WO2021051293A1

WO2021051293A1 - Cargo loading and unloading system of quick-open curtain-sided container

Info

Publication number: WO2021051293A1
Application number: PCT/CN2019/106335
Authority: WO
Inventors: 王毓珩; 邹小青
Original assignee: 福州国化智能技术有限公司
Priority date: 2019-09-18
Filing date: 2019-09-18
Publication date: 2021-03-25

Abstract

A cargo loading and unloading system of a quick-open curtain-sided container, comprising: conveying devices (1), X-axis moving modules (3), a supporting frame (4), Y-axis moving modules (5), Z-axis moving modules (6), forks (2), first detection devices (7), second detection devices (8), a warning device (9), and a controller. The loading and unloading system is composed of said components and controlled by the controller to move according to a preset trajectory. Therefore, automatic cargo loading and unloading is achieved, the precision of a cargo placing position is improved, the placing position adjustment frequency is reduced, and the efficiency is improved; moreover, the use frequency of a forklift is reduced, energy of the forklift is saved, exhaust emission of the forklift is reduced, and the labor power is reduced.

Description

Goods loading and unloading system of quick-opening side curtain box

Technical field

The invention relates to the technical field of quick-opening side curtain box cargo handling technology, in particular to a quick-opening side curtain box cargo handling system.

Background technique

There is a new type of container: quick-opening side curtain box. Unlike traditional containers, the quick-opening side curtain box opens doors on both sides for loading and unloading goods. The advantage of this kind of container is to improve the efficiency of loading and unloading, but to improve the efficiency of loading and unloading goods, it is not enough to improve the structure of the container. The other supporting loading and unloading systems need to be able to match this kind of container, so as to give full play to the advantages of this kind of container.

The traditional way of loading and unloading goods is to use the driver to drive the forklift to load and unload, because the forklift driver needs to adjust the position every time he loads and unloads, and the adjustment of the position is performed by the driver through visual inspection, which causes the efficiency of this loading and unloading method to be relatively low. , Especially for the position accuracy during loading is not high enough. Often when the last pallet of goods is reached, because the front position is not adjusted properly, the last pallet cannot be loaded into the container, and the previous pallet has to be moved again. Goods waste manpower and material resources.

Summary of the invention

The technical problem to be solved by the present invention is to provide a quick-opening side curtain box cargo loading and unloading system, which realizes automatic loading and unloading of cargo, and improves the efficiency of loading and unloading cargo and the position accuracy of cargo.

The present invention is realized as follows: a quick-opening side curtain box cargo handling system includes:

Conveying device, the conveying device is arranged in a straight line along the X axis;

X-axis movement module, the X-axis movement module is used to realize X-axis linear motion;

A support frame, the support frame is connected to the X-axis moving module;

A Y-axis moving module, the Y-axis moving module is movably connected to the support frame;

A Z-axis movement module, where the Z-axis movement module is connected to the Y-axis movement module;

A fork, the fork is connected to the Z-axis movement module;

A first detection device, the first detection device is used to detect whether there are items in the container and to detect the height of the container;

A second detection device, where the second detection device is used to detect the parking position of a container or a truck;

alarm system;

The controller is respectively communicatively connected to the X-axis movement module, the Y-axis movement module, the Z-axis movement module, the alarm device, the conveying device, the second detection device, and the first detection device.

Further, the alarm device is installed on the support frame.

Further, it also includes a third detection device for collecting car license plates, and the third detection device is communicatively connected to the controller.

Further, the X-axis sliding module includes

A wheel seat, a wheel groove is formed at the bottom of the wheel seat, and the wheel seat is connected to the support frame;

Active track wheel, the active track wheel is rotatably installed in the wheel groove, and the rotation axis of the active track wheel is horizontal and vertical to the X axis;

The first drive motor, the output shaft of the first drive motor is fixedly connected to the driving track wheel, and the first drive motor is installed on the wheel base; the first drive motor is also electrically connected to the Controller.

Further, it also includes a track horizontally arranged along the X axis, and the active track wheel is installed on the track.

Further, the X-axis sliding module further includes a driven track wheel, the driven track wheel is rotatably installed in the wheel groove, and the rotation axis of the driven track wheel is horizontal and vertical to the X axis, the The driven track wheel is installed on the track.

Further, the Y-axis sliding module includes

Screw rod, the screw rod is mounted on the support frame rotatably along the Y axis;

The second drive motor, the second drive motor is installed on the support frame, and the output shaft of the second drive motor is fixedly connected to the screw rod; the second drive motor is also electrically connected to the control Device

A nut, the nut is sleeved on the screw rod through a thread;

A fixing seat, which is fixedly connected to the nut, and slidably connected to the support frame, and arranged horizontally along the Y axis.

Further, the Z-axis sliding module includes

The first lifting mechanism, the first lifting mechanism includes a first fixing part and a first lifting part, the first fixing part is fixedly connected to the Y-axis sliding module; the first lifting part is fixedly or rotatably connected to The fork; the first lifting mechanism is also communicatively connected to the controller.

Further, it further includes a first fixing frame, the first fixing frame is fixedly connected to the first lifting part; the fork is fixedly connected to the first fixing frame, and the fork is arranged horizontally along the Y axis .

Further, it also includes

A third driving motor, the third driving motor is fixedly connected to the first fixing frame, and the output shaft of the third driving motor is vertically arranged; the third driving motor is also electrically connected to the controller;

A second fixing frame, the second fixing frame is fixedly connected to the output shaft of the third drive motor, and the fork is fixedly connected to the second fixing frame.

Further, each of the conveying devices includes a conveying line body, which is communicatively connected to the controller; a plurality of blocking devices are installed on the conveying line body at intervals; each of the blocking devices is communicatively connected to the Controller

The blocking device includes a second lifting mechanism and a limiting member;

The second lifting mechanism includes a second fixing part and a second lifting part; the second fixing part is installed in the conveying line body; the second lifting part is fixedly connected to the limiting member, and the The limiting member is raised higher than the top surface of the conveying line body, and lower than the top surface of the conveying line body after being lowered.

