A fully automatic intelligent unloading line and a method for unloading

Abstract

The present application relates to a kind of full-automatic intelligent unloading line and its unloading method, belongs to full-automatic intelligent unloading line and its unloading method technical field.It includes longitudinal truss and is located on longitudinal truss front material receiving machine, material taking machine, rear material receiving machine, longitudinal main conveying device, wherein, material taking machine is located between front material receiving machine, rear material receiving machine, longitudinal main conveying device is set along the length direction of longitudinal truss.The present application is mainly used for the automatic unloading of woven bag grain, chemical fertilizer and other goods, replaces manual work, improves unloading efficiency, is convenient to embed, expand to the whole process of grain, chemical fertilizer and other processing.

Description

Technical Field

[0001] This invention relates to a fully automated intelligent unloading line and its unloading method, belonging to the technical field of fully automated intelligent unloading lines and their unloading methods. Background Technology

[0002] Currently, the loading process for bagged grains, fertilizers, and other goods is simple, easy to plan and control, so there are many manufacturers both domestically and internationally developing automated loading lines for bagged goods, and these lines are widely used. However, even with a high degree of standardization and regular arrangement during loading, it is impossible to avoid changes in the position of bagged goods during transportation due to road bumps, turns, braking, etc., causing irregular arrangements. This makes it difficult to accurately position and efficiently handle the goods during unloading. Therefore, there are no complete and efficient intelligent unloading lines for bagged grains and fertilizers, either domestically or internationally.

[0003] The structural defects of commonly used unloading lines are as follows:

[0004] 1) Ground rail type unloading line

[0005] The modified production line has an overall structure of ground rails + crossbeams + robotic arms + cameras. It uses two parallel ground rails, and several crossbeams each have their own gripping robotic arms. The main longitudinal conveyor belt is located outside the crossbeams. Its drawbacks are:

[0006] (1) The crossbeam is too high, the overall structure is not rigid, the positioning is inaccurate, the crossbeam shakes and the equipment is noisy during operation.

[0007] (2) The longitudinal main conveyor belt is located on the outside of the crossbeam, which results in a large lateral conveying stroke of the gripping robot on the crossbeam and low efficiency.

[0008] (3) In order to improve unloading efficiency, traditional unloading lines use two to three gripping robots, each located on an independent crossbeam.

[0009] ① Two robotic arms are equipped with two scanning cameras, each mounted on an independent crossbeam. To avoid motion interference during operation, and because each crossbeam carries one camera, scanning can only be done in one direction. This means that after the crossbeam drives the robotic arm to grab and unload the material, it must return to the starting point to perform the next scan, grab, and unload. Each time a layer is grabbed, an additional longitudinal idle stroke is added, resulting in low efficiency.

[0010] ② Using three independent crossbeams, each equipped with its own independent robotic arm and camera, can improve efficiency, but the mechanical structure and control system are complex and costly, and the problem of longitudinal idle travel is still not solved.

[0011] 2) Truss + Articulated Multi-Axis Robot

[0012] This type of unloading line involves complex robot control, multiple joints working together, resulting in low efficiency. Furthermore, for high-sided trucks, the arm span of existing standard articulated multi-axis robots is difficult to meet the working range requirements, necessitating the addition of a vertical linear motion module in the Z-axis direction. This leads to an overall complex structure, excessive non-effective workload, excessively large structural dimensions, and excessively high equipment costs.

[0013] Therefore, there is an urgent need to design a fully automated intelligent unloading line that can solve the above-mentioned technical problems. Summary of the Invention

[0014] The purpose of this invention is to address the shortcomings of the existing technology and provide a fully automated intelligent unloading line and its unloading method. This invention is mainly used for the automatic unloading of goods such as woven bagged grain and fertilizer, replacing manual labor, improving unloading efficiency, and facilitating integration and expansion into the entire processing of grain, fertilizer, etc.

[0015] To achieve the above objectives, the present invention provides the following solution:

[0016] A fully automatic intelligent unloading line is characterized by including a longitudinal truss 1 and a front receiving machine 2, a picking machine 3, a rear receiving machine 4, and a longitudinal main conveying device 5 arranged on the longitudinal truss 1, wherein the picking machine 3 is located between the front receiving machine 2 and the rear receiving machine 4, and the longitudinal main conveying device 5 is arranged along the length direction of the longitudinal truss 1.

[0017] Preferably, the longitudinal truss 1 includes two parallel longitudinal main tracks 1-3, each supported by multiple columns 1-2. The bottom of the columns 1-2 is fixed to the ground 1-1. The ground 1-1 is provided with transverse limiting strips 1-4 and longitudinal limiting strips 1-5 for limiting the truck. A longitudinal conveying bracket for supporting the longitudinal main conveying device 5 is provided below one of the longitudinal main tracks 1-3. The longitudinal conveying bracket is composed of two parallel connecting parts 1-7. Multiple spaced sub-brackets 1-8 are provided between the two connecting parts 1-7. A driving fixing part 1-6 and a driven fixing part 1-9 are respectively provided at both ends of the longitudinal conveying bracket. A rear slider connecting device 1-10 for connecting the rear receiving machine 4 and a device for connecting the front receiving machine are provided on the two longitudinal main tracks 1-3. 2. The front slider connecting device 1-12 and the material receiving machine slider connecting device 1-11 for connecting the material receiving machine 3 are provided. The longitudinal main track 1-3 includes a main track longitudinal beam 1-14, a main track rack 1-15, and a main track linear guide 1-16. The rear slider connecting device 1-10 has the same structure as the front slider connecting device 1-12, both including four sets of sliders. Two sets of sliders are equipped with a material receiving machine slider connecting plate 1-17 and a material receiving machine drive device 1-18. The remaining two sets of sliders are equipped with a material receiving machine connecting plate 1-19. The output gear of the material receiving machine drive device 1-18 meshes with the main track rack 1-15 to realize the material receiving machine moving back and forth along the longitudinal main track 1-3. Limit switches 1-20 are installed at both ends of the longitudinal main track 1-3 to limit the front and rear material receiving machines.

[0018] Preferably, the front receiving machine 2 and the rear receiving machine 4 have the same structure, both including a protective cover 2-1, a swing receiving device 2-2, a receiving machine support frame 2-3, and a transverse conveying device 2-4;

[0019] The swing receiving device 2-2 comprises a longitudinal conveying device 2-5, a receiving height adjustment mechanism 2-6, and a longitudinal sliding support frame 2-7. The longitudinal conveying device 2-5 includes a conveying device support 2-10 and a longitudinal driving device 2-8 installed at one end of the conveying device support 2-10. The longitudinal driving device 2-8 drives the synchronous belt drive device 2-9 to work. The synchronous belt drive device 2-9 is provided with tensioning devices 2-11 at both ends.

[0020] The longitudinal sliding support frame 2-7 includes a longitudinal sliding square tube frame 2-12. Two parallel longitudinal sliding linear guide rails 2-13 are installed on the upper surface of the longitudinal sliding square tube frame 2-12. A longitudinal sliding rack 2-14 is located between the two longitudinal sliding linear guide rails 2-13. Multiple longitudinal sliding sliders 2-15 are installed on the longitudinal sliding linear guide rails 2-13 on both sides. Limiting blocks 2-16 fixed on the longitudinal sliding linear guide rails 2-13 are provided at the front and rear of the longitudinal sliding sliders 2-15. The bottom of the longitudinal sliding square tube frame 2-12 is connected to the receiving machine support frame 2-3 through a longitudinal sliding connecting plate 2-17.

[0021] The material receiving height adjustment mechanism 2-6 includes two height adjustment links 2-18 and two fixed rods 2-32. One end of each height adjustment link 2-18 is hinged to the left and right sides of the conveying device support 2-10, and the other end of each height adjustment link 2-18 is hinged to the sliding component 2-19. One end of each fixed rod 2-32 is hinged to the conveying device support 2-10, and the other end is fixed to the longitudinal sliding square tube frame 2-12. A sliding component drive mechanism 2-20 is installed on the sliding component 2-19 to drive the sliding component 2-19 to move. The bottom of the sliding component 2-19 is connected to the longitudinal sliding slider 2-15. The output gear of the sliding component drive mechanism 2-20 meshes with the longitudinal sliding rack 2-14, thereby driving the sliding component 2-19 to move.

[0022] The receiving machine support frame 2-3 includes a receiving machine square tube frame 2-21. The bottom of the receiving machine square tube frame 2-21 is connected to the top of the rear slider connecting device 1-10 or the front slider connecting device 1-12. The receiving machine square tube frame 2-21 is provided with receiving machine linear guide rails 2-22 on both the front and rear sides. The receiving machine rack 2-24 is provided on the inner side of the receiving machine linear guide rail 2-22. The receiving machine slider 2-23 is provided on the receiving machine linear guide rail 2-22. An intermediate connecting piece 2-33 is installed on the receiving machine slider 2-23. The intermediate connecting piece 2-33 is connected to the longitudinal sliding connecting plate 2-17. A transverse drive device 2-25 is also installed on the intermediate connecting piece 2-33. The gear at the output end of the transverse drive device 2-25 meshes with the receiving machine rack 2-24.

[0023] The transverse conveying device 2-4 includes four support column connectors 2-26 mounted on the bottom of the square tube frame 2-21 of the receiving machine. The bottom of the support column connectors 2-26 is mounted on the transverse support frame 2-27. The transverse support frame 2-27 is equipped with an active roller 2-28, a driven roller 2-29, and multiple support rollers 2-30. A transverse conveyor belt 2-31 is sleeved on the outside of the rollers. The transverse support frame 2-27 is equipped with a transverse drive device 2-34 for driving the active roller 2-28.

[0024] Preferably, the material handling machine 3 includes a material handling machine connecting frame 3-1, which is connected to the material handling machine slider connecting device 1-11. The material handling machine connecting frame 3-1 is provided with two parallel Y-axis moving devices 3-2 and two parallel X-axis moving devices 3-7. A vertically arranged material handling robot 3-3 is installed on the Y-axis moving device 3-2. Camera lifting robots 3-4 are installed on both the front and rear sides of the material handling machine connecting frame 3-1. A camera mounting bracket 3-5 is installed on the top of the camera lifting robot 3-4, and a camera 3-6 is installed at the end of the camera mounting bracket 3-5.

[0025] The X-axis moving device 3-7 includes X-axis linear guides 3-8 installed on the inner walls of the two opposite sides of the material handling machine connecting frame 3-1. One inner wall has an X-axis rack 3-9 located above the X-axis linear guide 3-8. The two X-axis linear guides 3-8 have two X-axis slider groups 3-10, and each X-axis slider group 3-10 is equipped with a drive slide plate 3-11. The other inner wall has two X-axis linear guides 3-8, and the two X-axis linear guides 3-8 have two X-axis slider groups 3-10, each X-axis slider group 3-10 is equipped with a driven slide plate 3-13. The drive slide plate 3-11 is equipped with an X-axis drive mechanism 3-12. The output gear of the X-axis drive mechanism 3-12 meshes with the X-axis rack 3-9. A Y-axis moving device 3-2 is installed between the drive slide plate 3-11 and the driven slide plate 3-13.

