CN107380869A

CN107380869A - A kind of application method of logistics code fetch system suitable for freight container

Info

Publication number: CN107380869A
Application number: CN201710680520.5A
Authority: CN
Inventors: 郝新浦
Original assignee: Xuzhou DKEC Electrical Technology Co Ltd
Current assignee: Xuzhou DKEC Electrical Technology Co Ltd
Priority date: 2017-08-10
Filing date: 2017-08-10
Publication date: 2017-11-24
Anticipated expiration: 2037-08-10
Also published as: CN107380869B

Abstract

The invention discloses a kind of application method of the logistics code fetch system suitable for freight container, including handling preparation, incasement operation, the steps such as operation of unloading.This application method for being applied to the logistics code fetch system of freight container is operated using computer auto-control completely, the goods vanning positional information of freight container is inputted to the industrial control computer of electric control gear by data input output ports, prestowage scheme, goods packaging box piles up coordinate position, goods packaging box size, after freight container inside dimension data message, industrial control computer controls support underframe coordinate after longitudinal rail is gone forward to move, sort mechanical arm simultaneously, ribbon conveyer and fork installation work compound, automatic boxing can be realized or operation of unloading, the drawbacks of complete computer auto-control operation avoids manual operation from existing completely, the efficiency of loading and unloading is high, handling goods especially suitable for being directed to freight container in the container shipping of logistic storage piles up operation.

Description

A kind of application method of logistics code fetch system suitable for freight container

Technical field

The present invention relates to a kind of application method of logistics code fetch system, specifically a kind of logistics suitable for freight container The application method of code fetch system, belong to Intelligent logistics technical equipment field.

Background technology

Intelligent logistics are exactly to utilize the advanced Internet of Things such as bar code, REID, sensor, global positioning system Technology is widely used in logistics transport, storage, dispatching, packaging, handling etc. by information processing and network communications technology platform Basic activity link, automatic operation and the high efficiency optimum management of cargo transport process are realized, improve the service of logistic industry Level, cost is reduced, reduce natural resources and social resources consumption, the development of Intelligent logistics will promote the development of regional economy Distributed rationally with world resource, realize socialization.

Logistic storage is the key link in modern Intelligent logistics, is played in links such as connection, transfer, storage, keepings Important function, and warehousing management is also to be generally comprised in logistic storage in occupation of the status of core, accurate warehouse process simultaneously Receive, restocking, pick up goods, replenish, delivering, several flows of making an inventory, to realize intelligent distribution, occur homing guidance fortune in the prior art Defeated car, i.e., homing guidance device is magnetically or optically waited equipped with electricity, the transport vehicle with safeguard protection and various transfer functions, thing Driver is not required in stream storage application, using rechargeable battery as its power resources, typically its traveling road can be controlled by computer Line and behavior set up its course to realize the allocation and transportation of warehoused cargo using electromagnetic path, but for replenishing or The handling goods that delivery disengaging warehouse is carried out during container shipping piles up operation and still largely uses manual operation, i.e. operator Member's driving fork truck is loaded and unloaded, especially for carriage of container cargo, although generally pressing transport purpose at present for ease of transporting The goods collection of all kinds of small-sized packagings is first carried out shipping collection by the different of ground again after being readily transported in the medium duty delivery case put The vanning of vanning, but how rational deployment makes the space availability ratio of container is maximum, how reasonable prestowage is laid out to make container just Sorting problem in the container problems and uninstall process such as multi-destination transport causes the vanning or unloading current one of container Directly use manual operation.

Following defect be present in the mode of production of this traditional manual operation vanning or unloading：

1. although storage process or outbound process have realized automation mechanized operation, the vanning or unloading of container still use people Work operates, therefore logistic storage integrated automation degree reduces, efficiency is low；

2. carried out due to being put in storage process or outbound process generally use automatical pilot transportation vehicle or conveyer belt in the prior art To transmit, the speed of manual operation vanning or unloading to keep up with storage or the speed of outbound just can guarantee that the efficiency that storage is transported, because This labor intensity of operating staff is larger；

3. the human factors such as the sense of responsibility of operating personnel, mood have a great influence to progress of cargo work.

The content of the invention

In view of the above-mentioned problems of the prior art, the present invention provides a kind of logistics code fetch system suitable for freight container The application method of system, automaticity is higher, can realize intelligent operation, improve the efficiency of loading and unloading, especially suitable for logistic storage Container shipping in for the handling goods of freight container pile up operation.

To achieve these goals, thing used in the application method of this logistics code fetch system for being applied to freight container Stream code fetch system includes loading/unloading platform, handler, sorting equipment and electric control gear；

The longitudinal rail be arrangeding in parallel is provided with described loading/unloading platform in the longitudinal direction, longitudinal rail at least extends to The front end of loading/unloading platform；

Described handler includes support underframe, ribbon conveyer and fork installation；

The bottom of support underframe is provided with running part, and running part includes support roller set and roller set driving；Support roller set Including the support disk roller being symmetrical set, support disk roller matches somebody with somebody to merge with longitudinal rail to be erected on longitudinal rail, supports disk roller Group is arranged to multigroup and at least one set of support roller set along support underframe fore-and-aft direction and driven provided with roller set, support underframe It is arranged on by supporting roller set to set up on longitudinal rail；The front end of support underframe has open U-shaped opening structure；

Ribbon conveyer is erected on support underframe along support underframe fore-and-aft direction, ribbon conveyer include drive roll, Driven roller, idler machining, conveyer belt and chassis conveyer electrical control mechanism；Idler machining sets up and is arranged on drive roll and driven roller Between, it is in upper and lower structures that conveyer belt head and the tail connection, which is wrapped on drive roll, driven roller and idler machining, is set on drive roll There is a drum driven, chassis conveyer electrical control mechanism includes chassis conveyor controller and electrically connected with chassis conveyor controller Chassis conveyer electrical source of power, drum driven electrically connect with chassis conveyor controller；Described roller set driving is defeated with chassis Machine controller is sent to electrically connect；

Fork installation includes support platform, slipping part, fork dress portion, fork installation hydraulic mechanism and fork installation electrical control mechanism；Support Platform is located at the surface of ribbon conveyer, and support platform has the supporting leg extended downwardly from, and support platform is by supporting leg support If on support underframe；

Slipping part is arranged between the supporting leg of support platform and support underframe, including the directive slide track worked in coordination and is led To wheel；Directive slide track fore-and-aft direction is horizontally set on support underframe and directive slide track front end extends forwardly into the U of support underframe On the left and right sides plate of shape aperture position；The installation connection of the supporting leg bottom of directive wheel and support platform, directive wheel are provided with and led To wheel drive；

Fork dress portion includes door frame, goods shelf and pallet fork；Door frame includes the inner upright mounting and outer mast for coordinating socket installation, inside door Door frame guiding mechanism is provided between frame and outer mast, the rear lower of outer mast is articulated and connected in the front end of support platform, outer mast It is connected by door frame pitching hydraulic cylinder with support platform, inner upright mounting is connected by door frame lifting hydraulic cylinder with outer mast, passes through control The flexible of door frame lifting hydraulic cylinder processed can realize that inner upright mounting extends downwardly from or upwards along door frame guiding mechanism from outer mast bottom Retraction acts；Goods shelf is fitted and connected by the slip of the front end face of crotch guiding mechanism and inner upright mounting and the support body of goods shelf leads to Cross crotch lifting hydraulic cylinder to be connected with inner upright mounting, barcode scanning identification device and range sensor are additionally provided with goods shelf；Pallet fork or so It is symmetrical arranged as two pieces, set up by pallet fork sliding guide mechanism on goods shelf, and pallet fork is set by left and right directions Pallet fork passage part and goods shelf installation connect；

Fork installation hydraulic mechanism includes the hydraulic power unit being arranged in support platform and control valve group, hydraulic power unit pass through liquid Pressure pipe road is connected with control valve group, control valve group by fluid pressure line respectively with door frame lifting hydraulic cylinder, door frame pitching hydraulic cylinder Connected with crotch lifting hydraulic cylinder；

Fork installation electrical control mechanism include fork installation controller, fork installation electrical source of power, the elements of a fix movement control loop, away from From feedback control loop, pallet fork span regulating loop, reprint control loop, fork installation controller respectively with pressing machine power electric Source, the control valve group of fork installation hydraulic mechanism, pallet fork passage part, the barcode scanning identification device on goods shelf and range sensor electricity Connection；

Multiple the sorting mechanical arms and mechanical arm that described sorting equipment includes being arranged at left and right sides of handler are automatically controlled Mechanism, sort mechanical arm support and set on loading/unloading platform, sorting mechanical arm comprises at least the X-coordinate that left and right directions movement is set The Z coordinate driving that the Y-coordinate driving and vertical direction movement that driving, fore-and-aft direction movement are set are set, sort the end of mechanical arm Section, which is provided with, to be included the crawl of grasping mechanism and piles up manipulator, mechanical arm electrical control mechanism including mechanical arm controller and with mechanical arm control The mechanical arm electrical source of power of device electrical connection processed, X-coordinate driving, Y-coordinate driving and Z coordinate driving are electric with mechanical arm controller respectively Connection；

