An intelligent loading system

Abstract

The present invention provides an intelligent loading system, including: a depalletizing device, which includes a depalletizing robot and a box separation mechanism, the box separation mechanism includes a first conveyor belt and a second conveyor belt connected in sequence, the speed of the first conveyor belt is lower than the speed of the second conveyor belt; a depalletizing robot, which is used to place goods on the first conveyor belt; a long-arm robot, which includes a base provided with a slewing mechanism, a transmission device, and a clamp, the transmission device includes a mechanical arm, a conveyor belt, and an adjustment mechanism for adjusting the pitch angle of the mechanical arm; the mechanical arm is arranged on the base, and the adjustment mechanism is arranged on the base; the clamp is arranged at the free end of the mechanical arm; a visual positioning device, and the visual positioning device includes a sensor unit for measuring the parameters of the carriage. The overall design of the present invention is compact and has strong applicability; it has strong compatibility and is suitable for carriages of various models; the automatic control positioning has high precision and good reliability; it is fully automated, efficient, easy to manage, and saves enterprise costs.

Description

Technical Field

[0001] The invention relates to an intelligent vehicle loading system. Background Art

[0002] With the progress of society and the development of enterprises, new requirements have been put forward for the efficiency and stability of existing logistics warehousing. At present, logistics goods are transported from warehouses to carriages by forklifts and manually loaded and unloaded. Workers move goods from warehouses to carriages. The physical intensity of the workers is high, it is inconvenient to move around in the carriages, the ambient temperature is high, and the working environment is poor. In the current loading and unloading process, the workers are engaged in handling labor with high intensity, and the number of people engaged in the handling industry is decreasing, and the logistics efficiency cannot be further improved. Therefore, how to efficiently manage the warehousing system has become an urgent problem to be solved in the industry.

[0003] In the current loading process, most of the time, the manipulator is placed inside the carriage to stack the goods, which can reduce the labor intensity of existing workers. However, this structure has high requirements for the carriage, and the carriage needs to have a large space to accurately position the manipulator. The current warehouse loading and unloading platforms cannot achieve accurate positioning of the carriage, which makes it easy for the manipulator to deviate during the loading and unloading process, resulting in failures in the loading and unloading process, affecting the overall efficiency.

[0004] Conventional mechanical loading methods mainly rely on negative pressure adsorption clamps or clamping clamps. During the loading process of the clamping clamps, there is a large gap between adjacent goods, and the goods are not placed firmly. The large gap often causes tilting and tipping, which can easily damage the surface of the goods and affect the sale of the products. The adsorption clamps have high requirements for the clamps, require more energy, have a high failure rate during use, have stricter requirements for goods, and are slow in the entire stacking process, which is not conducive to the development of automation. Summary of the invention

[0005] In view of the defects of the prior art, the present invention provides an intelligent loading system, which relieves the porters of heavy physical labor and has wide adaptability; it improves production efficiency, greatly reduces manual labor, reduces the overall cost of the enterprise, and improves the degree of automation of the enterprise.

[0006] In order to achieve the above object, the present invention provides an intelligent loading system, which includes:

[0007] The depalletizing device comprises a depalletizing robot and a box separating mechanism, wherein the box separating mechanism comprises a first conveyor belt and a second conveyor belt connected in sequence, wherein the speed of the first conveyor belt is lower than the speed of the second conveyor belt; the depalletizing robot is used to place the goods on the first conveyor belt;

[0008] A long-arm robot comprises a base with a slewing mechanism, a transmission device and a clamp, wherein the transmission device comprises a mechanical arm, a conveyor belt and an adjustment mechanism for adjusting the pitch angle of the mechanical arm; the mechanical arm is arranged on the base, and the adjustment mechanism is arranged on the base; the clamp is arranged at the free end of the mechanical arm;

[0009] The visual positioning device includes a sensor unit for measuring vehicle compartment parameters.

[0010] In the present invention, the automated loading process in warehousing logistics is realized by means of a depalletizing device, a long-arm robot and a positioning device, and the process is simple and efficient without manual operation.