[0026] The Y-direction moving device 3-2 includes a Y-direction support member 3-14. Two Y-direction connecting plates 3-15 are provided at both ends of the Y-direction support member 3-14. The two Y-direction connecting plates 3-15 are respectively installed on the drive slide plate 3-11 and the driven slide plate 3-13. Two parallel Y-direction linear guides 3-16 are installed along the length direction of the upper surface of the Y-direction support member 3-14. A Y-direction rack 3-17 is installed on one side of one of the Y-direction linear guides 3-16. The Y-direction linear guides 3-16 are installed on the side of the Y-direction support member 3-14. A longitudinal slider 3-18 is installed on the Y-direction linear guide 3-16. A longitudinal slide plate 3-19 is installed on the two longitudinal sliders 3-18 located on the upper surface. A side slide plate 3-20 is installed on the longitudinal sliders 3-18 located on the side. A longitudinal drive mechanism 3-21 is installed on the longitudinal slide plate 3-19. The gear at the output end of the longitudinal drive mechanism 3-21 meshes with the Y-direction rack 3-17.

[0027] The material handling robot 3-3 comprises a material handling robot housing 3-22, a material handling Z-axis drive device 3-23, a material handling moving part 3-24, a powder bag suction cup 3-25, and a rotary drive component 3-26. The material handling robot housing 3-22 is mounted on the side slide plate 3-20 and the longitudinal slide plate 3-19. The material handling Z-axis drive device 3-23 meshes with a rack on the material handling moving part 3-24 via an output gear, enabling the material handling moving part 3-24 to move up and down in the Z-axis direction. Since the powder bag suction cup 3-25 is mounted at the bottom of the material handling moving part 3-24, it enables the lifting and lowering of the powder bag suction cup 3-25. The rotary drive component 3-26 is installed inside the material handling moving part 3-24 and includes a rotation... Motor 3-27, a rotary motor 3-27, is mounted on intermediate fixing part 3-28. Intermediate fixing part 3-28 is fixed to the lower end face of material picking moving part 3-24. The lower end of intermediate fixing part 3-28 is connected to the upper end face of reducer 3-30 by screw 3-29. The output disc at the lower end of reducer 3-30 is connected to the upper surface of suction connector 3-31. The lower surface of suction connector 3-31 is connected to the upper end face of powder bag suction 3-25. The output shaft of rotary motor 3-27 is connected to the input shaft of reducer 3-30 through coupling, thereby driving the output disc of reducer 3-30 to rotate, driving suction connector 3-31 and powder bag suction 3-25 to rotate, so as to adapt to the tilt of the goods position.

[0028] The camera lifting robot 3-4 includes a camera lifting robot housing 3-32, which is mounted on the material handling machine connecting frame 3-1. A camera Z-axis drive device 3-33 is mounted on the camera lifting robot housing 3-32, and the camera Z-axis drive device 3-33 drives the camera moving part 3-34 to lift.

[0029] The longitudinal main conveying device 5 includes a longitudinal main conveyor belt 5-1 mounted on a longitudinal conveying support, a longitudinal main drive belt support assembly 5-2 for supporting the longitudinal main conveyor belt 5-1, and the longitudinal main conveyor belt 5-1 is driven to rotate by a power mechanism.

[0030] The present invention discloses an unloading method for a fully automated intelligent unloading line, characterized by comprising the following steps:

[0031] 1. Set the starting position

[0032] The starting position is that the rear receiving machine 4 is located at the rear limit switch 1-20. The distance from the left side of the receiving machine connecting frame 3-1 to the right side of the receiving machine support frame 2-3 of the rear receiving machine 4 is 5490mm. The distance from the right side of the receiving machine connecting frame 3-1 to the left side of the receiving machine support frame 2-3 of the front receiving machine 2 is 2620mm. The two picking manipulators 3-3 are located on the center line of the width of the first and third columns of goods, respectively, and are in the middle of their longitudinal tracks. The swing receiving device 2-2 of the receiving machine is located in the middle of the width of the carriage.

[0033] 2. The truck drove in

[0034] The truck travels along the two longitudinal limit bars 1-5 and stops at the transverse limit bars 1-4. The cargo has a total of 10 layers, with 26 rows and 3 columns on each layer.

[0035] 3. Camera scanning rules

[0036] Scanning and unloading is divided into two main work areas:

[0037] ① Odd-numbered layers, counting from the rear of the vehicle to the front, the first large area is rows 1-10, which is divided into two scanning and unloading areas. Cameras 3-6 near the rear receiving machine 4, the picking machine 3, and the front receiving machine 2 work together. The second large area is rows 11-26, which is divided into four scanning and unloading areas. Cameras 3-6 near the front receiving machine 2, the picking machine 3, and the rear receiving machine 4 work together.

[0038] ② Even-numbered layers, counted from the front to the rear of the vehicle. The first large area is rows 1-16, which are scanned and unloaded in four scans. Cameras 3-6 near the front receiving machine 2, the picking machine 3, and the rear receiving machine 4 work together. The second large area is rows 17-26, which are scanned and unloaded in two scans. Cameras 3-6 near the rear receiving machine 4, the picking machine 3, and the front receiving machine 2 work together. The scanning height of camera 3-6 is 2700mm, and the scanning range is length × width = 2500 × 2500mm. The corresponding cargo range is 5 rows and 3 columns. The length × width × height of each cargo is 800 × 500 × 200mm.

[0039] The workflow of the first large area of ​​the first layer is as follows:

[0040] First scan unloading

[0041] 1) Cameras 3-6 near the rear receiving machine 4 scan the top 5 rows and 3 columns of goods at the rear of the vehicle;

[0042] 2) The material receiving machine 3 reaches the material receiving position: After scanning is completed, the material receiving machine 3 moves 3123mm to the left to the top of the first row of goods at the rear of the vehicle, and the front receiving machine 2 moves together with the material receiving machine 3;

[0043] 3) Downward material handling: Two robotic arms descend 1306mm (3-3) to pick up goods from both sides of the first row of the first layer;

[0044] 4) Raise the cargo by 240mm to prevent it from colliding with surrounding ungrabbed cargo during rotation;

[0045] 5) Coordinated operation between the reclaimer and the preceding receiving machine

[0046] (1) Rotating cargo

[0047] The material handling robot 3-3 rotates the goods by 90° to ensure that the length direction of the goods and the synchronous belt drive device 2-9 are consistent.

[0048] (2) Upward cargo

[0049] While the goods are rotating, the material handling robot 3-3 continues to rise 500mm with the goods.

[0050] (3) The material receiving height adjustment mechanism is working.

[0051] Simultaneously with steps (1) and (2), the sliding component 2-19 in the material receiving height adjustment mechanism 2-6 of the front receiving machine 2 moves 165mm to the left from the right limit position, and the longitudinal conveying device 2-5 swings, with its lowest left end point dropping 425mm, located 26mm above the highest layer of goods, to avoid unevenness of the goods surface and interference.

[0052] (4) The front receiving machine 2 moves 1400mm to the left, and the material is above both sides of the longitudinal conveyor belt of the synchronous belt drive device 2-9 of the front receiving machine 2. Steps (1)-(4) are carried out simultaneously.

[0053] 6) Feeding material

[0054] (1) One of the material handling robots 3-3, together with its Y-axis moving device 3-2, moves about 800mm inward along the linear guide rail of the X-axis moving device 3-7. When it reaches directly above the synchronous belt drive device 2-9 of the front receiving machine 2, the powder bag suction device 3-25 is released, and the goods fall onto the longitudinal conveyor belt of the synchronous belt drive device 2-9 of the longitudinal conveyor device 2-5.

[0055] (2) The material handling robot 3-3 retracts 800mm along the X direction and rotates back 90° in the opposite direction;

[0056] (3) At the same time, robot 2 repeats the action of robot 1 and feeds the material onto the longitudinal conveyor belt of the front receiving machine.

[0057] (4) Another picking robot 3-3 rotates 90° in the opposite direction in place, at which point the picking robot 2 is located directly above the goods in the second column of the first row;

[0058] (5) At the same time, the front receiving machine 2 moves 1400mm to the right and returns to its original position;

[0059] (6) In step (4), the material handling robot 3-3 moves down 740mm to grab the goods in the middle column of the first row;

[0060] (7) In step (4), the material handling robot 3-3 rises 240mm and then rotates 90°, while continuing to rise 500mm.

[0061] (8) At the same time, the front receiving machine 2 moves forward 1400mm to the left, and the powder bag suction device 3-25 of the picking robot 3-3 in step (4) is released. It takes 0.5s to place the goods on the longitudinal conveyor belt of the front receiving machine, completing the grabbing and conveying of 3 goods in 3 columns in one row.

[0062] The goods are conveyed along the transmission belt to the transverse conveyor 2-4, and then to the longitudinal main conveyor 5, finally reaching the next workstation.

[0063] (9) The material handling robot 3-3 in step (4) retracts 800mm along the X direction;

[0064] (10) At the same time, the material handling machine 3 moves 500mm to the right, and the front receiving machine 2 moves 1400+500mm to the right and backs to the rear. The two material handling robots 3-3 are positioned above the second row of goods.

[0065] 7) Grabbing goods from the second to the fifth row

[0066] The steps are the same as 3) to 6), except that 1306mm in step 3) is changed to 740mm. This completes the grabbing of 5 rows and 3 columns of goods.

[0067] Second scan unloading

[0068] 1) After the goods in the first 5-row 3-column scanning area are unloaded, the picker 3 and the front receiving machine 2 move to the right by 3123-2000+2500=3623mm to scan the second 5-row 3-column goods area.

[0069] 2) The material receiving machine 3 reaches the material receiving position: After scanning is completed, the material receiving machine 3 moves 3123mm to the left to the top of the goods in the first row (the 6th row counting from the rear of the vehicle to the front) of the second scanning area. At this time, the front receiving machine 2 moves together with the material receiving machine 3.

[0070] 3) For subsequent steps, refer to steps 3) to 7) of the first scan and unloading process;

[0071] Workflow of the second largest area in the first layer:

[0072] Because the bottom of the conveyor support 2-10 of the receiving height adjustment mechanism 2-6 of the front receiving machine 2 is tilted, if it continues to move to the right for scanning, it will interfere with the head of the vehicle. Therefore, after the second scanning and unloading, the sliding part 2-19 in the receiving height adjustment mechanism 2-6 of the front receiving machine 2 retracts by 165mm and returns to the right limit position. The conveyor support 2-10 swings back to the horizontal position. At the same time, the front receiving machine 2 moves to the right as a whole and stops at the front limit switch 1-20 of the longitudinal main track. At the same time, the rear receiving machine 4 on the rear side begins to move to the right by 7822-2500-3123+2000=4200mm, and is 2620mm away from the left side of the frame of the picking machine 3.

[0073] Third scan unloading

[0074] 1) Third scan

[0075] After the second scan, the picker 3 moves 3123mm to the left, reaching the top of the sixth row of goods. After each row of goods is picked up, the picker 3 moves 500mm to the right to the next row. After picking up the fifth row of goods, the picker 3 moves a total of 2000mm to the right. Therefore, it is equivalent to the picker moving 3123-2000=1123mm to the left. The center of the camera 3-6 near the front picker 2 is 1895mm away from the center line of the middle row of goods in the third scan area. Therefore, to scan the third area using the camera 3-6 near the front picker 2, the picker 3 needs to move 1920-1123=797mm to the left, so that the center of the camera 3-6 near the front picker 2 reaches the center of the third scan area.

[0076] 2) The material handling machine reaches the material handling position:

[0077] After the camera 3-6 near the front receiving machine 2 scans 5 rows (16-20 rows) and 3 columns, the picking machine 3 and the rear receiving machine 4 move 1271mm to the right together, and the two picking robots 3-3 of the picking machine are located directly above the first row (the eleventh row counting from the rear of the vehicle towards the front of the vehicle) of the third scanning area.

