Unloading and stacking integrated system and tray dispatching method

Abstract

The invention discloses an unloading and stacking integrated system and a tray dispatching method, and relates to the technical field of unloading and stacking integrated systems.The unloading and stacking integrated system comprises a movable chassis, a multi-joint mechanical arm, a visual system, a tray supply control end, a left-right conveying mechanism, a front-back conveying mechanism and a turnover mechanism; the multi-joint mechanical arm, the visual system, the tray supply control end, the left-right conveying mechanism, the front-back conveying mechanism and the turnover mechanism are arranged on the movable chassis, and the system can achieve efficient and compact cargo loading and unloading and is particularly suitable for the space-limited environment. The tray dispatching method is used for achieving the purposes that a tray supply control end controls a turnover mechanism, a left-right conveying mechanism and a front-back conveying mechanism to operate, and trays are conveyed to a tray turnover area from the front portion of a movable chassis or conveyed out of the tray turnover area to the front portion of the movable chassis; according to the method, the exchange sequence and position of the trays can be optimized, and the moving distance and waiting time are reduced.

Description

Technical Field

[0001] The invention belongs to the technical field of unloading and palletizing integrated systems, and in particular relates to an unloading and palletizing integrated system and a pallet scheduling method. Background Art

[0002] With the rapid development of the logistics industry, loading and unloading efficiency and palletizing quality have become key factors in improving logistics efficiency. Although the existing automated palletizing equipment has alleviated the problems of high labor intensity, high cost and poor safety consistency, unloading and palletizing are two important automation links in the warehouse front area, and how to make the equipment space compact and how to improve the flexibility of equipment operation have attracted much attention.

[0003] The existing automated unloading and palletizing systems usually include independent unloading robots and palletizing robots. The separate unloading and palletizing processes lack smooth connection, resulting in low overall efficiency. In addition, the existing automated unloading and palletizing system operation links occupy a large area, and in many cases the space in the front area of ​​the warehouse is limited, resulting in the inability to use automated unloading and palletizing systems, and only relying on manual handling. Summary of the invention

[0004] In order to solve the above problems, the present invention proposes an integrated unloading and palletizing system and a pallet scheduling method, which can complete the two functions of unloading and palletizing on a set of systems. The structural design is compact and can alleviate the practical problems of small space in the front area of ​​the logistics center and large area occupied by the operation links.

[0005] In a first aspect, the present invention provides an integrated unloading and palletizing system, comprising a movable chassis and at least one set of visual systems, a pallet supply control end, a left and right conveying mechanism, a front and rear conveying mechanism and a flipping mechanism respectively installed on the movable chassis;

[0006] The movable chassis is provided with a multi-joint mechanical arm area, a cargo loading and unloading area and a pallet turning area from right to left, the multi-joint mechanical arm area is equipped with a multi-joint mechanical arm, and at least one visual system is located at the right end of the cargo loading and unloading area; the left and right conveying mechanisms are installed in the cargo loading and unloading area, the turning mechanism is installed in the pallet turning area, and the front and rear conveying mechanisms are installed at the upper end of the front side of the movable chassis and correspond to the position of the pallet turning area;

[0007] The visual system, the flipping mechanism, the left and right conveying mechanism and the front and rear conveying mechanism are respectively connected to the pallet supply control end, so that the pallet supply control end controls the operation of the left and right conveying mechanism, the front and rear conveying mechanism and the flipping mechanism according to the loading completion signal or the unloading completion signal sent by the visual system, thereby realizing the dispatching of the pallet;

[0008] Among them, the pallet supply control end controls the operation of the front and rear conveying mechanisms respectively, and controls the flipping of the flipping mechanism to transport the pallet from the front of the movable chassis to the pallet flipping area, or transport it out from the pallet flipping area to the front of the movable chassis.

[0009] In an optional embodiment, the movable chassis further includes a pallet buffer area located on the left side of the pallet flipping area, and the left and right conveying mechanisms are also installed in the pallet buffer area.

[0010] In an optional embodiment, a film wrapping system is further included, wherein the film wrapping system is located at the rear side of the movable chassis, and the film wrapping system is connected to the tray supply control terminal and / or the visual system.

