CN115535653A - Control method of embedded automatic container loading and unloading vehicle system - Google Patents
Control method of embedded automatic container loading and unloading vehicle system Download PDFInfo
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- CN115535653A CN115535653A CN202211498165.7A CN202211498165A CN115535653A CN 115535653 A CN115535653 A CN 115535653A CN 202211498165 A CN202211498165 A CN 202211498165A CN 115535653 A CN115535653 A CN 115535653A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
- B65G67/04—Loading land vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
- B65G67/04—Loading land vehicles
- B65G67/08—Loading land vehicles using endless conveyors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
- B65G67/24—Unloading land vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G69/00—Auxiliary measures taken, or devices used, in connection with loading or unloading
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Abstract
The invention relates to a control method of an embedded container automatic loading and unloading system, which comprises a loading control method and/or an unloading control method, wherein the loading control method comprises the following steps of S101, stacking goods at the front end of a transport carrier plate, and detecting the height and/or weight of the goods in the process of stacking the goods; s102, when the height of the goods at the front end of the transport carrier plate reaches a preset position and/or the weight reaches a preset weight, driving the jacking mechanism to enable the unpowered conveying mechanism to abut against the lower end face of the goods, and driving the powered conveying mechanism to drive the goods to move backwards for a certain distance so as to enable the front end of the transport carrier plate to be emptied; s103, repeating the steps S101-S102 until the goods are full; the unloading control method is opposite to the loading control method. By adopting the power and free type conveying form, when the goods are manually taken and placed, the goods are all at the position of the carriage port, and the goods conveying time and the manual ground cattle loading and unloading operation time of the cave depot are saved.
Description
Technical Field
The invention relates to the field of control of a loading and unloading vehicle system, in particular to a control method of an embedded automatic container loading and unloading vehicle system.
Background
The container is also called as a container, and refers to a large container with certain strength, rigidity and specification specially used for turnover, and the goods are placed in the container and then transported to a destination through the container. At present, goods are transported and transported into containers and can be transported through a loading system. The loading system has the functions of stacking, conveying and the like.
As shown in fig. 10, the conventional loading method requires a worker to load the goods into the final station of the container, and after the final station of the container is filled with a stack of goods, the goods are stacked in the next station. The operation method has the defect of poor efficiency because operators and operation vehicles need to consume a large amount of displacement time to go and back and to and from the inside and the outside of the container. Meanwhile, after enough goods are loaded on the support plate, the total weight of the support plate and the goods is very large, when the drive mechanism pushes the support plate to enter the container, large friction force exists between the support plate and the container, and the support plate is easy to wear; under the condition that the weight of the goods is large, if the goods need to be driven to move on the carrier plate, a driving mechanism with large power needs to be equipped, the size of the driving mechanism is large, and equipment is expensive.
The invention aims to design a control method of an embedded automatic container loading and unloading vehicle system aiming at the problems in the prior art.
Disclosure of Invention
In view of the problems in the prior art, the present invention provides a control method for an embedded automatic container handling vehicle system, which can effectively solve the problems in the prior art.
The technical scheme of the invention is as follows:
a control method of an embedded container automatic loading and unloading system is based on the embedded container automatic loading system, and the embedded container automatic loading system comprises the following steps:
the upper end of the transportation carrier plate is provided with a plurality of power rails and a plurality of unpowered rails which penetrate through the front end to the rear end of the transportation carrier plate;
the transmission parts of the power conveying mechanisms are respectively arranged on the power tracks and are used for providing static friction force for the goods on the conveying support plate so as to drive the goods;
the unpowered conveying mechanisms are respectively arranged on the unpowered tracks and are used for providing dynamic friction force for goods on the conveying carrier plate so as to reduce the driving force of the power conveying mechanism;
a plurality of jacking mechanisms; the unpowered conveying mechanism can be movably arranged on the unpowered track up and down, the jacking mechanism is arranged between the unpowered track and the unpowered conveying mechanism, and the jacking mechanism is used for driving the unpowered conveying mechanism to move up and down;
the control method comprises a loading control method and/or an unloading control method,
the loading control method comprises the following steps:
s101, stacking the goods at the front end of the transportation carrier plate, and detecting the height and/or weight of the goods in the goods stacking process;
s102, when the height of the goods at the front end of the transportation carrier plate reaches a preset position and/or the weight reaches a preset weight, driving the jacking mechanism to enable the unpowered conveying mechanism to abut against the lower end face of the goods, and driving the powered conveying mechanism to drive the goods to move backwards for a certain distance so as to enable the front end of the transportation carrier plate to be emptied;
s103, repeating the steps S101-S102 until the goods are full;
the unloading control method comprises the following steps:
s201, when goods at the front end of the transport carrier plate are emptied, driving the jacking mechanism to enable the unpowered conveying mechanism to abut against the lower end face of the goods, and driving the powered conveying mechanism to drive the goods to move forwards so that the goods are located at the front end of the transport carrier plate;
s202, removing the goods at the front end of the transportation carrier plate, and detecting the height and/or weight of the goods in the removing process;
and S203, repeating the steps S201-202 until the goods are completely unloaded.