[0011] In the present invention, a long-arm robot is provided to replace the original multi-stage conveyor belt, so that the goods can be directly loaded by the long-arm robot, thereby simplifying the system; the long-arm robot can adjust multiple degrees of freedom and directly locate the stacking position in the carriage, with a small working stroke and high working efficiency; the long-arm robot is fixedly installed in the workshop, and the carriage to be loaded is positioned by a visual positioning device to complete the loading, without the need for an additional lifting platform or frequent movements, thereby improving the reliability of the system.

[0012] According to another specific embodiment of the present invention, the robot arm includes a base arm and a telescopic arm. The base arm is arranged on a base, and the telescopic arm is telescopically arranged on the base arm.

[0013] According to another specific embodiment of the present invention, the conveyor belt is a telescopic conveyor belt, and a telescopic adjustment component for adjusting the length of the conveyor belt is provided on the telescopic conveyor belt, and a correction mechanism for adjusting the telescopic conveyor belt is provided on the mechanical arm. In this scheme, the telescopic adjustment component includes a counterweight-type telescopic adjustment component or a telescopic rod telescopic adjustment component; wherein, the counterweight-type telescopic adjustment component is provided on the telescopic conveyor belt by setting a counterweight of a certain weight on the telescopic conveyor belt, and the counterweight is provided with a plurality of conveyor belt buffer areas, and during the process of the conveyor belt extension and retraction, the height of the counterweight will change to change the length of the conveyor belt on the mechanical arm. The telescopic rod telescopic adjustment component includes a fixed rod and a movable rod, and a plurality of conveyor belt buffer areas are provided between the movable rod and the fixed rod, and during the process of the conveyor belt extension and retraction, the position of the movable rod will change to change the length of the conveyor belt on the mechanical arm; accordingly, a reset mechanism, such as an elastic reset mechanism, is provided on the movable rod.

[0014] According to another specific embodiment of the present invention, the clamp includes a connecting arm, a support frame, a loading conveyor belt arranged on the support frame, and a pallet; one end of the connecting arm is connected to the robotic arm, and the other end is connected to the support frame; the pallet is arranged on the support frame through a transmission assembly; the transmission assembly drives the pallet to move back and forth along a position close to the support frame.

[0015] In this solution, one end of the connecting arm is rotatably connected to the mechanical arm, so that the entire clamp can be pitched and rotated to a certain angle, and a motor for adjusting the angle is provided on it to ensure that the pallet of the clamp is in a horizontal position during the stacking process; the other end of the mechanical arm is hinged to the support frame, and a telescopic component for adjusting the length of the connecting arm is provided in the connecting arm. By adjusting the length of the connecting arm, the direction of stacking of goods at the clamp pallet is adjusted, so that when the carriage is tilted, the clamp can correct itself, thereby improving the overall quality of stacking and ensuring a tight connection between adjacent goods.

[0016] According to another specific embodiment of the present invention, a driving roller for conveying goods and a movable telescopic plate for increasing the pallet stacking area are provided on the pallet, and the driving roller is provided corresponding to the movable telescopic plate. The driving roller is provided in the middle of the pallet, and there are two movable telescopic plates, which are symmetrically provided on both sides of the driving roller. A motor is provided on the driving roller, which can realize bidirectional rotation. Under the action of the driving roller, the goods are automatically placed on the pallet according to a certain pattern.

[0017] According to another specific embodiment of the present invention, a movable baffle is provided on the support frame; the feeding conveyor belt is provided with a position-adjustable guard plate, and the guard plate is arranged corresponding to the movable baffle. The movable baffle cooperates with the feeding conveyor belt to work, and when stacking, the movable baffle closes and resists the goods, and the pallet is pulled away from the bottom of the goods under the action of the transmission assembly, and the goods enter the designated position of the carriage.

[0018] According to another specific embodiment of the present invention, a telescopic assembly for adjusting the length of the connecting arm is provided on the connecting arm. The telescopic assembly is a slide rail type, and a servo motor is provided on the telescopic assembly for precise control. By adjusting the length of the connecting arm, the direction of the stacking of goods at the fixture pallet is adjusted, so that when the carriage is tilted, it can be corrected automatically, thereby improving the overall quality of the stacking and ensuring that adjacent goods are tightly connected.