[0011] In an optional embodiment, the left and right conveying mechanisms include at least two rows of conveying components, and the front-to-back spacing between the at least two rows of conveying components is adjustable.

[0012] In an optional embodiment, the left and right conveying mechanisms are roller mechanisms or conveyor belt mechanisms.

[0013] In an optional embodiment, it also includes a first RFID transceiver component installed in the pallet control terminal and a second RFID transceiver component installed in the pallet, and the second RFID transceiver component sends the stored logistics information to the first RFID transceiver component.

[0014] In an optional embodiment, the invention further includes a tray detection component installed in the movable chassis to detect the position of the tray in the movable chassis.

[0015] In a second aspect, the present invention provides a pallet scheduling method, which is applied to a pallet supply control terminal, comprising:

[0016] Get loading information;

[0017] Controlling the left and right conveying mechanisms to start according to the loading information to transport the empty pallet to the cargo loading and unloading area through the pallet turning area;

[0018] Get loading completion information;

[0019] Control the left and right conveying mechanisms according to the loading completion information to transport the full pallet from the cargo loading and unloading area to the turning mechanism in the pallet turning area;

[0020] Controlling the turning mechanism located in the pallet turning area to turn over, so as to adjust the direction of the full pallet so that the full pallet faces the front and rear conveying mechanisms;

[0021] The front and rear conveying mechanisms are controlled to start so as to transport the full pallet from the pallet buffer area to the front area of ​​the movable chassis.

[0022] In an optional embodiment, it also includes:

[0023] Get unloading information;

[0024] Controlling the front and rear conveying mechanisms to start according to the unloading information to transport the full pallet from the front area of ​​the movable chassis to the turning mechanism in the pallet buffer area;

[0025] Controlling the turning mechanism to turn over, so as to adjust the direction of the full stack of pallets so that the cargo loading and unloading area;

[0026] Control the left and right conveying mechanisms to start, and transport the full pallet from the pallet buffer area to the cargo loading and unloading area;

[0027] Get the unloading completion signal;

[0028] According to the unloading completion signal, the left and right conveying mechanisms are controlled to transport the empty pallet from the cargo loading and unloading area to the pallet buffer area via the pallet turning area.

[0029] In an optional embodiment, after controlling the left and right conveying mechanisms to transport the full pallet from the cargo loading and unloading area to the turning mechanism in the pallet turning area according to the loading completion information, the method further includes:

[0030] Before receiving the wrapping completion information sent by the wrapping system, the flipping mechanism is controlled to continue flipping to cooperate with the wrapping system to wrap the goods on the pallet.

[0031] The technical solution provided by the embodiment of the present invention has the following beneficial effects: the integrated unloading and palletizing system of the present invention, since the multi-joint mechanical arm and the visual system are both arranged on the movable chassis, and the chassis is provided with a cargo loading and unloading area, such a design not only greatly facilitates the multi-joint mechanical arm to perform cargo loading and unloading operations, but also enables the system to smoothly realize the dual functions of unloading and palletizing on the same platform; and since a pallet turning area is provided on the movable chassis, a turning mechanism is provided in the pallet turning area, a left and right conveying mechanism is provided in the cargo loading and unloading area, and a front and rear conveying mechanism is provided at the upper end of the front side of the movable chassis, the pallet can be transported from the front of the movable chassis to the pallet turning area, or transported out from the pallet turning area to the front of the movable chassis through the turning mechanism, the left and right conveying mechanism and the front and rear conveying mechanism, thereby realizing flexible dispatching of the pallet; thereby alleviating the practical problems of tight space in the front area of ​​the logistics center warehouse and large area occupied by the operation links;

[0032] The pallet scheduling method of the present invention is as follows: the pallet supply control end controls the start of the left and right conveying mechanisms by receiving the loading information sent by the visual system, so as to transport the empty pallet to the cargo loading and unloading area through the pallet turning area; by receiving the loading completion information sent by the visual system, the left and right conveying mechanisms are controlled to transport the full pallet from the cargo loading and unloading area to the turning mechanism in the pallet turning area, and the turning mechanism located in the pallet turning area is controlled to turn over, and the front and rear conveying mechanisms are controlled to start, so as to transport the full pallet from the pallet buffer area to the front area of ​​the movable chassis; the method of the present invention combines the structural advantages of the integrated unloading and palletizing system, and can optimize the exchange sequence and position of the pallets, reduce the moving distance and waiting time of the pallets, improve work efficiency, and enhance the level of automation.

