CN113697342A

CN113697342A - Cargo transportation and stacking method in cargo unmanned aerial vehicle cabin

Info

Publication number: CN113697342A
Application number: CN202110839837.5A
Authority: CN
Inventors: 曾鹏; 范东; 刘泽峰; 熊泽华; 杨帧
Original assignee: Aerospace Era Feipeng Co ltd
Current assignee: Aerospace Era Feipeng Co ltd
Priority date: 2021-07-23
Filing date: 2021-07-23
Publication date: 2021-11-26
Anticipated expiration: 2041-07-23
Also published as: CN113697342B

Abstract

The invention discloses a cargo transportation and stacking method in a freight unmanned aerial vehicle cabin, which comprises the following steps: s1, scanning the goods input into the cabin, collecting the goods information, and confirming the goods; s2, classifying and numbering the goods according to the goods information; s3, distributing goods shelves according to the classification information, and conveying the goods to the position corresponding to the target shelf; s4, adjusting the goods positions of the goods shelves, and stacking the goods on the corresponding goods positions; s5, collecting goods stacking information after the goods are stacked; and S6, making a form of the goods information and the goods stacking information for query and retrieval. The invention has the characteristics of rapid and stable transportation and stacking, convenient searching and capacity-increasing of the goods shelf.

Description

Cargo transportation and stacking method in cargo unmanned aerial vehicle cabin

Technical Field

The invention relates to the field of cargo transportation and storage, in particular to a cargo transportation and stacking method in a cargo transportation unmanned aerial vehicle cabin.

Background

Along with the development of electronic commerce in China, the transportation volume of goods is also getting bigger and bigger, and the application of the freight unmanned aerial vehicle is also getting wider and wider. In the cargo transportation management of unmanned aerial vehicle cabin, mainly carry and stack the goods with the manual type, the cargo transportation volume in unmanned aerial vehicle cabin is big, and not only the amount of labour is big, the cost of labor is high, work efficiency is low, and is still undefined to the tracking information of goods moreover, has the transportation goods easily and loses, the goods stacks chaotic scheduling problem, is difficult to quick, effectively seeks the position of stacking of goods, also drops because rocking easily in unmanned aerial vehicle transportation.

In addition, the loading volume on the goods shelves is all fixed, can not carry out effectual loading according to the needs of difference and use at the in-process that uses, simultaneously to darker goods shelves, when loading goods, needs the manual work to stack the goods to the higher, darker position of goods shelves, not only increases the amount of labour of work like this, stacks the outside goods that still knocks over easily of in-process of taking, leads to the goods damaged that drops.

Consequently, the transportation of current freight transportation unmanned aerial vehicle under-deck goods is stacked, has the goods and stacks the confusion, be difficult to find the goods fast, the problem that the volume of loading is fixed, the goods drops easily.

Disclosure of Invention

The invention aims to provide a cargo transportation and stacking method in a freight unmanned aerial vehicle cabin. The invention has the characteristics of rapid and stable transportation and stacking, convenient searching and capacity-increasing of the goods shelf.

The technical scheme of the invention is as follows: the cargo transportation and stacking method in the freight unmanned aerial vehicle cabin comprises the following steps:

s1, scanning the goods input into the cabin, collecting the goods information, and confirming the goods;

s2, classifying and numbering the goods according to the goods information;

s3, distributing goods shelves according to the classification information, and conveying the goods to the position corresponding to the target shelf;

s4, adjusting the goods positions of the goods shelves, and stacking the goods on the corresponding goods positions;

s5, collecting goods stacking information after the goods are stacked;

and S6, making a form of the goods information and the goods stacking information for query and retrieval.

In the freight transportation stacking method for goods in the unmanned aerial vehicle cabin, step S1 is specifically that the goods are provided with identification codes with goods information, and the transportation device in the cabin is provided with an identifier, and the goods identification codes input into the cabin are scanned by the identifier, so that the goods information is collected and the goods are confirmed.

In the transportation and stacking method for goods in the freight unmanned aerial vehicle cabin, in step S1, the goods information includes the kind of goods, the quality of goods, the volume of goods, and the transportation destination.