[0019] According to another specific embodiment of the present invention, the adjustment mechanism includes a screw rod, a slider, and a driving rod, one end of the driving rod is arranged on the screw rod through the slider, and the other end is connected to the mechanical arm. A motor is arranged on the screw rod, and the motor drives the screw rod to rotate, further driving the slider to move, thereby realizing the pitch movement of the mechanical arm connected to the driving rod.

[0020] According to another specific embodiment of the present invention, the second conveyor belt is connected to the conveyor belt through a third conveyor belt, and the third conveyor belt is provided with a steering mechanism for adjusting the placement direction of the goods.

[0021] According to another specific embodiment of the present invention, universal balls are provided on both the movable telescopic plate and the pallet, which reduce the friction between the cargo box and the pallet, reduce damage to the cargo surface, and more conveniently transport the cargo to the destination.

[0022] According to another specific embodiment of the present invention, the intelligent loading system also includes a control device, and the depalletizing device, the long-arm robot, and the visual positioning device are all electrically connected to the control device. The control device also includes a plurality of position sensors, an alarm unit, and an operation panel. In the entire automation process, a plurality of position sensors are set to detect abnormal conditions in the entire transmission process; the entire loading process is monitored using a human-machine interface to maximize the use of human resources.

[0023] In the present invention, the depalletizing robot places a whole layer of goods on the first conveyor belt, and the angle of the whole layer of goods is coordinated with the boundary line between the first conveyor belt and the second conveyor belt, so that the center of gravity of any two goods will not cross the boundary line at the same time.

[0024] In the present invention, the long-arm robot is provided with angle compensation at multiple positions, so as to realize compensation for multiple positions such as the horizontal position of the carriage and the fixed position of the carriage relative to the robot arm.

[0025] A workflow of the present invention is as follows: a vehicle to be loaded stops at a designated loading station, and an operator confirms that the vehicle is parked in place; the vehicle compartment space dimensions and the types and quantities of goods to be loaded (which may be one or more goods) are input through the system human-machine interface (or given by the factory management system through the network); the vehicle parameters are collected through a visual positioning device; the loading system is started, and the long-arm robot automatically enters the compartment and automatically positions itself through the visual positioning device, and the control device automatically calculates and sets the loading stack type, and automatically generates a loading robot program; a forklift forks and transports a pallet loaded with products from a warehouse (or directly transports it out of the stack in a stereoscopic warehouse without the need for a forklift) to the working position of a depalletizing robot; the depalletizing robot delivers the goods to a box sorting mechanism (after the depalletizing robot finishes transporting a pallet product, it automatically transports the empty pallet to the empty pallet roller line for stacking in sequence), and transports them in sequence to the conveyor belt on the long-arm telescopic robot, and the long-arm telescopic robot automatically performs a loading process in the compartment according to the instructions of the control device.

[0026] The present invention is beneficial in that:

[0027] 1. The overall design is compact and has strong applicability;

[0028] 2. Realize automation from depalletizing, conveying to palletizing;

[0029] 3. The system has strong compatibility and is suitable for various types of carriages;

[0030] 4. Automatic control positioning has high accuracy and good reliability;

[0031] 5. The entire system is fully automated, highly efficient, easy to manage, and saves enterprise costs.

[0032] The present invention will be further described in detail below in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 This is a schematic diagram of the overall structure of an intelligent loading system in Example 1;

[0034] Figure 2 is a partial structural schematic diagram of an intelligent loading system of Example 1, which shows the depalletizing part;

[0035] Figure 3 This is a schematic diagram of the working principle of the depalletizing part of an intelligent loading system in Example 1;

[0036] Figure 4 is a schematic structural diagram of a long-arm robot of an intelligent loading system of Example 1;

[0037] Figure 5 is a structural schematic diagram of a fixture of an intelligent loading system in Example 1;

[0038] Figure 6 is a schematic diagram of the principle of detecting the position of a carriage of an intelligent loading system in Example 1;

[0039] Figure 7 It is a schematic diagram of the principle of detecting carriage parameters of an intelligent loading system in Example 1. DETAILED DESCRIPTION

[0040] Example 1

[0041] This embodiment provides an intelligent loading system, such as Figure 1-7 As shown, it includes a depalletizing device 1, a long-arm robot 2, a clamp 3, a visual positioning device 4, and a control device 5.

