Truck loading system for tin stacks

Abstract

The utility model discloses a loading system 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 utility model relates to tin stack loading technology field especially relates to a kind of loading system for tin stack. BACKGROUND

[0002] In tin product warehouse, generally adopt the way of two layers of ground stacking, leave very wide passageway, for artificial forklift passageway, or truck loading passageway;If output is more, warehouse ground is full, then need truck to be parked outside warehouse, by multiple artificial forklifts long-distance forking tin stack to load, by artificial dispatching to inform which needs to be loaded, which truck is the vehicle that needs to be loaded, how many tin stacks are loaded.If there is enough passageway in the warehouse, the truck can be driven into the warehouse for loading, and the artificial forklift and the artificial overhead crane can be used for loading. However, the artificial overhead crane needs a hoist operator to hang and remove the steel wire rope for the tin stack, which requires multiple human resources to cooperate. The loading order needs to be printed by the dispatching personnel, held in hand, and commanded to the artificial hoist and the artificial overhead crane for loading operation. The loading efficiency is low, the artificial participation is high, and errors are easy to occur. SUMMARY

[0003] The utility model aims at at least one of the technical problems existing in prior art or related art.

[0004] Therefore, the utility model provides a kind of loading system for tin stack, wherein the loading system is cooperated by warehouse entry and exit handling device, transfer device and loading device, reduces artificial participation, reduces human cost;Further reduce the generation of human error, improve loading accuracy.

[0005] Specifically, the technical scheme includes the following:

[0006] The utility model provides a kind of loading system for tin stack, and the loading system includes:

[0007] Warehouse entry and exit handling device moves in warehouse, and tin stack is stored in the warehouse;

[0008] Transfer device is vertically arranged with the warehouse, and the warehouse entry and exit handling device is configured to place tin stack on the transfer device;

[0009] Loading device is located above the transfer device, and the loading device is configured to reciprocate between the transfer device and truck;

[0010] Control module is respectively communicated with the warehouse entry and exit handling device, the transfer device and the loading device.

[0011] Optionally, the warehouse comprises a plurality of placement areas, the plurality of placement areas are arranged in parallel, and the placement areas are arranged along the length direction of the warehouse, each of the placement areas is configured with the warehouse access carrying device, and the loading system comprises a plurality of transfer devices.

[0012] Optionally, the warehouse access carrying device comprises:

[0013] A first rack is arranged in the warehouse, and the first rack is arranged along the length direction of the warehouse;

[0014] A first walking gantry is arranged on the first rack, and the first walking gantry is configured to reciprocate in the length direction of the warehouse;

[0015] A first walking trolley is arranged on the first walking gantry, and the first walking trolley reciprocates on the first walking gantry, and the moving directions of the first walking gantry and the first walking trolley are perpendicular;

[0016] A first telescopic part is arranged at one end of the first walking trolley facing the ingot stack;

[0017] A first clamp is arranged at the other end of the first telescopic part away from the first walking trolley, and the first clamp is configured to clamp or release the ingot stack in the warehouse.

[0018] Optionally, the first rack comprises:

[0019] A pair of cross beams are arranged in parallel, and the cross beams extend along the length direction of the warehouse;

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

[0021] A first rack is arranged on the cross beam, and the sawtooth side of the first rack faces the first walking gantry.

[0022] Optionally, the first walking gantry comprises:

[0023] A pair of first connecting beams are arranged on the cross beam, and the first connecting beams are provided with second racks, and the sawtooth side of the second rack faces the first walking trolley;

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

[0025] Optionally, the loading device comprises:

[0026] A second truss is arranged above the truck, and the second truss is located outside the warehouse.

[0027] A second walking trolley is arranged on the second truss, and the second walking trolley is configured to reciprocate between the truck and the transfer device.

[0028] A second walking trolley is arranged on the second walking trolley, and the second walking trolley is configured to reciprocate on the second walking trolley, and the moving direction of the second walking trolley and the second walking trolley is perpendicular.

[0029] A second telescopic part is arranged at one end of the second walking trolley towards the truck.

[0030] A second clamp is arranged at one end of the second telescopic part 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 are arranged in parallel, and the pair of ground rails are located on both sides in the width direction of the truck.

[0033] A vertical beam is provided with a walking wheel at one end, 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 walking trolley comprises:

[0035] A pair of second connecting beams are arranged on the vertical beam, and the second connecting beams are provided with third racks, and the sawtooth side of the third rack faces the second walking trolley.

[0036] The second connecting beam is provided with a laser radar and an identification mechanism on one side facing the truck, and the laser radar and the identification mechanism are both in communication connection with the control module.

[0037] Optionally, the second clamp and the first clamp are the same structure, the first clamp comprises a clamp body, the second clamp comprises two second clamp bodies, and the clamp body comprises:

[0038] A support frame is arranged below the telescopic part, the support frame is connected with the telescopic part through a reinforcing plate, and one side of the support frame facing the telescopic part is provided with a pair of sliding rails.

[0039] A pair of clamping plates are connected with the sliding block through the connecting sleeve, the sliding block is arranged on the sliding rail, the sliding block can move on the sliding rail, the clamping plate includes a pair of transverse plates arranged oppositely, and a plurality of vertical plates arranged between the pair of transverse plates, and the transverse plate protrudes from the vertical plate towards one side of the pile.

[0040] Wherein, the telescopic part is the first telescopic part or the second telescopic part, the first clamp is located below the first telescopic part, and the second clamp is located below the second telescopic part.

[0041] Optionally, the first walking trolley and the second walking trolley are the same structure, comprising:

[0042] Support frame;

[0043] The third driving part is arranged at one end of the support frame, a second gear is arranged on the output shaft of the third driving part, and a third encoder is arranged on the second gear.

[0044] Wherein, the second gear of the first walking trolley is engaged with the second gear rack;

[0045] The second gear of the second walking trolley is engaged with the third gear rack.

[0046] Optionally, the first telescopic part and the second telescopic part are the same structure, comprising:

[0047] First square cylinder;

[0048] Second square cylinder arranged in the first square cylinder;

[0049] Mounting plate arranged at one end of the second square cylinder away from the first square cylinder;

[0050] Telescopic driving part configured to drive the second square cylinder to move in the first square cylinder, the telescopic driving part comprising a first component and a second component, the first component being arranged in the walking trolley, and the second component being arranged on one side of the mounting plate facing the first square cylinder;

[0051] The first component includes a plurality of first fixed pulleys, at least one of the first fixed pulleys is connected with a fourth driving part, and a fourth encoder is arranged on the fourth driving part;

[0052] The second component includes a plurality of second fixed pulleys, and the second fixed pulleys are arranged correspondingly with the first fixed pulleys;

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

[0054] Optionally, the transfer device comprises:

[0055] A rail-guided vehicle is arranged in the warehouse.

[0056] An outbound conveyor is connected to one end of the rail-guided vehicle, and the outbound conveyor is located between the rail-guided vehicle and the truck, at least part of the outbound conveyor is located in the warehouse, and the outbound conveyor moves towards the truck.

[0057] The rail-guided vehicle is provided with a conveyor belt, and after the rail-guided vehicle is docked with the outbound conveyor, the conveyor belt is opened, and the rotation direction of the conveyor belt is consistent with the rotation direction of the outbound conveyor.

[0058] The loading system for the tin stack provided by the embodiment of the utility model, wherein, the loading system includes the warehouse access handling device, can handle the tin stack of the temporary storage area to the specified position in the warehouse, also can handle the tin stack of the specified position to the transfer device; The transfer device is arranged vertically with the warehouse, and the tin stack placed on the warehouse access handling device is transported to the specified position; After the tin stack on the transfer device reaches the specified position, the loading device grabs the tin stack on the transfer device at the specified position, and moves to the truck direction, realizes the loading of the tin stack; The control module can realize the cooperation of the warehouse access handling device, the transfer device and the loading device, avoid the waiting time too long or avoid the tin stack accumulation on the transfer device, improve the loading efficiency. Through the cooperation of the warehouse access handling device, the transfer device and the loading device, the manual participation can be reduced, and the labor cost is reduced; Further, the human error is reduced, and the loading accuracy is improved.

