Truck loading system and truck loading method for tin stacks

Abstract

The invention discloses a loading system and a loading method for tin stacks. The loading system comprises a warehouse-in and warehouse-out carrying device which moves in a warehouse, and tin stacks are stored in the warehouse; the transfer device is perpendicular to the warehouse, and the in-out warehouse carrying device is configured to be used for placing the tin stacks on the transfer device; the truck loading device is located above the transfer device, and the truck loading device is configured to move between the transfer device and the truck in a reciprocating mode; and the control module is in communication connection with the in-out warehouse carrying device, the transfer device and the loading device. Through cooperation of the in-out warehouse carrying device, the transfer device and the loading device, manual participation is reduced, and the labor cost is reduced; and therefore, human errors are reduced, and the loading accuracy is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of tin stack loading, and in particular to a loading system and method for tin stacks. Background Art

[0002] Tin product warehouses typically use a two-story stacking system, with wide aisles for manual forklifts or truck loading. If production is high and the warehouse floor space is full, trucks must be parked outside, and multiple manual forklifts remotely pick up tin stacks for loading. Manual dispatchers then communicate which trucks need to be loaded, which trucks are assigned, and the quantity of tin stacks to be loaded. If the warehouse has sufficient aisles, trucks can be brought in for loading, and manual forklifts or overhead cranes can be used. However, manual overhead crane loading requires a crane operator to attach and remove wire ropes to the stacks, requiring the coordinated efforts of multiple personnel. Dispatchers must print and hold loading orders, directing the manual cranes and overhead cranes. This results in low loading efficiency, high manual involvement, and a high risk of errors. Summary of the Invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art or related art.

[0004] In view of this, the present invention provides a loading system and loading method for tin stacks, wherein the loading system reduces manual participation and reduces labor costs through the coordinated cooperation of an in-and-out handling device, a transfer device and a loading device; thereby reducing the occurrence of human errors and improving loading accuracy.

[0005] Specifically, the following technical solutions are included:

[0006] An embodiment of the first aspect of the present invention provides a loading system for tin stacks, the loading system comprising:

[0007] A storage and outbound handling device moves within a warehouse in which tin stacks are stored;

[0008] A transfer device is arranged vertically with respect to the warehouse, and the in-and-out handling device is configured to place the tin stack on the transfer device;

[0009] a loading device, located above the transfer device, and configured to move back and forth between the transfer device and the truck;

[0010] The control module is communicatively connected with the in-and-out handling device, the transfer device and the loading device respectively.

[0011] Optionally, the warehouse includes multiple placement areas, the multiple placement areas are arranged in parallel, and the placement areas are arranged along the length direction of the warehouse, each placement area is equipped with one of the in-and-out handling devices, and the loading system includes multiple transfer devices.

[0012] Optionally, the inbound and outbound handling device includes:

[0013] a first truss, disposed in the warehouse, and arranged along a length direction of the warehouse;

[0014] A first traveling trolley is provided on the first truss, and the first traveling trolley is configured to move back and forth in the longitudinal direction of the warehouse;

[0015] A first traveling trolley is provided on the first traveling trolley, and the first traveling trolley moves back and forth on the first traveling trolley, wherein the moving directions of the first traveling trolley and the first traveling trolley are perpendicular;

[0016] A first telescopic portion is provided at one end of the first traveling trolley facing the tin stack;

[0017] The first clamp is provided at an end of the first telescopic portion away from the first traveling trolley, and the first clamp is configured to clamp or release the tin stack in the warehouse.

[0018] Optionally, the first truss comprises:

[0019] a pair of crossbeams, the pair of crossbeams being arranged in parallel and extending along the length direction of the warehouse;

[0020] A support beam is arranged below the cross beam, and at least two support beams are arranged under each cross beam;

[0021] The first rack is arranged on the crossbeam, and the serrated side of the first rack faces the first traveling cart.

[0022] Optionally, the first traveling vehicle includes:

[0023] a pair of first connecting beams, wherein the first connecting beams are arranged on the cross beam, a second rack is provided on the first connecting beam, and a sawtooth side of the second rack faces the first traveling trolley;

[0024] The second driving part is arranged at one end of the first connecting beam. The output shaft of the second driving part is provided with a first gear. The first gear is engaged with the first rack. The first gear is provided with a second encoder.

[0025] Optionally, the loading device includes:

[0026] a second truss, disposed above the truck, the second truss being located outside the warehouse;

[0027] a second traveling trolley, disposed on the second truss, the second traveling trolley being configured to move back and forth between the truck and the transfer device;

[0028] A second walking trolley is provided on the second walking trolley, the second walking trolley is configured to move back and forth on the second walking trolley, and the moving directions of the second walking trolley and the second walking trolley are perpendicular;

[0029] A second telescopic portion is provided at one end of the second traveling trolley facing the truck;

[0030] The second clamp is arranged at an end of the second telescopic portion away from the second walking trolley, and the second clamp is configured to clamp or release the tin stack on the transfer device.

[0031] Optionally, the second truss comprises:

[0032] a pair of ground rails, the pair of ground rails being arranged in parallel and located on both sides of the width direction of the truck;

[0033] A vertical beam, one end of which is provided with a walking wheel, the walking wheel is arranged in the ground rail, the other end of the vertical beam is used to support the second walking trolley, the walking wheel is provided with a first driving part, and the walking wheel is provided with a first encoder.

[0034] Optionally, the second traveling vehicle includes:

[0035] a pair of second connecting beams, wherein the second connecting beams are arranged on the vertical beams, a third rack is provided on the second connecting beams, and the serrated side of the third rack faces the second traveling trolley;

[0036] A laser radar and an identification mechanism are provided on the side of the second connecting beam facing the truck, and both the laser radar and the identification mechanism are communicatively connected to the control module.

[0037] Optionally, the second clamp has the same structure as the first clamp, the first clamp includes one clamp body, and the second clamp includes two second clamp bodies, each of which includes:

[0038] A support frame is provided below the telescopic portion, the support frame being connected to the telescopic portion via a reinforcing plate, and a pair of slide rails is provided on a side of the support frame facing the telescopic portion;

[0039] A pair of clamping plates connected to the slider via a connecting sleeve, the slider being disposed on the slide rail and being movable on the slide rail, the clamping plates comprising a pair of oppositely disposed transverse plates and a plurality of vertical plates disposed between the pair of transverse plates, the transverse plates protruding from the vertical plates on a side facing the tin stack;

[0040] The telescopic portion is the first telescopic portion or the second telescopic portion, the first clamp is located below the first telescopic portion, and the second clamp is located below the second telescopic portion.

[0041] Optionally, the first walking trolley and the second walking trolley have the same structure, including:

[0042] Support frame;

[0043] a third driving unit, disposed at one end of the support frame, wherein the output shaft of the third driving unit is provided with a second gear, and the second gear is provided with a third encoder;

[0044] Wherein, the second gear of the first traveling trolley is meshed with the second rack;

[0045] The second gear of the second traveling trolley is meshed with the third rack.

[0046] Optionally, the first telescopic portion and the second telescopic portion have the same structure, including:

[0047] First square tube;

[0048] A second square tube, disposed inside the first square tube;

[0049] A mounting plate is provided at an end of the second square tube away from the first square tube;

[0050] a telescopic drive unit configured to drive the second square tube to move within the first square tube, the telescopic drive unit comprising a first component and a second component, the first component being disposed within the traveling trolley, and the second component being disposed on a side of the mounting plate facing the first square tube;

[0051] The first component includes a plurality of first fixed pulleys, at least one of which is connected to a fourth driving unit, and the fourth driving unit is provided with a fourth encoder;

[0052] The second assembly includes a plurality of second fixed pulleys, and the second fixed pulleys are arranged corresponding to the first fixed pulleys;

[0053] A steel wire rope is wound around the first fixed pulley, and a free end of the steel wire rope passes around the second fixed pulley and is then fixedly connected to the first fixed pulley.

[0054] Optionally, the transfer device comprises:

[0055] a rail-guided vehicle, disposed in the warehouse;

[0056] an outbound conveyor connected to one end of the rail-guided vehicle, the outbound conveyor being located between the rail-guided vehicle and the truck, at least a portion of the outbound conveyor being located within the warehouse, and the outbound conveyor moving toward the truck;

[0057] Wherein, the rail-guided vehicle is provided with a conveyor belt. After the rail-guided vehicle is docked with the outbound conveyor, the conveyor belt is turned on, and the rotation direction of the conveyor belt is consistent with the rotation direction of the outbound conveyor.

