WO2022011999A1 - Cargo loading and conveying system and method - Google Patents

Abstract

Disclosed are a cargo loading and conveying system and method. The cargo loading and conveying system comprises: an assembly packaging moving rack (2) disposed on an assembly packaging fixing rack (1), which assembly packaging moving rack can fix a flexible cargo packaging bag (8) and holds open a mouth of the cargo packaging bag; a movable plate (31) mounted in the assembly packaging moving rack and can rise or lower; a movable plate lifting driving mechanism, which can drive the movable plate to rise or lower; cargo sensors (6) arranged near the mouth of the cargo packaging bag for collecting information of items of cargo exceeding a preset height of the mouth of the cargo packaging bag; and a controller (52) electrically connected to the cargo sensors and the movable plate lifting driving mechanism such that, before loading of items of cargo into a cargo packaging bag, the controller controls the movable plate to rise to a preset height, and when the items of cargo are sensed by the cargo sensors, the controller can control the movable plate to lower by means of the movable plate lifting driving mechanism, such that the items of cargo in the cargo packaging bag can be lowered. The cargo loading and conveying system is reasonable in terms of structure, can conveniently load and unload cargo, can maximize the loading capacity, and has a high degree of automation.

Description

A cargo loading and conveying system and method

CROSS-REFERENCE TO RELATED APPLICATIONS

The present disclosure claims the priority of the Chinese Patent Application No. 202010679417.0 and entitled "Cargo Loading and Conveying System" filed with the Chinese Patent Office on Jul. 15, 2020, the entire contents of which are incorporated herein by reference.

technical field

The present disclosure relates to the field of conveying technology, and in particular, to a system and method for loading and conveying goods.

Background technique

Sorting packages by robots has been well applied. In the prior art, Chinese patent discloses CN201510433995.5-a package sorting system and method, which improves the problem that the efficiency of package sorting needs to be improved in the prior art.

The inventor found in the research that the package collecting device cannot judge whether the package is full in practical application, and the package collecting device cannot handle the package exceeding the predetermined height.

SUMMARY OF THE INVENTION

The objects of the present disclosure include, for example, to provide a cargo loading and conveying system and method, which can effectively control the cargo, including the package, not to exceed the predetermined height of the cargo packaging bag.

The technical solution of the present disclosure is:

In a first aspect, the present disclosure provides a cargo loading and conveying system, comprising:

Bundle fixing frame, which is fixed to the floor or ground;

The container moving frame is placed on the container fixing frame. The container moving frame can fix the flexible cargo packaging bag and open the bag mouth of the cargo packaging bag. When the cargo packaging bag is loaded with goods, the The collecting robot can be driven below, and the collecting robot can lift the moving frame of the collecting bag loaded with the goods and transport it to the unloading bottom frame;

The movable plate, which is installed in the moving frame of the collection bag and can be lifted and lowered, the movable plate can support the bottom of the cargo packaging bag and can control the lifting and lowering of the bottom of the cargo packaging bag;

The movable plate lift drive mechanism, which can drive the movable plate to lift;

The cargo sensor is arranged near the mouth of the cargo packaging bag, and is configured to collect the information of the predetermined height of the cargo overflowing the mouth of the bag, and the cargo sensor is fixed to the container fixing frame through the bracket;

The controller is electrically connected to the cargo sensor and the movable plate lifting drive mechanism. Before the cargo packaging bag is loaded with goods, the controller controls the movable plate to rise to a predetermined height. When the cargo sensor collects the predetermined height of the cargo overflowing the bag mouth, the controller can pass The movable plate lift drive mechanism controls the movable plate to descend, so that the goods in the cargo packaging bag can be lowered;

The server, which is connected to the robot via wireless connection, and the controller via wireless or wired connection.

Optionally, the movable plate lift drive mechanism includes:

an air bag, which is provided with a first air nozzle, and the air bag is installed between the bottom plate and the movable plate of the moving frame of the collection bag;

The upper air joint is fixed with the bottom plate, and the upper air joint is provided with a second air nozzle and an upper butt-jointed air nozzle which are communicated with the air path, and the second air nozzle is connected to the first air nozzle through a hose;

the lower gas joint, which is fixed with the top surface of the collecting bag fixing frame, and the lower gas joint is provided with a sealing ring and a second gas nozzle and a lower butt joint gas nozzle which are communicated with the gas path;

an air blowing solenoid valve, which is connected in series between the air pump and the first air nozzle;

The suction solenoid valve is connected in series between the vacuum pump and the first air nozzle;

a pressure sensor, which is installed in the pipeline of the first air nozzle;

The pressure sensor, the blowing solenoid valve and the suction solenoid valve are installed in the control box and are electrically connected to the controller;

When the collecting bag moving frame is placed on the collecting bag fixing frame, the upper butting air nozzle of the upper air connector and the lower butting air nozzle of the lower air connector are connected and the air path is connected and sealed by the sealing ring, and the controller opens the air blowing solenoid valve , can inflate the airbag, the movable plate drives the bottom of the cargo packaging bag to rise to a predetermined height, and when the airbag reaches the predetermined pressure value, the air blowing solenoid valve is closed; when the cargo sensor detects that the cargo overflows the predetermined height of the bag mouth, the controller can Open the suction solenoid valve, suck the air in the air bag into the vacuum pump, the movable plate and the goods are lowered, and the pallet moving rack can be lifted by the pallet robot and then transported to the unloading bottom rack for unloading.

