Intelligent loading method and intelligent loading system

Abstract

The present application relates to an intelligent loading method and an intelligent loading system. The intelligent loading method comprises the following steps: A. The stacking device moves into place; B. The on-line device places the goods on the conveying device; C. The conveying mechanism conveys the goods to the transmission mechanism of the stacking device and the transmission mechanism conveys the goods to the corresponding position of the ejecting mechanism; D. The ejecting mechanism pushes the goods onto the receiving and placing device; E. The steering mechanism drives the lifting mechanism to rotate 90 degrees; F. Through the telescopic mechanism, the lifting mechanism and the moving mechanism, the goods on the receiving and placing device are moved above the set placing position; G. The telescopic mechanism drives the steering mechanism to move backward, and the pushing mechanism drives the push plate to move forward, so that the goods on the receiving and placing device fall to the corresponding position, completing one stacking; H. The stacking device resets; I. If the same row is loaded, the stacking device and the conveying device both move backward the same distance; J. If the stacking is not completed, go back to step B, otherwise the stacking is completed. The present application is convenient to use, has a high degree of automation and good loading effect.

Description

Technical Field

[0001] The present application relates to an intelligent loading method and an intelligent loading system, which are mainly applicable to automatically loading goods into loading positions such as trucks, containers, ships, trains, airplanes, freight yards, etc. Background Art

[0002] Currently, manual handling or forklift handling is usually adopted. The disadvantages of forklift handling are that it needs to carry the pallet onto the vehicle or into the container together, cannot stack multiple layers, and cannot achieve maximum capacity loading. Manual handling is a very backward production method, with low labor efficiency, being laborious, time-consuming, and having poor safety. Summary of the Invention

[0003] The technical problem solved by the present application is to overcome the above-mentioned deficiencies in the prior art, and provide an intelligent loading method that is convenient to use, has a high degree of automation, and good loading effect, and an intelligent loading system for implementing the loading method.

[0004] The technical solution adopted by the present application to solve the above technical problem includes: an intelligent loading method, which is characterized by including the following steps:

[0005] A. The stacking device moves into place and parameter initialization is set (the parameters include the settings of all moving mechanisms within the allowable range, and if not input, the default parameters are adopted);

[0006] B. The online device places the goods to be stacked on the conveying device;

[0007] C. The conveying device conveys the goods to the transmission mechanism of the stacking device, and the transmission mechanism conveys the goods to the corresponding position of the ejecting mechanism (and then closes);

[0008] D. The corresponding goods are pushed into the receiving and placing device through the ejecting mechanism;

[0009] E. The steering mechanism drives the lifting mechanism to rotate 90 degrees (simultaneously driving the receiving and placing device to rotate 90 degrees, with the fork plate facing forward);

[0010] F. Through the telescopic mechanism, the lifting mechanism, and the moving mechanism (the three mechanisms respectively adjust the front and rear positions, the up and down height, and the left and right positions), the goods on the receiving and placing device are moved above the set placement position (usually the fork plate is 1 cm higher than the set height);

[0011] G. The telescopic mechanism drives the steering mechanism to move backward, and the pushing mechanism drives the push plate to move forward, so that the goods on the receiving and placing device fall to the corresponding position, completing one stacking;

[0012] H. The stacking device resets (each mechanism resets);

[0013] I If the same row is arranged properly, both the stacking device and the conveying device move backward by the same distance (the distance between two adjacent stacks of stacked goods in the front-back direction);

[0014] J If the stacking is not completed, turn to step B; otherwise, the stacking is completed.

[0015] For the goods in step C of this application to be transported to the corresponding position of the ejecting mechanism through the transmission mechanism, the following steps may be included: The detection mechanism detects the shape of the goods. When the shape of the goods needs to be turned, the goods are stopped below the commutation mechanism. The commutation mechanism picks up (usually by sucking with a suction cup, or a robotic arm can also be used) the goods transported to the position below the commutation mechanism by the transmission mechanism, turns it 90 degrees, and then places it back on the transmission mechanism. The transmission mechanism continues to transport the goods to the corresponding position of the ejecting mechanism (and then closes).

[0016] In this application, a step of raising the goods baffle is provided at the very front of step C, and a step of lowering the goods baffle is provided at the very end of step C. The goods baffle rises during the transportation of the goods to block the goods transported forward, and after positioning accurately, the transmission mechanism is closed, and then the goods baffle is lowered.

