CN207293222U - Logistics code fetch system sorting equipment - Google Patents

Abstract

The utility model discloses a kind of logistics code fetch system sorting equipment, including it is arranged on along logistics code fetch system handler length direction multiple the sorting mechanical arms and mechanical arm electrical control mechanism on the left of logistics code fetch system handler and/or right side；The mechanical arm support of sorting is set on loading/unloading platform, is sorted mechanical arm and is included at least X-coordinate driving, Y-coordinate driving and Z coordinate driving, the minor details for sorting mechanical arm pile up manipulator equipped with crawl；Mechanical hand is piled up in crawl includes manipulator body, mechanical finger supporting rack, hinged seat, crawl mechanical finger and reversal propulsion machine structure；Mechanical arm electrical control mechanism includes mechanical arm controller, the mechanical arm electrical source of power being electrically connected with mechanical arm controller, crawl stacking control loop.This logistics code fetch system sorting equipment the degree of automation is higher, can realize intelligent operation, improve sorting efficiency, especially suitable for being directed to the handling goods sort operation of freight container in the container shipping of logistic storage.

Description

Logistics code fetch system sorting equipment

Technical field

A kind of logistics code fetch system sorting equipment is the utility model is related to, is specifically a kind of thing suitable for freight container Code fetch system sorting equipment is flowed, belongs to Intelligent logistics technical equipment field.

Background technology

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

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

There are following defect for the mode of this traditional manual operation sorting for freight container：

1. although storage process or outbound process have realized automation mechanized operation, the sort operation after container unloading is still adopted Manually operate, therefore logistic storage integrated automation degree reduces, efficiency is low；

2. carried out due to being put in storage process or outbound process generally use automated guided vehicle or conveyer belt in the prior art Transmission, the speed of manual sorting to keep up with storage or the speed of outbound just can guarantee that the efficiency that storage is transported, therefore operating personnel Labor intensity is larger；

3. the human factors such as the sense of responsibility of operating personnel, mood have a great influence sorting progress, and manual sorting exists The situation of mistake is sorted caused by fatigue operates.

The content of the invention

In view of the above-mentioned problems of the prior art, the utility model provides a kind of logistics code fetch system sorting equipment, from Dynamicization degree is higher, can realize intelligent operation, improve sorting efficiency, especially suitable for being directed in the container shipping of logistic storage The handling goods sort operation of freight container.

To achieve these goals, this logistics code fetch system sorting equipment is included along logistics code fetch system handler length Direction is arranged on multiple the sorting mechanical arms and mechanical arm electrical control mechanism on the left of logistics code fetch system handler and/or right side；

The sorting machinery arm support is set on loading/unloading platform, and sorting mechanical arm includes at least left and right directions movement and sets The Z coordinate driving that the Y-coordinate driving and vertical direction movement that X-coordinate driving, the anteroposterior direction movement put are set are set, sorter The minor details of tool arm are equipped with crawl and pile up manipulator；Mechanical hand is piled up in crawl to be included manipulator body, mechanical finger supporting rack, is hinged Seat, crawl mechanical finger and reversal propulsion machine structure；The manipulator body back side is connected to minor details end, front and the machine of sorting mechanical arm Tool refers to supporting rack installation connection, and manipulator body is additionally provided with range sensor on front；Mechanical finger supporting rack is relative to manipulator Body it is symmetrical and/or it is front and rear be symmetrical arranged, and the span size between symmetrically arranged mechanical finger supporting rack and cargo bag The appearance and size of vanning coordinates；Hinged seat is arranged to multiple, is fixedly connected on the front of mechanical finger supporting rack；Capture mechanical finger Quantity it is identical with the quantity of hinged seat, capture mechanical finger bottom be articulated and connected in hinged seat；Cut with scissors reversal propulsion machine structure one end Mechanical finger supporting rack is connected in succession, and other end articulated connection is in crawl mechanical finger；

The mechanical arm electrical control mechanism includes mechanical arm controller, the mechanical arm power being electrically connected with mechanical arm controller Power supply, crawl pile up control loop, and mechanical arm controller drives with X-coordinate driving, Y-coordinate driving, Z coordinate respectively, manipulator Range sensor and reversal propulsion machine structure on body front are electrically connected；

The electric control gear of logistics code fetch system includes industrial control computer, control loop, Industry Control meter are piled up in sorting Calculation machine includes data input output ports, and mechanical arm controller is electrically connected with industrial control computer.