Optionally, a plurality of airbags are provided and all are in a flat shape, the plurality of airbags are stacked on top of each other, and the first air nozzles of the plurality of airbags are all connected through a hose.

Optionally, a plurality of airbags are provided and all are flat-shaped, the plurality of airbags are arranged side by side, and the first air nozzles of the plurality of airbags are all connected by a hose.

Optionally, the movable plate lift drive mechanism further includes:

At least one sliding sleeve, the sliding sleeve is sleeved outside the vertical pole in the moving frame of the collection bag, and can move up and down along the vertical pole, and the sliding sleeve is fixed with the movable plate.

Optionally, the movable plate lift drive mechanism includes:

Two sliding sleeves, the two sliding sleeves are respectively sleeved outside the two vertical rods in the moving frame of the collection bag, and can move up and down along the vertical rods, and the two sliding sleeves are fixed with the movable plate;

Lifting motor, its shell is fixed with the bottom plate of the moving frame of the collection bag, the rotating shaft is fixed with the screw rod, the output wires of the lifting motor are respectively connected to the terminals of the two terminals, and the insulator of the terminal is fixed with the bottom plate;

A screw nut, which is fixed with the movable plate and is sleeved with the screw;

A pair of electrodes, which are fixed with the top surface of the collecting bag fixing frame through an insulating sheet, and a pair of electrodes is connected to the controller through a cable;

When the moving frame of the collecting bag is placed on the fixing frame of the collecting bag, the two terminals are electrically connected to a pair of electrodes respectively, and the controller can control the movable plate through the lifting motor to drive the bottom of the cargo packaging bag to rise to a predetermined height. When the cargo sensor overflows the bag When the height of the mouth is predetermined, the controller can control the movable plate to drive the bottom of the goods packaging bag to descend through the lifting motor, so that the goods above the mouth of the bag can be lowered.

Optionally, the movable plate lift drive mechanism includes:

For the electric jack, the bottom frame is fixed with the bottom plate of the moving frame of the collection bag, the top frame is fixed with the movable plate, the output wires of the jack motor are respectively connected to the terminals of the two terminals, and the insulator of the terminal is fixed with the bottom plate;

A pair of electrodes, which are fixed with the top surface of the collecting bag fixing frame through an insulating sheet, and a pair of electrodes is connected to the controller through a cable;

When the moving frame of the bag is placed on the fixing frame of the bag, the two terminals are electrically connected to a pair of electrodes respectively, and the controller can control the movable plate through the jack motor to drive the bottom of the cargo packaging bag to rise to a predetermined height. When the goods overflow the predetermined height of the bag mouth, the controller can control the movable plate through the jack motor to drive the bottom of the goods packaging bag to descend, so that the goods above the bag mouth can be lowered.

Optionally, the top of the pallet moving rack is a rectangular frame, and the length or width of the rectangular frame can be elastically deformed, so as to stretch the bag opening of the cargo packaging bag.

Optionally, the rectangular frame includes:

Two first lateral outer sleeves, one end of the two first lateral outer sleeves is connected to the first vertical pipe and is fixed to the bottom plate through a vertical rod, and the other ends of the two first lateral outer sleeves are suspended;

two second lateral inner sleeves, one end of the two second lateral inner sleeves is connected to the second vertical pipe, the other end is inserted into the first lateral outer sleeve, and the bottom of the second lateral inner sleeve is provided with a limiting groove;

Two compression springs, one end of which touches the inner end of the second horizontal inner sleeve, and the other end touches the first vertical tube;

Two limit reinforcement plates are fixed with the first lateral outer sleeve and the vertical rod. The protrusions of the limit reinforcement plates pass through the long holes of the first lateral outer sleeve and are inserted into the limit grooves, which can affect the stroke of the second lateral inner sleeve. limit.

Optionally, the cross sections of the first lateral outer sleeve and the second lateral inner sleeve are rectangular, and the rectangular frame further includes:

A plurality of sliding positioning blocks are fixed on the four outer surfaces of the second lateral inner sleeve and touch the inner surface of the first lateral outer sleeve.

Optionally, four positioning portions are fixed at the four corners of the rectangular frame, and the four positioning portions can fix the bag mouth of the cargo packaging bag so that it is stretched to form a rectangular shape.

Optionally, the positioning portion is a pointed positioning post, and the pointed positioning post can pierce the opening of the fixed bag of the cargo packaging bag, so that it is stretched to form a rectangular shape.

Optionally, the bottom plate of the container moving frame and the container fixing frame are respectively provided with a plurality of pairs of precise positioning devices, and each pair of precise positioning devices includes:

Conical convex column and conical concave block, one of which is fixed with the bottom plate of the moving frame of the collecting bag, and the other is fixed with the fixing frame of the collecting bag;

The conical convex column can be embedded in the conical concave block, so that the container holder and the container holder can be accurately positioned.

Optionally, the unloading bottom frame is fixed with a positioning device for the moving bag rack. When the moving collecting frame is placed on the unloading bottom frame by the collecting robot, the positioning device for moving the collecting bag can fix the moving frame for collecting the bag. The package moving rack positioning device is controlled by the unloading controller, and the unloading controller is connected to the server by wire or wireless.

