Automatic loading and unloading system and control method thereof

Abstract

The present invention relates to the field of automated logistics, and specifically to loading and unloading systems and control methods for different workstations. The present invention is achieved through the following technical solutions: an efficient automatic loading and unloading system, comprising a fixed rail, the fixed rail comprising rail segment one and rail segment two, the automatic loading and unloading system also comprising a carrier and a lifting vehicle for moving the carrier relative to the fixed rail; the carrier comprises a loading frame for storing materials; the lifting vehicle comprises a lifting device. The purpose of the present invention is to provide an efficient automatic loading and unloading system and a control method thereof, which can automatically load small materials at workstations for large quantities of goods, with less manual participation throughout the process, and is efficient and fast.

Description

Technical Field

[0001] The present invention relates to the field of automated logistics, and in particular to a loading and unloading system for different workstations and a control method thereof. Background Art

[0002] The production of an industrial product often includes multiple processing steps. Each processing step has an independent processing station, and the product materials flow through each station. In traditional processing methods, workers often rely on manual handling of materials to move them to the next processing station. However, for goods with many processes and heavy weight, the labor intensity is high and the efficiency is low. In this context, some manufacturers also use automated equipment to transfer materials between stations.

[0003] For example, a multi-station automatic synchronous loading and unloading sandblasting machine disclosed in a Chinese patent document with publication number CN206154118 includes multiple sandblasting stations, and uses automated equipment such as loading and unloading robots to transfer materials between stations. Another example is an automatic cycling mechanism for loading and unloading stations of a grinding and polishing machine disclosed in a Chinese patent document with publication number CN201744909, which uses a rotation method to cycle the station positions. Both of these technical solutions use automated equipment to save labor and improve efficiency. However, with the development of the modern processing industry, the distance between stations is getting larger and larger, and the process changes are becoming more and more flexible and diverse. It is difficult to meet the long-distance loading and unloading of stations using the technical solutions in the prior art, and it is also impossible to adapt to flexible and changeable production processes. Summary of the invention

[0004] The purpose of the present invention is to provide an automatic loading and unloading system and a control method thereof, which can automatically load small materials to a workstation for a large batch of goods, with less manual participation in the whole process, and is efficient and fast.

[0005] The above technical purpose of the present invention is achieved through the following technical solutions: an automatic loading and unloading system, comprising a fixed rail, the fixed rail comprising rail segment one and rail segment two, the automatic loading and unloading system also comprising a carrier and a lifting vehicle for moving the carrier relative to the fixed rail; the carrier comprises a loading frame for storing materials; the lifting vehicle is included in a lifting device.

[0006] As a preferred embodiment of the present invention, the carrier includes running wheels connected to the carrier frame and a traction structure for connecting adjacent carriers.

[0007] As a preferred embodiment of the present invention, the traction structure includes a sleeve hole installed on one side of the loading frame and a traction pin installed on the other side of the loading frame.

[0008] As a preferred embodiment of the present invention, the lifting vehicle comprises a vehicle body, the lifting device is installed on the vehicle body, and the lifting device comprises a lifting frame.

[0009] As a preferred embodiment of the present invention, an alignment column is protruding outwardly from the lifting frame, and the carrier includes a limiting plate, and the limiting plate is provided with an alignment hole for the alignment column to enter.

[0010] As a preferred embodiment of the present invention, the vehicle body is provided with a stand extending in a vertical direction and a sensor installed on the stand and used for providing positioning data for the lifting vehicle.

[0011] As a preferred embodiment of the present invention, the fixed rail includes a vertical plate, and the carrier includes an alignment device for cooperating with the vertical plate.

[0012] As a preferred embodiment of the present invention, the alignment device comprises an extension frame and two alignment plates connected below the extension frame, and an alignment gap for the vertical plate to enter is provided between the two alignment plates.

[0013] As a preferred embodiment of the present invention, the alignment piece includes a vertical extension portion and an outer oblique portion located below the vertical extension portion, and a gap between the two outer oblique portions gradually decreases in an upward direction.

[0014] As a preferred embodiment of the present invention, each of the carriers is provided with at least two alignment devices, and the two alignment devices are installed on the carrier one in front and one behind.