[0017] The goods in this application can process one or a group (multiple goods that can be placed by the loading and unloading device at one time) according to different sizes and shapes. When it is a group of goods, in step B, the loading device places the group of goods to be stacked one by one on the conveying mechanism in sequence. That is, the goods in this application refer to one or a group.

[0018] To improve efficiency, the three steps of loading, conveying, and ejecting the goods (B, C, D) can be synchronized starting from the second round of circulation. At this time, when in step D of the first round of circulation, the goods are pushed into the loading and unloading device by the ejecting mechanism, steps B and C are started simultaneously to place the goods to be stacked in the next round of circulation (the (n + 1)th goods, where n is the serial number of a certain placement of goods) on the conveying device, and the conveying device and the transmission mechanism relay to transport the goods in the next round of circulation to the corresponding position of the ejecting mechanism. In this way, in the next round of circulation, steps B, C, and D (equivalent to the (n + 2)th goods loading, the (n + 2)th goods conveying, and the (n + 1)th goods ejecting) are synchronized, greatly improving the working efficiency.

[0019] The technical solution adopted by the present application to solve the above technical problems further includes: an intelligent loading system for implementing the above intelligent loading method, which is characterized by including a loading device, a conveying device, a stacking device, and a controller. The loading device is used to lift the goods and place them on the conveying device. The conveying device is used to convey the goods to the receiving position of the stacking device. The stacking device receives the goods sent by the conveying device and stacks them neatly according to the set positions. The controller is provided with control programs for the loading device, the conveying device, and the stacking device and is connected to the loading device, the conveying device, and the stacking device respectively, and is used to control the entire intelligent loading system to operate according to the timing logic of the control program (the above intelligent loading method).

[0020] The stacking device of the present application includes a transmission mechanism, a steering mechanism, a telescopic mechanism, a loading and unloading device, a lifting mechanism, an ejecting mechanism, and a traveling mechanism. The traveling mechanism is used to adjust the overall position of the stacking device. The transmission mechanism is used to receive the goods sent by the conveying device and continue to convey them forward. The steering mechanism is slidably installed at the front of the stacking device frame. The lifting mechanism is installed on the steering mechanism, and the loading and unloading device is installed on the lifting mechanism. The loading and unloading device includes a pushing mechanism, a pushing plate, a moving mechanism, and a fork plate. The pushing mechanism is connected to the pushing plate, and the moving mechanism is connected to the fork plate slidably installed on the loading and unloading device. The telescopic mechanism is installed on the stacking device frame and drives the steering mechanism to slide back and forth. The lifting mechanism is used to adjust the height of the loading and unloading device. The ejecting (removing) mechanism is used to move the goods from the transmission mechanism to the fork plate of the loading and unloading device. The controller is connected to the transmission mechanism, the steering mechanism, the telescopic mechanism, the loading and unloading device, the lifting mechanism, the ejecting mechanism, and the traveling mechanism respectively.

[0021] The present application is further provided with a reversing mechanism and a detection mechanism. The reversing mechanism and the detection mechanism are both installed on the stacking device frame. The detection mechanism is used to detect the shape and / or position of the goods. The reversing mechanism is used to pick up (suck) the goods conveyed to the position below the reversing mechanism on the transmission mechanism, turn them 90 degrees, and then place them back on the transmission mechanism. The controller is connected to the reversing mechanism and the detection mechanism respectively.

[0022] The reversing mechanism of the present application is provided with a turntable mechanism, a lifting device, and a suction cup mechanism. The turntable mechanism is provided with a lifting device, and the suction cup mechanism is installed on the lifting device. The turntable mechanism is used to adjust the directions of the lifting device and the suction cup mechanism. The lifting device is used to adjust the height of the suction cup mechanism. The suction cup mechanism is installed with suction cups to suck the goods. The controller is connected to the turntable mechanism, the lifting device, and the suction cup mechanism respectively.

[0023] At the front of the transmission mechanism described in this application, a lifting baffle mechanism is provided. When goods are being transported, the goods baffle is raised to block the goods being transported forward. After accurate positioning, the transmission mechanism is turned off, and the goods baffle is lowered. The lifting baffle mechanism includes a goods baffle and a baffle power mechanism. The baffle power mechanism drives the goods baffle to move up and down. The baffle power mechanism is connected to the controller and is controlled by the controller to operate according to the control timing sequence.