Optionally, the positioning device for the mobile rack of the collection package includes:

More than one pair of electromagnetic locks, which are installed symmetrically with respect to the moving frame of the collection bag, and which are electrically connected to the unloading controller;

The bottom plate of the pallet moving frame is made of magnetic conductive material, and the bottom plate can be attracted by the electrified electromagnetic lock.

Optionally, cargo sensors include:

Multiple pairs of laser emitting tubes and multiple pairs of laser receiving tubes are installed horizontally, and the beam emitted by the laser emitting tubes can be received by the laser receiving tubes after being reflected by the goods.

In a second aspect, the present disclosure provides a cargo loading and conveying method, comprising:

Control the movable plate in the moving frame of the package to rise to a predetermined height;

When the cargo packaging bag is loaded with the cargo, collect the information of the predetermined height of the cargo overflowing the bag mouth;

When the cargo sensor collects the predetermined height of the cargo overflowing from the bag mouth, control the movable plate lifting and lowering drive mechanism to control the movable plate to descend until the cargo in the cargo packaging bag descends and is lower than the predetermined height.

Compared with the prior art, the beneficial effects of the embodiments of the present disclosure include, for example:

The present disclosure can ensure that the cargo packaging bag is basically filled with goods without overflowing and can be directly packed, thereby improving the loading capacity and packaging efficiency of the cargo packaging bag; The mouth supports to the maximum, and it is very convenient to disassemble and assemble. In the present disclosure, except that the cargo packaging bag needs manual assistance, all other processes can be completed automatically. The present disclosure has the beneficial effects of reasonable structure, low cost, convenient loading and unloading of goods, maximum loading capacity and high degree of automation.

Description of drawings

In order to illustrate the technical solutions of the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings used in the embodiments. It should be understood that the following drawings only show some embodiments of the present invention, and therefore do not It should be regarded as a limitation of the scope, and for those of ordinary skill in the art, other related drawings can also be obtained according to these drawings without any creative effort.

FIG. 1 is a schematic structural diagram of the cargo loading and conveying system of the present disclosure;

FIG. 2 is a view of the cargo loading and conveying system of the present disclosure;

FIG. 3 is a schematic structural diagram of the butt-connected air passage of the upper butt-jointed air nozzle and the lower butted air-nozzle of the present disclosure;

4 is a schematic structural diagram of a blowing solenoid valve and a suction solenoid valve of the present disclosure;

5 is a schematic structural diagram of an airbag of the present disclosure;

6 is a schematic structural diagram of a lifting motor of the present disclosure;

FIG. 7 is a schematic structural diagram of a wiring terminal of the present disclosure;

8 is a schematic structural diagram of the disclosed electric jack;

9 is a schematic structural diagram of a rectangular frame of the present disclosure;

Figure 10 is a side view of the disclosed rectangular frame;

FIG. 11 is a schematic structural diagram of the unloading chassis of the present disclosure.

Labels in the figure:

1-Package fixed frame; 2-Package mobile rack; 4-Cargo bag; 80-Cargo; 84-Package robot; 9-Unloading chassis; 31-Moveable board; 6-Cargo sensor; 6-Sensor; 7- bracket; 52- controller; 82- upper floor; 83- unloading port; 81- sorting robot; 32- air bag; 321- first air nozzle; 20- bottom plate; 201- upper air joint; Two air nozzles; 202 - upper butt air nozzle; 11 - lower air connector; 111 - sealing ring; 113 - second air nozzle; 112 - lower butt air nozzle; 202 - upper butt air nozzle; 53 - blowing solenoid valve; 54-suction solenoid valve; 56-pressure sensor; 51-control box; 52-controller; 55-four-way joint; 36-sliding sleeve; 21-pole; 35-lifting motor; 34-screw; 37- 38-electrode; 83-jack motor; 22-first lateral outer casing; 27-first vertical pipe; 23-second lateral inner casing; 28-second vertical pipe; 222-limiting slot ; 25-compression spring; 24-limiting reinforcement plate; 241-bump; 26-sliding positioning block; 231-point positioning column; 91-set bag moving frame positioning device.

detailed description

The present disclosure will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the related invention, but not to limit the invention. In addition, it should be noted that, for the convenience of description, only the parts related to the invention are shown in the drawings.

It should be noted that the embodiments of the present disclosure and the features of the embodiments may be combined with each other under the condition of no conflict. The present disclosure will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments. Please refer to FIG. 1 , FIG. 2 and FIG. 4 , this embodiment provides a cargo loading and conveying system, including:

Bundle fixing frame 1, which is fixed with the floor or ground;

The pallet moving rack 2 is placed on the pallet fixing rack 1. The pallet moving rack 2 can fix the flexible cargo packaging bag 4 and open the bag mouth of the cargo packaging bag 4. When the cargo packaging bag 4 is loaded with goods 80 Afterwards, the bottom of the pallet moving rack 2 can drive into the pallet robot 84, and the pallet robot 84 can lift the pallet moving rack 2 loaded with the goods 80 and transport it to the unloading chassis 9;

The movable plate 31, which is installed in the container moving frame 2 and can be lifted and lowered, the movable plate 31 can support the bottom of the cargo packaging bag 4 and can control the lifting and lowering of the bottom of the cargo packaging bag 4;

The movable plate lifting and lowering driving mechanism, which can drive the movable plate 31 to rise and fall;

The cargo sensor 6 is arranged near the pocket opening of the cargo packaging bag 4, and is configured to collect the information that the cargo 80 overflows the predetermined height of the pocket opening.

