Full-automatic unloading and stacking device

Abstract

The full-automatic unloading and stacking device comprises an AGV trolley, a conveying chain device and robot assemblies, a tray stacking machine is arranged on one side of the AGV trolley, the tray stacking machine and the AGV trolley are both arranged on one side of the conveying chain device, and the robot assemblies are arranged on the two sides of a loading truck. The robot assembly comprises a ground rail, a tray frame, a robot, a visual camera and a double-station clamp. According to the full-automatic unloading and stacking device, the robot, the visual camera and the double-station clamp are arranged and move along the ground rail, and goods on a loading truck can be fully automatically photographed and grabbed; meanwhile, the double-station clamp gripper is designed into double stations, so that the unloading efficiency is improved; the automatic tray stacking machine is arranged, and empty trays can be automatically conveyed to the robot assembly; an AGV trolley system is arranged, and the full-stack tray rack can be conveyed into the vertical warehouse after the full stack is unloaded; and two sets of robot assemblies are arranged, the robot coverage range can be expanded, and meanwhile the unloading efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of cargo unloading, handling and palletizing, and in particular to a fully automatic cargo unloading and palletizing device. Background Art

[0002] In many industries such as agricultural production, construction industry, chemical industry, food industry, etc., the process of unloading and stacking of bagged items is involved. With the increase of labor costs, the cost of unloading and stacking is also getting higher and higher; at the same time, manual unloading and stacking is labor-intensive, inefficient, and has safety hazards; currently, there are some methods of unloading and stacking using manual assistance equipment, which still requires manual participation and cannot achieve the function of fully automatic unloading and stacking. After searching, it is found that the cargo unloading, handling and stacking devices in the prior art are typically such as the unloading and stacking integrated equipment of publication number CN114314058A, which includes It includes a telescopic conveyor, a leveling mechanism, a climbing conveyor, a fast leveling machine, a stacking mechanism and a rotatable pallet placement platform; the rear end of the telescopic conveyor is vertically connected to the front end of the leveling mechanism, the rear end of the leveling mechanism is slidably connected to the climbing conveyor, and the discharge end of the climbing conveyor is hinged and fixed to the fast leveling machine; the stacking mechanism includes a stacking machine body, a hydraulic lifting mechanism, a synchronous moving mechanism and a bag dropping mechanism, the discharge end of the fast leveling machine is connected to the bag dropping mechanism, the fast leveling machine and the bag dropping mechanism are both fixed on the synchronous moving mechanism, and the hydraulic lifting mechanism is fixed on the stacking machine body. Its main feature is that the unloading operation can be completed efficiently with fewer people, saving a lot of manpower, and can also realize full automation of stacking, thereby improving stacking efficiency.

[0003] To sum up, the traditional working method of manual handling and palletizing is that the goods are heavy and the handling labor is large. There may be a risk of boards falling and hitting the handlers. The edges of steel plates are also sharp and can easily scratch people. Manual handling poses a great safety hazard. Secondly, the use of power-assisted equipment for unloading and palletizing can save physical strength for people, but manual participation is still required. Robots or four-axis truss manipulators are used for handling, but robots and ordinary truss mechanisms usually occupy too much space in a small space, and the working space is limited. In view of the above problems, the existing equipment needs to be improved. Summary of the invention

[0004] The purpose of the present invention is to provide a fully automatic unloading and palletizing device to solve the problem of manual handling and palletizing in the traditional working method proposed in the above background technology. The goods are heavy and the handling labor is large. There may be a risk of boards falling and hitting the carriers. The edges of steel plates are also very sharp and can easily scratch people. Manual handling poses a great safety hazard. Secondly, the use of power-assisting equipment to unload and palletize can save physical strength for people, but manual participation is still required. Robots or four-axis truss manipulators are used for handling, but robots and ordinary truss mechanisms usually occupy too much space in a small space, and the working space is limited.

[0005] To achieve the above object, the present invention provides the following technical solution: a fully automatic unloading and stacking device, comprising an AGV trolley, a conveyor chain device and a robot assembly, A pallet stacking machine is arranged on one side of the AGV trolley, and the pallet stacking machine and the AGV trolley are both arranged on one side of the conveyor chain device, and a robot component is arranged on the other side of the conveyor chain device, and the robot component is arranged on both sides of the loading truck, and the robot component includes a ground rail, a pallet rack, a robot, a visual camera and a double-station clamp, a pallet rack is arranged on the ground rail, and the pallet rack is self-powered, a robot is arranged on one side of the pallet rack, and a double-station clamp is arranged on the robot's mechanical arm, and a visual camera is arranged on the double-station clamp.