[0015] As a preferred embodiment of the present invention, a middle limiting device installed on the fixed rail is provided between the rail segment 1 and the rail segment 2.

[0016] As a preferred embodiment of the present invention, the middle limit device includes an articulated seat, a hinge shaft installed on the articulated seat and a flip plate rotatably connected to the hinge shaft, and the flip plate includes a downward pressing part on one side and an upward lifting part on the other side.

[0017] As a preferred embodiment of the present invention, the fixed rail is provided with a front limit structure and a rear limit plate used in conjunction with the alignment device, the front limit structure is located at the front section of the rail section one, and the rear limit plate is located at the rear section of the rail section two.

[0018] As a preferred embodiment of the present invention, the front limiting structure comprises a front baffle and a limiting seat, and there is a gap between the front baffle and the limiting seat for the alignment device to enter.

[0019] A control method for an automatic loading and unloading system comprises the following steps:

[0020] S01, rear carrier placement step;

[0021] The lifting vehicle moves to the bottom of the empty vehicle, lifts up the empty vehicle, and moves to the position of the second track segment;

[0022] S02, dual carrier connection steps;

[0023] The lifting vehicle separates from the empty vehicle, drives to the bottom of the fully loaded vehicle parked at one place of the track section, lifts the vehicle, and connects the fully loaded vehicle in front with the empty vehicle in the rear by means of the lifting and traction structure installed on the vehicle;

[0024] S03, dual vehicle forward movement step;

[0025] The lifting vehicle moves forward with the fully loaded vehicle on its top to the front of the track section 1, while the empty vehicle is towed from the track section 2 to the position of the track section 1;

[0026] S04, dual carrier separation step;

[0027] The lifting vehicle lowers the lifting height so that the traction structure between the two carriers is separated and the two carriers are no longer connected to each other;

[0028] S05, front carrier out of position step;

[0029] The lifting vehicle carries the fully loaded carrier to the workstation position of the next process.

[0030] As a preferred embodiment of the present invention, the lifting height of the vehicle by the lifting vehicle includes three heights: vehicle grounding height, vehicle unhooking height, and vehicle connection height, and the lifting heights of these three heights increase sequentially.

[0031] In summary, the present invention has the following beneficial effects:

[0032] 1. Use the cooperation between the carrier and the lifting vehicle to realize automatic loading and unloading of materials and the transfer of materials between workstations.

[0033] 2. Use the fixed rail and the positioning device to lock the position of the vehicle in the four directions of front, back, left and right.

[0034] 3. The middle limit device completes the separation between the official work station position and the waiting work station position. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 is a cross-sectional schematic diagram of embodiment 1;

[0036] Figure 2 It is a schematic diagram of the vehicle;

[0037] Figure 3 It is a schematic diagram of a lift truck;

[0038] Figure 4 yes Figure 2 An enlarged schematic diagram of A in FIG.

[0039] Figure 5 yes Figure 1 An enlarged schematic diagram of point B in FIG.

[0040] Figure 6 yes Figure 1 An enlarged schematic diagram of point C in FIG.

[0041] In the figure:

[0042] 1. Fixed rail, 11. Rail section 1, 12. Rail section 2, 13. Vertical plate, 2. Carrier, 21. Carrier frame, 22. Traveling wheel, 23. Alignment device, 231. Extension frame, 232. Alignment plate, 2321. Outer oblique portion, 2322. Vertical extension portion, 24. Traction structure, 241. Hole, 242. Traction pin, 25. Limit plate, 251. Alignment hole, 3. Lifting vehicle, 31. Vehicle body, 32. Lifting device, 321. Lifting frame, 322. Alignment column, 33. Vertical frame, 34. Sensor, 4. Middle limiting device, 41. Articulated seat, 42. Articulated shaft, 43. Flip plate, 431. Lower pressing portion, 432. Lifting portion, 5. Front limiting structure, 51. Front baffle, 52. Limiting seat, 6. Rear limiting plate. DETAILED DESCRIPTION

[0043] The present invention is further described in detail below in conjunction with the accompanying drawings.