[0058] An embodiment of the second aspect of the present invention provides a method for loading tin stacks, using the above-mentioned loading system, the loading method comprising the following steps:

[0059] Send the information of the outbound order to the control module;

[0060] The control module generates outbound tasks and schedules inbound and outbound handling devices, transfer devices, and loading devices;

[0061] Determine whether the transfer device has a task. If there is no task, wait for scheduling. If there is a task, proceed to the next step.

[0062] The transfer device waits at the loading position;

[0063] At the same time, it is determined whether the inbound and outbound handling device has a task, if there is no task, it waits for scheduling, if there is a task, it proceeds to the next step;

[0064] The in-and-out handling device goes to a designated location to grab the tin stack and places the tin stack on the transfer device at the waiting position;

[0065] After receiving the tin stack, the transfer device starts to move toward the truck and arrives at the designated location;

[0066] At the same time, the truck drives into the loading position;

[0067] Determine whether the truck is the correct vehicle. If it is not the correct vehicle, send a new truck to the loading space. If the truck is the correct vehicle, proceed to the next step.

[0068] allowing said truck to load;

[0069] Obtaining the carriage position and loading coordinates of the truck through a loading device;

[0070] Determine whether the loading vehicle has a task. If not, wait for the generation of the carriage position and loading coordinates, and wait for the tin stack on the transfer device to arrive at the designated location. If there is a task, proceed to the next step:

[0071] The loading device moves the tin stack on the transfer device to the truck;

[0072] Determine whether the loading times are completed. If the loading times are not completed, repeat the previous step, otherwise proceed to the next step.

[0073] The truck leaves the loading position.

[0074] The embodiment of the present invention provides a loading system and method for tin stacks, wherein the loading system includes an in-and-out handling device, which can transport the tin stack in the temporary storage area to a designated location in the warehouse, and can also transport the tin stack at the designated location to a transfer device; the transfer device is arranged vertically with the warehouse, and transports the tin stack placed on the in-and-out handling device to the designated location; after the tin stack on the transfer device arrives at the designated location, the loading device grabs the tin stack on the transfer device at the designated location and moves toward the truck to realize the loading of the tin stack; the control module can realize the coordinated action of the in-and-out handling device, the transfer device and the loading device, avoids long waiting time or avoids the accumulation of tin stacks on the transfer device, and improves the loading efficiency. Through the coordinated action of the in-and-out handling device, the transfer device and the loading device, it is possible to reduce manual participation and reduce labor costs; thereby reducing the occurrence of human errors and improving the accuracy of loading.

[0075] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0076] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0077] Figure 1 is a schematic diagram of a vehicle loading system according to one embodiment of the present invention;

[0078] Figure 2 Schematic diagram of a storage and outbound handling device according to one embodiment of the present invention;

[0079] Figure 3is a schematic diagram of a first clamp according to one embodiment of the present invention;

[0080] Figure 4 is a schematic diagram of a vehicle loading device according to one embodiment of the present invention;

[0081] Figure 5 is a schematic diagram of a second clamp according to one embodiment of the present invention;

[0082] Figure 6 Schematic diagram of a first traveling trolley and a second traveling trolley according to one embodiment of the present invention;

[0083] Figure 7 is a schematic diagram of a first telescopic portion and a second telescopic portion according to an embodiment of the present invention;

[0084] Figure 8 The figure is a flow chart of the steps of a method for loading a tin stack according to one embodiment of the present invention.

[0085] in, Figures 1 to 7 The corresponding relationship between the reference numerals and component names is as follows:

[0086] 100 loading system, 110 in-and-out handling device, 111 first truss, 112 first walking trolley, 1121 first connecting beam, 1122 second rack, 113 first walking trolley, 1131 support frame, 1132 third driving unit, 1133 second gear, 114 first telescopic unit, 1141 first square tube, 1142 second square tube, 1143 second fixed pulley, 1144 wire rope, 1145 mounting plate, 115 first clamp, 1151 support frame, 11 52 reinforcing plate, 1153 splint, 1154 transverse plate, 1155 vertical plate, 1156 connecting sleeve, 1157 slide rail, 120 transfer device, 121 rail-guided vehicle, 122 outbound conveyor, 130 loading device, 131 second truss, 132 second traveling trolley, 133 second traveling trolley, 134 second telescopic part, 135 second clamp, 1351 clamp body, 140 truck, 150 placement area, 151 first placement area, 152 second placement area. DETAILED DESCRIPTION

[0087] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0088] Before further describing the embodiments of the present invention in detail, the directional terms involved in the embodiments of the present invention, such as "upper part", "lower part" and "side part", do not have the meaning of limiting the scope of protection of the present invention.

[0089] To make the technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0090] When the existing tin stacks are shipped out of the warehouse and loaded onto trucks, they are usually transported to trucks by multiple manual forklifts working in a cross-operation manner. Usually, at least three forklifts work at the same time. At the same time, when the manual forklifts fork the tin stacks in the warehouse, they can only fork the tin stacks from one side of the warehouse to the other side in sequence. If the tin stacks in the middle part of the warehouse need to be loaded, a manual crane needs to be added for assistance to place the tin stacks in the middle part of the warehouse on the manual forklifts, which increases labor costs. If the manual forklifts want to fork the tin stacks in the middle part of the warehouse alone, a forklift channel needs to be reserved in the warehouse, which affects the storage capacity of the tin stacks in the warehouse. In addition, when loading, it is necessary to confirm whether the truck is accurate, and an additional manual dispatcher is required, which further increases labor costs. At the same time, the presence of forklift personnel on site will increase the risk of accidents. The identification of the loaded tin stacks by manual loaders can easily lead to loading errors, resulting in economic losses and reduced customer satisfaction. In order to solve the above problems, the present application proposes a tin stack loading system, which is as follows.

[0091] like Figure 1 As shown, one embodiment of the present invention provides a loading system 100 for tin stacks, the loading system 100 comprising:

[0092] The in-and-out handling device 110 moves within the warehouse, where tin stacks are stored;

[0093] The transfer device 120 is arranged vertically with the warehouse, and the in-and-out handling device 110 is configured to place the tin stack on the transfer device 120;

[0094] The loading device 130 is located above the transfer device 120 and is configured to move back and forth between the transfer device 120 and the truck 140;

[0095] The control module is communicatively connected with the in-and-out handling device 110 , the transfer device 120 and the loading device 130 , respectively.

[0096] Among them, the loading system 111 includes an in-and-out handling device 110, which can transport the tin stacks in the temporary storage area to a designated location in the warehouse, and can also transport the tin stacks at the designated location to the transfer device 120; the transfer device 120 is arranged vertically with the warehouse, and transports the tin stacks placed on the in-and-out handling device 110 to the designated location; after the tin stacks on the transfer device 120 arrive at the designated location, the loading device 130 grabs the tin stacks on the transfer device 120 at the designated location and moves toward the truck 140 to load the tin stacks; the control module can realize the coordinated action of the in-and-out handling device 110, the transfer device 120 and the loading device 130, avoid waiting time too long or avoid the accumulation of tin stacks on the transfer device 120, and improve loading efficiency. Through the coordinated action of the in-and-out handling device 110, the transfer device 120 and the loading device 130, it is possible to reduce manual participation and reduce labor costs; thereby reducing the occurrence of human errors and improving loading accuracy.

[0097] Specifically, a barcode is provided on the tin stack, and the barcode contains relevant information of the tin stack, such as weight, batch, origin and serial number. When the tin stack is put into storage, it has been placed in the designated position according to the information on the barcode and recorded in the control module. The tin stack that needs to be shipped out is obtained through the shipment order. The in-and-out handling device 110 grabs the tin stack that needs to be shipped out at the designated position and moves it to the starting position of the transfer device 120. The transfer device 120 transports the obtained tin stack out of the warehouse until the tin stack is transported to the exit position of the transfer device 120. The loading device 130 picks up the tin stack at the exit position and moves it to a position above the truck 140. The loading device 130 descends and places the tin stack on the truck 140, completing one loading. After the truck 140 is full, the control module dispatches the next truck 140 that needs to be loaded.

[0098] The control module includes a WCS (Warehouse Control System) and a WMS (Warehouse Management System). The control system receives the positions of the inbound and outbound handling device 110, the transfer device 120, and the loading device 130, and controls the scheduling of the inbound and outbound handling device 110, the transfer device 120, and the loading device 130. The WMS receives order information, breaks it down into outbound tasks, and sends it to the WCS. The WCS schedules the actions of the inbound and outbound handling device 110, the transfer device 120, and the loading device 130 according to the outbound tasks of the outbound order, thereby realizing the outbound and loading of the tin stack. The control device implements the scheduling work through programming. This is not the solution protected by this application, so the specific programming procedures will not be repeated.

