Rock core stacking system

Abstract

The utility model discloses a rock core stacking system. The rock core stacking system comprises a rock core box, a tray, a first conveying mechanism and a stacking mechanism. The core box is used for loading cores, the tray is used for loading the core box, the first transmission mechanism is used for transmitting the core box loaded with the cores, and the first transmission mechanism is provided with a feeding position and a discharging position; the stacking mechanism is arranged close to the discharging position of the first conveying mechanism, at least two first tray stations and at least one second tray station are distributed on the periphery of the stacking mechanism, and trays are placed on the first tray stations and the second tray stations correspondingly. The stacking mechanism can take the core boxes on the trays of the discharging station, the first tray station and the second tray station. The rock core stacking and unstacking integrated device can achieve rock core stacking and unstacking integration. The utility model is applied to the technical field of core stacking.

Description

Technical Field

[0001] The present application relates to the technical field of core stacking, and in particular to a core stacking system. Background Art

[0002] With the development of information technology, core storage is developing towards automation and informatization, especially for large core warehouses, a large number of cores are managed through automatic storage and informatization systems. Usually, the cores are first stacked on pallets, and the pallets are used as units for in-and-out storage management through automatic storage systems. However, placing the cores neatly on the pallets and picking out the required cores from the pallets are still mainly done manually. Due to the large number of cores, it not only consumes a lot of manpower and material resources, but also has low management efficiency.

[0003] Although the use of stacking mechanisms is relatively widespread, they are generally simple stacking for specific goods, and there are few stacking systems developed for core management. In the related art, a core stacking method and system for a core library of an offshore drilling and production ship are proposed. The core stacking system includes a core library control terminal, a label scanning system, a core library, a shuttle, a stacker, and a management terminal. The core stacking method mainly includes the following steps: the label information of the core and the core box are associated and bound through the label scanning system, and transported to the entrance of the core library; the management terminal obtains the label information of the label scanning system and the storage location coding information of the core library to establish a storage task, and sends the storage task instruction to the core library control terminal; the core library control terminal calculates the optimal operation path of the stacker according to the status of the storage location coding information and the label information of the label scanning system, and sends instructions to the shuttle and the stacker. The shuttle changes layers through the stacker and transfers to the lower surface of the core tray, lifts the core tray and transports the core and the core box to the designated location. However, the above core stacking system still has some disadvantages: the cores may need to be further processed before being put into storage, and the above core stacking system cannot meet the processing requirements before core stacking; the above core stacking system only mentions stacking and storage management, and cannot meet the requirements of integrated stacking and destacking of cores; the above core stacking system cannot achieve the stacking of the target type. Utility Model Content

[0004] The present application aims to solve at least one of the above technical problems in the prior art to a certain extent. To this end, the present application provides a core stacking system that can meet the requirements of core stacking and destacking integration.

[0005] According to the core stacking system of the embodiment of the present application, it includes a core box for loading cores; a pallet for loading the core box; a first conveying mechanism for conveying the core box loaded with the core, the first conveying mechanism having an upper material position and a lower material position; a palletizing mechanism, the palletizing mechanism is arranged near the lower material position of the first conveying mechanism, at least two first pallet stations and at least one second pallet station are arranged around the palletizing mechanism, the pallets are placed on the first pallet station and the second pallet station, and the palletizing mechanism can take and place the core boxes on the pallets at the lower material position, the first pallet station and the second pallet station.

[0006] Based on the above technical solution, the embodiments of the present application have at least the following beneficial effects: the stacking mechanism can take and put down the material position, as well as the core boxes on the pallets of the first pallet station and the second pallet station, so that the stacking mechanism can perform core stacking and destacking operations, meet the requirements of core stacking and destacking integration, can reduce a lot of labor costs, improve work efficiency, and shorten the time for cores to enter and leave the warehouse.

[0007] According to the core stacking system of the embodiment of the present application, the first transmission mechanism includes a first section, at least one middle section, and a tail section connected in sequence, the loading position is set on the first section, the loading position is set on the tail section, and the middle section passes through the core processing area.

[0008] According to the core stacking system of the embodiment of the present application, the first transmission mechanism also includes a branch conveyor belt, and the middle section is connected to the branch conveyor belt through a first chain, so that the core box on the middle section can be transmitted to the corresponding branch conveyor belt through the first chain.

[0009] According to the core stacking system of the embodiment of the present application, a photo sensor is provided on the first transmission mechanism to identify the presence or absence of the core box.

[0010] According to the core stacking system of the embodiment of the present application, the stacking mechanism includes a first base, a multi-joint robotic arm and a clamp. The bottom of the multi-joint robotic arm is rotatably connected to the first base so that the multi-joint robotic arm can rotate circumferentially. The clamp is rotatably installed at the end of the multi-joint robotic arm, and the clamp is used to clamp the core box.

[0011] According to the core stacking system of the embodiment of the present application, the clamp is retractable and is provided with a first identification system, which can identify the size of the core box clamped by the clamp, and the stacking mechanism and the clamp are electrically connected to the first identification system.