[0059] The above description is only a summary of the technical scheme of the application, in order to more clearly understand the technical means of the application, the content of the specification can be implemented, and in order to make the above and other purposes, characteristics and advantages of the application more obvious and easy to understand, the following specific embodiments of the application are described. BRIEF DESCRIPTION OF DRAWINGS

[0060] In order to more clearly illustrate the technical scheme in the embodiment of the utility model, the following will briefly introduce the drawings needed to be used in the embodiment description, obviously, the drawings in the following description are only some embodiments of the utility model, and for those skilled in the art, other drawings can be obtained without creative labor according to these drawings.

[0061] Figure 1 It is a schematic view of the loading system according to one embodiment of the utility model;

[0062] Figure 2 It is a schematic view of the warehouse access handling device according to one embodiment of the utility model;

[0063] Figure 3 is a schematic view of a first clamp according to an embodiment of the present application;

[0064] Figure 4 is a schematic view of a loading device according to an embodiment of the present application;

[0065] Figure 5 is a schematic view of a second clamp according to an embodiment of the present application;

[0066] Figure 6 is a schematic view of a first trolley and a second trolley according to an embodiment of the present application;

[0067] Figure 7 is a schematic view of a first telescopic part and a second telescopic part according to an embodiment of the present application;

[0068] Figure 8 is a flow chart of steps of a loading method for a tin stack according to an embodiment of the present application.

[0069] wherein, Figures 1 to 7 the correspondence between the reference signs and the component names is as follows:

[0070] 100 loading system, 110 in-out warehouse handling device, 111 first gantry, 112 first trolley, 1121 first connecting beam, 1122 second rack, 113 first trolley, 1131 support frame, 1132 third driving part, 1133 second gear, 114 first telescopic part, 1141 first square tube, 1142 second square tube, 1143 second fixed pulley, 1144 steel wire rope, 1145 mounting plate, 115 first clamp, 1151 support frame, 1152 reinforcing plate, 1153 clamping plate, 1154 transverse plate, 1155 vertical plate, 1156 connecting sleeve, 1157 sliding rail, 120 transfer device, 121 rail guided vehicle, 122 out-of-warehouse conveyor, 130 loading device, 131 second gantry, 132 second trolley, 133 second 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

[0071] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0072] Before the further detailed description of the embodiments of the present application, the orientation terms such as "upper", "lower", "side" involved in the embodiments of the present application do not have the meaning of limiting the scope of protection of the present application.

[0073] In order to make the technical solutions and advantages of the present application clearer, the embodiments of the present application will be further described in detail below with reference to the drawings.

[0074] The existing tin stack is usually transported to the truck by multiple manual forklifts for cross operation when the tin stack is discharged from the warehouse. At least three forklifts work at the same time. When the manual forklifts fork the tin stack in the warehouse, they can only fork the tin stack from one side of the warehouse to the other side in sequence. If the tin stack in the middle of the warehouse needs to be loaded, a manual hoist needs to be added for assistance to realize the placement of the tin stack in the middle of the warehouse on the manual forklift, which increases the labor cost. If the manual forklift wants to fork the tin stack in the middle of the warehouse alone, a forklift channel needs to be reserved in the warehouse, which affects the storage capacity of the tin stack in the warehouse. In addition, when loading, it is necessary to confirm whether the truck is accurate, and an additional manual dispatching is needed, which further increases the labor cost. Meanwhile, the presence of forklift site personnel increases the risk of accidents. Manual loading is prone to loading errors, which causes economic losses and reduces customer satisfaction. In order to solve the above problems, the present application provides a loading system for tin stack, which is specifically as follows.

[0075] As shown in Figure 1 An embodiment of the present application provides a loading system 100 for tin stack, which comprises:

[0076] The warehouse loading and unloading device 110 moves in the warehouse, and the tin stack is stored in the warehouse;

[0077] The transfer device 120 is vertically arranged with the warehouse, and the warehouse loading and unloading device 110 is configured to place the tin stack on the transfer device 120;

[0078] The loading device 130 is located above the transfer device 120, and the loading device 130 is configured to reciprocate between the transfer device 120 and the truck 140;

[0079] The control module is in communication connection with the warehouse loading and unloading device 110, the transfer device 120 and the loading device 130 respectively.

[0080] The loading system 111 comprises an in-out warehouse carrying device 110, which can carry the tin stack in the temporary storage area to a designated position in the warehouse, and can also carry the tin stack in the designated position to the transfer device 120; the transfer device 120 is vertically arranged with the warehouse, and the tin stack placed on the in-out warehouse carrying device 110 is transported to the designated position; after the tin stack on the transfer device 120 reaches the designated position, the loading device 130 grabs the tin stack on the transfer device 120 at the designated position and moves towards the truck 140, realizing the loading of the tin stack; the control module can realize the cooperation of the in-out warehouse carrying device 110, the transfer device 120 and the loading device 130, avoiding too long waiting time or avoiding the accumulation of tin stacks on the transfer device 120, and improving the loading efficiency. Through the cooperation of the in-out warehouse carrying device 110, the transfer device 120 and the loading device 130, the manual participation can be reduced, and the labor cost can be reduced; and then the generation of human errors can be reduced, and the loading accuracy can be improved.

[0081] Specifically, the tin stack is provided with a barcode, and the barcode stores information related to the tin stack, such as weight, batch, origin and number, etc. When the tin stack is stored in the warehouse, it has been placed in the designated position according to the information of the barcode, and recorded in the control module. The tin stack to be taken out is obtained through the out-of-warehouse order, the in-out warehouse carrying device 110 grabs the tin stack to be taken out at the designated position and moves to the starting position of the transfer device 120, the transfer device 120 transports the obtained tin stack outside the warehouse until the tin stack is transported to the outlet position of the transfer device 120, the loading device 130 clamps the tin stack at the outlet position and moves to the position above the truck 140, the loading device 130 descends and places the tin stack on the truck 140, completing a loading, and then the next truck 140 to be loaded is dispatched by the control module.

[0082] The control module comprises a WCS (warehouse control system) and a WMS (warehouse management system), which receives the positions of the in-out warehouse carrying device 110, the transfer device 120 and the loading device 130, and controls the scheduling of the in-out warehouse carrying device 110, the transfer device 120 and the loading device 130. The WMS receives the information of the order and sends it to the WCS as a warehouse task, and the WCS schedules the actions of the in-out warehouse carrying device 110, the transfer device 120 and the loading device 130 according to the warehouse task of the out-of-warehouse order, to realize the out-of-warehouse loading of the tin stack. The control device realizes the scheduling work through programming, which is not the scheme protected by the present application, and therefore the specific programming procedure will not be described.

[0083] In a feasible embodiment, the warehouse comprises a plurality of placement areas 150, the plurality of placement areas 150 are arranged in parallel, and the placement areas 150 are arranged along the length direction of the warehouse, each placement area 150 is configured with an in-out warehouse carrying device 110, and the loading system 111 comprises a plurality of transfer devices 120.

[0084] In the embodiment, the warehouse can be divided into multiple placing areas 150, and the multiple placing areas 150 are arranged in parallel along the length direction of the warehouse to ensure that the tin stacks can be transferred at the same position. Each placing area 150 is equipped with an in-out warehouse handling device 110, and the number of transfer devices 120 is determined according to the number of in-out warehouse handling devices 110, so that the in-out warehouse handling devices 110, the transfer devices 120 and the loading device 130 can work cooperatively.