Further, the support frame is a gantry frame.

Further, there is one support frame;

There are four X-axis moving modules, and the four X-axis moving modules are symmetrically installed at the bottom of the support frame and are arranged in a rectangular shape;

There are two Y-axis moving modules, and the two Y-axis moving modules are symmetrically installed on the top of the support frame;

There are two Z-axis moving modules, and the two Z-axis moving modules are symmetrically installed on the two Y-axis moving modules in a one-to-one correspondence;

There are two second detection devices, and the two second detection devices are symmetrically installed on the top of the support frame and arranged in a downward direction;

There are two groups of the first detection devices, and the two first detection devices are symmetrically installed on the two inner sides of the support frame and are arranged oppositely;

There are two conveying devices, and the two conveying devices are symmetrically arranged between the two inner sides of the support frame, and there is a distance between the two conveying devices for accommodating containers.

Further, there is one support frame;

There are two conveying devices, and the two conveying devices are symmetrically arranged on the two outer sides of the support frame, and the support frame has a space for accommodating a container.

Further, the X-axis mobile module is slidably connected to the ground, or the X-axis mobile module is slidably hoisted above the ground.

The present invention has the following advantages: a quick-opening side curtain box cargo handling system, including: a conveying device, an X-axis moving module, a support frame, a Y-axis moving module, a Z-axis moving module, a fork, a first detection device, The second detection device, the alarm device and the controller are composed of a loading and unloading system, which is controlled by the controller and moves according to a preset trajectory, thereby realizing automatic loading and unloading of goods, improving the position accuracy of parked goods, and reducing the adjustment of the parking position Therefore, the efficiency is improved, the frequency of use of the forklift is reduced, the energy of the forklift is saved, the exhaust emission of the forklift is reduced, and the manpower is reduced.

Description of the drawings

Hereinafter, the present invention will be further described with reference to the accompanying drawings and embodiments.

Fig. 1 is a perspective view of the cargo handling system according to the present invention.

Figure 2 is a top view of the cargo handling system according to the present invention.

Figure 3 is a side view of the cargo handling system according to the present invention.

Figure 4 is a rear view of the cargo handling system according to the present invention.

Figures 5 to 7 are perspective views of the assembly of the X-axis mobile module, the Y-axis mobile module, the Z-axis mobile module, the support frame and the fork of the present invention.

Fig. 8 is a front view of the assembly of the X-axis mobile module, the Y-axis mobile module, the Z-axis mobile module, the support frame and the fork of the present invention.

Fig. 9 is a side view of the assembly of the X-axis mobile module, the Y-axis mobile module, the Z-axis mobile module, the support frame and the fork of the present invention.

Fig. 10 is a top view of the assembly of the X-axis mobile module, the Y-axis mobile module, the Z-axis mobile module, the support frame and the fork of the present invention.

Fig. 11 is a schematic diagram of the structure of the X-axis moving module according to the present invention.

Fig. 12 is a perspective view of a conveying unit in the conveying device according to the present invention.

Fig. 13 is a bottom view of Fig. 12.

Fig. 14 is a side view of Fig. 12.

Fig. 15 is a front view of Fig. 12.

16 and 17 are schematic diagrams of the effect of the sixth embodiment of the cargo handling system according to the present invention.

Fig. 18 is a schematic diagram of the effect of the fifth embodiment of the cargo handling system according to the present invention.

Fig. 19 is a top view of Fig. 18.

Fig. 20 is a side view of Fig. 18.

Fig. 21 is a rear view of Fig. 18.

Fig. 22 is a block diagram of the control principle of the controller according to the present invention.

Description of reference signs:

The cargo handling system 100,

Conveying device 1, conveying line body 11, conveying rack 111, conveying motor 112, roller 113, blocking device 12, second lifting mechanism 121, second fixing part 1211, second lifting part 1212, limiting member 122, vertical limiting Position lever 1221, support plate 1222, position sensor 123, second gear 13, first gear 14, transmission shaft 15, third gear 16, chain 17,

Fork 2,

X-axis moving module 3, wheel seat 31, wheel groove 311, driving track wheel 32, first drive motor 33, track 34, driven track wheel 35,

Support frame 4, accommodating space 41,

Y-axis moving module 5, screw 51, second drive motor 52, nut 53, fixed seat 54,

Z-axis moving module 6, first lifting mechanism 61, first fixing portion 611, first lifting portion 612, first fixing frame 62, third driving motor 63, second fixing frame 64,

The first detection device 7,

The second detection device 8,

Alarm device 9;

The third detection device 10,

Transport goods 200,

Conveyor line 300 of an automated storage system.

detailed description

The design concept of the present invention is: the existing parts, equipment or modules are combined to form a set of cargo handling system, which can be designed and combined as needed according to the degree of automation of the customer's storage system to meet the requirements of the entire cargo loading and unloading to the storage Fully automated use requires higher loading and unloading efficiency, but higher requirements for users, requiring users to need an automated storage system, so the equipment cost is high; it can also be automated during loading and unloading, and manual operations are used when docking storage, for example Using forklifts to carry out the second transportation to achieve semi-automation, of course, the price of the whole set of equipment is different in terms of semi-automation and full automation. Both automation and semi-automation have their own advantages, which can be combined flexibly according to the user's economic affordability. Of course, regardless of whether it is automated or semi-automated, the present invention is especially for loading, because the present invention uses automatic control technology, the position can be calculated in advance for the size of the container and the length, width, and height of the loaded goods. For traditional forklifts or manual handling, the efficiency is higher and the accuracy of loading and unloading goods is higher. Therefore, from the perspective of loading and unloading, the efficiency of loading and unloading of large quantities is high, the labor cost is reduced, and the number of forklifts is reduced. It also has certain environmental advantages because it saves the use of forklifts, and most of the existing forklifts are used Oil extraction is used as a power source and exhaust gas is emitted. Furthermore, the present invention has higher efficiency especially for the scenario where a unified specification container and a unified specification pallet are used for mass loading and unloading of goods, which is especially suitable for user requirements for loading and unloading large quantities of goods.