[0012] According to the core stacking system of the embodiment of the present application, it also includes a second conveying mechanism for conveying pallets, the second conveying mechanism includes at least two conveying lines, each of the conveying lines is connected to each of the first pallet stations, the number of the conveying lines is the same as the number of the first pallet stations and corresponds one to one, so that the conveying lines can convey the pallets to the corresponding first pallet stations.

[0013] According to the core stacking system of the embodiment of the present application, the second transmission mechanism also includes a pallet loading station and a pallet conveyor belt, the pallet conveyor belt is located between the unloading position and the stacking mechanism, the pallet loading station and the end of the conveyor line away from the first pallet station are connected to the pallet conveyor belt.

[0014] According to the core stacking system of the embodiment of the present application, a 3D camera is disposed above the first pallet station and the second pallet station, and the 3D camera is used to identify the stacking type.

[0015] According to the core stacking system of the embodiment of the present application, it also includes a first barcode scanner and a second barcode scanner. The core box is provided with a first code, and the first barcode scanner is used to identify the first code. The tray is provided with a second code, and the second barcode scanner is used to identify the second code.

[0016] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 This is a structural schematic diagram of the core stacking system in the embodiment of the present application;

[0019] Figure 2 for Figure 1 A magnified view of part A;

[0020] Figure 3 for Figure 1 A magnified view of part B;

[0021] Figure 4 Another structural schematic diagram of the core stacking system in the embodiment of the present application (excluding the first transmission mechanism and each core processing area);

[0022] Figure 5 This is a structural schematic diagram of the stacking mechanism in the embodiment of the present application;

[0023] Figure 6 This is a schematic diagram of the structure of the clamp in the embodiment of the present application;

[0024] Figure 7 Another structural schematic diagram of the clamp in the embodiment of the present application;

[0025] Figure 8 This is another schematic diagram of the structure of the clamp in the embodiment of the present application.

[0026] Figure numerals: core box 110, tray 120; first barcode scanner 210, second barcode scanner 220; first transmission mechanism 300, first section 310, loading position 311, first middle section 320, second middle section 330, third middle section 340, tail section 350, unloading position 351, first chain 360, first branch conveyor belt 370, second branch conveyor belt 380, third branch conveyor belt 390; palletizing mechanism 400, first base 410, multi-joint robotic arm 420, clamp Tool 430, second base 431, mechanical claw 432; No. 1 first pallet station 511, No. 2 first pallet station 512, second pallet station 520; second transmission mechanism 600, pallet feeding station 610, pallet loading station 620, second chain 630, pallet conveyor belt 640, first conveyor line 651, second conveyor line 652; core sorting area 710, core cutting area 720, core scanning area 730, core packaging area 740; photosensitive element 800; 3D camera 900. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0028] In the present application, the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings. These terms are mainly used to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific orientation, or to be constructed and operated in a specific orientation.

[0029] In addition, some of the above terms may be used to express other meanings in addition to indicating orientation or positional relationship. For example, the term "on" may also be used to express a certain dependency or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in this application can be understood according to specific circumstances.

[0030] In addition, the terms "installed", "set", "provided with", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, elements, or components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0031] In addition, the terms "first", "second", etc. are mainly used to distinguish different devices, elements or components (the specific types and structures may be the same or different), and are not used to indicate or imply the relative importance and quantity of the indicated devices, elements or components. Unless otherwise specified, "plurality" means two or more.

[0032] The technical solution of the present application will be further described below in conjunction with embodiments and drawings.

[0033] See also Figure 1 , the embodiment of the present application provides a core stacking system that can meet the requirements of core stacking and destacking integration. Figures 1 to 3 The core stacking system includes a core box 110, a tray 120, a first transmission mechanism 300 and a stacking mechanism 400. The core box 110 is used to load cores, the tray 120 is used to load the core box 110, the first transmission mechanism 300 is used to transmit the core box 110 loaded with cores, and the first transmission mechanism 300 has an upper material position 311 and a lower material position 351; the stacking mechanism 400 is arranged near the lower material position 351 of the first transmission mechanism 300, and at least two first tray stations and at least one second tray station 520 are arranged around the stacking mechanism 400. The tray 120 is placed on the first tray station and the second tray station 520. The stacking mechanism 400 can take and remove the core boxes 110 on the trays 120 at the lower material position 351, the first tray station and the second tray station 520.

[0034] Optionally, the first transmission mechanism 300 is a roller transmission belt. Of course, the first transmission mechanism 300 can also be a transmission mechanism such as a belt transmission belt or a chain transmission belt, which is not specifically limited here.

[0035] In some embodiments, the first transmission mechanism 300 includes a first section 310, at least one middle section, and a tail section 350 connected in sequence, the loading position 311 is set on the first section 310, the unloading position 351 is set on the tail section 350, and the middle section passes through the core processing area. It can be understood that the first section 310, the middle section, and the tail section 350 of the first transmission mechanism 300 are connected in sequence so that the core box 110 on the first transmission mechanism 300 can be transmitted on the first section 310, the middle section, and the tail section 350.