[0085] Specifically, the tin stacks are first transferred into the warehouse by the in-out warehouse handling device 110, and then the tin stacks in the warehouse are transferred from the warehouse to the transfer device 120 by the in-out warehouse handling device 110, and then the tin stacks are transferred from the warehouse to the outside of the warehouse by the transfer device 120. In the embodiment, two in-out warehouse handling devices 110 and two transfer devices 120 are used. Since the initial positions of the two in-out warehouse handling devices 110 on the transfer device 120 have a certain position difference, the two transfer devices 120 work alternately, that is, the first transfer device and the second transfer device have a certain time interval for moving the tin stacks outward, so that the two in-out warehouse handling devices 110 work alternately, and time is left for the in-out warehouse handling device 110 to reach the specified position to grasp the tin stacks. Since the position difference and the time interval are matched, the tin stacks on the two transfer devices 120 can reach the specified position of the outlet at the same time, and the tin stacks on the first transfer device and the second transfer device can be grasped by the loading device 130 at the same time, so that the waiting time of the transfer device 120 and the loading device 130 can be shortened, and the tin stacks on the transfer device 120 can continue to work after being stacked, thereby improving the loading efficiency of the loading system 111.

[0086] It can be understood that the first placing area 151 in the embodiment is a placing area 150 in the lower part of the middle, and the second placing area 152 is a placing area 150 in the upper part of the middle. Figure 1 Figure 1 Usually, the number of placing areas 150 is consistent with the number of transfer devices 120, that is, each placing area 152 is equipped with an in-out warehouse handling device 110 and a transfer device 120. In order to ensure that the two in-out warehouse handling devices 110 can reach the initial position of the transfer device 120, at least part of the transfer devices 120 are located in the second placing area 152. Since the two in-out warehouse handling devices 110 have a certain position difference in the length direction of the transfer device 120, the initial positions of the two transfer devices are different. The initial position of the transfer device 120 corresponding to the first placing area 151 is closer to the direction of the truck 140.

[0087] ​The two entry and exit storage handling devices 110 of the two placement areas 150 independently work, and can simultaneously perform tin stack storage or tin stack withdrawal, or one is used for tin stack storage and the other is used for tin stack withdrawal, which can be selected according to needs.

[0088] In a feasible implementation manner, as shown in Figure 2 The entry and exit storage handling device 110 comprises:

[0089] The first gantry 111 is arranged in the warehouse, and the first gantry 111 is arranged along the length direction of the warehouse;

[0090] The first walking carriage 112 is arranged on the first gantry 111, and the first walking carriage 112 is configured to reciprocate in the length direction of the warehouse;

[0091] The first walking trolley 113 is arranged on the first walking carriage 112, and the first walking trolley 113 reciprocates on the first walking carriage 112, and the moving directions of the first walking carriage 112 and the first walking trolley 113 are perpendicular;

[0092] The first telescopic part 114 is arranged at one end of the first walking trolley 113 facing the tin stack;

[0093] The first clamp 115 is arranged at one end of the first telescopic part 114 away from the first walking trolley 113, and the first clamp 115 is configured to clamp or release the tin stack in the warehouse.

[0094] The first rack 111 is arranged across the two sides of the width direction of the placing area 152, and extends along the length direction of the placing area 152, and the extension length covers the whole placing area 152, so that the first rack 111 supports the first walking trolley 112 above the placing area 152, and the first walking trolley 112 can reciprocate on the first rack 111, to realize the movement of the storage and retrieval device 110 in the length direction of the placing area 150. The first walking trolley 113 is arranged on the first walking trolley 112, and the first walking trolley 113 can reciprocate on the first walking trolley 112, that is, the walking trolley reciprocates in the width direction of the placing area 150, to realize the movement of the storage and retrieval device 110 in the width direction of the placing area 150. The first telescopic part 114 is arranged at one end of the first walking trolley 113 facing the placing area 152, and the first telescopic part 114 is telescoped to realize the reciprocating movement of the storage and retrieval device 110 in the direction perpendicular to the placing area 150, that is, the three-way movement of the storage and retrieval device 110 is realized through the cooperation of the first walking trolley 112, the first walking trolley 113 and the first telescopic part 114, and then the accurate positioning of the tin stack in the placing area 150 is realized. The first telescopic part 114 is provided with the first clamp 115 at the end away from the first walking trolley 113, and the first clamp 115 is used to realize the grabbing of the tin stack at the specified position, and then the accurate grabbing of the tin stack in the placing area 150 by the storage and retrieval device 110 is realized. After the tin stack is grabbed by the storage and retrieval device 110, the first telescopic part 114 is raised to move the tin stack to the starting position of the transfer device 120, to realize the first movement of the tin stack, and the first telescopic part 114 is raised to avoid collision with sundries or workers in the low space during the movement, to cause safety accidents.

[0095] For example, before the tin stack is stored, the control module plans the storage position of the tin stack, that is, each tin stack has a fixed storage position, and the storage and retrieval device 110 is provided with its own PLC. The control module directly calls the position of the corresponding tin stack according to the information of the storage order, and transmits the coordinates to the PLC of the storage and retrieval 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 storage and retrieval device 110 according to the received coordinates, to realize the accurate grabbing of the tin stack. At the same time, the PLC can also obtain the coordinates of the starting position of the transfer device 120 in advance. The PLC controls the first clamp 115 on the storage and retrieval device 110 to move to the coordinates of the starting position according to the coordinates of the starting position, and then the tin stack is lowered to transfer the tin stack from the placing area 150 to the transfer device 120, to realize the first movement of the tin stack.

[0096] In a feasible implementation, the first rack 111 includes:

[0097] A pair of beams are arranged in parallel and extend along the length direction of the warehouse.

[0098] Support beams are arranged below the beams, and at least two support beams are arranged below each beam.

[0099] A first rack is arranged on the beam, and the sawtooth side of the first rack faces the first walking trolley 112.

[0100] The first truss 111 includes a pair of beams arranged in parallel along the length direction of the warehouse, and the pair of beams are located on both sides of the first placement area 151 or the second placement area 152 in the width direction, and are supported by the support beams, so that the beams can be located on both sides of the first placement area 151 or the second placement area 152, and the beams can be located above the placement area 150. The beams are supported by a plurality of support beams, which can enhance the strength of the beams and improve the stability and reliability of the beams supporting the first walking trolley 112.

[0101] It should be noted that the at least one beam is provided with a first rack, and the first rack is located on the side of one beam facing the other beam. When there is only one first rack, the second driving part is arranged on the side of the first walking trolley 112 facing the first rack, and the first gear is arranged on the output shaft of the second driving part. By engaging the first gear with the first rack, the movement of the first walking trolley 112 on the first truss 111 is realized. When the first truss 111 has two first racks, the first racks are located on opposite sides of the two first beams, i.e. the two first racks are arranged on the side facing the first walking trolley 112. At this time, a driven shaft and a gear are arranged on the side opposite to the second driving part of the first walking trolley 112, the driven shaft is connected to the first walking trolley 112 through a support, the driven shaft is rotationally connected to the support, and the gear is engaged with the other first rack. The first walking trolley 112 has a supporting effect on both sides, which can improve the stability and safety of the first truss 111 supporting the first walking trolley 112.

[0102] In a possible implementation, the first walking trolley 112 includes:

[0103] A pair of first connecting beams 1121 are arranged on the beams, and the second rack 1122 is arranged on the first connecting beam 1121, and the sawtooth side of the second rack 1122 faces the first walking trolley 113.

[0104] A second driving part is arranged at one end of the first connecting beam 1121, and the first gear is arranged on the output shaft of the second driving part. The first gear is engaged with the first rack, and the second encoder is arranged on the first gear.

[0105] The first connecting beam 1121 is arranged on the cross beam, a pair of connecting beams are provided with connecting plates at both ends in the length direction, the second driving part is arranged on the connecting plate, the output shaft of the second driving part is provided with a first gear, the first gear is engaged with the first rack on the cross beam, and rotation movement of the second driving part is converted into linear movement of the first walking gantry 112. It can be understood that, in order to ensure the stability and reliability of the first walking gantry 112 walking on the first frame 111, a support, a driven shaft and a gear can be arranged on the side opposite to the second driving part, the support is fixed on the connecting plate, the support is rotationally connected with the driven shaft, the gear is arranged on the driven shaft, the gear is engaged with the first rack on the other cross beam, and the support walking at both ends of the pair of first connecting beams 1121 is realized.