As further improvement of the utility model scheme, the manipulator body back side and the minor details of sorting mechanical arm It is additionally provided between end vertically as the C coordinate rotation drivings of rotation axis, the body end of C coordinate rotation drivings and sorting The minor details end of mechanical arm is fixedly connected, round end is fixedly connected with the manipulator body back side, the rotation driving of C coordinates and mechanical arm Controller is electrically connected；Pattern-recognition sensor, pattern-recognition sensor and machinery are additionally provided with the manipulator body front Arm controller is electrically connected, and mechanical arm controller further includes pattern-recognition and judges circuit.

As further improvement of the utility model scheme, shelves are equipped between the symmetrically arranged mechanical finger supporting rack Away from regulating member, span regulating member is electrically connected with mechanical arm controller.

As further improvement of the utility model scheme, the span regulating member includes span and adjusts servomotor With the horizontal bidirectional screw bar for setting up and being installed on manipulator body, bidirectional screw bar be connected with span adjusting servomotor and There is oppositely oriented screw structure on the body of rod of bidirectional screw bar left and right ends, the mechanical finger supporting rack be equipped with Bidirectional screw bar is fitted to the screw on bidirectional screw bar, and span adjusts servomotor and is electrically connected with mechanical arm controller.

As the preferred solution of the utility model, the reversal propulsion machine structure is cylinder, cylinder by gas circuit pipeline with Pneumatic control valve group connects, and pneumatic control valve group is connected with pressure gas source by gas circuit pipeline, pneumatic control valve group also with it is described Mechanical arm controller be electrically connected.

As the preferred solution of the utility model, the sorting mechanical arm is gantry type mechanical arm.

Compared with prior art, this logistics code fetch system sorting equipment is fully digitalization control unit, can be with logistics The number bus of code fetch system, which is seamlessly connected, realizes concentration digital management, it is possible to achieve fully digitalization is sorted, complete computer Auto-control operation can be avoided because of influence of the human factors such as operating personnel's sense of responsibility, mood to manufacturing schedule, while can be exempted from Limited by operating personnel's operative skill qualification, it is entirely avoided manual operation there are the drawbacks of, can realize intelligent behaviour Make, improve sorting efficiency, the handling goods especially suitable for being directed to freight container in the container shipping of logistic storage sorts behaviour Make.

Brief description of the drawings

Fig. 1 is the three-dimensional structure signal being provided with when the logistics code fetch system of the utility model carries out handling freight container Figure；

Fig. 2 is knot of the forklift of logistics code fetch system when fork dress or store items packing case work on ribbon conveyer Structure schematic diagram；

Fig. 3 is the three dimensional structure diagram that manipulator is piled up in the utility model crawl.

In figure：1st, loading/unloading platform, 11, longitudinal rail, 2, support underframe, 21, running part, 3, ribbon conveyer, 4, fork dress Machine, 41, support platform, 42, slipping part, 43, fork dress portion, 431, door frame, 432, goods shelf, 433, pallet fork, 5, sorting mechanical arm, 51st, mechanical finger supporting rack, 52, hinged seat, 53, crawl mechanical finger, 54, reversal propulsion machine structure.

Embodiment

The utility model is described further below in conjunction with the accompanying drawings (below to pitch dress portion 43 towards the side of freight container Described to for front).

As shown in Figure 1, include loading/unloading platform 1, handler, sorting dress suitable for the logistics code fetch system of freight container Put and electric control gear.

The longitudinal rail 11 being arranged in parallel is equipped with the loading/unloading platform 1 in the longitudinal direction, longitudinal rail 11 is at least Extend to the front end of loading/unloading platform 1.

As shown in Fig. 2, the handler includes support underframe 2, ribbon conveyer 3 and forklift 4.

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

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

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

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

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

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

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

The sorting equipment includes being arranged on logistics code fetch system dress along logistics code fetch system handler length direction Multiple the sorting mechanical arms 5 and mechanical arm electrical control mechanism on the left of handler and/or right side；

Sort mechanical arm 5 to set up on loading/unloading platform 1, sorting mechanical arm 5 includes at least left and right directions movement and sets X-coordinate driving, anteroposterior direction movement set Y-coordinate driving and vertical direction movement set Z coordinate driving, sorting machinery The minor details of arm 5 are equipped with crawl and pile up manipulator；As shown in figure 3, crawl is piled up, mechanical hand includes manipulator body, mechanical finger supports Frame 51, hinged seat 52, crawl mechanical finger 53 and reversal propulsion machine structure 54；The manipulator body back side is connected to sorting mechanical arm 5 Minor details end, front and the installation of mechanical finger supporting rack 51 connect；Mechanical finger supporting rack 51 is symmetrical relative to manipulator body And/or front and rear it is symmetrical arranged；Hinged seat 52 is arranged to multiple, is fixedly connected on the front of mechanical finger supporting rack 51；Gripper The quantity that tool refers to 53 is identical with the quantity of hinged seat 52, and the bottom of crawl mechanical finger 53 is articulated and connected in hinged seat 52；Upset pushes away Into mechanism 54 one end articulated connection in mechanical finger supporting rack 51, other end articulated connection is in crawl mechanical finger 53；

Mechanical arm electrical control mechanism include mechanical arm controller, the mechanical arm electrical source of power being electrically connected with machinery arm controller, Control loop is piled up in crawl, and mechanical arm controller drives with X-coordinate respectively, Y-coordinate drives, Z coordinate drives and reversal propulsion machine Structure 54 is electrically connected.

