CN114873306A

CN114873306A - Multi-roadway loading and unloading system and control method

Info

Publication number: CN114873306A
Application number: CN202210322051.0A
Authority: CN
Inventors: 申芮; 郭波; 徐菱; 李小乐; 高彤彤; 白佳怡; 张宇轩
Original assignee: Southwest Jiaotong University
Current assignee: Southwest Jiaotong University
Priority date: 2022-03-30
Filing date: 2022-03-30
Publication date: 2022-08-09
Anticipated expiration: 2042-03-30
Also published as: CN114873306B

Abstract

A multi-roadway loading and unloading system and a control method thereof comprise a loading and unloading module and a control module, wherein the loading and unloading module comprises a first base plate, a second base plate and a transmission roadway for loading and unloading goods, the transmission roadway is arranged on the first base plate, the transmission roadway is provided with a plurality of parallel transmission roadways, each transmission roadway is provided with a plurality of telescopic upright posts and at least one layer of layer frame for carrying goods, the layer frames are in sliding connection with the telescopic upright posts, the joints of the layer frames and the telescopic upright posts are provided with layer frame driving devices for enabling the layer frames to move up and down along the telescopic upright posts so as to lift the goods, and the layer frames are provided with connecting devices for connecting and matching with the layer frames on the adjacent transmission roadway; the control module comprises a power unit and a micro-control unit, the power unit provides power for the operation of the loading and unloading module, and the micro-control unit is used for controlling the loading and unloading module and the power unit. The invention realizes the loading and unloading of goods of different types and sizes by combining or independently operating two transmission roadways, and has stronger universality.

Description

Multi-roadway loading and unloading system and control method

Technical Field

The invention relates to the field of logistics equipment, in particular to a multi-roadway loading and unloading system and a control method.

Background

With the continuous development of unmanned economy and logistics industry, unmanned technology is widely applied to logistics distribution links. Based on the cruising ability, the load carrying ability and the infrastructure requirements of the existing unmanned vehicle and the characteristics of small batch, multiple types, large quantity and multiple loading and unloading points of goods in a main application scene, the medium-sized van type unmanned vehicle has a certain application prospect. However, the research and development of the existing unmanned distribution equipment mainly focuses on the technical directions of unmanned driving, navigation systems, line optimization and the like, and neglects the development and research of intelligent loading and unloading devices, so that the existing unmanned distribution equipment still needs manpower to assist in decision making and loading and unloading goods, and real unmanned operation cannot be achieved.

On the other hand, in the loading and unloading process of the intelligent unmanned distribution loading and unloading device, the types and sizes of the goods are different, and the intelligent unmanned distribution loading and unloading device corresponding to the size of the goods needs to be configured, but in the actual operation process, the quantity of the goods with larger size is less, the use frequency of the corresponding intelligent unmanned distribution loading and unloading device is low, so that the waste of resources is caused, and the requirements of loading and unloading the goods with common size and loading and unloading the goods with large size can not be met; for example, patent No. cn202022575832.x discloses a logistics system for automatically loading and unloading materials, which comprises a truck for loading and transporting materials, a stacking roller conveying line for automatically loading, unloading and stacking the materials, a material positioning mechanism for positioning the materials in a first direction, and a reversing positioning system for reversing and positioning the truck, wherein the stacking roller conveying line is arranged in a carriage of the truck, the material positioning system is arranged on a body of the stacking roller conveying line, and the reversing positioning system is arranged on the ground and is matched with the truck for use. The above problems are present in such a logistics system for automated loading and unloading of materials.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides a multi-roadway loading and unloading system and a control method, wherein the multi-roadway loading and unloading system comprises a loading and unloading module and a control module, the loading and unloading module comprises a first base plate, a second base plate and a transmission roadway for loading and unloading goods, the transmission roadway is arranged on the first base plate, the transmission roadway is provided with a plurality of transmission roadways which are arranged in parallel, each transmission roadway is provided with a plurality of telescopic stand columns and at least one layer of layer frame for carrying goods, the layer frames are in sliding connection with the telescopic stand columns, the joints of the layer frames and the telescopic stand columns are provided with layer frame driving devices for enabling the layer frames to move up and down along the telescopic stand columns so as to lift the goods, and the layer frames are provided with connecting devices for connecting the layer frames on the other transmission roadway; the control module comprises a power unit and a micro-control unit, the power unit provides power for the operation of the loading and unloading module, and the micro-control unit is used for controlling the loading and unloading module and the power unit. The invention realizes the loading and unloading of goods of different types and sizes by combining or independently operating two transmission roadways, and has stronger universality.

The purpose of the invention is realized by the following technical scheme:

a multi-roadway loading and unloading system comprises a loading and unloading module and a control module, wherein the loading and unloading module comprises a first base plate, a second base plate and a transmission roadway for loading and unloading goods, the first base plate, the second base plate and the transmission roadway are all arranged in a carriage, the second substrate is arranged above the first substrate, the transmission tunnels are arranged on the first substrate and are positioned between the first substrate and the second substrate, the conveying laneway is provided with a plurality of conveying laneways which are arranged in parallel, each conveying laneway is provided with a plurality of telescopic upright posts and at least one layer of layer rack for carrying cargo, the plurality of telescopic upright posts are evenly arranged at the two sides of the conveying laneway along the conveying direction of the conveying laneway, the layer frame is in sliding connection with the telescopic vertical rods, a layer frame driving device used for enabling the layer frame to move up and down along the telescopic vertical rods to achieve lifting of goods is arranged at the connection position, and the layer frame is provided with a connecting device used for being connected and matched with the layer frame on the adjacent transmission roadway; the control module comprises a power unit and a micro-control unit, the power unit, the micro-control unit and the loading and unloading module are electrically connected with each other, the power unit provides power for the operation of the loading and unloading module, and the micro-control unit is used for controlling the loading and unloading module and the power unit.

Further, flexible stand includes the flexible stand of first flexible stand and second, the flexible stand of first flexible stand sets up with the flexible stand of second relatively, the one end fixed mounting of first flexible stand is on first base plate, the one end fixed mounting of the flexible stand of second is on the second base plate, the other end of first flexible stand is flexible end, the other end of the flexible stand of second is flexible end, be connected through connection structure between the flexible end of first flexible stand and the flexible end of second stand, and all be equipped with flexible drive arrangement on the flexible stand of first flexible stand and second, flexible drive arrangement is connected with power pack and micro-control unit electricity respectively.