[0106] It should be noted that the side of the first connecting beam 1121 facing the first walking trolley 113 is provided with a second rack 1122, the walking trolley is provided with a third driving part 1132, the output shaft of the third driving part 1132 is provided with a second gear 1133, the second gear 1133 is engaged with the second rack 1122, and the rotation movement of the third driving part 1132 is converted into linear movement of the first walking trolley 113. It can be understood that the first walking gantry 112 can be provided with two second racks 1122, the two second racks 1122 are located on the opposite sides of the pair of connecting beams, the side opposite to the third driving part 1132 on the first walking trolley 113 is provided with a support, a driven shaft and a gear, the driven shaft is rotationally connected with the support, the gear is sleeved on the driven shaft, the gear is engaged with the other second rack 1122, the support at both ends of the first walking trolley 113 is realized, and the stability and reliability of the first walking trolley 113 moving on the first walking gantry are improved.

[0107] For example, the first gear is provided with a first encoder, 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 gantry 112 after the rotation of the first gear is converted into linear movement can be obtained. That is, after the PLC receiving control module of the warehouse handling device 110 receives the accurate coordinates of the tin stack that needs to be discharged, the coordinate difference between the position of the warehouse handling device 110 and the target position can be known, the walking distance of the first walking gantry 112 on the first frame 111 can be obtained, and then the number of rotations of the first gear is obtained. The number of rotations is transmitted to the PLC through the first encoder, which is helpful for accurate parking of the first walking gantry 112 on the first frame 111.

[0108] Exemplarily, one reference plate can also be arranged at each end of the length direction of the cross beam, and one grating ruler is arranged on each side of the width direction of the first connecting beam 1121. The laser of the grating ruler is projected onto the reference plate, and the distance between the grating ruler and the reference plate can be obtained according to the strength of the laser, and the accurate positioning of the warehouse loading and unloading device 110 in the length direction of the placing area 150 can also be realized.

[0109] In a feasible implementation manner, as shown in Figure 4 The loading device 130 comprises:

[0110] The second truss 131 is arranged above the truck 140, and the second truss 131 is located outside the warehouse;

[0111] The second walking large trolley 132 is arranged on the second truss 131, and the second walking large trolley 132 is configured to reciprocate between the truck 140 and the transfer device 120;

[0112] The second walking small trolley 133 is arranged on the second walking large trolley 132, and the second walking small trolley 133 is configured to reciprocate on the second walking large trolley 132, and the moving direction of the second walking small trolley 133 is perpendicular to the moving direction of the second walking large trolley 132;

[0113] The second telescopic part 134 is arranged at one end of the second walking small trolley 133 towards the truck 140;

[0114] The second clamp 135 is arranged at one end of the second telescopic part 134 away from the second walking small trolley 133, and the second clamp 135 is configured to clamp or release the tin stack on the transfer device 120.

[0115] The loading device 130 is located outside the warehouse, and the second truss 131 of the loading device 130 is located on both sides of the truck 140 in the width direction, so that the second truss 131 can support the second walking large trolley 132, and the second walking large trolley 132 can be located above the transfer device 120 and the truck 140, and the second walking large trolley 132 can reciprocate between the transfer device 120 and the truck 140, that is, move in the length direction of the truck 140. The second walking small trolley 133 can move on the second walking large trolley 132, that is, the second walking small trolley 133 can reciprocate in the width direction of the truck 140, and the extension and retraction of the second telescopic part 134 can realize the change of the loading device 130 in the height direction, thereby realizing the three-way movement of the loading device 130, so that the second clamp 135 can accurately clamp the tin stack at the outlet position of the transfer device 120 and place the tin stack on the truck 140, thereby realizing the secondary movement of the tin stack. The secondary transfer of the tin stack is realized by the loading device 130, and the tin stack is transported to the truck 140, without manual loading and manual forklift loading, thereby improving the loading efficiency and reducing the labor intensity of the workers.

[0116] In an embodiment, the second frame 131 comprises:

[0117] a pair of ground rails arranged in parallel and located on both sides of the width direction of the truck 140;

[0118] a vertical beam, one end of the vertical beam is provided with a walking wheel arranged in the ground rail, the other end of the vertical beam is used to support the second walking trolley 132, the walking wheel is provided with a first driving part, and the walking wheel is provided with a first encoder.

[0119] In the embodiment, the second frame 131 is in the form of a ground rail, a pair of ground rails extend along the length direction of the truck 140 and are located on both sides of the width direction of the truck 140, a plurality of vertical beams are arranged on the ground rail, the walking wheel is driven by the first driving part, the walking wheel moves on the ground rail through forward and reverse rotation of the first driving part, and in turn drives the plurality of vertical beams and the second walking trolley 132 to move back and forth in the length direction of the truck 140.

[0120] It should be noted that the first encoder is arranged on the walking wheel, the number of rotations of the walking wheel is obtained through the first encoder, and since the diameter of the walking wheel is known, the moving distance of the walking wheel on the ground rail can be obtained after the number of rotations is obtained, and in turn the moving distance of the second walking trolley 132 in the length direction of the truck 140 is obtained. In practice, the coordinates of the tin stack clamped by the loading device 130 are known coordinates, that is, the outlet position of the transfer device 120 is fixed, so the moving coordinates of the tin stack with the outlet position driven by the loading device 130 to reach the specified position on the truck 140 can also be known. Thus, the number of rotations of the walking wheel can be inversely deduced through the known moving distance and the diameter of the walking wheel, and in turn the moving distance of the first walking trolley 112 is controlled in time through the PLC of the loading device 130 monitoring the number of rotations of the first encoder, thereby improving the accuracy of the loading device 130 clamping and placing the tin stack.

[0121] For example, two vertical beams can be arranged in parallel on one ground rail and connected through a connecting plate, and the second walking trolley 132 is supported through the connecting plate; or two inclined vertical beams can be arranged on one ground rail, so that the two vertical beams and the ground rail form an isosceles triangle, and a connecting plate is arranged between a pair of second connecting beams of the second walking trolley 132, and the connecting plate is fixedly connected with the intersection of the two vertical beams, so that the second frame 131 supports the second walking trolley 132.

[0122] In an embodiment, the second walking trolley 132 comprises:

[0123] A pair of second connecting beams are arranged on the vertical beams, and a third rack is arranged on the second connecting beam, and the sawtooth side of the third rack faces the second walking trolley 133;

[0124] The second connecting beam is provided with a laser radar and an identification mechanism on the side facing the truck 140, and the laser radar and the identification mechanism are in communication connection with the control module.

[0125] The pair of second connecting beams are arranged on the vertical beams, so that the pair of second connecting beams can be located above the truck 140 and the warehouse external transfer device 120, thereby realizing the secondary transfer of the tin stack by the truck loading device 130. Meanwhile, a third rack is arranged on the second connecting beam. When only one third rack is arranged, the third rack is located on the side of one of the second connecting beams facing the other second connecting beam. When two third racks are arranged, one third rack is arranged on each second connecting beam, and the two third racks are oppositely arranged. The arrangement of the third rack can realize the movement of the second walking trolley 133 on the second walking cart 132.