[0099] In a feasible embodiment, the warehouse includes multiple placement areas 150, which are arranged in parallel and along the length direction of the warehouse. Each placement area 150 is equipped with an in-and-out handling device 110, and the loading system 111 includes multiple transfer devices 120.

[0100] Among them, the warehouse can be divided into multiple placement areas 150. In order to ensure that the tin stacks are transferred at the same location, multiple placement areas 150 are arranged in parallel along the length direction of the warehouse. Each placement area 150 is equipped with an in-and-out handling device 110. According to the number of in-and-out handling devices 110, the number of transfer devices 120 is determined, so that the in-and-out handling devices 110, the transfer devices 120 and the loading devices 130 can work together.

[0101] Specifically, the tin stack is first put into storage by the in-and-out handling device 110. After the storage is completed, the in-and-out handling device 110 can transfer the tin stack in the warehouse from the warehouse to the transfer device 120, and the transfer device 120 transfers the tin stack from the warehouse to the outside of the warehouse. In this embodiment, two in-and-out handling devices 110 and two transfer devices 120 are used. Since there is a certain position difference in the initial positions where the two in-and-out handling devices 110 can be placed on the transfer device 120, the two transfer devices 120 work alternately, that is, the first transfer device and the second transfer device have a certain time interval for the outward movement of the tin stack thereon, so that the two in-and-out handling devices 110 work alternately, leaving time for the in-and-out handling device 110 to reach the designated position to grab the tin stack. Due to the matching of the position difference and the time interval, the tin stacks on the two transfer devices 120 can reach the designated export position at the same time. The loading device 130 can simultaneously grab the tin stacks on the first transfer device and the second transfer device, which can avoid the waiting time of the transfer device 120 and the loading device 130 being too long. At the same time, it can also avoid the transfer device 120 from being unable to continue working after the tin stacks accumulate, thereby improving the loading efficiency of the loading system 111.

[0102] It is understandable that the first placement area 151 in this embodiment is Figure 1 The lower middle placement area 150 and the second placement area 152 are Figure 1 The number of placement areas 150 in the upper middle section generally matches the number of transfer units 120. That is, each placement area 152 is equipped with one inbound and outbound transport unit 110 and one transfer unit 120. To ensure that both inbound and outbound transport units 110 can reach the starting position of the transfer unit 120, at least some of the transfer units 120 must be located within the second placement area 152. Because the two inbound and outbound transport units 110 have a certain positional difference along the length of the transfer unit 120, the starting positions of the two transport units are different. The starting position of the transfer units 120 corresponding to the first placement area 151 is closer to the direction of the truck 140.

[0103] Among them, the two in-and-out handling devices 110 in the two placement areas 150 operate independently. While meeting the production rhythm, tin stacks can be put into storage and taken out of storage at the same time, or one device can be used for putting in tin stacks and the other for taking out tin stacks, which can be selected according to needs.

[0104] In one possible implementation, Figure 2 As shown, the inbound and outbound handling device 110 includes:

[0105] The first truss 111 is disposed in the warehouse, and the first truss 111 is disposed along the length direction of the warehouse;

[0106] A first traveling trolley 112 is provided on the first truss 111 and is configured to move back and forth in the longitudinal direction of the warehouse;

[0107] The first traveling trolley 113 is provided on the first traveling trolley 112. The first traveling trolley 113 moves back and forth on the first traveling trolley 112. The moving directions of the first traveling trolley 112 and the first traveling trolley 113 are perpendicular.

[0108] The first telescopic portion 114 is provided at one end of the first traveling carriage 113 facing the tin pile;

[0109] The first clamp 115 is provided at one end of the first telescopic portion 114 away from the first traveling trolley 113 . The first clamp 115 is configured to clamp or release the tin stack in the warehouse.

[0110] The first truss 111 spans both sides of the placement area 152 in the width direction and extends along the length of the placement area 152, with the extended length covering the entire placement area 152. This allows the first truss 111 to support the first traveling trolley 112 above the placement area 152. The first traveling trolley 112 can reciprocate on the first truss 111, enabling movement of the in-and-out handling device 110 in the length direction of the placement area 150. A first trolley 113 is disposed on the first traveling trolley 112 and can reciprocate on the first traveling trolley 112, that is, the trolley reciprocates in the width direction of the placement area 150, enabling movement of the in-and-out handling device 110 in the width direction of the placement area 150. The first telescopic portion 114 is disposed at the end of the first traveling trolley 113 facing the storage area 152. The telescopic movement of the first telescopic portion 114 enables the reciprocating movement of the in-and-out handling device 110 in a direction perpendicular to the storage area 150. In other words, the coordination of the first traveling trolley 112, the first traveling trolley 113, and the first telescopic portion 114 enables three-dimensional movement of the in-and-out handling device 110, thereby accurately positioning the tin stack within the storage area 150. A first clamp 115 is disposed at the end of the first telescopic portion 114 facing away from the first traveling trolley 113. The first clamp 115 allows the tin stack to be grasped at a specified location, thereby enabling the in-and-out handling device 110 to accurately grasp the tin stack within the storage area 150. After the tin stack is grabbed by the in-and-out handling device 110, the first telescopic portion 114 rises, driving the tin stack to move to the starting position of the transfer device 120, thereby realizing the first movement of the tin stack. The rising of the first telescopic portion 114 can avoid collision with low-altitude debris or staff during the movement, thereby preventing safety accidents.

[0111] For example, before the tin stack is put into storage, the control module plans the storage location of the tin stack, that is, each tin stack has a fixed storage location, and the in-and-out handling device 110 is equipped with its own PLC. The control module directly calls the position of the corresponding tin stack according to the information of the delivery order, and transmits the coordinates to the PLC of the in-and-out handling device 110. The PLC controls the movement of the first walking trolley 112, the first walking trolley 113 and the first telescopic part 114 of the in-and-out handling device 110 according to the received coordinates, so as to realize the precise grasping of the tin stack. At the same time, the PLC can also obtain the coordinates of the starting position of the transfer device 120 that is predicted in advance. The PLC then controls the first clamp 115 on the in-and-out handling device 110 to move to the coordinates of the starting position according to the coordinates of the starting position, puts down the tin stack, and transfers the tin stack from the placement area 150 to the transfer device 120, realizing the first movement of the tin stack.

[0112] In a feasible embodiment, the first truss 111 includes:

[0113] A pair of cross beams, the pair of cross beams are arranged in parallel and extend along the length of the warehouse;

[0114] Support beams are set under the horizontal beams, with at least two support beams set under each horizontal beam;

[0115] The first rack is arranged on the crossbeam, and the serrated side of the first rack faces the first traveling trolley 112 .

[0116] Among them, the first truss 111 includes a pair of beams, which are arranged in parallel along the length direction of the warehouse, and the pair of beams are located on both sides of the width direction of the first placement area 151 or the second placement area 152. The pair of beams are supported by support beams, so that the beams can be located on both sides of the first placement area 151 or the second placement area 152. At the same time, the beams can be located above the placement area 150. Supporting the beams through multiple support beams can enhance the strength of the beams and improve the stability and reliability of the beams in supporting the first walking cart 112.

[0117] It should be noted that at least one crossbeam is provided with a first rack, and the first rack is located on the side of one crossbeam facing the other crossbeam. When there is only one first rack, a second drive unit is provided on the side of the first traveling trolley 112 facing the first rack, and a first gear is provided on the second drive unit. The first gear and the first rack are engaged with each other to achieve the movement of the first traveling trolley 112 on the first truss 111. When the first truss 111 has two first racks, the first racks are located on opposite sides of the two first crossbeams, that is, the two first racks are both arranged toward one side of the first traveling trolley 112. In this case, a driven shaft and a gear are provided on the side of the first traveling trolley 112 opposite the second drive unit. The driven shaft is connected to the first traveling trolley 112 via a bracket, and the driven shaft is rotatably connected to the bracket. The gear is engaged with the other first rack, providing support on both sides of the first traveling trolley 112, thereby improving the stability and safety of the first truss 111 supporting the first traveling trolley 112.

[0118] In a feasible embodiment, the first traveling vehicle 112 includes:

[0119] A pair of first connecting beams 1121 , the first connecting beams 1121 are disposed on the crossbeam, a second rack 1122 is disposed on the first connecting beam 1121 , and the saw teeth of the second rack 1122 face toward the first traveling trolley 113 ;

[0120] The second driving part is provided at one end of the first connecting beam 1121 . The output shaft of the second driving part is provided with a first gear, which is engaged with the first rack. The first gear is provided with a second encoder.