[0024] For the power devices of each device and mechanism in this application, an electric motor is usually used. For the power device of the ejecting mechanism, a cylinder can be used. For the power device of the suction cup mechanism, a negative pressure device is used. For the detection mechanism, sensors and / or cameras and video cameras are used, all of which are prior arts.

[0025] Compared with the prior art, this application has the following advantages and effects: simple structure, convenient to use, high degree of automation, good loading effect, can automatically stack goods according to the required rules, and the entire process does not require manual participation. Brief Description of the Drawings

[0026] Figure 1 It is a schematic structural diagram of the intelligent loading system according to an embodiment of this application.

[0027] Figure 2 is Figure 1 a left view schematic diagram of

[0028] Figure 3 It is a schematic diagram of the main structure of the stacking device according to an embodiment of this application.

[0029] Figure 4 is Figure 3 a left view schematic diagram of

[0030] Figure 5 is Figure 4 a top view schematic diagram of

[0031] Figure 6 It is a three-dimensional schematic diagram of the main structure of the stacking device according to an embodiment of this application. Detailed Embodiments

[0032] The following further details this application in conjunction with the drawings and through embodiments. The following embodiments are explanations of this application, and this application is not limited to the following embodiments. Figure 1 In the above, the upper part is the front, the lower part is the rear, and the horizontal direction refers to Figure 2 the left and right directions of

[0033] See Figures 1 to 6, the intelligent loading system of this embodiment mainly includes a loading device 1, a conveying device 2, a stacking device 3 and a controller. The loading device 1 is used to lift the goods 4 and place them on the conveying device 2. The conveying device 2 is used to convey the goods 4 to the receiving position of the stacking device 3. The stacking device 3 receives the goods 4 sent by the conveying device 2 and stacks them neatly according to the set positions. The controller is provided with control programs for the loading device 1, the conveying device 2 and the stacking device 3, and is used to control the entire intelligent loading system to operate according to the timing logic of the control program.

[0034] The loading device 1 places the goods 4 on the conveying device 2 through a palletizing device (such as a palletizing robot), which can be realized by using the existing technology.

[0035] The conveying device 2 usually uses a retractable self-propelled (with its own traveling mechanism) conveying equipment (such as a self-retractable belt conveyor) to convey the goods 4 to the stacking device 3 and extend (move forward and backward) along the conveying direction following the stacking device 3. The front part of the conveying device 2 always remains in cooperation with the transmission mechanism 32 of the stacking system 3.

[0036] The stacking device 3 includes an ejecting mechanism 31, a transmission mechanism 32, a reversing mechanism 33, a steering mechanism 34, a telescopic mechanism 35, a goods receiving and placing device 36, a lifting mechanism 37 and a traveling mechanism. The traveling mechanism is used to adjust the overall position of the stacking device 3. The transmission mechanism 32 is used to receive the goods 4 sent by the conveying device 2 and continue to convey them forward. The reversing mechanism 33 is installed on the frame of the stacking device 3 and is used to pick up (suction) the goods 4 conveyed to the position below the reversing mechanism 33 on the transmission mechanism 32 and turn them 90 degrees and then place them back on the transmission mechanism 32. The steering mechanism 34 is installed at the front of the frame of the stacking device 3. The lifting mechanism 37 is installed on the steering mechanism 34, and the goods receiving and placing device 36 is installed on the lifting mechanism 37. The steering mechanism 34 is used to control the rotation of the lifting mechanism 37 installed on it, so that the goods receiving and placing device 36 installed on the lifting mechanism 37 turns to the side ( Figure 2On the left side), facing the goods 4 directly, so that the ejecting mechanism 31 can push the goods 4 onto the fork plate 3621 of the goods receiving and placing device 36 (the goods receiving and placing device 36 is in the goods receiving state), or control the goods receiving and placing device 36 to turn to the front to prepare to place the goods 4 on the fork plate 3621 (the goods receiving and placing device 36 is in the state of preparing for unloading). The goods receiving and placing device 36 mainly includes a pushing mechanism 361, a pushing plate 3611, a moving mechanism 362, and a fork plate 3621. The pushing plate 3611 is installed on the pushing mechanism 361. The moving mechanism 362 is used to control the lateral sliding of the fork plate 3621 slidably installed on the goods receiving and placing device 36, so that the goods on the fork plate 3621 are located at an appropriate position in the lateral direction. The telescopic mechanism 35 is installed on the rack of the stacking device 3 and drives the steering mechanism 34 to slide back and forth along the transmission direction of the transmission mechanism 32, so that the goods on the fork plate 3621 are located at an appropriate position in the front-back direction, and retracts during unloading, so that on the one hand, the pushing plate 3611 pushes the goods forward under the drive of the pushing mechanism 361, and on the other hand, the telescopic mechanism 35 drives the steering mechanism 34 and the goods receiving and placing device 36 thereon to retract as a whole, and the combined action makes the goods 4 on the fork plate 3621 fall to the set position; the lifting mechanism 37 includes an outer lifting mechanism 371 and an inner lifting mechanism 372. The outer lifting mechanism 371 is installed on the steering mechanism 34, the inner lifting mechanism 372 is installed on the outer lifting mechanism 371, and the goods receiving and placing device 36 is installed on the inner lifting mechanism 372, that is, the overall lifting range is increased through two-stage lifting and the overall stability of the structure is ensured. The height of the goods receiving and placing device 36 (fork plate 3621) is adjusted by the lifting mechanism 37, and the lateral position of the fork plate 3621 is adjusted by the moving mechanism 362 (when the fork plates 3621 can be placed in parallel multiple times in the same row and at the same height).