[0126] It should be noted that the second connecting beam is provided with an identification mechanism and a laser radar on the side facing the truck 140. The identification mechanism is usually a camera that collects the license plate number of the truck 140 at the truck loading station and confirms whether the license plate number is consistent with the license plate number allocated in the control module. When it is determined that the truck 140 is for loading, the truck loading device 130 can start working, otherwise an alarm is sent and the truck 140 exits the truck loading station and another truck 140 enters the truck loading station to continue to determine whether the license plate number is consistent through the identification mechanism until the license plate number of the truck 140 entering the truck loading station is consistent with the license plate number allocated in the control module. The identification mechanism can also be arranged on the inclined front of the truck 140 through a support. The present application is directly arranged on the second connecting beam, which can reduce the land occupation space of the additional identification structure and improve the space utilization. Specifically, the identification mechanism uploads the collected license plate number to the control module and compares it with the vehicle management system and the order system in the control module to determine whether the truck 140 at the truck loading station is a vehicle to be loaded. According to the specific content of the sales order, which includes the weight, batch, quantity, etc. of the tin stack, an outbound order is generated, such as the number of tin stacks that each truck 140 can carry, the total number of trucks 140 required, the license plate number of each truck 140, and the delivery address required by the tin stack, and matched with the truck 140 in the vehicle management system. When the license plate number of the truck 140 matches the license plate number on the outbound order successfully, the truck loading device 130 works to load the truck, and if the matching fails, a new truck 140 is driven in. The arrangement of the identification mechanism can improve the accuracy of the truck 140 loading, so that the delivery address of the loaded tin stack is consistent with the delivery address received by the driver of the truck 140, avoiding errors and causing economic losses and reducing customer satisfaction.

[0127] For example, the laser radar is arranged on the second connecting beam by the holder, and the laser radar is swung by the holder to scan the length and width of the truck 140, so that the specific position information of the truck 140 and the size of the carriage can be obtained. At the same time, the position information and the size information of the carriage of the truck 140 are uploaded to the control module, the control module obtains the placement position coordinates of the tin stack each time by programming algorithm and loading rule, and then sends a working instruction to the PLC of the loading device through the control module, so that the specific moving path of the loading device 130 is controlled by the PLC of the loading device 130, and the tin stack is grabbed and placed. The loading rule refers to a loading mode of two rows of multiple rows for a truck 140 to be loaded, and other loading rules can be set according to the size of the tin stack, such as a loading mode of four rows of multiple rows.

[0128] In a possible implementation mode, as shown in Figure 3 and Figure 5 The second clamp 135 and the first clamp 114 are the same in structure, the first clamp 114 includes one clamp body 1351, and the second clamp 135 includes two second clamp bodies 1351. The clamp body 1351 includes:

[0129] A support frame 1151 is arranged below the telescopic part, and the support frame 1151 is connected to the telescopic part through a reinforcing plate 1152. One side of the support frame 1151 facing the telescopic part is provided with a pair of sliding rails 1157.

[0130] A pair of clamping plates 1153 are connected to the sliding blocks through connecting sleeves 1156, and the sliding blocks are arranged on the sliding rails 1157 and can move on the sliding rails 1157. The clamping plate 1153 includes a pair of transverse plates 1154 arranged oppositely, and a plurality of vertical plates 1155 arranged between the pair of transverse plates 1154. The transverse plate 1154 protrudes from the vertical plate 1155 on the side facing the tin stack.

[0131] The telescopic part is the first telescopic part 114 or the second telescopic part 134. The first clamp 115 is located below the first telescopic part 114, and the second clamp 135 is located below the second telescopic part 134.

[0132] It can be understood that the first clamp 115 has only one clamp body 1351, as shown in Figure 3 The second clamp 135 has two clamp bodies 1351, as shown in Figure 5As shown, the first clamp 115 is part of the warehouse access carrying device 110, so the first clamp 115 is located below the first telescopic part 114, and the second clamp 135 is part of the loading device 130, so the second clamp 135 is located below the second telescopic part 134. The connecting sleeve 1156 on the same slide rail 1157 is located on both sides of the reinforcing plate 1152, that is, the slider on the same slide rail 1157 is 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.

[0133] Specifically, taking the first clamp 115 as an example, the support frame 1151 is arranged below the first telescopic part 114, specifically below the mounting plate 1145 of the first telescopic part 114, and the support frame 1151 is arranged substantially parallel to the mounting plate 1145, and then the mounting plate 1145 and the support frame 1151 are connected by the reinforcing plate 1152 to ensure the fixed connection of the support frame 1151 and the first telescopic part 114. The arrangement of the reinforcing plate 1152 can also ensure the strength of the first clamp 115 and improve the reliability and stability of the first clamp 115 in clamping the tin stack. The support frame 1151 is rectangular, and one slide rail 1157 is arranged on each of the two opposite sides. Each slide rail 1157 is provided with two sliders, and the sliders can move back and forth on the slide rail 1157. The clamping plate 1153 includes a pair of opposite transverse plates 1154 and a plurality of vertical plates 1155, and the vertical plates 1155 are located between the pair of transverse plates 1154 to improve the strength of the clamping plate 1153. One of the transverse plates 1154 is provided with a connecting sleeve 1156, which is a U-shaped sleeve around the slider and is fixedly connected with the slider. The open end of the connecting sleeve 1156 is arranged towards the transverse plate 1154 and is fixedly connected with the transverse plate 1154. In this way, the movement of the slider on the slide rail 1157 can drive the movement of the clamping plate 1153 on the slide rail 1157. Since each tin stack has a boss below, when the clamping plate 1153 clamps the tin stack, the side of the transverse plate 1154 facing the tin stack protrudes from the vertical plate 1155 and also forms a boss. The two bosses are clamped with each other to support the tin stack from below by the transverse plate 1154, ensuring the stability and reliability of the tin stack carrying.

[0134] It can be understood that each transverse plate 1154 is indirectly connected with two sliders not on the same slide rail 1157, so that the two clamping plates 1153 can move towards each other or move away from each other, realize the clamping and opening of the clamping plate 1153, and then complete the carrying of the tin stack. In the 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 and unloading system 100, which is common sense in the art and will not be described in detail. Alternatively, an electric telescopic rod can be arranged in the support frame 1151, and the movement of the slider is controlled by the electric telescopic rod. The telescopic end of the electric telescopic rod can be fixedly connected with the connecting sleeve 1156, and the fixed sleeve 1156 is fixedly connected with the slider. Therefore, pushing the connecting sleeve 1156 can make the slider move on the slide rail 1157. The telescopic movement of the electric telescopic rod realizes the movement of the clamping plate 1153 towards each other or away from each other. The electric energy of the electric telescopic rod is provided by the control room of the loading and unloading system 100.

[0135] It should be noted that the bar code reader is arranged on the side of the first clamp 115 facing the tin stack, and can be arranged on the support frame 1151. The bar code on the tin stack corresponds to the position of the bar code reader. When the first clamp 115 clamps the tin stack, the bar code on the top of the tin stack can be identified and matched with the recorded information in the warehouse management system (WMS). If the matching fails, the AGV forklift is dispatched by the warehouse control system (WCS) to send the tin stack with a faulty bar code to the manual processing area for reattaching the bar code or reentering the WMS and reentering the warehouse. Such arrangement can effectively improve the reliability and effectiveness of tin stack inventory management.

[0136] Among them, the placement area 150 is usually in the same straight line as the warehouse, and the tin stack is also regularly placed in the placement area 150. Therefore, a rotating part does not need to be arranged between the first telescopic part 114 and the first clamp 115, and the carrying of the tin stack can be realized. This can reduce the complexity of the loading and unloading carrying device 110 and make the operation more simple and convenient.

[0137] It can be understood that the support frame 1151 of the second clamp 135 is located below the mounting plate 1145 of the second telescopic part 134, and since the second clamp 135 has two clamp bodies 1351, that is, the mounting plate 1145 of the second telescopic part 134 needs to be connected to two clamp bodies 1351, the length of the mounting plate 1145 of the second telescopic part 134 is greater than the length of the mounting plate 1145 of the first telescopic part 114. The second clamp 135 needs to clamp the tin stack on the transfer device 120, and the transfer device 120 has two outbound conveyors 122, so the two clamp bodies 1351 of the second clamp 135 are respectively arranged corresponding to the two outbound conveyors 122, and the distance between the two clamp bodies 1351 is fixed. Therefore, it is not necessary to set a rotating part, and the clamping of the tin stack on the outbound conveyor 122 can be realized, which can reduce the complexity of the loading device 130 and make the operation more simple and convenient.