[0121] Among them, the first connecting beam 1121 is set on the crossbeam, and a connecting plate is provided at both ends of the length direction of a pair of connecting beams. The second driving unit is provided on the connecting plate, and a first gear is provided on the output shaft of the second driving unit. The first gear is engaged with the first rack on the crossbeam to convert the rotational motion of the second driving unit into the linear motion of the first walking cart 112. It can be understood that in order to ensure the stability and reliability of the first walking cart 112 walking on the first truss 111, a bracket, a driven shaft and a gear can be provided on the side opposite to the second driving unit. The bracket is fixed to the connecting plate, and the bracket is rotatably connected to the driven shaft. The driven shaft is provided with a gear, which is engaged with the first rack on the other crossbeam to achieve supported walking at both ends of the pair of first connecting beams 1121.

[0122] It should be noted that a second rack 1122 is provided on the side of the first connecting beam 1121 facing the first traveling trolley 113, a third driving unit 1132 is provided on the traveling trolley, a second gear 1133 is provided on the output shaft of the third driving unit 1132, and the second gear 1133 is engaged with the second rack 1122 to convert the rotational motion of the third driving unit 1132 into the linear motion of the first traveling trolley 113. It is understandable that the first traveling trolley 112 can be provided with two second racks 1122, and the two second racks 1122 are located on opposite sides of a pair of connecting beams. A bracket, a driven shaft and a gear are provided on the side of the first traveling trolley 113 opposite to the third driving unit 1132. The driven shaft is rotatably connected to the bracket, and the gear is sleeved on the driven shaft. The gear is engaged with another second rack 1122 to achieve support for both ends of the first traveling trolley 113, thereby improving the stability and reliability of the first traveling trolley 113 moving on the first traveling trolley.

[0123] For example, a first encoder is provided on the first gear, and the first encoder can record the number of rotations of the first gear, and the diameter of the first gear is a known value. Therefore, after obtaining the number of rotations of the first gear through the first encoder, the moving distance of the first walking cart 112 after the first gear is converted into linear motion can be obtained. That is to say, after the PLC of the in-and-out handling device 110 receives the exact coordinates of the tin stack that needs to be taken out of the warehouse from the control module, it can know the coordinate difference between the position of the in-and-out handling device 110 and the target position, obtain the walking distance of the first walking cart 112 on the first truss 111, and then obtain the number of rotations that the first gear needs to rotate. The number of rotations information is transmitted to the PLC through the first encoder, which helps the first walking cart 112 to accurately park on the first truss 111.

[0124] For example, a reference plate can be set at both ends of the beam in the length direction, and a grating ruler can be set on both sides of the first connecting beam 1121 in the width direction. The laser of the grating ruler is projected onto the reference plate. The distance between the grating ruler and the reference plate can be obtained according to the intensity of the laser, and the precise positioning of the in-and-out handling device 110 in the length direction of the placement area 150 can also be achieved.

[0125] In one possible implementation, Figure 4 As shown, the loading device 130 includes:

[0126] The second truss 131 is provided above the truck 140 and is located outside the warehouse;

[0127] A second traveling trolley 132 is disposed on the second truss 131 , and the second traveling trolley 132 is configured to move back and forth between the truck 140 and the transfer device 120 ;

[0128] The second traveling trolley 133 is provided on the second traveling trolley 132. The second traveling trolley 133 is configured to move back and forth on the second traveling trolley 132. The moving directions of the second traveling trolley 133 and the second traveling trolley 132 are perpendicular.

[0129] The second telescopic portion 134 is provided at one end of the second traveling trolley 133 facing the truck 140;

[0130] The second clamp 135 is disposed at one end of the second telescopic portion 134 away from the second traveling trolley 133 . The second clamp 135 is configured to clamp or release the tin stack on the transfer device 120 .

[0131] The loading device 130 is located outside the warehouse, and the second trusses 131 of the loading device 130 are located on both sides of the truck 140 in the width direction. The second trusses 131 can support the second traveling trolley 132, so that the second traveling trolley 132 can be located above the transfer device 120 and the truck 140. The second traveling trolley 132 can move back and forth between the transfer device 120 and the truck 140, that is, move in the length direction of the train 140. The second traveling trolley 133 can move on the second traveling trolley 132, that is, the second traveling trolley 133 can move back and forth in the width direction of the truck 140. The second telescopic portion 134 is extended and retracted to achieve the height change of the loading device 130, thereby achieving three-dimensional movement of the loading device 130. The second clamp 135 can accurately grasp the tin stack at the exit of the transfer device 120 and place the tin stack on the truck 140, achieving a secondary movement of the tin stack. The tin stack is transported to the truck 140 through the loading device 130 for secondary transportation, eliminating the need for manual loading or manual forklift loading, thereby improving loading efficiency and reducing the labor intensity of the staff.

[0132] In a feasible embodiment, the second truss 131 includes:

[0133] a pair of ground rails, the pair of ground rails being arranged in parallel and the pair of ground rails being located on both sides of the width direction of the truck 140;

[0134] A vertical beam, one end of which is provided with a traveling wheel, which is arranged in the ground rail, and the other end of the vertical beam is used to support the second traveling trolley 132, the traveling wheel is provided with a first driving part, and the traveling wheel is provided with a first encoder.

[0135] Among them, the second truss 131 is in the form of a ground rail, a pair of ground rails extend along the length direction of the truck 140, and a pair of ground rails are located on both sides of the width direction of the truck 140. There are a number of ground rails, and the vertical beams are set on the ground rails through running wheels. The running wheels are driven by the first driving unit, and the forward and reverse rotation of the first driving unit drives the running wheels to move on the ground rails, and then drives the number of and the second walking cart 132 to move back and forth in the length direction of the truck 140 in turn.

[0136] It should be noted that a first encoder is provided on the traveling wheel, and the number of rotations of the traveling wheel is obtained by the first encoder. Since the diameter of the traveling wheel is known, the moving distance of the traveling wheel on the ground rail can be obtained after obtaining the number of rotations, and then the moving distance of the second traveling trolley 132 in the length direction of the truck 140 can be obtained. In practice, the coordinates of the tin stack clamped by the loading device 130 are known coordinates, that is, the exit position of the transfer device 120 is fixed, so the moving coordinates of the tin stack at the exit position driven by the loading device 130 to the designated position on the truck 140 are also known. In this way, the number of rotations of the traveling wheel can be reversely deduced through the known moving distance and the diameter of the traveling wheel, and then the number of rotations of the first encoder can be monitored by the PLC of the loading device 130, and the moving distance of the first traveling trolley 112 can be controlled in time to improve the accuracy of the device in grabbing and placing the tin stack.

[0137] For example, two vertical beams can be set in parallel on a ground rail, and the two vertical beams are connected by a connecting plate, and the second traveling trolley 132 is supported by the connecting plate; or two inclined vertical beams can be set on a ground rail, so that the two vertical beams and the ground rail form an isosceles triangle. In this case, a connecting plate is set between a pair of second connecting beams of the second traveling trolley 132, and the intersection of the two vertical beams is fixedly connected to the connecting plate, so that the second truss 131 can also support the second traveling trolley 132.

[0138] In a feasible embodiment, the second traveling vehicle 132 includes:

[0139] a pair of second connecting beams, the second connecting beams being arranged on the vertical beams, the second connecting beams being provided with a third rack, the sawtooth side of the third rack facing the second traveling trolley 133;

[0140] A laser radar and an identification mechanism are provided on the side of the second connecting beam facing the truck 140 , and both the laser radar and the identification mechanism are communicatively connected to the control module.

[0141] A pair of second connecting beams are mounted on the vertical beams, allowing them to be positioned above the truck 140 and the warehouse external transfer device 120, thereby enabling secondary transfer of the tin stack by the loading device 130. A third rack is also mounted on the second connecting beams. When only one third rack is provided, it is located on the side of one second connecting beam facing the other. When two third racks are provided, one third rack is mounted on each second connecting beam, and the two third racks are positioned opposite each other. This third rack arrangement enables the movement of the second traveling trolley 133 on the second traveling cart 132.

