CN107352207B - Logistics code-fetching system suitable for freight container - Google Patents
Logistics code-fetching system suitable for freight container Download PDFInfo
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- CN107352207B CN107352207B CN201710680948.XA CN201710680948A CN107352207B CN 107352207 B CN107352207 B CN 107352207B CN 201710680948 A CN201710680948 A CN 201710680948A CN 107352207 B CN107352207 B CN 107352207B
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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
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/0755—Position control; Position detectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/08—Masts; Guides; Chains
- B66F9/082—Masts; Guides; Chains inclinable
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/08—Masts; Guides; Chains
- B66F9/085—Multiple forks, i.e. more than one pair mounted on a single mast or with more than one mast
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B66F9/14—Platforms; Forks; Other load supporting or gripping members laterally movable, e.g. swingable, for slewing or transverse movements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/22—Hydraulic devices or systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/24—Electrical devices or systems
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses a logistics code-taking system suitable for freight containers, which comprises a loading and unloading platform, a loading and unloading device, a sorting device and an electric control device, wherein the loading and unloading platform is provided with a plurality of loading and unloading devices; longitudinal guide rails which are arranged in parallel are arranged on the loading platform in the front and back directions; the loading and unloading device comprises a supporting bottom frame, a belt conveyor and a forklift, wherein a walking part is arranged at the bottom of the supporting bottom frame, and the belt conveyor comprises a bottom frame conveyor electric control mechanism; the forklift comprises a forklift electric control mechanism; the sorting device comprises a plurality of sorting mechanical arms and mechanical arm electric control mechanisms which are arranged on the left side and the right side of the loading and unloading device; the electric control device comprises an industrial control computer, a supporting chassis control loop, a belt conveyor control loop, a forklift control loop and a sorting and stacking control loop. The logistics code-taking system suitable for the freight container has higher automation degree, can realize intelligent operation and improve loading and unloading efficiency, and is particularly suitable for the loading and unloading operation of the freight container in the container transportation of logistics storage.
Description
Technical Field
The invention relates to a logistics code-taking system, in particular to 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 the like, and the storage management also occupies a central position in the logistics storage, and the precise storage process generally comprises several processes of receiving, loading, picking, replenishing, delivery and checking, in order to realize intelligent delivery, in the prior art, an automatic guided transport vehicle is appeared, namely, a transport vehicle with electromagnetic or optical automatic guiding devices is equipped, and the transportation vehicle has safety protection and various transfer functions.
The traditional production mode of manual operation for boxing or unloading has the following defects:
1. although the automatic operation of the warehousing procedure or the ex-warehouse procedure is realized, the manual operation is still adopted for the container packing or unloading, so the overall automation degree of the 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 by keeping the speed of manual operation for boxing or unloading with the speed of warehousing or ex-warehouse, so that 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
In order to solve the problems in the prior art, the invention provides a logistics code-taking system suitable for a freight container, which has high automation degree, can realize intelligent operation and improve loading and unloading efficiency, and is particularly suitable for the loading and unloading goods stacking operation for the freight container in the container transportation of logistics storage.