The device further comprises a push plate structure and a baffle rail, wherein the push plate structure is connected with the transmission roadway in a sliding manner, and the baffle rail is arranged on the end head of the telescopic end of the second telescopic upright column at the front end of the transmission roadway;

the push plate structure comprises a plate body and two supporting seats, the bottoms of the two supporting seats are respectively connected to the two sides of the transmission roadway in a sliding mode, a sliding driving device used for enabling the supporting seats to slide is arranged on each supporting seat, and the sliding driving devices are respectively electrically connected with the power unit and the micro-control unit; the two ends of the plate body are respectively connected with the upper parts of the two supporting seats in a sliding manner, the length direction of the plate body is parallel to the width direction of the conveying roadway, lifting driving devices for adjusting the height of the plate body are arranged at the connecting parts of the plate body and the two supporting seats, and the lifting driving devices are respectively and electrically connected with the power unit and the micro-control unit; when the push plate structure slides to the front end of the transmission roadway, the plate body can move out of the supporting seat through the lifting driving device and is in sliding connection with the baffle rail;

all be equipped with two on every transmission tunnel the push pedal structure, two push pedal structures set gradually from the front to the back.

Further, the upper portion of the baffle rail is connected with the telescopic end of the second telescopic upright column, and the lower portion of the baffle rail is provided with a blocking groove matched with the upper portion of the supporting seat and used for clamping the baffle rail with the supporting seat.

Further, still include the vision recognition device, all be equipped with the vision recognition device on every transmission tunnel, the vision recognition device sets up the front end in transmission tunnel to be located the orbital the place ahead of baffle, the vision recognition device is connected with power pack and micro-control unit electricity respectively.

Furthermore, the transmission roadway comprises a plurality of sub-roadways which are sequentially arranged from front to back, and a gap for the layer frame to pass through is reserved between every two adjacent sub-roadways;

the sub-roadway comprises two side plates and a plurality of rollers, the two side plates are arranged in parallel, the bottoms of the side plates are connected with a first substrate, the rollers are evenly arranged between the two side plates, the two ends of the rollers are respectively connected with the side plates in a rotating mode and are provided with pressure sensors, the pressure sensors are electrically connected with the micro-control unit, each sub-roadway is at least provided with 3 rollers, the rollers are arranged at intervals and are provided with roller driving devices, the roller driving devices are arranged on the inner walls of the side plates, output shafts of the roller driving devices are connected with the rollers and are used for controlling the rollers to rotate, and the roller driving devices are respectively electrically connected with the power unit and the micro-control unit.

A control method of a multi-lane loading and unloading system has two operation modes, namely a merging mode and an independent mode according to different package sizes of loaded and unloaded goods, wherein the merging mode is used for loading and unloading large-size goods, and the independent mode is used for loading and unloading normal-size goods.

The loading and unloading steps of the single mode are as follows:

loading:

s101: the first telescopic stand column and the second telescopic stand column are in an extended connection state, the sliding driving device is controlled by the micro-control unit to enable the push plate structure at the rear end to slide to the rearmost end of the transmission roadway, the push plate structure at the front end slides to the front end of the transmission roadway until the supporting seat is clamped with the blocking groove of the baffle rail, then the plate body of the push plate at the front end slides to the highest position of the baffle rail, and meanwhile, the connection device between the layer frames is in a separation state;

s102: the visual recognition device scans and recognizes the information of the goods at the loading and unloading port, the micro-control unit judges whether the goods are in the loading task, if so, the next step is carried out, and if not, the carrying robot carries the goods to one side;

s103: the visual recognition device recognizes the length of the goods and the remaining space length of the transmission roadway, feeds information back to the micro-control unit of the background, judges whether the length of the goods is smaller than the remaining space length of the transmission roadway, and if so, forwards rotates the roller provided with the roller driving device to convey the goods into the carriage. Meanwhile, the visual recognition device adjusts the height of the plate body on the baffle rail according to whether the goods are stacked or not, the visual recognition device is used for blocking redundant goods to prevent stacking, the step S102 is repeated, if not, the plate body slides to the supporting seat from the baffle rail, and the next step is carried out;

s104: the two push plate structures move oppositely to clamp the goods, the stress information of the roller is collected through a pressure sensor arranged on the roller and is used for analyzing the position and the gravity center condition of the goods, and the position and the gravity center of the goods are adjusted by adjusting the positions of the push plate structures through the micro-control unit; after the gravity center is adjusted, the push plate structures at the front end and the rear end recover the state of S101, and a space is reserved for the goods to rise;

s105: the layer frame stored below the roller rises to pass through the gap between the sub-roadways and support the goods to a certain height from the roller;

s106: according to the goods information scanned by the visual recognition device, the micro-control unit judges whether the loading task is finished or not, if so, the loading is finished or the next loading task is carried out; if not, repeating the step S102;

unloading:

s201: the first telescopic stand column and the second telescopic stand column are in an extended connection state, the sliding driving device is controlled by the micro-control unit to enable the push plate structure at the rear end to slide to the rearmost end of the transmission roadway, the push plate structure at the front end slides to the front end of the transmission roadway until the supporting seat is clamped with the blocking groove of the baffle rail, then the plate body of the push plate structure at the front end slides to the highest position of the baffle rail, and meanwhile, the connection device between the layer frames is in a separation state;

s202: the layer frame which is positioned at the bottommost part and loaded with goods descends to enable the goods to be in contact with the rollers, the goods are placed on a roller track formed by a plurality of rollers, the layer frame penetrates through the gaps among the sub-roadways to continuously descend to finish storage, and the push plate structure at the rear end moves forwards to push the goods to move forwards;

s203: the visual identification device scans the information of goods and feeds back to the micro-control unit, and the plate body connected with the baffle track slides downwards to a position slightly higher than the goods, and the goods that will pile up block, and the carriage is seen off with the goods of the foremost end in transmission tunnel in the cylinder reversal that is equipped with roller drive device.