[0078] 3) Downward material handling: Two material handling robots descend 740mm to handle the goods on both sides of the first row of the first layer of the third scanning unloading area (the eleventh row counted from the rear of the vehicle towards the front).

[0079] 4) Raise the cargo by 240mm to prevent it from colliding with surrounding ungrabbed cargo during rotation;

[0080] 5) Coordinated operation between the reclaimer and the preceding receiving machine

[0081] (1) Rotating cargo

[0082] The material handling robot 3-3 rotates the goods by 90°.

[0083] (2) Upward cargo

[0084] While the goods are rotating, the material handling robot 3-3 continues to rise 500mm with the goods.

[0085] (3) The material receiving height adjustment mechanism is working.

[0086] Simultaneously with steps (1) and (2), the sliding component in the material receiving height adjustment mechanism of the rear receiving machine 4 moves 165mm to the right from the left limit position, the support of the conveying device swings, and the lowest point of its left end drops 425mm, located 26mm above the highest layer of goods.

[0087] (4) The rear receiving machine 4 moves forward 1400mm to the right, and the material is located above the longitudinal conveyor belt of the synchronous belt conveyor device 2-9 of the rear receiving machine 4. Steps (1)-(4) are carried out simultaneously.

[0088] (5) One of the picking robots 3-3, along with its Y-axis moving device, moves about 800mm inward along the linear guide rail of the X-axis moving device, and the picking robot 3-3 arrives directly above the longitudinal conveyor belt of the synchronous belt conveyor 2-9 of the rear receiving machine 4.

[0089] 6) Feeding material

[0090] (1) In step (5), the powder bag suction device 3-25 of the picking robot 3-3 is released, and the goods fall onto the conveyor belt;

[0091] (2) In step (5), the material handling robot 3-3 retracts 800mm along the X direction and rotates back 90° in the opposite direction;

[0092] (3) At the same time, another material handling robot 3-3 repeats the action of material handling robot 3-3 in step (5) and feeds the material onto the longitudinal conveyor belt of the synchronous belt conveyor device 2-9 of the rear receiving machine 4.

[0093] (4) In step (3), the other picking robot 3-3 rotates 90° in the opposite direction in place, while the rear unloader 3 moves to the left and back 1400mm. At this time, the picking robot 3-3 is located directly above the goods in the second column of the first row.

[0094] (5) In step (4), the material handling robot 3-3 moves down 740mm to grab the goods in the middle column of the first row;

[0095] (6) In step (4), the material handling robot 3-3 rises 240mm and then rotates 90°, while continuing to rise 500mm. Then the unloading machine 4 moves forward 1400mm to the right.

[0096] (7) The powder bag suction cup 3-25 of the picking robot 3-3 in step (4) is released, and the goods are placed on the conveyor belt of the receiving machine 4, completing the picking and conveying of 3 goods in 1 row and 3 columns. The goods are conveyed along the transmission belt to the conveyor belt 2-31 of the transverse conveyor device 2-4, and then conveyed to the longitudinal main conveyor belt, finally reaching the next station;

[0097] (8) In step (4), the picking robot 3-3 retracts 800mm along the X direction. At the same time, the picking machine 3 moves 500mm to the right. The two picking robots 3-3 are located directly above the second row of goods. Meanwhile, the receiving machine 4 moves to the left and back 1400-500=900mm, and is in the waiting state before the second row of work.

[0098] 7) Grabbing goods from the second to the fifth row: Repeat steps 3) to 6) of the third scan unloading to grab and unload goods from the second to the fifth row, thus completing the third scan unloading;

[0099] Fourth scan unloading

[0100] 1) Fourth scan

[0101] When the first material is picked up after the third scan, the picking machine 3 and the rear receiving machine 4 move to the right by 1271mm. The two picking robots 3-3 are located directly above the first row of the third scan area. After each row is picked up and unloaded, the picking machine 3 and the rear receiving machine 4 move to the right by 500mm to the next row, moving a total of 2000mm. Therefore, after the picking and unloading of the material in the third scan area is completed, the picking machine 3 has moved to the right by 1271 + 2000 = 3271mm. Since the third and fourth scan areas are 2500mm apart, the picking machine 3 and the rear receiving machine 4 need to move to the left and return by 3271 - 2500 = 771mm so that the camera close to the front receiving machine 2 can reach the center of the fourth scan area.

[0102] 2) When the material picker reaches the picker position: After the camera 3-6 near the front material picker 2 scans 5 rows (16-20 rows) and 3 columns, the material picker 3 and the rear material picker 4 move to the right together by 1271mm. The two picking robots 3-3 of the material picker 3 are located directly above the first row of the fourth scan area (the sixteenth row counted from the rear of the vehicle towards the front of the vehicle).

[0103] Steps 3) to 7) refer to steps 3) to 7) of the third scan unloading, thus completing the fourth scan unloading;

[0104] Fifth scan unloading

[0105] The fifth scan and unloading process is the same as the fourth.

[0106] Sixth scan unloading

[0107] The scanning, picking, and unloading of the sixth scanning area can refer to the fifth scanning area. The difference is that the sixth scan scans rows 22 to 25 of the second layer and the last row (row 26) of the first layer. After the unloading of the fifth scan, the picking machine 3 and the rear receiving machine 4 move to the right by 1271 + 2000 = 3271 mm. Therefore, they need to move to the left by 3271 - 500 = 2771 mm so that the camera near the front receiving machine 2 is located in the center of the sixth scanning area. After the scan is completed, the picking machine 3 and the rear receiving machine 4 move to the right by 1271 + 2000 = 3271 mm to be located directly above the last row. Only the last row needs to be picked up and unloaded to finish.

[0108] After the first layer of unloading is completed, the material handling robot 3-3 and the scanning camera 3-6 descend by 200mm to ensure that the scanning depth of field (height) is 2700mm and the scanning range is 2500mm x 2500mm. The downward gripping stroke and lifting stroke of the material handling robot 3-3 are both 740mm.

[0109] 3. The first large area of ​​the second floor

[0110] The first scan area only scans, grabs, and unloads the first row of goods, still coordinated by cameras 3-6 near the front receiving machine and the rear receiving machine 4.

[0111] 1) Camera positioning and scanning near the front receiving machine 2: After the unloading is completed in the 26th row of the first layer, the material receiving machine 3 only needs to move 3271mm to the left to make the camera 3-6 near the front receiving machine located in the center of the first scanning area of ​​the first large area of ​​the second layer (the first to fifth rows counted from the front to the rear of the vehicle).

[0112] 2) The material handling machine reaches the material handling position:

[0113] After the camera close to the front receiving machine 2 scans 5 rows (1-5 rows) and 3 columns, the picking machine 3 and the rear receiving machine 4 move to the right together by 1271+2000=3271mm, and the two picking machine robots 3-3 are located directly above the first row (the first row counted from the front of the car to the rear of the car);

[0114] 3) Downward material handling

[0115] Two robotic arms move 740mm downwards in a 3-3 pattern to pick up goods from both sides of the first row of the second layer;

[0116] 4) Raise the cargo by 240mm to prevent it from colliding with surrounding ungrabbed cargo during rotation;

[0117] 5) Coordinated operation between the reclaimer and the preceding receiving machine

[0118] (1) Rotating cargo

[0119] The material handling robot 3-3 rotates the goods by 90°.

[0120] (2) Upward cargo

[0121] While the goods are rotating, the material handling robot 3-3 continues to rise 500mm with the goods.

[0122] (3) The rear receiving machine is moved 1400mm to the right.

[0123] (4) The material receiving height adjustment mechanism 2-6 of the rear receiving machine 4 operates simultaneously with steps (1), (2), and (3). The sliding component 2-19 in the material receiving height adjustment mechanism 2-6 of the rear receiving machine 4 continues to move 81mm to the right, and the conveyor support component 2-10 swings, with its lowest left end located 26mm above the second layer of goods. The material is located above and to the side of the longitudinal conveyor belt of the rear receiving machine;

[0124] 6) Feeding material

[0125] (1) is carried out simultaneously with (3) in step 5). One of the material handling robots 3-3 moves about 800mm inward along the linear guide rail of the X-direction moving device along with its Y-direction moving device. After reaching the synchronous belt drive device 2-9 of the rear receiving machine 4, the powder bag suction device 3-25 is released and the goods fall onto the conveyor belt.

[0126] (2) The material handling robot 3-3 in step (1) retracts 800mm along the X direction and rotates back 90° in the opposite direction;

[0127] (3) At the same time, another material handling robot 3-3 repeats the action of the material handling robot 3-3 in step (1) and feeds the material onto the longitudinal conveyor belt of the synchronous belt conveyor device 2-9 of the rear receiving machine 4.

[0128] (4) The other material handling robot 3-3 in step (3) rotates 90° in the opposite direction in place, while the rear receiving machine 4 returns 1400mm to the left. At this time, the other material handling robot 3-3 in step (3) is located directly above the goods in the second column of the first row.

[0129] (5) At the same time as (4), another material handling robot 3-3 in step (3) moves down 740mm and grabs the grain bags in the middle column of the first row;

[0130] (6) In step (3), the other material handling robot 3-3 rises 240mm and then rotates 90°, while continuing to rise 500mm. Then the receiving machine 4 moves 1400mm to the right.

[0131] (7) The powder bag suction device 3-25 of the other picking robot 3-3 in step (3) is released, and the goods are placed on the longitudinal conveyor belt of the synchronous belt conveyor device 2-9 of the rear receiving machine 4 to complete the picking and conveying of 3 goods in 1 row and 3 columns.

[0132] The goods are conveyed along the transmission belt to the transverse conveyor 2-4, and then to the longitudinal main conveyor belt, finally reaching the next workstation.

[0133] (8) The other material handling robot 3-3 in step (3) retracts 800mm along the X direction;

[0134] (9) At the same time as (8), the rear receiving machine 4 moves to the left and back 1400mm, and is in a waiting state;

[0135] Second scan area: working range is 2-6 lines

[0136] 1) The material receiving machine 3 and the rear receiving machine 4 move to the left by 1271+2500=3771mm at the same time, and the camera 3-6, which is close to the front receiving machine 2, is located in the center of the second scanning area;

[0137] 2) After the camera 3-6 near the front receiving machine 2 finishes scanning, the picking machine 3 and the rear receiving machine 4 move to the right by 1271+2000=3271mm at the same time, and the two picking machine robots 3-3 are located directly above the goods on both sides of the first row (the second row counted from the front to the rear of the vehicle) in the second scanning area.

[0138] 3) The steps are the same as steps 3) to 6) of the first scan area of ​​the first large area of ​​the second layer. After each row is unloaded, the material picker 3 and the rear material receiving machine 4 advance together by 500mm until the 5 rows are finished.

[0139] The third scan area: the working range is lines 7 to 11, and the working process is the same as the second scan area;

[0140] Fourth scan area: The working range is lines 12 to 16, and the working process is the same as the second scan area;

[0141] 4. Workflow of the second largest area in the second layer: The work scope is lines 17 to 26;

[0142] During the fourth scan of the first large area, because the bottom of the conveyor support 2-10 of the material receiving height adjustment mechanism 2-6 of the rear receiving machine 4 is tilted, if the scanning continues to move to the left, it will interfere with the tail carriage baffle. Therefore, after the unloading of the fourth scan, the sliding part 2-19 in the material receiving height adjustment mechanism 2-6 of the rear receiving machine 4 retracts by 165+81=246mm and returns to the left limit position. The conveyor support 2-10 swings back to the horizontal position. At the same time, the rear receiving machine 4 moves to the left as a whole and stops at the left limit switch of the longitudinal main track. At the same time, the front receiving machine 2 starts to move to the left 7000mm and then stops.