[0138] In an embodiment, as shown in Figure 6 The first walking trolley 113 and the second walking trolley 133 are the same in structure, and the first walking trolley 113 comprises:

[0139] a support frame 1131;

[0140] a third driving part 1132 arranged at one end of the support frame 1131, wherein an output shaft of the third driving part 1132 is provided with a second gear 1133, and the second gear 1133 is provided with a third encoder;

[0141] wherein the second gear 1133 of the first walking trolley 113 is engaged with the second rack 1122;

[0142] the second gear 1133 of the second walking trolley 133 is engaged with the third rack.

[0143] The first walking trolley 113 and the second walking trolley 133 are the same in structure, and the first walking trolley 113 comprises:

[0144] Exemplarily, when there are two second racks 1122 on the first connecting beam 1121, a support, a driven shaft and a gear are arranged on the side of the first walking trolley 113 opposite to the third driving part 1132, the support is fixedly connected with the support frame 1131, the driven shaft is rotationally connected with the support, and the gear is sleeved on the driven shaft and engages with the other second rack 1122, so that the two ends of the first walking trolley 113 are simultaneously supported, and the reliability and stability of the first walking trolley 113 moving on the first walking cart 112 are improved.

[0145] Similarly, when the second walking trolley 133 is arranged on the second walking cart 132, the principle is the same as above, and the support frame 1131 of the second walking trolley 133 is arranged between the pair of second connecting beams of the second walking cart 132. A third driving part 1132 is arranged on the side of the support frame 1131 facing the second connecting beam, and a second gear 1133 is arranged on the output shaft of the third driving part 1132, at this time, the second gear 1133 engages with the third rack, and the rotational motion of the third driving part 1132 is converted into the linear motion of the second walking trolley 133. When there are two third racks on the second connecting beam, a support, a driven shaft and a gear are arranged on the side of the second walking trolley 133 opposite to the third driving part 1132, the support is fixedly connected with the support frame 1131, the driven shaft is rotationally connected with the support, and the gear is sleeved on the driven shaft and engages with the other third rack, so that the two ends of the second walking trolley 133 are simultaneously supported, and the reliability and stability of the second walking trolley 133 moving on the second walking cart 132 are improved.

[0146] Exemplarily, the second gear 1133 is provided with a third encoder, which records the number of rotations of the second gear 1133, and the diameter of the second gear 1133 is known, so that the walking distance of the second gear 1133 after conversion into linear motion can be obtained after the number of rotations of the second gear 1133 is obtained by the third encoder. In practice, according to the distance of the tin stack moving to the transfer device 120 in the warehouse and the distance of the transfer device 120 moving 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 inversely deduced from the moving distance and transmitted to the PLC of the warehouse-in and warehouse-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 parking of the first walking trolley 113 on the first walking cart 112 and the parking of the second walking trolley 133 on the second walking cart 132 can be timely controlled, and the accurate grabbing and placing of the tin stack are improved.

[0147] It can be understood that a reference plate can also be arranged at both ends of the pair of first connecting beams 1121 of the first walking large vehicle 112, and a grating ruler can be arranged on the side of the support frame 1131 of the first walking small vehicle 113 facing the reference plate. The laser of the grating ruler is projected onto the reference plate, and the distance between the grating ruler and the reference plate can be obtained according to the strength of the laser, and the accurate positioning of the moving distance of the first walking small vehicle 113 on the first walking large vehicle 112 can also be realized. Similarly, a reference plate can also be arranged at both ends of the pair of second connecting beams of the second walking large vehicle 132, and a grating ruler can be arranged on the side of the support frame 1131 of the second walking small vehicle 133 facing the reference plate. The laser of the grating ruler is projected onto the reference plate, and the distance between the grating ruler and the reference plate can be obtained according to the strength of the laser, and the accurate positioning of the moving distance of the second walking small vehicle 133 on the second walking large vehicle 132 can also be realized.

[0148] In a feasible implementation mode, as shown in FIG. 1, the first telescopic part 114 and the second telescopic part 134 have the same structure, which includes: Figure 7

[0149] a first square cylinder 1141;

[0150] a second square cylinder 1142 arranged in the first square cylinder 1141;

[0151] a mounting plate 1145 arranged at one end of the second square cylinder 1142 away from the first square cylinder 1141;

[0152] a telescopic driving part configured to drive the second square cylinder 1142 to move in the first square cylinder 1141, the telescopic driving part including a first assembly and a second assembly, the first assembly being arranged in the walking small vehicle, and the second assembly being arranged on the side of the mounting plate 1145 facing the first square cylinder 1141;

[0153] the first assembly including a plurality of first fixed pulleys, at least one first fixed pulley being connected with a fourth driving part, and the fourth driving part being provided with a fourth encoder;

[0154] the second assembly including a plurality of second fixed pulleys 1143, the second fixed pulleys 1143 being arranged correspondingly to the first fixed pulleys;

[0155] wherein the first fixed pulleys are wound with a steel wire rope 1144, and the free end of the steel wire rope 1144 is fixedly connected with the first fixed pulleys after passing through the second fixed pulleys 1143.

[0156] ​It can be understood that the first telescopic part 114 can reciprocate in the height direction of the warehouse, and the second telescopic part 134 can reciprocate in the height direction of the truck 140, both of which realize the grabbing and placing of the tin stack. Therefore, the working principle is the same, and in the embodiment, the first telescopic part 114 is taken as an example for description, and the principle of the second telescopic part 134 is the same as that of the first telescopic part 114 and will not be described herein again. The first telescopic part 114 is located between the first walking trolley 113 and the first clamp 115, and the second telescopic part 134 is located between the second walking trolley 133 and the second clamp 135.

[0157] The first telescopic part 114 can be elongated and shortened through the sleeving of the first square barrel 1141 and the second square barrel 1142, so that the first clamp 115 can reciprocate in the height direction of the warehouse and the transfer device 120, and realize the grabbing and placing of the tin stack. The second square barrel 1142 is controlled to extend out of the first square barrel 1141 through the elongation of the first telescopic part 114, so as to realize the lowering of the first clamp 115; and the second square barrel 1142 is controlled to retract into the first square barrel 1141 through the retraction of the first telescopic part 114, so as to realize the movement of the first clamp 115 away from the ground. It should be noted that the side of the first square barrel 1141 facing the second square barrel 1142 is provided with a slide or a connecting strip, and the side of the second square barrel 1142 facing the first square barrel 1141 is provided with a connecting strip or a slide. Through the cooperation of the slide and the connecting strip, the stable movement of the second square barrel 1142 in the first square barrel 1141 is realized, that is, the guiding effect is realized, so as to avoid the shaking of the second square barrel 1142 in the first square barrel 1141, and affect the stability of the clamp lifting.

[0158] It can be understood that the first square barrel 1141 and the second square barrel 1142 of the present application are only an example, and in actual use, three, four or even more square barrels can be used in sequence to realize the telescoping of the first telescopic part 114, which can be selected according to actual needs.

[0159] In the embodiment, when the fourth driving part rotates forward, the first fixed pulley is driven to rotate, and the steel wire rope 1144 on the first fixed pulley is elongated. Under the support of the second fixed pulley 1143 and the action of gravity, the second square barrel 1142 extends out of the first square barrel 1141; when the fourth driving part reverses, the first fixed pulley is driven to rotate, and the steel wire rope 1144 on the first fixed pulley is retracted. Under the action of the pulling force of the steel wire rope 1144, the second square barrel 1142 retracts into the first square barrel 1141.