S204: the micro-control unit judges whether the push plate structure at the rear end moves to the foremost end of the transmission roadway or not through the visual recognition device, if so, the next step is carried out, and if not, the step S203 is repeated;

s205: and according to the cargo information scanned by the visual recognition device, the micro-control unit judges whether the unloading task is finished or not, if so, the unloading is finished or the next unloading task is carried out, if not, the push plate structure at the rear end is moved to the rearmost end, and the step S202 is repeated.

The loading and unloading steps of the merging mode are as follows:

loading:

s301: the first telescopic upright post and the second telescopic upright post between two adjacent transmission roadways are in a contracted separation state, the two push plate structures are both positioned at the rearmost ends of the transmission roadways, and meanwhile, the connecting devices between the layer frames are in a connecting state to connect the layer frames on the same layer on the plurality of transmission roadways;

s302: the visual recognition device scans and recognizes the information of the large-size goods at the loading and unloading port, the micro-control unit judges whether the large-size goods are in the loading task, if so, the next step is carried out, and if not, the carrying robot carries the large-size goods to one side;

s303: the visual recognition device recognizes the length and the height of the large-size goods and the length and the height of the remaining space of the transmission roadway, feeds information back to the background micro-control unit, judges whether the remaining space of the transmission roadway can contain the large-size goods, if so, the roller provided with the roller driving device rotates forwards to send the large-size goods into the carriage, and repeats the step S302, if not, the layer frames connected with each other below the roller ascend to penetrate through gaps among the sub-roadways to lift the large-size goods;

s304: judging whether the loading task is finished or not according to the cargo information scanned by the visual recognition device, and if so, ending the loading or carrying out the next loading task; if not, repeating the step S302;

unloading:

s401: the first telescopic upright post and the second telescopic upright post between two adjacent transmission roadways are in a contracted separation state, the two push plate structures are both positioned at the rearmost ends of the transmission roadways, and meanwhile, the connecting devices between the layer frames are in a connecting state to connect the layer frames on the same layer on the plurality of transmission roadways;

s402: the connected layer frame which is positioned at the bottommost part and loaded with large-size goods descends to enable the goods to be in contact with the roller, the layer frame penetrates through the gap between the sub-tunnels and continues to descend to finish the storage, the contraction degree of the contraction end of the second telescopic upright post of which the end head of the transmission tunnel is connected with the baffle rail is adjusted, the bottom of the baffle rail is higher than the height of the large-size goods, and the large-size goods can be smoothly moved out of the transmission tunnel;

s403: all the push plate structures move forwards to push the large-size goods to move forwards, the roller provided with the roller driving device rotates reversely to send the large-size goods out of the carriage, and meanwhile, the visual recognition device scans the information of the large-size goods and feeds the information back to the micro-control unit;

s404: the micro-control unit judges whether the push plate structure at the rear end moves to the foremost end of the transmission roadway or not through the visual recognition device, if so, the next step is carried out, and if not, the step S403 is repeated;

s405: and judging whether the unloading task is finished or not according to the large-size cargo information scanned by the visual recognition device, if so, finishing unloading or carrying out the next unloading task, otherwise, moving all push plate structures to the rearmost end, and repeating the step S402.

The invention has the beneficial effects that:

the vehicle-mounted intelligent loading and unloading device for unmanned distribution realizes loading and unloading of different types and sizes of cargoes by means of combination or independent operation of two transmission roadways, has strong universality, can realize anti-stacking work of cargoes with different sizes in the operation process of the transmission roadways through matching of the plate bodies and the baffle rails, can realize one-time promotion of unloading and unloading work of cargoes on the transmission roadways through matching of the layer frame driving device, the layer frame and the transmission roadways, effectively improves cargo transferring and storing efficiency and space utilization rate of the device, and meets the requirements of high efficiency and multiple functions of unmanned logistics distribution.

Drawings

FIG. 1 is a flow chart of the present invention for loading normal size cargo;

FIG. 2 is a flow chart of the present invention for unloading normal size cargo;

FIG. 3 is a flow chart of the present invention for loading large-sized cargo;

FIG. 4 is a flow chart of the present invention for unloading large cargo;

FIG. 5 is a schematic view of the loading and unloading system of the present invention;

FIG. 6 is a structural diagram of a sub-roadway according to the present invention;

FIG. 7 is a cross-sectional view of a sub-roadway of the present invention;

FIG. 8 is a top view of the sliding guide of the present invention;

FIG. 9 is a schematic structural view of the shelf of the present invention;

FIG. 10 is an enlarged view of A in FIG. 9;

FIG. 11 is a schematic structural view of a push plate structure according to the present invention;

FIG. 12 is a cross-sectional view of a push plate construction of the present invention;

FIG. 13 is a schematic view of the engagement between the support base and the rail of the baffle plate according to the present invention;

FIG. 14 is a schematic structural view of a first telescopic column according to the present invention;

FIG. 15 is a cross-sectional view of the telescoping mast of the present invention;

FIG. 16 is a top plan view of a first telescoping mast of the present invention;

fig. 17 is a connection view of the present invention.

The reference numbers in the figures illustrate:

1-first substrate, 2-second substrate, 3-transmission roadway, 301-sublevel, 3011-side plate, 3012-roller, 3013-roller driving device, 302-sliding guide rail, 4-telescopic upright post, 401-first telescopic upright post, 4011-first telescopic rod, 4012-first fixed rod, 402-second telescopic upright post, 4021-second telescopic rod, 403-screw rod nut, 404-screw rod, 405-transmission rack, 406-worm gear box, 407-telescopic driving motor, 5-layer frame, 501-frame, 502-beam, 503-layer frame driving device, 6-push plate structure, 601-supporting seat, 6011-pulley, 6012-rack structure, 6013-sliding driving motor, 602-plate body, 6021-lifting drive motor, 7-baffle rail, 8-visual identification device, 9-connection device, 901-connection groove, 902-connection block, 903-connection block drive motor.

Detailed Description

The technical solutions of the present invention are further described in detail below with reference to the accompanying drawings, but the scope of the present invention is not limited to the following.