[0143] Fifth scan area:

[0144] 1) After the fourth scan and unloading, the center of the picking robot 3-3 is located directly above the goods on both sides of the last row of the fourth scan area. At this time, the distance from the center of the fifth scan area to the center of the picking robot is 1500mm. Therefore, the picking robot moves 2134-1500=634mm to the right and is close to the center of the camera 3-6 of the rear receiving mechanism 4 to reach the center of the fifth scan area. The camera 3-6 close to the rear receiving mechanism 4 is used for scanning. At the same time, the front receiving mechanism 2 moves 690mm to the left and is 2620mm away from the right side of the picking robot 3 frame.

[0145] 2) The material handling machine 3 moves forward 1134mm to the left (horizontal distance from the robot arm to the center of the first row), and the two material handling robots 3-3 are located in the first row of the fifth scanning area of ​​the second layer (the seventeenth row counted from the front to the rear of the vehicle);

[0146] 3) Downward material handling

[0147] Two robotic arms move 740mm downwards in a 3-3 pattern to pick up goods from both sides of the first row of the second layer;

[0148] 4) Raise the cargo by 240mm to prevent it from colliding with surrounding ungrabbed cargo during rotation;

[0149] 5) Coordinated operation between the reclaimer and the preceding receiving machine

[0150] (1) Rotating cargo

[0151] The material handling robot 3-3 rotates the goods by 90°.

[0152] (2) Upward cargo

[0153] While the goods are rotating, the material handling robot 3-3 continues to rise 500mm with the goods.

[0154] (3) The front receiving machine 2 moves forward and to the left by 1400mm;

[0155] (4) The material receiving height adjustment mechanism 2-6 of the front receiving machine 2 operates simultaneously with (1), (2), and (3). The sliding component 2-19 in the material receiving height adjustment mechanism of the front receiving machine 2 moves 165+81mm to the right, and the conveying device support component 2-10 swings, with its lowest left end located 26mm above the second layer of goods. The material is located above and to the side of the longitudinal conveyor belt of the front receiving machine.

[0156] 6) Feeding material

[0157] (1) and (3) in 5) are carried out simultaneously. One of the material handling robots 3-3 moves about 800mm inward along the linear guide rail of the X-direction moving device along with its Y-direction moving device. After reaching the longitudinal conveyor belt of the synchronous belt conveyor 2-9 of the front receiving machine 2, the powder bag suction cup 3-25 is released and the goods fall onto the conveyor belt.

[0158] (2) The material handling robot 3-3 in step (1) retracts 800mm along the X direction and rotates back 90° in the opposite direction;

[0159] (3) At the same time, another material handling robot 3-3 repeats the action of the material handling robot 3-3 in step (1) and feeds the material onto the longitudinal conveyor belt of the synchronous belt conveyor 2-9 of the front receiving machine 2.

[0160] (4) In step (3), the other picking robot 3-3 rotates 90° in the opposite direction in place, while the front receiving machine 2 returns 1400mm to the right. At this time, the other picking robot 3-3 in step (3) is located directly above the goods in the second column of the first row.

[0161] (5) At the same time as (4), in step (3), another material handling robot 3-3 moves down 740mm and grabs the grain bag in the middle column of the first row;

[0162] (7) In step (3), the other material handling robot 3-3 rises 240mm and then rotates 90°, while continuing to rise 500mm. The front receiving machine 2 moves 1400mm to the left.

[0163] (8) In step (3), the powder bag suction cup 3-25 of the other picking robot 3-3 is released, and the goods are placed on the longitudinal conveyor belt of the synchronous belt conveyor 2-9 of the front receiving machine 2, completing the grabbing and conveying of 3 goods in 1 row and 3 columns.

[0164] The goods are conveyed along the transmission belt to the transverse conveyor 2-4, and then to the longitudinal main conveyor belt, finally reaching the next workstation.

[0165] (9) In step (3), the other material handling robot 3-3 retracts 800mm along the X direction. At the same time, the front receiving machine 2 moves to the right and retracts 1400mm, and is in a waiting state before the next scan and unloading.

[0166] Sixth scan area:

[0167] The sixth scan area process is the same as the fifth scan area scan area scan, grab and unload operations. After completing 5 rows (22-26 rows) and 3 columns, all the goods in the second layer are unloaded.

[0168] The operation of subsequent odd-numbered layers (3, 5, 7, 9) is similar to that of the first layer, and the operation of even-numbered layers (4, 6, 8, 10) is similar to that of the second layer. After each layer is unloaded, the positions of the camera and the robot arm drop by 200mm at the same time. Meanwhile, the sliding component 2-19 in the material receiving height adjustment mechanism 2-6 continues to move toward another extreme position, so that the height of the front end of the longitudinal conveyor belt in the material receiving height adjustment mechanism 2-6 continues to drop by 200mm. Therefore, the gripping and lifting unloading stroke of the material receiving robot arm 3-3 is always kept at 740mm.

[0169] The fully automated intelligent unloading line of the present invention has the following beneficial effects:

[0170] 1. The overall layout of the fully automated intelligent unloading line is reasonable.

[0171] The unloading line adopts a truss structure, which has good overall structural rigidity. The longitudinal main conveyor belt is located inside the longitudinal truss, which reduces the lateral conveying stroke of the robot and improves unloading efficiency.

[0172] This unloading line mounts two robotic arms and a scanning camera on the same material handling machine (equivalent to using a single beam), resulting in a compact structure. It is coordinated with the front and rear receiving machines, and is always in operation during both forward and backward travel, eliminating motion interference and idle travel, thus achieving high efficiency.

[0173] 2. A material handling machine is used to replace the traditional beam + robotic arm + camera structure.

[0174] This unloading line uses a single material handling machine with two robotic arms mounted on it, and a scanning camera on each side. The robotic arms and cameras can move with the material handling machine as a whole. The two robotic arms can also move independently along their respective longitudinal and transverse tracks to adapt to changes in the position of the goods. With the help of the scanning cameras, accurate positioning and grabbing of goods are achieved. At the same time, the cameras located on both sides of the material handling machine can scan in both directions, reducing downtime and improving efficiency.

[0175] 3. Using two sets of receiving machines significantly reduces idle travel.

[0176] One of the main structures of the receiving machine, the receiving height adjustment structure, is similar to a crank-slider mechanism, including two height adjustment links 2-18 (equivalent to connecting rods) and two fixed rods 2-32. One end of each height adjustment link 2-18 is hinged to the left and right sides of the conveying device support 2-10 (similar to a crank, but only swinging within the range of 0-30°), and the other end is hinged to the sliding component 2-19 (equivalent to a slider). One end of the fixed rod 2-32 (equivalent to a frame) is hinged to the conveying device support 2-10, and the other end is fixed to the longitudinal sliding square tube frame 2-12. The sliding component 2-19 is equipped with a sliding component drive mechanism 2-20 for driving the sliding component 2-19 to move. The bottom of the sliding component 2-19 is connected to the longitudinal sliding slider 2-15. The output gear of the sliding component drive mechanism 2-20 meshes with the longitudinal sliding rack 2-14, thereby driving the sliding component 2-19 to move.

[0177] 1) Its function is to automatically lower the receiving height of one layer of goods after each layer of goods has been grasped, thereby ensuring that the stroke of the robotic arm for each downward grasping and lifting unloading is consistent at 740mm. In contrast, the stroke of the traditional method increases layer by layer for each downward grasping and lifting unloading, with a maximum stroke exceeding 2700mm.

[0178] 2) Divide each layer of goods into two major working areas, each handled by a separate unloading machine, which works in coordination with the picking machine and scanning camera to eliminate the longitudinal empty travel when the crossbeam returns in the traditional unloading line.

[0179] The above three points demonstrate the significant benefits of a fully automated intelligent unloading line: accurate positioning and efficient unloading.

[0180] The efficiency of a traditional unloading line is about 30t / h, while the efficiency of this line is about 60t / h.

[0181] In summary, this invention addresses the problem of irregularly arranged bagged grains, fertilizers, and other goods whose position changes due to road bumps, turns, braking, etc., making accurate positioning and efficient handling difficult during unloading. It overcomes the shortcomings of existing unloading lines, which are complex in structure and inefficient, and replaces current manual or semi-automatic unloading equipment, reducing labor intensity and improving unloading efficiency. Attached Figure Description

[0182] Figure 1 This is a schematic diagram of the structure of the fully automated intelligent unloading line of the present invention;

[0183] Figure 2 This is a schematic diagram of the longitudinal truss structure;

[0184] Figure 3 This is a magnified view of a section of the longitudinal truss;

[0185] Figure 4 This is a schematic diagram of the slider connection device;

[0186] Figure 5 This is a schematic diagram of the external structure of the front receiving machine;

[0187] Figure 6 This is a schematic diagram of the front receiving machine after the protective cover has been removed.

[0188] Figure 7 This is a schematic diagram of the oscillating material receiving device;

[0189] Figure 8 This is a schematic diagram of the longitudinal conveying device;

[0190] Figure 9 This is a schematic diagram of the longitudinal sliding support frame.

[0191] Figure 10 This is a schematic diagram of the material receiving height adjustment structure;

[0192] Figure 11 This is a schematic diagram of the support frame of the receiving machine;

[0193] Figure 12 This is a schematic diagram of the structure of the transverse conveyor device;

[0194] Figure 13 This is a schematic diagram of the material handling machine.

[0195] Figure 14 Schematic diagram of the X-axis moving device Figure 1 ;

[0196] Figure 15 Schematic diagram of the X-axis moving device Figure 2 ;

[0197] Figure 16 This is a schematic diagram of the structure of two Y-axis moving devices;

[0198] Figure 17 This is a schematic diagram of the material handling robot.

[0199] Figure 18 This is a schematic diagram of the rotary drive component.

[0200] Figure 19 A schematic diagram of the camera lifting robot arm;

[0201] Figure 20 This is a schematic diagram of the structure of the longitudinal main conveyor.

[0202] Figure 21 This is the starting position diagram for step 1;

[0203] Figure 22 This is a scan range diagram for the first scan unloading step 1);

[0204] Figure 23 This is a schematic diagram showing the material handling machine reaching the initial material handling position during the first scanning and unloading step 2).

[0205] Figure 24 This is a schematic diagram of the structure for the two robotic arms descending to pick up the material in step 3) of the first scanning and unloading process;

[0206] Figure 25 This is a schematic diagram of the structure of the material handling robot that lifts and rotates the goods during the first scanning and unloading step (5).

[0207] Figure 26 This is the state diagram of step (4) in the first scan unloading step 5);

[0208] Figure 27 This is a state diagram for the second scan unloading step 1).

[0209] Figure 28 This is a schematic diagram of the interference between the locomotive head and the support components of the conveyor device in the workflow of the second largest area of ​​the first layer.

[0210] Figure 29 This is the location of the third scan in the first large region of the first layer;

[0211] Figure 30 This is a schematic diagram showing the material handling machine reaching the material handling position during the third scan and unloading process in the first large area of ​​the first layer;

[0212] Figure 31 This is a schematic diagram of the structure in the third scan unloading of the first large area of ​​the first layer, where the material is located above and to the side of the longitudinal conveyor belt of the rear receiving machine during the coordinated operation of the material receiving machine and the front receiving machine.

[0213] Figure 32 This is a schematic diagram of the structure in the first large area of ​​the first layer, where the right-hand camera reaches the center of the fourth scan area during the fourth scan unloading.