[0042] Wherein, the destacking device 1, such as Figure 2 As shown, it includes a depalletizing robot 11 and a box dividing mechanism 12. The box dividing mechanism 12 includes a first conveyor belt 121 and a second conveyor belt 122 which are connected in sequence. The speed of the first conveyor belt 121 is lower than the speed of the second conveyor belt 122. The depalletizing robot 11 grabs the whole layer of goods. The depalletizing robot 11 includes a depalletizing robot arm 111, a sliding support 112, and a vacuum suction cup 113 arranged at the working end of the depalletizing robot arm 111. The vacuum suction cup 113 directly sucks up the whole layer of goods from above. The depalletizing robot arm 111 rotates the whole layer of goods to a certain angle, which is matched with the boundary line, so that during the transmission of the whole layer of goods, the center of gravity of each product can pass through the boundary line 123 one by one from the first conveyor belt 121 and then enter the second conveyor belt 122. The working principle is as shown in FIG. Figure 3As shown, the boundary line 123 is perpendicular to the conveying direction of the first conveyor belt 121. It can be seen that under the conveyance of the first conveyor belt 121, the center of gravity of each cargo will pass through the boundary line 123 one by one, and there is no possibility that the center of gravity of two cargoes will enter the second conveyor belt 122 from the first conveyor belt 121 at the same time. After the cargo enters the second conveyor belt 122, due to the fast conveying speed of the second conveyor belt 122, the cargo leaves quickly and the distance between each cargo is increased, thereby realizing the splitting of the whole layer of cargo. The split cargo is transmitted to the third conveyor belt 124.

[0043] Long arm robot 2, such as Figure 4As shown, it includes a base 21, a slewing mechanism 22, a transmission device 23, and a fixture 3. Among them, a fixed frame 211 is provided on the base 21, and an auxiliary support is provided on the fixed frame 211. The slewing mechanism 22 is arranged on the base 21, and includes a support seat 221, a slewing flange 222, and an adjustment motor. The support seat 221 is fixedly arranged on the ground, and the base 21 is connected to the support seat 221 through the slewing flange 222. The support seat 221 is driven by the adjustment motor to perform slewing motion. The transmission device 23 includes a mechanical arm 231 and a conveyor belt 232 arranged on the mechanical arm 231, and an adjustment mechanism 24 for adjusting the pitch angle of the mechanical arm 231; the mechanical arm 231 is arranged on the fixed frame 211, and the adjustment mechanism 24 is arranged on the base 21. The mechanical arm 231 includes a base arm 233 and a telescopic arm 234. The base arm 233 is arranged on the fixed frame 211. The base arm 233 and the fixed frame 211 are hinged by a transverse hinge shaft 235, so that the base arm 233 can be pitched and rotated around the transverse hinge shaft 235. The telescopic arm 234 is telescopically arranged inside the base arm 233. The telescopic arm 234 can be provided with multiple sections. Accordingly, a servo motor is provided on the base arm 233 to control the telescopic length of the telescopic arm 234. The conveyor belt 232 is a telescopic conveyor belt, on which a counterweight assembly 236 for adjusting the length of the conveyor belt 232 is provided. A fixing piece 237 is provided at a position corresponding to the counterweight assembly 236 on the base arm 233. During the telescopic process of the telescopic arm 234, the height of the counterweight assembly 236 changes, so as to ensure that the conveyor belt 232 maintains a certain tension during the entire transmission process and maintains the stability of the transmission. The adjustment mechanism 24 includes a screw rod 241, an adjustment motor 242 for driving the screw rod 241, a slider 243, a driving rod 244, and a fixing plate 245. The adjustment motor 242 is installed on the base, and the fixing plate 245 is installed on the base 1 corresponding to the adjustment motor 242. One end of the screw rod 241 is drivingly connected to the adjustment motor 242, and the other end is rotatably arranged on the fixing plate 245. The slider 243 is provided with a thread, which cooperates with the screw rod 241 and changes its position as the screw rod 241 rotates; one end of the driving rod 244 is fixedly connected to the slider 243, and the other end is fixedly connected to the base arm 233. By adjusting the position of the slider 243, the horizontal height of the base arm 233 is adjusted to achieve the overall pitching action of the mechanical arm 231.