Referring to fig. 1-17, a multi-lane loading and unloading system comprises a loading and unloading module and a control module, wherein the loading and unloading module comprises a first substrate 1, a second substrate 2 and a transmission lane 3 for loading and unloading goods, the first substrate 1, the second substrate 2 and the transmission lane 3 are all installed in a carriage, the second substrate 2 is arranged above the first substrate 1, the transmission lanes 3 are arranged on the first substrate 1, the transmission lane 3 is positioned between the first substrate 1 and the second substrate 2, the transmission lanes 3 are provided with a plurality of transmission lanes 3, the transmission lanes 3 are arranged in parallel, each transmission lane 3 is provided with a plurality of telescopic columns 4 and at least one layer of shelves 5 for loading goods, the telescopic columns 4 are uniformly arranged on two sides of the transmission lane 3 along the transmission direction of the transmission lane 3, the shelves 5 are in sliding connection with the telescopic columns, and the connection part of the shelves 5 is used for enabling the shelves 5 to move up and down along the telescopic columns 4 to realize goods lifting 503, arranging a connecting device 9 for connecting and matching the layer frame 5 on the adjacent transmission roadway 3 on the layer frame 5; the control module comprises a power unit and a micro-control unit, the power unit, the micro-control unit and the loading and unloading module are electrically connected with each other, the power unit provides power for the operation of the loading and unloading module, and the micro-control unit is used for controlling the loading and unloading module and the power unit.

As shown in fig. 5, 14 and 15, the telescopic column 4 includes a first telescopic column 401 and a second telescopic column 402, the first telescopic column 401 and the second telescopic column 402 are disposed oppositely, one end of the first telescopic column 401 is fixedly mounted on the first substrate 1, one end of the second telescopic column 402 is fixedly mounted on the second substrate 2, the other end of the first telescopic column 401 is a telescopic end, the other end of the second telescopic column 402 is a telescopic end, the telescopic end of the first telescopic column 401 is connected with the telescopic end of the second column through a connection structure, and telescopic driving devices are disposed on the first telescopic column 401 and the second telescopic column 402, and are respectively electrically connected with the power unit and the micro control unit.

The micro control unit, also called a single-chip microcomputer, is a computer with a chip level formed by properly reducing the frequency and specification of a central processing unit and integrating peripheral interfaces such as a memory, a counter, a USB, an A/D conversion, a UART, a PLC, a DMA and the like, even an LCD driving circuit on a single chip, and is used for different combined control for different application occasions.

The power unit is of a battery structure, provides power for operation of each motor and each device, and accurately controls output power through the micro-control unit through real-time feedback of each motor and each device, so that the aims of saving electric energy and efficiently using electricity are fulfilled.

The whole loading and unloading device is arranged in a carriage, wherein a first substrate 1 is arranged at the bottom inside the carriage, a second substrate 2 is arranged at the top inside the carriage, a plurality of transmission roadways 3 are arranged side by side, the shape of the integral upper projection is rectangular, a first telescopic upright column 401 and a second telescopic upright column 402 at two opposite sides of the rectangle are always in an extended connection state and are used for connecting the first substrate 1 and the second substrate 2, namely, telescopic upright columns 4 at two sides form a support column to play a role in supporting the whole, the stability of the whole system is ensured, and it needs to be noted that the two opposite sides are parallel to the transmission direction of the transmission roadways 3, namely the two opposite sides are the left side and the right side of the rectangle; when the loading and unloading system is installed, the accommodating space of the loading and unloading system can be controlled by controlling the telescopic degree of the telescopic upright posts 4 at two sides, so that the loading and unloading system can adapt to cargoes of different sizes;

as shown in fig. 5, 14, 15 and 16, taking the first telescopic column 401 as an example, the first telescopic column 401 includes a first fixing rod 4012 and a first telescopic rod 4011, the first fixing rod 4012 is vertically installed on the first substrate 1 in a tubular structure, a lead screw 404 is disposed inside the first fixing rod 4012, the height of the lead screw 404 is less than or equal to the height of the first fixing rod 4012, the first telescopic rod 4011 is inserted into the first fixing rod 4012 and is slidably connected with the first fixing rod 4012, the first telescopic rod 4011 is sleeved outside the lead screw 404, the first fixing rod 4012, the lead screw 404 and the first telescopic rod 4011 are all vertically disposed, a lead screw nut 403 is fixedly connected to the bottom of the first telescopic rod 4011, and the first telescopic rod 4011 is connected with the lead screw 404 through the lead screw nut 403; the telescopic driving device comprises a telescopic driving motor 407 and a worm and gear box 406, the telescopic driving motor 407 is mounted on the first substrate 1, the telescopic driving motor 407 is electrically connected with the power unit and the micro control unit respectively, the telescopic driving motor 407 is connected with the lead screw 404 through the worm and gear box 406, the worm and gear box 406 is used for outputting the rotation motion of the telescopic driving motor 407 to the lead screw 404, the telescopic function of the first telescopic upright column 401 is realized through the matching of the lead screw 404 and the lead screw nut 403, in this embodiment, two adjacent first telescopic upright columns 401 arranged inside two transmission lanes 3 share one telescopic driving motor 407, and the output of one telescopic driving motor 407 is simultaneously transmitted to the lead screws 404 in the two first telescopic upright columns 401 through the transmission of the worm and gear box 406, which is specifically: the telescopic driving motor 407 positively rotates to drive the screw rod 404 to positively rotate, the screw rod 404 positively rotates to drive the screw rod nut 403 to move upwards, the screw rod nut 403 drives the first telescopic rod 4011 to move upwards, at the moment, the first telescopic upright column 401 is in an extension state, the telescopic driving motor 407 reversely rotates to drive the screw rod 404 to reversely rotate, the screw rod 404 reversely rotates to drive the screw rod nut 403 to move downwards, the screw rod nut 403 drives the first telescopic rod 4011 to move downwards, and at the moment, the first telescopic upright column 401 is in a contraction state; similarly, the structure and operation of the second telescoping mast 402 is the same as described above.

