CN107298272B - Handling device of code system is got in commodity circulation - Google Patents
Handling device of code system is got in commodity circulation Download PDFInfo
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- CN107298272B CN107298272B CN201710680968.7A CN201710680968A CN107298272B CN 107298272 B CN107298272 B CN 107298272B CN 201710680968 A CN201710680968 A CN 201710680968A CN 107298272 B CN107298272 B CN 107298272B
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- loader
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/005—Control arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/30—Methods or devices for filling or emptying bunkers, hoppers, tanks, or like containers, of interest apart from their use in particular chemical or physical processes or their application in particular machines, e.g. not covered by a single other subclass
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/0258—Trays, totes or bins
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Forklifts And Lifting Vehicles (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses a loading and unloading device of a logistics code picking system, which comprises a supporting underframe (2), a belt conveyor (3) and a fork loading machine (4); the bottom of the supporting underframe (2) is provided with a walking part (21); the belt conveyor (3) is erected on the supporting bottom frame (2) along the front-back direction of the supporting bottom frame (2) and comprises a bottom frame conveyor electric control mechanism, and the bottom frame conveyor electric control mechanism comprises a bottom frame conveyor controller and a bottom frame conveyor power supply; the forklift loader (4) comprises a supporting platform (41), a sliding part (42), a forklift loading part (43), a forklift loader hydraulic mechanism and a forklift loader electric control mechanism; the chassis conveyor controller and the forklift loader electric control mechanism are respectively electrically connected with an industrial control computer of the logistics code picking system electric control device. This loading and unloading device of code system is got in commodity circulation degree of automation is higher, can realize intelligent operation, improve handling efficiency, and the code system is got in the commodity circulation that is particularly useful for freight container in the containerized transportation of commodity circulation storage.
Description
Technical Field
The invention relates to a loading and unloading device, in particular to a loading and unloading device of a logistics code-taking system suitable for a freight container, and belongs to the field of intelligent logistics technical equipment.
Background
The intelligent logistics is widely applied to basic activity links of logistics transportation, storage, distribution, packaging, loading and unloading and the like through an information processing and network communication technology platform by utilizing advanced internet of things technologies such as bar codes, radio frequency identification technologies, sensors, global positioning systems and the like, so that the automatic operation and high-efficiency optimized management of the goods transportation process are realized, the service level of the logistics industry is improved, the cost is reduced, the consumption of natural resources and social resources is reduced, the development of the intelligent logistics can promote the development of regional economy, the optimized configuration of world resources and the socialization.
The logistics storage is a key link in modern intelligent logistics, plays an important role in links such as connection, transfer, storage, and custody, and the storage management also occupies a central position in the logistics storage, the precise storage process generally comprises several processes of receiving, loading, picking, replenishing, delivering, and checking, in order to realize intelligent delivery, in the prior art, an automatic guided transport vehicle is appeared, i.e. a transport vehicle with electromagnetic or optical automatic guiding devices is equipped, and has safety protection and various transfer functions, a driver is not needed in the logistics storage application, a rechargeable battery is used as a power source, the traveling route and behavior of the transport vehicle can be controlled by a computer or the traveling route of the transport vehicle is set by using an electromagnetic rail to realize the transfer of stored goods, but the manual operation is still largely adopted for the stacking operation of the loaded and unloaded goods in the container transportation process for replenishing or delivering goods into and delivering the warehouse, i.e. an operator drives a forklift to load and unload the containers, especially for the transportation of the containers, and how to reasonably arrange the containers in the transportation process of the containers and the containers in the transportation process of the containers is made by adopting the maximum manual operation and the layout of the loading and unloading of containers.
The traditional manual packing or unloading production mode has the following defects:
1. although the warehousing procedure or the ex-warehouse procedure is automatically operated, the loading or unloading of the containers still adopts manual operation, so the overall automation degree of logistics storage is reduced, and the efficiency is low;
2. in the prior art, the warehousing procedure or the ex-warehouse procedure is generally transmitted by adopting an automatic guide transport vehicle or a conveyor belt, and the efficiency of warehousing and transferring can be ensured only when the speed of manual operation of boxing or unloading is kept up with the speed of warehousing or ex-warehouse, so the labor intensity of operators is high;
3. the loading and unloading progress is greatly influenced by human factors such as responsibility and emotion of operators.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides the handling device of the logistics code-taking system, which has higher automation degree, can realize intelligent operation and improve handling efficiency, and is particularly suitable for the logistics code-taking system for freight containers in the container transportation of logistics storage.