The controller 52 is electrically connected to the cargo sensor 6 and the movable plate lift drive mechanism. Before the cargo packaging bag 4 is loaded with the cargo 80, the controller controls the movable plate 31 to rise to a predetermined height. When the cargo sensor 6 collects the cargo 80, the controller The movable plate 31 can be controlled to descend through the movable plate lifting drive mechanism, so that the goods in the cargo packaging bag 4 can be lowered;

The server, which is connected to the collection robot 84 by wireless, is connected to the controller by wireless or wire.

The cargo loading and conveying system can be installed and is not limited to the package sorting system mentioned in the background art. As shown in FIG. 2 , the package sorting system includes:

The upper floor 82 is provided with an unloading port 83, and the unloading port 83 can unload the goods 80 sorted by the sorting robot 81;

The pallet holder 1, which is located just below the unloading port 83;

As can be seen from FIG. 2, when the goods 80 overflow the goods packaging bag 4, the goods 80 exceeding the predetermined height will hinder the normal operation of the goods loading and conveying system;

At this time, by moving down the movable plate 31, the goods 80 can be lowered, thereby enabling the normal operation of the goods loading and conveying system.

The cargo loading and conveying system can also ensure that the cargo packaging bag 4 is basically filled with goods 80 without overflowing and can be directly packed, thereby improving the loading capacity and packaging efficiency of the cargo packaging bag 4 .

It should be noted that when the cargo 80 is loaded, the cargo sensor 6 can also collect the signal of the cargo 80, but if it does not overflow, the signal time is very short, and it is a pulse signal. Only when it overflows, the cargo sensor 6 can obtain a stable output. signal, the output signal is a non-pulse signal, which can be discriminated by software.

Please refer to FIG. 1-FIG. 5, in this embodiment, the movable plate lifting and lowering drive mechanism includes:

The air bag 32 is provided with a first air nozzle 321, and the air bag 32 is installed between the bottom plate 20 and the movable plate 31 of the pallet moving frame 2;

The upper air joint 201 is fixed with the bottom plate 20. The upper air joint 201 is provided with a second air nozzle 203 and an upper butt-jointed air nozzle 202 that communicate with the air path, and the second air nozzle 203 is connected to the first air nozzle 321 through a hose;

The lower gas joint 11 is fixed with the top surface of the container fixing frame 1, and the lower gas joint 11 is provided with a sealing ring 111, a second gas nozzle 113 and a lower butt joint gas nozzle 112 which are communicated with the gas path;

In order to improve the positioning accuracy, the upper abutting air nozzle 202 and the lower abutting air nozzle 112 may be designed to be tapered.

The air blowing solenoid valve 53 is connected in series between the air pump and the first air nozzle 321;

The suction solenoid valve 54 is connected in series between the vacuum pump and the first air nozzle 321;

a pressure sensor 56, which is installed in the pipeline of the first air nozzle 321;

The pressure sensor 56, the blowing solenoid valve 53 and the suction solenoid valve 54 are installed in the control box 51 and are electrically connected to the controller 52;

As can be seen from FIG. 4, the four-way joint 55 can be selected to connect the suction solenoid valve 54, the air blow solenoid valve 53, the pressure sensor 56 and the air bag 32 respectively;

It should be noted that, if the vacuum pump is not installed, it is possible that the air bag 32 cannot completely release the gas, and the release time will be significantly prolonged.

When the collecting bag moving frame 2 is placed on the collecting bag fixing frame 1, the upper butting air nozzle 202 of the upper air joint 201 and the lower butting air nozzle 112 of the lower air joint 11 are connected to each other and the air path is connected, and is sealed by the sealing ring 111. The controller opens the air blowing solenoid valve 53 to inflate the air bag 32, the movable plate 31 drives the bottom of the cargo packaging bag 4 to rise to a predetermined height, and when the air bag 32 reaches the predetermined pressure value, the air blowing electromagnetic valve 53 is closed; when the cargo sensor 6 When it is collected that the goods 80 overflow the predetermined height of the bag mouth, the controller can open the suction solenoid valve 54, suck the air in the air bag 32 into the vacuum pump, the movable plate 31 and the goods 80 are lowered, and the mobile rack 2 can be moved by the bag robot 84. After being lifted, it is transported to the unloading undercarriage 9 for unloading.

The advantage of using an airbag is that it can buffer the goods and is not easy to damage the goods. The weight of the airbag is very light, which can reduce the load of the bag-collecting robot 84, save energy, low cost and fast response.

On the basis of the above-mentioned embodiment, a plurality of airbags 32 are provided, all of which are flat-shaped, the plurality of airbags 32 are stacked on top of each other, and the first air nozzles 321 of the plurality of airbags 32 are connected by hoses. In this embodiment, the stability of the airbag can be improved by stacking a plurality of flat airbags 32 on top of each other. Optionally, a plurality of airbags 32 are provided and all are in a flat shape, the plurality of airbags 32 are arranged side by side, and the first air nozzles 321 of the plurality of airbags 32 are all connected by a hose. The multiple airbags 32 arranged side by side and the multiple airbags 32 stacked on top of each other have the same deformation direction, both deform between the bottom plate 20 and the movable plate 31 , and are arranged to make the movable plate 31 move up and down relative to the bottom plate 20 after deformation.