It should be noted that there are two kinds of goods to be conveyed, one is a normal size goods and the other is a large size goods, wherein the width of the normal size goods is smaller than or equal to the width of one transmission tunnel 3, and the width of the large size goods is larger than the width of one transmission tunnel 3; therefore, the height of the first fixing rod 4012 is less than that of the transmission lane 3, and when the first telescopic rod 4011 is completely retracted inside the first fixing rod 4012, the situation that large-size goods are blocked by the first fixing rod 4012 located between the two transmission lanes 3 due to overhigh height, and normal transportation of the goods is affected can be avoided; meanwhile, the lead screws 404 with different lengths are selected to control the telescopic stroke of the first telescopic upright column 401; when first flexible stand 401 and second flexible stand 402 are all in the complete contraction state, first telescopic link 4011 contracts the inside of first dead lever 4012 completely promptly, and second telescopic link 4021 contracts the inside of second dead lever completely, and at this moment, the distance between first dead lever 4012 and the second dead lever is greater than the height of jumbo size goods, and the transportation of the goods of being convenient for provides the space for the removal of goods.

As shown in fig. 14 and 15, the connection structure is a slot manner, that is, a slot is formed at the end of the telescopic end of the first telescopic rod 4011, and an insertion block matched with the slot is arranged at the end of the telescopic end of the second telescopic rod 4021; when the telescopic upright post is in a connection state, the insertion block is completely inserted into the insertion slot to connect the first telescopic upright post 401 with the second telescopic upright post 402, so that the first telescopic upright post 401 and the second telescopic upright post 402 are connected into a complete telescopic upright post 4

Preferably, the shelf driving device 503 has various embodiments, as shown in fig. 5, 9 and 16, the shelf driving device 503 includes a shelf driving motor, the shelf driving motor is electrically connected to the power unit and the micro-control unit, the telescopic upright column 4 is a gear-rack engaging structure, that is, the side of the telescopic upright column 4 is provided with a driving rack 405, the output end of the shelf driving motor is provided with a gear, the gear is engaged with the driving rack 405 on the telescopic upright column 4, and the rotary motion of the motor is converted into the linear motion of the shelf 5 to realize the lifting of the shelf 5 on the telescopic upright column 4. Preferably, as the telescopic rods on the telescopic upright posts 4 and the fixed rods are both provided with the transmission racks 405, when the telescopic degree of the telescopic upright post 4 is adjusted, the telescopic rod and the fixed rod can generate relative displacement, so as to drive the driving motor to rotate and influence the position of the shelf 5, therefore, the side of the frame 501 is provided with a telescopic frame, the telescopic direction of the telescopic frame is the same as the length direction or width of the beam 502, the fixed part of the telescopic frame is fixedly connected with the frame 5, the telescopic part of the telescopic frame is fixedly provided with the layer frame driving motor, the position of the layer frame driving motor is controlled by controlling the telescopic degree of the telescopic frame, thereby controlling the degree of engagement between the gear and the drive rack 405, and when the telescoping frame is extended outwards and self-locked, the shelf driving motor is far away from the frame 501, and at the moment, the gear is not meshed with the transmission rack 405, so that the telescopic degree of the telescopic upright post 4 can be adjusted; when the telescoping frame body is retracted inwards and self-locked, the shelf driving motor is close to the frame 501, and at the moment, the gear is meshed with the transmission rack 405, and the meshing stability is kept through the self-locking of the telescoping frame body. Preferably, the telescopic frame body may be hydraulically controlled or directly controlled by a motor.

As shown in fig. 9 and 10, the connecting device 9 includes a connecting block 902 and two oppositely disposed connecting grooves 901, and the connecting device 9 is specifically disposed between two shelves 5 on the same layer on two transmission lanes 3, and is used for connecting two adjacent shelves 5 at the same height. The shelf 5 comprises frames 501 and a beam 502, two opposite side walls of the two shelves 5 are respectively provided with a connecting groove 901, the two connecting grooves 901 are respectively and oppositely arranged on the adjacent edges of the two frames 501, a connecting block 902 is connected in the two connecting grooves 901 in a sliding embedded manner, a rack is arranged on one side edge of the connecting block 902, one connecting groove 901 is provided with a connecting block driving motor 903, the connecting block driving motor 903 is respectively and electrically connected with a power unit and a micro-control unit, an output shaft of the connecting block driving motor 903 is provided with a gear matched with the rack on the connecting block 902, and the gear and the rack are correspondingly arranged; when the two shelves 5 need to be connected, the connecting block driving motor 903 rotates forwards and is driven by the gear and the rack, and the connecting block 902 moves until the two ends of the connecting block 902 are respectively positioned in the two connecting grooves 901; when the two shelves 5 are not required to be connected, the connecting block driving motor 903 rotates reversely and is driven by the rack and pinion, so that the connecting block 902 is only positioned in the connecting groove 901 provided with the connecting block driving motor 903.

Specifically, as shown in fig. 5, 11 and 12, the device further includes a push plate structure 6 and a baffle rail 7, the push plate structure 6 is connected to the transmission roadway 3 in a sliding manner, and the baffle rail 7 is disposed at an end of a telescopic end of the second telescopic upright column 402 at the front end of the transmission roadway 3;

the push plate structure 6 comprises a plate body 602 and two supporting seats 601, the bottoms of the two supporting seats 601 are respectively connected to two sides of the transmission roadway 3 in a sliding manner, and the supporting seats 601 are provided with sliding driving devices for enabling the supporting seats 601 to slide, and the sliding driving devices are respectively electrically connected with the power unit and the micro-control unit; two ends of the plate body 602 are respectively connected with the upper parts of the two supporting seats 601 in a sliding manner, the length direction of the plate body 602 is parallel to the width direction of the conveying roadway 3, lifting driving devices for adjusting the height of the plate body 602 are arranged at the joints of the plate body 602 and the two supporting seats 601, and the lifting driving devices are respectively electrically connected with the power unit and the micro-control unit; when the push plate structure 6 slides to the front end of the conveying roadway 3, the plate body 602 can be moved out of the supporting seat 601 through the lifting driving device and is in sliding connection with the baffle rail 7;

all be equipped with two on every transmission tunnel 3 push pedal structure 6, two push pedal structures 6 set gradually from the front to the back.