In order to achieve the purpose, the loading and unloading device of the logistics code picking system comprises a supporting underframe, a belt conveyor and a fork loader;
the bottom of the supporting underframe is provided with a walking part, and the walking part comprises a supporting roller set and a roller set drive; the supporting roller wheel sets comprise supporting rollers which are arranged in a bilateral symmetry mode, the supporting roller wheel sets are arranged into a plurality of groups along the front-back direction of the supporting chassis, the roller wheel sets are arranged on at least one group of supporting roller wheel sets to drive, and the supporting chassis is erected and installed on a longitudinal guide rail of the loading and unloading platform through the supporting roller wheel sets; the front end of the supporting underframe is provided with an open U-shaped opening structure;
the belt conveyor is erected on the supporting underframe along the front and back directions of the supporting underframe and comprises a driving roller, a driven roller, a carrier roller group, a conveying belt and an underframe conveyor electric control mechanism; the carrier roller group is erected and installed between the driving roller and the driven roller, the conveying belt is connected end to end and wound on the driving roller, the driven roller and the carrier roller group to form an upper-layer structure and a lower-layer structure, the driving roller is provided with a roller drive, the underframe conveyor electric control mechanism comprises an underframe conveyor controller, an underframe conveyor power supply, a supporting underframe control loop and a belt conveyor control loop, the underframe conveyor power supply is electrically connected with the underframe conveyor controller, and the roller drive is electrically connected with the underframe conveyor controller; the roller set drive is electrically connected with the chassis conveyor controller;
the forklift comprises a supporting platform, a sliding part, a forklift hydraulic mechanism and a forklift electric control mechanism; the supporting platform is positioned right above the belt conveyor and provided with supporting legs extending downwards, and the supporting platform is erected and installed on the supporting base frame through the supporting legs;
the sliding part is arranged between the supporting legs of the supporting platform and the supporting underframe and comprises a guiding slide rail and a guiding wheel which are matched with each other; the front and back directions of the guide slide rail are horizontally arranged on the supporting underframe, and the front end of the guide slide rail extends forwards to the left and right side plates of the U-shaped opening of the supporting underframe; the guide wheel is connected with the bottom end of the support leg of the support platform in an installing way, and the guide wheel is provided with a guide wheel drive;
the fork loading part comprises a portal frame, a fork frame and a fork; the gantry comprises an inner gantry and an outer gantry which are sleeved and mounted in a matched manner, a gantry guide mechanism is arranged between the inner gantry and the outer gantry, the rear lower part of the outer gantry is hinged and connected to the front end of the supporting platform, the outer gantry is connected with the supporting platform through a gantry pitching hydraulic cylinder, the inner gantry is connected with the outer gantry through a gantry lifting hydraulic cylinder, and the inner gantry can extend downwards or retract upwards from the bottom end of the outer gantry along the gantry guide mechanism by controlling the stretching of the gantry lifting hydraulic cylinder; the fork frame is connected with the front end face of the inner gantry in a sliding fit mode through a fork frame guide mechanism, a frame body of the fork frame is connected with the inner gantry through a fork frame lifting hydraulic cylinder, and the fork frame is further provided with a code scanning recognition device and a distance sensor; the fork is symmetrically arranged in two pieces left and right, is erected and installed on the fork frame through a fork sliding guide mechanism, and is connected with the fork frame through a fork pushing part arranged in the left and right direction;
the hydraulic mechanism of the forklift loader comprises a hydraulic pump station and a control valve group which are arranged on a supporting platform, the hydraulic pump station is connected with the control valve group through a hydraulic pipeline, and the control valve group is respectively connected with a gantry lifting hydraulic cylinder, a gantry pitching hydraulic cylinder and a fork frame lifting hydraulic cylinder through the hydraulic pipeline;
the fork loader electric control mechanism comprises a fork loader controller, a fork loader power supply, a positioning coordinate movement control loop, a distance feedback control loop, a fork span adjusting loop and a transshipment control loop, wherein the fork loader controller comprises a data input/output port, and is respectively and electrically connected with the fork loader power supply, a control valve group of a fork loader hydraulic mechanism, a fork pushing part, a code scanning recognition device on a fork frame and a distance sensor; the fork installation controller is electrically connected with the chassis conveyor controller.
As a further improvement of the invention, the height dimension between the bottom plane of the supporting platform and the upper surface of the upper layer conveying belt of the belt conveyor is larger than the height dimension of the goods packing box.
As a further improvement scheme of the invention, the supporting platform is divided into an upper part and a lower part, the rear lower part of the outer gantry of the gantry is hinged to the front end of the upper part of the supporting platform, the supporting legs are arranged on the lower part of the supporting platform, the upper part and the lower part of the supporting platform are connected through a slewing bearing, a slewing bearing hydraulic drive is arranged on the slewing bearing, and the slewing bearing hydraulic drive is connected with a control valve group of a hydraulic mechanism of the forklift loader through a hydraulic pipeline; the electric control mechanism of the forklift loader further comprises a supporting platform rotation loop.
As a preferred scheme of the invention, the supporting roller wheel sets which are arranged into a plurality of groups along the front-back direction of the supporting underframe are uniformly distributed along the front-back direction of the supporting underframe, the roller wheel set drives are arranged on at least two groups of supporting roller wheel sets, the roller wheel rotary drive which is arranged along the vertical direction of the rotary axis is arranged on each supporting roller wheel, and the roller wheel rotary drive is electrically connected with the underframe conveyor controller.
As a further improvement of the invention, the fork carriage further comprises a pattern recognition sensor, the fork-lift truck electric control mechanism further comprises a fork-lift truck position positioning control loop, and the fork-lift truck controller is electrically connected with the pattern recognition sensor.
As an embodiment of the fork pushing part of the present invention, the fork pushing part includes two fork pushing hydraulic cylinders horizontally erected on the fork carriage and arranged in opposite telescopic directions, telescopic ends of the two fork pushing hydraulic cylinders are respectively connected with the two forks, and the two fork pushing hydraulic cylinders are respectively connected with a control valve set of a hydraulic mechanism of the fork loader through hydraulic pipelines.
As a further improvement of the invention, the pallet fork is provided with a side clamping plate.
As a further improvement scheme of the invention, the guide slide rails of the sliding part are of a guide through groove structure penetrating through the left and right side plates of the supporting underframe.
As a further improvement of the invention, the belt conveyor is arranged in the supporting chassis.
As a further improvement scheme of the invention, the supporting roller is of a left-right symmetrical dumbbell structure comprising a middle small-diameter section and two large-diameter sections at two ends, the length dimension of the small-diameter section is matched with the width dimension of the guide rail of the longitudinal guide rail, the outer surface of the small-diameter section is matched with the longitudinal guide rail in a compression joint mode, and the outer surface of the large-diameter section is matched with the loading and unloading platform in a compression joint mode.