[0036] In some embodiments, the first transmission mechanism 300 further includes a branch conveyor belt, and the middle section is connected to the branch conveyor belt through the first chain 360, so that the core box 110 on the middle section can be transmitted to the corresponding branch conveyor belt through the first chain 360. When the core in the core box 110 needs to be processed, the core box 110 can be transported to the corresponding branch conveyor belt through the corresponding middle section for the core in the core box 110 to be processed accordingly.

[0037] It is understandable that one or more middle sections of the first transmission mechanism 300 may be provided, the number of branch transmission belts provided may be the same as the number of middle sections provided, and one or more core processing areas may also be provided. When there are multiple middle sections and core processing areas of the first transmission mechanism 300, each middle section may pass through a core processing area, and each middle section may be connected to a branch transmission belt.

[0038] Exemplarily, at least three intermediate sections are provided, which are respectively a first intermediate section 320, a second intermediate section 330 and a third intermediate section 340 connected in sequence; at least three core processing areas are provided, which are respectively a core cutting area 720, a core scanning area 730 and a core packaging area 740; the first intermediate section 320 passes through the core cutting area 720, the second intermediate section 330 passes through the core scanning area 730, and the third intermediate section 340 passes through the core packaging area 740.

[0039] Optionally, the first middle section 320 is connected to the first branch conveyor belt 370, the second middle section 330 is connected to the second branch conveyor belt 380, and the third middle section 340 is connected to the third branch conveyor belt 390. Each branch conveyor belt is arranged parallel to each middle section, and each middle section is connected to each corresponding branch conveyor belt through the first chain 360 ( Figure 2 3 shows that the second middle section 330 is connected to the second branch conveyor belt 380 via the first chain 360 , so that the core boxes 110 on each middle section can be transferred to the corresponding branch conveyor belts via the first chain 360 .

[0040] It is understandable that the number of intermediate sections and the number and positions of core processing areas can be set according to actual needs, and no specific restrictions are made here.

[0041] Exemplarily, the core processing area can be set to four. In addition to the three core processing areas mentioned above, one core processing area can be set as the core sorting area 710, and the first section 310 of the first transmission mechanism 300 passes through the core sorting area 710. When the storage operation is performed, the core information can be checked in the core sorting area 710, and after confirming that the information is correct, the confirmed core box 110 loaded with the core is placed on the first section 310 of the first transmission mechanism 300 through the loading position 311.

[0042] See also Figure 1 The core sorting area 710, the core cutting area 720, the core scanning area 730 and the core packaging area 740 are arranged in sequence along the negative direction of the X-axis. Correspondingly, the first section 310, the first middle section 320, the second middle section 330, the third middle section 340 and the tail section 350 of the first transmission mechanism 300 are also arranged in sequence along the negative direction of the X-axis.

[0043] It can be understood that the first section 310, the first middle section 320, the second middle section 330, the third middle section 340 and the tail section 350 of the first transmission mechanism 300 can be controlled to open and close in sections. Exemplarily, the first section 310, the first middle section 320, the second middle section 330, the third middle section 340 and the tail section 350 of the first transmission mechanism 300 are respectively connected to a first drive motor, each first drive motor is electrically connected to a first switch, and the corresponding first drive motor can be opened and closed by each first switch, so that the corresponding section of the first transmission mechanism 300 can be opened and closed.

[0044] In some embodiments, a photo sensor 800 is disposed on the first transmission mechanism 300 to identify the presence or absence of the core box 110 .

[0045] Optionally, photo sensors 800 are provided on the first section 310 , the first middle section 320 , the second middle section 330 , the third middle section 340 and the tail section 350 of the first transmission mechanism 300 to identify whether there is a core box 110 on the first section 310 , the first middle section 320 , the second middle section 330 , the third middle section 340 and the tail section 350 .

[0046] Furthermore, a photo sensor 800 may also be provided on each branch conveyor belt to identify whether there is a core box 110 on each branch conveyor belt.

[0047] It is understandable that one or more photo sensors 800 may be provided on each segment and each branch transmission belt of the first transmission mechanism 300, and the number and location of the photo sensors 800 may be appropriately adjusted according to actual needs, and no specific limitation is imposed herein.

[0048] Exemplarily, three photo sensors 800 are disposed at intervals on the first section 310 and three middle sections of the first transmission mechanism 300 , two photo sensors 800 are disposed at intervals on the tail section 350 , and one photo sensor 800 is also disposed on each branch transmission belt.

[0049] Optionally, each intermediate section connected to the first chain 360 is provided with a photo sensor 800 ( Figure 2 3 shows that the second middle section 330 is connected to the first chain 360 and is provided with a photo sensor 800, and the other two photo sensors 800 on each middle section are respectively arranged at intervals on both sides of the first chain 360 along the length direction of each middle section, and each branch transmission belt is also provided with a photo sensor 800 ( Figure 2 3 shows that a light sensor 800 is also provided at the second branch conveyor belt 380 connected to the first chain 360). By providing a light sensor 800 at each intermediate section connected to the first chain 360 and each branch conveyor belt connected to the first chain 360, it is helpful to determine whether the core box 110 on each intermediate section is transmitted to the corresponding branch conveyor belt.

