CN215325714U

CN215325714U - Control system of box type cargo handling machine

Info

Publication number: CN215325714U
Application number: CN202120186121.5U
Authority: CN
Inventors: 唐玉平; 雷鹏; 李志鹏; 谢义朋; 眭维; 凌斌; 邹峰; 马驰
Original assignee: CRRC Zhuzhou Vehicle Co Ltd
Current assignee: CRRC Zhuzhou Vehicle Co Ltd
Priority date: 2021-01-22
Filing date: 2021-01-22
Publication date: 2021-12-28
Anticipated expiration: 2031-01-22

Abstract

The utility model provides a box type cargo handling machine control system which comprises a vehicle body, a belt conveying mechanism and a tray, wherein the belt conveying mechanism is arranged on a large arm, one end of the large arm is hinged with the vehicle body, the other end of the large arm is hinged with the tray, the rear side of the tray is provided with a grabbing mechanism, the middle part of the tray is provided with a shifting mechanism, the shifting mechanism is butted with the belt conveying mechanism, the front wall of the tray is provided with a front distance measuring sensor, the side wall of the tray is provided with a side distance measuring sensor and an inclination angle detecting sensor, the tray is provided with a cargo detecting sensor, and the grabbing mechanism and the tail end of the vehicle body are also provided with anti-collision sensors. According to the utility model, through the arrangement of various sensors, the operation beats can be divided in detail, the actions do not interfere with each other, the waiting time between the actions is reduced, the overall operation efficiency is improved, and the operation safety is improved.

Description

Control system of box type cargo handling machine

Technical Field

The utility model relates to the technical field of loading and unloading equipment, in particular to a control system of a box type cargo loading and unloading machine.

Background

The warehouse platform is a facility constructed to facilitate cargo handling operations, and has become a standard allocation for modern warehouses. At present, common equipment on a platform mainly comprises a platform height adjusting plate (the platform and a delivery vehicle are connected in a floating bridge mode so as to avoid the condition that the height difference or the gap between the platform and the delivery vehicle causes that the delivery equipment such as a forklift can not enter and exit), the forklift (delivers pallet goods), a pallet truck (delivers pallet goods) and a telescopic belt conveyor (shortens the distance between a loading and unloading worker for reciprocating and delivering the goods), so that the loading and unloading operation is more labor-saving and time-saving.

In recent years, along with the rapid development of industrial automation and informatization, intelligent logistics and intelligent warehousing are rapidly developed, so that the operating efficiency of the logistics in a warehouse is greatly improved. However, the automation and mechanization of the platform which is a necessary place for goods to enter and exit the warehouse are still not high, and except for large quantities of materials and small parts of goods transported with pallets, more than 95% of the loading and unloading operations of the goods on the platform of the warehouse are completed by manual transportation, so that the overall improvement of the logistics efficiency is greatly limited by the operation efficiency of the platform.

Patent CN206927291U discloses a mobile robot for automatically loading and unloading goods, which comprises a mobile platform, a grabbing mechanism, a conveying mechanism, a tray exchanging mechanism, a film winding mechanism and the like, and has the functions of automatically loading and unloading goods, and the robot is compact in structure, small in overall size, and capable of entering narrow spaces such as containers and the like to complete loading and unloading operations. Because the front manipulator grabs the goods, the manipulator clamps and picks the piled goods flexibly during the operation of the platform, and the grabbing force and the action control in the process of transferring the goods to the conveying mechanism are relatively complex.

SUMMERY OF THE UTILITY MODEL

The utility model aims to overcome the defects of the prior art and provides a box type cargo handling machine control system which comprises a vehicle body, a belt conveying mechanism and a tray, wherein the belt conveying mechanism is arranged on a large arm, one end of the large arm is hinged with the vehicle body, the other end of the large arm is hinged with the tray, a grabbing mechanism is arranged on the rear side of the tray, a transfer mechanism is arranged in the middle of the tray and is in butt joint with the belt conveying mechanism, a front distance measuring sensor is arranged on the front wall of the tray, a side distance measuring sensor and an inclination angle detecting sensor are arranged on the side wall of the tray, a cargo detecting sensor is arranged on the tray, and anti-collision sensors are arranged on the grabbing mechanism and the tail end of the vehicle body.