[0006] Preferably, the stacking machine includes a conveying roller, a transmission mechanism, a load-bearing top frame, a motor, a channel, a chain transmission assembly, a rotating shaft and a frame, and a transmission mechanism is provided on one side of the conveying roller, the transmission mechanism is connected to the rotating shaft through the chain transmission assembly, and the rotating shaft is connected to the output end of the motor through the chain transmission assembly.

[0007] Preferably, a tray is provided on the top of the conveying roller, and the tray is arranged below the load-bearing top frame.

[0008] Preferably, the motor and the rotating shaft are both arranged on a load-bearing top frame, and the load-bearing top frame is arranged on a frame.

[0009] Preferably, a ladder is provided on the outside of the frame, and the frame is connected to a transmission mechanism.

[0010] Preferably, the conveyor chain device includes a roller conveyor line and a transfer machine, and the roller conveyor line is connected to the transfer machine.

[0011] Preferably, three groups of roller conveyor lines are provided, and the roller conveyor lines include two groups of longitudinal conveyor lines and one group of transverse conveyor lines.

[0012] Preferably, one group of longitudinal conveying lines among the roller conveying lines is in contact with the stacking machine, and another group of longitudinal conveying lines among the roller conveying lines is arranged on one side of the AGV trolley.

[0013] Preferably, transfer machines are provided between the two groups of longitudinal conveying lines and one group of transverse conveying lines in the roller conveying line, and the conveying directions of the two groups of longitudinal conveying lines in the roller conveying line are opposite.

[0014] A palletizing method of a fully automatic unloading and palletizing device comprises the following steps: S1. After the loaded truck stops, press the start button and the system sends out a signal for unloading and stacking; S2, the robots located on both sides of the loading truck walk along the ground track to the end of the loading truck; S3, the robot carries a visual camera to start taking pictures of the goods, and then grabs the goods through the double-station fixture; S4, stack the pallets onto the pallet rack on the robot's mobile platform; S5. When the pallet rack is full, it moves to the starting end of the ground rail, and the power roller under the pallet rack drives the full pallet rack to be transported to the transfer machine; S6. The full pallet rack is transported to the storage location through the transfer machine and roller conveyor line; S7, AGV trolley transports the full stack of pallets to the vertical warehouse for storage; S8, the stacking machine transports the empty pallet to the roller conveyor line, and then transports it to the robot mobile platform through the transfer machine; S9, repeat the above process to complete the entire loading truck unloading and stacking process.

[0015] Compared with the prior art, the invention has the following beneficial effects: the fully automatic unloading and stacking device, The present invention can effectively solve the problem of manual handling and palletizing in the traditional working mode by using the robot assembly and the conveyor chain device in combination. The goods are heavy and the handling labor is large. There may be a risk of the board falling and hitting the handling personnel. The edge of the steel plate is also very sharp and it is easy to scratch the personnel. There are great safety hazards in manual handling. Secondly, the use of power-assisted equipment to unload and palletize can save physical strength for people, but manual participation is still required. Robots or four-axis truss manipulators are used for handling, but robots and ordinary truss mechanisms usually occupy too much space in a small space and the working space is limited. The device is provided with a robot, a visual camera and a double-station fixture, which moves along the ground rail and can automatically complete the photographing and grabbing of the goods on the loading truck. At the same time, the double-station fixture gripper is designed as a double station to improve the unloading efficiency. An automatic pallet stacker is provided to automatically convey empty pallets to the robot assembly. An AGV trolley system is provided. After the full pallet is unloaded, the full pallet rack can be conveyed to the vertical warehouse, and the empty pallet can be replenished to the pallet stacker. Two sets of robot assemblies are arranged on both sides of the loading truck, respectively, which can expand the coverage of the robot and improve the unloading efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is an isometric view of the present invention; Figure 2 This is a schematic diagram of the overall structure of the robot assembly of the present invention; Figure 3 It is a schematic diagram of the overall structure of the conveyor chain device of the present invention; Figure 4 It is a schematic diagram of the overall structure of the stacking machine of the present invention; Figure 5 For the present invention Figure 2 Enlarged schematic diagram at point A in the middle.