Please refer to Figures 1 to 22,

Example one:

The present invention provides a quick-opening side curtain box cargo handling system 100, which includes:

The conveying device 1 is arranged in a straight line along the X axis; the conveying device 1 is used for conveying goods 200. When loading the goods, the goods 200 can be placed on the conveying device 1 with a forklift, because the conveying device 1 plays a role of transmission, and the position accuracy requirements are lower than that of using a forklift to fork into the container, which is more convenient for operation and reduces the operation Difficulty; and for an automated storage system, the conveyor device 1 can also be docked with the conveyor line 300 of the automated storage system, and the goods 200 can be directly transferred to the conveyor device 1, without using a forklift to operate. Automatic docking saves manpower and material resources and improves transmission efficiency. This can be arranged according to the degree of automation of the customer's warehousing system. When unloading, the goods 200 are first unloaded from the container onto the conveying device 1 and then transferred from the conveying device 1 to the conveying line 300 of the automated storage system. If a storage system with a low degree of automation is used, a forklift can be used to directly fork away from the conveying device 1. Of course, a storage system with a low degree of automation can also be used for unloading without using the present invention. The unloading efficiency of the storage system is higher. When loading goods, the conveying device 1 conveys the goods 200 to be loaded and unloaded to various positions, and allows the fork 2 to perform the loading operation. When unloading, the fork 2 transfers the goods 200 from the inner fork of the container onto the conveying device 1 for transportation. The conveying device 1 can use existing equipment, or can be redesigned with a new structure. In specific implementation, the height of the conveying device 1 is less than or equal to the height of the inner bottom surface of the container, which is convenient for loading and unloading goods. Of course, it is a little lower than the height of the ground inside the container. When the goods are loaded, it is more convenient for the fork 2 to move. drop out. For example, in the embodiment shown in the drawings, grooves may be dug in the ground or not, and it is only necessary to ensure that the top surface of the conveying device 1 is lower than the bottom surface of the internal space of the container, which is convenient for the fork 2Exit.

The X-axis movement module 3, the X-axis movement module 3 is used to realize the X-axis linear movement; the X-axis movement module 3 can be installed on the ground, for example, in the form of existing rails and track wheels; the X-axis The mobile module 3 can also be hoisted above the ground, for example, it can be hoisted on the ceiling indoors, using the existing hanging structure. Therefore, the X-axis mobile module 3 can be arranged as required or according to the structure of the site, and at the same time The X-axis moving module 3 can use existing equipment, for example, a crane or a rail and rail wheel combination structure, a rack and pinion, a pinion chain, a pulley system, or a wire rope winch and a motor combination on the support The two ends of the frame 4 are pulled along the X-axis to achieve movement. These can be selected according to the weight of the cargo 200 corresponding to the equipment, or a new structure can be designed.

The supporting frame 4 is connected to the X-axis moving module 3, and the X-axis moving module 3 is driven to realize the movement of the supporting frame 4 in the X-axis direction; the supporting frame 4 can be hoisted It plays a supporting role when the cargo is 200, and can also be used as a mounting seat for parts. The supporting frame 4 can be made into a variety of structures, for example, the existing gantry frame, traveling crane, etc. can be used, and the structure can be set as required.

Y-axis moving module 5, said Y-axis moving module 5 is movably connected to said supporting frame 4, so that said supporting frame 4 drives said Y-axis moving module 5 to move in the X-axis direction to realize the Y-axis movement The position of the module 5 in the X-axis direction changes; the Y-axis movement module 5 can also use existing equipment such as ball screw nut pairs, rack and pinion, pinion chains, air cylinders, hydraulic cylinders, and pulley systems. It can be selected according to the weight of the cargo 200, and a new structure can also be designed. The Y-axis movement module 5 is used to realize movement in the Y-axis direction.

The Z-axis movement module 6 is connected to the Y-axis movement module 5, so that the Y-axis movement module 5 drives the Z-axis movement module 6 to move to realize the Z-axis movement module 6 The position changes in the Y-axis direction; the Z-axis movement module 6 is used to realize movement in the Z-axis direction.

The fork 2 is connected to the Z-axis moving module 6, so that the Z-axis moving module 6 drives the fork 2 to move in the Z-axis direction, so that the fork 2 is in the Z-axis direction. The position changes of the X-axis movement module 3, the Y-axis movement module 5, and the Z-axis movement module 6 are finally used to condition the position of the fork 2 to achieve position adjustment, because they are all automatically controlled The control is performed so that the position of the fork 2 can be accurately adjusted, and the accuracy of the position of the goods 200 when the fork 2 is used to load and unload the goods 200 is finally realized, thereby avoiding the manual operation of the forklift in the prior art for loading and unloading goods. Because the position accuracy is not high, it is necessary to load and unload multiple times to adjust the position of the goods, so that the present invention improves the efficiency of loading and unloading the goods. The forks 2 can be one or two. When one is used, the loading and unloading is performed from one side. When two are used, for example, they are arranged symmetrically on both sides of the container, and the conveying device 1 is set on each side. , And respectively correspond to a set of the X-axis movement module 3, Y-axis movement module 5, and Z-axis movement module 6 for position control, so that the cargo 200 can be loaded and unloaded on both sides at the same time, which is more efficient.

The first detection device 7, the first detection device 7 is used to detect whether there are items in the container and to detect the height of the container; because automatic loading and unloading is used when loading and unloading, the controller (not shown) cannot look like a person You can also see whether there are items in the container. Therefore, the first detection device 7 needs to be set to detect whether there are items in the container in advance, so as to avoid loading the goods 200 when there are items, and collision and damage to the items in the container or waiting Load 200 goods. Only when the first detection device 7 detects that there are no items in the container, can it be loaded, and the controller (not shown) controls the X axis movement module 3, Y movement module 5, and Z axis. The moving module 7 moves according to the pre-set trajectory to carry out loading. At the same time, the first detection device 7 is also used to detect the height of the container, so as to feed back to the controller (not shown) to identify the size of the container, and then the controller (not shown) calls the pre-stored container correspondence The movement trajectory of loading and unloading cargo 200. The first detection device 7 may use existing equipment, for example, a grating sensor or a visual detection device. Because some of these detection devices can adjust the angle, or some can scan a certain area, the installation position of the first detection device 7 can be flexibly arranged according to actual needs, as long as it can detect the height of the container and whether there is goods in the container. .