Optionally, when the deformation of the plurality of airbags 32 drives the movable plate 31 to move up and down relative to the bottom plate 20, in order to guide the movable plate 31 to move relative to the bottom plate 20, the movable plate lifting mechanism further includes at least one sliding sleeve 36. The sliding sleeve 36 The sliding sleeve 36 is fixed to the movable plate 31, so as to guide the movement of the movable plate 31 relative to the bottom plate 20, and By restricting the movement direction of the movable plate 31, the angle of the contact surface between the movable plate 31 and the airbag 32 can be maintained, so as to maintain the direction of the force acting on the movable plate 31 when the airbag 32 is deformed, thereby making the movement of the movable plate 31 smooth. .

Please refer to FIG. 1-FIG. 7, optionally, the movable plate lifting and lowering drive mechanism includes:

Two sliding sleeves 36, the two sliding sleeves 36 are respectively sleeved on the outside of the two vertical rods 21 in the mobile rack 2, and can move up and down along the vertical rods 21, and the two sliding sleeves 36 are fixed with the movable plate 31;

The lifting motor 35 has its shell fixed with the bottom plate 20 of the collecting and moving frame 2, and the rotating shaft is fixed with the screw rod 34. The output wires of the lifting motor 35 are respectively connected to the connecting posts 37 of the two terminals, and the insulator of the terminal is connected to the bottom plate 20. Fixed, the lift motor 35 can be selected as a servo motor;

A screw nut, which is fixed with the movable plate 31 and is sleeved with the screw 34;

A pair of electrodes 38, which are fixed to the top surface of the set holder 1 through an insulating sheet, and a pair of electrodes 38 are connected to the controller through cables;

When the container moving frame 2 is placed on the container fixing frame 1, the two terminals 37 are electrically connected to a pair of electrodes 38 respectively, and the controller can control the movable plate 31 via the lifting motor 35 to drive the bottom of the cargo packaging bag 4 to rise to a predetermined level. When the cargo sensor 6 detects that the cargo 80 overflows the predetermined height of the bag mouth, the controller can control the movable plate 31 to drive the bottom of the cargo packaging bag 4 to descend through the lifting motor 35, so that the cargo 80 above the bag mouth can be lowered.

This embodiment provides a technical solution for using electricity as power.

Please refer to FIG. 1-FIG. 8, optionally, the movable plate lifting and lowering drive mechanism includes:

The bottom frame 81 of the electric jack is fixed with the bottom plate 20 of the moving frame 2, the top frame 82 is fixed with the movable plate 31, and the output wires of the jack motor 83 are respectively connected to the terminals 37 of the two terminals. The insulator is fixed with the bottom plate 20, and the jack motor 83 can be selected as a servo motor;

A pair of electrodes 38, which are fixed to the top surface of the set holder 1 through an insulating sheet, and a pair of electrodes 38 are connected to the controller through cables;

When the container moving frame 2 is placed on the container fixing frame 1, the two terminals 37 are respectively electrically connected to a pair of electrodes 38, and the controller can control the movable plate 31 via the jack motor 83 to drive the bottom of the cargo packaging bag 4 to rise to a predetermined level. When the cargo sensor 6 detects that the cargo 80 overflows the predetermined height of the bag mouth, the controller can control the movable plate 31 to drive the bottom of the cargo packaging bag 4 to descend through the jack motor 83, so that the cargo 80 above the bag mouth can be lowered.

The electric jack is an existing product and only needs to be purchased, and this embodiment can reduce the design cost.

Optionally, the pallet moving frame 2 is formed by connecting a rectangular frame, a vertical rod 21 and a bottom plate 20 in sequence; the rectangular frame is located on the top of the pallet moving frame 2, and the length or width of the rectangular frame can be elastically deformed, so that the goods can be moved. The bag mouth of the packaging bag 4 is stretched and tightened.

The technical solution can be adapted to bag openings of different sizes, and can support the bag opening to the maximum, and at the same time, it is very convenient to disassemble and assemble.

Please refer to FIG. 1-FIG. 11, optionally, the rectangular frame includes:

Two first transverse outer sleeves 22, one end of the two first transverse outer sleeves 22 is connected to the first vertical pipe 27 and fixed with the bottom plate 20 through the vertical rod 21, and the other end of the two first transverse outer sleeves 22 is suspended;

Two second transverse inner sleeves 23, one end of the two second transverse inner sleeves 23 is connected to the second vertical pipe 28, the other end is inserted into the first transverse outer sleeve 22, and the bottom of the second transverse inner sleeve 23 is opened Limiting slot 222;

Two compression springs 25, one end of which touches the inner end of the second transverse inner sleeve 23, and the other end touches the first vertical tube 27;

The two limit reinforcement plates 24 are fixed with the first lateral outer sleeve 22 and the vertical rod 21. The protrusions 241 of the limit reinforcement plate 24 are inserted into the limit grooves 222 through the long holes of the first lateral outer sleeve The travel limit of the two transverse inner sleeves 23 .

The limit reinforcement plate 24 can not only improve the strength of the moving frame 2 of the collection bag, but also has a limit function, which is multi-purpose, and is also convenient for disassembly and assembly.

The cross-sections of the first lateral outer sleeve 22 and the second lateral inner sleeve 23 are rectangular, and the rectangular frame also includes:

A plurality of sliding positioning blocks 26 are fixed on the four outer surfaces of the second lateral inner sleeve 23 and touch the inner surface of the first lateral outer sleeve 22 .

