and transferring system 200; the material transferring and conveying mechanism splits the stacked goods into transversely or longitudinally arranged goods and conveys the transversely or longitudinally arranged goods to a telescopic conveyor; the telescopic conveyor conveys the cargoes in the transverse row or the longitudinal row to the material transferring and conveying mechanism; the material transferring and conveying mechanism realizes transverse 4-box linked arrangement of the goods and conveys the goods to a position to be grabbed of the automatic car loader 500; the automatic car loader 500 places the transverse 4 boxes of linked row goods on the goods carrying surface of the truck for stacking.

Referring to fig. 1, the present embodiment provides a cargo unstacking, conveying and loading system 10, which is used for conveying and loading stacked cargos 11 onto a target vehicle; wherein the target vehicle has a cargo carrying surface 14, and the cargo carrying surface 14 is used for carrying the cargo 12; in addition, the stacked goods 11 include a pallet 13 and a plurality of goods 12, and the plurality of goods 12 are stacked on the pallet 13; the goods unstacking, conveying and loading system 10 can sort and convey the stacked goods 11 to the loading surface 14 and stack a plurality of goods 12 on the loading surface 14, namely, the goods unstacking, conveying and loading system 10 can sort, convey and load the stacked goods 11 to the target vehicle, and continuous conveying and automatic loading can be realized.

It should be noted that the stacked goods 11 are a plurality of goods 12 orderly stacked on the tray 13.

The cargo unstacking, conveying and loading system 10 comprises an automatic conveying mechanism 100, an unstacking and transferring system 200, a telescopic conveyor 300, a cargo transferring and conveying mechanism 400 and an automatic loader 500, wherein the automatic conveying mechanism 100, the unstacking and transferring system 200, the telescopic conveyor 300, the cargo transferring and conveying mechanism 400 and the automatic loader 500 are sequentially connected. The automatic conveying mechanism 100 is used for outputting the stacked goods 11, i.e. conveying the stacked goods 11 from the production line/warehouse to the unstacking and transferring system 200 through the automatic conveying mechanism 100. The de-stacking transfer system 200 is used for receiving the stacked goods 11 and sorting the goods 12, i.e. the goods 12 are de-stacked row by row/column by column to the telescopic conveyor 300 according to the actual stacking type by the de-stacking transfer system 200. The telescopic conveyor 300 is used to receive the cargo 12 and convey the cargo 12 to the cargo surface 14. At this time, the auto-loader 500 provided to the cargo surface 14 is selectively connected to the telescopic conveyor 300 and receives the cargo 12 conveyed by the telescopic conveyor 300 to move relative to the cargo surface 14 and stack the cargo 12 on the cargo surface 14. The continuous conveying and automatic loading of the goods 12 can be realized, the integration degree is high, the working efficiency is high, and the labor cost is saved.

It should be noted that after the stacked goods 11 are sorted by the unstacking transportation system 200, the unstacking transportation system 200 conveys the stacked part of the goods 12 to the telescopic conveyor 300, and for the empty pallet 13 with the goods 12 already disassembled, the unstacking transportation system 200 conveys the empty pallet 13 to the pallet transportation roller way 250 to be incorporated into the empty pallet recovery production line or to be manually processed; for bulk pallet goods 15 that do not meet the splitting criteria, the de-stacking transfer system 200 transports the bulk pallet goods 15 to the transition conveyor 240 for temporary storage for manual handling.

And wherein telescopic conveyor 300 can change the length of its delivery path to make goods transport loading system 10 can adapt to the target car of different length, can carry the goods 11 that become the pile up in the warehouse to the target car of different length, improved the general suitability of goods transport loading system 10 that breaks a pile up.