In the transportation and stacking method for goods in the freight unmanned aerial vehicle cabin, between the step S2 and the step S3, the quality inspection of the goods is further performed, and if the goods are detected to be damaged, the recording is performed and the goods are discharged.

In the transportation and stacking method for goods in the freight unmanned aerial vehicle cabin, in the step S4, it is specifically determined whether there is a vacant position on the movable plate on the uppermost cargo space on the shelf, and if not, the movable plate is pushed out to expose the fixed plate; if the fixed plate and the movable plate are not provided with vacant positions, the goods are transferred to the next layer of goods positions until the goods are placed in the vacant goods positions of the corresponding goods shelf.

In the method for stacking freight transportation of cargo in the unmanned cargo aircraft cabin, in step S5, the stacking information includes stacking position and shelving time of the cargo.

In the freight transportation unmanned aerial vehicle cargo transportation and stacking method, the cargo rack comprises a base, a cargo rack body and a placing and taking device are arranged on the base, a plurality of layers of cargo spaces are arranged on the cargo rack body, a fixed plate and a movable plate are arranged on each layer of cargo space, the movable plates are connected to the fixed plate in a sliding mode through pulleys, moving belts are arranged on the fixed plate and the movable plate, and isolation plates are arranged on the moving belts; one side of the goods shelf body is provided with a lifting chain connected by a lifting motor, and the lifting chain is fixedly connected with the placing and taking device.

In the cargo transportation and stacking method for the cargo in the cargo unmanned aerial vehicle cabin, the two sides of the goods shelf body are provided with the limiting frames, the limiting frames are provided with the sliding grooves, the two sides of the movable plate are provided with the movable frames penetrating through the sliding grooves, and the goods shelf body is provided with the driver for pushing the movable frames.

In the freight transportation unmanned aerial vehicle in-cabin cargo transportation stacking method, the placing and taking device comprises a bottom frame connected with a lifting chain, a conveying plate is connected to the bottom frame in a rotating mode, a conveying belt is arranged on the conveying plate, a pushing cylinder is arranged below the conveying plate, a piston rod of the pushing cylinder is hinged to the conveying plate, a taking frame is arranged above the conveying plate, horizontal chains driven by horizontal motors are arranged on two sides of the taking frame, a linear module perpendicular to the horizontal chains is fixedly connected to the horizontal chains, and a taking manipulator is arranged on a sliding table of the linear module.

In the cargo transportation and stacking method in the freight transport unmanned aerial vehicle cabin, the object taking manipulator comprises a connecting rod connected with the sliding table, a bowl-shaped push block is arranged at the end of the connecting rod, a hand grip is arranged inside the push block, and a driving cylinder for driving the hand grip to extend out of the push block to clamp the cargo is arranged inside the connecting rod.

Compared with the prior art, the goods storage system can quickly acquire various information of the goods, performs classified stacking and quality inspection corresponding to the information of the goods, removes damaged goods, saves stacking space while ensuring the quality of the goods, and realizes automatic conveying and storage; forms are also manufactured to be convenient for searching; the goods shelves of stacking the goods therein have adopted the design that can increase-volume, can be according to goods quantity, adjustment goods position structure satisfies the storing capacity of different demands to the cooperation is put and is got the device and make the goods stack quick, convenient, neat, stable, reduces the goods and drops and decrease the phenomenon.

Therefore, the invention has the characteristics of rapid and stable transportation and stacking, convenient searching and capacity-increasing of the goods shelf.

Drawings

FIG. 1 is a schematic view of the construction of the pallet of the present invention;

FIG. 2 is a schematic view of the structure of the fixing plate;

FIG. 3 is a schematic view of the connection structure of the movable plate and the fixed plate;

FIG. 4 is a side view of the pick and place apparatus;

FIG. 5 is a top view of the pick and place device;

fig. 6 is a schematic structural view of the picking robot.