Further, rollers are arranged on the tray at certain intervals, part of the rollers are power rollers, the rest of the rollers are free rollers, the transfer mechanism and the belt conveying mechanism are also provided with the power rollers and the free rollers, the transfer mechanism is provided with a plurality of groups and is distributed among the corresponding rollers at intervals, and the goods detection sensors are arranged at the positions of the rollers on two sides of the tray and at the positions of the rollers in the middle and the transfer mechanism which are arranged alternately.

Further, a plurality of suckers are arranged on the grabbing mechanism, each sucker is internally provided with a vacuum pressure sensor, and the grabbing mechanism can complete front and back and up and down telescopic displacement.

Further, still be provided with centering mechanism on the belt conveyor, centering mechanism department is provided with centering detection sensor.

Furthermore, the front distance measuring sensors are provided with a plurality of groups and are uniformly distributed on the front wall of the tray, the side distance measuring sensors are distributed in the front and the rear of the side walls at two sides of the tray, the inclination angle detecting sensors are distributed in the middle of the side walls at two sides of the tray, and the anti-collision sensors of the grabbing mechanism are arranged on the upper surface of the anti-collision sensors.

The scheme of the utility model has the following beneficial effects:

according to the control system of the box type cargo handling machine, the sensors are arranged at different positions of the equipment, the distance and the cargo position are confirmed through the sensors, so that the actions of the grabbing mechanism, the transferring mechanism and the like are controlled, the operation beat division is detailed, the actions do not interfere with each other, the waiting time between the actions is reduced, the overall operation efficiency is improved, and the operation safety is improved.

Drawings

FIG. 1 is a schematic view of the sensor mounting location of the present invention;

FIG. 2 is a schematic view of an actuator according to the present invention;

FIG. 3 is a schematic diagram of the operation of the present invention.

[ description of reference ]

1-a vehicle body; 2-a belt conveying mechanism; 3-a tray; 4-big arm; 5-a grabbing mechanism; 6-a transfer mechanism; 7-front range sensor; 8-side ranging sensors; 9-tilt angle detection sensor; 10-a power roller; 11-cargo detection sensors; 12-a collision avoidance sensor; 13-a suction cup; 14-a centering mechanism; 15-centering detection sensor; 16-a first electric cylinder; 17-a second electric cylinder; 18-a third electric cylinder; 19-a fourth electric cylinder; 20-a fifth electric cylinder; 21-sixth electric cylinder.

Detailed Description

In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In addition, the technical features related to the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

As shown in fig. 1 to 3, the embodiment of the present invention provides a box-type cargo-handling machine control system including a vehicle body 1, a belt conveyor 2, and a pallet 3. The belt conveying mechanism 2 is arranged on the large arm 4, one end of the large arm 4 is hinged to the vehicle body 1, the other end of the large arm 4 is hinged to the tray 3, and the large arm 4 can rotate around the vehicle body 1 under the driving action of the power source to adjust the height position of the free end. The rear side of the tray 3 at the free end of the large arm 4 is provided with a grabbing mechanism 5, the middle part of the tray is provided with a transferring mechanism 6, and the transferring mechanism 6 is butted with the belt conveying mechanism 2. Snatch 5 and can snatch the goods to tray 3 on, the goods moves to the middle part position along tray 3 and is shifted to belt conveyor 2 by moving mechanism 6 after, finally carries to the 1 tail end of automobile body through belt conveyor 2 and unloads.

Wherein, range finding sensor 7 before the antetheca of tray 3 sets up, and the lateral wall sets up side range finding sensor 8 and inclination detection sensor 9, and range finding sensor can realize the range finding function, plays accurate location, crashproof effect. In this embodiment, the front distance measuring sensors 7 are laser sensors and are provided with five laser sensors, the laser sensors are uniformly distributed on the front wall of the tray 3, when the front end of the equipment is close to a cargo, the front distance measuring sensors 7 input collected electric signals of different distances into the PLC, the average value of the distances of the input signals is calculated, the average value is compared with a set value, and when the average value is at a set safe distance value, an execution signal is given to stop the forward movement of the device, and an alarm prompt is given. The side distance measuring sensors 8 are laser sensors which are four in number and distributed in front and behind the side walls on the two sides of the tray 3, when the equipment enters a narrow (such as a 20ft container) position, the side distance measuring sensors 8 can measure different distances from the box walls on the two sides, and the position of the vehicle body 1 is adjusted according to input different distance signals.