[0142] It should be noted that an identification mechanism and a laser radar are provided on the side of the second connecting beam facing the truck 140. The identification mechanism is typically a camera that collects the license plate number of the truck 140 at the loading station and confirms whether the license plate number is consistent with the license plate number assigned by the control module. If it is determined that the truck 140 is loading, the loading device 130 is controlled to start working. Otherwise, an alarm is triggered, the truck 140 exits the loading station, and another truck 140 enters the loading station. The identification mechanism continues to determine whether the license plate number is consistent until the license plate number of the truck 140 entering the loading station is consistent with the license plate number assigned by the control module. The identification mechanism can also be installed diagonally in front of the truck 140 using a bracket. In this application, it is directly installed on the second connecting beam, which can reduce the space occupied by the additional identification structure and improve space utilization. Specifically, the identification structure uploads the collected license plate number to the control module and compares it with the vehicle management system and order system within the control module to determine whether the truck 140 at the loading station is a vehicle to be loaded. Based on the specific contents of the sales order, including the weight, batch, and quantity of the tin stacks, a delivery order is generated, including the number of tin stacks that each truck 140 can transport, the total number of trucks 140 required, the license plate number of each truck 140, and the required delivery address for the tin stacks. The order is then matched with the trucks 140 in the vehicle management system. When the license plate number of a truck 140 successfully matches the license plate number on the delivery order, the loading device 130 starts loading the truck. If the match fails, a new truck 140 is loaded. The provision of the identification mechanism can improve the accuracy of truck 140 shipments, ensuring that the delivery address of the loaded tin stacks is consistent with the delivery address received by the truck 140 driver, thus avoiding errors that could cause economic losses and reduce customer satisfaction.

[0143] For example, a laser radar is set on the side of the second connecting beam facing the truck 140 via a pan-tilt platform. The pan-tilt platform drives the laser radar to swing, allowing the laser radar to scan the length and width of the truck 140, thereby obtaining the specific location information of the truck 140 and the dimensions of the truck compartment. At the same time, the location information of the truck 140 and the dimensions of the truck compartment are uploaded to the control module. The control module uses programming algorithms and loading rules to obtain the placement coordinates of the tin stack during each loading. The control module then sends work instructions to the PLC of the loading device 130, and the PLC of the loading device 130 controls the specific movement path of the loading device 130 to achieve the grasping and placement of the tin stack. The loading rule refers to the loading of a truck 140 to be loaded in a two-column, multi-row loading method. Other loading rules can also be set according to the size of the tin stack, such as a four-column, multi-row loading method.

[0144] In one possible implementation, Figure 3 and Figure 5 As shown, the second clamp 135 has the same structure as the first clamp 114. The first clamp 114 includes a clamp body 1351, and the second clamp 135 includes two second clamp bodies 1351. The clamp body 1351 includes:

[0145] A support frame 1151 is provided below the telescopic portion. The support frame 1151 is connected to the telescopic portion via a reinforcing plate 1152. A pair of slide rails 1157 are provided on the side of the support frame 1151 facing the telescopic portion.

[0146] A pair of clamping plates 1153 are connected to the slider via a connecting sleeve 1156. The slider is disposed on a slide rail 1157 and is capable of moving on the slide rail 1157. The clamping plates 1153 include a pair of oppositely disposed transverse plates 1154 and a plurality of vertical plates 1155 disposed between the pair of transverse plates 1154. The transverse plates 1154 protrude from the vertical plates 1155 on the side facing the tin stack.

[0147] The telescopic portion is the first telescopic portion 114 or the second telescopic portion 134 , the first clamp 115 is located below the first telescopic portion 114 , and the second clamp 135 is located below the second telescopic portion 134 .

[0148] It is understandable that the first clamp 115 has only one clamp body 1351. Figure 3 As shown, the second clamp 135 has two clamp bodies 1351, as shown in FIG. Figure 5As shown, the first clamp 115 is part of the loading and unloading handling device 110, and is therefore located below the first telescopic portion 114. The second clamp 135 is part of the loading device 130, and is therefore located below the second telescopic portion 134. Connecting sleeves 1156 on the same slide rail 1157 are located on both sides of the reinforcing plate 1152. In other words, the sliders on the same slide rail 1157 are located on both sides of the reinforcing plate 1152, and the reinforcing plate 1152 is located on the support frame 1151 with the slide rail 1157.

[0149] Specifically, taking the first clamp 115 as an example, a support frame 1151 is disposed below the first telescopic portion 114, specifically below the mounting plate 1145 of the first telescopic portion 114. The support frame 1151 and the mounting plate 1145 are disposed substantially parallel to each other. A reinforcing plate 1152 connects the mounting plate 1145 and the support frame 1151, ensuring a secure connection between the support frame 1151 and the first telescopic portion 114. The provision of the reinforcing plate 1152 also ensures the strength of the first clamp 115, improving the reliability and stability of the first clamp 115 in gripping the tin stack. The support frame 1151 is rectangular, with a slide rail 1157 disposed on each of its two opposing sides. Each slide rail 1157 is provided with two sliders that can reciprocate on the slide rails 1157. Clamping plate 1153 comprises a pair of opposing transverse plates 1154 and a plurality of vertical plates 1155. The vertical plates 1155 are positioned between the pair of transverse plates 1154 to enhance the strength of clamping plate 1153. A connecting sleeve 1156 is provided on one of the transverse plates 1154. This U-shaped connecting sleeve 1156 fits over the slider and is fixedly connected to the slider. The open end of connecting sleeve 1156 faces transverse plate 1154 and is fixedly connected to the transverse plate 1154. Thus, the movement of the slider on the slide rail 1157 drives the movement of clamping plate 1153 on the slide rail 1157. Since there is a boss under each tin stack, when the clamping plate 1153 clamps the tin stack, the horizontal plate 1154 protrudes from the vertical plate 1155 on the side facing the tin stack, also forming a boss. The two bosses are clamped together to achieve support for the tin stack by the horizontal plate 1154 below, ensuring the stability and reliability of the tin stack transportation.

[0150] It is understood that each transverse plate 1154 is indirectly connected to two sliders that are not on the same slide rail 1157. This ensures that the two clamps 1153 move toward or away from each other, achieving the clamping and opening of the clamps 1153, and thus completing the handling of the tin stack. In this embodiment, the slider is an electric slider, and the power supply of the electric slider can be provided by the control room of the loading system 100. This is common knowledge in the field and will not be repeated here. Alternatively, an electric telescopic rod can be provided in the support frame 1151 to control the movement of the slider. The telescopic end of the electric telescopic rod can be fixedly connected to the connecting sleeve 1156. The fixed sleeve 1156 is fixedly connected to the slider. Therefore, pushing the connecting sleeve 1156 can cause the slider to move on the slide rail 1157. The telescopic movement of the electric telescopic rod can achieve the movement of the clamps 1153 toward or away from each other. Similarly, the power of the electric telescopic rod is provided by the control room of the loading system 100.

[0151] It should be noted that the barcode reader is set on the side of the first clamp 115 facing the tin stack, and can be set on the support frame 1151. The barcode on the tin stack must correspond to the setting position of the barcode reader. When the first clamp 115 clamps the tin stack, it can identify the barcode on the top of the tin stack and match it with the recorded information in the warehouse management system (WMS). If the match fails, the warehouse control system (WCS) dispatches an AGV forklift to send the tin stack with the barcode problem to the manual processing area for re-attachment of the barcode, or re-entering it into the WMS and re-warehousing. This setting can effectively improve the reliability and effectiveness of tin stack inventory management.

[0152] Among them, the placement area 150 is usually in the same straight line with the warehouse, and the tin stack is also placed regularly in the placement area 150. Therefore, there is no need to set a rotating part between the first telescopic part 114 and the first clamp 115 to realize the transportation of the tin stack. This can reduce the complexity of the in-and-out warehouse transportation device 110 and make the operation simpler and more convenient.

[0153] It is understood that the support frame 1151 of the second clamp 135 is located below the mounting plate 1145 of the second telescopic section 134. Since the second clamp 135 has two clamp bodies 1351, meaning that the mounting plate 1145 of the second telescopic section 134 connects the two clamp bodies 1351, the length of the mounting plate 1145 of the second telescopic section 134 is greater than the length of the mounting plate 1145 of the first telescopic section 114. The second clamp 135 is required to pick up the tin stack on the transfer device 120, and since the transfer device 120 has two outbound conveyors 122, the two clamp bodies 1351 of the second clamp 135 are respectively positioned to correspond to the two outbound conveyors 122, with the distance between the two clamp bodies 1351 being fixed. Therefore, the tin stack on the outbound conveyor 122 can be picked up without the need for a rotating portion, which reduces the complexity of the loading device 130 and makes operation simpler and more convenient.