In order to achieve the purpose, the logistics code-taking system suitable for the freight container comprises a loading and unloading platform, a loading and unloading device, a sorting device and an electric control device;
the loading and unloading platform is provided with longitudinal guide rails arranged in parallel in the front and back directions, and the longitudinal guide rails at least extend to the front end of the loading and unloading platform;
the loading and unloading device 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 support roller wheel sets comprise support rollers which are arranged in bilateral symmetry, the support rollers are matched with the longitudinal guide rail and erected on the longitudinal guide rail, the support roller wheel sets are arranged into a plurality of groups along the front and back directions of the support chassis, at least one group of support roller wheel sets are provided with roller wheel set drives, and the support chassis is erected on the longitudinal guide rail through the support 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 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 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 support chassis, 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 of the support chassis; the guide wheel is connected with the bottom end of the support leg of the support platform in an installing way, and guide wheel driving is arranged on the guide wheel;
the fork installation part comprises a gantry, 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 door frame in a sliding fit mode through a fork frame guide mechanism, a frame body of the fork frame is connected with the inner door frame 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 in the left and right direction, 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 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 and a distance sensor;
the sorting device comprises a plurality of sorting mechanical arms and mechanical arm electric control mechanisms, the sorting mechanical arms are arranged on the left side and the right side of the loading and unloading device in an erecting mode and are mounted on the loading and unloading platform, the sorting mechanical arms at least comprise X coordinate driving arranged in a left-right direction in a moving mode, Y coordinate driving arranged in a front-back direction in a moving mode and Z coordinate driving arranged in a vertical direction in a moving mode, the tail sections of the sorting mechanical arms are provided with grabbing and stacking mechanical arms comprising grabbing mechanisms, the mechanical arm electric control mechanisms comprise mechanical arm controllers and mechanical arm power supplies electrically connected with the mechanical arm controllers, and the X coordinate driving, the Y coordinate driving and the Z coordinate driving are respectively and electrically connected with the mechanical arm controllers;
the electric control device comprises an industrial control computer, a supporting chassis 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 loading machine controller and the mechanical arm controller respectively.
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 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 rotary 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, each supporting roller wheel is provided with a roller wheel rotary drive which is arranged along the vertical direction of a rotary axis, the roller wheel rotary drives can realize the change of the rolling direction of the supporting roller wheels between the front-back direction and the left-right direction, and the roller wheel rotary drives are electrically connected with the controller of the underframe conveyor; the loading platform is also provided with transverse guide rails which are the same as the supporting roller sets in quantity, are arranged in parallel and are crossed with the longitudinal guide rails to form a grid structure, and the distance between the two adjacent transverse guide rails is the same as the axial spacing between the supporting roller sets in the front and back directions; the electric control device also comprises a supporting chassis translation loop.
As a further improvement of the present invention, the fork carriage further comprises a pattern recognition sensor, the electronic control unit further comprises a fork position positioning control circuit, and the industrial control computer is electrically connected to the pattern recognition sensor.
As a further improvement of the present invention, the data input/output port further includes a wireless transceiving module, and the electric control device further includes a wireless transceiving control loop.
As a further improvement scheme of the invention, the pallet fork is provided with a side clamping plate.
As a further improvement scheme of the invention, the guide slide rail of the sliding part is a guide through groove structure penetrating through the left side plate and the right side plate of the support underframe.
As an embodiment of the fork pushing part of the present invention, the fork pushing part includes a fork pushing servo motor and a bidirectional screw rod horizontally mounted on a fork frame, the bidirectional screw rod is connected to the fork pushing servo motor, screw rod structures with opposite rotation directions are provided on rod bodies at left and right ends of the bidirectional screw rod, a nut mounted on the bidirectional screw rod in cooperation with the bidirectional screw rod is provided on the fork, and the fork pushing servo motor is electrically connected to an industrial control computer of an electric control device.
As another embodiment of the fork pushing component, the fork pushing component comprises two fork pushing hydraulic cylinders which are horizontally erected on the fork frame and are arranged in opposite telescopic directions, the 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 the control valve group of the hydraulic mechanism of the fork loader through hydraulic pipelines.