In this embodiment, the tray 3 is provided with rollers longitudinally distributed at a certain interval, some rollers are power rollers 10, the rest rollers are free rollers, the power rollers 10 and the free rollers which are transversely distributed are also arranged between the transfer mechanism 6 and the belt conveying mechanism 2, the transfer mechanism 6 is of a chain conveying type, a plurality of groups are arranged and are distributed between the corresponding rollers at intervals, and the transfer mechanism 6 is installed on a liftable installation platform. Be provided with goods detection sensor 11 on the tray 3, set up four in this embodiment, the roller position of tray 3 both sides respectively sets up one, and the middle part sets up two with the roller position that moves and carry 6 alternate arrangements of mechanism for it has or not goods to detect on the roller. Goods detection sensor 11 is needle type laser sensor, when the goods is located the both ends position of tray 3, goods detection sensor 11 of tray 3 both sides is with signal input to PLC, thereby control fore-and-aft power roller 10 rotary drive goods to the middle move and carry 6 positions on the mechanism and remove, when the goods removes to tray 3 middle part (or get the material after the goods is covered with tray 3), the goods detection sensor 11 at middle part is with signal input to PLC, the control mount table rises and makes and carry the mechanism 6 and bear the goods and remove to belt conveyor 2, horizontal power roller 10 also begins to rotate simultaneously, make the goods can get into belt conveyor 2 smoothly and unload.

In addition, the grab mechanism 5 and the rear end of the vehicle body 1 are also provided with a collision avoidance sensor 12. In this embodiment, a plurality of suction cups 13 are disposed on the gripping mechanism 5, and the suction cups 13 are mounted on the suction tool mounting seat, so that a vacuum system can perform a vacuum suction function. The suction tool mounting seat is connected with the front and rear telescopic parts, the front and rear telescopic parts are connected with the upper and lower telescopic parts, and the upper and lower telescopic parts are arranged on the rear side of the tray 3, so that the suction tool mounting seat can move back and forth and move up and down, the back and forth movement is used for retracting after adsorbing goods forwards to enable the goods to be located on the tray 3 or pushing the goods on the tray 3 forwards, and the up and down telescopic movement is used for lifting the height, so that the goods can be transferred from the transfer mechanism 6 to the belt conveying mechanism 2. The anti-collision sensor 12 is arranged on the upper surface of the suction tool mounting seat, can warn the safe distance between the equipment and the top in advance, and prevents the grabbing mechanism 5 from colliding with an object above when needing to be lifted in the operation process, so that the anti-collision device is suitable for operation working conditions with different heights. The anti-collision sensor 12 at the rear end of the vehicle body 1 is used to prevent the equipment from rear-end collision with an object.

In this embodiment, each suction cup 13 is provided with a vacuum pressure sensor, when unloading the goods, each vacuum pressure sensor inputs a vacuum pressure signal into the PLC after the suction cups 13 suck the goods tightly, the PLC calculates the average value, and when the average value is at the pressure of the set value, the PLC outputs an execution signal to control the grabbing mechanism 5 to withdraw.

As a further improvement, in the embodiment, the belt conveying mechanism 2 is further provided with a centering mechanism 14, and a centering detection sensor 15 is provided at the centering mechanism 14. Wherein, centering detection sensor 15 is correlation laser sensor, and when centering detection sensor 15 detected the goods and passed through belt conveyor 2 at the loading in-process, it was with signal input to PLC in, PLC control centering mechanism 14 pushed the intermediate position with the goods that remove simultaneously, made it can get into in the tray 3 smoothly.

In this embodiment, the lifting of the transfer mechanism 6 is driven by the first electric cylinder 16, the front and back stretching of the grabbing mechanism 5 is driven by the second electric cylinder 17, the up and down stretching is driven by the third electric cylinder 18, the rotary lifting of the large arm 4 is driven by the fourth electric cylinder 19, so that the tray 3 is aligned with the working position, the stretching of the centering mechanism 14 is driven by the fifth electric cylinder 20, the rotation of the tray 3 around the large arm 4 to adjust the inclination angle is driven by the sixth electric cylinder 21, and when loading and unloading low-rise goods, the control device can be used for controlling the tray 3 to be aligned with the working position.