The sliding positioning block 26 has the function of reducing friction and positioning.

Optionally, four positioning portions are fixed at the four corners of the rectangular frame, and the four positioning portions can fix the bag mouth of the cargo packaging bag 4 so that it is stretched to form a rectangular shape. The positioning part is a pointed positioning post, and the pointed positioning post can pierce the opening of the cargo packaging bag 4 to fix the bag opening, so that it is stretched to form a rectangular shape.

It should be noted that the cargo packaging bag 4 is usually made of a woven bag or the like, and the pointed parts of the four pointed positioning posts 231 can pierce the woven bag without being very sharp. The head part will not hurt human skin, it is very safe, and it is very convenient to fix.

In order to improve the positioning accuracy, the bottom plate 20 of the container moving frame 2 and the container fixing frame 1 are respectively provided with a plurality of pairs of fine positioning devices, and each pair of fine positioning devices includes:

The conical convex column and the conical concave block, one of which is fixed with the bottom plate 20 of the collecting bag moving frame 2, and the other is fixed with the collecting bag fixing frame 1;

The conical convex column can be embedded in the conical concave block, so that the container fixing frame 1 and the container fixing frame 1 can be accurately positioned.

Optionally, the unloading chassis 9 is fixed with a positioning device 91 for the moving pallet 2. When the moving pallet 2 is placed on the unloading chassis 9 by the pallet robot 84, the moving pallet positioning device 91 can align the pallet moving rack 2. The package moving rack 2 is fixed, and the package moving rack positioning device 91 is controlled by the unloading controller, which is wired or wirelessly connected to the server.

It should be noted that the disassembly and assembly of the cargo packaging bag 4 usually requires a certain amount of force. By fixing the container moving frame 2, it can bring convenience for disassembly and assembly. For example, when the rectangular frame is reduced by force, the cargo packaging bag can be directly 4. Take out after disengaging the four pointed positioning posts.

Optionally, the container moving rack positioning device 91 includes:

More than one pair of electromagnetic locks, which are installed symmetrically with respect to the container moving frame 2, and are electrically connected to the unloading controller;

The bottom plate 20 of the pallet moving rack 2 is made of a magnetic conductive material, and the bottom plate 20 can be attracted by an electrified electromagnetic lock.

The electromagnetic lock is selected from the existing products. When necessary, the switch is connected in series. Under normal conditions, the electromagnetic lock is not energized. When the cargo packaging bag 4 needs to be manually loaded and unloaded, the electromagnetic lock is turned on through the switch, and the unlocking or locking time can also be automatically controlled by the server.

The cargo sensor 6 includes:

Multiple pairs of laser emitting tubes and multiple pairs of laser receiving tubes are installed horizontally, and the beam emitted by the laser emitting tubes can be received by the laser receiving tubes after being reflected by the goods 80 .

The laser emitting tube and the laser receiving tube are selected from existing products, with high control precision and low power consumption.

The bag-collecting robot 84 in the present disclosure can precisely locate and transport the goods through a positioning system. The positioning system includes a wireless positioning system, which collects the position information of the bag-collecting robot 84 for accurate judgment; it can also be pasted on the bottom or floor through a two-dimensional code. , the camera in the bag-collecting robot 84 collects the landmark information of the two-dimensional code for precise positioning.

Based on the above-mentioned cargo loading and conveying system, the present disclosure also provides a cargo loading and transporting method, wherein the steps of the cargo loading and transporting method include:

Control the movable plate 31 in the pallet moving frame 2 to rise to a predetermined height;

After the cargo packaging bag 4 is loaded with the cargo 80, collect the information that the cargo 80 overflows the predetermined height of the bag mouth;

When the cargo sensor 6 detects that the cargo 80 overflows the predetermined height of the bag mouth, the movable plate lift drive mechanism is controlled to control the movable plate 31 to descend until the cargo in the cargo packaging bag 4 descends and falls below the predetermined height.

The above description is merely a preferred embodiment of the present disclosure and an illustration of the technical principles employed. It should be understood by those skilled in the art that the scope of the invention involved in the present disclosure is not limited to the technical solutions formed by the specific combination of the above technical features, and should also cover the above technical features without departing from the inventive concept. Other technical solutions formed by any combination of its equivalent features. For example, a technical solution is formed by replacing the above-mentioned features with the technical features disclosed in the present disclosure (but not limited to) with similar functions.

Industrial Applicability:

In conclusion, the present disclosure provides a cargo loading and conveying system and method, which improves the loading capacity and packing efficiency of a cargo packaging bag.

Claims (17)