[0050] Optionally, each first chain 360 is connected to a second drive motor, each second drive motor is electrically connected to a second switch, and each second switch can be used to turn on and off the corresponding second drive motor, thereby turning on and off the corresponding first chain 360. Optionally, each branch conveyor belt is connected to a third drive motor, each third drive motor is electrically connected to a third switch, and each third switch can be used to turn on and off the corresponding third drive motor, thereby turning on and off the corresponding branch conveyor belt.

[0051] In some embodiments, the stacking mechanism 400 is disposed on one side of the unloading position 351 , and the first transmission mechanism 300 is provided with an injection mechanism (not shown in the drawings) at the unloading position 351 , which is used to push the core box 110 on the unloading position 351 to a side close to the stacking mechanism 400 .

[0052] Exemplarily, the jet mechanism is arranged on a side of the first conveying mechanism 300 away from the stacking mechanism 400 and opposite to the stacking mechanism 400. When the core box 110 is conveyed to the unloading position 351, the jet mechanism sprays compressed air to push the core box 110 to the edge of a side close to the stacking mechanism 400, waiting for the stacking mechanism 400 to grab it.

[0053] In some embodiments, two first pallet stations are provided, and one second pallet station 520 is provided. The second pallet station 520 is provided on a side of the palletizing mechanism 400 away from the unloading position 351, and the second pallet station 520 is opposite to the unloading position 351, and the two first pallet stations are symmetrically arranged around the palletizing mechanism 400. The pallet 120 on the second pallet station 520 can be taken and placed by an unmanned forklift, and the second pallet station 520 can be used only for depalletizing and outbound operations, while the first pallet station can be used for both palletizing and warehousing operations and depalletizing and outbound operations.

[0054] For example, see Figure 1 The palletizing mechanism 400 is arranged at the rear side of the unloading position 351 along the positive direction of the Y axis, and the second pallet station 520 is arranged at the rear side of the palletizing mechanism 400 along the positive direction of the Y axis. The two first pallet stations are respectively the first pallet station 511 and the second first pallet station 512. The first pallet station 511 is arranged at the front side of the palletizing mechanism 400 along the positive direction of the X axis, and the second first pallet station 512 is arranged at the rear side of the palletizing mechanism 400 along the positive direction of the X axis.

[0055] It is understandable that two or more first pallet stations can be set, and one or more second pallet stations 520 can be set. The specific number and specific positions of the first pallet stations and the second pallet stations 520 can be set according to actual needs and are not specifically limited here.

[0056] In some embodiments, see Figure 1 and Figure 4 The core stacking system also includes a second conveying mechanism 600 for conveying the pallet 120. The second conveying mechanism 600 has at least two conveying lines, each conveying line is connected to each first pallet station, and the number of conveying lines is the same as the number of first pallet stations and corresponds one to one, so that the conveying line can convey the pallet 120 to the corresponding first pallet station.

[0057] Exemplarily, the first pallet station and the second transmission mechanism 600 are each provided with two conveyor lines, which are respectively a first conveyor line 651 and a second conveyor line 652 . The first conveyor line 651 is connected to the first pallet station 511 number one, and the second conveyor line 652 is connected to the first pallet station 512 number two.

[0058] Optionally, the second transmission mechanism 600 also includes a pallet loading station 620 and a pallet conveyor belt 640. The pallet conveyor belt 640 is located between the unloading position 351 of the first conveying mechanism and the palletizing mechanism 400. The pallet loading station 620 and the end of the conveying line away from the first pallet station are connected to the pallet conveyor belt 640.

[0059] It is understandable that a plurality of empty pallets 120 can be placed on the pallet loading station 620 for standby use. Figure 1 and Figure 4 , the pallet conveyor belt 640 extends along the positive direction of the X-axis, the pallet loading station 620 is arranged at the rear side of the second first pallet station 512 along the positive direction of the X-axis, and the pallet loading station 620 is connected to the pallet conveyor belt 640 through the second chain 630. Both conveyor lines are connected to the pallet conveyor belt 640. Optionally, both conveyor lines also use a third chain to connect the two first pallet stations with the pallet conveyor belt 640 respectively. Optionally, the second chain 630 also extends from the pallet loading station 620 along the negative direction of the Y-axis to be flush with the second pallet station 520, and the second chain 630 is provided with a pallet feeding station 610 at the rear side of the pallet loading station 620 along the positive direction of the Y-axis. The two third chains also extend from the corresponding first pallet stations along the negative direction of the Y-axis to be flush with the second pallet station 520. This structural setting can facilitate the AGV trolley or forklift to pick up and deliver the pallet 120. Figure 1 or Figure 4 The arrow marked on the second transmission mechanism 600 indicates the transmission direction of the second transmission mechanism 600 .

