Intelligent truss transfer system for lead pallet loading

Abstract

The utility model relates to an intelligent truss transfer system for lead pile loading, and belongs to the field of intelligent equipment, and the utility model discloses a warehouse delivery conveying line, a labeling machine system, a loading truss, a license plate recognition system and a laser radar scanning system, the warehouse delivery conveying line is set along the warehouse to the area where the loading truss is located, the labeling machine system is set to the side of the warehouse delivery conveying line, the loading truss includes the support structure that the track is equipped with the top, the car that can move along the x axle on the track, the trolley that moves along the y axle, the lead pile clamp that sets up at the bottom of the trolley, the camera of license plate recognition system is directly opposite the factory gate, the laser radar scanning system is installed below the loading truss car crossbeam, the utility model can automatically select the lead pile and deliver according to the delivery order, automatically label after outputting on the conveying line, confirm through license plate recognition and laser radar scanning, the function of automatically grabbing the lead pile and loading, reduces the manual labor intensity, improves the delivery efficiency.

Description

Technical Field

[0001] This utility model belongs to the field of intelligent equipment, specifically, it relates to an intelligent truss transfer system for loading lead stacks onto trucks. Background Technology

[0002] Traditionally, lead stacks are manually lifted off the production line using forklifts or overhead cranes. Since each shift involves 6-8 hours of continuous production, multiple people are needed to assist with the repetitive routes and manual labor involved in lifting lead stacks by forklifts and transporting them by overhead cranes. During storage, manual recording and inventory checks are required. Ground storage is typically used, but both manual lifting and forklift transport require designated personnel or forklift access, resulting in limited storage capacity. For shipping, manual assistance is needed to lift the stacks from the warehouse to a weighing platform. Labels printed by a labeling machine are then applied to both sides of the stack before it is lifted from the weighing platform and loaded onto the truck. Unloading is also required. Before loading, manual verification of truck information, printing of loading orders, and checking of the loading status are necessary.

[0003] Furthermore, the traditional process of receiving and issuing lead stacks involves manual recording and inventory checks, which is prone to errors. Manual processing of inventory and loading data is also complex and requires multiple verifications and comparisons. When labeling shipments, workers first need to use forklifts or overhead cranes to lift the lead stacks onto a platform scale. The scale's weight information is then sent to a labeling machine for label printing. Afterwards, workers manually affix labels to both sides of the lead stack before it is lifted from the scale or hoisted onto the truck for loading. Weighing, label printing, labeling, and loading—each step requires manual assistance and confirmation. Summary of the Invention

[0004] To overcome the problems existing in the background technology, this utility model provides an intelligent truss transfer system for loading lead stacks onto vehicles. It can automatically select and dispatch lead stacks according to the delivery note, automatically label them on the output conveyor line, and automatically grab and load the lead stacks onto vehicles after vehicle license plate recognition and coordinate confirmation by laser radar scanning. This reduces the intensity of manual labor and improves the efficiency of outbound delivery.

[0005] To achieve the above objectives, this utility model is implemented through the following technical solution: The intelligent truss transfer system for loading lead stacks includes an outbound conveyor line, a labeling machine system, a loading truss, a license plate recognition system, and a lidar scanning system. Two outbound conveyor lines are configured, one on each side of the loading area, with one end extending into the warehouse and the other into the loading truss area. The labeling machine system is located beside the outbound conveyor line. The loading truss is located inside the factory, near the factory exit, and includes two rows of support structures with rails on top, a large trolley that can move along the x-axis on the rails, a smaller trolley that moves along the y-axis on the internal rails of the large trolley, and lead stack clamps located at the bottom of the smaller trolley. The license plate recognition system is installed at the factory entrance, using a camera to identify whether the vehicle is correctly loading; the camera is directly facing the factory entrance. The lidar scanning system is installed below the crossbeam of the loading truss trolley and is connected to the loading truss PLC signal.

[0006] Preferably, the outbound conveyor line consists of two long conveyors and one short conveyor arranged on the same straight line; the labeling machine system is located on the side of the second long conveyor along the direction from the warehouse to the outbound.