The system adopts a power supply mode of a lithium battery and an external power supply, and the control sequence is signal acquisition → calculation processing → signal execution. The wireless remote control and unmanned automatic operation mode has two operation modes, wherein an operation button, a remote control handle and a display are arranged on a wireless remote controller, two video monitors and two LED illuminating lamps are arranged at the front end of the equipment, a monitoring picture is displayed on a liquid crystal display screen on the wireless remote controller through wireless transmission, and the front end cargo posture can be visually observed during operation.

The specific action process is as follows:

grabbing process 1:

when the front distance measuring sensor 7 detects that the front goods is within the distance of the set value from the equipment, the equipment stops advancing. The fourth electric cylinder 19 is controlled to lower or raise the large arm 4 so that the pallet 3 is aligned with the working position of the lower portion of the cargo (the top of the next layer of cargo to be gripped), as shown in fig. 3. The second electric cylinder 17 is controlled to extend the grabbing mechanism 5 until the sucking disc 13 contacts the surface of the goods, when the average vacuum pressure of the vacuum pressure sensor reaches a set value, the second electric cylinder 17 is controlled to retract the grabbing mechanism 5 to a zero position, then the sucking disc 13 is controlled to loosen, and meanwhile the third electric cylinder 18 is controlled to drive the grabbing mechanism 5 to lift.

The grabbing process 2:

when the front distance measuring sensor 7 detects that the front goods is within the distance of the set value from the equipment, the equipment stops advancing. The fourth electric cylinder 19 is controlled to descend the large arm 4 to the lowest position, the sixth electric cylinder 21 is controlled to incline the tray 3, the tray 3 is aligned to the operation position of the lower portion of the goods (the top of the next layer of goods to be grabbed), the second electric cylinder 17 is controlled to extend the grabbing mechanism 5 until the suction disc 13 contacts the surface of the goods, when the average vacuum pressure of the vacuum pressure sensor reaches a set value, the second electric cylinder 17 is controlled to retract the grabbing mechanism 5 to a zero position, the third electric cylinder 18 is controlled to lift the grabbing mechanism 5, the sixth electric cylinder 21 is controlled to return to the zero position, the tray 3 is located at the horizontal position, and finally the suction disc 13 is controlled to release and the third electric cylinder 18 is controlled to drive the grabbing mechanism 5 to lift.

The transfer mechanism 6 moves the goods:

the first electric cylinder 16 jacks up the transfer mechanism 6 and is higher than the upper plane of the roller, meanwhile, the transverse power roller 10 starts to operate, the goods conveyed by the transfer mechanism 6 are further moved onto the belt conveying mechanism 2 (or reversely), then the first electric cylinder 16 descends, and the power roller 10 stops operating.

Loading process 1:

the third electric cylinder 18 is controlled to drive the grabbing mechanism 5 to lift and leave a cargo channel, cargoes are conveyed by the belt transmission mechanism 2, when the centering detection sensor 15 detects that the cargoes pass, signals are input into the PLC, the PLC outputs execution signals to control the fifth electric cylinder 20 to drive the centering mechanism 14 to stretch out, and the moved cargoes are simultaneously pushed to the middle to center the cargoes. Subsequently, the fifth electric cylinder 20 drives the centering mechanism 14 to retract, the first electric cylinder 16 jacks up the transferring mechanism 6 to be higher than the upper plane of the roller, and meanwhile, the transverse power roller 10 starts to run, so that the goods on the belt are transferred to the tray 3 through the transferring mechanism 6. The first electric cylinder 16 is then lowered and the power roller 10 is stopped. When the goods detection sensor 11 in the middle of the tray 3 detects that the middle of the tray 3 has goods, the longitudinal power roller 10 in the middle of the tray 3 and on the left side rotates forwards and backwards simultaneously, or the power roller 10 in the middle of the tray 3 and on the right side rotates backwards and forwards simultaneously, and the middle goods are dispersedly moved to the two ends of the tray 3. When 3 both ends equipartitions of tray are full of goods, the goods of both sides detect sensor 11 output signal and give PLC, and PLC receives the signal after control goods no longer to the one end removal of received signal. And finally, when the pallets 3 are completely filled with the goods, all the goods detection sensors 11 input signals to the PLC, the PLC outputs execution signals, the third electric cylinder 18 is controlled to drive the grabbing mechanism 5 to descend to a zero position, and the second electric cylinder 17 drives the grabbing mechanism 5 to extend forwards to push the goods out to a loading position.