[0060] Optionally, the tray conveyor belt 640 is also a roller conveyor belt. Of course, the tray conveyor belt 640 can also be a belt conveyor belt or other transmission mechanisms, which are not specifically limited here.

[0061] Optionally, a loading mechanism is provided at the pallet loading station 620, through which the empty pallet 120 on the pallet loading station 620 can be placed on the second chain 630, and the empty pallet 120 can be transported to the empty first pallet station through the pallet conveyor belt 640 and each conveyor line.

[0062] Optionally, the feeding mechanism includes a fork and a lifting mechanism, and the fork and the lifting mechanism are respectively arranged on both sides of the tray feeding station 620. Of course, the feeding mechanism can also be other feeding mechanisms such as a suction cup and a mechanical arm, which are not specifically limited here.

[0063] It is understandable that when the number of empty pallets 120 on the pallet loading station 620 is insufficient, the empty pallets 120 can be delivered to the pallet loading station 610 by an AGV or a forklift, and then transported to the pallet loading station 620 via the second chain 630 for use. When the pallets 120 on the first pallet station or the second pallet station 520 need to be put in or taken out of the warehouse, they can be transported away by an AGV or a forklift. Among them, when the pallets 120 on the first pallet station need to be put in or taken out of the warehouse, the pallets 120 on the first pallet station can be first transported to the end through the corresponding conveyor line so that the AGV or forklift can pick up and deliver the pallets 120.

[0064] In some embodiments, see Figure 4 , 3D cameras 900 are arranged above the first pallet station and the second pallet station 520, and the 3D cameras 900 are used to identify the type of pallets. With the 3D cameras 900, palletizing of pallets of any shape (not necessarily starting from an empty pallet 120) and depalletizing of pallets of any shape can be achieved, and the working efficiency of the palletizing mechanism 400 can be improved.

[0065] In some embodiments, the core stacking system further includes a first barcode scanner 210 and a second barcode scanner 220. A first code is set on the core box 110, and the first barcode scanner 210 is used to identify the first code. A second code is set on the tray 120, and the second barcode scanner 220 is used to identify the second code.

[0066] For example, the first material unloading position 351 of the first conveying mechanism 300 and the second pallet station 520 are both provided with a first barcode scanning gun 210 (see Figure 3 and Figure 4 ), to facilitate the subsequent management of the core box 110 entering and exiting the core library, the second transmission mechanism 600 is provided with a second barcode scanning gun 220. Of course, the first pallet station can also be provided with a first barcode scanning gun 210 to identify the first code of the core box 110, and the first pallet station and the second pallet station 520 can also be provided with a second barcode scanning gun 220 to identify the second code of the pallet 120 on the first pallet station and the second pallet station 520. No specific limitation is made here.

[0067] In some embodiments, see Figure 5 The stacking mechanism 400 includes a first base 410, a multi-joint mechanical arm 420 and a clamp 430. The bottom of the multi-joint mechanical arm 420 is rotatably connected to the first base 410, so that the multi-joint mechanical arm 420 can rotate in a circumferential direction. The clamp 430 is rotatably installed at the end of the multi-joint mechanical arm 420, and the clamp 430 is used to clamp the core box 110. The setting of the first base 410 enables the multi-joint mechanical arm 420 to achieve 360-degree rotation in the horizontal plane, so that the multi-joint mechanical arm 420 can reach the unloading position 351 and each tray 120 station arranged in the periphery; the setting of the multi-joint mechanical arm 420 enables the clamp 430 at the end to move in the up, down, left, right and other directions, thereby enhancing the flexibility of the movement of the clamp 430.

[0068] Optionally, the clamp 430 is retractable, and a first identification system is provided on the clamp 430. The first identification system can identify the size of the core box 110 clamped by the clamp, and the size of the core box 110 includes the length of the core box 110. The clamp 430 and the stacking mechanism 400 are electrically connected to the first identification system, so that the clamp 430 can respond to the first identification system and adjust the distance between the two mechanical claws 432, so as to clamp the core box 110 of the corresponding size. The stacking mechanism 400 can respond to the first identification system and place the core box 110 on the corresponding tray 120 in an appropriate manner.

[0069] Optionally, the multi-joint robot arm 420 may be a six-axis joint robot arm. Of course, the multi-joint robot arm 420 may also be other multi-axis robot arms, which are not specifically limited here.

[0070] The clamp 430 is retractable so that the clamp 430 can clamp core boxes 110 of different sizes. Therefore, the core stacking system can complete the stacking and unstacking of core boxes of different specifications, which can improve the efficiency of core management. Figure 6 The clamp 430 includes a second base 431 and two mechanical claws 432. The second base 431 is rotatably connected to the end of the multi-joint mechanical arm 420. The two mechanical claws 432 are symmetrically mounted on the second base 431, so that the gripping and releasing positions of the two mechanical claws 432 can be adjusted by 360-degree rotation. The two mechanical claws 432 are connected to the second base 431 through an electric telescopic rod, so that the two mechanical claws 432 can approach or move away from each other. Each electric telescopic rod is electrically connected to a driving motor, and the corresponding electric telescopic rod can be controlled by the driving motor to extend and retract, so that the distance between the two mechanical claws 432 can be adjusted, and then the core boxes 110 of different sizes can be clamped. Figure 7 The structure of the clamp 430 when the two electric telescopic rods are extended is shown in FIG. Figure 8 FIG. 4 shows the structure of the clamp 430 when the two electric telescopic rods are shortened.