Compared with the prior art, the loading and unloading device of the logistics code-fetching system suitable for the freight container is a completely digital control unit, can be seamlessly connected with a digital bus of the logistics code-fetching system to realize centralized digital management, and can realize completely digital loading and unloading; the industrial control computer can control the support chassis to move back and forth on the longitudinal guide rail according to the input loading scheme, the belt conveyor and the forklift loader are controlled to operate cooperatively by the forklift controller during the boxing operation, the transportation of the conveyer belt of the cargo packing box, the forking and the stacking of the cargo packing box inside the cargo container can be realized, the forking of the cargo packing box inside the cargo container can be realized during the operation of the cargo container, the transportation of the conveyer belt of the cargo packing box can be realized, the forking and the stacking of the cargo packing box inside the cargo container can be realized during the operation of the cargo container, the forking of the cargo packing box inside the cargo container can be realized during the operation of the cargo container, the stacking of the cargo container can be realized onto the conveyer belt, the transportation of the conveyer belt of the cargo container can be realized by the operation of the forklift, the labor intensity of the operation personnel who operates automatically can be avoided, the influence of the labor intensity of the operation personnel on the logistics operation, the logistics progress of the cargo container can be avoided, and the limitation of the logistics operation of the logistics progress of the logistics operation is avoided, and the logistics operation of the logistics container, and the limitation of the logistics operation of the logistics container is avoided.
Drawings
FIG. 1 is a schematic three-dimensional view of a logistics access code system adapted for use with a shipping container for loading and unloading the shipping container;
FIG. 2 is a schematic structural diagram of the forklift for forking and stacking the goods packing boxes on the belt conveyor;
FIG. 3 is a schematic structural view of the fork-lift truck of the present invention during the forward movement of the loaded packing container;
FIG. 4 is a schematic structural view of the present invention when the fork-lift truck forks or stacks the freight containers inside the freight container;
FIG. 5 is a schematic structural view of the present invention when the supporting platform is rotated to fork or stack the goods packing boxes;
FIG. 6 is a top view of FIG. 4;
fig. 7 is a schematic structural view of the supporting roller of the present invention.
In the figure: 1. loading and unloading platform, 11, longitudinal rail, 2, support chassis, 21, walking portion, 3, belt conveyor, 4, fork installation, 41, supporting platform, 42, the portion of sliding, 43, fork installation, 431, portal, 432, fork frame, 433, fork, 5, letter sorting machinery arm.
Detailed Description
The invention will be further described with reference to the accompanying drawings (the following description is made in the context of the direction in which the fork-mounting part 43 faces the freight container).
As shown in fig. 1, the logistics code-picking system for freight containers comprises a loading platform 1, a loading device, a sorting device and an electric control device.
The loading and unloading platform 1 is provided with longitudinal guide rails 11 which are arranged in parallel in the front-back direction, and the longitudinal guide rails 11 at least extend to the front end of the loading and unloading platform 1.
As shown in fig. 2, 5 and 6, the handling device includes a support chassis 2, a belt conveyor 3 and a forklift 4.
The bottom of the supporting chassis 2 is provided with a walking part 21, and the walking part 21 comprises a supporting roller set and a roller set drive; the supporting roller wheel sets comprise supporting rollers which are arranged in bilateral symmetry, the supporting rollers are matched with the longitudinal guide rail 11 and erected on the longitudinal guide rail 11, the supporting roller wheel sets are arranged into a plurality of groups along the front-back direction of the supporting underframe 2, at least one group of supporting roller wheel sets are provided with roller wheel set drives, and the supporting underframe 2 is erected on the longitudinal guide rail 11 through the supporting roller wheel sets; the front end of the supporting underframe 2 is provided with an open U-shaped opening structure, and the U-shaped opening structure is convenient for the up-and-down forking operation of the forking machine 4 and avoids movement interference;
the belt conveyor 3 is erected on the supporting underframe 2 along the front and back directions of the supporting underframe 2, and the belt conveyor 3 comprises a driving roller, a driven roller, a carrier roller group, a conveying belt and an underframe conveyor electric control mechanism; the carrier roller group is erected and installed between the driving roller and the driven roller, the conveying belt is connected end to end and wound on the driving roller, the driven roller and the carrier roller group to form an upper-layer structure and a lower-layer structure, the driving roller is provided with a roller drive, the underframe conveyor electric control mechanism comprises an underframe conveyor controller and an underframe conveyor power supply electrically connected with the underframe conveyor controller, and the roller drive is electrically connected with the underframe conveyor controller; the roller set drive is electrically connected with the chassis conveyor controller;
the forklift 4 comprises a supporting platform 41, a sliding part 42, a forklift part 43, a forklift hydraulic mechanism and a forklift electric control mechanism; the supporting platform 41 is positioned right above the belt conveyor 3, the supporting platform 41 is provided with supporting legs extending downwards, and the supporting platform 41 is erected and installed on the supporting base frame 2 through the supporting legs;
the sliding part 42 is arranged between the supporting leg of the supporting platform 41 and the supporting chassis 2 and comprises a guiding slide rail and a guiding wheel which are matched with each other; the front and back directions of the guide slide rail are horizontally arranged on the supporting underframe 2, and the front end of the guide slide rail extends forwards to the left and right side plates of the U-shaped opening position of the supporting underframe 2; the guide wheel is connected with the bottom end of the support leg of the support platform 41 in an installing way, and the guide wheel is driven by the guide wheel;
the fork loading portion 43 includes a mast 431, a fork carriage 432, and forks 433; the gantry 431 comprises an inner gantry and an outer gantry which are matched and sleeved, a gantry guide mechanism is arranged between the inner gantry and the outer gantry, the rear lower part of the outer gantry is hinged to the front end of the supporting platform 41, the outer gantry is connected with the supporting platform 41 through a gantry pitching hydraulic cylinder, the gantry 431 can be wholly pitched in the front-back direction of a hinged shaft of the outer gantry by controlling the telescoping of the gantry pitching hydraulic cylinder, the inner gantry is connected with the outer gantry through a gantry lifting hydraulic cylinder, and the inner gantry can extend downwards or retract upwards from the bottom end of the outer gantry along the gantry guide mechanism by controlling the telescoping of the gantry lifting hydraulic cylinder; the fork carriage 432 is connected with the front end face of the inner gantry in a sliding fit mode through a fork carriage guide mechanism, a frame body of the fork carriage 432 is connected with the inner gantry through a fork carriage lifting hydraulic cylinder, the fork carriage 432 can move up and down on the inner gantry along the fork carriage guide mechanism by controlling the extension and retraction of the fork carriage lifting hydraulic cylinder, and the fork carriage 432 is further provided with a code scanning recognition device and a distance sensor; the fork 433 is symmetrically arranged in left and right, and is erected and installed on the fork frame 432 through a fork sliding guide mechanism, the fork 433 is installed and connected with the fork frame 432 through a fork pushing part arranged in the left and right direction, and the adjustment of the span between the forks 433 can be realized by controlling the action of the fork pushing part;
the hydraulic mechanism of the forklift loader comprises a hydraulic pump station and a control valve group which are arranged on a supporting platform 41, the hydraulic pump station is connected with the control valve group through a hydraulic pipeline, and the control valve group is respectively connected with a gantry lifting hydraulic cylinder, a gantry pitching hydraulic cylinder and a fork frame lifting hydraulic cylinder through the hydraulic pipeline;
the electric control mechanism of the forklift loader comprises a forklift loader controller, a forklift loader power supply, a positioning coordinate movement control loop, a distance feedback control loop, a fork span adjusting loop and a transshipment control loop, wherein the forklift loader controller is electrically connected with the forklift loader power supply, a control valve group of a forklift loader hydraulic mechanism, a fork pushing part, a code scanning recognition device on a fork frame 432 and a distance sensor respectively.
