A gantry unloading method

Abstract

The present application relates to the field of logistics and storage, and particularly relates to a portal unloading method, comprising the following steps: first, a portal unloading device is parked at an unloading station, and a position signal of a stacking station is given to the portal unloading device, and goods are carried to the unloading station, the portal unloading device comprises two or more AGV walking vehicles, a portal, a lifting platform, a lifting driving device and a grabbing device arranged on the lifting platform, the grabbing device comprises at least two clamping arms close to or separated from each other and a clamping driving device for driving the two clamping arms to move, a camera is arranged on the portal, and the camera is used for identifying the goods; second, after the grabbing device is lowered to a suitable height, the clamping arms are used for grabbing the goods, and then the goods are lifted; third, the AGV walking vehicle is used for transferring the goods to the stacking station, and then the goods are stacked. The technical problem of low unloading efficiency of the existing open truck is solved.

Description

Technical Field

[0001] This invention relates to the field of logistics warehousing, and more particularly to a gantry unloading method. Background Technology

[0002] Currently, in the field of logistics unloading, robots and other methods are widely used to achieve better automation and improve work efficiency. For example, the applicant disclosed an extended loading and unloading device and its unloading method in Chinese Patent Publication No. CN113998494A, which includes a support platform with a conveying front end and a conveying rear end. Multiple lateral movement wheel mechanisms are provided on both sides of the support platform for lateral movement. A conveyor belt mechanism for conveying materials is provided on the support platform, with the conveying direction from the conveying front end to the conveying rear end. A traveling trolley is provided on the support platform, and the traveling trolley includes a support frame and a multi-degree-of-freedom gripping device mounted on the support frame. This solves the technical problems of low efficiency and significant unloading limitations. This unloading device is mainly used for box trucks.

[0003] In some existing open-style freight transport systems, the packaged goods are actually stacked naked in the truck bed. In this case, using the unloading device described above is not very necessary, and its efficiency will not be significantly improved. The applicant has studied this solution for unloading open-style trucks. Summary of the Invention

[0004] Therefore, in view of the above problems, the present invention proposes a gantry-type unloading device, which solves the technical problem of low unloading efficiency of existing open trucks.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: a gantry-type unloading method, comprising the following steps:

[0006] The first step involves the gantry unloading device stopping at the unloading station and receiving a palletizing station position signal to transport the goods to the unloading station. The gantry unloading device includes two or more AGVs, a gantry mounted on the AGVs, a lifting platform mounted on the gantry that can be raised and lowered, a lifting drive device for driving the lifting platform, and a gripping device mounted on the lifting platform. The gripping device includes at least two clamping arms that are close to or separate from each other and a clamping drive device for driving the two clamping arms. A camera is installed on the gantry to identify the goods.

[0007] The second step is to lower the gripping device to a suitable height, use the clamping arm to grip the goods, and then lift them up.

[0008] The third step is to use AGV (Automated Guided Vehicle) vehicles to transfer the goods to the palletizing station, and then palletize them.

[0009] Furthermore, the gripping device is rotatably mounted on the lifting platform, which is equipped with a rotation drive device for driving the gripping device to rotate. When the gripping device rotates to grip the item and the item needs to return to its original position, when the item rotates in one direction, the AGV travel vehicle drives the gantry to rotate in the opposite direction until the item and gantry are relatively parallel. The rotation angle of the gantry is no more than 30 degrees and the rotation angle of the gantry is no more than 1 / 3 of the rotation angle of the item. The difference between the rotation time of the gantry and the rotation time of the item is no more than 1 second.

[0010] Furthermore, after the rotation is completed, the AGV will transfer the goods to the palletizing station for palletizing.

[0011] Furthermore, a fall-prevention mechanism for preventing falls is provided on the inner side of the clamping arm. The fall-prevention mechanism has multiple horizontally extending forks. The fall-prevention mechanism includes a support member for fixing to the clamping arm, multiple support ears provided on the support member, and fall-prevention units rotatably provided on the support ears. Each fork is provided on the fall-prevention unit, and the forks on each fall-prevention unit are spaced apart, with their ends located on the same vertical plane. Each fork is lower from the end closer to the clamping arm to the end farther from the clamping arm. The rotation angle of each fork is less than 30 degrees and greater than 10 degrees. When the fork rotates, the distance between the end of the lowest fork on the same fall-prevention unit and the clamping arm is the largest.