Further, the jacking mechanism comprises an air bag and an inflating device;
the unpowered track is of a concave structure, the unpowered conveying mechanism comprises a movable groove matched with the unpowered track and a roller conveying belt arranged on the upper surface of the movable groove, and the movable groove is nested in the unpowered track;
the bottom surface of the unpowered track and the movable groove are arranged at intervals to form an air bag cavity, the air bag is laid in the air bag cavity and is communicated and connected to the inflating device, and the inflating device inflates the air bag to drive the unpowered conveying mechanism to move up and down;
the drive climbing mechanism makes unpowered conveying mechanism leans on terminal surface under the goods, includes: and the air bag is inflated through the inflating device, so that the air bag is expanded to drive the unpowered conveying mechanism to abut against the lower end face of the goods.
Furthermore, the embedded automatic container loading system comprises a pneumatic control electromagnetic valve and a gravity sensor, the pneumatic control electromagnetic valve is connected with the air bag and used for controlling air pressure in the air bag, the gravity sensor is arranged on the power conveying mechanism, and the air bag is of an oblate structure;
the drive the climbing mechanism makes the unpowered conveying mechanism lean on the lower end surface of the goods, including:
acquiring pressing force G of the goods on the power conveying mechanism through the gravity sensor, and adjusting air pressure in the air bag through the air control electromagnetic valve: and the area S of the upper end surface of the air bag is equal to the pressing force G of the air bag internal air pressure P = (0.5 to 0.6).
Furthermore, the embedded automatic container loading system comprises a plurality of object detection sensors and/or a plurality of gravity sensors;
when the height of the front end goods of transportation carrier plate reaches preset position and/or weight reaches preset weight, include: the object detection sensor detects whether an object is in a set position at the front end of the transportation support plate, if so, the control system judges that the front end of the transportation support plate is full of goods, the gravity sensor detects the gravity data of the object at the front end of the transportation support plate, and if the gravity data reaches the preset gravity data, the control system judges that the front end of the transportation support plate is full of goods.
Furthermore, the embedded automatic container loading system comprises a limiting mechanism which is arranged below the front end of the transportation support plate, the transportation support plate is provided with a through hole parallel to the power track or the unpowered track, the limiting mechanism comprises a driving unit and a limiting stop, the limiting stop can penetrate through the through hole and protrude above the through hole, and the driving unit drives the limiting stop to move back and forth in the through hole, so that the position of the goods is limited.
Further, step S103 is followed by:
s104, driving the limiting mechanism to move towards the rear end, and enabling the limiting stop block to abut against the front end of the goods so as to tightly push the goods;
step S201 is preceded by:
and S200, driving the limiting mechanism to move towards the front end, and enabling the limiting stop block to be far away from the front end of the goods so as to release the goods.
Further, stop gear includes pressure sensor, pressure sensor is used for acquireing stop's pressure, thereby drive stop gear moves to the rear end, makes stop gear support and leans on the top tight goods in goods front end, includes:
and driving the limiting mechanism to move towards the rear end, acquiring data of a pressure sensor of the limiting mechanism, and stopping and keeping the limiting mechanism when the data of the pressure sensor of the limiting mechanism reaches a set pressure.
Accordingly, the present invention provides the following effects and/or advantages:
the invention changes the existing stacking method that the goods are firstly placed at the innermost end of the container by a forklift or a transportation device, then are sequentially stacked and finally are stacked at the outermost end of the container by a storage stacking type automatic loading control method. By matching the device with a loading control method, goods are conveyed to a conveyor in a carriage through a conveying line, and the conveyor in the carriage conveys a first row of goods forward to a station; when the second row of goods is conveyed, the first row of goods and the second row of goods are conveyed forward to a station together; by analogy, the automatic loading operation of the whole truck of goods is completed. By adopting the power and free type conveying form, when the goods are manually taken and placed, the goods are all at the position of the carriage port, and the goods conveying time and the manual ground cattle loading and unloading operation time of the cave depot are saved.
According to the invention, the bottom surface of the unpowered track and the movable groove are arranged at a distance to form the air bag cavity, the air bag is laid in the air bag cavity, and the air bag is inflated or deflated to realize the upward and downward movement of the movable groove. An air bag cavity structure similar to an automobile tire is formed between the bottom surface of the unpowered track and the movable groove at intervals, and then the structure similar to the tire is formed by placing the air bag. When the unpowered conveying mechanism is abutted against the lower end face of the goods, the pressure in the air bag can be adjusted by inflating or deflating the air bag, so that the adjustment of the jacking force of the unpowered conveying mechanism on the goods is realized. The power or the maximum transmission force of the required power transmission mechanism can be reduced, so that the volume of the power transmission mechanism is reduced, and the cost is reduced.