[0007] Preferably, the inner side of the loading truss track is equipped with a rack; the main trolley's running wheels are equipped with gears that mesh with the rack on the track, and the gears are driven by a motor to rotate, enabling the main trolley to move along the X-axis; the trolley moves along the Y-axis within the main trolley's frame via a rack and pinion structure; the middle part of the trolley is equipped with a telescopic guide rod, which is raised and lowered by a winch, allowing it to move along the Z-axis; a clamp is connected to the lower end of the telescopic rod and has a rotation function, enabling the movement along the U-axis.

[0008] Preferably, each trolley is equipped with a clamp, each clamp has two sets of grippers, and each set of grippers opens and closes by extending and retracting two cylinders mounted opposite each other at the rear.

[0009] Preferably, the clamp is connected to the telescopic rod via a slewing support, and an encoder is installed on the motor drive shaft of the slewing support.

[0010] Preferably, the fixture includes a fixture frame, grippers, and a track frame on the side of the fixture frame; the grippers are slidably connected to the track frame via a running gear A.

[0011] Preferably, the outbound conveyor line is lower than the inbound conveyor line.

[0012] The beneficial effects of this utility model are: This utility model's loading truss replaces manual forklift or overhead crane hoisting, reducing the need for personnel assistance and improving safety and loading efficiency.

[0013] This invention enables the direct retrieval of lead stacks from the warehouse area via an outbound truss, placing them onto the outbound conveyor line and transporting them to the loading area for loading, based on outbound information instructions from the WMS. The warehouse area is divided into two zones, allowing for simultaneous inbound and outbound operations, or one outbound operation followed by one inbound operation, offering greater flexibility than traditional inbound and outbound processes. The inbound and outbound conveyors are configured at different heights, avoiding cross-transportation within a limited space.

[0014] This invention features two outbound conveyor lines. During the outbound loading process, while the lead stacks on one conveyor line are being grabbed and loaded by the loading truss, the other conveyor line is preparing the goods. This allows for alternating grabbing of lead stacks from the two outbound conveyor lines, thus improving loading efficiency.

[0015] The loading gantry achieves fully automated loading of lead stacks under the interlocking signals of license plate recognition, lidar, and the outbound conveyor line. Throughout the entire process of lead stack outbound, equipment scheduling is carried out through WCS and data information management through WMS, achieving full traceability management of the lead stacks. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the loading truss transfer and shipping system of this utility model; Figure 2 This is a schematic diagram of a lead stack loading truss device according to the present invention; Figure 3 This is a front view of the loading truss device of this utility model; Figure 4 This is a side view of the loading truss device of this utility model; Figure 5 This is a top view of the loading truss device of this utility model; Figure 6 Three views of the loading truss double clamp of this utility model; Figure 7 This is a front view of the double clamp for the loading truss of this utility model; Figure 8 This is a flowchart of the laser radar scanning process for the vehicle mounting truss according to this utility model; In the diagram, 1-Inbound / Outbound Truss, 2-Outbound Conveyor Line, 3-Loading Truss, 4-Warehouse, 5-Large Cart, 6-Small Cart, 7-Telescopic Rod, 8-Clamp, 9-Railway, 10-Large Cart Gear, 11-Onboard Electrical Cabinet, 12-Small Cart Rail, 13-Small Cart Rack, 14-Support Structure, 15-Running Wheel A, 16-Clamp Frame, 17-Side Rail, 18-Running Wheel B, 19-Cylinder, 20-Lead Stack Production Line, 21-Gripper. Detailed Implementation

[0017] To make the objectives, technical solutions, and beneficial effects of this utility model clearer, the preferred embodiments of this utility model will be described in detail below with reference to the accompanying drawings, so as to facilitate the understanding of those skilled in the art.

[0018] In the description of this utility model, unless otherwise stated, the terms "left", "right", etc., indicate the orientation or state relationship based on the orientation or state relationship shown in the drawings, and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0019] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "equipped with" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art will understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0020] The intelligent truss transfer system for loading lead stacks includes inbound / outbound trusses, an outbound conveyor line, a labeling machine system, a loading truss, a license plate recognition system, and a lidar scanning system. The layout of the inbound / outbound trusses, outbound conveyor line, and loading truss is shown in the attached figure. Figure 1 Two outbound conveyor lines are set up, one on each side of the loading area. One end of the outbound conveyor line extends into the warehouse, and the other end extends into the area where the loading truss is located. The labeling machine system is set up next to the outbound conveyor line. The loading truss is set up inside the factory building, near the factory exit.