[0012] Furthermore, after the clamping arm clamps the goods, each anti-fall unit tends to rotate upwards. When clamping, the clamping arm is first given 70%-90% of its rated pressure, and then the lifting platform drives the clamping arm to rise. During this process, the pressure of the clamping arm is re-measured, and then the pressure of the clamping arm is adjusted to the rated pressure.

[0013] Furthermore, the AGV traveling vehicle includes a main body and a parking mechanism mounted on the main body. The parking mechanism includes a parking drive device and a parking support plate mounted on the parking drive device. The parking support plate moves up and down under the action of the parking drive device to achieve parking.

[0014] Furthermore, the lifting platform is also equipped with a lateral moving platform, which can move laterally along the lifting platform, and the gripping device is located on the lateral moving platform.

[0015] Furthermore, sensors for scanning are installed at different locations on the gantry.

[0016] By adopting the aforementioned technical solution, the beneficial effects of the present invention are:

[0017] 1. This solution achieves trackless, free movement through the use of AGV (Automated Guided Vehicle) vehicles, improving the convenience of mobility. More than two AGV vehicles can be used, primarily to cooperate with the gantry for effective support; this solution uses four. The system includes a lifting platform, a gripping device, and clamping arms for unloading goods from the truck. When unloading is required, the AGV vehicles move the gantry to the truck, spanning both sides. The lifting platform then lowers to a suitable height, and the gripping arms on the gripping device clamp the goods. The lifting platform is then raised, and the AGV vehicles move the goods to the stacking position for release and stacking. In practical applications, multiple cameras can be installed on the gantry to capture the posture of the goods, assisting in the gripping operation. Multiple scanning sensors can also be installed, such as for identifying surrounding personnel and the location of goods. The rotation drive device allows for better gripping or placement, such as adjusting the angle when the goods are tilted. The anti-fall mechanism provides more effective clamping compared to existing clamping arms. It can consist of a support, support ears, an anti-fall unit, and forks; it can also be a single rubber plate with high friction; or it can be a clamping surface composed of multiple suction cups. The anti-fall unit is rotatably mounted on the support ears, with each fork rotating at an angle less than 30 degrees and greater than 10 degrees. When the forks rotate, the distance between the end of the lowest fork on the same anti-fall unit and the clamping arm is maximized. This design ensures that when the clamping arm descends, if the forks touch the goods, they will rotate, preventing friction between multiple forks and the goods. The forks can also be curved, providing effective guidance. When the clamping arm rises, the anti-fall unit resets, and the contact between each fork and the goods achieves better fall prevention. The parking mechanism provides good stability during goods gripping and stacking; it is only used to assist in gripping heavier goods.

[0018] 2. When the cargo needs to be straightened, as the cargo rotates in one direction, the AGV travel vehicle drives the mast to rotate in the opposite direction until the cargo and mast are relatively parallel. The mast's rotation angle should not exceed 30 degrees, and the mast's rotation angle should not exceed 1 / 3 of the cargo's rotation angle. The difference between the mast's rotation time and the cargo's rotation time should not exceed 1 second. This prevents instability of the mast due to the cargo's straightening, especially when the cargo is heavy. Such instability can easily cause unbalanced forces on multiple AGVs, resulting in low work efficiency. By rotating in the opposite direction, this rotation can be effectively accelerated, thereby improving work efficiency.

[0019] 3. After the clamping arms grip the goods, each anti-fall unit tends to rotate upwards. During clamping, first apply 70%-90% of the rated pressure to the clamping arms, then the lifting platform raises the clamping arms. During this process, the pressure of the clamping arms is re-measured, and then the pressure of the clamping arms is adjusted back to the rated pressure. This setting is to prevent excessive or insufficient pressure on the cigarette box, effectively achieving clamping stability. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of the present invention;

[0021] Figure 2 yes Figure 1 A diagram illustrating the right-view state;

[0022] Figure 3 This is a structural schematic diagram of an AGV (Automated Guided Vehicle).

[0023] Figure 4 This is a top-down view of the AGV traveling vehicle;

[0024] Figure 5 This is a structural diagram of the fall arrestor mechanism;

[0025] Figure 6 This is a diagram showing the state of the anti-fall mechanism when it comes into contact with the surface of the cargo.