[0033] The system structure design and method design of the present invention are closely combined and complement each other. The optimized design of the system structure provides a solid foundation for the precise implementation of the method, and the intelligent scheduling of the method further amplifies the advantages of the system structure. The present invention has a reasonable design, a compact structure, and an efficient algorithm, and is suitable for large-scale promotion and use. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 A system schematic diagram of an integrated unloading and palletizing system provided by an embodiment of the present invention;

[0035] Figure 2 A structural principle diagram of the integrated unloading and palletizing system provided by an embodiment of the present invention;

[0036] Figure 3 Another structural principle diagram of the integrated unloading and palletizing system provided by an embodiment of the present invention;

[0037] Figure 4 A schematic flow chart of a pallet scheduling method provided in an embodiment of the present invention.

[0038] In the figure: 1-pallet supply control end; 2-front and rear conveying mechanism; 3-left and right conveying mechanism; 4-flipping mechanism; 5-multi-joint robotic arm; 6-visual system; 7-wrapping system; 8-cargo; 9-container; 10-movable chassis; 11-back-end business terminal; A-pallet supply direction; B-full stack push-out direction; C-front of movable chassis; P-pallet buffer area. DETAILED DESCRIPTION

[0039] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0040] See also Figure 1 to Figure 3The integrated unloading and palletizing system provided in this embodiment includes a movable chassis 10 and a pallet supply control terminal 1, a left and right conveying mechanism 3, a front and rear conveying mechanism 2, a flipping mechanism 4, a multi-joint robotic arm 5, two sets of visual systems 6 and a mold wrapping system 7 respectively installed on the movable chassis 10.

[0041] The movable chassis 10 is a common robot chassis that can move in any direction on a plane and has high flexibility and operability. The Mecanum wheel in the chassis is the core component for achieving omnidirectional movement. It consists of a plurality of small rollers that can rotate 360 ​​degrees. These small rollers are arranged in a larger wheel disc, and each small roller has a certain tilt angle.

[0042] The mobile chassis is provided with a multi-joint robotic arm 5 area, a cargo loading and unloading area, a pallet flipping area and a pallet buffer area P from right to left. The multi-joint robotic arm 5 area is equipped with a multi-joint robotic arm 5. The cargo loading and unloading area is as follows: Figure 2 The area where the goods 8 are loaded, the pallet turning area is as follows Figure 2 The area where the turning mechanism 4 is installed, the tray buffer area P is as follows Figure 2 The area framed by the dotted line. The two sets of visual systems 6 are respectively located on the front and rear sides of the multi-joint robot arm 5, the front and rear conveying mechanisms 2 are installed at the upper end of the front side of the movable chassis 10 corresponding to the pallet flipping area, the left and right conveying mechanisms 3 are installed in the cargo loading and unloading area and the pallet buffer area, and the flipping mechanism 4 is installed in the pallet flipping area. The front and rear conveying mechanisms 2 and the left and right conveying mechanisms 3 can be conveyor belts or rollers. The flipping mechanism 4 can make its component U-shaped flipping plate rotate 360° along the horizontal plane around its own center. In this way, a full stack of pallets is placed on the flipping plate, and the flipping plate drives the full stack of pallets to rotate so that the film wrapping system 7 can perform the film wrapping operation. In addition, the pallet buffer area P is used to temporarily store pallets to balance the peaks and troughs in the production line or supply chain.