[0154] In one possible implementation, Figure 6 As shown, the first traveling trolley 113 and the second traveling trolley 133 have the same structure, including:

[0155] Support frame 1131;

[0156] The third driving unit 1132 is disposed at one end of the support frame 1131. The output shaft of the third driving unit 1132 is provided with a second gear 1133, and the second gear 1133 is provided with a third encoder;

[0157] The second gear 1133 of the first traveling trolley 113 is meshed with the second rack 1122;

[0158] The second gear 1133 of the second traveling carriage 133 is engaged with the third rack.

[0159] Among them, the structures of the first walking trolley 113 and the second walking trolley 133 are the same. Taking the first walking trolley 113 as an example, the support frame 1131 of the first walking trolley 113 is arranged between a pair of first connecting beams 1121 of the first walking trolley 112, and a third driving part 1132 is provided on the side of the support frame 1131 facing the first connecting beam 1121. The output of the third driving part 1132 is provided with a second gear 1133, and the second gear 1133 is engaged with the second rack 1122 to convert the rotational motion of the third driving part 1132 into the linear motion of the first walking trolley 113.

[0160] Exemplarily, when there are two second racks 1122 on the first connecting beam 1121, a bracket, a driven shaft and a gear are provided on the side of the first walking trolley 113 opposite to the third driving part 1132. The bracket is fixedly connected to the support frame 1131, and the driven shaft is rotatably connected to the bracket. A gear is sleeved on the driven shaft, and the gear is engaged with the other second rack 1122. By achieving simultaneous support for both ends of the first walking trolley 113, the reliability and stability of the first walking trolley 113 in moving on the first walking trolley 112 are improved.

[0161] Similarly, when the second trolley 133 is mounted on the second traveling carriage 132, the principles are the same as above. The support frame 1131 of the second trolley 133 is mounted between a pair of second connecting beams of the second traveling carriage 132. A third driving unit 1132 is provided on the side of the support frame 1131 facing the second connecting beams. A second gear 1133 is provided on the output shaft of the third driving unit 1132. At this time, the second gear 1133 meshes with the third rack, converting the rotational motion of the third driving unit 1132 into linear motion of the second traveling carriage 133. When there are two third racks on the second connecting beam, a bracket, a driven shaft and a gear are set on the side of the second walking trolley 133 opposite to the third driving part 1132. The bracket is fixedly connected to the support frame 1131, and the driven shaft is rotatably connected to the bracket. A gear is sleeved on the driven shaft, and the gear is engaged with another third rack. By achieving simultaneous support for both ends of the second walking trolley 133, the reliability and stability of the second walking trolley 133 in moving on the second walking trolley 132 are improved.

[0162] Exemplarily, a third encoder is provided on the second gear 1133, which records the number of rotations of the second gear 1133 by the third encoder, and the diameter of the second gear 1133 is known. Therefore, after obtaining the number of rotations of the second gear 1133 by the third encoder, the walking distance of the second gear 1133 after being converted into linear motion can be obtained. In practice, according to the distance from the tin stack in the warehouse to the transfer device 120, and from the transfer device 120 to the truck 140, the moving distance of the first walking trolley 113 and the second walking trolley 133 is known. The number of rotations of the second gear 1133 is inferred by the moving distance and transmitted to the PLCs of the in-and-out handling device 110 and the loading device 130 respectively. Based on the number of rotations of the second gear 1133 received by the PLC, the first walking trolley 113 can be timely controlled to stop on the first walking trolley 112, and the second walking trolley 133 can be controlled to stop on the second walking trolley 132, thereby improving the accurate grasping and placement of the tin stack.

[0163] It is understandable that a reference plate can also be provided at both ends of a pair of first connecting beams 1121 of the first traveling trolley 112, and a grating ruler can be provided on the side of the support frame 1131 of the first traveling trolley 113 facing the reference plate. By projecting the laser of the grating ruler onto the reference plate, the distance between the grating ruler and the reference plate can be obtained according to the intensity of the laser, and the accurate positioning of the moving distance of the first traveling trolley 113 on the first traveling trolley 112 can also be achieved. Similarly, a reference plate can be provided at both ends of a pair of second connecting beams of the second traveling trolley 132, and a grating ruler can be provided on the side of the support frame 1131 of the second traveling trolley 133 facing the reference plate. By projecting the laser of the grating ruler onto the reference plate, the distance between the grating ruler and the reference plate can be obtained according to the intensity of the laser, and the accurate positioning of the moving distance of the second traveling trolley 133 on the second traveling trolley 132 can also be achieved.

[0164] In one possible implementation, Figure 7 As shown, the first telescopic portion 114 and the second telescopic portion 134 have the same structure, including:

[0165] First square tube 1141;

[0166] The second square tube 1142 is disposed inside the first square tube 1141;

[0167] The mounting plate 1145 is disposed at one end of the second square tube 1142 away from the first square tube 1141;

[0168] The telescopic drive unit is configured to drive the second square tube 1142 to move within the first square tube 1141. The telescopic drive unit includes a first component and a second component. The first component is disposed within the traveling trolley, and the second component is disposed on the side of the mounting plate 1145 facing the first square tube 1141.

[0169] The first component includes a plurality of first fixed pulleys, at least one of which is connected to a fourth driving unit, and the fourth driving unit is provided with a fourth encoder;

[0170] The second component includes a plurality of second fixed pulleys 1143, and the second fixed pulleys 1143 are arranged corresponding to the first fixed pulleys;

[0171] A steel wire rope 1144 is wound around the first fixed pulley, and the free end of the steel wire rope 1144 passes around the second fixed pulley 1143 and is then fixedly connected to the first fixed pulley.

[0172] It is understood that the first telescopic portion 114 can reciprocate in the height direction of the warehouse, and the second telescopic portion 134 can reciprocate in the height direction of the truck 140, both of which can achieve the purpose of grabbing and placing the tin stack. Therefore, the working principles are the same. In this embodiment, the first telescopic portion 114 is used as an example for description. The working principle of the second telescopic portion 134 is the same as that of the first telescopic portion 114 and will not be repeated here. The first telescopic portion 114 is located between the first traveling trolley 113 and the first clamp 115, and the second telescopic portion 134 is located between the second traveling trolley 133 and the second clamp 135.

[0173] The first and second square tubes 1141 and 1142 are connected to each other, allowing the first telescopic portion 114 to extend and contract, allowing the first clamp 115 to reciprocate in the height direction of the warehouse and the transfer device 120, thereby grasping and placing the tin stack. The extension of the first telescopic portion 114 controls the second square tube 1142 to extend from the first square tube 1141, lowering the first clamp 115. The retraction of the first telescopic portion 114 causes the second square tube 1142 to retract into the first square tube 1141, moving the first clamp 115 away from the ground. It should be noted that a slide or connecting bar is provided on the side of the first square cylinder 1141 facing the second square cylinder 1142, and a connecting bar or slide is provided on the side of the second square cylinder 1142 facing the first square cylinder 1141. Through the cooperation of the slide and the connecting bar, the second square cylinder 1142 can move stably in the first square cylinder 1141, that is, it plays a guiding role, avoiding the second square cylinder 1142 from shaking in the first square cylinder 1141, which affects the stability of the clamp lifting.

[0174] It is understandable that the first square tube 1141 and the second square tube 1142 of the present application are only an example. In practice, three, four or even more square tubes can be connected in sequence to achieve the expansion and contraction of the first telescopic part 114. The selection can be made according to actual needs.

[0175] In this embodiment, when the fourth driving unit is rotating forward, it drives the first fixed pulley to rotate, thereby lengthening the steel wire rope 1144 on the first fixed pulley. Under the support of the second fixed pulley 1143 and the action of gravity, the second square cylinder 1142 extends from the first square cylinder 1141; when the fourth driving unit is reversed, it drives the first fixed pulley to rotate, so that the steel wire rope 1144 on the first fixed pulley is retracted. Under the tension of the steel wire rope 1144, the second square cylinder 1142 is retracted into the first square cylinder 1141.

[0176] It should be noted that the provision of the second fixed pulley 1143 enables a rolling connection between the wire rope 1144 and the second fixed pulley 1143. If a lifting ring is used, friction will occur when the wire rope 1144 is retracted and extended, affecting the service life of the wire rope 1144. Therefore, the provision of the second fixed pulley 1143 can extend the service life of the wire rope 1144 and ensure the safety of the telescopic unit.