[0026] Figure label:

[0027] 1. AGV traveling vehicle; 2. Gantry; 3. Lifting platform; 31. Lateral moving platform; 4. Lifting drive device; 51. Clamping arm; 52. Clamping drive device; 53. Rotation drive device; 54. Mounting base; 55. Sliding rod; 56. Anti-fall mechanism; 561. Support component; 562. Support ear; 563. Anti-fall unit; 564. Fork plate; 61. Parking drive device; 62. Parking support plate; 7. Camera; 8. Sensor. Detailed Implementation

[0028] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments.

[0029] refer to Figures 1 to 6This embodiment provides a gantry-type unloading device, including two or more AGV traveling vehicles 1, a gantry 2 mounted on the traveling vehicles, a lifting platform 3 vertically mounted on the gantry 2, a lifting drive device 4 for driving the lifting platform 3, and a gripping device. The lifting platform 3 also has a transverse moving platform 31, which can move laterally along the lifting platform 3. The gripping device is mounted on the transverse moving platform 31. The gripping device includes at least two clamping arms 51 that are close to or separate from each other, and a clamping drive device 52 for driving the two clamping arms 51. The gripping device is rotatably mounted on the lifting platform 3, and the lifting platform 3 has a rotation drive device 53 for driving the gripping device to rotate. The gripping device includes a mounting base 54, on which a sliding rod 55 is provided. The two clamping arms 51 can slide along the sliding rod 55 to move closer to or separate from each other. The clamping drive device 52 is a two-way hydraulic cylinder, a two-way pneumatic cylinder, a two-way electric cylinder, or other mechanisms capable of bidirectional drive. A fall-prevention mechanism 56 for preventing falls is provided on the inner side of the clamping arm 51. The fall-prevention mechanism 56 has multiple laterally extending fork plates 564. The fall-prevention mechanism 56 includes a support member 561 for fixing to the clamping arm 51, multiple support ears 562 provided on the support member 561, and fall-prevention units 563 provided on the support ears 562. Each fork plate 564 is provided on the fall-prevention unit 563. The fork plates 564 on each fall-prevention unit 563 are spaced apart, and their ends are located on the same vertical plane. The end of each fork plate 564 closer to the clamping arm 51 is lower than the end farther away from the clamping arm 51. The fall-prevention unit 563 is rotatably provided on the support ears 562. The rotation angle α of each fork plate 564 is less than 30 degrees and greater than 10 degrees. In this design, it is set to 15 degrees. Figure 5 As shown, the dashed line represents the maximum angle the fall arrestor unit can rotate. Under normal conditions, the fall arrestor unit is horizontally stationary due to gravity. Figure 6 As shown, when the gripping arm descends to grip the item, the anti-fall unit contacts the side of the goods, thus enabling rotation. A camera 7 is installed on the gantry 2 to identify the goods. Sensors 8 for scanning are located at different positions on the gantry.

[0030] When the fork plate 564 rotates, the distance between the end of the lowest fork plate 564 on the same anti-fall unit 563 and the clamping arm 51 is the largest. The AGV traveling vehicle 1 includes a main body and a parking mechanism provided on the main body. The parking mechanism includes a parking drive device 61 and a parking support plate 62 provided on the parking drive device 61. The parking support plate 62 can move up and down under the action of the parking drive device 61 to achieve parking.

[0031] The aforementioned AGV traveling vehicle represents conventional technology in this field. Its wheels can be Mecanum wheels or ordinary wheels. The lifting drive device can be a servo motor, the clamping drive device can be a bidirectional electric cylinder, and the rotation drive device can be a servo motor. The forks can be made of materials with minimal deformation, such as hard rubber or engineering plastics, or they can be metal forks covered with a layer of rubber material. The parking drive device can be a telescopic motor.

[0032] A gantry-type unloading method, characterized by comprising the following steps:

[0033] The first step is for the gantry unloading device to stop at the unloading station and be given a position signal for the stacking station, so that the goods can be transported to the unloading station and the goods can be identified by a camera.

[0034] The second step is to lower the gripping device to a suitable height, use the clamping arm to grip the goods, and then lift them up.