[0071] Optionally, the length of the core box 110 is 1 meter or 1.5 meters. After the size of the core box 110 is identified by the first recognition system, the distance between the two mechanical claws 432 can be 1 meter or 1.5 meters by controlling the extension and retraction of the electric telescopic rod through the driving motor, so that the core box 110 of the corresponding size can be clamped.

[0072] Optionally, the tray 120 is rectangular in shape, and the long side of the tray 120 is greater than 1.5 meters, and can be used to place a 1.5-meter core box 110 ; the wide side of the tray 120 is greater than 1 meter, and can be used to place a 1-meter core box 110 .

[0073] Exemplarily, pallets 120 are placed on both first pallet stations, and the long side dimension of the pallet 120 is slightly larger than 1.5 meters, and the wide side dimension is slightly larger than 1 meter. If the length of the core box 110 is uniformly 1 meter, when stacking or unstacking, after the first recognition system on the fixture 430 recognizes the size of the core box 110, the palletizing mechanism 400 will place the core box 110 parallel to the wide side of the pallet 120 on the target stack on the first pallet station. If the length of the core box 110 is uniformly 1.5 meters, when stacking or unstacking, after the first recognition system on the fixture 430 recognizes the size of the core box 110, the palletizing mechanism 400 will place the core box 110 parallel to the long side of the pallet 120 on the target stack on the first pallet station. This is conducive to the stacking of the core box 110, and can also increase the space utilization of the pallet 120.

[0074] For example, if the core boxes 110 are mixed with core boxes 110 of 1 meter in length and core boxes 110 of 1.5 meters in length, the size of the core boxes 110 is identified by the first identification system during palletizing. If the core box 110 is 1 meter in length, the core box 110 is placed on the pallet 120 on the first pallet station No. 1 parallel to the wide side of the pallet 120. If the core box 110 is 1.5 meters in length, the core box 110 is placed on the pallet 120 on the second first pallet station parallel to the long side of the pallet 120. In this way, core boxes 110 of the same size can also be sorted out.

[0075] It is understandable that a second identification system may also be provided on the first pallet station and / or the second pallet station 520, and the second identification system may be capable of identifying the size of the pallet 120 on the first pallet station or the second pallet station 520, the size of the pallet 120 including the length and width of the pallet 120, and the palletizing mechanism 400 is also electrically connected to the second identification system, so that the palletizing mechanism 400 can respond to the first identification system and the second identification system, thereby being able to place core boxes 110 of different sizes on the corresponding pallets 120.

[0076] The core stacking system also includes a control system, and the first transmission mechanism 300, the second transmission mechanism 600, the photosensitive element 800, the stacking mechanism 400, the 3D camera 900, the first barcode scanning gun 210, the second barcode scanning gun 220, the feeding mechanism, the first recognition system, the second recognition system, etc. are all electrically connected to the control system to control their opening and closing and operating conditions. It is understandable that the opening and closing of the first switch, the second switch and the third switch can be controlled manually or by the control system to achieve automation.

[0077] The core stacking system in the embodiment of the present application can meet the needs of automatic core transmission, core processing before stacking, automatic transportation of pallets 120, integrated stacking and destacking, and stacking and destacking of target stacking types, and is convenient for AGV carts or forklifts to pick up and deliver. It is suitable for storage management of large core warehouses, and can achieve efficient and fast automatic stacking and automatic sorting of cores, reducing a lot of labor costs, and greatly shortening the time for large quantities of cores to enter and leave the warehouse, thereby improving the service quality of the core warehouse.

[0078] The operating method of the core stacking system in the present application includes the following steps.

[0079] S100, core transmission: the core box 110 loaded with cores is placed on the first transmission mechanism 300 through the loading position 311 of the first transmission mechanism 300. If the cores in the core box 110 need to be processed, the core box 110 is transmitted to the corresponding branch transmission belt through the middle section of the first transmission mechanism 300; if the cores in the core box 110 do not need to be processed, the core box 110 is transmitted to the unloading position 351 through the first transmission mechanism 300, and the first code of the core box 110 is identified by the first barcode scanning gun 210.

[0080] For example, the core information can be checked in the core sorting area 710, and after confirming that the information is correct, the confirmed core box 110 loaded with the core is placed on the first section 310 of the first transmission mechanism 300 through the loading position 311. After the photo sensor 800 on the first section 310 recognizes the core box 110, the conveyor belt of the first section 310 starts to transmit and transmits the core box 110 to the first middle section 320, and then the conveyor belt of the first middle section 320 stops for a moment. If an operator in the operation area presses the corresponding second switch, the corresponding first chain 360 can be controlled to start, and the core box 110 is transmitted to the corresponding first branch conveyor belt 370, waiting for the core cutting operation. If there is no instruction in this section, the core box 110 will continue to be transported to the second middle section 330. The transmission of the second middle section 330 and the third middle section 340 is the same as that of the first middle section 320, and no further details will be given here.