The second detection device 8 is used to detect the parking position of a container or a truck; the range of the parking position, that is, the location range of the container, can be pre-designed according to the size of various containers and trucks, When in use, the second detection device 8 checks whether the position of the container after the truck is parked is within a preset range, and when it is within the range, a signal is fed back to the controller (not shown) to notify the control The container has been parked in place and you can proceed to the next step. The second detection device 8 may use an existing vision detection device, such as a CCD vision detection device, and compare the photos taken with the pre-stored parking area through its camera, and the number and installation location can be arranged according to usage requirements.

Alarm device 9; used for alarm prompt. The alarm device 9 is an existing device, for example, the alarm device 9 uses an alarm lamp, a buzzer, and the like.

A controller (not shown), the controller (not shown) is communicatively connected to the X-axis movement module 3, Y-axis movement module 5, Z-axis movement module 6, alarm device 9, conveying device 1, and The second detection device 8 and the first detection device 7, the controller (not shown) is used to control these modules or devices to work and realize automatic control. The controller (not shown) can use existing equipment and can be purchased on the market, for example, a PLC model of FX5U-64MT/ES. The installation position of the controller (not shown) can be installed as required, for example, installed on the support frame 4, or installed on the ground or other places.

The first detection device 7 includes at least one raster sensor, which is combined with the number of scanning ranges of the raster sensor according to the height of the container. For example, a row of raster sensors can be arranged along the height direction of the container to ensure that the complete scanning in the height direction can be achieved. container. The first detection device 7 and the second detection device 8 can be separately installed on the ground, with or without supporting items as required. For example, the first detection device 7 can be installed on the ground through a support rod alone, in a container A first detection device 7 is symmetrically arranged on both sides of the vehicle door; in the same way, the second detection device 8 adopts a CCD visual detection device, and the second detection device 8 can also be erected and installed by supporting articles alone. It is also possible to install the first detection device 7 and the second detection device 8 on the support frame 4. For example, the first detection device 7 is installed on both sides of the support frame 4 and on both sides of the container. The doors of the vehicle are opposite, and the second detection device 8 is installed on the top of the support frame 4 facing down, so that the height of the container below can be detected.

Mode of use during loading: the conveyor device 1 and the conveyor line 300 of the automated storage system are connected through the existing transmission equipment, and the cargo 200 is transported from the warehouse to the conveyor device 1, according to the size of the container and the length of the loaded cargo 200 Calculate the movement trajectories of the X-axis movement module 3, Y-axis movement module 5, and Z-axis movement module 6 based on the width and height, and set the parking range of trucks or containers in advance so that the second detection device 8 can perform The detection feedback is sent to the controller (not shown) to determine whether the parking is in place, so that no manual command is required to reverse the vehicle, which saves manpower. For example, uniform specifications of containers and pallets are used to transport goods, and existing smart pallets are used for pallets. According to the width of each pallet, the goods 200 are set in advance at each stop station of the conveying device 1, and each stop station is set. Stop the work sequence of the station.

When loading goods, for example, when the vehicle is reversed to enter the parking area, the doors on both sides of the container are first opened, and the truck driver first parks the truck in the preset parking area. During the parking process, the second detection device 8 detects parking in real time. Position, and feed it back to the controller. The controller is compared with the preset parking range. When the parking position is not within the preset parking range, the controller controls the alarm device 9 to issue a first For example, if an alarm light is used, the red light will be turned on to prompt the driver to make adjustments; when the parking position is within a preset range, the controller controls the alarm device 9 to issue a second alarm prompt, For example, if a warning light is used, the green light will turn on to remind the driver to stop in place. Or some alarms have both sound and color prompt functions.

On the other hand, at the initial stage, the position of the support frame 4 is set at the foremost position, which is the position opposite to the side of the end of the container near the cab when the truck is parked in place, so that when the truck is reversing and entering the parking When the container is in range, the container passes the first detection device 7 from the rear, and the controller controls the first detection device 7 to perform detection. Scanning starts from the rear of the container. After parking is in place, it scans to the forefront of the container. , It just detects whether there are items inside the container, which can save energy. Of course, it does not need to be set at the forefront. When the truck is parked in place, the controller needs to control the X-axis moving module 3 along the X-axis. Move in the direction and scan the container to detect whether there are any items. This will undoubtedly consume more energy and the action will be more complicated. When the first detection device 7 feeds back the detection result to the controller, when it detects that there are items in the container, the controller controls the alarm device 9 to issue a third alarm prompt, and the driver is waiting to stop the car. Then take out the items in the container, and when the result of the detection is that there are no items, the fourth type of alarm prompt or no alarm prompt may be issued. The alarm device 9 may adopt an alarm lamp capable of emitting multiple prompts, or every time. One of the alarm devices 9 is provided separately for this alarm prompt.