[0160] It should be noted that the second fixed pulley 1143 is arranged to achieve the rolling connection between the steel wire rope 1144 and the second fixed pulley 1143. If a lifting ring is used, the friction force during the winding and unwinding of the steel wire rope 1144 will affect the service life of the steel wire rope 1144. Therefore, the arrangement of the second fixed pulley 1143 can prolong the service life of the steel wire rope 1144 and ensure the safety of the telescopic part.

[0161] For example, the fourth driving part is provided with a fourth encoder, which records the number of rotations of the first fixed pulley. 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 steel wire rope 1144 converted by the rotation of the first fixed pulley can be obtained. That is, the height position of the tin stack and the position of the clamp are fixed and stored in the control module. According to the position of the tin stack, the distance between the first clamp 115 and the tin stack can be known, and the extension length of the first telescopic part 114 can be known. Through the fixed extension length, the number of rotations of the fourth driving part can be inversely deduced and transmitted to the PLC of the warehouse-in / out carrying 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, and the accurate positioning of the grabbing position and the placing position of the tin stack can be improved.

[0162] For example, a reference plate can also be arranged at the end of the first square tube 1141 away from the second square tube 1142, and a grating ruler can be arranged at the end of the second square tube 1142 away from the first square tube 1141. The laser of the grating ruler is projected onto the reference plate. According to the strength of the laser, the distance between the grating ruler and the reference plate can be obtained, and the accurate control of the extension and contraction distance of the first telescopic part 114 can also be achieved.

[0163] In a feasible implementation mode, as shown in Figure 1 The transfer device 120 comprises:

[0164] The rail-guided vehicle 121 is arranged in the warehouse;

[0165] The warehouse-out conveyor 122 is connected to one end of the rail-guided vehicle 121, and the warehouse-out conveyor 122 is located between the rail-guided vehicle 121 and the truck 140. At least part of the warehouse-out conveyor 122 is located in the warehouse, and the warehouse-out conveyor 122 moves towards the truck 140.

[0166] The rail-guided vehicle 121 is provided with a conveyor belt. After the rail-guided vehicle 121 is docked with the warehouse-out conveyor 122, the conveyor belt is opened, and the rotation direction of the conveyor belt is consistent with the rotation direction of the warehouse-out conveyor 122.

[0167] It should be noted that the tin stack that needs to be loaded is clamped and lifted by the warehouse entry and exit carrying device 110 and placed on the rail guided vehicle 121 (RGV) of the transfer device 120. The RGV moves on the track laid by it to the outside of the warehouse until it is docked with the warehouse exit conveyor 122. After receiving the docking signal, the RGV starts the conveyor belt on it to move the tin stack to the warehouse exit conveyor 122. At this time, the rotation direction of the conveyor belt is consistent with the rotation direction of the warehouse exit conveyor 122, and then the tin stack is transferred from the RGV to the warehouse exit conveyor 122, and at the same time is transferred to the outlet position by the warehouse exit conveyor 122, and waits for the grabbing and lifting of the loading device 130.

[0168] In this embodiment, two RGVs are provided, and the two RGV tracks are arranged vertically with the placement area 150, and cooperate with the two warehouse entry and exit carrying devices 110 and the loading device 130 to realize the loading of the tin stacks in the first placement area 151 and the second placement area 152. The two RGVs and the two conveying lines operate independently and do not interfere with each other.

[0169] Specifically, the WMS decomposes the warehouse-out order into multiple warehouse-out tasks and sends them to the WCS. The WCS schedules the warehouse entry and exit carrying devices 110 to clamp and place the tin stacks in the placement area 150 according to the task conditions of each component of the warehouse-out system, and then sends the tin stacks to the RGV. The RGV is transported to the warehouse exit conveyor 122 for docking. The conveyor belt on the RGV is started, and the conveyor belt and the warehouse exit conveyor 122 move in the same direction to transfer the tin stack on the RGV to the warehouse exit conveyor 122. Then the warehouse exit conveyor 122 transports the tin stack to the outlet position outside the warehouse. When the outlet positions of the two warehouse exit conveyors 122 are both in place, the loading device 130 starts to grab the tin stack from the outlet position, and grabs 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 according to the tasks of the loading order one by one until the loading is completed.

[0170] The embodiment adopts double warehouse-in and warehouse-out conveying devices 110, double RGVs, double warehouse-out conveyors 122 and a loading device 130, and the second clamp 135 on the loading device 130 is provided with two clamp bodies 1351, thereby improving the efficiency and freedom of loading. The WMS automatic grading loading module of the control module can freely allocate goods in the placement area 150, and can grab the tin stacks in any warehouse, thereby improving the convenience of tin stack transfer. The loading device 130 is provided with a laser radar for scanning the carriage of the truck 140, the position coordinates of the tin stack loading are calculated by the WCS, and the PLC of the loading device 130 is sent, so that the tin stack is accurately loaded according to the sequence, thereby improving the loading accuracy and efficiency. The loading device 130 is also provided with an identification mechanism for identifying the license plate of the truck 140, and an LED screen can be arranged in the truck head of the truck 140, so that the driver can observe the progress of the loading task, the expected completion time and the prompt that the loading is completed and can drive away, thereby realizing unmanned management, reducing the labor cost and the error rate caused by manual operation, improving the loading efficiency and accuracy, and further improving the economy and customer satisfaction.

[0171] As Figure 8 shown, one embodiment of the utility model provides a loading method for tin stacks, which utilizes the loading system 111 of the previous embodiment, and the loading method comprises the following steps:

[0172] Step 1, the information of the warehouse-out order is sent to the control module;

[0173] Step 2, the control module generates a warehouse-out task and schedules the warehouse-in and warehouse-out conveying device, the transfer device and the loading device;

[0174] Step 3, it is judged whether the transfer device has a task, if not, waiting for scheduling, if yes, the next step is entered;

[0175] Step 4, the transfer device waits at the loading position;

[0176] Step 5, it is judged whether the warehouse-in and warehouse-out conveying device has a task, if not, waiting for scheduling, if yes, the next step is entered;

[0177] Step 6, the warehouse-in and warehouse-out conveying device grabs the tin stack at the specified position and places the tin stack on the transfer device at the waiting position;

[0178] Step 7, after receiving the tin stack, the transfer device starts to move towards the truck and reaches the specified position;

[0179] Step 8, the truck enters the loading position at the same time;

[0180] Step 9, it is judged whether the truck is the correct vehicle, if not, a new truck is dispatched to enter the loading position, if yes, the next step is entered;

[0181] Step 10, allow the truck to load;

[0182] Step 11, obtain the truck's carriage position and loading coordinates through the loading device;

[0183] Step 12, 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 reach the designated position, if yes, proceed to the next step:

[0184] Step 13, the loading device moves the tin stack on the transfer device to the truck;

[0185] Step 14, determine whether the loading times are completed, if not, repeat the previous step, if yes, proceed to the next step;

[0186] Step 15, the truck drives away from the loading position.

[0187] Specifically, the information of the delivery order is sent to the WMS (Warehouse Management System) of the control module, and is branched to the delivery task sent to the WCS of the control module, and the WCS schedules the delivery handling device, the RGV (Rail Guided Vehicle 121) and the delivery conveyor 122 in the transfer device 120, and the loading device 130 according to the delivery task; in the warehouse, the transfer device 120 does not receive the scheduling information and continues to wait, the transfer device 120 receives the scheduling information, and the RGV of the transfer device 120 waits at the loading position, and the loading position is usually close to one end of the temporary storage area; at the same time, it is judged whether the in-out warehouse handling device 110 receives the scheduling information, and if not, it continues to wait, and if yes, the in-out warehouse handling device 110 reaches the specified position of 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 judged whether there is goods on the delivery conveyor 122 of the transfer device 120, and if not, it continues to wait for the RGV to dock with the delivery conveyor 122, and after docking, the delivery conveyor 122 recognizes that there is a tin stack and moves to the exit position outside the warehouse with the tin stack. Outside the warehouse, the truck 140 drives into the loading position, and the license plate of the truck 140 is judged to be consistent with the truck 140 in the WMS through the identification structure, and if not, the truck 140 drives away, and a new truck 140 is re-entered for judgment, and if yes, the truck 140 is allowed to load; at this time, the loading device 130 scans the position and the coordinates of the truck 140 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 continues to wait; if yes, the loading device 130 comes to the above of the exit position of the delivery conveyor 122, grabs two tin stacks through the two clamp bodies 1351 on the second clamp 135, moves to the corresponding position above the truck 140 according to the requirement of the WCS, and places the tin stacks in the carriage of the truck 140; then the WCS can also obtain the number of tin stacks loaded in the truck 140 according to the scanning information of the carriage, judges whether the loading is completed through the number of movements of the device, and if not, the loading device 130 continues to load; when the number of loading is reached, the tin stack loading is completed, and the truck 140 drives away from the loading position, and the next truck 140 is dispatched to enter the loading position.