Described electric control gear include industrial control computer, support underframe control loop, ribbon conveyer control loop, Control loop is piled up in fork installation control loop, sorting；Industrial control computer includes data input output ports, Industry Control meter Calculation machine electrically connects with chassis conveyor controller, fork installation controller and mechanical arm controller respectively；

Application method specifically includes following steps：

A. handling prepare：During original state, support underframe is stuck in the setting position of the front edge of loading/unloading platform, fork dress Machine is stuck in the setting fork dress coordinate position above ribbon conveyer；

By be loaded with the vehicle parking of freight container under loading/unloading platform, chamber door face fork installation setting position after goods The bottom plate of fortune container is concordant with the upper plane of loading/unloading platform, and operating personnel open chamber door, while operating personnel after being docked The goods that freight container is inputted to industrial control computer by the data input output ports of industrial control computer is cased Positional information, prestowage scheme, goods packaging box pile up coordinate position, goods packaging box size, freight container inside dimension number It is believed that breath；

B. incasement operation：

Support underframe control loop is first begin to work；Industrial control computer according to inputted prestowage scheme, goods Packing case size and freight container inside dimension data message calculate the depth that support underframe reach enters inside freight container Spend and Y-coordinate value that the support underframe need to move forward is sent to chassis conveyor controller, while to chassis conveyor controller Support underframe forward motion control instruction is sent, chassis conveyor controller control roller set drive actions drag support roller set Carrying support underframe, coordinate is moved to above-mentioned Y-coordinate value forward, the roller set of support underframe front end during support underframe reach Depart from longitudinal rail, cross setting position that the docking location of loading/unloading platform and freight container enters inside freight container simultaneously Positioning, chassis conveyor controller is in real time to industrial control computer feedback data information；

The goods that need to be cased transports attached to sorting mechanical arm successively first by automatical pilot transportation vehicle according to prestowage scheme Near setting goods packaging box piles up coordinate position, and then sorting is piled up control loop and worked first；Industrial control computer to Mechanical arm controller sends crawl and piles up control instruction, and mechanical arm controller control sorting mechanical arm coordinate movement piles up crawl Manipulator is moved to that goods packaging box piles up the surface of coordinate position and Z-direction moves down and goods is captured；After crawl The control sorting mechanical arm coordinate movement of mechanical arm controller makes crawl pile up mechanical hand shovelling and to move to goods bag on goods Z-direction The baseplane of vanning is more than the upper surface distance of the upper strata conveyer belt of ribbon conveyer apart from the distance between loading/unloading platform size The setting Z coordinate position of the distance between loading/unloading platform size；Then mechanical arm controller control sorting mechanical arm coordinate movement Crawl is piled up mechanical hand shovelling and goods and move to setpoint distance along X-coordinate, the setpoint distance is that goods packaging box piles up coordinate X-coordinate value between position and the conveyer belt widthwise central of ribbon conveyer；Then mechanical arm controller control crawl arranging machine Tool hand Z-direction moves down to be piled up to goods；Mechanical arm controller is in real time to industrial control computer feedback data information；

Then ribbon conveyer control loop is started working；Industrial control computer is according to having inputted goods packaging box size The Y-coordinate of setting fork dress coordinate position need to be moved forward to by piling up coordinate position data information calculating goods packaging box with goods packaging box Value and the Y-coordinate value that the goods packaging box need to move forward are sent to chassis conveyor controller, while are controlled to chassis conveyer Device sends ribbon conveyer action directive, and the control drum driven action of chassis conveyor controller makes the positive rotation of drive roll Turn to drive upper strata conveyer belt to carry after goods packaging box moves forward to setting fork dress coordinate position and stop, chassis conveyor controller is real When to industrial control computer feedback data information；

Then fork installation control loop is started working；Industrial control computer sends fork installation fork dress to fork installation controller Action directive, fork installation controller control pallet fork passage component actuation according to the goods packaging box dimension information of input first The span between pallet fork is set to adjust to the setting width dimensions for coordinating goods packaging box size；Then fork installation controller is according to The feedback identifying information of barcode scanning identification device on the goods packaging box dimension information and goods shelf of input establishes goods fork dress position Put and pitch dress depth mathematical modeling；Then fork installation controller controls fork installation hydraulic mechanism to lift door frame according to mathematical modeling Hydraulic cylinder, door frame pitching hydraulic cylinder, crotch lifting hydraulic cylinder co-operating are pointed to setting on the conveyer belt of ribbon conveyer upper strata The goods packaging box of fixed fork dress coordinate position carries out fork dress and disengages it from ribbon conveyer, the distance during fork fills on goods shelf The distance between sensor Real-time Feedback goods shelf and goods fill depth to ensure to pitch；Complete goods fork dress back vent installation controller It need to be moved forward according to prestowage scheme and goods vanning positional information, freight container inside dimension data message calculation supporting platform Y-coordinate value and the position of piling up for controlling the directive wheel drive actions of slipping part to make support platform move forward to the Y-coordinate value, then Fork installation controller control fork installation hydraulic mechanism makes door frame lifting hydraulic cylinder, door frame pitching hydraulic cylinder, crotch lifting hydraulic cylinder The goods packaging box that co-operating is pointed on pallet fork, which carries out unloading, makes it pile up the goods set in goods cases positional information Thing vanning position, most back vent installation recovery to original state are completed once to pile up, are ready for follow-up pile up；Pile up and cased Fork installation controller is in real time to industrial control computer feedback data information in journey；

By that analogy, industrial control computer is in good time defeated to chassis according to the data message of fork installation controller Real-time Feedback Send machine controller to send the control support underframe stepping of support underframe fallback action control instruction to retract, until the front end of support underframe Freight container is exited completely and entire cargo packing case is all piled up neatly according to prestowage scheme inside freight container, Complete whole binning process；

C. unload operation：

Unload operation be incasement operation inverse process, the data input output end that operating personnel pass through industrial control computer Goods vanning positional information, prestowage scheme, goods packaging box chi of the mouth except inputting freight container to industrial control computer Beyond very little, freight container inside dimension data message, sorting information also is inputted to industrial control computer, sorting information includes Co-ordinate position information is piled up according to the different goods packaging boxes that different sorting conditions is distributed；

Fork installation control loop is first begin to work, and fork installation controller is according to prestowage scheme and goods vanning positional information Control fork dress portion retracts to initial position, then fork installation control after fork dress is carried out to the goods packaging box inside freight container Device control fork dress portion is piled up in the setting fork dress coordinate position on the conveyer belt of ribbon conveyer upper strata, fork by goods packaging box Controller install in real time to industrial control computer feedback data information；

Industrial control computer according to fork installation controller feed back goods shelf on barcode scanning identification device feedback identifying Information and the sorting information inputted send ribbon conveyer action command to chassis conveyor controller, then ribbon conveyer Control loop is started working, and it is defeated that the control drum driven action of chassis conveyor controller makes drive roll reversely rotate drive upper strata Send band carry move to the goods packaging box after goods packaging box corresponding to goods packaging box pile up the setting of coordinate position Y-coordinate and sit Stop after cursor position；

Then control loop start-up operation is piled up in sorting, and industrial control computer piles up coordinate bit to corresponding goods packaging box The mechanical arm controller put sends crawl and piles up control instruction, and mechanical arm controller control sorting mechanical arm coordinate movement makes crawl Manipulator is piled up to capture goods packaging box and pile up after the translation of X-coordinate direction and pile up coordinate position in goods packaging box On, automatical pilot transportation vehicle transports to the goods packaging box；

By that analogy, industrial control computer is in good time defeated to chassis according to the data message of fork installation controller Real-time Feedback Send machine controller to send the control support underframe stepping of support underframe forward motion control instruction to advance, until the front end of support underframe All unloaded according to prestowage scheme into freight container and entire cargo packing case, complete whole process of unloading, finally support Chassis retracts to original state.

Scheme as a further improvement on the present invention, the baseplane distance of the support platform of used logistics code fetch system Height dimension between the upper surface of the upper strata conveyer belt of ribbon conveyer is more than the height dimension of goods packaging box；Described step The directive wheel drive actions of fork installation controller control slipping part make support platform movable while pitch installation control in rapid b, c Device control fork installation hydraulic mechanism processed makes door frame lifting hydraulic cylinder, door frame pitching hydraulic cylinder, crotch lifting hydraulic cylinder co-operating Goods packaging box pitch and dress or piled up, ribbon conveyer upper strata conveyer belt carry goods packaging box reach or after move when Pass through below goods packaging box self-supporting platform.