[0017] In the figure: 1. AGV trolley; 2. Pallet stacking machine; 201. Conveyor roller; 202. Transmission mechanism; 203. Loading top frame; 204. Motor; 205. Channel; 206. Chain transmission assembly; 207. Rotating shaft; 208. Frame; 3. Pallet; 4. Conveyor chain device; 401. Roller conveyor line; 402. Transfer machine; 5. Robot assembly; 501. Ground rail; 502. Pallet rack; 503. Robot; 504. Visual camera; 505. Double-station fixture; 6. Loading truck. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] See also Figure 1-5 The present invention provides a technical solution: a fully automatic unloading and stacking device. Embodiment 1 like Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, a pallet stacker 2 is arranged on one side of the AGV trolley 1, and the pallet stacker 2 and the AGV trolley 1 are both arranged on one side of the conveyor chain device 4, and a robot assembly 5 is arranged on the other side of the conveyor chain device 4, and the robot assembly 5 is arranged on both sides of the loading truck 6, and the robot assembly 5 includes a ground rail 501, a pallet rack 502, a robot 503, a visual camera 504 and a double-station clamp 505, a pallet rack 502 is arranged on the ground rail 501, and goods are stacked on the pallet rack 502, and the pallet rack 502 is self-powered, a robot 503 is arranged on one side of the pallet rack 502, and a double-station clamp 505 is arranged on the mechanical arm of the robot 503, and a visual camera 504 is arranged on the double-station clamp 505, and the robot assembly 5 is equally replaced by a truss assembly.

[0020] The stacking machine 2 includes a conveying roller 201, a transmission mechanism 202, a load-bearing top frame 203, a motor 204, a channel 205, a chain transmission assembly 206, a rotating shaft 207 and a frame 208, and a transmission mechanism 202 is arranged on one side of the conveying roller 201, the transmission mechanism 202 is connected to the rotating shaft 207 through the chain transmission assembly 206, and the rotating shaft 207 is connected to the output end of the motor 204 through the chain transmission assembly 206. The stacking machine 2 is mainly used to provide empty pallets 3, which can be replaced by other equipment. The motor 204 drives the rotating shaft 207 to rotate through a group of chain transmission assemblies 206, and the rotating shaft 207 drives the transmission mechanism 202 to rotate through another group of chain transmission assemblies 206, thereby pushing a group of empty pallets 3 stacked on the conveying roller 201 except those in contact with it to move upward, and then the conveying roller 201 drives the empty pallets 3 in contact with its top to move to realize automatic discharging.

[0021] In a further example, a tray 3 is disposed on the top of the conveying roller 201 , and the tray 3 is disposed below the load-bearing top frame 203 .

[0022] In a further example, the motor 204 and the rotating shaft 207 are both disposed on the supporting top frame 203 , and the supporting top frame 203 is disposed on the frame 208 .

[0023] In a further example, a ladder is provided on the outer side of the frame 208 , and the frame 208 is connected to the transmission mechanism 202 .

[0024] In a further example, the conveyor chain device 4 includes a roller conveyor line 401 and a transfer machine 402 , and the roller conveyor line 401 is connected to the transfer machine 402 .

[0025] In a further example, three groups of roller conveyor lines 401 are provided, and the roller conveyor lines 401 include two groups of longitudinal conveyor lines and one group of transverse conveyor lines.

[0026] In a further example, one group of longitudinal conveying lines in the roller conveyor line 401 is in contact with the stacking machine 2, and another group of longitudinal conveying lines in the roller conveyor line 401 is arranged on one side of the AGV cart 1. The AGV cart 1 includes two types: backpack type and forklift type. In addition, the AGV cart 1 can be replaced by an RGV cart or other conveying lines, which can be customized according to actual conditions.

[0027] In a further example, a transfer machine 402 is provided between two groups of longitudinal conveying lines and one group of transverse conveying lines in the roller conveying line 401, and the conveying directions of the two groups of longitudinal conveying lines in the roller conveying line 401 are opposite.

[0028] Specifically, a robot 503, a visual camera 504 and a double-station fixture 505 are provided, which move along the ground rail 501 and can automatically complete the photographing and grabbing of the goods on the loading truck 6; at the same time, the gripper of the double-station fixture 505 is designed as a double-station to improve the unloading efficiency; an automatic stacking machine 2 is provided, which can automatically convey the empty pallet 3 to the robot component 5; an AGV trolley 1 system is provided, which can convey the full pallet rack 502 to the vertical warehouse after unloading the full pallet; two sets of robot components 5 are provided, which are arranged on both sides of the loading truck 6 respectively, which can expand the coverage of the robot 503 and improve the unloading efficiency. In summary, the device can completely replace manual operations and realize the fully automatic unloading and stacking process; the robot component 5 is highly flexible and can complete the unloading of the loading truck 6 with messy incoming materials; the robot component 5 adopts a bilateral arrangement, which can expand the coverage of the robot 503 and improve the unloading efficiency; the double-station fixture 505 adopts a double-station design, which can improve the unloading efficiency.

[0029] Embodiment 2 This embodiment is a further description of the above embodiment. It should be understood that this embodiment includes all the aforementioned technical features and is further described in detail.