[0214] Figure 33 This is the sixth scan area map of the first large region of the first layer;

[0215] Figure 34 This is a schematic diagram of the camera scanning area near the front receiving machine during the first scan in the first large area of ​​the second layer;

[0216] Figure 35 This is a schematic diagram of the fourth scan area in the second layer;

[0217] Figure 36 This is a schematic diagram of the fifth scan area in the second layer;

[0218] Figure 37 This is a schematic diagram of the sixth scan area of ​​the second layer. Detailed Implementation

[0219] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0220] Example 1

[0221] This embodiment describes a fully automated intelligent unloading line: (Refer to Appendix) Figure 1 See Figure 37. It includes a longitudinal truss 1 and a front receiving machine 2, a retrieving machine 3, a rear receiving machine 4, and a longitudinal main conveyor 5 mounted on the longitudinal truss 1. The retrieving machine 3 is located between the front receiving machine 2 and the rear receiving machine 4. The longitudinal main conveyor 5 is arranged along the length of the longitudinal truss 1. See attached figure. Figure 1 .

[0222] The longitudinal truss 1 in this embodiment is shown in the appendix. Figure 2-3 It includes two parallel longitudinal main tracks 1-3, each supported by multiple columns 1-2. The bottom of the columns 1-2 is fixed to the ground 1-1. The ground 1-1 is provided with transverse limiting strips 1-4 and longitudinal limiting strips 1-5 for limiting the truck. Below one of the longitudinal main tracks 1-3 is a longitudinal conveying bracket for supporting the longitudinal main conveying device 5. The longitudinal conveying bracket is composed of two parallel connecting parts 1-7, and multiple spaced sub-braces 1-8 are provided between the two connecting parts 1-7. Both ends are respectively provided with driving fixing parts 1-6 and driven fixing parts 1-9. Two longitudinal main tracks 1-3 are provided with a rear slider connecting device 1-10 for connecting to the rear receiving machine 4, a front slider connecting device 1-12 for connecting to the front receiving machine 2, and a reclaiming machine slider connecting device 1-11 for connecting to the reclaiming machine 3. The longitudinal main track 1-3 includes a main track longitudinal beam 1-14, a main track rack 1-15, and a main track linear guide 1-16. The rear slider connecting device 1-10 has the same structure as the front slider connecting device 1-12. (See attached diagram) Figure 4 Each includes four sets of sliders. Two sets of sliders are equipped with receiving machine slider connecting plates 1-17 and receiving machine drive devices 1-18. The remaining two sets of sliders are equipped with receiving machine connecting plates 1-19. The output gear of the receiving machine drive device 1-18 meshes with the main track rack 1-15, so that the receiving machine can move back and forth along the longitudinal main track 1-3. Limit switches 1-20 are installed at both ends of the longitudinal main track 1-3 to limit the front and rear receiving machines.

[0223] In this embodiment, the front receiving machine 2 and the rear receiving machine 4 have the same structure; see attached diagram. Figure 5-6 Each includes a protective cover 2-1, a swing receiving device 2-2, a receiving machine support frame 2-3, and a transverse conveying device 2-4;

[0224] The swing receiving device 2-2 in this embodiment is shown in the appendix. Figure 7 It comprises a longitudinal conveying device 2-5, a receiving height adjustment mechanism 2-6, and a longitudinal sliding support frame 2-7. The longitudinal conveying device 2-5 is shown in the attached diagram. Figure 8 It includes a transmission device support 2-10 and a longitudinal drive device 2-8 installed at one end of the transmission device support 2-10. The longitudinal drive device 2-8 drives the synchronous belt drive device 2-9 to work. The synchronous belt drive device 2-9 is provided with tensioning devices 2-11 at both ends.

[0225] The longitudinal sliding support frame 2-7 of this embodiment is shown in Appendix 2. Figure 9 It includes a longitudinal sliding square tube frame 2-12, on the upper surface of which are two parallel longitudinal sliding linear guides 2-13. A longitudinal sliding rack 2-14 is located between the two longitudinal sliding linear guides 2-13. Multiple longitudinal sliding sliders 2-15 are installed on the longitudinal sliding linear guides 2-13 on both sides. Limiting blocks 2-16 fixed on the longitudinal sliding linear guides 2-13 are provided at the front and rear of the longitudinal sliding sliders 2-15. The bottom of the longitudinal sliding square tube frame 2-12 is connected to the receiving machine support frame 2-3 through a longitudinal sliding connecting plate 2-17.

[0226] The material receiving height adjustment mechanism 2-6 in this embodiment is shown in the appendix. Figure 10 It includes two height adjusting links 2-18 and two fixed rods 2-32. One end of the two height adjusting links 2-18 is respectively hinged to the left and right sides of the conveying device support 2-10, and the other end of the height adjusting links 2-18 is hinged to the sliding component 2-19. One end of the fixed rod 2-32 is hinged to the conveying device support 2-10, and the other end is fixed to the longitudinal sliding square tube frame 2-12. The sliding component 2-19 is equipped with a sliding component drive mechanism 2-20 for driving the sliding component 2-19 to move. The bottom of the sliding component 2-19 is connected to the longitudinal sliding slider 2-15. The output gear of the sliding component drive mechanism 2-20 meshes with the longitudinal sliding rack 2-14, thereby driving the sliding component 2-19 to move.

[0227] The receiving machine support frame 2-3 in this embodiment is shown in Appendix 2. Figure 11The receiving machine includes a square tube frame 2-21, the bottom of which is connected to the top of a rear slider connecting device 1-10 or a front slider connecting device 1-12. The receiving machine square tube frame 2-21 has linear guide rails 2-22 on both its front and rear sides. A receiving machine rack 2-24 is located inside the linear guide rails 2-22. A receiving machine slider 2-23 is mounted on the linear guide rails 2-22. An intermediate connecting piece 2-33 is installed on the slider 2-23. The intermediate connecting piece 2-33 is connected to a longitudinal sliding connecting plate 2-17. A transverse drive device 2-25 is also installed on the intermediate connecting piece 2-33. The gear at the output end of the transverse drive device 2-25 meshes with the receiving machine rack 2-24.

[0228] The lateral conveying devices 2-4 in this embodiment are shown in the appendix. Figure 12 It includes four support column connectors 2-26 mounted on the bottom of the square tube frame 2-21 of the receiving machine. The bottom of the support column connectors 2-26 is mounted on the transverse support frame 2-27. The transverse support frame 2-27 is equipped with an active roller 2-28, a driven roller 2-29 and a plurality of support rollers 2-30. A transverse conveyor belt 2-31 is sleeved on the outside of the rollers. A transverse drive device 2-34 for driving the active roller 2-28 is mounted on the transverse support frame 2-27.

[0229] The material handling machine 3 in this embodiment is shown in the appendix. Figure 13-16The system includes a material handling machine connecting frame 3-1, which is connected to a material handling machine slider connecting device 1-11. The material handling machine connecting frame 3-1 contains two parallel Y-axis moving devices 3-2 and two parallel X-axis moving devices 3-7. A vertically mounted material handling robot 3-3 is installed on each Y-axis moving device 3-2. Camera lifting robots 3-4 are installed on both the front and rear sides of the material handling machine connecting frame 3-1. A camera mounting bracket 3-5 is installed on the top of each camera lifting robot 3-4, and a camera 3-6 is installed at the end of each camera mounting bracket 3-5. The X-axis moving devices... The device 3-7 includes X-direction linear guides 3-8 mounted on the two opposing inner walls of the connecting frame 3-1 of the material handling machine. One inner wall has an X-direction rack 3-9 located above the two X-direction linear guides 3-8. Two X-direction slider assemblies 3-10 are mounted on the two X-direction linear guides 3-8, and each X-direction slider assembly 3-10 is equipped with a drive slide plate 3-11. The other inner wall has two X-direction linear guides 3-8, and two X-direction slider assemblies 3-10 are mounted on the two X-direction linear guides 3-8, each X-direction slider assembly 3-10 is equipped with a driven slide plate 3-1. 3. An X-axis drive mechanism 3-12 is installed on the drive slide plate 3-11. The output gear of the X-axis drive mechanism 3-12 meshes with the X-axis rack 3-9. A Y-axis moving device 3-2 is installed between the drive slide plate 3-11 and the driven slide plate 3-13. The Y-axis moving device 3-2 includes a Y-axis support member 3-14. Two Y-axis connecting plates 3-15 are provided at both ends of the Y-axis support member 3-14. The two Y-axis connecting plates 3-15 are respectively installed on the drive slide plate 3-11 and the driven slide plate 3-13. Two parallel Y-axis connecting plates are installed along the length of the upper surface of the Y-axis support member 3-14. Linear guide 3-16, one of the Y-direction linear guide 3-16 has a Y-direction rack 3-17 mounted on one side, Y-direction linear guide 3-16 is mounted on the side of Y-direction support 3-14, longitudinal slider 3-18 is mounted on the Y-direction linear guide 3-16, longitudinal slide plate 3-19 is mounted on the two longitudinal sliders 3-18 located on the upper surface, side slide plate 3-20 is mounted on the longitudinal sliders 3-18 located on the side, longitudinal drive mechanism 3-21 is mounted on the longitudinal slide plate 3-19, and the gear at the output end of the longitudinal drive mechanism 3-21 meshes with the Y-direction rack 3-17;

[0230] The material handling robot 3-3 in this embodiment is shown in Appendix 3. Figure 17-18The device comprises a material handling robot housing 3-22, a material handling Z-axis drive device 3-23, a material handling moving part 3-24, a powder bag suction cup 3-25, and a rotary drive component 3-26. The material handling robot housing 3-22 is mounted on the side slide plate 3-20 and the longitudinal slide plate 3-19. The material handling Z-axis drive device 3-23 meshes with a rack on the material handling moving part 3-24 via an output gear, enabling the material handling moving part 3-24 to move up and down in the Z-axis direction. Since the powder bag suction cup 3-25 is mounted at the bottom of the material handling moving part 3-24, it allows for lifting and lowering of the powder bag suction cup 3-25. The rotary drive component 3-26 is installed inside the material handling moving part 3-24 and includes a rotary motor 3- 27. The rotary motor 3-27 is mounted on the intermediate fixing part 3-28. The intermediate fixing part 3-28 is fixed to the lower end face of the material picking moving part 3-24. The lower end of the intermediate fixing part 3-28 is connected to the upper end face of the reducer 3-30 by screws 3-29. The output disc at the lower end of the reducer 3-30 is connected to the upper surface of the suction connector 3-31. The lower surface of the suction connector 3-31 is connected to the upper end face of the powder bag suction device 3-25. The output shaft of the rotary motor 3-27 is connected to the input shaft of the reducer 3-30 through a coupling, thereby driving the output disc of the reducer 3-30 to rotate, which in turn drives the suction connector 3-31 and the powder bag suction device 3-25 to rotate to adapt to the tilt of the goods position.

[0231] The camera lifting robot arm 3-4 in this embodiment is shown in the appendix. Figure 19 It includes a camera lifting robot housing 3-32, which is mounted on the material handling machine connecting frame 3-1. A camera Z-axis drive device 3-33 is mounted on the camera lifting robot housing 3-32, and the camera Z-axis drive device 3-33 drives the camera moving part 3-34 to lift.

[0232] The longitudinal main conveyor device 5 in this embodiment is shown in the appendix. Figure 20 It includes a longitudinal main conveyor belt 5-1 mounted on a longitudinal conveyor support, a longitudinal main drive belt support assembly 5-2 for supporting the longitudinal main conveyor belt 5-1, and the longitudinal main conveyor belt 5-1 is driven to rotate by a power mechanism.