Sorting device including setting up a plurality of letter sorting arms 5 and the arm electrical control mechanism in the handling device left and right sides, letter sorting arm 5 erects and installs on loading and unloading platform 1, letter sorting arm 5 removes the X coordinate drive that sets up including left right direction at least, the Y coordinate drive that the fore-and-aft direction removed the setting and the Z coordinate drive that vertical direction removed the setting, the end section of letter sorting arm 5 is equipped with the mechanical hand of putting things in good order including snatching of snatching the mechanism, arm electrical control mechanism includes arm controller and the arm power supply who is connected with arm controller electricity, X coordinate drive, Y coordinate drive and Z coordinate drive are connected with arm controller electricity respectively.
The electric control device comprises an industrial control computer, a supporting underframe control loop, a belt conveyor control loop, a fork loading machine control loop and a sorting and stacking control loop; the industrial control computer comprises a data input/output port and is electrically connected with the chassis conveyor controller, the fork loader controller and the mechanical arm controller respectively.
When the logistics code taking system suitable for the freight container is in an initial state, the supporting underframe 2 is stagnated at a set position of the edge of the front end of the loading platform 1, and the fork-lift loader 4 is stagnated at a set fork-lift coordinate position above the belt conveyor 3.
This logistics code picking system's theory of operation suitable for freight container: after a vehicle carrying a freight container is parked at a set position under the loading platform 1, and a box door of the vehicle is over against the forklift 4, at the moment, a bottom plate of the freight container is flush with the upper plane of the loading platform 1, an operator opens the box door after docking, and simultaneously, the operator inputs cargo container loading position information, a loading scheme, a cargo container stacking coordinate position, a cargo container size and data information of the internal size of the freight container into the industrial control computer through a data input/output port of the industrial control computer.
During the boxing operation, the support chassis control loop firstly starts to work; the industrial control computer calculates the depth of the support chassis 2 moving forward into the freight container 6 according to the input stowage scheme, the size of the cargo packing box and the internal size data information of the freight container, and sends a Y coordinate value of the support chassis 2 needing to move forward to the chassis conveyor controller, and simultaneously sends a control instruction of the forward movement of the support chassis to the chassis conveyor controller, the chassis conveyor controller controls the driving action of the roller set to make the support roller set drag the support chassis 2 to move to the calculated Y coordinate value of the forward movement of the support chassis 2 along with the forward coordinate, the roller set at the front end of the support chassis 2 in the forward movement process of the support chassis 2 is separated from the longitudinal guide rail 11 and enters the set position inside the freight container 6 beyond the butt joint position of the loading platform 1 and the freight container and is positioned, and the chassis conveyor controller feeds back data information to the industrial control computer in real time;
goods to be packed are sequentially transported to a set goods packing box stacking coordinate position near a sorting mechanical arm 5 through an automatic guide transport vehicle according to a loading scheme, and then a sorting stacking control loop works at first; the industrial control computer sends a grabbing and stacking control instruction to the mechanical arm controller, and the mechanical arm controller controls the sorting mechanical arm 5 to move in a coordinate mode so that the grabbing and stacking mechanical arm moves to a position right above a stacking coordinate position of the goods packaging box and moves downwards along a Z coordinate to grab the goods; after grabbing, the mechanical arm controller controls the sorting mechanical arm 5 to move in a coordinate mode, so that the grabbing and stacking mechanical arm carries the goods and moves upwards to a set Z coordinate position, wherein the distance between the bottom plane of the goods packing box and the loading and unloading platform 1 is larger than the distance between the upper surface of the upper layer conveying belt of the belt conveyor 3 and the loading and unloading platform 1; then the mechanical arm controller controls the sorting mechanical arm 5 to move in a coordinate mode so that the grabbing and stacking mechanical arm carries the goods to move horizontally to a set distance along an X coordinate, wherein the set distance is an X coordinate value between a goods packing box stacking coordinate position and the width center of a conveying belt of the belt conveyor 3; then the mechanical arm controller controls the grabbing and stacking mechanical arm to move downwards along the Z coordinate to stack the goods; the mechanical arm controller feeds back data information to the industrial control computer in real time;
then the belt conveyor control loop starts to work; the industrial control computer calculates a Y coordinate value of the goods packaging box which needs to move forwards to a set forking coordinate position according to the input data information of the size of the goods packaging box and the stacking coordinate position of the goods packaging box, sends the Y coordinate value of the goods packaging box which needs to move forwards to the chassis conveyor controller, and sends a belt conveyor action control instruction to the chassis conveyor controller, the chassis conveyor controller controls the roller driving action to enable the driving roller to rotate forwards to drive the upper layer conveying belt to carry the goods packaging box to move forwards to the set forking coordinate position and then stop, and the chassis conveyor controller feeds back data information to the industrial control computer in real time;