[0043] The tray supply control terminal 1 includes a first controller and a tray supply control terminal mounting frame, such as Figure 3 As shown, the pallet supply control end mounting frame is mounted on the front side wall of the movable chassis 10. The first controller is mounted in the pallet mounting frame, and the first controller is electrically connected to the first motor in the left and right conveying mechanism 3, the second motor in the turning mechanism 4, the third motor in the front and rear conveying mechanism 2, the second controller in the multi-joint mechanical arm 5, the visual system 6, and the third controller in the film wrapping system 7. The first controller controls the operation of the first motor, the second motor, and the third motor through wired or wireless communication with the visual system 6, the second controller, and the third controller, thereby realizing the dispatch of the pallet, such as transporting the empty pallet to the cargo loading and unloading area, transporting the pallet from the front of the movable chassis 10 to the pallet turning area, or transporting it from the pallet turning area to the front of the movable chassis 10, etc.

[0044] The multi-joint robot arm 5 and the two sets of visual systems 6 are respectively located on the right side of the movable chassis 10. Figure 3 As shown, two sets of visual systems 6 are respectively located at the front and rear sides of the multi-joint robotic arm 5. By collecting images of the cargo loading and unloading area, the visual system 6 can quickly identify the shape, size and position of the cargo, as well as the progress of loading or unloading through a machine learning model. When loading or unloading is completed, the visual system 6 sends a loading completion signal or an unloading completion signal to the pallet scheduling control end, so that the pallet scheduling control end controls the operation of the left and right conveying mechanisms 3, the front and rear conveying mechanisms 2 and the flipping mechanism 4 according to the loading completion signal or the unloading completion signal sent by the visual system 6, so as to realize the scheduling of the pallet. In addition, the visual system 6 is also linked to the multi-joint robotic arm 5 to realize intelligent handling. For example, the visual system 6 captures the image of the multi-joint robotic arm 5 during loading or unloading, and transmits information such as the shape, size, and position of the cargo 8 in the container 9 to the multi-joint robotic arm 5, so that the multi-joint robotic arm 5 can predict the target cargo for the next step and perform the action of clamping the target cargo.

[0045] The wrapping system 7 is located at the rear side of the movable chassis 10, and the wrapping system 7 is connected to the pallet supply control terminal 1 and the visual system 6 by wire or wireless. In some possible embodiments, after the visual system 6 recognizes that the cargo 8 has been transported, it sends the cargo transport completion information to the wrapping system 7, and the wrapping system 7 executes the wrapping instruction according to the information. In other possible embodiments, the visual system 6 first sends the cargo transport completion information to the pallet scheduling control terminal, and the pallet scheduling control terminal controls the operation of the left and right conveying mechanisms 3 to transport the full pallet from the cargo loading and unloading area to the flipping area; the pallet scheduling control terminal then sends the cargo transport completion information to the wrapping system 7, and the pallet scheduling control terminal controls the flipping mechanism 4 to continue flipping, and at the same time the wrapping system 7 performs the wrapping action until the wrapping is completed, and the pallet scheduling control terminal controls the flipping mechanism 4 to return to the initial position.

[0046] In some possible embodiments, the left and right conveying mechanisms 3 include two rows of parallel conveying components, and the front and rear spacing between the two rows of conveying components is adjustable. In specific implementations, the conveying components can be modularly designed to be adjusted according to pallets or goods 8 of different sizes, thereby improving the adaptability and flexibility of the system.

[0047] In some possible embodiments, the left and right conveying mechanisms 3 are roller mechanisms or conveyor belt mechanisms, and the front and rear conveying mechanisms 2 are also roller mechanisms or conveyor belt mechanisms. In this embodiment, the left and right conveying mechanisms 3 are roller mechanisms, and the front and rear conveying mechanisms 2 are conveyor belt mechanisms.

[0048] The integrated unloading and palletizing system of this embodiment can be applied to environments with limited space. Here, the example of taking out goods 8 from a container 9 (i.e., unloading) is used for explanation. After loading is completed, the full pallet can be transported from the loading and unloading area to the Figure 3 The movable chassis 10 in the embodiment is only 2.7 meters long, and the unloading can be completed in an area with a width of only 2.7 meters. This embodiment optimizes the exchange sequence and position of the pallets, has a compact design, and lays a physical foundation for efficient loading and unloading, and is particularly suitable for logistics environments with compact space.