Scheme as a further improvement on the present invention, the support platform of used logistics code fetch system are divided into two up and down Point, top sub-headend, the supporting leg that the rear lower of the outer mast of door frame is articulated and connected in support platform are arranged on support platform In lower part, it is attached between two parts up and down of support platform by pivoting support, pivoting support is provided with pivoting support Hydraulic-driven, pivoting support hydraulic-driven are connected by fluid pressure line with the control valve group of fork installation hydraulic mechanism；Described fork Installation electrical control mechanism also includes support platform rotary loop；Fork installation controller control slipping part leads in described step b, c Make support platform movable to wheel drive action while pitch installation controller control pivoting support hydraulic-driven action band moving fork Dress portion turns round 180 °, and then fork installation controller control fork installation hydraulic mechanism makes door frame lifting hydraulic cylinder, door frame pitching hydraulic pressure Cylinder, the co-operating of crotch lifting hydraulic cylinder are carried out pitching dress or piled up to goods packaging box.

As the preferred scheme of the present invention, used logistics code fetch system is arranged to more along support underframe fore-and-aft direction The support roller set of group is uniformly arranged along support underframe fore-and-aft direction and at least two groups of support roller sets are driven provided with roller set Dynamic, and the disk roller revolution driving of axis of rotation vertical direction setting is equipped with each support disk roller, disk roller revolution driving can be with Realize that the rotating direction of support disk roller converts between fore-and-aft direction and left and right directions, disk roller revolution driving and chassis conveyer control Device electrical connection processed；The longitudinal rail being be arranged in parallel on described fore-and-aft direction is arranged to multigroup, and two adjacent groups be arranged in parallel vertical The distance of X-coordinate value is more than the width dimensions of freight container between direction guiding rail, is additionally provided with the lateral direction on loading/unloading platform Quantity and support roller set identical, be arranged in parallel, intersect with longitudinal rail be in matts structure cross slide way, it is and adjacent Distance between axles size between the distance between two pieces cross slide way and fore-and-aft direction upper backup roll wheel group is identical；Described automatically controlled dress Putting also includes support underframe translational loop；This application method for being applied to the logistics code fetch system of freight container also includes step D support underframe translations：The handling of a freight container are completed in the logistics code fetch system that this is applied to freight container After retract to initial position, support underframe translational loop is started working, industrial control computer control chassis conveyor controller Make all disk roller revolution drivings are simultaneously equidirectional to be rotated by 90 °, then all disk rollers are all transformed to right and left by fore-and-aft direction To, then the action of chassis conveyor controller control disk roller revolution driving make support roller set drag carry support underframe 2 to the left or The distance of the X-coordinate value of coordinate movement to the right to another handling station, then industrial control computer controls chassis conveyer Controller makes all disk roller revolution drivings, and equidirectional be rotated by 90 ° reverts to fore-and-aft direction simultaneously.

Scheme as a further improvement on the present invention, pattern is also included on the goods shelf of used logistics code fetch system and is known Individual sensor, described fork installation electrical control mechanism also include fork holding position position control loop, described fork installation controller with Pattern-recognition sensor electrically connects；Fork installation controller is believed according to cargo size during goods fork dress in described step b, c The cargo location information of breath and pattern-recognition sensor feedback establishes goods pattern-recognition data model, and the goods pattern is known Other data model and the fork holding position established and fork dress depth mathematical modeling carry out correction integration, after finally being integrated according to correction Mathematical modeling control hydraulic system make door frame pitching hydraulic cylinder, crotch lifting hydraulic cylinder action carry out fork dress.

Scheme as a further improvement on the present invention, the data input output ports of used logistics code fetch system also wrap Radio receiving transmitting module is included, described electric control gear also includes wireless receiving and dispatching control loop；Industry Control calculates in described step a Machine utilizes the goods being wirelessly transferred from upper end network reception freight container by radio receiving transmitting module and wireless receiving and dispatching control loop Thing vanning positional information, prestowage scheme, goods pile up coordinate position, cargo size, freight container inside dimension data message； Industrial control computer is in real time to upper end network feedback data information in described step b, c cargo handling process.

Scheme as a further improvement on the present invention, the pallet fork of used logistics code fetch system are provided with side clamping plate；Institute In step b, c stated after the fork dress of goods packaging box is completed, fork installation controller controls pallet fork span regulating loop work again Work makes that the span of pallet fork reduces, side clamping plate clamps to goods packaging box.

As a kind of embodiment of pallet fork of the present invention passage part, the pallet fork pushing part of used logistics code fetch system Part includes pallet fork passage servomotor and level sets up the bidirectional screw bar being arranged on goods shelf, and bidirectional screw bar pushes away with pallet fork Moving on servomotor connection and the bidirectional screw bar left and right ends body of rod has oppositely oriented screw structure, described goods Fork is provided with coordinates the screw being arranged on bidirectional screw bar with bidirectional screw bar, and pallet fork elapses servomotor and fork installation is automatically controlled The fork installation controller electrical connection of mechanism；Fork installation controller is by controlling pallet fork to elapse servomotor in described step b, c Rotating regulation pallet fork between span.

As the another embodiment of pallet fork of the present invention passage part, the pallet fork passage of used logistics code fetch system Part includes horizontal set up and is arranged on two pieces pallet fork passage hydraulic cylinder on goods shelf, telescopic direction is reversed, two pieces goods The telescopic end of fork passage hydraulic cylinder is connected with two pieces pallet fork respectively, and two pieces pallet fork passage hydraulic cylinder is respectively with pitching hydraulic mechanism of installing Control valve group connected by fluid pressure line；Fork installation controller pitches installation hydraulic mechanism by controlling in described step b, c The unbalance loading fork dress of the span between the extension elongation different adjustment pallet fork of two pieces pallet fork passage hydraulic cylinder or pallet fork is set to pile up position.

Compared with prior art, this logistics code fetch system for being applied to freight container is fully digitalization control unit, It can be seamlessly connected with the number bus of Intelligent logistics and realize concentration digital management, coordinate the homing guidance of Intelligent logistics to transport Car can realize that fully digitalization is loaded and unloaded；Because handler includes support underframe, ribbon conveyer and fork installation, belt conveying Machine includes chassis conveyer electrical control mechanism, and fork installation includes fork installation electrical control mechanism, and sorting equipment includes being arranged on handler Multiple the sorting mechanical arms and mechanical arm electrical control mechanism of the left and right sides, operated completely using computer auto-control, thus it is logical Cross industrial control computer from data input output ports to electric control gear input freight container goods case positional information, Prestowage scheme, goods packaging box pile up the data messages such as coordinate position, goods packaging box size, freight container inside dimension Afterwards, industrial control computer can control support underframe vertical according to the prestowage scheme inputted by chassis conveyer electrical control mechanism Coordinate moves after direction guiding rail is gone forward, during incasement operation by mechanical arm controller and fork installation controller control sorting mechanical arm, Ribbon conveyer and fork installation work compound, it is possible to achieve the coordinate position of piling up of the goods packaging box on loading/unloading platform is determined Point crawl, the translation of goods packaging box are piled up to conveyer belt, the conveyer belt of goods packaging box transports, goods packaging box is in shipping The fork dress of internal container is piled up with handling, is unloaded and is pitched dress by mechanical arm controller and fork installation controller control when operating Machine, ribbon conveyer and sorting mechanical arm work compound, it is possible to achieve the fork of the goods packaging box inside freight container Dress, the piling up to conveyer belt of goods packaging box, the transport of the conveyer belt of goods packaging box, the translation of goods packaging box are piled up to dress Unload the goods packaging box on platform and pile up coordinate position, goods of the installation controller according to input is pitched during goods packaging box fork dress Matter packaging box size Control pallet fork passage component actuation makes the span between pallet fork adjust setting to cooperation goods packaging box size Determine width dimensions, and according to the barcode scanning identification device and the feedback information of range sensor in the information and goods shelf inputted, Fork holding position and fork dress depth mathematical modeling are established, then controls fork installation hydraulic mechanism to make door frame pitching liquid according to mathematical modeling Cylinder pressure, the action of crotch lifting hydraulic cylinder carry out fork dress handling, and complete computer auto-control operation can be avoided because operating personnel blame Influence of the human factors such as Ren Xin, mood to manufacturing schedule, at the same can from the limitation of operating personnel's operative skill qualification, The drawbacks of manual operation is present is completely avoid, intelligent operation can be realized, improve the efficiency of loading and unloading, especially suitable for logistic storage Container shipping in for the handling goods of freight container pile up operation.

Brief description of the drawings

Fig. 1 is the three dimensional structure diagram when present invention carries out handling freight container；

Fig. 2 is structural representation of the present invention fork installation when fork dress or store items packing case work on ribbon conveyer Figure；

Fig. 3 is structural representation when present invention fork installation carries goods packaging box reach work；

Fig. 4 is structural representation when present invention fork installation fork inside freight container fills or store items packing case works Figure；

Fig. 5 is structure of present invention when carrying out pitching dress or the work of store items packing case by the way of support platform revolution Schematic diagram；

Fig. 6 is Fig. 4 top view.

In figure：1st, loading/unloading platform, 11, longitudinal rail, 2, support underframe, 21, running part, 3, ribbon conveyer, 4, fork dress Machine, 41, support platform, 42, slipping part, 43, fork dress portion, 431, door frame, 432, goods shelf, 433, pallet fork, 5, sorting mechanical arm.