then a control loop of the fork-lift loader starts to work; the industrial control computer sends a forking action control instruction of the forking machine to the forking machine controller, and the forking machine controller firstly controls the fork pushing part to act according to the input size information of the cargo packaging box so as to adjust the span between the forks 433 to the set width size matched with the size of the cargo packaging box; then the fork-lift loader controller establishes a mathematical model of the fork-lift loading position and the fork-lift loading depth according to the inputted size information of the cargo packing box and the feedback identification information of the code scanning identification device on the fork frame 432; as shown in fig. 2, the forklift controller controls the forklift hydraulic mechanism according to the mathematical model to enable the gantry lifting hydraulic cylinder, the gantry pitching hydraulic cylinder and the fork lifting hydraulic cylinder to cooperatively act to fork a cargo packing box located at a preset fork coordinate position on an upper layer conveying belt of the belt conveyor 3 so as to enable the cargo packing box to be separated from the belt conveyor 3, and a distance sensor on the fork frame 432 feeds back the distance between the fork frame 432 and the cargo in real time in the fork loading process to ensure the fork loading depth; as shown in fig. 3, after the forklift is finished, the forklift controller calculates a Y coordinate value of the supporting platform 41 required to move forward according to a loading scheme, cargo loading position information and cargo container internal dimension data information, and controls the guide wheel driving action of the sliding part 42 to move the supporting platform 41 forward to a stacking position of the Y coordinate value, as shown in fig. 4, then the forklift controller controls the forklift hydraulic mechanism to enable the gantry lifting hydraulic cylinder, the gantry pitching hydraulic cylinder and the fork lifting hydraulic cylinder to cooperatively operate to unload the cargo packaging box on the fork 433 so as to stack the cargo packaging box at the cargo packaging position set in the cargo loading position information, and finally the forklift 4 is restored to the initial state, namely, one-time stacking is finished and the subsequent stacking is prepared; the forklift controller feeds back data information to the industrial control computer in real time in the stacking and boxing processes;
and by analogy, the industrial control computer timely sends a support chassis backspacing action control instruction to the chassis conveyor controller according to the data information fed back by the forklift loader controller in real time to control the support chassis 2 to backspace step by step until the front end of the support chassis 2 completely exits the freight container and all the cargo packing boxes are completely stacked in the freight container in order according to the stowage scheme, and the whole packing process is completed.
The unloading operation is the reverse process of the packing operation, an operator inputs sorting information to the industrial control computer through a data input/output port of the industrial control computer, besides the goods packing position information, the loading scheme, the goods packing box size and the internal size data information of the freight container, the sorting information comprises different goods packing box stacking coordinate position information distributed according to different sorting conditions;
the control loop of the forklift starts to work at first, the forklift controller controls the forklift 43 to fork and pack the cargo packing boxes in the freight container according to the loading scheme and the cargo packing position information and then returns to the initial position, then the forklift controller controls the forklift 43 to stack the cargo packing boxes at the set forklift coordinate position on the upper layer conveying belt of the belt conveyor 3, and the forklift controller feeds back data information to the industrial control computer in real time;
the industrial control computer sends a belt conveyor operation instruction to the bottom frame conveyor controller according to the feedback identification information of the code scanning identification device on the fork frame 432 fed back by the forklift controller and the input sorting information, then a belt conveyor control loop starts to work, the bottom frame conveyor controller controls a roller to drive the roller to reversely rotate so that an upper layer conveyor belt is driven to carry a cargo packing box and then the upper layer conveyor belt moves to a set coordinate position of a cargo packing box stacking coordinate position Y coordinate corresponding to the cargo packing box and then stops;
then a sorting and stacking control loop starts to work, an industrial control computer sends a grabbing and stacking control instruction to a mechanical arm controller corresponding to a stacking coordinate position of the goods packing box, the mechanical arm controller controls a sorting mechanical arm 5 to move in a coordinate mode so that a grabbing and stacking mechanical arm can grab the goods packing box, the goods packing box is horizontally moved in the X coordinate direction and then stacked on the stacking coordinate position of the goods packing box, and the goods packing box can be transported by an automatic guided transport vehicle;
by analogy, the industrial control computer sends a support chassis advancing action control instruction to the chassis conveyor controller in time according to the data information fed back by the forklift loader controller in real time to control the support chassis 2 to advance in a stepping mode until the front end of the support chassis 2 completely enters the freight container and all the goods packaging boxes are completely unloaded according to the loading scheme, the whole unloading process is completed, and the support chassis 2 returns to the initial state.
In order to simplify the control, as a further improvement of the invention, the height between the bottom plane of the supporting platform 41 and the upper surface of the upper layer conveying belt of the belt conveyor 3 is larger than the height of the cargo packing box, that is, the fork-loading part 43 always faces forward in the loading and unloading process of the cargo packing box, the cargo packing box is fork-loaded and stacked in a manner of controlling the fork-loading machine 4 to move forward and backward, and the cargo packing box passes below the supporting platform 41 when the upper layer conveying belt of the belt conveyor 3 carries the cargo packing box to move forward or backward.