Compared with the prior art, 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 intelligent logistics to realize centralized digital management, and can be matched with an automatic guided transport vehicle of the intelligent logistics to realize complete digital loading and unloading; because the loading and unloading device comprises a supporting underframe, a belt conveyor and a fork loader, the belt conveyor comprises an underframe conveyor electric control mechanism, the fork loader comprises a fork loader electric control mechanism, the sorting device comprises a plurality of sorting mechanical arms and mechanical arm electric control mechanisms which are arranged on the left side and the right side of the loading and unloading device, and the automatic operation is completely controlled by a computer, after data information such as cargo packing position information, a loading scheme, a cargo packing box stacking coordinate position, a cargo packing box size, a cargo container internal size and the like of a freight container of the freight container is input into an industrial control computer of the electric control device through a data input and output port, the industrial control computer can control the supporting underframe conveyor electric control mechanism to move back and forth on a longitudinal guide rail according to the input loading scheme, and the sorting mechanical arms, the belt conveyor and the fork loader are controlled by a mechanical arm controller and a fork loader controller to cooperatively operate during the packing operation, the fixed-point grabbing of the stacking coordinate position of the cargo packing box on the loading and unloading platform, the translational stacking of the cargo packing box on the conveying belt, the conveying belt transportation of the cargo packing box, the forking and loading and unloading of the cargo packing box in the freight container can be realized, the fork loader, the belt conveyor and the sorting mechanical arm are controlled by the mechanical arm controller and the fork loader controller to cooperatively operate during the unloading operation, the forking of the cargo packing box in the freight container, the stacking of the cargo packing box on the conveying belt, the conveying belt transportation of the cargo packing box and the translational stacking of the cargo packing box are realized, the fork loader controller controls the fork pushing part to move according to the input cargo packing box size in the forking process of the cargo packing box so as to adjust the span between the forks to the set width size matched with the cargo packing box size, according to the input information and the feedback information of the code scanning recognition device and the distance sensor on the fork frame, a forking position and forking depth mathematical model is established, then the forking machine hydraulic mechanism is controlled according to the mathematical model to enable the gantry pitching hydraulic cylinder and the fork frame lifting hydraulic cylinder to act to perform forking loading and unloading, the full computer control automation operation can avoid the influence on the production progress caused by human factors such as responsibility, emotion and the like of operators, meanwhile, the limitation of the proficiency of the operating skills of the operators can be avoided, the defects of manual operation are completely avoided, the intelligent operation can be realized, the loading and unloading efficiency is improved, and the method is particularly suitable for the goods stacking operation of loading and unloading on freight containers in the logistics storage and transportation.
Drawings
FIG. 1 is a schematic three-dimensional structure of the present invention as it proceeds to load and unload a freight 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 cargo containers inside the freight container;
FIG. 5 is a schematic structural diagram 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.
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 fork-mounting part 43 will be described in the following as facing the freight container).
As shown in fig. 1, the logistics code-taking system suitable 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 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 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 group 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 provided with a guide wheel drive;
the fork loading portion 43 includes a mast 431, a fork carriage 432, and forks 433; the door frame 431 comprises an inner door frame and an outer door frame which are matched and sleeved, a door frame guide mechanism is arranged between the inner door frame and the outer door frame, the rear lower part of the outer door frame is hinged to the front end of the supporting platform 41, the outer door frame is connected with the supporting platform 41 through a door frame pitching hydraulic cylinder, the pitching action of the whole door frame 431 along the front and back directions of a hinged shaft of the outer door frame can be realized by controlling the stretching of the door frame pitching hydraulic cylinder, the inner door frame is connected with the outer door frame through a door frame lifting hydraulic cylinder, and the downward stretching or upward retracting action of the inner door frame from the bottom end of the outer door frame along the door frame guide mechanism can be realized by controlling the stretching of the door frame 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 chassis 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 according to a loading scheme by an automatic guide transport vehicle, 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 to enable the grabbing and stacking mechanical arm to move to a position right above a goods packing box stacking coordinate position and move downwards along a Z coordinate to grab 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 then 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 frame lifting hydraulic cylinder to cooperatively act to fork the goods packaging box located at the preset forking coordinate position on the upper layer conveying belt of the belt conveyor 3 so as to separate the goods packaging box from the belt conveyor 3, and the distance sensor on the fork frame 432 feeds back the distance between the fork frame 432 and the goods in real time during the forking process to ensure the forking 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 frame lifting hydraulic cylinder to cooperatively act 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 returns to the initial state, namely, one-time stacking is finished, and 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;