[0177] Exemplarily, a fourth encoder is provided on the fourth driving part, which records the number of rotations of the first fixed pulley through the fourth encoder, and the diameter of the first fixed pulley is a known value. Therefore, after obtaining the number of rotations of the first fixed pulley through the fourth encoder, the linear extension distance of the first fixed pulley rotation-converted wire rope 1144 can be obtained. That is to say, the height position of the tin pile and the position of the clamp are fixed and stored in the control module. According to the position of the tin pile, the distance between the first clamp 115 and the tin pile can be known, and then the extension length of the first telescopic part 114 can be known. The fixed extension length can be used to infer the number of rotations of the fourth driving part and transmitted to the PLC of the in-and-out handling device 110. Based on the number of rotations of the fourth encoder received by the PLC, the extension and contraction of the first telescopic part 114 can be controlled in time to improve the accurate positioning of the grabbing position and placement position of the tin pile.

[0178] For example, a reference plate can be set at the end of the first square cylinder 1141 away from the second square cylinder 1142, and a grating ruler can be set at the end of the second square cylinder 1142 away from the first square cylinder 1141. The laser of the grating ruler is projected onto the reference plate. The distance between the grating ruler and the reference plate can be obtained according to the intensity of the laser, and the accurate control of the telescopic distance of the first telescopic part 114 can also be achieved.

[0179] In one possible implementation, Figure 1 As shown, the transfer device 120 includes:

[0180] Track-guided vehicle 121, located in the warehouse;

[0181] The outbound conveyor 122 is connected to one end of the rail-guided vehicle 121 and is located between the rail-guided vehicle 121 and the truck 140. At least a portion of the outbound conveyor 122 is located in the warehouse, and the outbound conveyor 122 moves toward the truck 140.

[0182] The rail-guided vehicle 121 is provided with a conveyor belt. After the rail-guided vehicle 121 is docked with the outbound conveyor 122 , the conveyor belt is turned on, and the rotation direction of the conveyor belt is consistent with the rotation direction of the outbound conveyor 122 .

[0183] It should be noted that the tin stack to be loaded is clamped and lifted by the in-and-out handling device 110, and placed on the rail-guided vehicle 121 (RGV) of the transfer device 120. The RGV moves out of the warehouse on its laid track until it docks with the out-of-warehouse conveyor 122. After the RGV receives the docking signal, it starts the conveyor belt on it to drive the tin stack to move onto the out-of-warehouse conveyor 122. At this time, the rotation direction of the conveyor belt is consistent with the rotation direction of the out-of-warehouse conveyor 122, and the tin stack is then transferred from the RGV to the out-of-warehouse conveyor 122, and at the same time transferred to the exit position through the out-of-warehouse conveyor 122, waiting to be grabbed and lifted by the loading device 130.

[0184] In this embodiment, two RGVs are installed, with their tracks perpendicular to storage area 150. They work with two inbound and outbound handling devices 110 and a loading device 130 to load tin stacks from first storage area 151 and second storage area 152. The two RGVs and two conveyor lines operate independently without interfering with each other.

[0185] Specifically, the WMS decomposes the outbound delivery order into multiple outbound delivery tasks and sends them to the WCS. The WCS dispatches the placement area 150 that the inbound and outbound handling devices 110 are responsible for according to the current task status of each component of the outbound delivery system, grabs the tin stack and places it on the RGV. The RGV transports it to the outbound delivery conveyor 122 for docking, starts the conveyor belt on the RGV, and the conveyor belt moves in the same direction as the outbound delivery conveyor 122 to transfer the tin stack on the RGV to the outbound delivery conveyor 122. The outbound delivery conveyor 122 then transports the tin stack to the exit position outside the warehouse. When the exit positions of the two outbound delivery conveyors 122 have tin stacks in place, the loading device 130 starts to grab the tin stack from the exit position, grabbing two tin stacks at a time. The vehicle has been identified and scanned by the identification mechanism and laser radar before loading. The loading door machine executes the tasks based on the loading order one by one until the loading is completed.

[0186] This embodiment adopts dual inbound and outbound handling devices 110, dual RGVs, dual outbound conveyors 122 and a loading device 130, and the second clamp 135 on the loading device 130 is provided with two clamp bodies 1351, which improves the efficiency and freedom of loading. Through the WMS automatic grading loading order of the control module, goods can be freely allocated in the placement area 150, and tin stacks in any warehouse can be grabbed, which improves the convenience of tin stack transportation. The loading device 130 is equipped with a laser radar to scan the compartment of the truck 140, calculate the position coordinates of the tin stack loading through the WCS, and send it to the PLC of the loading device 130, so that the tin stacks can be accurately loaded in sequence, improving the loading accuracy and efficiency. The loading device 130 is also equipped with an identification mechanism to identify the license plate of the truck 140. At the same time, an LED screen can be installed in the front of the truck 140 to facilitate the driver to observe the progress of the loading task, the estimated completion time, and to prompt the driver that the loading is completed and the truck can be driven away, thereby realizing unmanned management, reducing labor costs and the error rate caused by human labor, improving loading efficiency and loading accuracy, and thus improving economic efficiency and customer satisfaction.

[0187] like Figure 8 As shown, one embodiment of the present invention provides a method for loading tin stacks, using the loading system 111 of the above embodiment, the loading method includes the following steps:

[0188] Step 1: Send the information of the delivery order to the control module;

[0189] Step 2: The control module generates outbound tasks and schedules inbound and outbound handling devices, transfer devices, and loading devices;

[0190] Step 3: Determine whether the transfer device has a task. If there is no task, wait for scheduling. If there is a task, proceed to the next step.

[0191] Step 4: The transfer device goes to the loading position and waits;

[0192] Step 5: At the same time, determine whether the inbound and outbound handling device has a task. If there is no task, wait for scheduling. If there is a task, proceed to the next step.

[0193] Step 6: The in-and-out handling device goes to the designated location to grab the tin stack and places it on the transfer device at the waiting position;

[0194] Step 7: After receiving the tin stack, the transfer device starts to move towards the truck and arrives at the designated location;

[0195] Step 8: At the same time, the truck enters the loading position;

[0196] Step 9: Determine whether the truck is the correct vehicle. If it is not the correct vehicle, send a new truck to the loading space. If the truck is the correct vehicle, proceed to the next step.

[0197] Step 10, allowing the truck to load;

[0198] Step 11, obtaining the carriage position and loading coordinates of the truck through the loading device;

[0199] Step 12: Determine whether the loading vehicle has a task. If there is no task, wait for the generation of the carriage position and loading coordinates, and wait for the tin stack on the transfer device to arrive at the designated location. If there is a task, proceed to the next step:

[0200] Step 13: The loading device moves the tin stack on the transfer device to the truck;

[0201] Step 14, determine whether the loading times are completed, if not, repeat the previous step, otherwise proceed to the next step;

[0202] Step 15: The truck leaves the loading location.

[0203] Specifically, the information of the outbound order is sent to the WMS (Warehouse Management System) of the control module, and is divided into an outbound task and sent to the WCS of the control module. The WCS dispatches the outbound handling device, the RGV (rail-guided vehicle 121) in the transfer device 120, the outbound conveyor 122, and the loading device 130 according to the outbound task; in the warehouse, if the transfer device 120 does not receive the dispatch information, it will continue to wait. If the transfer device 120 receives the dispatch information, the RGV of the transfer device 120 will go to the loading position to wait. The loading position is usually close to the temporary storage. One end of the area; at the same time, it is determined whether the inbound and outbound handling device 110 has received the scheduling information. If no scheduling information is received, it continues to wait. If the scheduling information is received, the inbound and outbound handling device 110 arrives at the position specified by the control module to grab the tin stack and place the tin stack on the RGV of the transfer device 120; at the same time, it is determined whether there is any goods on the outbound conveyor 122 of the transfer device 120. If there is no goods, it continues to wait for the RGV to dock with the outbound conveyor 122. After docking, the outbound conveyor 122 recognizes the presence of a tin stack and moves the tin stack to the exit position outside the warehouse. Outside the warehouse, truck 140 enters the loading position and uses the recognition structure to determine whether the license plate of truck 140 is consistent with that of truck 140 in the WMS. If the license plates are inconsistent, the truck 140 will leave and re-enter a new truck 140 for judgment. If the license plates are consistent, the truck 140 is allowed to load. At this time, the loading device 130 scans the position of the truck 140 and the coordinates of the carriage through the laser radar, and sends them to the WCS of the control module for calculation to obtain the coordinate value of the tin stack loading. Whether the loading vehicle receives the scheduling task, if not, it will continue to wait; if it receives the loading task, the loading device 130 comes to the outbound transportation Above the exit position of the machine 122, two stacks of tin are simultaneously grabbed by the two clamp bodies 1351 on the second clamp 135, and the two stacks of tin are moved to the corresponding positions above the truck 140 according to the requirements of the WCS, and the stacks of tin are placed in the compartment of the truck 140; then the WCS can also obtain the number of tin stacks loaded on the truck 140 based on the scanning information of the compartment, and determine whether the loading is completed by judging the number of times the device moves. If the loading is not completed, the loading device 130 continues to load the truck; after the loading number is reached, the loading of the tin stacks is completed, the truck 140 leaves the loading position, and the next truck 140 is dispatched to enter the loading position.