[0037] A lifting baffle mechanism 321 can be arranged at the front part of the transmission mechanism 32 of the present application, which is used to raise the goods baffle to block the goods 4 being transmitted forward and close the transmission mechanism 32 after accurate positioning, and lower the goods baffle. Usually, the lifting baffle mechanism 321 includes a goods baffle and a baffle power mechanism. The baffle power mechanism (cylinder or motor) is connected to the controller and is controlled by the controller to work according to the control timing sequence.

[0038] The left-right, front-back, and up-down sliding (moving) in the present application can be realized through slide rails. For example, the bracket of the steering mechanism 34 is slidably installed on the rack of the stacking device 3 through a slide rail, the fork plate 3621 is slidably installed on the goods receiving and placing device 36 through a slide rail, the inner lifting mechanism 372 is slidably installed on the outer lifting mechanism 371 through a slide rail, and the goods receiving and placing device 36 is slidably installed on the inner lifting mechanism 372 through a slide rail, etc.

[0039] Any simple deformation or combination of the technical features and technical solutions of the present application should be considered to fall within the protection scope of the present application.

Claims

1. An intelligent loading system, characterized in that: It includes a loading device, a conveying device, a stacking device and a controller. The loading device is used to lift the goods and place them on the conveying device. The conveying device is used to convey the goods to the receiving position of the stacking device. The stacking device receives the goods sent by the conveying device and stacks them neatly according to the set positions. The controller is provided with control programs for the loading device, the conveying device and the stacking device and is connected to the loading device, the conveying device and the stacking device; The stacking device includes an ejecting mechanism, a transmission mechanism, a reversing mechanism, a traveling mechanism, a steering mechanism, a telescopic mechanism, a loading and unloading device and a lifting mechanism. The traveling mechanism is used to adjust the overall position of the stacking device. The transmission mechanism is used to receive the goods sent by the conveying device and continue to convey them forward. A lifting baffle mechanism is arranged at the front of the transmission mechanism. The reversing mechanism is used to pick up the goods conveyed to the position below the reversing mechanism on the transmission mechanism, turn them 90 degrees and then place them back on the transmission mechanism. The steering mechanism is installed at the front of the frame of the stacking device, and the lifting mechanism is installed on the steering mechanism. The loading and unloading device is installed on the lifting mechanism; The steering mechanism is used to control the rotation of the lifting mechanism installed on it. When the loading and unloading device is in the goods receiving state, the steering mechanism can make the loading and unloading device installed on the lifting mechanism turn to the side facing the goods, so that the ejecting mechanism can push the goods onto the fork plate of the loading and unloading device. When the loading and unloading device is in the state of preparing for unloading, the steering mechanism can control the loading and unloading device to turn to the front to prepare to place the goods on the fork plate; The loading and unloading device includes a pushing mechanism, a push plate, a moving mechanism and a fork plate. The moving mechanism is used to control the transverse sliding of the fork plate slidably installed on the loading and unloading device, so that the goods on the fork plate are located at an appropriate position in the transverse direction. The telescopic mechanism is installed on the frame of the stacking device and drives the steering mechanism to slide back and forth along the conveying direction of the transmission mechanism, so that the goods on the fork plate are located at an appropriate position in the front-back direction; During unloading, the telescopic mechanism drives the steering mechanism and the loading and unloading device installed on it to retract as a whole. And, the push plate is installed on the pushing mechanism, and the push plate pushes the goods forward under the drive of the pushing mechanism. Under the combined action of the two, the goods on the fork plate fall to the set position.