When the parking position is within the preset range and the first detection device 7 detects that there are no items in the container, the controller controls the X-axis movement module 3, Y-axis movement module 5, and Z-axis movement module 6 Move and load goods according to the pre-set trajectory, and the controller controls the work of the conveying device 1 to convey the goods 200 from the warehouse to the preset stop station, and then control the X-axis movement module 3. The Y-axis movement module 5 and the Z-axis movement module 6 move according to the pre-set trajectory to adjust the position of the fork 2 and control the fork 2 to fork the pallet and the cargo 200, and then follow The pre-set trajectory controls the X-axis movement module 3, Y-axis movement module 5, and Z-axis movement module 6 to move for loading, load the goods 200 into the container, and then control the X-axis movement module 3, according to the pre-set trajectory The Y-axis movement module 5 and the Z-axis movement module 6 are moved to control the fork 2 to exit and load the next pallet of goods. When the stop station is full of goods in the width direction, it can be based on the container and pallet. Calculate in advance how many pallets need to be loaded in the width direction and how many pallets need to be loaded in a container, one pallet is one time, and the controller will stop the station when the number of loading times reaches the preset number , The controller controls the conveying device 1 to stop the goods at the adjacent next stop station, and then load the goods in the width direction for the next stop station, and so on, when it reaches the preset When the total number of loading times is reached, the loading of the container is stopped, and the alarm device 9 is controlled to issue an alarm prompt to remind the driver or staff to close the door of the container, drive the truck away, and load the next two trucks into the container. The whole process realizes automatic control, so as to ensure the accuracy of the fork position, reduce the time of position calibration, and improve efficiency. The loading action can be set as follows: first move to the side of the pallet at the stop station, and then enter the bottom of the pallet to lift the pallet and the cargo 200. The bottom of the pallet is higher than the inner bottom of the container, and the top of the cargo 200 is higher than the inner top of the container. If the surface is low, fork the cargo 200 and the pallet into the container, then lower the cargo 200, and separate the fork 2 from the pallet. The descending height can be pre-calculated and set, and finally the fork 2 exits the pallet to proceed to the next step. Pallet cargo loading.

For unloading, the controller (not shown) first detects whether the truck is parked within a preset parking range through the second detection device 8 and controls the first detection device 7 to detect the inside of the container. The position of the cargo 200 finally controls the movement of the X-axis movement module 3, the Y-axis movement module 5, and the Z-axis movement module 6 to move, thereby driving the fork 2 to move and unload. For example, the unloading action may be: the fork 2 first move to the bottom side of the pallet, then the fork 2 enters the bottom of the pallet, then the fork 2 is lifted to lift the goods 200 and the pallet, and then the fork 2 takes the goods 200 and the pallet out of the container, and the goods 200 And the pallet is placed on the stop station of the conveying device 1, and finally the fork 2 exits the pallet to unload the next pallet of goods 200, and the controller opens the stop station to release the goods and transport the goods away, At this time, the running direction of the conveying device 1 is opposite to that of loading. Of course, the conveying device 1 can also be made long enough so that the loading and unloading of the goods only needs to run in one direction, and one end is put into the goods for loading. The other end is used to export goods for unloading, which undoubtedly costs more and the entire system occupies a large area.

In the second embodiment, on the basis of the first embodiment, the alarm device 9 is installed on the support frame 4, so there is no need to add additional supports to install the alarm device 9, while saving space on the ground and freeing up more space. Many locations.

It also includes a third detection device 10 for collecting car license plates, and the third detection device 10 is communicatively connected to the controller (not shown). The third detection device 10 is used to detect the license plate of a truck, and can be more conveniently applied to an automated storage system to achieve full automation. For example, when in use, the controller is communicatively connected to the control device of the automated storage system, so that during loading, the license plate of the truck can be detected by the third detection device 100, and then fed back to the controller. The controller transmits the license plate to the control device of the automated storage system, so that the automated storage system can know which truck is coming, and after loading and unloading the goods, the controller can also transmit the number of loading and unloading of the truck to the control device, and control The device can record how much goods are loaded on the truck with the license plate, so as to track the transportation status of the goods, and if the pallet adopts the existing smart pallet, it can also pre-store the goods information on the chip of the smart pallet, so as to control the automatic storage system The device can associate the goods with the trucks, and it is convenient to query and track which goods are on which trucks, and it is more convenient to track and query the goods. For example, set the information of the stored goods in the chip of each smart pallet in advance, such as model, quantity, etc. , And stored on the control device. When loading, the control device controls each smart pallet to be conveyed to the conveying device 1. In this way, combined with the license plate information fed back by the controller, the goods can be associated with the license plate and stored in the control Device, convenient for follow-up inquiry and tracking. The third detection device 10 can use an existing CCD visual detection device, and the position can be installed behind the parking area, facing the rear license plate, or on the side of the truck, or the front end facing the front license plate. The position of the front end needs to be explained. Yes, because the truck chassis has a certain height from the ground, it can be installed on the ground in front of the parking position. Of course, it may be crushed by the truck wheels without the driver's attention.

Embodiment 3: It can be adopted on the basis of Embodiment 1 or Embodiment 2, and the X-axis sliding module 3 includes

A wheel base 31, a wheel groove 311 is formed at the bottom of the wheel base 31, and the wheel base 31 is connected to the support frame 4;

Active track wheel 32, the active track wheel 32 is rotatably installed in the wheel groove 311, and the rotation axis of the active track wheel 32 is horizontal and vertical to the X axis; for example, symmetrically opened on both sides of the wheel groove 311 In the bearing hole, the bearing is installed in the bearing hole, and the rotating shaft of the driving track wheel 32 is embedded in the inner ring of the bearing.

The first driving motor 33, the output shaft of the first driving motor 33 is fixedly connected to the driving track wheel 32, specifically the rotation shaft of the driving track wheel 32 and the output shaft of the first driving motor 33 are fixedly connected For example, a coupling is used for fixed connection, the first drive motor 33 drives it to rotate, and the first drive motor 33 is mounted on the wheel base 31; the first drive motor 33 is also electrically connected to The controller thus realizes that the first driving motor 33 is controlled by the controller to work, and the movement of the X-axis moving module 3 in the X-axis direction is realized.

It also includes a track 34 horizontally arranged along the X axis, and the active track wheel 32 is installed on the track 34. The setting of the track 34 can make the moving direction more accurate, play a guiding role, and facilitate the control of the movement track.

The X-axis sliding module 3 also includes a driven rail wheel 35, which is rotatably installed in the wheel groove 311, and the rotation axis of the driven rail wheel 35 is horizontal and vertical to the X axis, The driven track wheel 35 is installed on the track 34. The two stress points of the active track wheel 32 and the driven track wheel 35 are used for support, so that the support is more stable, and the entire support frame 4 is ensured to be more stable when moving, and the safety of the cargo 200 is ensured.