[0233] This embodiment of a fully automated intelligent unloading line unloading method includes the following steps:

[0234] 1. Set the starting position

[0235] See appendix Figure 21The starting position is that the rear receiving machine 4 is located at the rear limit switch 1-20. The distance from the left side of the receiving machine connecting frame 3-1 to the right side of the receiving machine support frame 2-3 of the rear receiving machine 4 is 5490mm. The distance from the right side of the receiving machine connecting frame 3-1 to the left side of the receiving machine support frame 2-3 of the front receiving machine 2 is 2620mm. The two picking manipulators 3-3 are located on the center line of the width of the first and third columns of goods, respectively, and are in the middle of their longitudinal tracks. The swing receiving device 2-2 of the receiving machine is located in the middle of the width of the carriage.

[0236] 2. The truck drove in

[0237] The truck travels along the two longitudinal limit bars 1-5 and stops at the transverse limit bars 1-4. The cargo has a total of 10 layers, with 26 rows and 3 columns on each layer.

[0238] 3. Camera scanning rules

[0239] Scanning and unloading is divided into two main work areas:

[0240] ① Odd-numbered layers, counting from the rear of the vehicle to the front, the first large area is rows 1-10, which is divided into two scanning and unloading areas. Cameras 3-6 near the rear receiving machine 4, the picking machine 3, and the front receiving machine 2 work together. The second large area is rows 11-26, which is divided into four scanning and unloading areas. Cameras 3-6 near the front receiving machine 2, the picking machine 3, and the rear receiving machine 4 work together.

[0241] ② Even-numbered layers, counted from the front to the rear of the vehicle. The first large area is rows 1-16, which are scanned and unloaded in four scans. Cameras 3-6 near the front receiving machine 2, the picking machine 3, and the rear receiving machine 4 work together. The second large area is rows 17-26, which are scanned and unloaded in two scans. Cameras 3-6 near the rear receiving machine 4, the picking machine 3, and the front receiving machine 2 work together. The scanning height of camera 3-6 is 2700mm, and the scanning range is length × width = 2500 × 2500mm. The corresponding cargo range is 5 rows and 3 columns. The length × width × height of each cargo is 800 × 500 × 200mm.

[0242] The workflow of the first large area of ​​the first layer is as follows:

[0243] First scan unloading

[0244] 1) Cameras 3-6 near the rear receiving machine 4 scan the area; see attached diagram for the scanning area. Figure 22 The cargo consists of 5 rows and 3 columns at the top of the rear section of the vehicle.

[0245] 2) Reclaimer 3 reaches the reclaiming position: After scanning, reclaimer 3 moves 3123mm to the left to above the first row of goods at the rear of the vehicle. The front receiving machine 2 moves along with reclaimer 3. (See attached diagram) Figure 23 ;

[0246] 3) Downward material handling: Two robotic arms descend 1306mm (3-3) to pick up goods from both sides of the first row of the first layer. See appendix. Figure 24 ;

[0247] 4) Raise the cargo by 240mm to prevent it from colliding with surrounding ungrabbed cargo during rotation;

[0248] 5) Coordinated operation between the reclaimer and the preceding receiving machine

[0249] (1) Rotating cargo

[0250] The material handling robot 3-3 rotates the goods by 90°, ensuring that the length direction of the goods and the synchronous belt drive device 2-9 are aligned. (See appendix) Figure 25 ;

[0251] (2) Upward cargo

[0252] While the goods are rotating, the material handling robot 3-3 continues to rise 500mm with the goods.

[0253] (3) The material receiving height adjustment mechanism is working.

[0254] Simultaneously with steps (1) and (2), the sliding component 2-19 in the material receiving height adjustment mechanism 2-6 of the front receiving machine 2 moves 165mm to the left from the right limit position, and the longitudinal conveying device 2-5 swings, with its lowest left end point dropping 425mm, located 26mm above the highest layer of goods, to avoid unevenness of the goods surface and interference.

[0255] (4) The front receiving machine 2 moves 1400mm to the left, and the material is positioned above both sides of the longitudinal conveyor belt of the synchronous belt drive device 2-9 of the front receiving machine 2. Steps (1)-(4) are performed simultaneously. See Appendix Figure 26 ;

[0256] 6) Feeding material

[0257] (1) One of the material handling robots 3-3, together with its Y-axis moving device 3-2, moves about 800mm inward along the linear guide rail of the X-axis moving device 3-7. When it reaches directly above the synchronous belt drive device 2-9 of the front receiving machine 2, the powder bag suction device 3-25 is released, and the goods fall onto the longitudinal conveyor belt of the synchronous belt drive device 2-9 of the longitudinal conveyor device 2-5.

[0258] (2) The material handling robot 3-3 retracts 800mm along the X direction and rotates back 90° in the opposite direction;

[0259] (3) At the same time, robot 2 repeats the action of robot 1 and feeds the material onto the longitudinal conveyor belt of the front receiving machine.

[0260] (4) Another picking robot 3-3 rotates 90° in the opposite direction in place, at which point the picking robot 2 is located directly above the goods in the second column of the first row;

[0261] (5) At the same time, the front receiving machine 2 moves 1400mm to the right and returns to its original position;

[0262] (6) In step (4), the material handling robot 3-3 moves down 740mm to grab the goods in the middle column of the first row;

[0263] (7) In step (4), the material handling robot 3-3 rises 240mm and then rotates 90°, while continuing to rise 500mm.

[0264] (8) At the same time, the front receiving machine 2 moves forward 1400mm to the left, and the powder bag suction device 3-25 of the picking robot 3-3 in step (4) is released. It takes 0.5s to place the goods on the longitudinal conveyor belt of the front receiving machine, completing the grabbing and conveying of 3 goods in 3 columns in one row.

[0265] The goods are conveyed along the transmission belt to the transverse conveyor 2-4, and then to the longitudinal main conveyor 5, finally reaching the next workstation.

[0266] (9) The material handling robot 3-3 in step (4) retracts 800mm along the X direction;

[0267] (10) At the same time, the material handling machine 3 moves 500mm to the right, and the front receiving machine 2 moves 1400+500mm to the right and backs to the rear. The two material handling robots 3-3 are positioned above the second row of goods.

[0268] 7) Grabbing goods from the second to the fifth row

[0269] The steps are the same as 3) to 6), except that 1306mm in step 3) is changed to 740mm. This completes the grabbing of 5 rows and 3 columns of goods.

[0270] Second scan unloading

[0271] 1) After the goods in the first 5-row, 3-column scanning area are unloaded, the pick-up machine 3 and the front receiving machine 2 move to the right by 3123-2000+2500=3623mm to scan the second 5-row, 3-column goods area. See appendix. Figure 27 ;

[0272] 2) The material receiving machine 3 reaches the material receiving position: After scanning is completed, the material receiving machine 3 moves 3123mm to the left to the top of the goods in the first row (the 6th row counting from the rear of the vehicle to the front) of the second scanning area. At this time, the front receiving machine 2 moves together with the material receiving machine 3.

[0273] 3) For subsequent steps, refer to steps 3) to 7) of the first scan and unloading process;

[0274] Workflow of the second largest area in the first layer:

[0275] Because the bottom of the conveyor support 2-10 of the receiving height adjustment mechanism 2-6 of the front receiving machine 2 is tilted, if it continues to move to the right for scanning, it will interfere with the head of the machine. See Appendix. Figure 28 Therefore, after the second scanning and unloading is completed, the sliding component 2-19 in the receiving height adjustment mechanism 2-6 of the front receiving machine 2 retracts by 165mm and returns to the right limit position. The conveying device support component 2-10 swings back to the horizontal position. At the same time, the front receiving machine 2 moves to the right and stops at the front limit switch 1-20 of the longitudinal main track. At the same time, the rear receiving machine 4 on the rear side begins to move to the right by 7822-2500-3123+2000=4200mm, and is 2620mm away from the left side of the frame of the picking machine 3.

[0276] Third scan unloading

[0277] 1) Third scan

[0278] After the second scan, the picker 3 moves 3123mm to the left, reaching directly above the sixth row of goods. After picking up each row of goods, the picker 3 moves 500mm to the right to the next row. After picking up the fifth row of goods, the picker 3 has moved a total of 2000mm to the right. Therefore, this is equivalent to the picker moving 3123-2000=1123mm to the left. The center of the camera 3-6 near the front receiving machine 2 is 1895mm away from the center line of the middle row of goods in the third scan area. Therefore, to scan the third area using the camera 3-6 near the front receiving machine 2, the picker 3 needs to move 1920-1123=797mm to the left, so that the center of the camera 3-6 near the front receiving machine 2 reaches the center of the third scan area. See Appendix. Figure 29 The image shows the position of the third scan.

[0279] 2) The material handling machine reaches the material handling position:

[0280] After the cameras 3-6 near the front receiving machine 2 scan 5 rows (rows 16-20) and 3 columns, the picking machine 3 and the rear receiving machine 4 move 1271mm to the right together. The two picking robots 3-3 of the picking machine are positioned directly above the first row (the eleventh row counting from the rear of the vehicle towards the front) of the third scan area. See Appendix. Figure 30 ;

[0281] 3) Downward material handling: Two material handling robots descend 740mm to handle the goods on both sides of the first row (eleventh row) of the first layer of the third scanning unloading area.

[0282] 4) Raise the cargo by 240mm to prevent it from colliding with surrounding ungrabbed cargo during rotation;

[0283] 5) Coordinated operation between the reclaimer and the preceding receiving machine

[0284] (1) Rotating cargo

[0285] The material handling robot 3-3 rotates the goods by 90°.

[0286] (2) Upward cargo

[0287] While the goods are rotating, the material handling robot 3-3 continues to rise 500mm with the goods.

[0288] (3) The material receiving height adjustment mechanism is working.

[0289] Simultaneously with steps (1) and (2), the sliding component in the material receiving height adjustment mechanism of the rear receiving machine 4 moves 165mm to the right from the left limit position, the support of the conveying device swings, and the lowest point of its left end drops 425mm, located 26mm above the highest layer of goods.

[0290] (4) The rear receiving machine 4 moves forward 1400mm to the right, and the material is positioned above and to the side of the longitudinal conveyor belt of the synchronous belt conveyor device 2-9 of the rear receiving machine 4. See Appendix Figure 31 Steps (1)-(4) are performed simultaneously.

[0291] (5) One of the picking robots 3-3, along with its Y-axis moving device, moves about 800mm inward along the linear guide rail of the X-axis moving device, and the picking robot 3-3 arrives directly above the longitudinal conveyor belt of the synchronous belt conveyor 2-9 of the rear receiving machine 4.

[0292] 6) Feeding material

[0293] (1) In step (5), the powder bag suction device 3-25 of the picking robot 3-3 is released, and the goods fall onto the conveyor belt;

[0294] (2) In step (5), the material handling robot 3-3 retracts 800mm along the X direction and rotates back 90° in the opposite direction;

[0295] (3) At the same time, another material handling robot 3-3 repeats the action of material handling robot 3-3 in step (5) and feeds the material onto the longitudinal conveyor belt of the synchronous belt conveyor device 2-9 of the rear receiving machine 4.

[0296] (4) In step (3), the other picking robot 3-3 rotates 90° in the opposite direction in place, while the rear unloader 3 moves to the left and back 1400mm. At this time, the picking robot 3-3 is located directly above the goods in the second column of the first row.