2. The intelligent loading system according to claim 1, characterized in that: The controller is connected to the transmission mechanism, the steering mechanism, the telescopic mechanism, the loading and unloading device, the lifting mechanism, the ejecting mechanism and the traveling mechanism.

3. The intelligent loading system according to claim 2, characterized in that: A detection mechanism is also provided. The reversing mechanism and the detection mechanism are both installed on the frame of the stacking device. The detection mechanism is used to detect the shape and / or position of the goods. The controller is connected to the reversing mechanism and the detection mechanism.

4. The intelligent loading system according to claim 3, characterized in that: The commutation mechanism is provided with a turntable mechanism, a lifting device and a suction cup mechanism. The lifting device is arranged on the turntable mechanism, and the suction cup mechanism is installed on the lifting device. The turntable mechanism is used to adjust the directions of the lifting device and the suction cup mechanism. The lifting device is used to adjust the height of the suction cup mechanism. A suction cup is installed on the suction cup mechanism. The controller is connected to the turntable mechanism, the lifting device and the suction cup mechanism.

5. The intelligent loading system according to claim 2, characterized in that: The lifting baffle mechanism includes a goods baffle and a baffle power mechanism. The baffle power mechanism drives the goods baffle to move up and down. The baffle power mechanism is connected to the controller.

6. An intelligent loading method, characterized in that Using the intelligent loading system according to any one of claims 1-5 for loading and including the following steps: A The stacking device moves into place and parameter initialization is set; B The loading device places the goods to be stacked on the conveying device; C The conveying device conveys the goods to the transmission mechanism of the stacking device, and the goods are conveyed to the corresponding position of the ejecting mechanism through the transmission mechanism; D The ejecting mechanism pushes the goods onto the receiving and placing device; E The steering mechanism drives the lifting mechanism to rotate 90 degrees; F Through the telescopic mechanism, the lifting mechanism and the moving mechanism, the goods on the receiving and placing device are moved above the set placing position; G The telescopic mechanism drives the steering mechanism to move backward, and the pushing mechanism drives the push plate to move forward, so that the goods on the receiving and placing device fall to the corresponding position, completing one stacking; H The stacking device resets; I If the same row is stacked, the stacking device and the conveying device both move backward the same distance; J If the stacking is not completed, go to step B, otherwise the stacking is completed.

7. The intelligent loading method according to claim 6, characterized in that: The step that the goods in step C are conveyed to the corresponding position of the ejecting mechanism through the transmission mechanism includes the following steps: The detection mechanism detects the shape and / or position of the goods. When the shape of the goods needs to be turned, the goods are stopped below the commutation mechanism. The commutation mechanism picks up the goods conveyed to the position below the commutation mechanism by the transmission mechanism, turns them 90 degrees, and then places them back on the transmission mechanism. The transmission mechanism continues to convey the goods to the corresponding position of the ejecting mechanism.

8. The intelligent loading method according to claim 6 or 7, characterized in that: At the front of step C, there is a step of raising the goods baffle. At the end of step C, there is a step of lowering the goods baffle. The goods baffle rises during the conveyance of the goods to block the goods conveyed forward, closes the transmission mechanism after positioning accurately, and then lowers the goods baffle.

9. The intelligent loading method according to claim 6, characterized in that: In the first round of cycle, when step D is executed and the ejecting mechanism pushes the goods onto the receiving and placing device, the loading device is started at the same time to place the goods to be stacked in the next round on the conveying device. The conveying device conveys the goods in the next round to the transmission mechanism of the stacking device. The goods in the next round are conveyed to the corresponding position of the ejecting mechanism through the transmission mechanism. Starting from the second round of cycle, steps B, C, and D are executed synchronously.

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