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

This is suitable for the logistics code fetch system of freight container in original state, and support underframe 2 is stuck in loading/unloading platform 1 Front edge setting position, forklift 4 is stuck in the setting fork dress coordinate position of the top of ribbon conveyer 3, and crawl is piled up The reversal propulsion machine structure 54 of manipulator is in contraction state, that is, captures mechanical finger 53 and be in complete open configuration.

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

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

The cargo that need to be cased transports attached to sorting mechanical arm 5 successively first by automated guided vehicle according to prestowage scheme Near setting goods packaging box piles up coordinate position, and then sorting piles up control loop and works first；Industrial control computer to Mechanical arm controller sends crawl and piles up control instruction, and mechanical arm controller control sorting mechanical arm 5 coordinate movement makes crawl code Put manipulator be moved to goods packaging box pile up coordinate position surface and Z-direction move down and cargo captured；Crawl During the front of manipulator body face the top surface of goods packaging box, the range sensor work on manipulator body front, Mechanical arm controller drives mechanical arm and crawl to pile up manipulator and make the positive face paste of manipulator body according to the coordinate information of feedback Lean against on the top surface of goods packaging box, then mechanical arm controller control reversal propulsion machine structure 54, which stretches out, makes crawl mechanical finger 53 same When inwardly upset close finish clamping crawl is carried out to goods packaging box；Mechanical arm controller control sorting 5 coordinate of mechanical arm after crawl It is mobile the mechanical hand shovelling of crawl stacking the baseplane for moving to goods packaging box on cargo Z-direction between loading/unloading platform 1 Apart from size be more than ribbon conveyer 3 upper strata conveyer belt upper surface setting apart from the distance between loading/unloading platform 1 size Determine Z coordinate position；Then mechanical arm controller control sorting mechanical arm 5 coordinate movement makes the mechanical hand shovelling of crawl stacking cargo edge X-coordinate moves to setpoint distance, which is the conveying bandwidth that goods packaging box piles up coordinate position and ribbon conveyer 3 X-coordinate value between degree center；Then mechanical arm controller control crawl, which is piled up manipulator Z-direction and moved down, determines cargo Point is piled up；Mechanical 54 retraction of arm controller control reversal propulsion machine structure makes crawl mechanical finger 53 while flips outward during stacking Opening piles up goods packaging box；Mechanical arm controller is in real time to industrial control computer feedback data information；

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

Then forklift control loop is started to work；Industrial control computer sends forklift fork dress to forklift controller Action directive, forklift controller control pallet fork passage component actuation according to the goods packaging box dimension information of input first The span between pallet fork 433 is set to adjust to the setting width dimensions for coordinating goods packaging box size；Then forklift controller root Cargo is established according to the feedback identifying information of the barcode scanning identification device on the goods packaging box dimension information and goods shelf 432 inputted Pitch holding position and fork dress depth mathematical model；As shown in Fig. 2, then forklift controller controls forklift liquid according to mathematical model Press mechanism makes door frame lifting hydraulic cylinder, door frame pitching hydraulic cylinder, crotch lifting hydraulic cylinder co-operating be pointed to ribbon conveyer 3 The goods packaging box of setting fork dress coordinate position on the conveyer belt of upper strata carries out fork dress and disengages it from ribbon conveyer 3, and fork filled The distance between range sensor Real-time Feedback goods shelf 432 and cargo in journey on goods shelf 432 fill depth to ensure to pitch；It is complete Forklift controller is according to prestowage scheme and cargo vanning positional information, freight container inside dimension data after into cargo fork dress Y-coordinate value that information calculation supporting platform 41 need to move forward simultaneously controls the directive wheel drive actions of slipping part 42 to make support platform 41 Move forward to the stacking position of the Y-coordinate value, then forklift controller control forklift hydraulic mechanism make door frame lifting hydraulic cylinder, The goods packaging box that door frame pitching hydraulic cylinder, crotch lifting hydraulic cylinder co-operating are pointed on pallet fork 433, which carries out unloading, makes it The cargo vanning position set in cargo cases positional information is piled up, last forklift 4 is recovered to complete one to original state It is secondary to pile up, be ready for follow-up stacking；Forklift controller in binning process is piled up to feed back to industrial control computer in real time Data message；