In order to shorten the length of the guide slide rail of the sliding part 42 and simultaneously reduce the height of the supporting platform 41, thereby realizing more stable forking, as a further improvement of the invention, as shown in fig. 5, the supporting platform 41 is divided into an upper part and a lower part, the rear lower part of the outer gantry of the gantry 431 is hinged to the front end of the upper part of the supporting platform 41, the supporting legs are installed on the lower part of the supporting platform 41, the upper part and the lower part of the supporting platform 41 are connected through a slewing bearing, a slewing bearing hydraulic drive is arranged on the slewing bearing, the slewing bearing hydraulic drive is connected with a control valve group of a hydraulic mechanism of the forking machine through a hydraulic pipeline, and the upper part of the supporting platform 41 can rotate relative to the lower part of the supporting platform 41 by controlling the action of the slewing bearing hydraulic drive; the electric control mechanism of the forklift loader further comprises a supporting platform rotary loop; the mode that supporting platform 41 drove fork dress portion 43 gyration is taken to the goods packing box handling in-process and is forked dress and put things in good order the goods packing box, so set up and to make, the upper conveyer belt of belt conveyor 3 is pressed close to supporting platform 41's basal plane, and then greatly reduced supporting platform 41's height, realize more firm fork dress, and simultaneously, the distance that the gyration mode can make supporting platform 41 back-and-forth movement reduces relatively, and then the length of the direction slide rail that realizes shortening sliding portion 42.
In order to improve the loading and unloading efficiency, the vehicle with the freight container is usually directly driven away to replace the vehicle with the next freight container for loading and unloading after the loading and unloading are finished, namely, the vehicle with the freight container is moved, a plurality of loading and unloading stations can be adopted, the vehicle with the freight container is translated, or the loading and unloading device is translated, because the first mode is that the loading and unloading device can be loaded and unloaded after the vehicle enters the loading and unloading parking space, the second scheme realizes that the vehicle with the freight container is relatively difficult to translate and a translation supporting facility is additionally arranged, and the third scheme can realize the supplement of the loading and unloading vehicle in the process of loading and unloading one loading and unloading parking space under the condition of a plurality of loading and unloading parking spaces, further realizes the continuous operation of the loading and unloading device, and has higher efficiency compared with the former two, therefore, the third scheme is preferred, namely, as the preferred scheme of the invention, the logistics code picking system suitable for freight containers adopts a mode of multiple loading and unloading parking spaces and self-moving, the supporting roller wheel sets which are arranged into multiple groups along the front and back direction of the supporting underframe 2 are uniformly distributed along the front and back direction of the supporting underframe 2, the roller wheel sets are arranged on at least two groups of supporting roller wheel sets for driving, each supporting roller wheel is provided with a roller wheel rotary drive which is arranged along the vertical direction of the rotary axis, the roller wheel rotary drive can realize the change of the rolling direction of the supporting roller wheels between the front and back direction and the left and right direction, and the roller wheel rotary drive is electrically connected with the underframe conveyor controller; the longitudinal guide rails 11 arranged in parallel in the front-back direction are arranged into a plurality of groups, the distance of an X coordinate value between two adjacent groups of the longitudinal guide rails 11 arranged in parallel is larger than the width dimension of the freight container, the loading and unloading platform 1 is also provided with transverse guide rails which are the same as the number of the supporting roller sets, are arranged in parallel and are crossed with the longitudinal guide rails 11 to form a grid structure, and the distance between two adjacent transverse guide rails is the same as the axial distance between the supporting roller sets in the front-back direction; the electric control device also comprises a support chassis translation loop; when the logistics code picking system suitable for the freight containers is returned to the initial position after loading and unloading of one freight container is finished, the supporting underframe translation loop starts to work, the industrial control computer controls the underframe conveyor controller to enable all the rollers to rotate in the same direction at the same time and rotate 90 degrees, all the rollers are changed from the front direction to the rear direction, then the underframe conveyor controller controls the rollers to rotate to drive the supporting roller set to drag the supporting underframe 2 to move to the other loading and unloading station by the distance of the X coordinate value leftwards or rightwards, and then the industrial control computer controls the underframe conveyor controller to enable all the rollers to rotate in the same direction and rotate 90 degrees at the same time and return to the front direction, and then loading and unloading operation can be carried out on the loading and unloading station.
In order to ensure accurate fork loading, as a further improvement of the present invention, the fork carriage 432 further comprises a pattern recognition sensor, the electric control mechanism of the fork loader further comprises a fork loading position positioning control circuit, and the controller of the fork loader is electrically connected with the pattern recognition sensor; the forklift controller establishes a cargo mode identification data model according to the size information of the cargo packing box and the cargo position information fed back by the mode identification sensor, and performs deviation rectification integration on the cargo mode identification data model and the established forklift position and forklift depth mathematical model, and finally controls a forklift hydraulic mechanism according to the deviation rectification integrated mathematical model to enable the gantry lifting hydraulic cylinder, the gantry pitching hydraulic cylinder and the fork lifting hydraulic cylinder to cooperatively act for forklift.
In order to prevent the cargo packing box from accidentally sliding off from the left side and the right side of the fork 433 in the forking process, as a further improvement scheme of the invention, side clamping plates are arranged on the fork 433 and are respectively arranged on the left side and the right side of the two forks 433 which are arranged symmetrically left and right; aiming at the goods packing box with smaller weight, after the fork loading of the goods packing box is finished, the fork loading controller controls the fork span adjusting circuit to work again to reduce the span of the fork 433, and then the clamping of the side clamping plate to the goods packing box is realized.
In order to ensure that the guide slide rail of the sliding part 42 can provide stable support and guide when the goods packing box is forked, as a further improvement of the invention, the guide slide rail of the sliding part 42 is a guide through groove structure penetrating through the left and right side plates of the support chassis 2.
Aiming at a small-sized cargo packing box, in order to improve the space utilization rate in a freight container, the fork pushing component is taken as an implementation mode of the fork pushing component, the fork pushing component comprises two fork pushing hydraulic cylinders which are horizontally erected and installed on a fork frame 432 and are arranged in opposite telescopic directions, the telescopic ends of the two fork pushing hydraulic cylinders are respectively connected with two forks 433, and the two fork pushing hydraulic cylinders are respectively connected with a control valve group of a hydraulic mechanism of a forklift loader through hydraulic pipelines; the fork loader controller controls the fork loader hydraulic mechanism to enable the two fork pushing hydraulic cylinders to have different extending lengths, so that the gear span between the forks 433 can be adjusted, and the offset loading positions of the forks 433 can be realized.