According to the invention, by adjusting the air pressure in the air bag, when the area S of the upper end surface of the air bag and the air pressure P in the air bag is (0.5-0.6) pressing force G, the air inflation device stops inflating the air bag and keeps the air pressure in the air bag. The unpowered conveying mechanism moves upwards to abut against the top to reduce the pressure of the goods on the power conveying mechanism to 50-60% of the weight of the goods, so that the driving force and the power of the power conveying mechanism only need to be half of those under the condition that the unpowered conveying mechanism is not arranged, the power of the power conveying mechanism can be greatly reduced, and the stability of the goods during transportation can be ensured.
It is to be understood that both the foregoing general description and the following detailed description of the present invention are exemplary and explanatory and are intended to provide further explanation of the invention as claimed.
Drawings
Fig. 1 is a schematic structural diagram of an embedded container automatic loading system.
Fig. 2 is an exploded view of the structure of fig. 1.
Fig. 3 is an exploded view of the structure of the air bag, unpowered track and unpowered conveying mechanism.
Fig. 4 is a sectional view taken along line B-B of fig. 3.
Fig. 5 is an exploded view of the spacing mechanism.
Fig. 6 is a schematic structural view of the limiting mechanism.
Fig. 7 is a schematic view of a use state of the limiting mechanism.
Fig. 8-9 are schematic diagrams of the process of step S102.
Fig. 10 is a prior art truck loading method.
Detailed Description
To facilitate understanding of those skilled in the art, the structure of the present invention will now be described in further detail by way of examples in conjunction with the accompanying drawings:
referring to fig. 1 to 4, a control method of an embedded automatic container loading and unloading system is based on the embedded automatic container loading system, and the embedded automatic container loading system includes:
the frame body 1 is used for placing or supporting various structures;
in this embodiment, the frame body 1 is used for placing or supporting the transport carrier plate 2, the power transmission mechanism, and the like. Moreover, the frame body 1 of the embodiment can be arranged in a container truck carriage or outside the container carriage, and the frame body 1 can be provided with supporting legs for providing corresponding positions for each structure, and only the frame body 1 with proper height needs to be selected according to requirements without limitation.
The conveying carrier plate 2 is flatly laid on the upper side of the frame body 1, and the upper end of the conveying carrier plate 2 is provided with a plurality of power rails 3 and a plurality of unpowered rails 4 which penetrate through the front end to the rear end of the conveying carrier plate 2;
in this embodiment, the transportation carrier plate 2 is a plate-shaped structure that is laid flat, and the transportation carrier plate 2 plays a role in providing a setting position, holding and placing goods for each part of this embodiment, and can be set in the container loading carriage along with the frame body 1, and also can be set outside the container carriage. If the transportation carrier plate 2 is arranged outside the carriage of the container, the transportation carrier plate 2 and the goods can be conveyed into the container together through the driving mechanism after the transportation carrier plate 2 is fully loaded with the goods through the frame body 1. Meanwhile, in this embodiment, the transport carrier plate 2 is provided with a plurality of power rails 3 and a plurality of unpowered rails 4 for bearing corresponding structures, and the plurality of power rails 3 and the plurality of unpowered rails 4 are all provided from the front end of the transport carrier plate 2 to the rear end of the transport carrier plate 2, that is, the transport carrier plate 2 is provided with a plurality of power rails 3 and a plurality of unpowered rails 4 from the beginning to the end, so that the subsequent power conveying mechanism 5 and the subsequent unpowered conveying mechanism 6 also penetrate through the front end of the transport carrier plate 2 to the rear end of the transport carrier plate 2. Thus, the function of cargo transport can be achieved at any position on the transport carrier 2.
In the embodiment, the transportation carrier plate 2 may be provided with a plurality of sets of conveying mechanisms, each set of conveying mechanism includes a power conveying mechanism 5 and an unpowered conveying mechanism 6, so as to realize the more efficient simultaneous transportation of goods on the transportation carrier plate 2. In this embodiment, a plurality of sets of conveying mechanisms may be arranged in bilateral symmetry.