Reference numerals: 1. a base; 2. a shelf body; 21. a cargo space; 22. a lifting chain; 23. a limiting frame; 3. placing and taking the device; 31. a chassis; 32. a conveying plate; 33. a push cylinder; 34. taking the shelf; 35. a horizontal chain; 36. a linear module; 37. a fetching manipulator; 371. a connecting rod; 372. a push block; 373. a gripper; 374. a driving cylinder; 41. a fixing plate; 42. a movable plate; 43. a pulley; 44. a moving belt; 45. a separator plate; 46. a movable frame; 47. a driver.

The invention is further described with reference to the following figures and detailed description.

Detailed Description

The embodiment of the invention comprises the following steps: the cargo transportation and stacking method in the freight unmanned aerial vehicle cabin comprises the following steps:

s1, an identification code with cargo information is arranged on the cargo, an identifier is arranged on a transport device in the cabin, the cargo identification code input into the cabin is scanned through the identifier, the cargo information is collected, and the cargo is confirmed; the cargo information includes the kind of cargo, cargo mass, cargo volume, transportation destination, and the like. The transportation device can adopt shuttle trolleys, conveying robots, cargo conveying belts and the like.

S2, classifying and numbering the goods according to the goods information; and quality inspection is carried out on the goods, and if the goods are detected to be damaged, the goods are recorded and discharged. The goods are classified according to the destinations of the goods, and the goods of the same destination are stacked on the same shelf.

s4, firstly, judging whether the movable plate 42 on the uppermost goods space 21 on the goods shelf is empty or not, if not, pushing the movable plate 42 outwards to expose the fixed plate 41 on the lower layer; if the fixed plate 41 and the movable plate 42 have no empty positions, the goods are transferred to the next layer of goods positions 21 until the goods are placed on the empty goods positions 21 of the corresponding goods shelf;

s5, collecting goods stacking information after the goods are stacked; the stacking information includes stacking positions of the goods, a time of putting on the shelf, and the like.

The method can quickly acquire various information of the goods, performs classified stacking and quality inspection corresponding to the information of the goods, removes damaged goods, saves stacking space while ensuring the quality of the goods, and realizes automatic conveying and storage; forms are also manufactured to be convenient for searching; the goods shelves of stacking the goods therein have adopted the design that can increase-volume, can be according to goods quantity, and the 21 structures in adjustment goods position satisfy the storing capacity of different demands to the cooperation is put and is got device 3 and make the goods stack quick, convenient, neat, stable, reduces the goods and drops and decreases the phenomenon.

As shown in fig. 1-6, the shelf includes a base 1, a shelf body 2 and a placing and taking device 3 are arranged on the base 1, a plurality of layers of goods positions 21 are arranged on the shelf body 2, a fixed plate 41 and a movable plate 42 are arranged on each layer of goods positions 21, the movable plate 42 is slidably connected to the fixed plate 41 through a pulley 43, moving belts 44 are arranged on the fixed plate 41 and the movable plate 42, partition plates 45 are arranged on the moving belts 44, and a storage space for goods is formed between adjacent partition plates 45; one side of the goods shelf body 2 is provided with a lifting chain 22 connected by a lifting motor, and the lifting chain 22 is fixedly connected with the placing and taking device 3.

The goods shelves are provided with a plurality of goods positions 21, each goods position 21 is provided with the fixed plate 41 and the movable plate 42, the structure of the goods positions 21 can be adjusted according to the quantity of goods, the goods can be stacked on the movable plates 42, and also can be stacked on the fixed plates 41, so that the goods positions 21 can be effectively expanded, the storage space is increased, and the storage capacity of different requirements is met; all set up removal area 44 on fixed plate 41 and fly leaf 42, conveniently be covered with whole parking space with the goods, need not to get inside thing manipulator 37 stretches into the goods shelves, reduce the goods and collide each other, drop, fall the phenomenon of decreasing. Division board 45 of setting is convenient for distinguish the goods on the one hand, and on the other hand cooperation is got thing manipulator 37 and is put the goods neatly, avoids dropping of goods in the unmanned aerial vehicle transportation.

Utilize lifting chain 22 will put and get device 3 and remove to the height of difference and put and get the goods, convenient operation puts and gets and realizes zero clearance or few clearance installation between device 3 and the goods shelves for goods shelves compact structure, save space, can also reduce the manufacturing cost of goods shelves.