The Y-axis sliding module 5 includes

A screw 51, the screw 51 is rotatably mounted on the support frame 4 along the Y axis;

The second driving motor 52, the second driving motor 52 is installed on the support frame 4, and the output shaft of the second driving motor 52 is fixedly connected to the screw rod 51; the second driving motor 52 is also It is electrically connected to the controller; the controller controls the operation of the second driving motor 52, thereby realizing movement in the Y-axis direction.

A nut 53, the nut 53 is sleeved on the screw rod 51 through a thread;

The fixing seat 54 is fixedly connected to the nut 53 and slidably connected to the support frame 4, for example, a sliding rail and a sliding block are slidably connected, and the sliding block is installed on the fixing seat 54 and the sliding rail Installed on the support frame 4 and arranged horizontally along the Y axis.

The Z-axis sliding module 6 includes

The first lifting mechanism 61 includes a first fixing part 611 and a first lifting part 612, the first fixing part 611 is fixedly connected to the Y-axis sliding module 5; the first lifting part 612 is fixedly or rotatably connected to the fork 2; the first lifting mechanism 61 is also communicatively connected to the controller, and the controller controls the first lifting mechanism 61 to move in the Z-axis direction. The first lifting mechanism 61 can use existing air cylinders, hydraulic cylinders, etc., to be selected according to the weight of the goods. In a preferred embodiment, hydraulic cylinders are selected because the hydraulic cylinders have greater force and can lift heavier goods. , Which can adapt to the scope of use of more varieties of goods. At this time, the cylinder body of the hydraulic cylinder is the first fixing portion 611, and the piston rod of the hydraulic cylinder is the first lifting portion 612. The piston rod of the hydraulic cylinder is arranged vertically downward.

It also includes a first fixing frame 62, which is fixedly connected to the first lifting part 612; the fork 2 is fixedly connected to the first fixing frame 62, and the fork 2 is along Y The axis is arranged horizontally. The fork 2 may be fixedly connected to the Z-axis moving module 6, or may be rotatably connected to the Z-axis moving module 6, for example, when rotating, it also includes

The third driving motor 63, the third driving motor 63 is fixedly connected to the first fixing frame 62, and the output shaft of the third driving motor 62 is vertically arranged; the third driving motor 63 is also electrically connected to The controller; the controller controls the third drive motor 63 to work to drive the second fixing frame 64 to rotate, and finally drive the fork 2 to rotate, so that the fork 2 The angle of the fork 2 is adjusted so that the direction of the fork 2 is corrected when loading and unloading goods, and the angle is more suitable, which ensures that the position of loading and unloading goods is more accurate, and the use is more flexible. 2 and the Z-axis mobile module 6 are fixedly connected, and the truck driver is required to park at a more accurate parking position.

The second fixing frame 64 is fixedly connected to the output shaft of the third driving motor 63, and the fork 2 is fixedly connected to the second fixing frame 64. The rotation of the output shaft of the third drive motor 63 drives the second fixing frame 64 to rotate, and finally realizes the rotation of the fork 2. This has two advantages: one is that the fork 2 can be adjusted The angle makes the fork and the side of the container more vertical, improving the position accuracy of loading and unloading goods; secondly, the loading and unloading actions of the fork 2 can be changed more flexibly, while making the installation position of the fork 2 more flexible Changeable, for example, when loading and unloading goods, you can rotate the fork 2 so that when loading and unloading the goods on the conveyor 1, you can enter the fork 2 on the side, or you can enter the fork 2 in the front or back (the side is It is perpendicular to the side of the container, and the front and rear are parallel to the side of the container). At this time, after being lifted, the third drive motor 63 is controlled to rotate to rotate the fork 2 to be perpendicular to the side of the container, so that all The installation direction of the fork 2 can be flexible and changeable, and the restriction is lower. In a specific implementation, the second fixing frame 64 is also rotatably connected to the first fixing frame 63, thereby increasing the firmness of hoisting.

The conveying device 1 can adopt existing equipment, or can be redesigned.

Each conveying device 1 includes a conveying line body 11, which is communicatively connected to the controller; a plurality of blocking devices 12 are installed on the conveying line body 1 at intervals; each of the blocking devices 12 is communicatively connected On the controller, the controller controls its elevation;

The blocking device 12 includes a second lifting mechanism 121 and a limiting member 122. In this way, the travel distance is calculated in advance to control the position of the pallet. For example, if the transmission motor 112 rotates once, the distance of the chain 17 can be moved in advance. The total displacement to be moved by the pallet can be calculated in advance. This is the distance between the starting position of the pallet and the stopping position. Then the number of rotations of the transmission motor 112 can be calculated, and the rotation of the transmission motor 112 can be controlled by the controller. Just count.

In other embodiments, a position sensor 123 may also be provided, and the position sensor 123 is used to detect the position of the goods 200 or the pallet;

The second lifting mechanism 121 includes a second fixing part 1211 and a second lifting part 1212; the second fixing part 1211 is installed in the conveying line body 1; the second lifting part 1212 is fixedly connected to the limit The position member 122 is higher than the top surface of the conveying line body 1 after being raised, and lower than the top surface of the conveying line body 1 after being lowered.