[0044] This specific embodiment is merely an explanation of the present invention and is not a limitation of the present invention. After reading this specification, those skilled in the art may make non-creative modifications to the present embodiment as needed. However, as long as they are within the scope of the claims of the present invention, they are protected by the patent law.

[0045] Embodiment 1 includes a fixed rail 1, which can be regarded as two parts in this case, namely a front rail section 11 and a rear rail section 2 12. Figure 1 The front-to-back direction is the left-to-right direction in the figure. The position corresponding to the track section 11 is the normal working position of the process, and the position corresponding to the track section 2 12 is a waiting position.

[0046] Figure 1 The system includes two carriers 2, each of which has the same structure. Figure 2 As shown, the main body is a frame structure, including a loading frame 21, in which materials are stored. Travel wheels 22 are provided at the four corners below to facilitate the movement of the carrier 2. A positioning device 23 is provided near the travel wheels 22 to lock its position. Each carrier 2 includes a set of traction structures 24, which are used to connect adjacent carriers 2 to each other.

[0047] The vehicle 2 itself has no power structure and its movement depends on the lifting vehicle 3. Figure 3As shown, the lifting vehicle 3 can use an AGV, including a vehicle body 31, and the vehicle body 31 also includes a driving wheel below. A lifting device 32 is provided on the vehicle body 31, and the driving method of the lifting device 32 can be a common solution in the prior art such as a motor, a transmission gear or a lifting rod. The lifting device 32 includes a lifting frame 321, which extends in the horizontal direction. Each lifting vehicle 3 can be equipped with a group on the left and the right to lift the carrier 2 evenly and stably. A limiting plate 25 is provided on the carrier 2, in which an alignment hole 251 is opened. An alignment column 322 is protruding from the lifting frame 321, which is used to extend into the alignment hole 251, thereby enhancing the stability of the lifting process.

[0048] The specific loading and unloading steps are further explained below.

[0049] like Figure 1 As shown, during the production process, the carrier 2 on the left side of the figure (hereinafter referred to as the front carrier) is already at the position of the track segment 11. The material is gradually put into the loading frame 21 of the front carrier, and the position of the front carrier is fixed as shown in FIG. Figure 4 and Figure 6 As shown. Each alignment device 23 has the same structure, including an extension frame 231 and two alignment plates 232 connected to the extension frame 231. There is a gap between the two alignment plates 232. Each alignment plate 232 includes a vertical extension portion 2322 and an outer oblique portion 2321. The outer oblique portion 2321 is inclined, and the distance between the two outer oblique portions 2321 gradually increases in the downward direction. A vertical plate 13 extending in the vertical direction is provided on the fixed rail 1, and two alignment plates 232 clamp the vertical plate 13 to complete the positioning of the carrier 2 relative to the fixed rail 1 in the left and right directions. The inclined setting of the outer oblique portion 2321 makes it more convenient and efficient for the vertical plate 13 to enter between the two alignment plates 232.

[0050] In the front-to-back direction, Figure 6 As shown, a front limiting structure 5 is installed in the front end direction of the fixed rail 1, which includes a front baffle 51 and a limiting seat 52, and one of the alignment devices 23 of the front carrier is located between the front baffle 51 and the limiting seat 52. These two components complete the limiting fixation of the front carrier in the front and rear directions.

[0051] At this point, the front vehicle's front, back, left, and right directions have all been locked.

[0052] S01, rear carrier placement step. In this step, the lifting vehicle 3 enters under the empty carrier 2 (hereinafter referred to as the rear carrier), starts the lifting device 32 to lift the empty carrier 2. The rear carrier's running wheels 22 leave the ground, and the lifting vehicle 3 moves the rear carrier to the Figure 1 The track section 2 is positioned at 12, and the rear carrier is lowered.

[0053] The lifting vehicle 3 includes a frame 33 and a sensor 34 mounted on the frame 33. The sensor 34 has functions such as positioning and guiding, and a mature positioning sensor in the prior art can be used for the automatic guidance and positioning functions of the lifting vehicle 3.