As shown in fig. 1 and fig. 2, one end of the automatic conveying mechanism 100 is connected to the production line for receiving the piled goods 11 from the production line, and the other end of the automatic conveying mechanism 100 is connected to the unstacking transferring system 200 for conveying the piled goods 11 to a designated unstacking position; the automatic conveying mechanism 100 comprises a conveying roller line body and a blocking device (not shown in the figure), when the unstacking and sorting of the piled goods 11 at the unstacking position is completed and the tray 13 is completely transferred, the blocking device works, and the following piled goods 11 are automatically conveyed to the unstacking position.

Further, the unstacking transportation system is provided with a visual identification system 210, the visual identification system 210 is arranged right above the unstacking position, and after the stacked goods 11 reach the unstacking position, the visual identification system 210 scans the stacked goods 11, so that the overall dimension of the goods 12 and the stacking type specification information of the stacked goods 11 are obtained.

Further, the unstacking and transferring system further comprises a controller, and the visual recognition system 210 is electrically connected with the controller, so that the visual recognition system 210 sends the position of the detected goods and the stacking specification information to the controller. In addition, the unstacking robot 220 and the unstacking clamp 230 are both connected to the controller, and after the controller receives the position information and the stack type specification information, the controller automatically generates the space position coordinate information of the goods 12 and controls the unstacking robot 220 and the unstacking clamp 230 to move to the specified coordinate position to sort the goods 12.

In addition, in this embodiment, the transition conveyor 240 is coupled to the automated conveyor mechanism 100, and when the visual recognition system 210 detects that the bulk pallet load 16 is not in compliance with the system loading requirements, the transition conveyor 240 is activated and operates in-line with the automated conveyor mechanism 100 to convey the bulk pallet load 16 to the transition conveyor 240 and to send a message alarm via the controller to await manual handling.

In addition, in this embodiment, when the vision recognition system 210 detects that the finished goods 11 have been unstacked and sorted, the feedback is sent to the controller, and the unstacking robot 220 and the unstacking fixture 230 start to transfer the pallets 13 to the pallet transferring roller way 250, so as to complete the sorting of the finished goods single-stack material.

Further, the unstacking transfer system 200 uses the unstacking robot 220 as a sorting and unstacking execution main body, and performs the cargo 12 gripping work in cooperation with the unstacking clamp 230.

Further, the unstacking fixture 230 adopts a sponge sucker and a centering clamping combined fixture to grab the goods 12, and the unstacking mode is realized by grabbing the goods in a single row or single column according to the stack type, so that the sorting efficiency of the unstacking and transferring system is greatly improved, and the unstacking fixture 230 is also provided with a tray grabbing fixture (not shown in the attached drawings) to realize the transition action from the tray 13 to the tray transferring roller way 250 after the completion of sorting.

It should be noted that, in this embodiment, the unstacking fixture performs the sorting and unstacking process as follows: the clamp moves to the position right above the grabbing box body; the clamp falls until the sponge sucker is contacted with the upper surface of the box body, and the distance is close to the feedback distance of the switch; after the box bodies are in place, the centering clamping fixture cylinder acts to tighten the multiple rows of box bodies; the sponge sucker is ventilated and sucks the surface of the box body; finishing the clamping action of the single-row box body, and starting unstacking operation by the robot; when the box body reaches the blanking belt conveyor, the clamping cylinder is loosened; stopping supplying air to the sponge sucker, and allowing the material to fall; and finishing the discharging action of the single-row box body, and starting the robot to return to the material waiting point.

One end of the telescopic conveyor 300 is connected to the unstacking transfer system to receive the goods 12 and the other end of the telescopic conveyor 300 extends to the cargo surface 14 so that the telescopic conveyor 400 can convey the goods 12 to the cargo surface 14. Also, in this embodiment, the telescopic conveyor 400 can change the length of its conveying path, so that the telescopic conveyor 400 can adapt to target vehicles of different lengths, improving the general adaptability of the cargo unstacking and loading system 10.