[0021] Loading truss, such as Figure 2-5 As shown, the structure is supported by two rows of steel structural columns, with a track at the top and a rack on the inner side. The two rows of steel structural supports are installed on both sides of the loading area. The trolley is equipped with running wheels that run on the track and achieve X-direction movement and positioning through gear and rack transmission (the transmission structure between the trolley and the track is a known structure). The trolley is equipped with running wheels that run on the track inside the trolley frame. A rack is installed on the side of the trolley frame, and the trolley is equipped with gears. The trolley achieves precise positioning in the Y-direction through gear and rack transmission (the structure of the trolley moving along the truss track and the trolley moving within the trolley frame is a known structure and will not be described in detail in this embodiment). A telescopic rod is provided in the middle of the trolley, and the telescopic rod is pulled by a winch motor to achieve Z-direction lifting and lowering. At the bottom of the telescopic rod, a clamp structure is connected through a slewing support to achieve U-axis rotation of the clamp (the structure for achieving clamp rotation is a known structure). The clamp has two sets of grippers, and the two sets of grippers are opened and closed by the extension and retraction of two cylinders installed opposite each other at their tails.

[0022] The lidar scanning system is installed below the crossbeam of the loading truss and connected to the loading truss PLC signal. The license plate recognition system is installed at the factory entrance, using a camera to identify whether the vehicle is the correct one being loaded; the camera is directly facing the factory entrance.

[0023] The outbound conveyor line, loading gantry, trolley and auxiliary trolley travel directions, and clamp lifting directions are precisely positioned using encoders installed on the drive motors; the opening and closing of the grippers is detected by proximity switches. The arrival signal of the lead stack on the outbound conveyor line is detected by proximity switches; the loading gantry achieves high-speed, high-precision operation through servo-controlled motors.

[0024] like Figure 6 , Figure 7 As shown, the clamps of the loading truss adopt a double-jaw structure, connected to a telescopic rod via a slewing support, enabling the clamps to rotate in both directions along the U-axis. Specifically, the slewing support motor drives the double clamps to rotate in both directions, and the rotational position and angle values ​​are obtained through an encoder mounted on the motor shaft. Each clamp has two sets of jaws, composed of an "L"-shaped structure. A running wheel A is installed at the top of the jaws, allowing them to move back and forth on the side rails of the clamp frame assembly. The hooks at the bottom of the jaws are used to insert into the steps below the lead stack to clamp it. Simultaneously, running wheels B are installed on both sides of the jaws. When the lead stack is parked on the ground and the clamps become stuck, the rolling friction of the running wheels B allows for quick and effortless opening. The opening and closing action of the two sets of jaws is achieved by two sets of cylinders installed below the clamp frame. The tails of the cylinders are installed opposite each other, and the telescopic rod ends of the cylinders are connected to the jaws. The clamp has a flange at the top, which connects to the bottom of the telescopic rod; steel wire rope pulleys are installed on both sides of the flange, and a movable pulley structure is achieved by winding a wire rope through the pulleys. The forward and reverse rotation of the winch drives the clamp to rise and fall. Each outbound conveyor line consists of two long conveyors and one short conveyor from left to right. The short conveyor, together with the second long conveyor, adjusts the spacing between the two stacks of lead stacks.

[0025] A labeling system is installed on the side of the outbound conveyor. When the lead stacks pass through the outbound conveyor line, they are first labeled at the labeling station and then transported to the end of the outbound conveyor. When two stacks are collected, they are loaded onto the truck through the loading truss.

[0026] The labeling system consists of a label printer, a robotic arm, a computer, an image positioning camera, and a positioning switch. When the lead stack is conveyed to the loading area via the output conveyor line, it reaches the labeling station. After the detection switch detects its positioning, the outbound conveyor line stops. The image recognition camera then scans the stopping position of the lead stack and the labeling position, sending the data to the robotic arm control system. The labeling machine prints the label according to the label information provided by the WMS software system. The robotic arm then removes the label and affixes it to two adjacent sides of the lead stack. After labeling is completed, the lead stack continues to be conveyed forward to the loading gantry unloading station.