[0049] In some possible embodiments, the unloading and palletizing integrated system further includes a first RFID transceiver component installed in the pallet control terminal and a second RFID transceiver component installed in the pallet, and the second RFID transceiver component sends the stored logistics information to the first RFID transceiver component. The first RFID transceiver component is electrically connected to the first controller, and the first RFID transceiver component sends the logistics information to the first controller, and the first controller uploads the logistics information to the background business terminal 11 through the wireless network, thereby realizing real-time recording of the goods 8.

[0050] In some possible embodiments, the integrated unloading and palletizing system also includes a pallet detection component installed in the movable chassis 10, installed on the front and rear sides of the pallet in the movable chassis 10 (or installed in the pallet running track in the movable chassis 10), the pallet detection component includes an infrared sensor, the pallet detection component detects the real-time position information of the pallet in the movable chassis 10, and sends the real-time position information to the pallet supply control terminal 1.

[0051] In terms of pallet interaction, firstly, the present embodiment integrates a smart chip (i.e., the first RFID transceiver component) on the pallet to realize real-time monitoring of the pallet supply position and the status of the stacked goods. Secondly, with the help of the pallet detection component, the pallet can be identified quickly and accurately. The infrared sensor of the pallet detection component provides a feedback signal, which can detect whether there is a pallet passing by. Finally, the pallet of the present embodiment is designed based on the Internet of Things technology, and a second RFID transceiver component is installed in the pallet. The component integrates an RFID chip and a communication module, which can realize the positioning and monitoring of personnel, vehicles and goods 8 in logistics transportation, thereby improving logistics efficiency. For example, the first RFID transceiver component in the pallet sends cargo information to the second RFID component of the pallet supply control end 1, and the cargo information includes weight information, size information, arrival time information and vehicle information of the cargo 8 carried on the pallet; the cargo information is received by the second RFID component and sent to the first controller. In addition, the first controller collects and organizes its own status information, cargo information, and the current position and status of the pallet in the warehouse, and packages the organized information and sends it to the background business terminal 11. The background business terminal 11 monitors the status of the cargo 8 and the pallet, the unloading and stacking progress in the warehouse in real time based on the cargo information and status information, and dynamically analyzes to obtain the optimal scheduling path, thereby dynamically adjusting the unloading parameters and the supply and push-out parameters of the pallet.

[0052] The operation object of the unloading and palletizing integrated system of this embodiment is generally various types of goods 8 using containers 9 as storage space, not limited to Figure 3 The carton-type cargo shown. It should also be noted that the system of this embodiment is not limited to the operating object of the container 9 with a rear door, but is also applicable to trucks with side doors, etc.; the type of cargo when this embodiment is applied is not limited to carton-type cargo, but is also applicable to bagged cargo or other forms of cargo; the clamp in this embodiment is not limited to the suction cup, and for different types of cargo, a non-suction cup clamping mechanism can be designed in combination with the characteristics of different business scenarios, such as the softness of bagged cargo, to achieve the grasping of non-carton-type cargo and realize the modular quick-change of the clamp form; the pallet supply direction A and the full stack push-out direction B in this embodiment are not limited to Figure 2 As shown, other designs that use a miniaturized lifting mechanism and fully utilize the height space all fall within the protection scope of this embodiment.

[0053] The integrated unloading and palletizing system of this embodiment integrates advanced robotics technology, machine vision, sensors and intelligent algorithms to realize automatic identification, grabbing, unloading and palletizing of cartons of different sizes and weights. This embodiment can reduce manual intervention, improve operation accuracy and speed, and reduce labor intensity and cost.

[0054] See also Figure 4 The pallet scheduling method provided in this embodiment is applied to the first controller in the pallet supply control terminal 1 of the aforementioned embodiment, and includes the following steps S100 to S160.

[0055] Step S100, obtaining loading information. The pallet supply control terminal 1 includes an operating component, such as an operating button or a touch screen connected to the first controller, and the operating component is manually operated to start the loading mode of the pallet supply control terminal 1.