firstly, a control loop of the forklift loader starts to work, a controller of the forklift loader controls a forklift loading part 43 to forklift load a cargo packing box in a freight container according to a loading scheme and cargo loading position information and then returns to an initial position, then the controller of the forklift loader controls the forklift loading part 43 to stack the cargo packing box at a set forklift loading coordinate position on an upper layer conveying belt of a belt conveyor 3, and the controller of the forklift loader feeds back data information to an 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 cargo 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 cargo packing box, move in the X coordinate direction and then stack the cargo packing box at the stacking coordinate position of the cargo packing box, and the cargo packing box can be transported by an automatic guided transport vehicle;
by analogy, the industrial control computer timely sends a support chassis advancing action control instruction to the chassis conveyor controller according to data information fed back by the forklift controller in real time to control the support chassis 2 to advance step by step until the front end of the support chassis 2 completely enters the freight container and all the cargo packing boxes are completely unloaded according to a loading scheme, the whole unloading process is completed, and the support chassis 2 is returned to an 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 rotary loop of the supporting platform; 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 carrying the freight container is usually directly driven away to replace the vehicle carrying the freight container to load and unload after the loading and unloading are finished, namely, the vehicle carrying the freight container is moved, a plurality of loading and unloading stations can be adopted, the vehicle carrying 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 only load and unload after the vehicle enters the loading and unloading parking space, the second scheme realizes that the vehicle carrying the freight container is relatively difficult to translate and a translation supporting facility is additionally arranged, and the third scheme can realize that the loading and unloading vehicle can be supplemented 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 that the continuous operation of the loading and unloading device, and has relatively high efficiency, 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 which are 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 which are arranged in parallel is larger than the width size of the freight container, the loading and unloading platform 1 is also provided with transverse guide rails which are arranged in parallel and have the same number as the supporting roller sets and cross the longitudinal guide rails 11 to form a grid structure in a field shape in the left-right direction, 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 finishes the loading and unloading of one freight container, the logistics code picking system returns to the initial position, the support chassis translation loop starts to work, the industrial control computer controls the chassis conveyor controller to enable all the rollers to rotate in the same direction and rotate 90 degrees at the same time, all the rollers are changed from the front direction to the rear direction, then the chassis conveyor controller controls the rollers to rotate and drive to enable the supporting roller set to drag the support chassis 2 to move to the other loading and unloading station by the distance of the X coordinate value in the left or right coordinate movement, and then the industrial control computer controls the chassis conveyor controller to enable all the rollers to rotate and drive in the same direction and rotate 90 degrees at the same time and return to the front direction and the rear direction, and then the 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 fork loader electric control mechanism further comprises a fork loading position positioning control loop, and a fork loader controller of the fork loader electric control mechanism 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, performs deviation rectification integration on the cargo mode identification data model and the established forklift position and forklift depth mathematical model, and finally controls the 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 realize faster real-time data exchange and control and improve the loading and unloading efficiency, as a further improvement scheme of the invention, the data input/output port further comprises a wireless transceiving module, and the electric control device further comprises a wireless transceiving control loop; the industrial control computer can receive data information such as cargo packing position information, a loading scheme, a cargo packing box stacking coordinate position, a cargo packing box size, a cargo container internal size and the like of a freight container from an upper end network by utilizing wireless transmission before loading and unloading through a wireless transceiving module and a wireless transceiving control loop, and can realize real-time feeding back of loading and unloading specific conditions to the upper end network in the loading and unloading process, on one hand, fixed-point fork loading can be carried out on a self-loading and unloading platform in the loading and unloading process by matching with an automatic guided transport vehicle, fixed-point stacking is carried out on the loading and unloading platform in the unloading process, the walking distance of the logistics code picking vehicle in the fork loading and unloading process is shortened, and the loading and unloading efficiency is improved; on the other hand, an operator can remotely control the logistics code taking vehicle to correct the deviation in real time.