[0027] The aforementioned license plate recognition system uses a camera to photograph vehicle license plates and performs image recognition to extract license plate information. The system is installed on the side of the factory entrance, with the license plate recognition camera facing the entrance. When a vehicle reverses into the factory and stops, the loading start button on the ground control cabinet triggers the license plate recognition camera to photograph and recognize the vehicle's license plate information. The recognized license plate number is sent to the host computer WCS management system for comparison with the license plate numbers on the WMS loading list. Only vehicles with matching license plate numbers are allowed to load; if the license plate number is incorrect, an alarm is triggered to prompt the truck to leave.

[0028] The lidar scanning device is a laser scanner equipped with a pan-tilt unit, installed at the bottom of the loading truss beam with the scanning lens facing downwards towards the loading station. When the truck reverses into the loading station and stops, provided the license plate is correctly recognized, the lidar's pan-tilt unit rotates to scan and model the vehicle's stopping position and the dimensions of the truck bed. Based on the three-dimensional dimensions of the lead stacks, they are virtually placed inside the truck bed. The host computer processing software calculates the spatial position values ​​of each key point based on the zero-point position, converts them into spatial coordinate values, and sends them to the loading truss PLC. The loading truss converts these coordinate points into target coordinate values ​​for the clamp's stopping position and sequentially and alternately clamps the lead stacks from the two outbound conveyor lines for loading.

[0029] The inbound / outbound truss and the outbound conveyor line, the outbound conveyor line and the labeling machine system, the labeling machine system and the loading truss, the loading truss and the license plate recognition, and the license plate recognition and the lidar scanning device all have signal interlocking functions: During outbound operations, the inbound / outbound truss can only place the lead stack picked up from the storage area onto the outbound conveyor line if there is no lead stack at one end of the storage area; and the conveyor line at the storage area end can only place the lead stack after the labeled lead stack has been transported to the loading / picking station. The stacks are sent to the labeling station; in the loading area, the inbound and outbound gantry grabs all the lead stacks, and only then can the lead stacks at the labeling station continue to be conveyed forward; after the lead stacks at the two loading and unloading stations at the end of the outbound conveyor line in the loading area are completely in place and have stopped, the loading gantry can then clamp the lead stacks and load them onto the truck; after the vehicle reverses into the loading area and stops, and after the license plate recognition confirms that the vehicle is normal, the lidar can then scan the truck; after the lidar scans the dimensions of the truck bed, the loading gantry can then grab the lead stacks from the outbound conveyor line and load them onto the truck.

[0030] The aforementioned interlocking function is achieved by setting up proximity switches, position switches, encoders, and other instruments, and connecting these instrument signals with signals from PLC, WMS, or WCS. There are no technical obstacles for those skilled in the art. This embodiment takes the interlocking between the outbound conveyor line and the labeling machine system as an example to illustrate the above interlocking relationship. When the position switch detects that the lead stack has reached the labeling station, the position switch sends a signal to the outbound conveyor line, the outbound conveyor line stops, and the labeling machine system starts labeling the lead stack.

[0031] The encoders are installed on the drive motor shafts of the gantry cranes and trolleys used for inbound and outbound operations, as well as the hoist motor shaft of the telescopic boom; and on the drive motor shaft of the outbound conveyor line. By accurately detecting the number of rotations and angles of the motors, the encoders can calculate the displacement and speed of the gantry cranes, trolleys, telescopic booms, RGVs, and conveyor lines. This provides the control unit with precise position information of the equipment, enabling the system to achieve accurate positioning and speed control.