In order to reduce the overall center of gravity of the supporting chassis 2 and further to realize more stable forward and backward movement of the supporting chassis 2, as a further improvement of the present invention, the belt conveyor 3 is mounted inside the supporting chassis 2 in an erected manner, and for convenience of fork mounting, the upper surface of the upper layer conveying belt of the belt conveyor 3 is not lower than the upper plane of the supporting chassis 2.
As the supporting chassis 2 needs to advance or retreat step by step in the loading and unloading process, and the roller set at the front end of the supporting chassis 2 can be separated from the longitudinal guide rail 11 and cross the butt joint position of the loading platform 1 and the freight container to enter the set position in the freight container 6, as a further improvement scheme of the invention, in order to ensure the stable supporting and guiding effect of the roller set, as shown in figure 7, the supporting roller is of a bilaterally symmetrical dumbbell structure comprising a middle small-diameter section and two large-diameter sections at two ends, the length size of the small-diameter section is matched with the width size of the guide rail of the longitudinal guide rail 11, the outer surface of the small-diameter section is matched with the longitudinal guide rail 11 in a compression joint mode, and the outer surface of the large-diameter section is matched with the loading platform 1 in a compression joint mode.
The loading and unloading device of the logistics code-fetching system suitable for the freight container is a complete digital control unit, can be seamlessly connected with a digital bus of the logistics code-fetching system to realize centralized digital management, and can realize complete digital loading and unloading; because the device comprises a supporting underframe 2, a belt conveyor 3 and a forklift loader 4, the belt conveyor 3 comprises an underframe conveyor electric control mechanism, the forklift loader 4 comprises an forklift loader electric control mechanism, and an underframe conveyor controller and the forklift loader electric control mechanism are respectively and electrically connected with an industrial control computer of a logistics code taking system electric control device, after the industrial control computer of the logistics code taking system electric control device receives data information such as cargo packing position information, a loading scheme, a cargo packing box stacking coordinate position, a cargo packing box size, a freight container internal size and the like of a freight container, the industrial control computer can control the supporting underframe 2 to move back and forth on a longitudinal guide rail 11 through the underframe conveyor electric control mechanism according to the input loading scheme, the belt conveyor 3 and the forklift loader 4 are controlled to cooperatively operate by the forklift loader controller during boxing operation, so that the conveying belt transportation of the cargo packing boxes, the forking and loading and unloading stacking of the cargo packing boxes in the freight container can be realized, the forking of the cargo packing boxes in the freight container can be realized during unloading operation, the cargo packing boxes are stacked on the conveying belt, and the conveying belt transportation of the cargo packing boxes is realized.
Claims (10)
1. The handling device of the logistics code picking system is characterized by comprising a supporting base frame (2), a belt conveyor (3) and a fork loading machine (4);
the bottom of the supporting underframe (2) is provided with a walking part (21), and the walking part (21) comprises a supporting roller set and a roller set drive; the supporting roller wheel sets comprise supporting rollers which are arranged in a bilateral symmetry mode, the supporting roller wheel sets are arranged in multiple groups along the front-back direction of the supporting bottom frame (2), roller wheel set driving is arranged on at least one group of supporting roller wheel sets, and the supporting bottom frame (2) is erected and installed on a longitudinal guide rail (11) of the loading and unloading platform (1) through the supporting roller wheel sets; the front end of the supporting underframe (2) is provided with an open U-shaped opening structure;
the belt conveyor (3) is erected on the supporting underframe (2) along the front and back directions of the supporting underframe (2), and the belt conveyor (3) comprises a driving roller, a driven roller, a carrier roller group, a conveying belt and an underframe conveyor electric control mechanism; the carrier roller group is erected and installed between the driving roller and the driven roller, the conveying belt is connected end to end and wound on the driving roller, the driven roller and the carrier roller group to form an upper-layer structure and a lower-layer structure, the driving roller is provided with a roller drive, the underframe conveyor electric control mechanism comprises an underframe conveyor controller, an underframe conveyor power supply, a supporting underframe control loop and a belt conveyor control loop, the underframe conveyor power supply is electrically connected with the underframe conveyor controller, and the roller drive is electrically connected with the underframe conveyor controller; the roller set drive is electrically connected with the chassis conveyor controller; the chassis conveyor controller is electrically connected with an industrial control computer of the logistics code fetching system electric control device;
the forklift loader (4) comprises a supporting platform (41), a sliding part (42), a forklift loading part (43), a forklift loader hydraulic mechanism and a forklift loader electric control mechanism; the supporting platform (41) is positioned right above the belt conveyor (3), the supporting platform (41) is provided with supporting legs extending downwards, and the supporting platform (41) is erected and installed on the supporting base frame (2) through the supporting legs;
the sliding part (42) is arranged between the supporting leg of the supporting platform (41) and the supporting chassis (2) and comprises a guiding slide rail and a guiding wheel which are matched with each other; the front and back directions of the guide slide rail are horizontally arranged on the support chassis (2), and the front end of the guide slide rail extends forwards to the left side plate and the right side plate of the U-shaped opening position of the support chassis (2); the guide wheel is connected with the bottom end of a support leg of the support platform (41), and the guide wheel is driven by the guide wheel;
the fork loading part (43) comprises a portal frame (431), a fork frame (432) and a fork (433); the gantry (431) comprises an inner gantry and an outer gantry which are matched, sleeved and mounted, a gantry guide mechanism is arranged between the inner gantry and the outer gantry, the rear lower part of the outer gantry is hinged to the front end of the supporting platform (41), the outer gantry is connected with the supporting platform (41) through a gantry pitching hydraulic cylinder, the inner gantry is connected with the outer gantry through a gantry lifting hydraulic cylinder, and the inner gantry can extend downwards or retract upwards from the bottom end of the outer gantry along the gantry guide mechanism by controlling the stretching of the gantry lifting hydraulic cylinder; the fork frame (432) is connected with the front end face of the inner gantry in a sliding fit mode through a fork frame guide mechanism, a frame body of the fork frame (432) is connected with the inner gantry through a fork frame lifting hydraulic cylinder, and the fork frame (432) is further provided with a code scanning recognition device and a distance sensor; the fork (433) is symmetrically arranged in left and right and is erected on the fork frame (432) through a fork sliding guide mechanism, and the fork (433) is installed and connected with the fork frame (432) through a fork pushing part arranged in the left and right direction;
the hydraulic mechanism of the forklift loader comprises a hydraulic pump station and a control valve group which are arranged on a supporting platform (41), the hydraulic pump station is connected with the control valve group through a hydraulic pipeline, and the control valve group is respectively connected with a gantry lifting hydraulic cylinder, a gantry pitching hydraulic cylinder and a fork frame lifting hydraulic cylinder through the hydraulic pipeline;
the fork loader electric control mechanism comprises a fork loader controller, a fork loader power supply, a positioning coordinate movement control loop, a distance feedback control loop, a fork span adjusting loop and a transshipment control loop, wherein the fork loader controller is respectively and electrically connected with the fork loader power supply, a control valve group of a fork loader hydraulic mechanism, a fork pushing part, a code scanning identification device on a fork frame (432) and a distance sensor; the fork loader controller is electrically connected with an industrial control computer of the logistics code fetching system electric control device.