Preferably, the connection modes between the support base 601 and the plate body 602 and between the baffle rail 7 and the plate body 602 may be a connection mode of a rack and pinion, specifically: the support seats 601 are provided with inward recessed sliding grooves, one side of each sliding groove is a rack structure 6012, two ends of the plate body 602 are respectively in sliding connection with the sliding grooves in the two support seats 601, each lifting driving device comprises a lifting driving motor 6021, the lifting driving motors 6021 are respectively electrically connected with the power unit and the micro control unit, the lifting driving motors 6021 are respectively installed inside the two ends of the plate body 602, gears matched with the sliding grooves and the racks are arranged on output shafts of the lifting driving motors 6021, when the height of the plate body 602 needs to be adjusted, the rotation of the lifting driving motors 6021 is converted into linear motion of the plate body 602 through positive and negative rotation of the lifting driving motors 6021 and transmission of the gear racks, so that the plate body 602 is controlled to move upwards or downwards, and meanwhile, the stability of the height of the plate body 602 is realized through self-locking of the lifting driving motors 6021 and meshing of the gear racks.

The upper part of the baffle rail 7 is provided with a sliding chute with the same structure as the supporting seat 601, the directions of the sliding chutes are the same, the lower part of the baffle rail 7 is provided with a blocking groove, and the blocking groove is matched with the upper part of the supporting seat 601, namely the supporting seat 601 can be clamped into the blocking groove, so that the supporting seat 601 can be prevented from sliding out of the transmission roadway 3, and the positioning effect of the two sliding chutes can be realized; when the supporting base 601 is clamped into the blocking groove, the sliding groove on the supporting base 601 is aligned with the sliding groove on the baffle rail 7, so that the plate body 602 can move into the baffle rail 7.

Specifically, as shown in fig. 5, the transmission lane 3 includes a plurality of sub-lanes 301, the plurality of sub-lanes 301 are sequentially arranged from front to back, and a gap for the layer frame 5 to pass through is left between each adjacent sub-lane 301;

as shown in fig. 6-8, the sub-lane 301 includes two side plates 3011 and a plurality of rollers 3012, the two side plates 3011 are arranged in parallel, the bottom of the side plates 3011 is connected to the first substrate 1, the rollers 3012 are uniformly arranged between the two side plates 3011, two ends of the rollers 3012 are respectively connected to the side plates 3011 in a rotating manner and are provided with pressure sensors, the pressure sensors are electrically connected to the micro-control unit, each sub-lane 301 is provided with at least 3 rollers 3012, the rollers 3012 are provided with roller driving devices 3013 at intervals, the roller driving devices 3013 are arranged on the inner walls of the side plates 3011, the output shafts of the roller driving devices 3013 are connected to the rollers 3012 for controlling the rollers 3012 to rotate, and the roller driving devices 3013 are respectively electrically connected to the power unit and the micro-control unit

The sliding driving device comprises a plurality of pulleys 6011 with a sliding driving motor 6013, the sliding driving motor 6013 is electrically connected with the power unit and the micro control unit respectively, the pulleys 6011 are arranged at the bottom of the supporting seat 601 in a linear arrangement manner, and meanwhile, the pulleys 6011 and the sliding driving motor 6013 can be self-locked to keep the position of the supporting seat 601; two sides of the laneway 301 are provided with sliding guide rails 302 matched with the pulleys 6011, two ends of each sliding guide rail 302 are provided with splayed openings, the width of the two ends of each sliding guide rail 302 is larger than that of the middle part of each sliding guide rail 302, the width of the middle part of each sliding guide rail 302 is matched with the size of the pulley 6011 at the bottom of the supporting seat 601, because of the gap between each sub-lane 301, when the support base 601 moves on the slide rail 302, there may be a case where a part of the pulley 6011 is suspended in the gap, and another part of the pulley 6011 is in the slide rail 302, the splayed openings at the two ends of the sliding guide rail 302 are more beneficial to the pulley 6011 at the suspended part to slide into the sliding guide rail 302 more quickly and conveniently, the movement of the support base 601 is smoother, and the probability of failure in the moving process of the support base 601 is reduced, for example, the pulley 6011 is clamped at the port of the slide rail 302.

The visual recognition device 8 is in the prior art, the set height of the visual recognition device is larger than that of a single cargo, the visual recognition device is used for scanning the bar code of the cargo to read logistics information of the cargo, the logistics information comprises a delivery address, a cargo taking mode and the like, the recognized information is fed back to a background micro-control unit in real time, a plan for loading the cargo is generated through a computer, and as shown in fig. 17, the micro-control unit controls a power unit to comprehensively allocate a roller driving device 3013, a telescopic driving motor 407, a shelf driving motor, a connecting block driving motor 903, a lifting driving motor 6021 and a sliding driving motor 6013 to complete reasonable loading of the cargo.

The loading and unloading steps of the single mode are as follows:

loading:

the first telescopic upright column 401 and the second telescopic upright column 402 are in an extended connection state, the sliding driving device is controlled by the micro-control unit to enable the push plate structure 6 at the rear end to slide to the rearmost end of the conveying roadway 3, the push plate structure 6 at the front end slides to the front end of the conveying roadway 3 until the supporting seat 601 is clamped with the blocking groove of the baffle rail 7, then the plate body 602 of the push plate structure 6 at the front end slides to the highest position of the baffle rail 7, and meanwhile the connecting device 9 between the layer frames 5 is in a separation state;

s102: the visual recognition device 8 scans and recognizes the information of the goods at the loading and unloading port, the micro-control unit judges whether the goods are in the loading task, if so, the next step is carried out, and if not, the carrying robot carries the goods to one side;

s103: the visual recognition device 8 recognizes the length of the goods and the remaining space length of the transmission roadway 3, feeds information back to a background micro-control unit, judges whether the length of the goods is smaller than the remaining space length of the transmission roadway 3, and if so, a roller 3012 provided with a roller driving device 3013 rotates forwards to send the goods into a carriage. Meanwhile, the visual recognition device 8 adjusts the height of the plate body 602 on the baffle rail 7 according to whether the goods are stacked or not, so as to block redundant goods and prevent stacking, and meanwhile, the step S102 is repeated, if not, the plate body 602 slides to the supporting seat 601 from the baffle rail 7, and the next step is carried out;