The transmission parts of the power conveying mechanisms 5 are respectively arranged on the power tracks 3 and are used for providing static friction force for the goods on the conveying carrier plate 2 so as to drive the goods;
in this embodiment, the power transmission mechanisms 5 are disposed on the power tracks 3, and each power track 3 is provided with one or more power transmission mechanisms 5. The power transmission mechanism 5 may be a mechanism with driving capability, such as a power transmission chain, an oil cylinder, and an air cylinder, and is not limited herein. In addition, in order to drive the goods to be transported to the rear end from the front end of the transportation carrier plate 2, the power transmission mechanism 5 provides static friction force for the goods, the power transmission mechanism 5 is a transmission chain for example, when the goods are placed on the transportation carrier plate 2, the goods are pressed against the transmission chain through the gravity of the goods, the transmission chain drives the goods to be transported in the transportation process, and in the transportation process, the relative position of the transmission chain and the goods is unchanged, namely the transmission chain transports the goods through the static friction force. If the transport drum is powered, it is not suitable for this application because it provides a dynamic friction force, i.e. the relative position of the transport drum and the load changes during transport of the load by the transport drum.
The unpowered conveying mechanisms 6 are respectively arranged on the unpowered tracks 4 and are used for providing dynamic friction force for goods on the transportation carrier plate 2 so as to reduce the driving force of the power conveying mechanism 5.
The unpowered conveying mechanism 6 can be fixedly arranged or can be movably arranged up and down. If the unpowered conveying mechanism 6 is fixedly arranged, the unpowered conveying mechanism 6 needs to be arranged to be flush with the height of the powered conveying mechanism 5, and in this embodiment, the powered conveying mechanism 5 is arranged on the left side and the right side of the unpowered conveying mechanism 6, because the goods are stacked, due to the self gravity and the center of gravity, the middle position of a packaging box of the goods or a stacking support plate can naturally bend slightly downwards, so that the unpowered conveying mechanism 6 needs to be arranged to be flush with the height of the powered conveying mechanism 5, so that a part of the weight of the goods can be concentrated on the unpowered conveying mechanism 6 in the conveying process of the goods, the pressure of the goods on the upper side of the powered conveying mechanism 5 is reduced, and therefore, in the conveying process of the powered conveying mechanism 5, the goods can be driven to run only by smaller static friction force, and finally the technical effect of reducing the driving force of the powered conveying mechanism 5 is achieved.
In this embodiment, the unpowered conveying mechanism 6 may also be movably disposed up and down. The non-powered conveyance mechanism 6 is driven by one or more of an air cylinder, a hydraulic cylinder, an electric cylinder, an air bag, and the like, for example, so that the non-powered conveyance mechanism 6 can move up and down. In the transportation process, the unpowered conveying mechanism 6 is driven upwards and provides a certain driving force through, for example, an air cylinder, a hydraulic cylinder, an electric cylinder, an air bag and the like, so that the unpowered conveying mechanism can be abutted against the lower end of the goods and provides an upward jacking force for the goods, the upward jacking force needs to be smaller than the weight of the goods, a part of the gravity of the goods is still distributed on the power conveying mechanism 5, the goods can be driven to run by only providing a smaller static friction force on the power conveying mechanism 5, and finally the technical effect of reducing the driving force of the power conveying mechanism 5 is achieved.
A plurality of jacking mechanisms 9; the unpowered conveying mechanism 6 can be movably arranged on the unpowered track 4 up and down, the jacking mechanism is arranged between the unpowered track 4 and the unpowered conveying mechanism 6, and the jacking mechanism 9 is used for driving the unpowered conveying mechanism 6 to move up and down.
In this embodiment, the unpowered conveying mechanism 6 can be driven to move up and down by the jacking mechanism 9. And when the unpowered conveying mechanism 6 moves upwards to abut against the bottom end of the goods or the goods tray, the jacking mechanism 9 can continuously apply force to the unpowered conveying mechanism 6 to enable the unpowered conveying mechanism 6 to have the trend of moving upwards, so that the pressure of the goods on the power conveying mechanism 5 can be controlled, the static friction force required by the movement of the goods driven by the power conveying mechanism 5 is further controlled, and the driving force and the power of the power conveying mechanism 5 are further controlled. For example, the pressure of the goods on the power conveying mechanism 5 is reduced to 50% of the weight of the goods by the unpowered conveying mechanism 6 moving upwards to abut against the unpowered conveying mechanism, and the driving force and the power of the power conveying mechanism 5 only need to be half of those of the case that the unpowered conveying mechanism 6 is not arranged. Thereby achieving the effect of saving labor.
The control method comprises a loading control method and/or an unloading control method,
the loading control method comprises the following steps:
s101, stacking the goods at the front end of the transportation carrier plate, and detecting the height and/or weight of the goods in the goods stacking process;
in this step, referring to the left side of fig. 8, the front end of the transport carrier, i.e. near the container opening, now stacks the goods. For example, the goods are stacked on pallets, each of which can be placed with 3 × 5 goods.