[0035] The third step is to use AGV (Automated Guided Vehicle) vehicles to transfer the goods to the palletizing station, and then palletize them.

[0036] When the goods rotate in one direction, the AGV travel vehicle drives the gantry to rotate in the opposite direction until the goods and gantry are relatively parallel. The rotation angle of the gantry is no more than 30 degrees and no more than 1 / 3 of the rotation angle of the goods. The difference between the rotation time of the gantry and the rotation time of the goods is no more than 1 second. After the rotation is completed, the AGV travel vehicle transfers the goods to the palletizing station for palletizing.

[0037] After the clamping arm clamps the goods, each anti-fall unit tends to rotate upward. When clamping, first apply 70%-90% of the rated pressure to the clamping arm, then the lifting platform drives the clamping arm to rise, and during this process, re-measure the pressure of the clamping arm, and then adjust the pressure of the clamping arm to the rated pressure.

[0038] Although the invention has been specifically shown and described in conjunction with preferred embodiments, those skilled in the art should understand that various changes in form and detail may be made to the invention without departing from the spirit and scope of the invention as defined in the appended claims, all of which shall be within the scope of protection of the invention.

Claims

1. A gantry-type unloading method, characterized in that, Includes the following steps: The first step involves the gantry unloading device stopping at the unloading station and receiving a palletizing station position signal to transport the goods to the unloading station. The gantry unloading device includes two or more AGVs, a gantry mounted on the AGVs, a lifting platform mounted on the gantry that can be raised and lowered, a lifting drive device for driving the lifting platform, and a gripping device mounted on the lifting platform. The gripping device includes at least two clamping arms that are close to or separate from each other and a clamping drive device for driving the two clamping arms. A camera is installed on the gantry to identify the goods. The second step is to lower the gripping device to a suitable height, use the clamping arm to grip the goods, and then lift them up. The third step is to use AGV (Automated Guided Vehicle) vehicles to transfer the goods to the palletizing station, and then palletize them. The gripping device is rotatably mounted on the lifting platform. The lifting platform is equipped with a rotation drive device for driving the gripping device to rotate. When the gripping device rotates to grip the item and the item needs to return to the correct angle, when the item rotates in one direction, the AGV traveling vehicle drives the mast to rotate in the opposite direction until the item and mast are relatively parallel. The rotation angle of the mast is not greater than 30 degrees and the rotation angle of the mast is not greater than 1 / 3 of the rotation angle of the item. The difference between the rotation time of the mast and the rotation time of the item is not greater than 1 second. A fall-prevention mechanism for preventing falls is provided on the inner side of the clamping arm. The fall-prevention mechanism has multiple horizontally extending forks. The fall-prevention mechanism includes a support member for fixing to the clamping arm, multiple support ears provided on the support member, and fall-prevention units rotatably provided on the support ears. Each fork is provided on the fall-prevention unit. The forks on each fall-prevention unit are spaced apart, and their ends are located on the same vertical plane. The end of each fork near the clamping arm is lower than the end away from the clamping arm. The rotation angle of each fork is less than 30 degrees and greater than 10 degrees. When the fork rotates, the distance between the end of the lowest fork on the same fall-prevention unit and the clamping arm is the largest.

2. The gantry-type unloading method according to claim 1, characterized in that: After the rotation is complete, the AGV will transfer the goods to the palletizing station for palletizing.

3. The gantry unloading method according to claim 1, characterized in that: After the clamping arm clamps the goods, each anti-fall unit tends to rotate upward. When clamping, first apply 70%-90% of the rated pressure to the clamping arm, then the lifting platform drives the clamping arm to rise, and during this process, re-measure the pressure of the clamping arm, and then adjust the pressure of the clamping arm to the rated pressure.

4. The gantry unloading method according to claim 1, characterized in that: The AGV traveling vehicle includes a main body and a parking mechanism on the main body. The parking mechanism includes a parking drive device and a parking support plate on the parking drive device. The parking support plate can be raised and lowered under the action of the parking drive device to achieve parking.

5. The gantry-type unloading method according to claim 1, characterized in that: The lifting platform is also equipped with a lateral moving platform, which can move laterally along the lifting platform, and the gripping device is located on the lateral moving platform.

6. The gantry unloading method according to claim 1, characterized in that: The gantry is equipped with sensors for scanning at different locations.

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