[0054] After the rear carrier is lowered, the rear carrier is also limited in the left and right directions by the cooperation between the positioning device 23 and the vertical plate 13, and in the front and rear directions, Figure 1 and Figure 5 At the rear section of the second rail section 12, a rear stopper 6 is provided to abut against the rear of a positioning device 23 of the rear carrier.

[0055] In the forward direction, it relies on the middle limit device 4. The middle limit device 4 is provided at the middle end of the fixed rail 1, that is, between the rail section 11 and the rail section 2 12. Figure 5 As shown, the middle limit device 4 comprises an articulated seat 41 and an articulated shaft 42 mounted on the machine. A flip plate 43 is rotatably connected to the articulated shaft 42. Figure 5 In the embodiment, the left part of the flip plate 43 is the pressing part 431, and the right part is the lifting part 432. At this time, the alignment device 23 of the front carrier presses the pressing part 431, and the lifting part 432 naturally rises, so that the rear surface (i.e. Figure 5 The right surface of the rear carrier is supported by the front surface of the alignment device 23 (i.e. Figure 5 At this point, the rear vehicle has also completed the front-to-back and left-to-right alignment.

[0056] Then, enter S02, the dual carrier connection step. At this time, the lifting vehicle 3 puts down the rear carrier and drives under the front carrier. At this time, the front carrier is already full of materials. The lifting device 32 of the lifting vehicle 3 rises, and the lifting stroke reaches the carrier connection height. At this height, the front carrier and the rear carrier are connected.

[0057] Specifically, Figure 1 and Figure 2 As shown, each carrier 2 is provided with a traction structure 24, which includes a sleeve hole 241 at the front end and a traction pin 242 at the rear end. At this height, the traction pin 242 of the front carrier rises and enters the sleeve hole 241 of the rear carrier, and the two carriers are connected.

[0058] After the current vehicle is raised, Figure 5 The pressing portion 431 indicated in the middle is not pressed by the aligning device 23 of the front vehicle, and the weight of the lifting portion 432 is greater. Under the influence of gravity, the lifting portion 432 descends and no longer contacts the aligning device 23 of the rear vehicle.

[0059] Then enter S03, the double carrier forward step. The lifting vehicle 3 pushes the front carrier forward, and the front carrier moves out of the track segment 1 11. The front carrier relies on the traction structure 24 to pull the rear carrier, and the rear carrier moves from the track segment 2 to the track segment 1 11 and enters the original position of the front carrier.

[0060] At this time, the process enters S04, the dual-carrier separation step. The rear carrier is in a wheel-on state, and the lifting device 32 of the lifting vehicle 3 descends to a carrier unhooking height. This height is lower than the carrier connection height. At this height, the front carrier's running wheel 22 is not on the ground, but its traction pin 242 is already lower than the sleeve hole 241, and the two carriers are no longer connected.

[0061] Entering the last step S05, the front carrier out of position step, the lifting vehicle 3 takes the fully loaded front carrier into the next process to complete the material discharge. The rear carrier is in an empty state, located at the track section 11, and the material begins to be loaded normally.

[0062] When the rear carrier has finished loading and is fully loaded, the above steps are repeated, and the entire workstation realizes automatic loading and unloading.

Claims

1. A control method for an automatic loading and unloading system, characterized in that: The automatic loading and unloading system comprises a fixed rail (1), wherein the fixed rail (1) comprises a rail section one (11) and a rail section two (12). The automatic loading and unloading system further comprises a carrier (2) and a lifting vehicle (3) for moving the carrier (2) relative to the fixed rail (1); the carrier (2) comprises a loading frame (21) for storing materials; the lifting vehicle (3) comprises a lifting device (32), and the control method comprises the following steps: S01, a rear carrier placement step; the lifting vehicle (3) moves to the bottom of an empty carrier (2), lifts up the empty carrier (2), and moves to the position of the rail section two (12); S02, a double carrier connection step; The lifting vehicle (3) separates from the empty carrier (2), drives to the bottom of the fully loaded carrier (2) parked at the track section 1 (11), lifts the carrier (2), and connects the fully loaded carrier (2) in front and the unloaded carrier (2) in the rear with each other by means of the traction structure (24) installed on the carrier (2); S03, double carrier forward step; the lifting vehicle (3) moves forward with the fully loaded carrier (2) to the front of the track section 1 (11), while the unloaded carrier (2) is towed from the track section 2 (12) to the position of the track section 1 (11); S04, double carrier separation step; the lifting vehicle (3) lowers the lifting height, so that the traction structure (24) between the two carriers (2) is separated, and the two carriers (2) are no longer connected with each other; S05, front carrier out-of-position step; the lifting vehicle (3) carries the fully loaded carrier (2) to the workstation position of the next process.