S102, when the height of the goods at the front end of the transportation carrier plate reaches a preset position and/or the weight reaches a preset weight, driving the jacking mechanism to enable the unpowered conveying mechanism to abut against the lower end face of the goods, and driving the powered conveying mechanism to drive the goods to move backwards for a certain distance so as to enable the front end of the transportation carrier plate to be emptied;
in this step, when the stack of goods is full of one tray, it can be detected that the detected goods reaches the corresponding position and/or weight. Then the unpowered conveying mechanism starts to jack the lower end face of the goods, the pressing force of the goods on the power conveying mechanism is correspondingly reduced after jacking, at the moment, the power conveying mechanism is started, and the goods can be conveyed by smaller static friction force, namely, the power conveying mechanism with smaller power or the largest driving force can be selected, so that the effect of reducing the size of the driving motor is achieved, and the cost is saved.
Driving the power conveying mechanism to drive the goods to move backwards for a certain distance so as to empty the front end of the transportation carrier plate; the state shown in fig. 8 is reached.
S103, repeating the steps S101-S102, wherein in the repeated process, the goods can be continuously piled up and then transported forwards, and the state shown in the figure 9 is obtained.
After repeated for many times, the loading operation can be finished until the goods are full.
The existing stacking method that goods are firstly placed at the innermost end of a container through a forklift or a transportation device, then are sequentially stacked and finally are stacked at the outermost end of the container is changed through a storage stacking type automatic loading control method. By matching the device with a loading control method, goods are conveyed to a conveyor in a carriage through a conveying line, and the conveyor in the carriage conveys a first row of goods forward to a station; when the second row of goods is conveyed, the first row of goods and the second row of goods are conveyed forward to a station together; and by analogy, the automatic loading operation of the whole vehicle of the goods is completed. By adopting the power and free type conveying form, when goods are manually taken and placed, the goods are all at the position of the carriage port, and the goods conveying time and the manual ground cattle loading and unloading operation time of the cave depot are saved.
The unloading control method comprises the following steps:
s201, when goods at the front end of the transport carrier plate are emptied, driving the jacking mechanism to enable the unpowered conveying mechanism to abut against the lower end face of the goods, and driving the powered conveying mechanism to drive the goods to move forwards so that the goods are located at the front end of the transport carrier plate;
s202, moving away the goods at the front end of the transport carrier plate, and detecting the height and/or weight of the goods in the moving away process;
and S203, repeating the steps S201-202 until the goods are completely unloaded.
The unloading control method is opposite to the loading control method in steps, and the principle is similar.
Referring to fig. 3-4, the jacking mechanism 9 includes an air bag and an inflator (not shown);
the unpowered track 4 is of a concave structure, the unpowered conveying mechanism 6 comprises a movable groove 602 matched with the unpowered track and a roller conveyor belt 601 arranged on the upper surface of the movable groove 602, and the movable groove 602 is nested in the unpowered track 4;
the bottom surface of unpowered track 4 and the interval setting between the activity groove 602 form the gasbag chamber, the gasbag chamber is laid the gasbag, the gasbag intercommunication is connected to aerating device, aerating device is right thereby the gasbag aerifys and drives unpowered conveying mechanism 6 is movable from top to bottom.
In this embodiment, through interval setting formation gasbag chamber between unpowered track 4's the bottom surface and the activity groove 602, the gasbag chamber is laid the gasbag, the inflation of gasbag or disappointing can realize the realization to the top of going up of activity groove 602, the motion of transferring. The bottom surface of the unpowered track 4 and the movable groove 602 are arranged at a distance to form an air bag cavity structure similar to an automobile tire, and then an air bag is placed to form a structure similar to the tire. When the unpowered conveying mechanism 6 abuts against the lower end face of the goods, the pressure in the air bag can be adjusted by inflating or deflating the air bag, so that the adjustment of the jacking force of the unpowered conveying mechanism 6 on the goods is realized.
The drive the climbing mechanism 9 makes the unpowered conveyor 6 lean against the lower end face of the goods, including: the air bag is inflated by the inflating device, so that the air bag is expanded to drive the unpowered conveying mechanism 6 to abut against the lower end face of the goods.
Further, the embedded automatic container loading system comprises a pneumatic control electromagnetic valve and a gravity sensor, the pneumatic control electromagnetic valve is connected with the air bag and used for controlling air pressure in the air bag, the gravity sensor is arranged on the power conveying mechanism, and the air bag is of an oblate structure;
the drive climbing mechanism makes unpowered conveying mechanism leans on terminal surface under the goods, includes:
acquiring pressing force G of the goods on the power conveying mechanism through the gravity sensor, and adjusting air pressure in the air bag through the air control electromagnetic valve: and the area S of the upper end surface of the air bag is equal to the pressing force G of the air bag internal air pressure P = (0.5 to 0.6).