[0297] (5) In step (4), the material handling robot 3-3 moves down 740mm to grab the goods in the middle column of the first row;

[0298] (6) In step (4), the material handling robot 3-3 rises 240mm and then rotates 90°, while continuing to rise 500mm. Then the unloading machine 4 moves forward 1400mm to the right.

[0299] (7) The powder bag suction cup 3-25 of the picking robot 3-3 in step (4) is released, and the goods are placed on the conveyor belt of the receiving machine 4, completing the picking and conveying of 3 goods in 1 row and 3 columns. The goods are conveyed along the transmission belt to the conveyor belt 2-31 of the transverse conveyor device 2-4, and then conveyed to the longitudinal main conveyor belt, finally reaching the next station;

[0300] (8) In step (4), the picking robot 3-3 retracts 800mm along the X direction. At the same time, the picking machine 3 moves 500mm to the right. The two picking robots 3-3 are located directly above the second row of goods. Meanwhile, the receiving machine 4 moves to the left and back 1400-500=900mm, and is in the waiting state before the second row of work.

[0301] 7) Grabbing goods from the second to the fifth row: Repeat steps 3) to 6) of the third scan unloading to grab and unload goods from the second to the fifth row, thus completing the third scan unloading;

[0302] Fourth scan unloading

[0303] 1) Fourth scan

[0304] When performing the first material handling after the third scan, the material handling machine 3 and the rear receiving machine 4 move 1271mm to the right together. The two robotic arms 3-3 are positioned directly above the first row of the third scan area. After each row is handled, the material handling machine 3 and the rear receiving machine 4 move 500mm to the right to the next row, for a total movement of 2000mm. Therefore, after the third scan area is completed, the material handling machine 3 has moved 1271 + 2000 = 3271mm to the right. Since the third and fourth scan areas are 2500mm apart, the material handling machine 3 and the rear receiving machine 4 need to move 3271 - 2500 = 771mm to the left to ensure that the camera closest to the front receiving machine 2 is precisely centered in the fourth scan area. (See Appendix) Figure 32 ;

[0305] 2) When the material picker reaches the picker position: After the camera 3-6 near the front material picker 2 scans 5 rows (16-20 rows) and 3 columns, the material picker 3 and the rear material picker 4 move to the right together by 1271mm. The two picking robots 3-3 of the material picker 3 are located directly above the first row of the fourth scan area (the sixteenth row counted from the rear of the vehicle towards the front of the vehicle).

[0306] Steps 3) to 7) refer to steps 3) to 7) of the third scan unloading, thus completing the fourth scan unloading;

[0307] Fifth scan unloading

[0308] The fifth scan and unloading process is the same as the fourth.

[0309] Sixth scan unloading

[0310] See appendix Figure 33 The scanning, picking, and unloading of the sixth scanning area can refer to the fifth scanning area. The difference is that the sixth scan scans rows 22 to 25 of the second layer and the last row (row 26) of the first layer. After the unloading of the fifth scan, the picking machine 3 and the rear receiving machine 4 move to the right by 1271 + 2000 = 3271 mm. Therefore, they need to move to the left by 3271 - 500 = 2771 mm so that the camera near the front receiving machine 2 is located in the center of the sixth scanning area. After the scan is completed, the picking machine 3 and the rear receiving machine 4 move to the right by 1271 + 2000 = 3271 mm to be located directly above the last row. Only the last row needs to be picked up and unloaded to finish.

[0311] After the first layer of unloading is completed, the material handling robot 3-3 and the scanning camera 3-6 descend by 200mm to ensure that the scanning depth of field (height) is 2700mm and the scanning range is 2500mm x 2500mm. The downward gripping stroke and lifting stroke of the material handling robot 3-3 are both 740mm.

[0312] 3. The first large area of ​​the second floor

[0313] The first scan area only scans, grabs, and unloads the first row of goods, still coordinated by cameras 3-6 near the front receiving machine and the rear receiving machine 4.

[0314] 1) Camera positioning and scanning near the front receiving machine 2: After unloading is completed at the 26th row of the first layer, the material handling machine 3 only needs to move 3271mm to the left to position the cameras 3-6 near the front receiving machine at the center of the first scanning area of ​​the first large area of ​​the second layer (the first to fifth rows counting from the front to the rear of the vehicle). See Appendix Figure 34 As shown.

[0315] 2) The material handling machine reaches the material handling position:

[0316] After the camera close to the front receiving machine 2 scans 5 rows (1-5 rows) and 3 columns, the picking machine 3 and the rear receiving machine 4 move to the right together by 1271+2000=3271mm, and the two picking machine robots 3-3 are located directly above the first row (the first row counted from the front of the car to the rear of the car);

[0317] 3) Downward material handling

[0318] Two robotic arms move 740mm downwards in a 3-3 pattern to pick up goods from both sides of the first row of the second layer;

[0319] 4) Raise the cargo by 240mm to prevent it from colliding with surrounding ungrabbed cargo during rotation;

[0320] 5) Coordinated operation between the reclaimer and the preceding receiving machine

[0321] (1) Rotating cargo

[0322] The material handling robot 3-3 rotates the goods by 90°.

[0323] (2) Upward cargo

[0324] While the goods are rotating, the material handling robot 3-3 continues to rise 500mm with the goods.

[0325] (3) The rear receiving machine is moved 1400mm to the right.

[0326] (4) The material receiving height adjustment mechanism 2-6 of the rear receiving machine 4 operates simultaneously with steps (1), (2), and (3). The sliding component 2-19 in the material receiving height adjustment mechanism 2-6 of the rear receiving machine 4 continues to move 81mm to the right, and the conveyor support component 2-10 swings, with its lowest left end located 26mm above the second layer of goods. The material is located above and to the side of the longitudinal conveyor belt of the rear receiving machine;

[0327] 6) Feeding material

[0328] (1) is carried out simultaneously with (3) in step 5). One of the material handling robots 3-3 moves about 800mm inward along the linear guide rail of the X-direction moving device along with its Y-direction moving device. After reaching the synchronous belt drive device 2-9 of the rear receiving machine 4, the powder bag suction device 3-25 is released and the goods fall onto the conveyor belt.

[0329] (2) The material handling robot 3-3 in step (1) retracts 800mm along the X direction and rotates back 90° in the opposite direction;

[0330] (3) At the same time, another material handling robot 3-3 repeats the action of the material handling robot 3-3 in step (1) and feeds the material onto the longitudinal conveyor belt of the synchronous belt conveyor device 2-9 of the rear receiving machine 4.

[0331] (4) The other material handling robot 3-3 in step (3) rotates 90° in the opposite direction in place, while the rear receiving machine 4 returns 1400mm to the left. At this time, the other material handling robot 3-3 in step (3) is located directly above the goods in the second column of the first row.

[0332] (5) At the same time as (4), another material handling robot 3-3 in step (3) moves down 740mm and grabs the grain bags in the middle column of the first row;

[0333] (6) In step (3), the other material handling robot 3-3 rises 240mm and then rotates 90°, while continuing to rise 500mm. Then the receiving machine 4 moves 1400mm to the right.

[0334] (7) The powder bag suction device 3-25 of the other picking robot 3-3 in step (3) is released, and the goods are placed on the longitudinal conveyor belt of the synchronous belt conveyor device 2-9 of the rear receiving machine 4 to complete the picking and conveying of 3 goods in 1 row and 3 columns.

[0335] The goods are conveyed along the transmission belt to the transverse conveyor 2-4, and then to the longitudinal main conveyor belt, finally reaching the next workstation.

[0336] (8) The other material handling robot 3-3 in step (3) retracts 800mm along the X direction;

[0337] (9) At the same time as (8), the rear receiving machine 4 moves to the left and back 1400mm, and is in a waiting state;

[0338] Second scan area: working range is 2-6 lines

[0339] 1) The material receiving machine 3 and the rear receiving machine 4 move to the left by 1271+2500=3771mm at the same time, and the camera 3-6, which is close to the front receiving machine 2, is located in the center of the second scanning area;

[0340] 2) After the camera 3-6 near the front receiving machine 2 finishes scanning, the picking machine 3 and the rear receiving machine 4 move to the right by 1271+2000=3271mm at the same time, and the two picking machine robots 3-3 are located directly above the goods on both sides of the first row (the second row counted from the front to the rear of the vehicle) in the second scanning area.

[0341] 3) The steps are the same as steps 3) to 6) of the first scan area of ​​the first large area of ​​the second layer. After each row is unloaded, the material picker 3 and the rear material receiving machine 4 advance together by 500mm until the 5 rows are finished.

[0342] The third scan area: the working range is lines 7 to 11, and the working process is the same as the second scan area;

[0343] Fourth scan area: The working range is lines 12-16. The fourth scan area is shown in the attached figure. Figure 35 As shown, the working process is the same as the second scan area;

[0344] 4. Workflow of the second largest area in the second layer: The work scope is lines 17 to 26;

[0345] During the fourth scan of the first large area, because the bottom of the conveyor support 2-10 of the material receiving height adjustment mechanism 2-6 of the rear receiving machine 4 is tilted, if the scanning continues to move to the left, it will interfere with the tail carriage baffle. Therefore, after the unloading of the fourth scan, the sliding part 2-19 in the material receiving height adjustment mechanism 2-6 of the rear receiving machine 4 retracts by 165+81=246mm and returns to the left limit position. The conveyor support 2-10 swings back to the horizontal position. At the same time, the rear receiving machine 4 moves to the left as a whole and stops at the left limit switch of the longitudinal main track. At the same time, the front receiving machine 2 starts to move to the left 7000mm and then stops.

[0346] Fifth scan area:

[0347] 1) After the fourth scan and unloading, the center of the picking robot 3-3 is located directly above the goods on both sides of the last row of the fourth scan area. At this time, the distance from the center of the fifth scan area to the center of the picking robot is 1500mm. Therefore, the picking robot moves 2134-1500=634mm to the right, close to the center of the camera 3-6 of the rear receiving mechanism 4, to reach the center of the fifth scan area. The camera 3-6 close to the rear receiving mechanism 4 is used for scanning. At the same time, the front receiving mechanism 2 moves 690mm to the left, 2620mm away from the right side of the picking robot 3 frame, as shown in the attached diagram. Figure 36 As shown;

[0348] 2) The material handling machine 3 moves forward 1134mm to the left (horizontal distance from the robot arm to the center of the first row), and the two material handling robots 3-3 are located in the first row of the fifth scanning area of ​​the second layer (the seventeenth row counted from the front to the rear of the vehicle);

[0349] 3) Downward material handling

[0350] Two robotic arms move 740mm downwards in a 3-3 pattern to pick up goods from both sides of the first row of the second layer;

[0351] 4) Raise the cargo by 240mm to prevent it from colliding with surrounding ungrabbed cargo during rotation;

[0352] 5) Coordinated operation between the reclaimer and the preceding receiving machine

[0353] (1) Rotating cargo

[0354] The material handling robot 3-3 rotates the goods by 90°.

[0355] (2) Upward cargo

[0356] While the goods are rotating, the material handling robot 3-3 continues to rise 500mm with the goods.

[0357] (3) The front receiving machine 2 moves forward and to the left by 1400mm;

[0358] (4) The material receiving height adjustment mechanism 2-6 of the front receiving machine 2 operates simultaneously with (1), (2), and (3). The sliding component 2-19 in the material receiving height adjustment mechanism of the front receiving machine 2 moves 165+81mm to the right, and the conveying device support component 2-10 swings, with its lowest left end located 26mm above the second layer of goods. The material is located above and to the side of the longitudinal conveyor belt of the front receiving machine.