Referring to fig. 3 and 4, the cargo transferring and conveying mechanism 400 is integrally disposed on the frame of the automatic car loader 500, and the cargo transferring and conveying mechanism 400 includes a transferring frame 410, a differential separation belt conveyor 420, a steering mechanism 430, a grabbing roller table 440, and a pushing mechanism 450; the frame 410 of transporting is for bearing the weight of the support, and the installation is fixed in the frame of automatic carloader 500, differential separation belt feeder 420 one end connect in telescopic conveyor 300 is used for receiving the horizontal gang row or the vertical gang row that telescopic conveyor 300 sent to goods 12, the differential separation belt feeder 420 other end connect in snatch the roll table 440, be used for with horizontal gang row or vertical gang row goods 12 separates through the differential, steering mechanism 430 is used for turning to as required after the separation goods 12 realizes horizontal 4 casees gang row and arranges, it is used for the front end circulation horizontal of coming to snatch the roll table 440 the box 12 is put into order into inseparable horizontal 4 casees gang row goods 16, pushing equipment 450 is used for with 4 casees gang row goods 16 propelling movement to waiting to grab the position.

Referring to fig. 4, the auto-loader 500 is movably disposed on the loading surface 14, the auto-loader 500 is selectively connected to the telescopic conveyor 300 through the material transfer mechanism 400 to receive the goods 12, and the auto-loader 500 can move relative to the loading surface 14 and is used for stacking the goods 12. That is, in this embodiment, when the telescopic conveyor 300 is conveying goods 12 onto the loading surface 14, the goods 12 are received by the auto-loader 500 and the goods 12 are stacked on the loading surface 14. The automatic car loader 500 comprises a walking device 510, a fixed frame 520, a palletizing robot 530, a palletizing clamp 540 and a control cabinet 550; the traveling device 510 is arranged on the ground of a site, the fixed frame 520 is arranged on the traveling device 510, the palletizing robot 530 is arranged on the frame of the fixed frame 520, the palletizing clamp 540 is arranged on the palletizing robot 530, the traveling device 510 adopts a ground rail and gantry arm support installation mode and is used for realizing the traveling of the automatic car loader 500 on the loading surface 14, and the palletizing robot 530 and the palletizing clamp 540 are used for palletizing 4 boxes of row goods 16 which are finished in arrangement on the loading surface 14.

Referring to fig. 5, the positioning system 550 uses multiple combined distance measuring sensors to identify the position and distance of the automatic loader 500 from the cargo surface 14, and feeds the position and distance back to the controller, so as to achieve compatibility with the problems of truck size deviation and parking error.

It should be noted that the front end distance measuring sensor 551 is used for detecting the distance between the automatic car loader and the tail end of the loading surface 14 in real time to determine the position coordinate of the front end of the loading stacking position, the side end distance measuring sensor 552 is used for detecting the distance between the automatic car loader and the wall plate at the two sides of the loading surface 14 in real time to determine the position coordinate of the two sides of the loading stacking, the height distance measuring sensor 553 is used for detecting the relative height between the automatic car loader and the loading surface 14 in real time to determine the height position coordinate of the loading stacking position, and the driving distance measuring sensor 554 is used for detecting the distance between the automatic car loader and the initial position to determine the absolute position coordinate of the.

Further, the automatic car loader 500 adopts two-stage safety protection measures, the one-stage protection device is a non-contact type anti-collision sensor, and the non-contact type laser anti-collision sensor is additionally arranged at the rear part (car loading section) of the portal frame by the two-stage protection device, and comprises two areas: a deceleration zone and a parking zone; when the sensors are activated, the gantry is first decelerated to a preset low speed and then stopped for a short distance.