And (3) loading process 2:

the third electric cylinder 18 is controlled to drive the grabbing mechanism 5 to lift and leave a cargo channel, cargoes are conveyed by the belt transmission mechanism 2, when the centering detection sensor 15 detects that the cargoes pass, signals are input into the PLC, the PLC outputs execution signals to control the fifth electric cylinder 20 to drive the centering mechanism 14 to stretch out, and the moved cargoes are simultaneously pushed to the middle to center the cargoes. Subsequently, the fifth electric cylinder 20 drives the centering mechanism 14 to retract, the first electric cylinder 16 jacks up the transferring mechanism 6 to be higher than the upper plane of the roller, and meanwhile, the transverse power roller 10 starts to run, so that the goods on the belt are transferred to the tray 3 through the transferring mechanism 6. The first electric cylinder 16 is then lowered and the power roller 10 is stopped. When the goods detection sensor 11 in the middle of the tray 3 detects that the middle of the tray 3 has goods, the longitudinal power roller 10 in the middle of the tray 3 and on the left side rotates forwards and backwards simultaneously, or the power roller 10 in the middle of the tray 3 and on the right side rotates backwards and forwards simultaneously, and the middle goods are dispersed to the two ends of the tray 3. When 3 both ends of tray are covered with goods, the goods of both sides detect sensor 11 output signal and give PLC, and PLC receives the one end that the signal was no longer followed to the control goods after the signal and removes. And finally, when the pallets 3 are completely full of goods, all the goods detection sensors 11 input signals to the PLC, the PLC outputs execution signals, the third electric cylinder 18 is controlled to drive the grabbing mechanism 5 to descend to a zero position, meanwhile, the sixth electric cylinder 21 is controlled to adjust the inclination angle of the pallets 3, and the second electric cylinder 17 drives the grabbing mechanism 5 to extend forwards to push the goods out to the position to be loaded.

While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the utility model as defined in the appended claims.

Claims

1. The utility model provides a box cargo handling machinery control system, a serial communication port, including automobile body, belt conveyor and tray, belt conveyor sets up on big arm, the one end of big arm with the automobile body is articulated, the other end with the tray is articulated, the rear side of tray is provided with snatchs the mechanism, and the middle part is provided with moves the mechanism of carrying, move carry the mechanism with belt conveyor butt joint, ranging sensor before the antetheca of tray sets up, and the lateral wall sets up side ranging sensor and inclination detection sensor, be provided with the goods detection sensor on the tray, snatch the mechanism and the tail end of automobile body still is provided with collision avoidance sensor.

2. The control system of box type cargo handling machine according to claim 1, wherein rollers are provided on the pallet at regular intervals, some of the rollers are power rollers, the rest of the rollers are free rollers, the power rollers and the free rollers are also provided between the transfer mechanism and the belt conveying mechanism, the transfer mechanism is provided with a plurality of groups and is distributed between the corresponding rollers at intervals, and the cargo detection sensors are provided at positions of the rollers on both sides of the pallet and at positions of the rollers in the middle of the pallet and the transfer mechanism at intervals.

3. The control system for a box cargo handling machine according to claim 2, wherein said gripping mechanism is provided with a plurality of suction cups, each suction cup having a vacuum pressure sensor therein, said gripping mechanism being capable of fore and aft and up and down telescopic displacement.

4. The control system for a box cargo handling machine according to claim 3, wherein said belt conveyor mechanism is further provided with a centering mechanism, and wherein said centering mechanism is provided with a centering detection sensor.

5. The control system for a box cargo handling machine according to claim 1, wherein the front distance measuring sensors are arranged in a plurality of groups and evenly distributed on the front wall of the pallet, the side distance measuring sensors are distributed in front of and behind the side walls on both sides of the pallet, the tilt angle detecting sensors are distributed in the middle of the side walls on both sides of the pallet, and the anti-collision sensors of the grabbing mechanism are arranged on the upper surface of the tilt angle detecting sensors.