[0204] It should be noted that when there are two RGVs and two outbound conveyors 122 , the two RGVs and the two outbound conveyors 122 are scheduled respectively, and the method is as described above and will not be repeated.

[0205] In the present invention, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance. The term "plurality" refers to two or more than two, unless otherwise clearly defined.

[0206] Other embodiments of the present invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. The present invention is intended to cover any variations, uses, or adaptations of the present invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as illustrative only.

[0207] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A loading system for tin stacks, characterized in that: The loading system includes: An in-and-out handling device moves within a warehouse where tin stacks are stored; A transfer device is arranged vertically with respect to the warehouse, and the in-and-out handling device is configured to place the tin stack on the transfer device; a loading device, located above the transfer device, and configured to move back and forth between the transfer device and the truck; The control module is communicatively connected with the in-and-out handling device, the transfer device and the loading device respectively.

2. The tin stack loading system according to claim 1, characterized in that: The warehouse includes a plurality of placement areas, which are arranged in parallel and along the length direction of the warehouse. Each placement area is equipped with an in-and-out handling device, and the loading system includes a plurality of transfer devices.

3. The tin stack loading system according to claim 1, characterized in that: The in-and-out handling device comprises: a first truss, disposed in the warehouse, and arranged along a length direction of the warehouse; A first traveling trolley is provided on the first truss, and the first traveling trolley is configured to move back and forth in the longitudinal direction of the warehouse; A first traveling trolley is provided on the first traveling trolley, and the first traveling trolley moves back and forth on the first traveling trolley, wherein the moving directions of the first traveling trolley and the first traveling trolley are perpendicular; A first telescopic portion is provided at one end of the first traveling trolley facing the tin stack; The first clamp is provided at an end of the first telescopic portion away from the first traveling trolley, and the first clamp is configured to clamp or release the tin stack in the warehouse.

4. The tin stack loading system according to claim 3, characterized in that: The first truss comprises: a pair of crossbeams, the pair of crossbeams being arranged in parallel and extending along the length direction of the warehouse; A support beam is arranged below the cross beam, and at least two support beams are arranged under each cross beam; The first rack is arranged on the crossbeam, and the serrated side of the first rack faces the first traveling cart.

5. The tin stack loading system according to claim 4, characterized in that: The first traveling vehicle comprises: a pair of first connecting beams, wherein the first connecting beams are arranged on the cross beam, a second rack is provided on the first connecting beam, and a sawtooth side of the second rack faces the first traveling trolley; The second driving part is arranged at one end of the first connecting beam. The output shaft of the second driving part is provided with a first gear. The first gear is engaged with the first rack. The first gear is provided with a second encoder.

6. The tin stack loading system according to claim 3, characterized in that: The loading device comprises: a second truss, disposed above the truck, the second truss being located outside the warehouse; a second traveling trolley, disposed on the second truss, the second traveling trolley being configured to move back and forth between the truck and the transfer device; A second walking trolley is provided on the second walking trolley, the second walking trolley is configured to move back and forth on the second walking trolley, and the moving directions of the second walking trolley and the second walking trolley are perpendicular; A second telescopic portion is provided at one end of the second traveling trolley facing the truck; The second clamp is arranged at an end of the second telescopic portion away from the second walking trolley, and the second clamp is configured to clamp or release the tin stack on the transfer device.

7. The tin stack loading system according to claim 6, characterized in that: The second truss comprises: a pair of ground rails, the pair of ground rails being arranged in parallel and located on both sides of the width direction of the truck; A vertical beam, one end of which is provided with a walking wheel, the walking wheel is arranged in the ground rail, the other end of the vertical beam is used to support the second walking trolley, the walking wheel is provided with a first driving part, and the walking wheel is provided with a first encoder.

8. The tin stack loading system according to claim 7, characterized in that: The second traveling trolley comprises: a pair of second connecting beams, wherein the second connecting beams are arranged on the vertical beams, a third rack is provided on the second connecting beams, and the serrated side of the third rack faces the second traveling trolley; A laser radar and an identification mechanism are provided on the side of the second connecting beam facing the truck, and both the laser radar and the identification mechanism are communicatively connected to the control module.

9. The tin stack loading system according to claim 6, characterized in that: The second fixture has the same structure as the first fixture. The first fixture includes one fixture body, and the second fixture includes two second fixture bodies. The fixture body includes: A support frame is provided below the telescopic portion, the support frame being connected to the telescopic portion via a reinforcing plate, and a pair of slide rails is provided on a side of the support frame facing the telescopic portion; A pair of clamping plates connected to the slider via a connecting sleeve, the slider being disposed on the slide rail and being movable on the slide rail, the clamping plates comprising a pair of oppositely disposed transverse plates and a plurality of vertical plates disposed between the pair of transverse plates, the transverse plates protruding from the vertical plates on a side facing the tin stack; The telescopic portion is the first telescopic portion or the second telescopic portion, the first clamp is located below the first telescopic portion, and the second clamp is located below the second telescopic portion.

10. The tin stack loading system according to claim 6, characterized in that: The first traveling trolley and the second traveling trolley have the same structure, including: Support frame; a third driving unit, disposed at one end of the support frame, wherein the output shaft of the third driving unit is provided with a second gear, and the second gear is provided with a third encoder; Wherein, the second gear of the first traveling trolley is meshed with the second rack; The second gear of the second traveling trolley is meshed with the third rack.

11. The tin stack loading system according to claim 6, characterized in that: The first telescopic portion and the second telescopic portion have the same structure, including: First square tube; A second square tube, disposed inside the first square tube; A mounting plate is provided at an end of the second square tube away from the first square tube; a telescopic drive unit configured to drive the second square tube to move within the first square tube, the telescopic drive unit comprising a first component and a second component, the first component being disposed within the traveling trolley, and the second component being disposed on a side of the mounting plate facing the first square tube; The first component includes a plurality of first fixed pulleys, at least one of which is connected to a fourth driving unit, and the fourth driving unit is provided with a fourth encoder; The second component includes a plurality of second fixed pulleys, and the second fixed pulleys are arranged corresponding to the first fixed pulleys; A steel wire rope is wound around the first fixed pulley, and a free end of the steel wire rope passes around the second fixed pulley and is then fixedly connected to the first fixed pulley.

12. The tin stack loading system according to claim 1, characterized in that: The transfer device comprises: a rail-guided vehicle, disposed in the warehouse; an outbound conveyor connected to one end of the rail-guided vehicle, the outbound conveyor being located between the rail-guided vehicle and the truck, at least a portion of the outbound conveyor being located within the warehouse, and the outbound conveyor moving toward the truck; Wherein, the rail-guided vehicle is provided with a conveyor belt. After the rail-guided vehicle is docked with the outbound conveyor, the conveyor belt is turned on, and the rotation direction of the conveyor belt is consistent with the rotation direction of the outbound conveyor.

13. A method for loading tin stacks, using the loading system according to any one of claims 1 to 12, characterized in that: The loading method comprises the following steps: Send the information of the outbound order to the control module; The control module generates outbound tasks and schedules inbound and outbound handling devices, transfer devices, and loading devices; Determine whether the transfer device has a task. If there is no task, wait for scheduling. If there is a task, proceed to the next step. The transfer device waits at the loading position; At the same time, it is determined whether the inbound and outbound handling device has a task, if there is no task, it waits for scheduling, if there is a task, it proceeds to the next step; The in-and-out handling device grabs the tin stack at the designated location and places the tin stack on the transfer device at the waiting position; After receiving the tin stack, the transfer device starts to move toward the truck and arrives at the designated location; At the same time, the truck drives into the loading position; Determine whether the truck is the correct vehicle. If it is not the correct vehicle, send a new truck to the loading space. If the truck is the correct vehicle, proceed to the next step. allowing said truck to load; Obtaining the compartment position and loading coordinates of the truck through a loading device; Determine whether the loading vehicle has a task. If not, wait for the generation of the carriage position and loading coordinates, and wait for the tin stack on the transfer device to arrive at the designated location. If there is a task, proceed to the next step: The loading device moves the tin stack on the transfer device to the truck; Determine whether the loading times are completed. If the loading times are not completed, repeat the previous step, otherwise proceed to the next step. The truck leaves the loading position.

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