[0056] Step S120, according to the loading information, the left and right conveying mechanisms 3 are controlled to start, so as to transport the empty pallet to the cargo loading and unloading area through the pallet turning area. After the pallet supply control terminal 1 is started, a start signal is sent to the first motor of the left and right conveying mechanisms 3 to control the operation of the left and right conveying mechanisms 3. When the staff places the empty pallet in the pallet buffer area, the empty pallet is transported to the cargo loading and unloading area through the pallet turning area.

[0057] After the visual system 6 detects an empty pallet, it sends loading information to the multi-joint robot 5 (the loading information can be forwarded via the pallet supply control terminal 1, or the visual system 6 can communicate directly with the film wrapping mechanism). The multi-joint robot 5 starts loading, and after the visual system 6 recognizes that loading is completed, it sends loading completion information to the first controller in the pallet supply control terminal 1.

[0058] Step S130, obtaining loading completion information. The visual system 6 sends the loading completion information to the tray supply control terminal 1.

[0059] Step S140, according to the loading completion information, the left and right conveying mechanisms 3 are controlled to transport the full pallet from the cargo loading and unloading area to the turning mechanism 4 in the pallet turning area. The first controller controls the left and right conveying mechanisms 3 to operate, and the full pallet is moved to the turning mechanism 4.

[0060] Step S150, control the turning mechanism 4 located in the pallet turning area to turn over, so as to adjust the direction of the full pallet, so that the full pallet faces the front and rear conveying mechanisms 2 (some pallets are single-fork pallets, and sometimes the pallet direction needs to be adjusted to facilitate forklift insertion of the pallet). The first controller in the pallet supply control terminal 1 sends a start signal to the second motor to control the turning mechanism 4 to turn 90°.

[0061] Step S160, control the front and rear conveying mechanism 2 to start, so as to transport the full pallet from the pallet buffer area to the front area of ​​the movable chassis 10. The first controller in the pallet supply control terminal 1 sends a start signal to the third motor to control the front and rear conveying mechanism 2 to operate.

[0062] The method of this embodiment also includes an unloading process, as shown in the following steps (11) to (16).

[0063] Step (11), obtaining unloading information. Manually operate the operating component connected to the first controller to start the unloading mode of the tray supply control terminal 1.

[0064] Step (12), according to the unloading information, the front and rear conveying mechanism 2 is controlled to start, so as to transport the full pallet from the front area of ​​the movable chassis 10 to the turning mechanism 4 in the pallet buffer area. After the pallet supply control terminal 1 is started, a start signal is sent to the third motor of the front and rear conveying mechanism 2 to control the operation of the front and rear conveying mechanism 2. When the staff places the full pallet filled with goods 8 on the front and rear conveying mechanism 2, the front and rear conveying mechanism 2 transports the full pallet to the U-shaped turning plate through the pallet.

[0065] Step (13), control the turning mechanism 4 to turn over, so as to adjust the direction of the full pallet to the cargo loading and unloading area. The pallet supply control terminal 1 sends a turning signal to the turning mechanism 4, and the turning mechanism 4 turns the full pallet 90°.

[0066] Step (14), control the left and right conveying mechanisms 3 to start, and transport the full pallet from the pallet buffer area to the cargo loading and unloading area. The pallet supply control terminal 1 sends a start signal to the second motor of the left and right conveying mechanisms 3, and the left and right conveying mechanisms 3 start to operate and transport the full pallet to the cargo loading and unloading area.

[0067] Step (15), obtaining a signal indicating that unloading is completed. The visual system 6 sends the unloading completion information to the pallet supply control terminal 1.

[0068] Step (16), according to the unloading completion signal, the left and right conveying mechanisms 3 are controlled to transport the empty pallet from the cargo loading and unloading area to the pallet buffer area via the pallet flipping area. The pallet supply control terminal 1 sends a signal to the second motor of the left and right conveying mechanisms 3, so that the left and right conveying mechanisms 3 in the cargo loading and unloading area transport the empty pallet to the pallet buffer area. When the staff takes away the empty pallet, the unloading process is completed.

[0069] In other embodiments, the pallet supply control terminal 1 needs to cooperate with the film wrapping system 7 to complete the film wrapping operation. Therefore, the loading process may include the following steps (21) to (28).