s104: the two push plate structures 6 move oppositely to clamp the goods, stress information of the roller 3012 is collected through the pressure sensor arranged on the roller 3012 and used for analyzing the position and gravity center condition of the goods, and the position and gravity center of the goods are adjusted by adjusting the position of the push plate structures 6 through the micro-control unit. After the gravity center is adjusted, the push plate structures 6 at the front end and the rear end recover the state of S101, and a space is reserved for the goods to rise;

s105: the layer frame 5 accommodated below the roller 3012 rises to pass through the gap between the sub-tunnels 301, and supports the goods to a certain height from the roller 3012;

s106: according to the goods information scanned by the visual recognition device 8, the micro-control unit judges whether the loading task is finished or not, if so, the loading is finished or the next loading task is carried out; if not, repeating the step S102;

unloading:

s201: the first telescopic upright column 401 and the second telescopic upright column 402 are in an extended connection state, the sliding driving device is controlled by the micro-control unit to enable the push plate structure 6 at the rear end to slide to the rearmost end of the conveying roadway 3, the push plate structure 6 at the front end slides to the front end of the conveying roadway 3 until the supporting seat 601 is clamped with the blocking groove of the baffle rail 7, then the plate body 602 of the push plate structure 6 at the front end slides to the highest position of the baffle rail 7, and meanwhile the connecting device 9 between the layer frames 5 is in a separation state;

s202: the shelf 5 which is positioned at the bottommost part and loaded with the goods descends to enable the goods to be in contact with the rollers 3012, the goods are placed on roller tracks formed by the rollers 3012, the shelf 5 passes through gaps among the sublevels 301 to descend continuously to finish storage, and the push plate structure 6 at the rear end moves forwards to push the goods to move forwards;

s203: the visual recognition device 8 scans information of goods and feeds the information back to the micro control unit, the plate body 602 connected with the baffle rail 7 slides downwards to a position slightly higher than the goods, stacked goods are blocked, and the roller 3012 provided with the roller driving device 3013 rotates reversely to send the goods at the foremost end of the transmission roadway 3 out of the carriage.

S204: the micro-control unit judges whether the push plate structure 6 at the rear end moves to the foremost end of the transmission roadway 3 through the visual recognition device 8, if so, the next step is carried out, and if not, the step S203 is repeated;

s205: and according to the cargo information scanned by the visual recognition device 8, the micro-control unit judges whether the unloading task is finished or not, if so, the unloading is finished or the next unloading task is carried out, if not, the push plate structure 6 at the rear end moves to the rearmost end, and the step S202 is repeated.

The loading and unloading steps of the merging mode are as follows:

loading:

s301: the first telescopic upright column 401 and the second telescopic upright column 402 between two adjacent transmission roadways 3 are in a contracted separation state, the two push plate structures 6 are both positioned at the rearmost ends of the transmission roadways 3, and meanwhile, the connecting devices 9 between the layer frames 5 are in a connecting state to connect the layer frames 5 on the same layer on a plurality of transmission roadways 3;

s302: the visual recognition device 8 scans and recognizes the information of the large-size goods at the loading and unloading port, the micro-control unit judges whether the large-size goods are in the loading task, if so, the next step is carried out, and if not, the carrying robot carries the large-size goods to one side;

s303: the visual recognition device 8 recognizes the length and the height of the large-size goods and the length and the height of the remaining space of the transmission roadway 3, feeds information back to a background micro-control unit, judges whether the large-size goods can be accommodated in the remaining space of the transmission roadway 3, if so, the roller 3012 provided with the roller driving device 3013 rotates forwards to send the large-size goods into a carriage, and repeats the step S302, if not, the mutually connected layer frames 5 below the roller 3012 ascend to penetrate through gaps among the sub-roadways 301 to lift the large-size goods;

s304: judging whether the loading task is finished or not according to the cargo information scanned by the visual recognition device 8, and if so, ending the loading or carrying out the next loading task; if not, repeating the step S302;

unloading:

s401: the first telescopic upright column 401 and the second telescopic upright column 402 between two adjacent transmission roadways 3 are in a contracted separation state, the two push plate structures 5 are both positioned at the rearmost ends of the transmission roadways 3, and meanwhile, the connecting devices 9 between the layer frames 5 are in a connecting state to connect the layer frames 5 on the same layer on a plurality of transmission roadways 3;

s402: a plurality of connected layer frames 5 which are positioned at the bottommost part and loaded with large-size goods descend to enable the goods to be in contact with the roller 3012, the layer frames 5 continuously descend through gaps among the sub-tunnels 301 to finish storage, the contraction degree of the contraction end of a second telescopic upright post 402, which is connected with the baffle rail 7, of the end of the transmission tunnel 3 is adjusted, the bottom of the baffle rail 7 is higher than the height of the large-size goods, and the large-size goods can be smoothly moved out of the transmission tunnel;

s403: all the push plate structures 6 move forwards to push large-size goods to move forwards, the roller 3012 provided with the roller driving device 3013 rotates reversely to send the large-size goods out of the carriage, and meanwhile, the visual recognition device 8 scans the information of the large-size goods and feeds the information back to the micro-control unit;

s404: the micro-control unit judges whether the push plate structure 6 at the rear end moves to the foremost end of the transmission roadway 3 through the visual recognition device 8, if so, the next step is carried out, and if not, the step S403 is repeated;

s405: and judging whether the unloading task is finished or not according to the information of the large-size goods scanned by the visual recognition device 8, if so, finishing the unloading or carrying out the next unloading task, if not, moving all the push plate structures 6 to the rearmost end, and repeating the step S402.

The foregoing is illustrative of the preferred embodiments of this invention, and it is to be understood that the invention is not limited to the precise form disclosed herein and that various other combinations, modifications, and environments may be resorted to, falling within the scope of the concept as disclosed herein, either as described above or as apparent to those skilled in the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.