In this step, the goods is at the in-process of carrying, through the jacking effect of climbing mechanism 9, can concentrate on unpowered conveyor 6 with some of the weight of goods, reduces the top pressure of goods to power conveying mechanism 5 to at the in-process that power conveying mechanism 5 carried, only need littleer static friction can drive the goods operation, finally realize reducing the technical effect of power conveying mechanism 5's drive power. In the transportation process, the unpowered conveying mechanism 6 is driven upwards and provides a certain driving force through, for example, an air cylinder, a hydraulic cylinder, an electric cylinder, an air bag and the like, so that the unpowered conveying mechanism can be abutted against the lower end of the goods and provides an upward jacking force for the goods, the upward jacking force needs to be smaller than the weight of the goods, a part of the gravity of the goods is still distributed on the power conveying mechanism 5, the goods can be driven to run by only providing a smaller static friction force on the power conveying mechanism 5, and finally the technical effect of reducing the driving force of the power conveying mechanism 5 is achieved.
For example, the pressure of the goods on the power conveying mechanism 5 is reduced to 50-60% of the weight of the goods by the unpowered conveying mechanism 6 moving upwards to abut against the unpowered conveying mechanism, and the driving force and the power of the power conveying mechanism 5 only need to be half of those of the case that the unpowered conveying mechanism 6 is not arranged. Thereby achieving the effect of saving labor.
Since the pressure of the goods on the power transmission mechanism 5 is in a positive correlation with the static friction force required for driving, if the jacking force of the jacking mechanism 9 on the goods is too large, for example, 90% of the weight of the goods, the goods are likely to shake during moving, and if the jacking force of the jacking mechanism 9 on the goods is too small, the required driving force of the unpowered transmission mechanism 6 is not obviously changed. Therefore, the jacking mechanism 9 of the embodiment can be a cylinder, an oil cylinder, an electric cylinder, an air bag or the like with a device capable of adjusting the jacking force of the unpowered conveying mechanism 6, and the embodiment is further defined in that the jacking force of the jacking mechanism 9 on the goods is 50-60% of the gravity of the goods. This condition can reduce the power of power conveying mechanism 5 greatly, stability when also can guaranteeing the freight.
The embedded automatic container loading system comprises a plurality of object detection sensors and/or a plurality of gravity sensors;
when the height of the front end goods of the transportation carrier plate 2 reaches a preset position and/or the weight reaches a preset weight, the method comprises the following steps: whether an object exists at a set position of the front end of the transportation carrier plate 2 is detected through the object detection sensor, if so, the control system judges that the front end of the transportation carrier plate 2 is full of goods, the gravity sensor detects the gravity data of the object at the front end of the transportation carrier plate 2, and if the gravity data reaches the preset gravity data, the control system judges that the front end of the transportation carrier plate 2 is full of goods.
In this step, the object detection sensor may be an infrared sensor, an ultrasonic sensor, or the like, and may detect whether an object blocks a corresponding position and reflects back a corresponding signal. The object detection sensor needs to be oriented to a position corresponding to the position.
In this embodiment, the plurality of object detection sensors may be disposed in the container or on the rack body 1, or at any other positions, as long as the object detection sensors can detect whether goods exist at the set position of the front end of the transport carrier 2. The gravity sensor is arranged at the front end of the transportation carrier plate 2, so long as the gravity sensor can detect whether goods with set weight exist at the front end of the transportation carrier plate 2. This is because, referring to fig. 9, when the operator stacks the goods one by one on the front end of the transport carrier 2, the goods may reach a certain height, for example, in the left side of fig. 9, the front end of the transport carrier 2 is stacked to the fifth layer, the object detecting sensor may define the set position as the height at which the goods are stacked to the fifth layer, or the weight sensor may detect the weight of the goods stacked to the fifth layer, at which time, the control system determines that the front end of the transport carrier 2 is already stacked with a stack of goods. The automatic loading and unloading vehicle system adopts accumulation type conveying during operation, namely, goods are conveyed to a conveyor in a carriage through a conveying line, and the conveyor in the carriage conveys a first row of goods forward to a station; when the second row of goods is conveyed, the first row of goods and the second row of goods are conveyed forward to a station together; by analogy, the automatic loading operation of the whole vehicle cargos is completed; the unloading principle is the same. By adopting the power and free type conveying mode, goods are all positioned at the carriage opening (the front end of the conveying carrier plate) when the goods are manually taken and placed, so that the goods conveying time and the manual loading and unloading operation time of the underground cattle in the cave depot are saved.
Referring to fig. 5 to 6, the embedded container automatic loading system includes a limiting mechanism 7 disposed below the front end of the transportation carrier 2, the transportation carrier 2 is provided with a through hole 203 parallel to the powered rail 3 or the unpowered rail 4, the limiting mechanism 7 includes a driving unit 701 and a limit stop 703, the limit stop 703 can protrude above the through hole 203 through the through hole 203, and the driving unit 701 drives the limit stop 703 to move back and forth in the through hole 203, so as to limit the position of the cargo, as shown in fig. 7.