Embodiment

The present invention will be further described below in conjunction with the accompanying drawings (below using pitch dress portion 43 towards the direction of freight container as Front describes).

As shown in figure 1, this logistics code fetch system for being applied to freight container includes loading/unloading platform 1, handler, sorting Device and electric control gear.

The longitudinal rail 11 be arrangeding in parallel is provided with described loading/unloading platform 1 in the longitudinal direction, longitudinal rail 11 is at least Extend to the front end of loading/unloading platform 1.

As shown in Fig. 2, Fig. 5, Fig. 6, described handler includes support underframe 2, ribbon conveyer 3 and fork installation 4.

The bottom of support underframe 2 is provided with running part 21, and running part 21 includes support roller set and roller set driving；Support roller Wheel group includes the support disk roller being symmetrical set, and support disk roller matches somebody with somebody to merge with longitudinal rail 11 to be erected on longitudinal rail 11, Support roller set is arranged to multigroup and at least one set of support roller set along the fore-and-aft direction of support underframe 2 and driven provided with roller set, Support underframe 2 is arranged on longitudinal rail 11 by supporting roller set to set up；There is open U-shaped to open for the front end of support underframe 2 Mouth structure, U row hatch frames are easy to the upper lower fork dress operation of fork installation 4, avoid movement interference；

Ribbon conveyer 3 is erected on support underframe 2 along the fore-and-aft direction of support underframe 2, and ribbon conveyer 3 includes actively rolling Cylinder, driven roller, idler machining, conveyer belt and chassis conveyer electrical control mechanism；Idler machining is set up installed in drive roll and driven Between roller, it is in upper and lower structures that conveyer belt head and the tail connection, which is wrapped on drive roll, driven roller and idler machining, drive roll Drum driven is provided with, chassis conveyer electrical control mechanism includes chassis conveyor controller and is electrically connected with chassis conveyor controller The chassis conveyer electrical source of power connect, drum driven electrically connect with chassis conveyor controller；Described roller set driving and bottom Frame conveyor controller electrically connects；

Fork installation 4 includes support platform 41, slipping part 42, fork dress portion 43, fork installation hydraulic mechanism and the automatically controlled machine of fork installation Structure；Support platform 41 is located at the surface of ribbon conveyer 3, and support platform 41 has the supporting leg extended downwardly from, support platform 41 are set up on support underframe 2 by supporting leg；

Slipping part 42 is arranged between the supporting leg of support platform 41 and support underframe 2, including the guiding worked in coordination is slided Rail and directive wheel；Directive slide track fore-and-aft direction is horizontally set on support underframe 2 and directive slide track front end extends forwardly into support On the left and right sides plate of the U-shaped opening position of chassis 2；Directive wheel and the supporting leg bottom installation of support platform 41 connect, and are oriented to Wheel, which is provided with, is oriented to wheel drive；

Fork dress portion 43 includes door frame 431, goods shelf 432 and pallet fork 433；Door frame 431 includes the inside door for coordinating socket installation Frame and outer mast, door frame guiding mechanism is provided between inner upright mounting and outer mast, the rear lower of outer mast is articulated and connected puts down in support The front end of platform 41, outer mast are connected by door frame pitching hydraulic cylinder with support platform 41, by controlling door frame pitching hydraulic cylinder It is flexible to realize that door frame 431 is overall along its jointed shaft fore-and-aft direction pitching motion, inner upright mounting by door frame lifting hydraulic cylinder with Outer mast connects, and flexible inner upright mounting can be realized along door frame guiding mechanism from outer mast bottom by control door frame lifting hydraulic cylinder End extends downwardly from or retraction action upwards；Goods shelf 432 slides the company of fitting by crotch guiding mechanism with the front end face of inner upright mounting Connect and the support body of goods shelf 432 is connected by crotch lifting hydraulic cylinder with inner upright mounting, by controlling stretching for crotch lifting hydraulic cylinder Contracting can realize that goods shelf 432 moves up and down action along crotch guiding mechanism on inner upright mounting, and barcode scanning is additionally provided with goods shelf 432 Identification device and range sensor；Pallet fork 433 is symmetrical set as two pieces, is arranged on by the erection of pallet fork sliding guide mechanism On goods shelf 432, and the pallet fork that pallet fork 433 is set by left and right directions elapses part and the installation connection of goods shelf 432, passes through control The action of pallet fork passage part processed can realize the regulation of span between pallet fork 433；

Fork installation hydraulic mechanism includes the hydraulic power unit being arranged in support platform 41 and control valve group, hydraulic power unit pass through Fluid pressure line is connected with control valve group, control valve group by fluid pressure line respectively with door frame lifting hydraulic cylinder, door frame pitching hydraulic pressure Cylinder connects with crotch lifting hydraulic cylinder；

Fork installation electrical control mechanism include fork installation controller, fork installation electrical source of power, the elements of a fix movement control loop, away from From feedback control loop, pallet fork span regulating loop, reprint control loop, fork installation controller respectively with pressing machine power electric Source, the control valve group of fork installation hydraulic mechanism, pallet fork passage part, barcode scanning identification device and Distance-sensing on goods shelf 432 Device electrically connects.

Multiple the sorting mechanical arms 5 and mechanical arm that described sorting equipment includes being arranged at left and right sides of handler are automatically controlled Mechanism, sorting mechanical arm 5, which is set up, to be arranged on loading/unloading platform 1, and sorting mechanical arm 5 comprises at least the X that left and right directions movement is set The Z coordinate driving that the Y-coordinate driving and vertical direction movement that coordinate driving, fore-and-aft direction movement are set are set, sorts mechanical arm 5 Minor details be provided with and include the crawl of grasping mechanism and pile up manipulator, mechanical arm electrical control mechanism including mechanical arm controller and with machinery The mechanical arm electrical source of power of arm controller electrical connection, X-coordinate driving, Y-coordinate driving and Z coordinate driving control with mechanical arm respectively Device electrically connects.

Described electric control gear include industrial control computer, support underframe control loop, ribbon conveyer control loop, Control loop is piled up in fork installation control loop, sorting；Industrial control computer includes data input output ports, Industry Control meter Calculation machine electrically connects with chassis conveyor controller, fork installation controller and mechanical arm controller respectively.

This is applied to the logistics code fetch system of freight container in original state, and support underframe 2 is stuck in loading/unloading platform 1 Front edge setting position, fork installation 4 is stuck in the settings fork dress coordinate positions of the top of ribbon conveyer 3.

This is applied to the operation principle of the logistics code fetch system of freight container：The vehicle parking of freight container will be loaded with Behind under loading/unloading platform 1, chamber door face fork installation 4 setting position, now the bottom plate of freight container is and loading/unloading platform 1 Upper plane it is concordant, operating personnel open chamber door, while the data that operating personnel pass through industrial control computer after being docked Input/output port inputs the goods vanning positional information, prestowage scheme, goods bag of freight container to industrial control computer Coordinate position, goods packaging box size, freight container inside dimension data message are piled up in vanning.

During incasement operation, support underframe control loop is first begin to work；Industrial control computer is matched somebody with somebody according to what is inputted Load scheme, goods packaging box size and freight container inside dimension data message calculate the reach of support underframe 2 and enter shipping collection Depth and Y-coordinate value that the support underframe 2 need to move forward inside vanning 6 are sent to chassis conveyor controller, while the bottom of to Frame conveyor controller sends support underframe forward motion control instruction, chassis conveyor controller control roller set drive actions Make support roller set drag carry support underframe 2 forward coordinate be moved to above-mentioned calculating support underframe 2 move forward Y-coordinate value, branch The roller set of the front end of support underframe 2 departs from longitudinal rail 11, crosses loading/unloading platform 1 and shipping packaging during support chassis 2 moves forward The setting position and positioning, chassis conveyor controller that the docking location of case enters inside freight container 6 are controlled to industry in real time Computer feedback data information processed；

The goods that need to be cased transports attached to sorting mechanical arm 5 successively first by automatical pilot transportation vehicle according to prestowage scheme Near setting goods packaging box piles up coordinate position, and then sorting is piled up control loop and worked first；Industrial control computer to Mechanical arm controller sends crawl and piles up control instruction, and mechanical arm controller control sorting mechanical arm 5 coordinate movement makes crawl code Put manipulator and be moved to that goods packaging box piles up the surface of coordinate position and Z-direction moves down and goods is captured；Crawl Mechanical arm controller control sorting mechanical arm 5 coordinate movement afterwards makes crawl pile up mechanical hand shovelling and to move to goods on goods Z-direction The baseplane of matter packaging box is more than the upper table of the upper strata conveyer belt of ribbon conveyer 3 apart from the distance between loading/unloading platform 1 size Setting Z coordinate position of the identity distance from the distance between loading/unloading platform 1 size；Then mechanical arm controller control sorting mechanical arm 5 Coordinate movement makes crawl pile up mechanical hand shovelling and goods to move to setpoint distance along X-coordinate, and the setpoint distance is goods packaging box Pile up the X-coordinate value between coordinate position and the conveyer belt widthwise central of ribbon conveyer 3；Then mechanical arm controller control is grabbed Code fetch is put manipulator Z-direction and moved down to be piled up to goods；Mechanical arm controller is in real time to industrial control computer feedback coefficient It is believed that breath；