[0081] Optionally, the photo sensor 800 can be used to identify whether there is a core box 110 at the unloading position 351. If it is identified that there is a core box 110 at the unloading position 351, the first code on the core box 110 at the unloading position 351 is identified by the first barcode scanning gun 210 set at the unloading position 351, and the core box 110 is pushed to the side close to the stacking mechanism 400 by the jet mechanism.

[0082] S200, stacking and warehousing of cores: transport the empty pallets 120 to the corresponding first pallet stations, and identify the second code of the empty pallet 120 through the second barcode scanner 220, clamp the core box 110 on the unloading position 351 through the palletizing mechanism 400, and place it on the target pallet on the first pallet station, associate the second code of each pallet 120 with the first code of the core box 110 on each pallet 120, identify the pallet type through the 3D camera 900, and when the target pallet is stacked to the target pallet type, remove the pallet 120 loaded with the target pallet and send it to the core warehouse.

[0083] Exemplarily, during palletizing, the empty pallet 120 is transported to the corresponding first pallet station through each conveying line of the second transmission mechanism 600, the palletizing mechanism 400 moves the fixture 430 to the top of the core box 110 on the unloading position 351, and the mechanical claws 432 on both sides of the fixture 430 slide into the gripper on the core box 110. After grabbing the core box 110, the mechanical arm of the palletizing mechanism 400 lifts and rotates to move the core box 110 to the top of the target stack. The 3D camera 900 accurately identifies the stack type of the target stack and transmits it to the background computer system. Through the calculation of the computer system, the control system controls the mechanical arm to move quickly to the target position and accurately places the grabbed core box 110 on the target stack. Repeat the above steps until the target stack is stacked to the target stack type. The pallet 120 loaded with the target stack is removed and sent to the core library. The empty pallet 120 can be replaced by the second transmission mechanism 600 to continue palletizing.

[0084] It is understandable that some batches of cores may need to be stacked multiple times. For example, since some cores from the same batch need to be in place at intervals, the pallets that were not fully stacked before can be sent back to the first pallet station after the cores are in place to continue stacking. At this time, the existing pallet type on the pallet can be identified by a 3D camera to help continue accurate stacking until the target pallet is stacked to the target pallet type.

[0085] S300, core unstacking and delivery: the pallet 120 with the starting pallet removed from the core warehouse is placed on the second pallet station 520, and the two first pallet stations are respectively placed with empty pallets 120. The palletizing mechanism 400 grabs the core box 110 from the starting pallet, and identifies the first code of the grabbed core box 110 through the first barcode scanner 210 on the second pallet station 520 to determine whether the core box 110 grabbed by the palletizing mechanism 400 is the target core box 110. 0, if yes, then the core box 110 is placed in a tray 120 on one of the first tray stations (for example, it can be the first tray station 511 No. 1), if not, then the core box 110 is placed in a tray 120 on another first tray station (for example, it can be the first tray station 512 No. 2), after sorting is completed, the tray 120 containing the target core box 110 is sent out of the core library, and the tray 120 containing the non-target core box 110 is sent back to the core library.

[0086] Optionally, in steps S200 of stacking the cores for storage and S300 of unstacking the cores for storage, the size of the core box 110 can be identified by the first recognition system, and the clamp 430 can respond to the first recognition system to adjust the distance between the two mechanical claws 432, so as to clamp the core box 110 of the corresponding size; the stacking mechanism 400 can respond to the first recognition system to place the core box 110 on the corresponding pallet 120 in an appropriate manner.

[0087] Optionally, the size of the tray 120 may be identified by a second identification system, and the size of the tray 120 may include a long side size and a wide side size. Of course, the size of the tray 120 may also be obtained by manual input or the like.

[0088] Exemplarily, pallets 120 of the same size are placed on both first pallet stations, and the pallets 120 have a long side dimension and a wide side dimension. When the core boxes to be stacked or unstackered are of the same size, if the first recognition system on the fixture 430 recognizes that the length of the core box 110 is equivalent to the wide side dimension of the pallet 120, the stacking mechanism 400 will place the core box 110 parallel to the wide side of the pallet 120 on the target stack on the first pallet station; if the first recognition system on the fixture 430 recognizes that the length of the core box 110 is equivalent to the long side dimension of the pallet 120, the stacking mechanism 400 will place the core box 110 parallel to the long side of the pallet 120 on the target stack on the first pallet station. This is conducive to the stacking of the core boxes 110, and can also increase the space utilization rate of the pallet 120.