2. The control method of an automatic loading and unloading system according to claim 1, characterized in that: The carrier (2) comprises running wheels (22) connected to the object carrying frame (21) and a traction structure (24) used for connecting adjacent carriers (2).

3. The control method of an automatic loading and unloading system according to claim 2 is characterized in that: The traction structure (24) comprises a sleeve hole (241) installed on one side of the object carrying frame (21) and a traction pin (242) installed on the other side of the object carrying frame (21).

4. The control method of an automatic loading and unloading system according to claim 1, characterized in that: The lifting vehicle (3) comprises a vehicle body (31), the lifting device (32) is installed on the vehicle body (31), and the lifting device (32) comprises a lifting frame (321).

5. The control method of an automatic loading and unloading system according to claim 4 is characterized in that: The lifting frame (321) is provided with an alignment column (322) protruding outwardly, and the carrier (2) comprises a limiting plate (25), and the limiting plate (25) is provided with an alignment hole (251) for the alignment column (322) to enter.

6. The control method of an automatic loading and unloading system according to claim 4, characterized in that: The vehicle body (31) is provided with a stand (33) extending in a vertical direction and a sensor (34) mounted on the stand (33) and used to provide positioning data for the lifting vehicle (3).

7. A control method for an automatic loading and unloading system according to any one of claims 1 to 6, characterized in that: The fixed rail (1) comprises a vertical plate (13), and the carrier (2) comprises a positioning device (23) for cooperating with the vertical plate (13).

8. The control method of an automatic loading and unloading system according to claim 7, characterized in that: The alignment device (23) comprises an extension frame (231) and two alignment plates (232) connected below the extension frame (231), and an alignment gap is provided between the two alignment plates (232) for the vertical plate (13) to enter.

9. The control method of an automatic loading and unloading system according to claim 8, characterized in that: The alignment piece (232) comprises a vertical extension portion (2322) and an outer oblique portion (2321) located below the vertical extension portion (2322), and the gap between the two outer oblique portions (2321) gradually decreases in an upward direction.

10. The control method of an automatic loading and unloading system according to claim 7, characterized in that: Each carrier (2) is provided with at least two alignment devices (23), and the two alignment devices (23) are installed on the carrier (2) one in front and one behind.

11. The control method of an automatic loading and unloading system according to claim 7, characterized in that: A middle limit device (4) installed on the fixed rail (1) is provided between the rail section 1 (11) and the rail section 2 (12).

12. The control method of the automatic loading and unloading system according to claim 11, characterized in that: The middle limit device (4) comprises a hinge seat (41), a hinge shaft (42) mounted on the hinge seat (41), and a flip plate (43) rotatably connected to the hinge shaft (42), wherein the flip plate (43) comprises a downward pressing portion (431) on one side and an upward lifting portion (432) on the other side.

13. The control method of an automatic loading and unloading system according to claim 11, characterized in that: The fixed rail (1) is provided with a front limiting structure (5) and a rear limiting plate (6) for use with the alignment device (23); the front limiting structure (5) is located at the front section of the rail section one (11), and the rear limiting plate (6) is located at the rear section of the rail section two (12).

14. The control method of an automatic loading and unloading system according to claim 13, characterized in that: The front limiting structure (5) comprises a front baffle (51) and a limiting seat (52), and there is a gap between the front baffle (51) and the limiting seat (52) for the alignment device (23) to enter.

15. The control method of an automatic loading and unloading system according to claim 1, characterized in that: The lifting height of the vehicle (2) by the lifting vehicle (3) includes three heights: vehicle grounding height, vehicle unhooking height, and vehicle connection height, and the lifting heights of these three heights increase in sequence.

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