In a specific embodiment, the conveying line body 11 may use an existing conveying line. For example, the conveying line body 11 includes a conveying rack 111, a transmission motor 112 is installed in the conveying rack 111, and a transmission motor 112 is installed on the output shaft of the conveying rack 111. Gear chain system, the chain is arranged along the length of the conveyor frame 111, and two chains are symmetrically arranged in the width direction. The pallet is placed on the two chains, and the chain drives the pallet to move to realize cargo transportation. The transmission motor 112 is electrically connected to the The controller is controlled by the controller; there is also a row of rollers 113 along the length of the conveying rack 111, which plays a role of supporting the auxiliary group and reduces the force of the chain. The interval of each blocking device 12 is based on the stopping work. The distance between the positions is installed at intervals. As shown in Figures 12 to 15, it is a schematic structural diagram of a conveying unit at a stop station. The entire conveying device 1 is formed by splicing several conveying units at a stop station along the X-axis direction. In a specific embodiment, the second lifting mechanism 121 also uses a hydraulic cylinder, which is electrically connected to the controller. At this time, the cylinder body of the hydraulic cylinder is the second fixed portion 1211, and the piston rod is The second lifting part 1212; the output shaft of the hydraulic cylinder is arranged vertically upwards, the limiting member 122 includes two vertical limiting rods 1221, the bottoms of the two vertical limiting rods are fixedly connected to a supporting plate 1222, the supporting plate 1222 is fixedly connected to the piston rod of the hydraulic cylinder. Each blocking device 12 also includes a position sensor 123, which is communicatively connected to the controller, and is used to detect the position of the pallet or the cargo, and feed it back to the controller, and then the controller according to the preset degree The piston rod of the control hydraulic cylinder rises to block the pallet, stops at the stop station, and waits for the fork 2 to fork away for loading. When the stop station finishes installing the goods, the controller controls the blocking device The hydraulic cylinder of 12 retracts and lowers the stopper 122 below the top surface of the conveyor body 1 to prevent collision with the pallet, and then controls the other blocking device 12 to rise according to the set procedure to continue this When the station is stopped for loading or unloading, the pallet is blocked and waiting for the fork 2 to exit the pallet. The installation position of the position sensor 123 can be installed at will as long as the position of the pallet or cargo can be detected.

As shown in Figure 13, the transmission mode of each conveying unit: Two second gears 13 are fixedly installed on the output shaft of the transmission motor 112, and a transmission shaft 15 is arranged in parallel with the output shaft of the transmission motor 112, and the transmission shaft 15 is fixed. A third gear 16 is installed, the second gear 13 and the third gear 16 are meshed, and two first gears 14 are respectively installed at both ends of the transmission shaft 15, and the first gear 14 meshes with the chain 17. During operation, the output shaft of the transmission motor 112 rotates to drive the second gear 13 to rotate, thereby driving the third gear 16 to rotate through the meshing transmission, which in turn drives the transmission shaft 15 to rotate, and then the transmission shaft 15 drives the first gear 14 to rotate, and finally drives The chain 17 runs to transport the pallets and goods on the chain 17.

Fourth embodiment: On the basis of the first, second or third embodiment, the support frame 4 is a gantry frame, so that there is an accommodating space 41 for accommodating trucks and containers, and it is convenient to arrange a preset parking range. Of course, it can also be hoisted on the ceiling, and the supporting frame 4 and the ground form a space for parking trucks and containers. Therefore, the support frame 4 can be arranged in different structures, and the installation position can be flexibly selected according to the place of production of the user.

The relative positions of the support frame 4, the parking area, and the conveying device 1 can be flexibly changed. For example, the following embodiment five and embodiment six.

As shown in Figures 16 and 17, the fifth embodiment: on the basis of the fourth embodiment, there is one support frame 4;

There are four X-axis moving modules 3, and the four X-axis moving modules 3 are symmetrically installed at the bottom of the support frame 4 and are arranged in a rectangular shape;

There are two Y-axis moving modules 5, and the two Y-axis moving modules 5 are symmetrically installed on the top of the support frame 4;

There are two Z-axis moving modules 6, and the two Z-axis moving modules 6 are symmetrically installed on the two Y-axis moving modules 5 in a one-to-one correspondence;

There are two second detection devices 8, and the two second detection devices 8 are installed symmetrically on the top of the support frame 4 and arranged downwards. In specific implementation, for example, a CCD vision detection device is used, and the camera is The angle can be adjusted according to actual needs;

The first detection device 7 has two groups, and the two first detection devices 7 are symmetrically installed on the two inner sides of the support frame 4 and are arranged oppositely; in specific implementation, for example, each group of the first detection device 7 The device 7 includes a plurality of raster-type sensors arranged vertically in a row.

There are two conveying devices 1, and the two conveying devices 1 are symmetrically arranged between the two inner sides of the support frame 4, and there is a distance between the two conveying devices 1 for accommodating containers.

The X-axis mobile module 3 is slidably connected to the ground, or the X-axis mobile module 3 is slidably hoisted above the ground. It realizes simultaneous loading on both sides of the container, which improves the loading efficiency compared to one side loading.

As shown in Figure 18 to Figure 21, the sixth embodiment: on the basis of the fourth embodiment:

There is one support frame 4;

There are two second detection devices 8, and the two second detection devices 8 are symmetrically installed on the top of the support frame 4 and arranged downward; in specific implementation, for example, a CCD vision detection device is used, and the camera The angle can be adjusted according to actual needs;

There are two conveying devices 1, and the two conveying devices 1 are symmetrically arranged on the two outer sides of the supporting frame 4, so that the supporting frame 4 is located between the two conveying devices 1, and the supporting frame 4 has A space for accommodating containers. It realizes simultaneous loading on both sides of the container, which improves the loading efficiency compared to one side loading.

The X-axis mobile module 3 is slidably connected to the ground, or the X-axis mobile module 3 is slidably hoisted above the ground. This can be installed according to the needs of users, and the structure of the support frame 4 can be selected.

Although the specific embodiments of the present invention are described above, those skilled in the art should understand that the specific embodiments described by us are only illustrative, and are not used to limit the scope of the present invention. The equivalent modifications and changes made by the skilled person in accordance with the spirit of the present invention should all be covered by the scope of protection of the claims of the present invention.