The shelf comprises a shelf body 2 and is characterized in that limiting frames 23 are arranged on two sides of the shelf body 2, sliding grooves are formed in the limiting frames 23, moving frames 46 penetrating through the sliding grooves are arranged on two sides of a movable plate 42, and a driver 47 for pushing the moving frames 46 is arranged on the shelf body 2. The driver 47 can adopt a motor-ball screw structure or an electric push rod structure, or other driving structures that are known to drive the movable plate 42 to move horizontally.

Put and get device 3 and include the chassis 31 of being connected with lift chain 22, it is connected with delivery board 32 to rotate on the chassis 31, be equipped with the conveyer belt on the delivery board 32, the below of delivery board 32 is equipped with push cylinder 33, push cylinder 33's piston rod is articulated with delivery board 32, delivery board 32's top is equipped with gets thing frame 34, the both sides of getting thing frame 34 are equipped with through horizontal motor driven horizontal chain 35, fixedly connected with and horizontal chain 35 looks vertically straight line module 36 on the horizontal chain 35, be equipped with on the slip table of straight line module 36 and get thing manipulator 37.

The arranged placing and taking device 3 is rotatably connected with a conveying plate 32, the state of the conveying plate 32 can be changed by driving of a pushing cylinder 33, and when goods need to be placed into the placing and taking device 3 or taken down from the placing and taking device 3, the conveying plate 32 is in an inclined state, so that the goods are conveniently conveyed; when goods need to be put on the goods shelf from the putting and taking device 3 or taken out of the goods shelf to the putting and taking device 3, the conveying plate 32 is in a horizontal state, and the goods taking is more convenient and quicker; the multi-directional movement of the fetching manipulator is realized through the cooperation of the horizontal chain 35 and the linear module 36, so that goods can be conveniently placed in storage spaces of the goods positions 21 at different positions, the labor intensity of workers is reduced, and the working efficiency is improved.

Get thing manipulator 37 and include the connecting rod 371 of being connected with the slip table, the tip of connecting rod 371 is equipped with the ejector pad 372 of bowl form, and the inside of ejector pad 372 is equipped with tongs 373, and the inside of connecting rod 371 is equipped with the drive tongs 373 and stretches out the actuating cylinder 374 that drives that ejector pad 372 got the goods by pressing from both sides. Get ejector pad 372 that sets up on the thing manipulator 37 for earlier the front end and the goods contact of ejector pad 372 when getting the thing, make the goods keep leveling, then stretch out the tong, clip the goods, improve goods centre gripping accuracy and intensity.

The working process is as follows: when goods are stacked in the transportation of the freight unmanned aerial vehicle cabin, the goods are conveyed to the corresponding goods shelf through the transportation device, the conveying plate 32 is adjusted to be in an inclined state, the goods are placed on the conveying plate 32, then the conveying plate 32 is adjusted to be in a horizontal state, the goods are moved to the position corresponding to the goods position 21 through the lifting chain 22 and the conveying belt, and meanwhile, the fetching manipulator 37 is adjusted through the horizontal chain 35 and the linear module 36, so that the fetching manipulator 37 accurately grabs the goods and places the goods into the corresponding goods position 21;

when the goods are grabbed, the front end of the push block 372 is firstly contacted with the goods, the goods are contacted with the isolation plate 45, the goods are kept flat, and then the hand grip 373 extends out to clamp the goods, so that the goods clamping accuracy and strength are improved; when the grabbed goods are placed in the empty storage space, the grabber 373 is retracted to be hidden in the push block 372, and the push block 372 is driven to push the goods, so that the goods are in contact with the isolation plate 45, and the goods are placed smoothly and stably;

when stacking the goods, if the storage space at the foremost side of the movable plate 42 is full, the movable belt 44 is moved backward, so that the goods move backward and move out of the empty storage space to continue to be stored; when the storage space on the movable plate 42 is full, the driver 47 pushes the movable plate 42 to move to the side away from the placing and taking device 3, so as to expose the fixed plate 41, and then the goods are placed into the storage space of the fixed plate 41 by the same method, so as to increase the accommodating capacity of the shelf.