Step S103 is followed by:
s104, driving the limiting mechanism to move towards the rear end, and enabling the limiting stop block to abut against the front end of the goods so as to tightly jack the goods;
step S201 includes:
s200, driving the limiting mechanism 7 to move towards the front end, and enabling the limiting stop 703 to be far away from the front end of the goods so as to release the goods.
The limiting mechanism 7 comprises a pressure sensor, the pressure sensor is used for acquiring the pressure of the limiting stop 703, the driving limiting mechanism 7 runs towards the rear end, so that the limiting stop 7 is supported at the front end of the goods to tightly push the goods, and the limiting mechanism comprises:
and driving the limiting mechanism 7 to move towards the rear end, acquiring data of a pressure sensor of the limiting mechanism 7, and stopping and keeping the limiting mechanism when the data of the pressure sensor of the limiting mechanism 7 reaches a set pressure.
In this embodiment, the front end of the transportation carrier 2 is provided with a square through hole 203, and the length direction of the square is parallel to the power rail 3 or the unpowered rail 4, so that the limit stop 703 can move in the length direction of the through hole 203. Meanwhile, the driving unit 701 may be an air cylinder, an oil cylinder, an electric cylinder, etc., and a piston cylinder of the driving unit is provided with the limit stop 703 so as to drive the limit stop 703 to operate together. In this embodiment, the piston cylinder of the driving unit 701 is provided with a limit stop 703 through the connecting seat 702, one end of the limit stop 703 is hinged to the top end of the connecting seat 702, a spring 704 which makes the limit stop 703 move upward is arranged between the limit stop 703 and the connecting seat 702, and the limit stop 703 protrudes above the through hole 203 without external force. Meanwhile, the hinged position of the limit stop 703 and the connecting seat 702 is close to the front end of the transport carrier 2, that is, when the driving unit 701 drives the limit stop 703 to move toward the front end, the limit stop 703 can be compressed downward by the front end of the through hole 203 to sink below the transport carrier 2, and when the driving unit 701 drives the limit stop 703 to move toward the rear end, the limit stop 703 can protrude above the through hole 203 again.
The limit stop 703 is shaped such that when protruding above the through hole 203, a surface of the limit stop 703 facing the rear end of the transport carrier 2 is perpendicular to the transport carrier 2. The connecting base 702 is provided with a pressure sensor (not shown) for sensing the pressure applied to the limit stopper 703. The reason for this is that, because the specifications of the goods are different, after the pallet is filled with the transport carrier 2, the distance between the front end of the goods and the front end of the transport carrier 2 is also different for the goods or the goods pallet, therefore, the limiting mechanism 7 is added in the embodiment, after the pallet is filled with the transport carrier 2, the driving unit can be started to drive the limiting stopper to the rear end of the transport carrier 2, when the limiting stopper abuts against the goods or the goods pallet, the pressure value of the pressure sensor rises, and through the setting of the logarithm value, when a certain value is reached, it is determined that the material is abutted, the driving unit stops operating, and the state is maintained. The pushing head is provided with a cover sliding plate 705, when the driving unit 701 is reset, the cover sliding plate 705 covers the through hole 203, so that the conveying carrier plate 2 is kept in a flat state
Referring to fig. 8, the position of the goods or the goods carrying plate can be effectively limited by the position limiting mechanism 7 which tightly pushes the materials and keeps the state, so that the goods are prevented from shaking, shifting and the like in the process of container transportation. Especially, in the process of loading the cargoes up and down slopes, the cargoes can be effectively fixed, and the cargoes cannot be displaced in the process of going up and down slopes.
It should be noted that in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means can be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
In the present invention, unless otherwise explicitly stated or limited, the terms "mounted," "connected," "fixed," and the like are to be construed broadly, e.g., as being permanently connected, detachably connected, or integral; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the description of the specification, reference to the description of "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above should not be understood to necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Claims (7)
1. A control method of an embedded automatic container loading and unloading vehicle system is characterized in that: based on embedded container automatic loading system, embedded container automatic loading system includes:
the upper end of the transportation carrier plate is provided with a plurality of power rails and a plurality of unpowered rails which penetrate through the front end to the rear end of the transportation carrier plate;
the transmission parts of the power conveying mechanisms are respectively arranged on the power tracks and are used for providing static friction force for the goods on the conveying support plate so as to drive the goods;
the unpowered conveying mechanisms are respectively arranged on the unpowered tracks and are used for providing dynamic friction force for goods on the conveying carrier plate so as to reduce the driving force of the power conveying mechanism;
a plurality of jacking mechanisms; the unpowered conveying mechanism can be movably arranged on the unpowered track up and down, the jacking mechanism is arranged between the unpowered track and the unpowered conveying mechanism, and the jacking mechanism is used for driving the unpowered conveying mechanism to move up and down;
the control method comprises a loading control method and/or an unloading control method,
the loading control method comprises the following steps:
s101, stacking the goods at the front end of the transportation carrier plate, and detecting the height and/or weight of the goods in the goods stacking process;
s102, when the height of the goods at the front end of the transportation carrier plate reaches a preset position and/or the weight reaches a preset weight, driving the jacking mechanism to enable the unpowered conveying mechanism to abut against the lower end face of the goods, and driving the powered conveying mechanism to drive the goods to move backwards for a certain distance so as to enable the front end of the transportation carrier plate to be emptied;
s103, repeating the steps S101-S102 until the goods are full;
the unloading control method comprises the following steps:
s201, when goods at the front end of the transport carrier plate are emptied, driving the jacking mechanism to enable the unpowered conveying mechanism to abut against the lower end face of the goods, and driving the powered conveying mechanism to drive the goods to move forwards so that the goods are located at the front end of the transport carrier plate;
s202, moving away the goods at the front end of the transport carrier plate, and detecting the height and/or weight of the goods in the moving away process;
and S203, repeating the steps S201-202 until the goods are completely unloaded.