Then fork installation control loop is started working；Industrial control computer sends fork installation fork dress to fork installation controller Action directive, fork installation controller control pallet fork passage component actuation according to the goods packaging box dimension information of input first The span between pallet fork 433 is set to adjust to the setting width dimensions for coordinating goods packaging box size；Then fork installation controller root Goods is established according to the feedback identifying information of the barcode scanning identification device on the goods packaging box dimension information and goods shelf 432 inputted Pitch holding position and fork dress depth mathematical modeling；As shown in Fig. 2 then fork installation controller controls fork installation liquid according to mathematical modeling Press mechanism makes door frame lifting hydraulic cylinder, door frame pitching hydraulic cylinder, crotch lifting hydraulic cylinder co-operating be pointed to ribbon conveyer 3 The goods packaging box of setting fork dress coordinate position on the conveyer belt of upper strata carries out fork dress and disengages it from ribbon conveyer 3, and fork filled The distance between range sensor Real-time Feedback goods shelf 432 and goods in journey on goods shelf 432 fill depth to ensure to pitch；Such as Shown in Fig. 3, goods fork dress back vent installation controller is completed according in prestowage scheme and goods vanning positional information, freight container Y-coordinate value that portion's sized data information calculation supporting platform 41 need to move forward simultaneously controls the directive wheel drive actions of slipping part 42 to make What support platform 41 moved forward to the Y-coordinate value piles up position, as shown in figure 4, then fork installation controller control fork installation hydraulic pressure Mechanism makes door frame lifting hydraulic cylinder, door frame pitching hydraulic cylinder, crotch lifting hydraulic cylinder co-operating be pointed to the goods on pallet fork 433 Matter packaging box, which carries out unloading, makes it pile up the goods vanning position set in goods cases positional information, and the installation 4 of most back vent is extensive It is multiple to complete once to pile up to original state, be ready for follow-up pile up；It is real-time to pile up fork installation controller in binning process To industrial control computer feedback data information；

By that analogy, industrial control computer is in good time defeated to chassis according to the data message of fork installation controller Real-time Feedback Send machine controller to send control support underframe 2 stepping of support underframe fallback action control instruction to retract, until before support underframe 2 Freight container is exited at end completely and entire cargo packing case all piled up inside freight container according to prestowage scheme it is whole Together, whole binning process is completed.

Fork installation control loop is first begin to work, and fork installation controller is according to prestowage scheme and goods vanning positional information Control fork dress portion 43 retracts to initial position, then fork installation control after fork dress is carried out to the goods packaging box inside freight container Device control fork dress portion 43 processed is piled up in the setting fork dress coordinate bit on the upper strata conveyer belt of ribbon conveyer 3 by goods packaging box Put, fork installation controller is in real time to industrial control computer feedback data information；

The feedback for the barcode scanning identification device on goods shelf 432 that industrial control computer feeds back according to fork installation controller is known Other information and the sorting information inputted send ribbon conveyer action command to chassis conveyor controller, then belt conveying Machine control loop is started working, and the control drum driven action of chassis conveyor controller makes drive roll reversely rotate drive upper strata Conveyer belt carry move to the goods packaging box after goods packaging box corresponding to goods packaging box pile up the setting of coordinate position Y-coordinate Stop after coordinate position；

Then control loop start-up operation is piled up in sorting, and industrial control computer piles up coordinate bit to corresponding goods packaging box The mechanical arm controller put sends crawl and piles up control instruction, and mechanical arm controller control sorting mechanical arm 5 coordinate movement makes to grab Code fetch puts manipulator and goods packaging box is captured and piles up after the translation of X-coordinate direction and piles up coordinate position in goods packaging box On, automatical pilot transportation vehicle can transport to the goods packaging box；

By that analogy, industrial control computer is in good time defeated to chassis according to the data message of fork installation controller Real-time Feedback Send machine controller to send control support underframe 2 stepping of support underframe forward motion control instruction to advance, until before support underframe 2 End all unloads completely into freight container and entire cargo packing case according to prestowage scheme, completes whole process of unloading, most Rear support chassis 2 retracts to original state.

For simplify control, scheme as a further improvement on the present invention, the baseplane distance of described support platform 41 Height dimension between the upper surface of the upper strata conveyer belt of ribbon conveyer 3 is more than the height dimension of goods packaging box, i.e. goods The face forward all the time of dress portion 43 is pitched in packing case cargo handling process, takes only control to pitch the movable modes of installation 4 to goods bag Vanning is carried out pitching dress and piled up, the goods bag when the upper strata conveyer belt of ribbon conveyer 3 carries goods packaging box reach or rear shifting The lower section of self-supporting of casing platform 41 is passed through.

In order to shorten the length of the directive slide track of slipping part 42 while reduce the height of support platform 41, and then realize more Firmly fork fills, as a further improvement on the present invention scheme, as shown in figure 5, described support platform 41 is divided to for upper and lower two Point, the rear lower of the outer mast of door frame 431 be articulated and connected in support platform 41 top sub-headend, that supporting leg is arranged on support is flat In the lower part of platform 41, it is attached between two parts up and down of support platform 41 by pivoting support, pivoting support is provided with Pivoting support hydraulic-driven, pivoting support hydraulic-driven are connected by fluid pressure line with the control valve group of fork installation hydraulic mechanism, By controlling the action of pivoting support hydraulic-driven that the upper part of support platform 41 can be realized relative under support platform 41 Part is rotated；Described fork installation electrical control mechanism also includes support platform rotary loop；In goods packaging box cargo handling process Support platform 41 is taken to goods packaging box pitch with the mode that moving fork dress portion 43 turns round and dress and pile up, being arranged such can be with Make, the upper strata conveyer belt of ribbon conveyer 3 is pressed close in the baseplane of support platform 41, and then substantially reduces the height of support platform 41 Degree, more securely fork dress is realized, meanwhile, the mode of revolution can make the movable distance of support platform 41 relatively reduced, enter And realize the length for the directive slide track for shortening slipping part 42.

In order to improve the efficiency of loading and unloading, the vehicle that generally use is loaded with freight container directly drives away replacing after completing to load and unload The mode that the next vehicle for being loaded with freight container is loaded and unloaded, i.e., by way of mobile freight container, it can also adopt The mode of the vehicle of freight container is loaded with multiple handling stations, translation, or by the way of translating, loading and unloading device, due to First way handler needs to wait for be loaded and unloaded after vehicle enters loading/unloading lot, and second scheme realizes that translation carries There is the vehicle of freight container is relatively difficult, need to additionally set translation to hold in the palm to carry facility, and the third scheme is provided with multiple dresses Can be realized in the case of unloading parking stall a loading/unloading lot can be carried out during being loaded and unloaded load and unload vehicle supplement and then Realize handler work continuously, efficiency it is higher with respect to the former two, therefore preferably the third scheme, i.e. as the present invention it is excellent Scheme is selected, this is applied to the logistics code fetch system of freight container using more loading/unloading lots, in itself from by the way of moving, described edge The fore-and-aft direction of support underframe 2 is arranged to multigroup support roller set and is uniformly arranged along the fore-and-aft direction of support underframe 2 and at least two groups Roller set is supported to be driven provided with roller set, and the disk roller for being equipped with the setting of axis of rotation vertical direction on each support disk roller returns Turn driving, disk roller revolution driving can realize that the rotating direction of support disk roller converts between fore-and-aft direction and left and right directions, roller Wheel revolution driving electrically connects with chassis conveyor controller；The longitudinal rail 11 being be arranged in parallel on described fore-and-aft direction is arranged to Multigroup, the distance of X-coordinate value is more than the width dimensions of freight container, dress between the longitudinal rail 11 that two adjacent groups be arranged in parallel Unload it is that quantity is additionally provided with platform 1 in the lateral direction and supports roller set identical, is be arranged in parallel, intersect with longitudinal rail 11 In the cross slide way of matts structure, and between the distance between adjacent two pieces cross slide way and fore-and-aft direction upper backup roll wheel group Distance between axles size it is identical；Described electric control gear also includes support underframe translational loop；When this is applied to freight container Retracted after the handling of logistics code fetch system one freight container of completion and start work to initial position, support underframe translational loop Make, industrial control computer control chassis conveyor controller makes all disk roller revolution drivings are simultaneously equidirectional to be rotated by 90 °, then All disk rollers are all transformed to left and right directions by fore-and-aft direction, and then chassis conveyor controller control disk roller revolution driving is moved Make to make support roller set drag the distance for carrying 2 leftward or rightward coordinate of support underframe movement X-coordinate value to another loader , then industrial control computer control chassis conveyor controller makes the equidirectional rotation simultaneously of all disk roller revolution drivings 90 ° revert to fore-and-aft direction, you can load and unload carry out charge and discharge operations on station herein.