[0044] Fixture 3, such as Figure 5As shown, it is arranged on the movable end of the telescopic arm 234, including a connecting arm 31, a support frame 32, a feeding conveyor belt 33 arranged on the support frame 32, and a support plate 34; one end of the connecting arm 31 is connected to the telescopic arm 234, and the other end is connected to the support frame 32; the support plate 34 is arranged on the support frame 31 through a slide rail transmission component 341; the slide rail transmission component 341 drives the support plate 34 to move along a position close to the support frame 32. One end of the connecting arm 31 is hinged to the telescopic arm 234 through a horizontal hinge shaft 311, and the connecting arm 31 can pitch and rotate relative to the telescopic arm 234. The position between the two is adjusted by a servo motor drive to achieve compensation for the horizontal pitch angle of the car. The other end of the connecting arm 31 is hinged to the support frame 32 through a vertical hinge shaft 312. There are two connecting arms 31, and in one of the connecting arms 31, a telescopic slide rail 313 for adjusting the length of the connecting arm 31 is provided, which is controlled by a servo motor to accurately control the length of the connecting arm 31. The support frame 32 is provided with a movable baffle 321, which is arranged corresponding to the feeding conveyor belt 33. The movable baffle 321 includes a first opening and closing plate 322 and a second opening and closing plate 323. The first opening and closing plate 322 is arranged on the support frame 32, and the second opening and closing plate 323 is slidably arranged on the first opening and closing plate 322. Correspondingly, a push rod 324 is arranged on the first opening and closing plate 322, and a slide rail 325 is arranged on the support frame 32. The push rod 324 is connected to the slide rail 325 through a push rod slider 326. There are two push rods 324, which are synchronously controlled by a servo motor. The pallet 34 is provided with a driving roller 341 for transporting goods. The driving roller 341 is arranged corresponding to the first opening and closing plate 322. The driving roller 341 is provided with a plurality of rollers 342. At the bottom of the driving roller 341, a lower slide plate 343 is provided. The lower slide plate 343 is smooth, which facilitates the entire pallet 34 to be retracted backward. On both sides of the driving roller 341, there are two groups of movable telescopic plates 344 symmetrically. The movable telescopic plates 344 can be extended outward to increase the area of ​​the pallet 34. The edge of the movable telescopic plates 344 is provided with a limit block 345 to prevent the goods from falling. On the pallet 34, except for the driving roller 341, a universal ball 346 is provided to facilitate the goods to reach the edge smoothly under the drive of the driving roller 341, so that the goods can be better stacked on the pallet 34. The feeding conveyor belt 33, which corresponds to the movable baffle 321, is installed on the support frame 32, and a guard plate 331 for adjusting the width of the feeding conveyor belt 33 is provided on it. The guard plates 331 are arranged on both sides of the feeding conveyor belt 33, and the distance between the two is adjusted by a servo motor. On the guard plates 331, a transmission roller 332 for auxiliary transmission is provided, one of which is an active transmission roller and the other is a driven transmission roller. On the one hand, it ensures that the goods will not tilt during transportation, and on the other hand, it ensures the stability of the delivery process.

[0045] Visual positioning device 4, such as Figure 6-7As shown, it includes a first sensor group for measuring the position of the carriage and a second sensor group for measuring the parameters of the carriage. The first sensor group has three fixed displacement sensors, such as Figure 6 As shown, the distance between the carriage and the loading system (i.e., the test point) can be obtained through the first sensor 41 and the second sensor 42, and the distance between the first sensor 41 and the second sensor 42 can be obtained through the third sensor 43. A deviation angle of the carriage can be obtained by calculation. If the deviation angle exceeds the set range, the position of the carriage needs to be adjusted; the control device 5 performs compensation calculation on the deviation angle to ensure that there will be no failure in stacking due to vehicle tilting during stacking compensation. The second sensor group is installed on the fixture 3, which includes three sensors, such as Figure 7 As shown, the fourth sensor 44 and the fifth sensor 45 are used to test the distance L1 and L2 from the clamp 3 to the side of the car body respectively, and the width of the car body is L1 + clamp width + L2. The sixth sensor 46 is used to measure the distance L3 from the front end of the clamp to the car body, and the length of the car body is L3 + the length of the long arm extending from the rear of the car body.