[0188] It should be noted that when there are two RGVs and two delivery conveyors 122, the two RGVs and the two delivery conveyors 122 are scheduled respectively, and the method is as above and will not be repeated.

[0189] In the utility model, the terms "first" and "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance. The term "a plurality of" refers to two or more than two, unless otherwise explicitly limited.

[0190] Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. It is intended that the present application cover any and all variations of the application that come within the scope of the general inventive concepts described herein and including all modifications, equivalent processes, and / or uses for which the present application pertains. The specification and examples are to be considered exemplary only.

[0191] The above merely preferred embodiments of the present application and are not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A loading system for a tin stack, characterized in that, The loading system comprises: a warehouse access and exit carrying device that moves in a warehouse where tin stacks are stored; a transfer device that is arranged perpendicularly to the warehouse, and the warehouse access and exit carrying device is configured to place tin stacks on the transfer device; a loading device that is located above the transfer device, and the loading device is configured to reciprocate between the transfer device and a truck; a control module that is communicatively connected to the warehouse access and exit carrying device, the transfer device, and the loading device.

2. The loading system for tin stacks according to claim 1, characterized in that, The warehouse comprises a plurality of placement areas that are arranged in parallel and along the length direction of the warehouse, and each placement area is provided with a warehouse access and exit carrying device, and the loading system comprises a plurality of transfer devices.

3. The loading system for tin stacks of claim 1, wherein, The warehouse access and exit carrying device comprises: a first truss that is arranged in the warehouse and along the length direction of the warehouse; a first walking gantry that is arranged on the first truss and is configured to reciprocate along the length direction of the warehouse; a first walking trolley that is arranged on the first walking gantry and reciprocates on the first walking gantry, and the moving directions of the first walking gantry and the first walking trolley are perpendicular; a first telescopic part that is arranged at one end of the first walking trolley facing the tin stacks; a first clamp that is arranged at one end of the first telescopic part away from the first walking trolley, and the first clamp is configured to clamp or release the tin stacks in the warehouse.

4. The loading system for tin stacks according to claim 3, characterized in that, The first truss comprises: a pair of crossbeams that are arranged in parallel and extend along the length direction of the warehouse; support beams that are arranged below the crossbeams, and at least two support beams are arranged below each crossbeam; a first rack that is arranged on the crossbeams, and the sawtooth side of the first rack faces the first walking gantry.

5. The loading system for tin stacks of claim 4, wherein, The first walking gantry comprises: a pair of first connecting beams that are arranged on the crossbeams, and the first connecting beams are provided with second racks, and the sawtooth side of the second rack faces the first walking trolley; a second driving part that is arranged at one end of the first connecting beam, and the output shaft of the second driving part is provided with a first gear that is engaged with the first rack, and the first gear is provided with a second encoder.

6. The loading system for tin stacks of claim 5, wherein, The loading device comprises: a second truss that is arranged above the truck and is located outside the warehouse; a second walking gantry that is arranged on the second truss and is configured to reciprocate between the truck and the transfer device; a second walking trolley that is arranged on the second walking gantry and is configured to reciprocate on the second walking gantry, and the moving directions of the second walking trolley and the second walking gantry are perpendicular; a second telescopic part that is arranged at one end of the second walking trolley facing the truck; a second clamp that is arranged at one end of the second telescopic part away from the second walking trolley, and the second clamp is configured to clamp or release the tin stacks on the transfer device.

7. The loading system for tin stacks according to claim 6, characterized in that, The second truss comprises: A pair of ground rails, a pair of the ground rails are arranged in parallel, and the pair of ground rails are located on both sides of the width direction of the truck; A vertical beam, one end of the vertical beam is provided with a walking wheel, the walking wheel is arranged in the ground rail, the other end of the vertical beam is used for supporting 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 loading system for tin stacks of claim 7, wherein, The second walking trolley comprises: A pair of second connecting beams, the second connecting beams are arranged on the vertical beam, the second connecting beams are provided with third racks, and the sawtooth side of the third rack faces the second walking trolley; Wherein, the side of the second connecting beam facing the truck is provided with a laser radar and an identification mechanism, and the laser radar and the identification mechanism are in communication connection with the control module.

9. The loading system for tin stacks of claim 6, wherein, The second clamp and the first clamp are the same structure, the first clamp comprises a clamp body, the second clamp comprises two second clamp bodies, and the clamp body comprises: A support frame is arranged below the telescopic part, the support frame is connected with the telescopic part through a reinforcing plate, and one side of the support frame facing the telescopic part is provided with a pair of sliding rails; A pair of clamping plates are connected with sliding blocks through connecting sleeves, the sliding blocks are arranged on the sliding rails, the sliding blocks can move on the sliding rails, the clamping plate comprises a pair of transverse plates arranged opposite to each other, and a plurality of vertical plates arranged between the pair of transverse plates, and one side of the transverse plate protruding from the vertical plate towards the tin stack; Wherein, the telescopic part is the first telescopic part or the second telescopic part, the first clamp is located below the first telescopic part, and the second clamp is located below the second telescopic part.

10. The loading system for tin stacks of claim 8, wherein, The first walking trolley and the second walking trolley are the same structure, comprising: A support frame; A third driving part is arranged at one end of the support frame, a second gear is arranged on the output shaft of the third driving part, and a third encoder is arranged on the second gear; Wherein, the second gear of the first walking trolley is engaged with the second rack; The second gear of the second walking trolley is engaged with the third rack.

11. The loading system for tin stacks of claim 6, wherein, The first telescopic part and the second telescopic part are the same structure, comprising: A first square tube; A second square tube is arranged in the first square tube; A mounting plate is arranged at one end of the second square tube away from the first square tube; A telescopic driving part is configured to move the second square tube in the first square tube, the telescopic driving part comprises a first assembly and a second assembly, the first assembly is arranged in the walking trolley, and the second assembly is arranged on one side of the mounting plate facing the first square tube; The first assembly comprises a plurality of first fixed pulleys, at least one first fixed pulley is connected with a fourth driving part, and a fourth encoder is arranged on the fourth driving part; The second assembly comprises a plurality of second fixed pulleys, and the second fixed pulleys are correspondingly arranged with the first fixed pulleys; Wherein, the first fixed pulley is wound with a steel wire rope, and the free end of the steel wire rope is wound around the second fixed pulley and then fixedly connected with the first fixed pulley.

12. The loading system for tin stacks of claim 1, wherein, The transfer device comprises: A rail guided vehicle is arranged in the warehouse; The out-of-warehouse conveyor is connected with one end of the rail-guided vehicle, and is located between the rail-guided vehicle and the truck, at least part of the out-of-warehouse conveyor is located in the warehouse, and the out-of-warehouse conveyor moves towards the truck; Wherein, the rail-guided vehicle is provided with a conveyor belt, after the rail-guided vehicle is docked with the out-of-warehouse conveyor, the conveyor belt is opened, and the rotation direction of the conveyor belt is consistent with the rotation direction of the out-of-warehouse conveyor.

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