[0089] Exemplarily, when the core boxes 110 that need to be stacked or destackered are a mixture of core boxes 110 having lengths of a first size and a second size, and the first size is equivalent to the long side size of the pallet 120, and the second size is equivalent to the wide side size of the pallet 120, if the first recognition system on the fixture 430 recognizes that the length of the core box 110 is the first size, the core box 110 is placed on the pallet 120 on the first pallet station 511 parallel to the long side of the pallet 120; if the first recognition system on the fixture 430 recognizes that the length of the core box 110 is the second size, the core box 110 is placed on the pallet 120 on the second first pallet station 512 parallel to the wide side of the pallet 120, so that core boxes 110 of the same size can be sorted out.

[0090] In a specific embodiment, a pallet 120 is placed on each of the two first pallet stations, and the long side dimension of the pallet 120 is slightly larger than 1.5 meters, and the wide side dimension is slightly larger than 1 meter. If the length of the core box 110 is uniformly 1 meter, when stacking or unstacking, after the first recognition system on the fixture 430 recognizes the size of the core box 110, the palletizing mechanism 400 will place the core box 110 parallel to the wide side of the pallet 120 on the target stack on the first pallet station. If the length of the core box 110 is uniformly 1.5 meters, when stacking or unstacking, after the first recognition system on the fixture 430 recognizes the size of the core box 110, the palletizing mechanism 400 will place the core box 110 parallel to the long side of the pallet 120 on the target stack on the first pallet station.

[0091] If the core boxes 110 are 1 meter long and 1.5 meter long, the size of the core boxes 110 is identified by the first identification system during stacking or destacking. If the length of the core box 110 is 1 meter, the core box 110 is placed on the pallet 120 on the first pallet station No. 1 parallel to the wide side of the pallet 120. If the length of the core box 110 is 1.5 meters, the core box 110 is placed on the pallet 120 on the second first pallet station parallel to the long side of the pallet 120. In this way, the core boxes 110 of the same size can be sorted out.

[0092] Other structures and operations of the core stacking system and the operating method thereof according to the embodiments of the present application are known to ordinary technicians in the field and will not be described in detail here.

[0093] The embodiments of the present application are described in detail above in conjunction with the accompanying drawings, but the present application is not limited to the above embodiments, and various changes can be made within the knowledge scope of ordinary technicians in the technical field without departing from the purpose of the present application.

Claims

1. The core stacking system is characterized by: include: Core box, used to load cores; A tray for loading the core box; A first transmission mechanism, used for transmitting the core box loaded with the core, the first transmission mechanism having an upper material position and a lower material position; A stacking mechanism, wherein the stacking mechanism is arranged near the unloading position of the first conveying mechanism, at least two first pallet stations and at least one second pallet station are arranged around the stacking mechanism, the pallets are placed on the first pallet station and the second pallet station, and the stacking mechanism can take and place the core boxes on the pallets of the unloading position, the first pallet station and the second pallet station.

2. The core stacking system according to claim 1, characterized in that: The first transmission mechanism includes a first section, at least one middle section, and a tail section which are connected in sequence. The upper material position is set on the first section, the lower material position is set on the tail section, and the middle section passes through the core processing area.

3. The core stacking system according to claim 2, characterized in that: The first transmission mechanism also includes a branch transmission belt, and the middle section is connected to the branch transmission belt through a first chain, so that the core box on the middle section can be transmitted to the corresponding branch transmission belt through the first chain.

4. The core stacking system according to any one of claims 1 to 3, characterized in that: The first transmission mechanism is provided with a photo sensor to identify the presence or absence of the core box.

5. The core stacking system according to claim 1, characterized in that: The stacking mechanism includes a first base, a multi-joint robotic arm and a clamp. The bottom of the multi-joint robotic arm is rotatably connected to the first base so that the multi-joint robotic arm can rotate circumferentially. The clamp is rotatably installed at the end of the multi-joint robotic arm, and the clamp is used to clamp the core box.

6. The core stacking system according to claim 5, characterized in that: The clamp is telescopically arranged, and a first identification system is arranged on the clamp. The first identification system can identify the size of the core box clamped by the clamp, and the stacking mechanism and the clamp are both electrically connected to the first identification system.

7. The core stacking system according to claim 1, characterized in that: It also includes a second transport mechanism for transporting pallets, the second transport mechanism includes at least two conveyor lines, each of the conveyor lines is connected to each of the first pallet stations, the number of the conveyor lines is the same as the number of the first pallet stations and corresponds one to one, so that the conveyor lines can transport the pallets to the corresponding first pallet stations.

8. The core stacking system according to claim 7, characterized in that: The second transmission mechanism also includes a pallet loading station and a pallet conveyor belt, wherein the pallet conveyor belt is located between the unloading station and the palletizing mechanism, and the pallet loading station and an end of the conveying line away from the first pallet station are both connected to the pallet conveyor belt.

9. The core stacking system according to claim 1, characterized in that: A 3D camera is disposed above the first pallet station and the second pallet station, and the 3D camera is used to identify the pallet type.

10. The core stacking system according to claim 1, characterized in that: It also includes a first barcode scanning gun and a second barcode scanning gun. A first code is set on the core box, and the first barcode scanning gun is used to identify the first code. A second code is set on the tray, and the second barcode scanning gun is used to identify the second code.

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