Claims

1. The utility model provides a many tunnels handling system, includes handling module and control module, handling module includes first base plate, second base plate and is used for the transmission tunnel of goods handling, and first base plate, second base plate and transmission tunnel are all installed in the carriage, and the second base plate sets up the top at first base plate, the transmission tunnel sets up on first base plate and the transmission tunnel is located between first base plate and the second base plate, its characterized in that: the conveying roadway is provided with a plurality of conveying roadways which are arranged in parallel, each conveying roadway is provided with a plurality of telescopic stand columns and at least one layer of layer frame for carrying cargo, the telescopic stand columns are uniformly arranged on two sides of the conveying roadway along the conveying direction of the conveying roadway, the layer frames are in sliding connection with the telescopic stand columns, a layer frame driving device for enabling the layer frames to move up and down along the telescopic stand columns to achieve cargo lifting is arranged at the connection position of the layer frames and the telescopic stand columns, and the layer frames are provided with connecting devices for connecting and matching with the layer frames on the adjacent conveying roadway; the control module comprises a power unit and a micro-control unit, the power unit, the micro-control unit and the loading and unloading module are electrically connected with each other, the power unit provides power for the operation of the loading and unloading module, and the micro-control unit is used for controlling the loading and unloading module and the power unit.

2. A multi-lane handling system according to claim 1 wherein: the telescopic stand column comprises a first telescopic stand column and a second telescopic stand column, the first telescopic stand column is arranged opposite to the second telescopic stand column, one end of the first telescopic stand column is fixedly mounted on a first base plate, one end of the second telescopic stand column is fixedly mounted on a second base plate, the other end of the first telescopic stand column is a telescopic end, the other end of the second telescopic stand column is a telescopic end, the telescopic end of the first telescopic stand column is connected with the telescopic end of the second stand column through a connecting structure, telescopic driving devices are arranged on the first telescopic stand column and the second telescopic stand column, and the telescopic driving devices are respectively electrically connected with a power unit and a micro-control unit.

3. A multi-lane handling system according to claim 2 wherein: the device also comprises a push plate structure and a baffle rail, wherein the push plate structure is connected with the transmission roadway in a sliding manner, and the baffle rail is arranged on the end head of the telescopic end of the second telescopic upright column at the front end of the transmission roadway;

4. A multi-lane handling system according to claim 3 wherein: the upper portion of the baffle rail is connected with the telescopic end of the second telescopic stand column, and the lower portion of the baffle rail is provided with a blocking groove matched with the upper portion of the supporting seat and used for clamping the baffle rail with the supporting seat.

5. A multi-lane handling system according to claim 3 wherein: the device is characterized by further comprising a visual recognition device, wherein the visual recognition device is arranged on each transmission roadway and is arranged at the front end of each transmission roadway and located in front of the baffle rail, and the visual recognition devices are electrically connected with the power unit and the micro-control unit respectively.

6. A multi-lane handling system according to claim 2 wherein: the transmission roadway comprises a plurality of sub-roadways which are sequentially arranged from front to back, and a gap for the layer frame to pass through is reserved between every two adjacent sub-roadways;

the sub-roadway comprises two side plates and a plurality of rollers, the side plates are arranged in parallel, the bottoms of the side plates are connected with a first base plate, the rollers are evenly arranged between the two side plates, the two ends of each roller are respectively connected with the side plates in a rotating mode and are provided with pressure sensors, the pressure sensors are electrically connected with a micro-control unit, each sub-roadway is at least provided with 3 rollers, the rollers are arranged at intervals and are provided with roller driving devices, the roller driving devices are arranged on the inner walls of the side plates, output shafts of the roller driving devices are connected with the rollers and are used for controlling the rollers to rotate, and the roller driving devices are respectively electrically connected with a power unit and the micro-control unit.

7. A control method of a multi-lane handling system including a multi-lane handling system as claimed in any one of claims 1 to 6, characterized by: according to the different sizes of the goods handling package, two operation modes are provided, namely a combination mode and an individual mode, wherein the combination mode is used for handling large-size goods, and the individual mode is used for handling normal-size goods.

8. The control method of a multi-lane handling system according to claim 7, characterized in that: the loading and unloading steps of the single mode are as follows:

loading:

s101: the first telescopic stand column and the second telescopic stand column are in an extended connection state, the sliding driving device is controlled by the micro-control unit to enable the push plate structure at the rear end to slide to the rearmost end of the transmission roadway, the push plate structure at the front end slides to the front end of the transmission roadway until the supporting seat is clamped with the blocking groove of the baffle rail, then the plate body of the push plate structure at the front end slides to the highest position of the baffle rail, and meanwhile, the connection devices between the layer frames are in a separation state;

s103: the visual recognition device recognizes the length of the goods and the remaining space length of the transmission roadway, feeds information back to the background micro-control unit, judges whether the length of the goods is smaller than the remaining space length of the transmission roadway, and if so, forwards rotates the roller provided with the roller driving device to convey the goods into the carriage; meanwhile, the visual recognition device adjusts the height of the plate body on the baffle rail according to whether the goods are stacked or not, the visual recognition device is used for blocking redundant goods to prevent stacking, the step S102 is repeated, if not, the plate body slides to the supporting seat from the baffle rail, and the next step is carried out;

unloading:

s201: the first telescopic stand column and the second telescopic stand column are in an extended connection state, the sliding driving device is controlled by the micro-control unit to enable the push plate structure at the rear end to slide to the rearmost end of the transmission roadway, the push plate structure at the front end slides to the front end of the transmission roadway until the supporting seat is clamped with the blocking groove of the baffle rail, then the plate body of the push plate structure at the front end slides to the highest position of the baffle rail, and meanwhile, the connection devices between the layer frames are in a separation state;

s203: the visual recognition device scans information of goods and feeds the information back to the micro-control unit, the plate body connected with the baffle rail slides downwards to a position slightly higher than the goods to block the stacked goods, and a roller provided with a roller driving device rotates reversely to send the goods at the foremost end of a transmission roadway out of a carriage;

9. The control method of a multi-lane loading and unloading system according to claim 7, wherein the loading and unloading steps of the merge mode are as follows:

loading:

unloading:

s402: a plurality of connected layer frames which are positioned at the bottommost part and loaded with large-size goods descend to enable the goods to be in contact with the roller, the layer frames penetrate through gaps among the sub-roadways and continue to descend to finish storage, the contraction degree of the contraction end of a second telescopic upright post of which the end head of the transmission roadway is connected with the baffle rail is adjusted, the bottom of the baffle rail is higher than the height of the large-size goods, and the large-size goods can be smoothly moved out of the transmission roadway;