Filled to ensure accurately to pitch, as a further improvement on the present invention scheme, also include mould on described goods shelf 432 Formula identification sensor, described fork installation electrical control mechanism also include fork holding position position control loop, the installation control of described fork Device electrically connects with pattern-recognition sensor；Fork installation controller is anti-according to goods packaging box dimension information and pattern-recognition sensor The cargo location information of feedback establishes goods pattern-recognition data model, and by the goods pattern-recognition data model and has established Fork holding position and fork dress depth mathematical modeling carry out correction integration, the mathematical modeling control fork installation after finally being integrated according to correction Hydraulic mechanism makes door frame lifting hydraulic cylinder, door frame pitching hydraulic cylinder, the co-operating of crotch lifting hydraulic cylinder carry out fork dress.

In order to realize more efficiently Real Data Exchangs and control, improve the efficiency of loading and unloading, as further changing for the present invention Enter scheme, described data input output ports also include radio receiving transmitting module, and described electric control gear also includes wireless receiving and dispatching Control loop；Industrial control computer can be before handling using wireless by radio receiving transmitting module and wireless receiving and dispatching control loop The goods vanning positional information, prestowage scheme, goods packaging box for being transferred from upper end network reception freight container pile up coordinate bit Put, the data message such as goods packaging box size, freight container inside dimension, and realized in real time to upper end net in cargo handling process Network feedback handling concrete condition, on the one hand can realize and coordinate automatical pilot transportation vehicle Self-loading-unloading platform in binning process enterprising Row fixed point fork dress, carry out fixed point on loading/unloading platform during unloading and pile up, shorten this logistics code fetch car and piled up in fork dress During walk distance, improve the efficiency of loading and unloading；Another aspect operating personnel can carry out real time remote to this logistics code fetch car Error correct.

In order to prevent that goods packaging box slides from the left and right sides of pallet fork 433 is unexpected during fork from filling, as entering for the present invention One step improvement project, described pallet fork 433 be provided with side clamping plate, and side clamping plate is symmetrical set respectively to be symmetrical set The left and right sides of two pieces pallet fork 433；For the less goods packaging box of weight, after the fork dress of goods packaging box is completed, fork dress Task reduces the span of pallet fork 433 to machine controller control pallet fork span regulating loop again, and then realizes side clamping plate to goods The clamping of packing case.

Situation about coordinating for the width dimensions inside goods width dimensions and freight container, is pushed away as pallet fork of the present invention A kind of embodiment of part is moved, described pallet fork passage part includes pallet fork passage servomotor and horizontal erection is arranged on goods Bidirectional screw bar on crotch 432, bidirectional screw bar is connected with pallet fork passage servomotor and bidirectional screw bar left and right ends bar There is oppositely oriented screw structure, described pallet fork 433 is provided with to be coordinated installed in two-way with bidirectional screw bar on body Screw on screw rod, pallet fork elapse servomotor and electrically connected with the fork installation controller of fork installation electrical control mechanism；Filled by pitching The rotating of machine controller control pallet fork passage servomotor can realize the regulation of span between pallet fork 433.

For the less goods packaging box of size, in order to improve the space availability ratio inside freight container, this hair is used as The another embodiment of bright pallet fork passage part, described pallet fork passage part include horizontal erection and are arranged on goods shelf 432 On, two pieces pallet fork that telescopic direction is reversed passage hydraulic cylinder, the telescopic end of two pieces pallet fork passage hydraulic cylinder is respectively with two Part pallet fork 433 is connected, and control valve group of the two pieces pallet fork passage hydraulic cylinder respectively with fork installation hydraulic mechanism is connected by fluid pressure line Connect；Allow the extension elongation difference of two pieces pallet fork passage hydraulic cylinder real by fork installation controller control fork installation hydraulic mechanism The regulation of span and the unbalance loading position of pallet fork 433 between stock fork 433.

This logistics code fetch system for being applied to freight container is fully digitalization control unit, can be with Intelligent logistics Number bus, which is seamlessly connected, realizes concentration digital management, coordinates the automatical pilot transportation vehicle of Intelligent logistics can realize perfect number Word makeup is unloaded；Because handler includes support underframe 2, ribbon conveyer 3 and fork installation 4, it is defeated that ribbon conveyer 3 includes chassis Electrical Control mechanism is sent, pitching installation 4 includes fork installation electrical control mechanism, and sorting equipment is more at left and right sides of handler including being arranged on Individual sorting mechanical arm 5 and mechanical arm electrical control mechanism, are operated using computer auto-control completely, therefore defeated by data input Exit port inputs the goods vanning positional information, prestowage scheme, goods of freight container to the industrial control computer of electric control gear After matter packaging box piles up the data messages such as coordinate position, goods packaging box size, freight container inside dimension, Industry Control meter Calculation machine can control support underframe 2 to be gone forward in longitudinal rail 11 according to the prestowage scheme inputted by chassis conveyer electrical control mechanism Coordinate moves afterwards, passes through mechanical arm controller and fork installation controller control sorting mechanical arm 5, ribbon conveyer during incasement operation 3 and fork 4 work compounds of installation, it is possible to achieve goods packaging box on loading/unloading platform 1 pile up the crawl of coordinate position fixed point, The translation of goods packaging box is piled up to conveyer belt, the conveyer belt of goods packaging box transports, goods packaging box is in freight container Internal fork dress is piled up with handling, is unloaded and is pitched installation 4, belt by mechanical arm controller and fork installation controller control when operating Conveyer 3 and the sorting work compound of mechanical arm 5, it is possible to achieve fork dress, the goods of the goods packaging box inside freight container The piling up to conveyer belt of matter packaging box, the transport of the conveyer belt of goods packaging box, the translation of goods packaging box are piled up flat to handling Goods packaging box on platform 1 piles up coordinate position, and goods of the installation controller according to input is pitched during goods packaging box fork dress Packing case size Control pallet fork passage component actuation makes the span between pallet fork 433 adjust setting to cooperation goods packaging box size Determine width dimensions, and according to the barcode scanning identification device and the feedback letter of range sensor in the information and goods shelf 432 inputted Breath, fork holding position and fork dress depth mathematical modeling are established, then control fork installation hydraulic mechanism door frame is bowed according to mathematical modeling Face upward hydraulic cylinder, the action of crotch lifting hydraulic cylinder carries out fork dress handling, the operation of complete computer auto-control can be avoided because of operator The influences of the human factor to manufacturing schedule such as member's sense of responsibility, mood, while can be from operating personnel's operative skill qualification Limitation, it is entirely avoided the drawbacks of manual operation is present, intelligent operation can be realized, improve the efficiency of loading and unloading, especially suitable for thing Flow the handling goods in the container shipping of storage for freight container and pile up operation.

Claims

1. a kind of application method of logistics code fetch system suitable for freight container, used logistics code fetch system includes dress Unload platform (1), handler, sorting equipment and electric control gear；

The longitudinal rail (11) be arrangeding in parallel is provided with described loading/unloading platform (1) in the longitudinal direction, longitudinal rail (11) is extremely The front end of loading/unloading platform (1) is extended to less；

Described handler includes support underframe (2), ribbon conveyer (3) and fork installation (4)；

The bottom of support underframe (2) is provided with running part (21), and running part (21) includes support roller set and roller set driving；Support Roller set includes the support disk roller being symmetrical set, and support disk roller matches somebody with somebody to merge with longitudinal rail (11) is erected at longitudinal rail (11) on, support roller set is arranged to multigroup and at least one set of support roller set along support underframe (2) fore-and-aft direction and is provided with roller Wheel group is driven, and support underframe (2) is arranged on longitudinal rail (11) by supporting roller set to set up；The front end of support underframe (2) With open U-shaped opening structure；

Ribbon conveyer (3) is erected on support underframe (2) along support underframe (2) fore-and-aft direction, and ribbon conveyer (3) includes master Dynamic roller, driven roller, idler machining, conveyer belt and chassis conveyer electrical control mechanism；Idler machining set up be arranged on drive roll and Between driven roller, it is in upper and lower structures that conveyer belt head and the tail connection, which is wrapped on drive roll, driven roller and idler machining, actively Roller is provided with drum driven, chassis conveyer electrical control mechanism include chassis conveyor controller and with chassis conveyor controller The chassis conveyer electrical source of power of electrical connection, drum driven electrically connect with chassis conveyor controller；Described roller set driving Electrically connected with chassis conveyor controller；

Fork installation (4) includes support platform (41), slipping part (42), fork dress portion (43), fork installation hydraulic mechanism and fork installation electricity Control mechanism；Support platform (41) is located at the surface of ribbon conveyer (3), and support platform (41) has the support extended downwardly from Leg, support platform (41) are set up by supporting leg and are arranged on support underframe (2)；

Slipping part (42) is arranged between the supporting leg of support platform (41) and support underframe (2), including the guiding worked in coordination Slide rail and directive wheel；Directive slide track fore-and-aft direction is horizontally set on support underframe (2) and directive slide track front end extends forwardly into On the left and right sides plate of the U-shaped opening position of support underframe (2)；Directive wheel and the supporting leg bottom installation of support platform (41) connect Connect, directive wheel, which is provided with, is oriented to wheel drive；