[0070] Step (21), initial state: Empty pallets are stored in the pallet buffer area, and the left and right conveying mechanism 3, the front and rear conveying mechanism 2 and the turning mechanism 4 are all in a standby state.

[0071] Step (22), empty pallet scheduling. When the pallet supply control terminal 1 receives a loading instruction, the pallet supply control terminal controls the left and right conveying mechanisms 3 to start, and transports the empty pallet from the pallet buffer area to the cargo loading and unloading area via the pallet turning area.

[0072] Step (23), sending a loading signal. The pallet supply control terminal sends a loading signal to the multi-joint robotic arm 5, and the multi-joint robotic arm 5 starts to grab the goods 8 and perform loading operations.

[0073] Step (24), when the visual system 6 detects that loading is completed, it sends a wrapping signal to the wrapping system 7 and the pallet control terminal. The pallet control terminal controls the flipping mechanism 4 to continue flipping, and the wrapping system 7 performs wrapping.

[0074] Step (25), loading completion signal: After wrapping is completed, the wrapping system 7 sends a loading completion signal to the pallet supply control terminal.

[0075] Step (26), full pallet dispatching: After receiving the loading completion signal, the pallet supply control terminal controls the left and right conveying mechanisms 3 to transport the full pallet from the cargo loading and unloading area to the pallet turning area.

[0076] Step (27), the turning mechanism 4 turns over. In the pallet turning area, the pallet supply control terminal 1 controls the turning mechanism 4 to turn over the full pallet so that it faces the front and rear conveying mechanisms 2.

[0077] Step (28), the full pallet is transported out. The pallet supply control terminal 1 controls the front and rear conveying mechanisms 2 to start, and transports the full pallet from the pallet turning area to the front area of ​​the movable chassis 10, waiting for the next operation.

[0078] The unloading process includes the following steps (31) to (37).

[0079] Step (31), receiving a full stack of pallets. When the pallet supply control terminal 1 receives an unloading instruction, it indicates that a full stack of pallets needs to be transported from the front area of ​​the movable chassis 10 to the cargo loading and unloading area for unloading.

[0080] Step (32), full pallet dispatching: The pallet supply control terminal controls the front and rear conveying mechanisms 2 to start, and conveys the full pallet from the front area of ​​the movable chassis 10 to the pallet turning area.

[0081] Step (33), the turning mechanism 4 turns over. In the pallet turning area, the pallet supply control terminal controls the turning mechanism 4 to turn over the full pallet so that it faces the cargo loading and unloading area.

[0082] Step (34), the full pallet is transported to the loading and unloading area. The pallet supply control terminal controls the left and right conveying mechanisms 3 to start, and transports the full pallet from the pallet turning area to the cargo loading and unloading area.

[0083] Step (35), sending a unloading signal. The pallet supply control terminal sends an unloading signal to the multi-joint robotic arm 5, and the multi-joint robotic arm 5 starts the unloading operation.

[0084] Step (36), unloading completion signal: When the visual system 6 detects that unloading is completed, it sends an unloading completion signal to the pallet supply control terminal.

[0085] Step (37), empty pallet scheduling. After receiving the unloading completion signal, the pallet supply control terminal controls the left and right conveying mechanisms 3 to transport the empty pallet from the cargo loading and unloading area to the pallet buffer area via the pallet turning area, waiting for the next loading operation.

[0086] The method provided in the embodiment of the present application is adopted. Since the method adopts the same inventive concept as the above-mentioned device provided in the embodiment of the present application, on the premise that the device can solve the technical problem, the method can also solve the technical problem, which will not be repeated here.

[0087] It is known from common technical knowledge that the present invention can be implemented by other embodiments that do not deviate from its spirit or essential features. Therefore, the above disclosed embodiments are only illustrative in all respects and are not exclusive. All changes within the scope of the present invention or within the scope equivalent to the present invention are included in the present invention.