2. Handling device for logistics palletizing system according to claim 1, characterized in that the height dimension of the bottom plane of the supporting platform (41) from the upper surface of the upper layer of the belt conveyor (3) is larger than the height dimension of the goods packing box.
3. The loading and unloading device of the logistics code picking system according to claim 1, wherein the supporting platform (41) is divided into an upper part and a lower part, the rear lower part of the outer gantry of the gantry (431) is hinged to the front end of the upper part of the supporting platform (41), the supporting legs are installed on the lower part of the supporting platform (41), the upper part and the lower part of the supporting platform (41) are connected through a slewing bearing, a slewing bearing hydraulic drive is arranged on the slewing bearing, and the slewing bearing hydraulic drive is connected with a control valve bank of a hydraulic mechanism of the forklift loader through a hydraulic pipeline; the electric control mechanism of the forklift loader further comprises a supporting platform rotation loop.
4. The loading and unloading device of a logistics code picking system according to claim 1, 2 or 3, wherein the supporting roller sets arranged in groups along the front and back direction of the supporting chassis (2) are uniformly distributed along the front and back direction of the supporting chassis (2), and at least two groups of supporting roller sets are provided with roller set drives, and each supporting roller is provided with a roller rotation drive with a rotation axis arranged in the vertical direction, and the roller rotation drives are electrically connected with the chassis conveyor controller.
5. The handling device of logistics code retrieval system of claim 1 or 2 or 3, wherein the fork carriage (432) further comprises a pattern recognition sensor, the fork loader electric control mechanism further comprises a fork loader position positioning control loop, and the fork loader controller is electrically connected with the pattern recognition sensor.
6. The handling device of the logistics code picking system of claim 1, 2 or 3, wherein the fork pushing component comprises two fork pushing hydraulic cylinders which are horizontally mounted on the fork frame (432) and are arranged in opposite telescopic directions, the telescopic ends of the two fork pushing hydraulic cylinders are respectively connected with the two forks (433), and the two fork pushing hydraulic cylinders are respectively connected with the control valve set of the hydraulic mechanism of the fork loader through hydraulic pipelines.
7. The handling device of logistics code picking system of claim 1 or 2 or 3, characterized in that the fork (433) is provided with a side clamping plate.
8. The loading and unloading device of the logistics code picking system according to the claim 1, 2 or 3, characterized in that the guiding slide rails of the sliding part (42) are guiding through groove structures which penetrate through the left and right side plates of the supporting underframe (2).
9. Handling unit for logistics access systems according to claim 1, 2 or 3, characterised in that said belt conveyor (3) is mounted inside the supporting chassis (2).
10. The handling device of the logistics code picking system according to claim 1, 2 or 3, wherein the supporting rollers are of a left-right symmetrical dumbbell structure comprising a small-diameter section in the middle and large-diameter sections at two ends, the length dimension of the small-diameter section is matched with the width dimension of the longitudinal guide rail (11), the outer surface of the small-diameter section is matched with the longitudinal guide rail (11) in a compression joint mode, and the outer surface of the large-diameter section is matched with the handling platform (1) in a compression joint mode.
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| CN107867528B (en) * | 2017-11-03 | 2023-06-30 | 徐州德坤电气科技有限公司 | Automatic stereoscopic warehouse system |
| CN110040407B (en) * | 2019-04-15 | 2024-02-20 | 徐州德坤电气科技有限公司 | Logistics code-fetching unit suitable for digital factory or Internet of things warehouse |
| CN110147692B (en) * | 2019-05-17 | 2024-04-02 | 苏州迈洛智能系统有限公司 | Commodity circulation is with crowd's reading sweep a yard system |
| CN110203601A (en) * | 2019-06-06 | 2019-09-06 | 山东洛杰斯特物流科技有限公司 | Agile type shuttle |
| CN110697626B (en) * | 2019-09-16 | 2024-09-03 | 福州国化智能技术有限公司 | Loading mechanism of container |
| CN110697625B (en) * | 2019-09-16 | 2024-09-03 | 福州国化智能技术有限公司 | Cargo handling system of quick-opening side curtain box |
| CN111532806B (en) * | 2020-04-27 | 2024-10-15 | 山东省科学院海洋仪器仪表研究所 | Automatic loading and unloading and transporting device for large-volume ice cubes |
| CN113003246B (en) * | 2021-04-07 | 2024-10-29 | 宁德市福化环保科技有限公司 | Dangerous waste unloading system and implementation method thereof |
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