Fork dress portion (43) includes door frame (431), goods shelf (432) and pallet fork (433)；Door frame (431) includes coordinating socket installation Inner upright mounting and outer mast, be provided with door frame guiding mechanism between inner upright mounting and outer mast, the rear lower of outer mast be articulated and connected in The front end of support platform (41), outer mast are connected by door frame pitching hydraulic cylinder with support platform (41), and inner upright mounting passes through door frame Lifting hydraulic cylinder is connected with outer mast, by controlling the flexible of door frame lifting hydraulic cylinder that inner upright mounting can be realized along door frame Guiding machine Structure is extended downwardly from from outer mast bottom or retraction action upwards；Before goods shelf (432) is by crotch guiding mechanism and inner upright mounting End face slip is fitted and connected and the support body of goods shelf (432) is connected by crotch lifting hydraulic cylinder with inner upright mounting, goods shelf (432) barcode scanning identification device and range sensor are additionally provided with；Pallet fork (433) is symmetrical set to be slided for two pieces, by pallet fork Move guiding mechanism and set up and be arranged on goods shelf (432), and the pallet fork that is set by left and right directions of pallet fork (433) elapse part and Goods shelf (432) installation connection；

Fork installation hydraulic mechanism includes the hydraulic power unit being arranged in support platform (41) and control valve group, hydraulic power unit pass through liquid Pressure pipe road is connected with control valve group, control valve group by fluid pressure line respectively with door frame lifting hydraulic cylinder, door frame pitching hydraulic cylinder Connected with crotch lifting hydraulic cylinder；

It is anti-that fork installation electrical control mechanism includes fork installation controller, fork installation electrical source of power, elements of a fix movement control loop, distance Present control loop, pallet fork span regulating loop, reprint control loop, fork installation controller respectively with pressing machine electrical source of power, fork Control valve group, pallet fork passage part, the barcode scanning identification device on goods shelf (432) and the range sensor electricity of installation hydraulic mechanism Connection；

Described sorting equipment includes being arranged on multiple sorting mechanical arms (5) and the automatically controlled machine of mechanical arm at left and right sides of handler Structure, sorting mechanical arm (5), which is set up, to be arranged on loading/unloading platform (1), and sorting mechanical arm (5) comprises at least left and right directions movement and set X-coordinate driving, fore-and-aft direction movement set Y-coordinate driving and vertical direction movement set Z coordinate driving, sorting machinery The minor details of arm (5), which are provided with, to be included the crawl of grasping mechanism and piles up manipulator, mechanical arm electrical control mechanism include mechanical arm controller with The mechanical arm electrical source of power electrically connected with mechanical arm controller, X-coordinate driving, Y-coordinate driving and Z coordinate driving respectively with machinery Arm controller electrically connects；

Described electric control gear includes industrial control computer, support underframe control loop, ribbon conveyer control loop, fork dress Control loop is piled up in machine control loop, sorting；Industrial control computer includes data input output ports, industrial control computer Electrically connected respectively with chassis conveyor controller, fork installation controller and mechanical arm controller；

Characterized in that, application method specifically includes following steps：

A. handling prepare：During original state, support underframe (2) is stuck in the setting position of the front edge of loading/unloading platform (1), fork Installation (4) is stuck in the setting fork dress coordinate position above ribbon conveyer (3)；

By be loaded with the vehicle parking of freight container under loading/unloading platform (1), chamber door face fork installation (4) setting position after The bottom plate of freight container is concordant with the upper plane of loading/unloading platform (1), and operating personnel open chamber door after being docked, operate simultaneously Personnel input the goods of freight container by the data input output ports of industrial control computer to industrial control computer Vanning positional information, prestowage scheme, goods packaging box pile up coordinate position, goods packaging box size, freight container inside chi Very little data message；

B. incasement operation：

Support underframe control loop is first begin to work；Industrial control computer according to inputted prestowage scheme, goods packing Case size and freight container inside dimension data message calculate support underframe (2) reach and enter freight container (6) inside Depth and the Y-coordinate value that the support underframe (2) need to move forward are sent to chassis conveyor controller, while to chassis conveyer Controller sends support underframe forward motion control instruction, and chassis conveyor controller control roller set drive actions make support roller Wheel group, which is dragged, to be carried support underframe (2) coordinate is moved to above-mentioned Y-coordinate value forward, support underframe during support underframe (2) reach (2) roller set of front end departs from longitudinal rail (11), the docking location of crossing loading/unloading platform (1) and freight container enters shipping The internal setting position of container (6) and positioning, chassis conveyor controller in real time to industrial control computer feedback coefficient it is believed that Breath；

The goods that need to be cased is transported to sorting mechanical arm (5) successively by automatical pilot transportation vehicle according to prestowage scheme first Setting goods packaging box pile up coordinate position, then sorting is piled up control loop and worked first；Industrial control computer is to machine Tool arm controller sends crawl and piles up control instruction, and mechanical arm controller control sorting mechanical arm (5) coordinate movement makes crawl code Put manipulator and be moved to that goods packaging box piles up the surface of coordinate position and Z-direction moves down and goods is captured；Crawl Mechanical arm controller control sorting mechanical arm (5) coordinate movement afterwards makes crawl pile up mechanical hand shovelling and to move on goods Z-direction The baseplane of goods packaging box is more than the upper strata conveyer belt of ribbon conveyer (3) apart from the distance between loading/unloading platform (1) size Upper surface apart from the setting Z coordinate position of the distance between loading/unloading platform (1) size；Then mechanical arm controller control sorting The movement of mechanical arm (5) coordinate makes crawl pile up mechanical hand shovelling and goods to move to setpoint distance along X-coordinate, and the setpoint distance is goods Matter packaging box piles up the X-coordinate value between the conveyer belt widthwise central of coordinate position and ribbon conveyer (3)；Then mechanical arm control Device processed control crawl is piled up manipulator Z-direction and moved down piles up to goods；Mechanical arm controller is in real time to Industry Control meter Calculation machine feedback data information；

Then ribbon conveyer control loop is started working；Industrial control computer is according to having inputted goods packaging box size and goods Matter packaging box pile up coordinate position data information calculate goods packaging box need to move forward to setting fork dress coordinate position Y-coordinate value, And the Y-coordinate value that the goods packaging box need to move forward is sent to chassis conveyor controller, while to chassis conveyor controller Ribbon conveyer action directive is sent, the control drum driven action of chassis conveyor controller rotates forward drive roll Drive upper strata conveyer belt to carry after goods packaging box moves forward to setting fork dress coordinate position to stop, chassis conveyor controller is real-time To industrial control computer feedback data information；

Then fork installation control loop is started working；Industrial control computer sends fork installation fork dress action to fork installation controller Control instruction, fork installation controller control pallet fork passage component actuation to make goods according to the goods packaging box dimension information of input first Span between fork (433) is adjusted to the setting width dimensions for coordinating goods packaging box size；Then fork installation controller according to The feedback identifying information of the barcode scanning identification device on goods packaging box dimension information and goods shelf (432) inputted establishes goods Pitch holding position and fork dress depth mathematical modeling；Then fork installation controller controls fork installation hydraulic mechanism to make door according to mathematical modeling Frame lifting hydraulic cylinder, door frame pitching hydraulic cylinder, crotch lifting hydraulic cylinder co-operating are pointed to the conveying of ribbon conveyer (3) upper strata The goods packaging box of the setting fork dress coordinate position taken carries out fork dress and disengages it from ribbon conveyer (3), pitches goods during dress The distance between range sensor Real-time Feedback goods shelf (432) and goods on crotch (432) fill depth to ensure to pitch；Complete Goods fork dress back vent installation controller is believed according to prestowage scheme and goods vanning positional information, freight container inside dimension data Cease the Y-coordinate value that calculation supporting platform (41) need to move forward and control the directive wheel drive actions of slipping part (42) to make support platform (41) position of piling up of the Y-coordinate value is moved forward to, then fork installation controller control fork installation hydraulic mechanism makes door frame lift liquid The goods packaging box that cylinder pressure, door frame pitching hydraulic cylinder, crotch lifting hydraulic cylinder co-operating are pointed on pallet fork (433) is unloaded Carrying makes it pile up the goods vanning position set in goods cases positional information, and most back vent installation (4) recovers to original state Completion is once piled up, is ready for follow-up pile up；Fork installation controller in binning process is piled up to calculate to Industry Control in real time Machine feedback data information；

By that analogy, industrial control computer according to fork install controller Real-time Feedback data message in good time to chassis conveyer Controller sends control support underframe (2) stepping of support underframe fallback action control instruction and retracted, until before support underframe (2) Freight container is exited at end completely and entire cargo packing case all piled up inside freight container according to prestowage scheme it is whole Together, whole binning process is completed；