A cargo loading and conveying system, characterized in that it includes: A package fixing frame (1), which is fixed to the floor or ground; A pallet moving rack (2), which is placed on the pallet fixing rack (1), the pallet moving rack (2) can fix a flexible cargo packaging bag (4) and hold the cargo packaging bag (4) ) of the bag opening, when the cargo packaging bag (4) is loaded with the goods (80), the bottom of the container moving frame (2) can drive into the container bag robot (84), and the container bag robot (84) (84) The pallet moving rack (2) loaded with the goods (80) can be lifted up and then transported to the unloading chassis (9); A movable plate (31), which is installed in the container moving frame (2) and can be lifted and lowered, the movable plate (31) can support the bottom of the cargo packaging bag (4) and can control the cargo packaging bag (4) Lifting of the bottom; a moving plate lifting and lowering driving mechanism, which can drive the moving plate (31) to rise and fall; A cargo sensor (6), which is arranged in the vicinity of the pocket opening of the cargo packaging bag (4), is configured to collect information that the cargo (80) overflows a predetermined height of the pocket opening, and the cargo sensor (6) passes through the support (7) ) is fixed with the set package holder (1); A controller (52), which is electrically connected to the cargo sensor (6) and the moving plate lifting and lowering drive mechanism, before the cargo packaging bag (4) is loaded with the cargo (80), the controller (52) The movable plate (31) is controlled to rise to a predetermined height, and when the cargo sensor (6) detects that the cargo (80) overflows the bag opening to a predetermined height, the controller (52) can be lifted and lowered through the movable plate The driving mechanism controls the moving plate (31) to descend, so as to enable the goods in the goods packaging bag (4) to descend; A server, which connects the bag collecting robot (84) wirelessly, and connects the controller wirelessly or wiredly. The cargo loading and conveying system according to claim 1, wherein the movable plate lifting and lowering driving mechanism comprises: an air bag (32), which is provided with a first air nozzle (321), and the air bag (32) is installed between the bottom plate (20) of the pallet moving frame (2) and the movable plate (31); An upper air joint (201), which is fixed to the bottom plate (20), the upper air joint (201) is provided with a second air nozzle (203) and an upper butt-jointed air nozzle (202) that communicate with the air path, the second air nozzle (202) The nozzle (203) is communicated with the first air nozzle (321) through a hose; A lower gas joint (11), which is fixed to the top surface of the set-package fixing frame (1), the lower gas joint (11) is provided with a sealing ring (111) and a second gas nozzle (113) communicating with the gas path and the lower butt valve (112); an air blowing solenoid valve (53), which is connected in series between the air pump and the first air nozzle (321); an air suction solenoid valve (54), which is connected in series between the vacuum pump and the first air nozzle (321); a pressure sensor (56), which is installed in the pipeline of the first air nozzle (321); The pressure sensor (56), the air blowing solenoid valve (53) and the air suction solenoid valve (54) are installed in the control box (51) and are electrically connected to the controller (52); When the collecting bag moving frame (2) is placed on the collecting bag fixing frame (1), the upper abutting air nozzle (202) of the upper air joint (201) and the lower air joint (11) ) of the lower abutting air nozzle (112) is connected to the air path, and is sealed by the sealing ring (111). ) inflating, the movable plate (31) drives the bottom of the cargo packaging bag (4) to rise to a predetermined height, and when the air bag (32) reaches a predetermined pressure value, the air blowing solenoid valve (53) is closed; When the cargo sensor (6) detects that the cargo (80) overflows the bag opening to a predetermined height, the controller can open the inhalation solenoid valve (54), so that the air in the air bag (32) is discharged. The vacuum pump is sucked in, the movable plate (31) and the goods (80) are lowered, and the pallet moving rack (2) can be lifted by the pallet robot (84) and then transported to the unloading place for unloading. on the chassis (9). The cargo loading and conveying system according to claim 2, characterized in that, the airbags (32) are provided with a plurality of flat-shaped airbags, the airbags (32) are stacked on top of each other, and the airbags (32) ) of the first air nozzles (321) are all communicated through a hose. The cargo loading and conveying system according to claim 2, characterized in that, the airbags (32) are provided in a plurality of flat shapes, and the airbags (32) are arranged side by side, and the airbags (32) are arranged in parallel. The first air nozzles (321) are all communicated through hoses. The cargo loading and conveying system according to claim 2, wherein the movable plate lifting mechanism further comprises: At least one sliding sleeve (36), the sliding sleeve (36) is sleeved on the outside of the vertical rod (21) in the pallet moving frame (2), and can move up and down along the vertical rod (21), the The sliding sleeve (36) is fixed with the movable plate (31). The cargo loading and conveying system according to claim 1, wherein the movable plate lifting and lowering driving mechanism comprises: Two sliding sleeves (36), the two sliding sleeves (36) are respectively sleeved on the outside of the two vertical rods (21) in the container moving frame (2), and can go up and down along the vertical rods (21) moving, the two sliding sleeves (36) are fixed with the movable plate (31); A lift motor (35), the housing of which is fixed to the bottom plate (20) of the moving frame (2), the rotating shaft is fixed to the lead screw (34), and the output wires of the lift motor (35) are respectively connected to two a terminal (37) of a terminal, the insulator of the terminal being fixed to the bottom plate (20); A lead screw nut, which is fixed to the movable plate (31) and is sleeved with the lead screw (34); a pair of electrodes (38), which are fixed to the top surface of the collecting bag fixing frame (1) through insulating sheets, and the pair of electrodes (38) are connected to the controller through cables; When the collecting bag moving frame (2) is placed on the collecting bag fixing frame (1), the two connecting posts (37) are respectively electrically connected to a pair of the electrodes (38), and the controller can The movable plate (31) is controlled by the lift motor (35) to drive the bottom of the cargo packaging bag (4) to rise to a predetermined height, and when the cargo sensor (6) overflows the bag mouth to a predetermined height, the control The device