2. The control method of the embedded container automatic loading and unloading vehicle system according to claim 1, characterized in that: the jacking mechanism comprises an air bag and an inflating device;
the unpowered track is of a concave structure, the unpowered conveying mechanism comprises a movable groove matched with the unpowered track and a roller conveying belt arranged on the upper surface of the movable groove, and the movable groove is nested in the unpowered track;
the bottom surface of the unpowered track and the movable groove are arranged at intervals to form an air bag cavity, the air bag is laid in the air bag cavity and is communicated and connected to the air charging device, and the air charging device charges the air bag to drive the unpowered conveying mechanism to move up and down;
the drive climbing mechanism makes unpowered conveying mechanism leans on terminal surface under the goods, includes: and the air bag is inflated through the inflating device, so that the air bag is expanded to drive the unpowered conveying mechanism to abut against the lower end face of the goods.
3. The control method of the embedded container automatic loading and unloading vehicle system according to claim 2, characterized in that: the embedded automatic container loading system comprises a pneumatic control electromagnetic valve and a gravity sensor, wherein the pneumatic control electromagnetic valve is connected with the air bag and used for controlling air pressure in the air bag, the gravity sensor is arranged on the power conveying mechanism, and the air bag is of an oblate structure;
the drive climbing mechanism makes unpowered conveying mechanism leans on terminal surface under the goods, includes:
acquiring pressing force G of the goods on the power conveying mechanism through the gravity sensor, and adjusting air pressure in the air bag through the air control electromagnetic valve: and the area S of the upper end surface of the air bag is equal to the pressing force G of the air bag internal air pressure P = (0.5 to 0.6).
4. The control method of the embedded container automatic loading and unloading vehicle system according to claim 1, characterized in that: the embedded automatic container loading system comprises a plurality of object detection sensors and/or a plurality of gravity sensors;
when the height of the front end goods of transportation carrier plate reaches and predetermines the position and/or weight reaches and predetermines weight, include: the object detection sensor is used for detecting whether an object exists at a set position of the front end of the transportation carrier plate, if so, the control system judges that the front end of the transportation carrier plate is full of goods, the gravity sensor is used for detecting the gravity data of the object at the front end of the transportation carrier plate, and if the gravity data reaches the preset gravity data, the control system judges that the front end of the transportation carrier plate is full of goods.
5. The control method of the embedded container automatic loading and unloading vehicle system according to claim 1, characterized in that: the embedded automatic container loading system comprises a limiting mechanism, the limiting mechanism is arranged below the front end of the transportation carrier plate, the transportation carrier plate is provided with a through hole parallel to the power rail or the unpowered rail, the limiting mechanism comprises a driving unit and a limiting stop, the limiting stop can penetrate through the through hole and protrude out of the through hole, and the driving unit drives the limiting stop to move back and forth in the through hole, so that the position of a cargo is limited.
6. The control method of the embedded container automatic loading and unloading vehicle system according to claim 5, characterized in that:
step S103 is followed by:
s104, driving the limiting mechanism to move towards the rear end, and enabling the limiting stop block to abut against the front end of the goods so as to tightly push the goods;
step S201 is preceded by:
and S200, driving the limiting mechanism to move towards the front end, and enabling the limiting stop block to be far away from the front end of the goods so as to release the goods.
7. The control method of the embedded container automatic loading and unloading vehicle system according to claim 5, characterized in that: stop gear includes pressure sensor, pressure sensor is used for acquireing stop's pressure, thereby drive stop gear moves to the rear end, makes stop gear support and leans on the tight goods in top of goods front end, include:
and driving the limiting mechanism to move towards the rear end, acquiring data of a pressure sensor of the limiting mechanism, and stopping and keeping the limiting mechanism when the data of the pressure sensor of the limiting mechanism reaches a set pressure.
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Application publication date: 20221230 |