[0046] In this embodiment, since the wall of the carriage is in the shape of a tile edge, when detecting the width of the carriage, multiple points are detected within a certain continuous range, and the shortest distance calculated is the width of the carriage.

[0047] In this embodiment, guide mechanisms and multiple position sensors are provided on each level of the conveyor belt. The position sensors are used to detect whether there is a long-term accumulation of goods at that location. Accordingly, the system is provided with an alarm unit to remind personnel to check the fault conditions on site and shut down the machine urgently. The control device is provided with a controller and intelligent automation software to realize the automation of the entire loading process.

[0048] Although the present invention is disclosed as above with preferred embodiments, it is not intended to limit the scope of the present invention. Any person skilled in the art can make some improvements without departing from the scope of the present invention, that is, all equivalent improvements made according to the present invention should be covered by the scope of the present invention.

Claims

1. An intelligent loading system, characterized in that: The intelligent loading system comprises: A depalletizing device, comprising a depalletizing robot and a box separating mechanism, wherein the box separating mechanism comprises a first conveyor belt and a second conveyor belt connected in sequence, wherein the speed of the first conveyor belt is lower than the speed of the second conveyor belt; the depalletizing robot is used to place goods on the first conveyor belt; A long-arm robot, comprising a base provided with a slewing mechanism, a transmission device, and a clamp, wherein the transmission device comprises a mechanical arm, a conveyor belt, and an adjustment mechanism for adjusting the pitch angle of the mechanical arm; the mechanical arm is arranged on the base, and the adjustment mechanism is arranged on the base; the clamp is arranged at the free end of the mechanical arm; the mechanical arm comprises a base arm and a telescopic arm, the base arm is arranged on the base, and the telescopic arm is telescopically arranged on the base arm; the clamp comprises a connecting arm, a support frame, a feeding conveyor belt arranged on the support frame, and a pallet; one end of the connecting arm is connected to the mechanical arm, and the other end is connected to the support frame; the pallet is arranged on the support frame through a transmission component; the connecting arm is provided with a telescopic component for adjusting the length of the connecting arm; A visual positioning device includes a sensor unit for measuring vehicle compartment parameters.

2. The intelligent loading system according to claim 1, characterized in that: The conveyor belt is a telescopic conveyor belt, and a telescopic adjustment component for adjusting the length of the conveyor belt is provided on the telescopic conveyor belt. The mechanical arm is provided with a deviation correction mechanism for adjusting the telescopic conveyor belt.

3. The intelligent loading system according to claim 1, characterized in that: The pallet is provided with a driving roller for conveying goods and a movable telescopic plate for increasing the stacking area of ​​the pallet, and the driving roller is arranged corresponding to the movable telescopic plate.

4. The intelligent loading system according to claim 1, characterized in that: The support frame is provided with a movable baffle; the feeding conveyor belt is provided with a position-adjustable guard plate, and the guard plate is arranged corresponding to the movable baffle.

5. The intelligent loading system according to claim 1, characterized in that: The adjusting mechanism comprises a screw rod, a slider, and a driving rod. One end of the driving rod is arranged on the screw rod through the slider, and the other end is connected to the mechanical arm.

6. The intelligent loading system according to claim 1, characterized in that: The second conveyor belt is connected to the conveyor belt via a third conveyor belt, and the third conveyor belt is provided with a steering mechanism for adjusting the placement direction of the goods.

7. The intelligent loading system according to claim 1, characterized in that: The intelligent loading system also includes a control device, and the depalletizing device, the long-arm robot, and the visual positioning device are all electrically connected to the control device.

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