Claims

1. An integrated unloading and palletizing system, characterized in that: It includes a movable chassis and at least one set of visual systems, a tray supply control terminal, a left and right conveying mechanism, a front and rear conveying mechanism and a flipping mechanism respectively installed on the movable chassis; The movable chassis is provided with a multi-joint mechanical arm area, a cargo loading and unloading area and a pallet turning area from right to left, the multi-joint mechanical arm area is equipped with a multi-joint mechanical arm, and at least one visual system is located at the right end of the cargo loading and unloading area; the left and right conveying mechanisms are installed in the cargo loading and unloading area, the turning mechanism is installed in the pallet turning area, and the front and rear conveying mechanisms are installed at the upper end of the front side of the movable chassis and correspond to the position of the pallet turning area; The visual system, the flipping mechanism, the left and right conveying mechanism and the front and rear conveying mechanism are respectively connected to the pallet supply control end, so that the pallet supply control end controls the operation of the left and right conveying mechanism, the front and rear conveying mechanism and the flipping mechanism according to the loading completion signal or the unloading completion signal sent by the visual system, thereby realizing the dispatching of the pallet; Among them, the pallet supply control end controls the operation of the front and rear conveying mechanisms respectively, and controls the flipping of the flipping mechanism to transport the pallet from the front of the movable chassis to the pallet flipping area, or transport it out from the pallet flipping area to the front of the movable chassis.

2. The integrated unloading and palletizing system according to claim 1 is characterized in that: The movable chassis also includes a tray buffer area located on the left side of the tray flipping area, and the left and right conveying mechanisms are also installed in the tray buffer area.

3. The integrated unloading and palletizing system according to claim 1 is characterized in that: It also includes a film wrapping system, which is located at the rear side of the movable chassis and is connected to the tray supply control terminal and / or the visual system.

4. The integrated unloading and palletizing system according to claim 1 is characterized in that: The left and right conveying mechanism comprises at least two rows of conveying components, and the front-to-back spacing between the at least two rows of conveying components is adjustable.

5. The integrated unloading and palletizing system according to claim 1 is characterized in that: The left and right conveying mechanisms are roller mechanisms or conveyor belt mechanisms.

6. The integrated unloading and palletizing system according to claim 1, characterized in that: It also includes a first RFID transceiver component installed in the pallet control terminal and a second RFID transceiver component installed in the pallet, and the second RFID transceiver component sends the stored logistics information to the first RFID transceiver component.

7. The integrated unloading and palletizing system according to claim 1, characterized in that: Also included is a tray detection assembly installed in the movable chassis to detect the position of the tray in the movable chassis.

8. A pallet scheduling method, characterized in that: Applied to the pallet supply control end, including: Get loading information; Controlling the left and right conveying mechanisms to start according to the loading information to transport the empty pallet to the cargo loading and unloading area through the pallet turning area; Get loading completion information; Control the left and right conveying mechanisms according to the loading completion information to transport the full pallet from the cargo loading and unloading area to the turning mechanism in the pallet turning area; Controlling the turning mechanism located in the pallet turning area to turn over, so as to adjust the direction of the full pallet so that the full pallet faces the front and rear conveying mechanisms; The front and rear conveying mechanisms are controlled to start so as to transport the full pallet from the pallet buffer area to the front area of ​​the movable chassis.

9. The pallet dispatching method according to claim 8, characterized in that: Also includes: Get unloading information; Controlling the front and rear conveying mechanisms to start according to the unloading information to transport the full pallet from the front area of ​​the movable chassis to the turning mechanism in the pallet buffer area; Controlling the turning mechanism to turn over, so as to adjust the direction of the full stack of pallets so that the cargo loading and unloading area; Control the left and right conveying mechanisms to start, and transport the full pallet from the pallet buffer area to the cargo loading and unloading area; Get the unloading completion signal; According to the unloading completion signal, the left and right conveying mechanisms are controlled to transport the empty pallet from the cargo loading and unloading area to the pallet buffer area via the pallet turning area.

10. The pallet dispatching method according to claim 8, characterized in that: After the left and right conveying mechanisms are controlled according to the loading completion information to transport the full pallet from the cargo loading and unloading area to the turning mechanism in the pallet turning area, the method further includes: Before receiving the wrapping completion information sent by the wrapping system, the flipping mechanism is controlled to continue flipping to cooperate with the wrapping system to wrap the goods on the pallet.

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