[0030] A palletizing method of a fully automatic unloading and palletizing device comprises the following steps: S1, after the loading truck 6 stops, press the start button, and the system sends out a signal for unloading and stacking; S2, the robots 503 located on both sides of the loading truck 6 walk along the ground track 501 to the end of the loading truck 6; S3, the robot 503 carries the visual camera 504 to start taking pictures of the goods, and then grabs the goods through the double-station fixture 505; S4, stacking the pallets onto the pallet rack 502 on the robot mobile platform; S5, when the pallet rack 502 is fully stacked, it moves to the starting end of the ground rail 501, and the power roller under the pallet rack 502 drives the fully stacked pallet rack 502 to be transported to the transfer machine 402; S6, the full pallet rack 502 is transported to the storage position by the transfer machine 402 and the roller conveyor line 401; S7, AGV trolley 1 transports the full stack of pallet racks 502 to the vertical warehouse for storage; S8, the stacking machine 2 transports the empty pallet 3 to one side of the loading truck 6 through the longitudinal conveying line and the transfer machine 402 on one side, transports it to the transverse conveying line through the longitudinal conveying line and the transfer machine 402 on one side, and then transports it to the other side of the loading truck 6 through the cooperation of the transverse conveying line and the transfer machine 402, that is, transports it to the robot mobile platform through the transfer machine 402; S9, repeat the above process to complete the entire unloading and stacking process of the loading truck 6.

[0031] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A fully automatic unloading and palletizing device, comprising an AGV vehicle (1), a conveyor chain device (4) and a robot assembly (5), characterized in that: A pallet stacking machine (2) is arranged on one side of the AGV trolley (1), and the pallet stacking machine (2) and the AGV trolley (1) are both arranged on one side of a conveyor chain device (4), and a robot assembly (5) is arranged on the other side of the conveyor chain device (4), and the robot assembly (5) is arranged on both sides of a loading truck (6), and the robot assembly (5) comprises a ground rail (501), a pallet rack (502), a robot (503), a visual camera (504) and a double-station fixture (505), a pallet rack (502) is arranged on the ground rail (501), and goods are stacked on the pallet rack (502), and the pallet rack (502) is self-powered, a robot (503) is arranged on one side of the pallet rack (502), and a double-station fixture (505) is arranged on the mechanical arm of the robot (503), and a visual camera (504) is arranged on the double-station fixture (505).

2. The fully automatic unloading and stacking device according to claim 1 is characterized in that: The conveyor chain device (4) comprises a roller conveyor line (401) and a transfer machine (402), and the roller conveyor line (401) is connected to the transfer machine (402).

3. The fully automatic unloading and stacking device according to claim 2 is characterized in that: The roller conveyor lines (401) are provided in three groups, and the roller conveyor lines (401) include two groups of longitudinal conveyor lines and one group of transverse conveyor lines.

4. The fully automatic unloading and stacking device according to claim 3 is characterized in that: One group of longitudinal conveying lines in the roller conveying lines (401) is in contact with the stacking machine (2), and another group of longitudinal conveying lines in the roller conveying lines (401) is arranged on one side of the AGV trolley (1).

5. The fully automatic unloading and stacking device according to claim 4 is characterized in that: A transfer machine (402) is provided between the two groups of longitudinal conveying lines and one group of transverse conveying lines in the roller conveying line (401), and the conveying directions of the two groups of longitudinal conveying lines in the roller conveying line (401) are opposite.

6. A fully automatic unloading and stacking device according to any one of claims 1 to 5, characterized in that: The loading, unloading and stacking method of the fully automatic unloading and stacking device comprises the following steps: S1, after the loaded truck (6) stops, press the start button, and the system sends a signal for unloading and stacking; S2, the robots (503) located on both sides of the loading truck (6) walk along the ground track (501) to the end of the loading truck (6); S3, the robot (503) carries a visual camera (504) and starts to take pictures of the goods, and then grabs the goods through a double-station clamp (505); S4, stacking the pallets onto the pallet rack (502) on the robot mobile platform after grasping them; S5, when the pallet rack (502) is fully stacked, it moves to the starting end of the ground rail (501), and the power roller under the pallet rack (502) drives the fully stacked pallet rack (502) to be transported to the transfer machine (402); S6, the full pallet rack (502) is transported to the storage location via the transfer machine (402) and the roller conveyor line (401); S7, the AGV (1) transports the full pallet rack (502) to the vertical warehouse for storage; S8, the pallet stacking machine (2) conveys the empty pallet (3) to the roller conveyor line (401), and then conveys the empty pallet to the robot mobile platform through the transfer machine (402); S9, repeat the above process to complete the entire loading truck (6) unloading and stacking process.

Images