Claims

A quick-opening side curtain box cargo handling system, which is characterized in that it comprises:

Conveying device, the conveying device is arranged in a straight line along the X axis;

X-axis movement module, the X-axis movement module is used to realize X-axis linear motion;

A support frame, the support frame is connected to the X-axis moving module;

A Y-axis moving module, the Y-axis moving module is movably connected to the support frame;

A Z-axis movement module, where the Z-axis movement module is connected to the Y-axis movement module;

A fork, the fork is connected to the Z-axis movement module;

A first detection device, the first detection device is used to detect whether there are items in the container and to detect the height of the container;

A second detection device, where the second detection device is used to detect the parking position of a container or a truck;

alarm system;

The controller is respectively communicatively connected to the X-axis movement module, the Y-axis movement module, the Z-axis movement module, the alarm device, the conveying device, the second detection device, and the first detection device.
The quick-opening side curtain box cargo handling system according to claim 1, wherein the alarm device is installed on the support frame.
The cargo handling system of a quick-opening side curtain box according to claim 1, characterized in that it further comprises a third detection device for collecting car license plates, and the third detection device is communicatively connected to the controller .
The cargo handling system of a quick-opening side curtain box according to claim 1, wherein the X-axis sliding module includes

A wheel seat, a wheel groove is formed at the bottom of the wheel seat, and the wheel seat is connected to the support frame;

Active track wheel, the active track wheel is rotatably installed in the wheel groove, and the rotation axis of the active track wheel is horizontal and vertical to the X axis;

The first drive motor, the output shaft of the first drive motor is fixedly connected to the driving track wheel, and the first drive motor is installed on the wheel base; the first drive motor is also electrically connected to the Controller.
The quick-opening side curtain box cargo handling system according to claim 4, characterized in that it further comprises a track horizontally arranged along the X axis, and the active track wheel is installed on the track.
The cargo handling system of a quick-opening side curtain box according to claim 5, wherein the X-axis sliding module further comprises a driven track wheel, and the driven track wheel is rotatably mounted on the wheel. In the groove, and the rotation axis of the driven track wheel is horizontal and vertical to the X axis, and the driven track wheel is installed on the track.
The cargo handling system of a quick-opening side curtain box according to claim 1, wherein the Y-axis sliding module comprises

Screw rod, the screw rod is mounted on the support frame rotatably along the Y axis;

The second drive motor, the second drive motor is installed on the support frame, and the output shaft of the second drive motor is fixedly connected to the screw rod; the second drive motor is also electrically connected to the control Device

A nut, the nut is sleeved on the screw rod through a thread;

The fixing seat is fixedly connected to the nut, and slidably connected to the support frame, and arranged horizontally along the Y axis.
The cargo handling system of a quick-opening side curtain box according to claim 1 or 7, characterized in that: the Z-axis sliding module comprises

The first lifting mechanism, the first lifting mechanism includes a first fixing part and a first lifting part, the first fixing part is fixedly connected to the Y-axis sliding module; the first lifting part is fixedly or rotatably connected to The fork; the first lifting mechanism is also communicatively connected to the controller.
The quick-opening side curtain box cargo handling system according to claim 8, characterized in that it further comprises a first fixing frame, the first fixing frame is fixedly connected to the first lifting part; the cargo The fork is fixedly connected to the first fixing frame, and the fork is horizontally arranged along the Y axis.
The cargo handling system of a quick-opening side curtain box according to claim 9, characterized in that it further comprises

A third driving motor, the third driving motor is fixedly connected to the first fixing frame, and the output shaft of the third driving motor is vertically arranged; the third driving motor is also electrically connected to the controller;

A second fixing frame, the second fixing frame is fixedly connected to the output shaft of the third drive motor, and the fork is fixedly connected to the second fixing frame.
A quick-opening side curtain box cargo handling system according to claim 10, characterized in that: each of the conveying devices includes a conveying line body, and the conveying line body is communicatively connected to the controller; the conveying line A number of blocking devices are installed on the body at intervals; each blocking device is communicatively connected to the controller;

The blocking device includes a second lifting mechanism and a limiting member;

The second lifting mechanism includes a second fixing part and a second lifting part; the second fixing part is installed in the conveying line body; the second lifting part is fixedly connected to the limiting member, and the The limiting member is raised higher than the top surface of the conveying line body, and lower than the top surface of the conveying line body after being lowered.
The cargo handling system of a quick-opening side curtain box according to any one of claims 1 to 7, wherein the supporting frame is a gantry frame.
A cargo handling system for quick-opening side curtain boxes according to claim 12, characterized in that:

There is one support frame;

There are four X-axis moving modules, and the four X-axis moving modules are symmetrically installed at the bottom of the support frame and are arranged in a rectangular shape;

There are two Y-axis moving modules, and the two Y-axis moving modules are symmetrically installed on the top of the support frame;

There are two Z-axis moving modules, and the two Z-axis moving modules are symmetrically installed on the two Y-axis moving modules in a one-to-one correspondence;

There are two second detection devices, and the two second detection devices are symmetrically installed on the top of the support frame and arranged in a downward direction;

There are two groups of the first detection devices, and the two first detection devices are symmetrically installed on the two inner sides of the support frame and are arranged oppositely;

There are two conveying devices, and the two conveying devices are symmetrically arranged between the two inner sides of the support frame, and there is a distance between the two conveying devices for accommodating containers.
A cargo handling system for quick-opening side curtain boxes according to claim 12, characterized in that:

There is one support frame;

There are four X-axis moving modules, and the four X-axis moving modules are symmetrically installed at the bottom of the support frame and are arranged in a rectangular shape;

There are two Y-axis moving modules, and the two Y-axis moving modules are symmetrically installed on the top of the support frame;

There are two Z-axis moving modules, and the two Z-axis moving modules are symmetrically installed on the two Y-axis moving modules in a one-to-one correspondence;

There are two second detection devices, and the two second detection devices are symmetrically installed on the top of the support frame and arranged in a downward direction;

There are two groups of the first detection devices, and the two first detection devices are symmetrically installed on the two inner sides of the support frame and are arranged oppositely;

There are two conveying devices, and the two conveying devices are symmetrically arranged on the two outer sides of the support frame, and the support frame has a space for accommodating a container.
The quick-opening side curtain box cargo handling system according to claim 1, wherein the X-axis mobile module is slidably connected to the ground, or the X-axis mobile module is slidably hoisted above the ground.