[0032] The loading process of this utility model is as follows: During outbound loading, the WMS (Warehouse Management System) selects and matches lead stacks within the warehouse area based on the weight reserved for each truck in the loading list. It then combines the lead stack location information for each truck's loading list and sends the lead stacks to be shipped out in sequence to the WCS (Warehouse Control System) scheduling system. The WCS scheduling software dispatches the inbound and outbound trusses of the two warehouse areas to grab the lead stacks and place them on their respective outbound conveyor lines. The lead stacks first pass through the labeling station to be labeled, with information such as weight and batch number printed on the labels. After being labeled, the lead stacks continue to be transported outward along the outbound conveyor line to the small conveyor at the end of the outbound conveyor line, waiting for the second stack to be transported to the small conveyor, forming a double cargo arrival. Then, the loading trusses are dispatched to the two picking stations to grab the two lead stacks at once and place them in the truck compartment in sequence for loading. Before loading begins, the truck needs to reverse into the loading area of ​​the factory. The license plate recognition system installed at the factory entrance identifies the license plate on the front of the truck and checks if it is the correct vehicle. Only if the vehicle is correct will the loading truss activate the LiDAR to scan the vehicle's position and the dimensions of the cargo box; otherwise, it will alarm and prompt the truck to leave. The coordinates of the lead stacks placed into the cargo box by the loading truss are the vehicle position information and cargo box dimensions scanned by the LiDAR. The XYZ coordinates of each set of lead stacks are virtually placed and sent to the PLC of the loading truss. The PLC converts the coordinates into the target position coordinates of the fixtures, and the loading is fully automated in sequence.

[0033] Finally, it should be noted that the above preferred embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail through the above preferred embodiments, those skilled in the art should understand that various changes can be made to it in form and detail without departing from the scope defined by the claims of the present invention.

Claims

1. An intelligent truss transfer system for loading lead stacks onto trucks, characterized in that, This includes outbound conveyor lines, labeling machine systems, loading trusses, license plate recognition systems, and lidar scanning systems; The outbound conveyor line is configured as two lines, which are respectively set on both sides of the loading area. One end of the outbound conveyor line extends into the warehouse, and the other end extends into the area where the loading truss is located. The labeling machine system is installed beside the outbound conveyor line; The loading truss, located inside the factory building near the factory exit, includes two rows of support structures with rails on the top, a large trolley that can move along the x-axis on the rails, a small trolley that moves along the y-axis on the internal rails of the large trolley, and lead stack clamps located at the bottom of the small trolley. The license plate recognition system is installed at the entrance of the factory. It uses a camera to identify whether the vehicle is the correct one for loading goods. The camera is directly facing the entrance of the factory. The lidar scanning system is installed below the crossbeam of the loading truss and is connected to the loading truss PLC signal.

2. The intelligent truss transfer system for loading lead stacks according to claim 1, characterized in that, The outbound conveyor line consists of two long conveyors and one short conveyor arranged on the same straight line; the labeling machine system is located on the side of the second long conveyor along the direction from the warehouse to the outbound.

3. The intelligent truss transfer system for loading lead stacks according to claim 1, characterized in that, The inner side of the loading truss track is equipped with a rack; the trolley's running wheels are equipped with gears that mesh with the rack on the track, and the gears are driven by a motor to rotate, enabling the trolley to move along the X-axis; the trolley moves along the Y-axis within the frame of the trolley via a rack and pinion structure; the middle part of the trolley is equipped with a telescopic guide rod, which is raised and lowered by a winch, allowing it to move along the Z-axis; the clamp is connected to the lower end of the telescopic rod and has a rotation function, enabling the movement along the U-axis.

4. The intelligent truss transfer system for loading lead stacks according to claim 3, characterized in that, Each trolley is equipped with a clamp, and each clamp has two sets of grippers. Each set of grippers opens and closes by extending and retracting two cylinders mounted opposite each other at the rear.

5. The intelligent truss transfer system for loading lead stacks according to claim 4, characterized in that, The clamp is connected to the telescopic rod via a slewing support, and an encoder is installed on the motor drive shaft of the slewing support.

6. The intelligent truss transfer system for loading lead stacks according to claim 4, characterized in that, The fixture includes a fixture frame, grippers, and a track frame on the side of the fixture frame; the grippers are slidably connected to the track frame via a running wheel A.

7. The intelligent truss transfer system for loading lead stacks according to claim 1, characterized in that, The outbound conveyor line is lower than the inbound conveyor line.

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