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 fork loading 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 fork 433 which are symmetrically arranged 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.
As an embodiment of the fork pushing part of the present invention, the fork pushing part includes a fork pushing servo motor and a bidirectional screw rod horizontally mounted on a fork frame 432, the bidirectional screw rod is connected to the fork pushing servo motor, screw rod structures with opposite rotation directions are provided on rod bodies at left and right ends of the bidirectional screw rod, a nut mounted on the bidirectional screw rod in cooperation with the bidirectional screw rod is provided on the fork 433, and the fork pushing servo motor is electrically connected to a fork loader controller of an electric control mechanism of the fork loader; the fork is controlled by the fork loading controller to push the positive and negative rotation of the servo motor, so that the gear distance between the forks 433 can be adjusted.
As another embodiment of the fork pushing part of the invention, aiming at a small-sized cargo packing box and aiming at improving the space utilization rate inside a freight container, the fork pushing part 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.
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 intelligent logistics to realize centralized digital management, and can be matched with an automatic guided transport vehicle of the intelligent logistics to realize complete digital loading and unloading; because the loading and unloading device comprises a supporting underframe 2, a belt conveyor 3 and a forklift 4, the belt conveyor 3 comprises an underframe conveyor electric control mechanism, the forklift 4 comprises an forklift electric control mechanism, the sorting device comprises a plurality of sorting mechanical arms 5 and mechanical arm electric control mechanisms which are arranged on the left side and the right side of the loading and unloading device, and all the mechanisms completely adopt computer control automatic operation, after data information such as cargo packing position information, a loading scheme, a cargo packing box stacking coordinate position, a cargo packing box size, a cargo container internal size and the like of a freight container is input into an industrial control computer of the electric control device through a data input and output port, 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, and the sorting mechanical arms 5, the belt conveyor 3 and the forklift 4 are controlled to cooperatively operate through a mechanical arm controller and a forklift controller during the boxing operation, can realize being located the goods packing box on loading platform 1's pile up and put coordinate position fixed point and snatch, the translation of goods packing box is piled up to the conveyer belt, the conveyer belt transportation of goods packing box, the fork dress and the loading and unloading of goods packing box inside freight container are put things in good order, control fork installation 4 through robotic arm controller and fork installation controller during the operation of unloading, belt conveyor 3 and letter sorting arm 5 collaborative work, can realize the fork dress of the goods packing box that is located the freight container inside, the pile up of goods packing box is on the conveyer belt, the conveyer belt transportation of goods packing box, the translation of goods packing box is piled up to the goods packing box of loading platform 1 and is put coordinate position, fork installation controller makes the span between fork 433 adjust to cooperation goods packing box pile up the coordinate position according to the goods packing box size control fork push part action of input among the goods packing box fork installation process of goods packing box The width dimension of the container is set, a forking position and a forking depth mathematical model are established according to the input information and the feedback information of a code scanning recognition device and a distance sensor on the fork frame 432, then a hydraulic mechanism of the forking machine is controlled according to the mathematical model to enable a gantry pitching hydraulic cylinder and a fork frame lifting hydraulic cylinder to act for forking loading and unloading, the influence on the production progress caused by the human factors such as the responsibility and the emotion of an operator can be avoided through complete computer control automation operation, meanwhile, the limitation of the skill level of the operator can be avoided, the defects of manual operation are completely avoided, intelligent operation can be realized, the loading and unloading efficiency is improved, and the method is particularly suitable for the goods stacking operation for loading and unloading goods of freight containers in the logistics storage and transportation.