Claims

1. The cargo transportation and stacking method in the freight unmanned aerial vehicle cabin is characterized in that: the method comprises the following steps:

s2, classifying and numbering the goods according to the goods information;

s5, collecting goods stacking information after the goods are stacked;

2. The method for transporting and stacking cargo within a cargo transport drone of claim 1, wherein: the step S1 is specifically that the goods are provided with an identification code with goods information, the transportation device in the cabin is provided with an identifier, the goods identification code input into the cabin is scanned by the identifier, the goods information is collected, and the goods are confirmed.

3. The method for transporting and stacking cargo within a cargo transport drone of claim 1, wherein: in step S1, the cargo information includes the type of cargo, the cargo quality, the cargo volume, and the transportation destination.

4. The method for transporting and stacking cargo within a cargo transport drone of claim 1, wherein: between the step S2 and the step S3, the method further includes the steps of inspecting the goods, and recording and discharging the goods when the goods are detected to be damaged.

5. The method for transporting and stacking cargo within a cargo transport drone of claim 1, wherein: step S4 is to determine whether there is a vacancy on the movable plate on the uppermost cargo space on the shelf, and if not, push the movable plate outward to expose the fixed plate; if the fixed plate and the movable plate are not provided with vacant positions, the goods are transferred to the next layer of goods positions until the goods are placed in the vacant goods positions of the corresponding goods shelf.

6. The method for transporting and stacking cargo within a cargo transport drone of claim 1, wherein: in step S5, the stacking information includes stacking positions of the goods and a time of putting the goods on the shelf.

7. The method for transporting and stacking cargo within a cargo transport drone of claim 1, wherein: the goods shelf comprises a base (1), a goods shelf body (2) and a placing and taking device (3) are arranged on the base (1), a plurality of layers of goods positions (21) are arranged on the goods shelf body (2), a fixed plate (41) and a movable plate (42) are arranged on each layer of goods positions (21), the movable plate (42) is connected to the fixed plate (41) in a sliding mode through a pulley (43), moving belts (44) are arranged on the fixed plate (41) and the movable plate (42), and a partition plate (45) is arranged on each moving belt (44); one side of the goods shelf body (2) is provided with a lifting chain (22) connected through a lifting motor, and the lifting chain (22) is fixedly connected with the placing and taking device (3).

8. The method for freight transportation and stacking of cargo in-cabin unmanned aerial vehicle according to claim 7, wherein: the shelf is characterized in that limiting frames (23) are arranged on two sides of the shelf body (2), sliding grooves are formed in the limiting frames (23), moving frames (46) penetrating through the sliding grooves are arranged on two sides of the movable plate (42), and a driver (47) for pushing the moving frames (46) is arranged on the shelf body (2).

9. The method for freight transportation and stacking of cargo in-cabin unmanned aerial vehicle according to claim 7, wherein: put and get device (3) and include chassis (31) of being connected with lift chain (22), it is connected with delivery board (32) to rotate on chassis (31), be equipped with the conveyer belt on delivery board (32), the below of delivery board (32) is equipped with push cylinder (33), the piston rod that push cylinder (33) is articulated with delivery board (32), the top of delivery board (32) is equipped with gets thing frame (34), the both sides of getting thing frame (34) are equipped with horizontal chain (35) through horizontal motor drive, fixedly connected with and horizontal chain (35) looks vertically sharp module (36) on horizontal chain (35), be equipped with on the slip table of sharp module (36) and get thing manipulator (37).

10. The method for transporting and stacking cargo in a freight unmanned aerial vehicle cabin according to claim 9, wherein: get thing manipulator (37) including connecting rod (371) be connected with the slip table, the tip of connecting rod (371) is equipped with ejector pad (372) of bowl form, and the inside of ejector pad (372) is equipped with tongs (373), and the inside of connecting rod (371) is equipped with drive tongs (373) and stretches out ejector pad (372) and press from both sides the actuating cylinder (374) that drives of getting the goods.