C. unload operation：

Operation of unloading is the inverse process of incasement operation, and operating personnel are removed by the data input output ports of industrial control computer The goods that freight container is inputted to industrial control computer is cased positional information, prestowage scheme, goods packaging box size, goods Transport beyond internal container sized data information, also input sorting information to industrial control computer, sorting information includes basis The different goods packaging boxes of different sorting condition distribution pile up co-ordinate position information；

Fork installation control loop is first begin to work, and fork installation controller is according to prestowage scheme and goods vanning positional information control Fork dress portion (43) retracts to initial position, then fork installation control after fork dress is carried out to the goods packaging box inside freight container Device control fork dress portion (43) piles up goods packaging box in the setting fork dress coordinate on the conveyer belt of ribbon conveyer (3) upper strata Position, fork installation controller is in real time to industrial control computer feedback data information；

Industrial control computer according to fork installation controller feed back goods shelf (432) on barcode scanning identification device feedback identifying Information and the sorting information inputted send ribbon conveyer action command to chassis conveyor controller, then ribbon conveyer Control loop is started working, and it is defeated that the control drum driven action of chassis conveyor controller makes drive roll reversely rotate drive upper strata Send band carry move to the goods packaging box after goods packaging box corresponding to goods packaging box pile up the setting of coordinate position Y-coordinate and sit Stop after cursor position；

Then control loop start-up operation is piled up in sorting, and industrial control computer piles up coordinate position to corresponding goods packaging box Mechanical arm controller sends crawl and piles up control instruction, and mechanical arm controller control sorting mechanical arm (5) coordinate movement makes crawl Manipulator is piled up to capture goods packaging box and pile up after the translation of X-coordinate direction and pile up coordinate position in goods packaging box On, automatical pilot transportation vehicle transports to the goods packaging box；

By that analogy, industrial control computer according to fork install controller Real-time Feedback data message in good time to chassis conveyer Controller sends control support underframe (2) stepping of support underframe forward motion control instruction and advanced, until before support underframe (2) End all unloads into freight container and entire cargo packing case according to prestowage scheme, completes whole process of unloading, finally props up Chassis (2) is supportted to retract to original state.

2. the application method of the logistics code fetch system according to claim 1 suitable for freight container, it is characterised in that The upper table of the upper strata conveyer belt of the baseplane distance belt conveyer (3) of the support platform (41) of used logistics code fetch system Height dimension between face is more than the height dimension of goods packaging box；

Before the directive wheel drive actions of fork installation controller control slipping part (42) make support platform (41) in described step b, c After move and meanwhile pitch installation controller control fork installation hydraulic mechanism make door frame lifting hydraulic cylinder, door frame pitching hydraulic cylinder, crotch Lifting hydraulic cylinder co-operating is carried out pitching dress or piled up to goods packaging box, is carried in the upper strata conveyer belt of ribbon conveyer (3) Pass through when goods packaging box moves forward or moved afterwards below goods packaging box self-supporting platform (41).

3. the application method of the logistics code fetch system according to claim 1 suitable for freight container, it is characterised in that The support platform (41) of used logistics code fetch system is divided into two parts up and down, the rear lower hinge of the outer mast of door frame (431) The top sub-headend of support platform (41) is connected in succession, supporting leg is arranged in the lower part of support platform (41), support platform (41) it is attached between two parts up and down by pivoting support, pivoting support is provided with pivoting support hydraulic-driven, revolution Support hydraulic is driven through fluid pressure line and is connected with the control valve group of fork installation hydraulic mechanism；Described fork installation electrical control mechanism is also Including support platform rotary loop；

Before the directive wheel drive actions of fork installation controller control slipping part (42) make support platform (41) in described step b, c After move while pitch installation controller control pivoting support hydraulic-driven action band moving fork dress portion (43) and turn round 180 °, then pitch Installation controller control fork installation hydraulic mechanism makes door frame lifting hydraulic cylinder, door frame pitching hydraulic cylinder, crotch lifting hydraulic cylinder association Goods packaging box is carried out pitching dress or piled up with action.

4. the application method of the logistics code fetch system suitable for freight container according to claim 1 or 2 or 3, it is special Sign is that used logistics code fetch system is arranged to multigroup support roller set edge branch along support underframe (2) fore-and-aft direction Support chassis (2) fore-and-aft direction is uniformly arranged and at least two groups of support roller sets drive provided with roller set, and each supports disk roller On be equipped with the disk roller revolution driving of axis of rotation vertical direction setting, disk roller revolution driving is electrically connected with chassis conveyor controller Connect；The longitudinal rail (11) being be arranged in parallel on described fore-and-aft direction is arranged to multigroup, and the longitudinal direction that two adjacent groups be arranged in parallel is led The distance of X-coordinate value is more than the width dimensions of freight container between rail (11), and loading/unloading platform is also set in the lateral direction on (1) It is having quantity and support roller set identical, be arranged in parallel, intersect with longitudinal rail (11) be in matts structure cross slide way, And the distance between axles size between the distance between adjacent two pieces cross slide way and fore-and-aft direction upper backup roll wheel group is identical；Described Electric control gear also includes support underframe translational loop；

This application method for being applied to the logistics code fetch system of freight container also includes step d support underframe translations： This logistics code fetch system for being applied to freight container retracts to initial position, support after completing the handling of a freight container Chassis translational loop is started working, and industrial control computer control chassis conveyor controller makes all disk roller revolution drivings same When it is equidirectional be rotated by 90 °, then all disk rollers are all transformed to left and right directions by fore-and-aft direction, then chassis conveyor controller Control the action of disk roller revolution driving to drag support roller set and carry the leftward or rightward coordinate movement X-coordinate value of support underframe (2) Distance to another handling station, then industrial control computer control chassis conveyor controller turns round all disk rollers Equidirectional be rotated by 90 ° reverts to fore-and-aft direction simultaneously for driving.

5. the application method of the logistics code fetch system suitable for freight container according to claim 1 or 2 or 3, it is special Sign is, pattern-recognition sensor, described fork installation electricity are also included on the goods shelf (432) of used logistics code fetch system Controlling mechanism also includes fork holding position position control loop, the fork installation controller of described fork installation electrical control mechanism and pattern-recognition Sensor electrically connects；

Fork installs controller according to cargo size information and pattern-recognition sensor during goods fork dress in described step b, c The cargo location information of feedback establishes goods pattern-recognition data model, and by the goods pattern-recognition data model with having established Fork holding position and fork dress depth mathematical modeling carry out correction integration, finally according to correction integrate after mathematical modeling control hydraulic pressure System makes door frame pitching hydraulic cylinder, the action of crotch lifting hydraulic cylinder carry out fork dress.

6. the application method of the logistics code fetch system according to claim 5 suitable for freight container, it is characterised in that The data input output ports of used logistics code fetch system also include radio receiving transmitting module, and described electric control gear also includes Wireless receiving and dispatching control loop；

Industrial control computer is utilized by radio receiving transmitting module and wireless receiving and dispatching control loop and is wirelessly transferred in described step a The goods vanning positional information, prestowage scheme, goods that freight container is received from upper end network pile up coordinate position, goods chi Very little, freight container inside dimension data message；

Industrial control computer is in real time to upper end network feedback data information in described step b, c cargo handling process.

7. the application method of the logistics code fetch system suitable for freight container according to claim 1 or 2 or 3, it is special Sign is that the pallet fork (433) of used logistics code fetch system is provided with side clamping plate；

In described step b, c after the fork dress of goods packaging box is completed, fork installation controller control pallet fork span regulating loop Task makes that the span of pallet fork (433) reduces, side clamping plate clamps to goods packaging box again.

8. the application method of the logistics code fetch system suitable for freight container according to claim 1 or 2 or 3, it is special Sign is that the pallet fork passage part of used logistics code fetch system includes pallet fork passage servomotor and horizontal erection is arranged on Bidirectional screw bar on goods shelf (432), bidirectional screw bar is connected with pallet fork passage servomotor and bidirectional screw bar or so two There is oppositely oriented screw structure, described pallet fork (433) is provided with to coordinate with bidirectional screw bar and installed on side pole body Screw on bidirectional screw bar, pallet fork elapse servomotor and electrically connected with the fork installation controller of fork installation electrical control mechanism；

Fork installation controller adjusts pallet fork (433) by controlling pallet fork to elapse the rotating of servomotor in described step b, c Between span.

9. the application method of the logistics code fetch system suitable for freight container according to claim 1 or 2 or 3, it is special Sign is, the pallet fork passage part of used logistics code fetch system include it is horizontal set up be arranged on it is on goods shelf (432), stretch Contract set in the opposite direction two pieces pallet fork passage hydraulic cylinder, two pieces pallet fork passage hydraulic cylinder telescopic end respectively with two pieces pallet fork (433) connect, control valve group of the two pieces pallet fork passage hydraulic cylinder respectively with fork installation hydraulic mechanism is connected by fluid pressure line；

Fork installation controller is by controlling fork installation hydraulic mechanism two pieces pallet fork is elapsed stretching for hydraulic cylinder in described step b, c The span or the unbalance loading fork dress of pallet fork (433) gone out between length different adjustment pallet fork (433) piles up position.