can control the movable plate (31) through the lift motor (35) to drive the bottom of the cargo packaging bag (4) to descend, thereby enabling the cargo (80) above the bag mouth to descend. The cargo loading and conveying system according to claim 1, wherein the movable plate lifting and lowering driving mechanism comprises: An electric jack, the bottom frame (81) of which is fixed to the bottom plate (20) of the pallet moving frame (2), the top frame (82) is fixed to the movable plate (31), and the output of the jack motor (83) The wires are respectively connected to the terminals (37) of the two terminals, and the insulators of the terminals are fixed to the bottom plate (20); a pair of electrodes (38), which are fixed to the top surface of the collecting bag fixing frame (1) through insulating sheets, and the pair of electrodes (38) are connected to the controller through cables; When the collecting bag moving frame (2) is placed on the collecting bag fixing frame (1), the two connecting posts (37) are respectively electrically connected to a pair of the electrodes (38), and the controller can The movable plate (31) is controlled by the jack motor (83) to drive the bottom of the cargo packaging bag (4) to rise to a predetermined height. When the cargo sensor (6) detects that the cargo (80) overflows the bag When the opening is at a predetermined height, the controller can control the movable plate (31) through the jack motor (83) to drive the bottom of the goods packaging bag (4) to descend, so that the goods (4) above the bag opening can be lowered. 80) drop. The cargo loading and conveying system according to any one of claims 1-7, characterized in that, the top of the pallet moving frame (2) is a rectangular frame, and the length or width direction of the rectangular frame can be elastically deformed, Therefore, the bag mouth of the cargo packaging bag (4) can be stretched and stretched. The cargo loading and conveying system of claim 8, wherein the rectangular frame comprises: Two first lateral outer sleeves (22), one end of the two first lateral outer sleeves (22) is connected to the first vertical pipe (27) and fixed to the bottom plate (20) through the vertical rod (21), two The other end of the first lateral outer sleeve (22) is suspended; Two second transverse inner sleeves (23), one end of the two second transverse inner sleeves (23) is connected to the second vertical pipe (28), and the other end is inserted into the first transverse outer sleeve (22) Inside, the bottom of the second lateral inner sleeve (23) is provided with a limiting groove (222); two compression springs (25), one end of which touches the inner end of the second lateral inner sleeve (23), and the other end touches the first vertical tube (27); Two limit reinforcement plates (24) are fixed with the first lateral outer sleeve (22) and the vertical rod (21), and the protrusions (241) of the limit reinforcement plates (24) pass through the Inserting the long hole of the first lateral outer sleeve (22) into the limiting groove (222) can limit the travel of the second lateral inner sleeve (23). The cargo loading and conveying system according to claim 9, wherein the cross-sections of the first lateral outer sleeve (22) and the second lateral inner sleeve (23) are rectangular, and the rectangular frame further comprises: A plurality of sliding positioning blocks (26), the plurality of sliding positioning blocks (26) are fixed on the four outer surfaces of the second lateral inner sleeve (23) and touch the inner surface of the first lateral outer sleeve (22) . The cargo loading and conveying system according to claim 8, characterized in that, four positioning parts are fixed at four corners of the rectangular frame, and the four positioning parts can fix the bag mouth of the cargo packaging bag (4). , so that it stretches out to form a rectangle. The cargo loading and conveying system according to claim 11, wherein the positioning part is a pointed positioning post (231), and the pointed positioning post (231) can pierce the cargo packaging bag (4) to fix the bag opening , so that it stretches out to form a rectangle. The cargo loading and conveying system according to claim 8, characterized in that, the bottom plate (20) of the container moving frame (2) and the container fixing frame (1) are respectively provided with a plurality of pairs of precise positioning devices, each The precise positioning device includes: A conical convex column and a conical concave block, one of which is fixed with the bottom plate (20) of the collecting bag moving frame (2), and the other is fixed with the collecting bag fixing frame (1); The conical convex column can be embedded in the conical concave block, so that the container fixing frame (1) and the container fixing frame (1) can be accurately positioned. The cargo loading and conveying system according to claim 8, wherein the unloading chassis (9) is fixed with a pallet moving rack positioning device (91), and when the pallet moving rack (2) is moved by the pallet When the bag robot (84) is placed on the unloading chassis (9), the bag moving frame positioning device (91) can fix the bag moving frame (2), and the bag moving frame positioning device (91) Controlled by an offloading controller, the offloading controller is connected to the server by wire or wireless. The cargo loading and conveying system according to claim 14, wherein the positioning device (91) for the pallet moving rack comprises: More than one pair of electromagnetic locks, which are installed symmetrically with respect to the container moving frame (2), and which are electrically connected to the unloading controller; The bottom plate (20) of the pallet moving rack (2) is made of a magnetically conductive material, and the bottom plate (20) can be attracted by an electrified electromagnetic lock. The cargo loading and conveying system according to claim 1, wherein the cargo sensor (6) comprises: Multiple pairs of laser emitting tubes and multiple pairs of laser receiving tubes are installed horizontally, and the beams emitted by the laser emitting tubes can be received by the laser receiving tubes after being reflected by the goods (80). A cargo loading and conveying method, characterized in that the steps of the cargo loading and conveying method include: controlling the movable plate (31) in the pallet moving frame (2) to rise to a predetermined height; After the goods (80) are loaded into the goods packaging bag (4), collect information that the goods (80) overflow a predetermined height of the opening of the bag; When the cargo sensor (6) detects that the cargo (80) overflows to a predetermined height from the opening of the bag, the movable plate lifting mechanism is controlled to control the movable plate (31) to descend until the cargo packaging bag (4) The cargo inside falls below the predetermined height.

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