Claims (10)
1. A logistics code-picking system suitable for freight containers comprises a loading platform (1), a loading device, a sorting device and an electric control device; it is characterized in that the preparation method is characterized in that,
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);
the loading and unloading device comprises a supporting base frame (2), a belt conveyor (3) and a fork-lift loader (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 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 multiple groups along the front-back direction of the supporting chassis (2), at least one group of supporting roller wheel sets are provided with roller wheel set drives, and the supporting chassis (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;
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 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 sorting device comprises a plurality of sorting mechanical arms (5) and mechanical arm electric control mechanisms, the sorting mechanical arms (5) are arranged on the left side and the right side of the loading and unloading device in an erecting mode, the sorting mechanical arms (5) at least comprise X coordinate driving arranged in a left-right direction in a moving mode, Y coordinate driving arranged in a front-back direction in a moving mode and Z coordinate driving arranged in a vertical direction in a moving mode, grabbing and stacking mechanical arms comprising grabbing mechanisms are arranged at the tail sections of the sorting mechanical arms (5), the mechanical arm electric control mechanisms comprise mechanical arm controllers and mechanical arm power supplies electrically connected with the mechanical arm controllers, and the X coordinate driving, the Y coordinate driving and the Z coordinate driving are respectively and electrically connected with the mechanical arm controllers;
the electric control device comprises an industrial control computer, a supporting chassis 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.
2. The logistics code retrieval system for freight containers as claimed in claim 1, wherein the height dimension of the bottom plane of the support platform (41) from the upper surface of the upper layer conveying belt of the belt conveyor (3) is larger than the height dimension of the goods packing boxes.
3. The logistics code picking system suitable for the freight container 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 door frame of the door frame (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 fork loader through a hydraulic pipeline; the electric control mechanism of the forklift loader further comprises a supporting platform rotation loop.
4. The logistics code picking system suitable for the freight container according to claim 1, 2 or 3, wherein the support roller sets arranged in multiple groups along the front-back direction of the support chassis (2) are uniformly distributed along the front-back direction of the support chassis (2), the roller sets are arranged on at least two groups of support roller sets for driving, each support roller is provided with a roller rotation drive arranged in the vertical direction of a rotation axis, and the roller rotation drives are electrically connected with the chassis 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 arranged in parallel and have the same number as the supporting roller sets in the left-right direction, 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.
5. The system of claim 1, 2 or 3 wherein the fork carriage (432) further comprises a pattern recognition sensor, the fork carriage electrical control mechanism further comprises a fork position positioning control loop, and a fork carriage controller of the fork carriage electrical control mechanism is electrically connected to the pattern recognition sensor.
6. The system according to claim 5, wherein said data input/output port further comprises a wireless transceiver module, and said electronic control device further comprises a wireless transceiver control circuit.
7. The logistics access system of claim 1 or 2 or 3 wherein the forks (433) are provided with side clamping plates.
8. Logistics code picking system suitable for freight containers according to claim 7, wherein the guide slide rail of the glide part (42) is a guide through groove structure penetrating through the left and right side plates of the support chassis (2).
9. The logistics code picking system suitable for freight containers as claimed in claim 1, 2 or 3, wherein the fork pushing component comprises a fork pushing servo motor and a bidirectional screw rod horizontally erected on the fork carriage (432), the bidirectional screw rod is connected with the fork pushing servo motor, screw rod structures with opposite rotation directions are arranged on rod bodies at the left end and the right end of the bidirectional screw rod, a screw nut matched with the bidirectional screw rod and arranged on the bidirectional screw rod is arranged on the fork (433), and the fork pushing servo motor is electrically connected with a forklift controller of an electric control mechanism of the forklift.
10. The logistics code picking system for freight containers as claimed in claim 1, 2 or 3, wherein the fork moving part comprises two fork moving hydraulic cylinders horizontally mounted on the fork carriage (432) and extending in opposite directions, the extending ends of the two fork moving hydraulic cylinders are respectively connected with the two forks (433), and the two fork moving hydraulic cylinders are respectively connected with the control valve sets of the hydraulic mechanisms of the fork loader through hydraulic pipelines.
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| CN207293220U (en) * | 2017-08-10 | 2018-05-01 | 徐州德坤电气科技有限公司 | Suitable for the logistics code fetch system of freight container |
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