[0359] 6) Feeding material

[0360] (1) and (3) in 5) are carried out simultaneously. One of the material handling robots 3-3 moves about 800mm inward along the linear guide rail of the X-direction moving device along with its Y-direction moving device. After reaching the longitudinal conveyor belt of the synchronous belt conveyor 2-9 of the front receiving machine 2, the powder bag suction cup 3-25 is released and the goods fall onto the conveyor belt.

[0361] (2) The material handling robot 3-3 in step (1) retracts 800mm along the X direction and rotates back 90° in the opposite direction;

[0362] (3) At the same time, another material handling robot 3-3 repeats the action of the material handling robot 3-3 in step (1) and feeds the material onto the longitudinal conveyor belt of the synchronous belt conveyor 2-9 of the front receiving machine 2.

[0363] (4) In step (3), the other picking robot 3-3 rotates 90° in the opposite direction in place, while the front receiving machine 2 returns 1400mm to the right. At this time, the other picking robot 3-3 in step (3) is located directly above the goods in the second column of the first row.

[0364] (5) At the same time as (4), in step (3), another material handling robot 3-3 moves down 740mm and grabs the grain bag in the middle column of the first row;

[0365] (7) In step (3), the other material handling robot 3-3 rises 240mm and then rotates 90°, while continuing to rise 500mm. The front receiving machine 2 moves 1400mm to the left.

[0366] (8) In step (3), the powder bag suction cup 3-25 of the other picking robot 3-3 is released, and the goods are placed on the longitudinal conveyor belt of the synchronous belt conveyor 2-9 of the front receiving machine 2, completing the grabbing and conveying of 3 goods in 1 row and 3 columns.

[0367] The goods are conveyed along the transmission belt to the transverse conveyor 2-4, and then to the longitudinal main conveyor belt, finally reaching the next workstation.

[0368] (9) In step (3), the other material handling robot 3-3 retracts 800mm along the X direction. At the same time, the front receiving machine 2 moves to the right and retracts 1400mm, and is in a waiting state before the next scan and unloading.

[0369] Sixth scan area:

[0370] See appendix for the sixth scan area. Figure 37 The process is the same as the scanning, grabbing and unloading operation of the goods in the fifth scanning area. After completing 5 rows (22-26 rows) and 3 columns, all the goods in the second layer are unloaded.

[0371] The operation of subsequent odd-numbered layers (3, 5, 7, 9) is similar to that of the first layer, and the operation of even-numbered layers (4, 6, 8, 10) is similar to that of the second layer. After each layer is unloaded, the positions of the camera and the robot arm drop by 200mm at the same time. Meanwhile, the sliding component 2-19 in the material receiving height adjustment mechanism 2-6 continues to move toward another extreme position, so that the height of the front end of the longitudinal conveyor belt in the material receiving height adjustment mechanism 2-6 continues to drop by 200mm. Therefore, the gripping and lifting unloading stroke of the material receiving robot arm 3-3 is always kept at 740mm.

[0372] The efficiency of a traditional unloading line is approximately 30 t / h, while the efficiency of the fully automated intelligent unloading line in this embodiment is approximately 60 t / h. The cycle time calculation Excel table for this embodiment is shown in Table 1.

[0373] Table 1: Beat Calculation Excel Sheet

[0374]

[0375] This invention addresses the problem of irregularly arranged bagged goods such as grain and fertilizer, which are often displaced due to road bumps, turns, and braking, making accurate positioning and efficient handling difficult during unloading. It replaces current manual or semi-automatic unloading equipment, reducing labor intensity and improving unloading efficiency.

Claims

1. A fully automated intelligent unloading line, characterized in that... It includes a longitudinal truss and a front receiving machine, a reclaiming machine, a rear receiving machine, and a longitudinal main conveying device installed on the longitudinal truss, wherein the reclaiming machine is located between the front receiving machine and the rear receiving machine, and the longitudinal main conveying device is installed along the length of the longitudinal truss. The longitudinal truss includes two parallel longitudinal main tracks, each supported by multiple columns. The bottoms of the columns are fixed to the ground, where transverse and longitudinal limiting strips are provided for limiting the movement of the trucks. A longitudinal conveying bracket for supporting the longitudinal main conveying device is located below one of the longitudinal main tracks. The longitudinal conveying bracket consists of two parallel connecting members, with multiple spaced sub-brackets between them. Both ends of the longitudinal conveying bracket are equipped with driving and driven end fixing members, respectively. The two longitudinal main tracks are equipped with a rear slider connecting device for connecting to the rear receiving machine and a connecting device for connecting to the front receiving machine. The receiving machine includes a front slider connecting device and a receiving machine slider connecting device for connecting the receiving machine. The longitudinal main track includes a main track longitudinal beam, a main track rack, and a main track linear guide. The rear slider connecting device has the same structure as the front slider connecting device, both including four sets of sliders. Two sets of sliders are equipped with receiving machine slider connecting plates and receiving machine drive devices. The remaining two sets of sliders are equipped with receiving machine connecting plates. The output gear of the receiving machine drive device meshes with the main track rack to realize the receiving machine moving back and forth along the longitudinal main track. Limit switches are installed at both ends of the longitudinal main track to limit the front and rear receiving machines. The front receiving machine and the rear receiving machine have the same structure, both including a protective cover, a swing receiving device, a receiving machine support frame, and a transverse conveying device; The swing receiving device comprises a longitudinal conveying device, a receiving height adjustment mechanism, and a longitudinal sliding support frame. The longitudinal conveying device includes a conveying device support and a longitudinal driving device installed at one end of the conveying device support. The longitudinal driving device drives the synchronous belt drive device to work, and tensioning devices are provided at both ends of the synchronous belt drive device. The longitudinal sliding support frame includes a longitudinal sliding square tube frame. Two parallel longitudinal sliding linear guides are installed on the upper surface of the longitudinal sliding square tube frame. A longitudinal sliding rack is located between the two longitudinal sliding linear guides. Multiple longitudinal sliding sliders are installed on the longitudinal sliding linear guides on both sides. Limiting blocks fixed to the longitudinal sliding linear guides are provided at the front and rear of the longitudinal sliding sliders. The bottom of the longitudinal sliding square tube frame is connected to the receiving machine support frame through a longitudinal sliding connecting plate. The material receiving height adjustment mechanism includes two height adjustment links and two fixed rods. One end of each of the two height adjustment links is hinged to the left and right sides of the conveying device support, and the other end of the height adjustment link is hinged to the sliding component. One end of the fixed rod is hinged to the conveying device support, and the other end is fixed to the longitudinal sliding square tube frame. A sliding component drive mechanism for driving the sliding component to move is installed on the sliding component. The bottom of the sliding component is connected to the longitudinal sliding slider. The output gear of the sliding component drive mechanism meshes with the longitudinal sliding rack, thereby driving the sliding component to move. The receiving machine support frame includes a receiving machine square tube frame. The bottom of the receiving machine square tube frame is connected to the top of the rear slider connecting device or the front slider connecting device. The receiving machine square tube frame is provided with receiving machine linear guide rails on both the front and rear sides. The receiving machine rack is provided on the inner side of the receiving machine linear guide rail. The receiving machine slider is provided on the receiving machine linear guide rail. An intermediate connecting piece is installed on the receiving machine slider. The intermediate connecting piece is connected to the longitudinal sliding connecting plate. A transverse drive device is also installed on the intermediate connecting piece. The gear at the output end of the transverse drive device meshes with the receiving machine rack. The transverse conveying device includes four support column connectors mounted on the top of the bottom of the square tube frame of the receiving machine. The bottom of the support column connectors is mounted on the transverse support frame. The transverse support frame is equipped with an active roller, a driven roller, and multiple support rollers. A transverse conveyor belt is sleeved on the outside of the rollers. A transverse drive device for driving the active roller is mounted on the transverse support frame.

2. A fully automated intelligent unloading line according to claim 1, characterized in that... The material handling machine includes a material handling machine connecting frame, which is connected to a material handling machine slider connecting device. The material handling machine connecting frame is equipped with two parallel Y-axis moving devices and two parallel X-axis moving devices. A vertically arranged material handling robot is installed on the Y-axis moving device. Camera lifting robots are installed on the front and rear sides of the material handling machine connecting frame. A camera mounting bracket is installed on the top of the camera lifting robot, and a camera is installed at the end of the camera mounting bracket. The X-axis moving device includes X-axis linear guides installed on the inner walls of the two opposite sides of the material handling machine connecting frame. One inner wall has an X-axis rack located above the two X-axis linear guides. The two X-axis linear guides have two X-axis slider groups, and each X-axis slider group is equipped with a drive slide plate. The other inner wall has two X-axis linear guides, and the two X-axis linear guides have two X-axis slider groups, each X-axis slider group is equipped with a driven slide plate. The drive slide plate is equipped with an X-axis drive mechanism. The output gear of the X-axis drive mechanism meshes with the X-axis rack. A Y-axis moving device is installed between the drive slide plate and the driven slide plate. The Y-axis moving device includes a Y-axis support member. Two Y-axis connecting plates are provided at both ends of the Y-axis support member. The two Y-axis connecting plates are respectively installed on the driving slide plate and the driven slide plate. Two parallel Y-axis linear guides are installed along the length direction of the upper surface of the Y-axis support member. A Y-axis rack is installed on one side of one of the Y-axis linear guides. A Y-axis linear guide is installed on the side of the Y-axis support member. A longitudinal slider is installed on the Y-axis linear guide. A longitudinal slide plate is installed on the two longitudinal sliders located on the upper surface. A side slide plate is installed on the longitudinal slider located on the side. A longitudinal drive mechanism is installed on the longitudinal slide plate. The gear at the output end of the longitudinal drive mechanism meshes with the Y-axis rack.

3. A fully automated intelligent unloading line according to claim 2, characterized in that... The material handling robot comprises a material handling robot housing, a material handling Z-axis drive device, a material handling moving component, a powder bag suction cup, and a rotary drive component. The material handling robot housing is mounted on a side slide plate and a longitudinal slide plate. The material handling Z-axis drive device meshes with a rack on the material handling moving component via an output gear, enabling the material handling moving component to move up and down in the Z-axis direction. Since the powder bag suction cup is mounted at the bottom of the material handling moving component, it enables the powder bag suction cup to be raised and lowered. The rotary drive component is mounted inside the material handling moving component and includes a rotary motor. The rotary motor is mounted on a middle fixing member, which is fixed to the lower end face of the material handling moving component. The lower end of the middle fixing member is connected to the upper end face of the reducer via screws. The output disc at the lower end of the reducer is connected to the upper surface of the suction cup connector. The lower surface of the suction cup connector is connected to the upper end face of the powder bag suction cup. The output shaft of the rotary motor is connected to the input shaft of the reducer via a coupling, thereby driving the output disc of the reducer to rotate, which in turn drives the suction cup connector and the powder bag suction cup to rotate to adapt to the tilt of the goods position. The camera lifting robot includes a camera lifting robot housing, which is mounted on the material handling machine connecting frame. A camera Z-axis drive device is installed on the camera lifting robot housing, and the camera Z-axis drive device drives the camera moving parts to lift and lower.

4. A fully automated intelligent unloading line according to claim 1, characterized in that... The longitudinal main conveying device includes a longitudinal main conveyor belt mounted on a longitudinal conveying support, a longitudinal main drive belt support assembly for supporting the longitudinal main conveyor belt, and the longitudinal main conveyor belt is driven to rotate by a power mechanism.

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