In summary, the goods unstacking, conveying and loading system and the goods unstacking, conveying and loading method provided by the invention have the advantages that the goods stacked in the warehouse are conveyed to the unstacking and transferring system through the automatic conveying mechanism, the stacked goods are sorted into a plurality of goods through the unstacking and transferring system, and the trays can be conveyed to the designated position after the unstacking is finished, so that the conveying line is smooth and efficient. A plurality of goods of breaking a jam letter sorting are arranged a plurality of goods again through telescopic conveyor and material transfer conveying mechanism to put the rule according to appointing and be sent to the auto-loader, and will arrange the good volume material sign indicating number of putting in the plane of carrying cargo through the auto-loader, accomplish the goods that becomes the buttress promptly and put things in good order from the transport of warehouse to target car, can realize carrying in succession and auto-loading, and the integration degree is high, and work efficiency is high, practices thrift the cost of labor.

The loading of cargos with different specifications can be realized, and the method is not limited to single variety of cargos; the automatic planning calculation of the loading stack types of the cargos with different specifications and quantities can be realized, and the effective unification of the order and the loading plan is realized; the problem that the number of the goods stacks and the total loading amount are left with allowance can be effectively solved; the problems of size deviation and parking error of the truck can be solved.

The above is only a preferred embodiment of the present invention, and the scope of the right of the present invention should not be limited by this, so that the equivalent changes made in the claims of the present invention still belong to the protection scope of the present invention.

Claims

1. A goods unstacking, conveying and loading system is characterized by comprising a conveying mechanism and an automatic loader, wherein the automatic loader comprises a stacking robot, a fixed rack and a traveling device;

2. The system for unstacking, conveying and loading cargos according to claim 1, wherein guide rails are arranged on two sides of a loading surface, the traveling device is arranged on the guide rails and moves back and forth along the guide rails, and the fixed frame is of a gantry structure.

3. The cargo unstacking, conveying and loading system as claimed in claim 2, wherein the traveling device comprises traveling wheels and a driving motor, the traveling wheels are arranged at the bottom of the fixed frame and the driving motor is arranged at the bottom of the fixed frame, the traveling wheels are arranged on the guide rail, the driving motor is connected with the traveling wheels, and the driving motor drives the traveling wheels to move along the guide rail.

4. The system for unstacking, conveying and loading cargos according to claim 1, wherein the conveying mechanism comprises a telescopic conveyor and a cargo transferring and conveying mechanism, the output end of the telescopic conveyor is in butt joint with the input end of the cargo transferring and conveying mechanism, and the cargo transferring and conveying mechanism is fixedly arranged on the fixed rack.

5. The cargo unstacking, conveying and loading system according to claim 4, wherein the cargo transferring and conveying mechanism comprises a differential separation belt conveyor, a grabbing roller way and a transferring frame, the differential separation belt conveyor and the grabbing roller way are sequentially arranged on the transferring frame, and the transferring frame is fixedly connected with the fixed frame.

6. The cargo unstacking, conveying and loading system according to claim 5, wherein a steering mechanism is connected between the differential separation belt conveyor and the grabbing roller way, and a pushing mechanism is arranged on the grabbing roller way.

7. The cargo unstacking, conveying and loading system according to claim 1, wherein the input end of the telescopic conveyor is provided with an unstacking and transferring system, the unstacking and transferring system comprises an unstacking robot and an automatic conveying mechanism, and the automatic conveying mechanism is arranged on one side of the unstacking robot.

8. The cargo unstacking, conveying and loading system according to claim 7, wherein the output end of the automatic conveying mechanism is sequentially connected with a transition conveying device and a tray transfer roller way.

9. The system for unstacking, conveying and loading cargos according to claim 1, wherein a visual detection system is arranged above or on one side of the automatic conveying mechanism.

10. The system for unstacking, conveying and loading cargos according to claim 1, wherein the system for unstacking, conveying and loading cargos further comprises a controller and a positioning system, the control system is respectively connected with the conveying mechanism, the palletizing robot, the traveling device and the positioning system, the positioning system comprises a plurality of sensors, and the sensors are respectively arranged on two sides and the front end of the conveying mechanism and on the front-back stroke of the fixed frame.