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

Unload operation be incasement operation inverse process, the data input/output terminal that operating personnel pass through industrial control computer Mouth is except the cargo vanning positional information to industrial control computer input freight container, prestowage scheme, goods packaging box ruler Beyond very little, freight container inside dimension data message, sorting information also is inputted to industrial control computer, sorting information includes The different goods packaging boxes distributed according to different sorting conditions pile up co-ordinate position information；

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

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

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

And so on, industrial control computer is in due course defeated to chassis according to the data message of forklift controller Real-time Feedback Send machine controller to send 2 stepping of control support underframe of support underframe forward motion control instruction to advance, until before support underframe 2 End is all unloaded completely into freight container and entire cargo packing case according to prestowage scheme, completes whole process of unloading, branch Support chassis 2 retracts to original state.

In order to realize sorting mechanical arm 5 accurately capture goods packaging box, prevent crawl failure, as the utility model into One step improvement project, is additionally provided with vertically between the manipulator body back side and the minor details end for sorting mechanical arm 5 For the C coordinate rotation drivings of rotation axis, the body end of C coordinate rotation drivings and the minor details end of sorting mechanical arm 5 are fixed and are connected Connect, round end is fixedly connected with the manipulator body back side, the rotation driving of C coordinates is electrically connected with mechanical arm controller；The machine Pattern-recognition sensor is additionally provided with tool hand body front, pattern-recognition sensor is electrically connected with mechanical arm controller；Pass through mould The Pose Control C coordinate rotation driving spinning movements of the goods packaging box of formula identification sensor feedback can realize crawl arranging machine Tool hand can capture goods packaging box from suitable angle when capturing goods packaging box, so as to fulfill accurate crawl.

It is general in order to be realized according to the goods packaging box of different appearance and sizes, it is used as further improvement of the utility model side Case, span regulating member, span regulating member and mechanical arm control are equipped between the symmetrically arranged mechanical finger supporting rack 51 Device processed is electrically connected；By controlling the action of span regulating member to realize the shelves between symmetrically arranged mechanical finger supporting rack 51 Away from adjusting, and then realize the general of the goods packaging box of different appearance and sizes.

For the ease of numerical control control and avoid unilateral control machinery refer to supporting rack 51 move caused by crawl after unbalance loading, make For further improvement of the utility model scheme, the span regulating member includes span and adjusts servomotor and horizontal erection Bidirectional screw bar on manipulator body, bidirectional screw bar is connected with span adjusting servomotor and bidirectional screw bar There is oppositely oriented screw structure, the mechanical finger supporting rack 51 is equipped with and bidirectional screw on the body of rod of left and right ends Bar is fitted to the screw on bidirectional screw bar, and span adjusts servomotor and is electrically connected with mechanical arm controller；Pass through machinery The rotating that arm controller control span adjusts servomotor can realize that symmetrically arranged mechanical finger supporting rack 51 is synchronous opposite Or backwards to movement, and then realize the adjusting of span between mechanical finger supporting rack 51.

The reversal propulsion machine structure 54 can use hydraulic cylinder or cylinder, since latter reaction is rapider, It is preferred that the latter, i.e. as the preferred solution of the utility model, the reversal propulsion machine structure 54 is cylinder, and cylinder passes through gas circuit Pipeline is connected with pneumatic control valve group, and pneumatic control valve group is connected with pressure gas source by gas circuit pipeline, and pneumatic control valve group is also It is electrically connected with the mechanical arm controller；Mechanical arm controller can be by controlling pneumatic control valve group to realize control cylinder Opening that is flexible and then realizing control crawl mechanical finger 53 or conjunction are finished.

The sorting mechanical arm 5 can use multi-joint centralized control type machinery arm configuration, can also use gantry type Split control machinery arm configuration, or the mechanical arm using other forms such as Delta mechanical arms, due to more passes of the first scheme The control for saving the Delta mechanical arms of mechanical arm and the third scheme is centralized Control, and accurately coordinate control is more complicated for it, need through Cross industrial control computer largely calculate, software control procedure it is complicated, and it is higher to manufacture cost, computer control burden weight, easily Break down；Second scheme is controlled using split, i.e., several coordinate systems control respectively, and control is relatively easy, direct, is not easy out Existing failure, therefore preferred second scheme, i.e. as the preferred solution of the utility model, the sorting mechanical arm 5 is door frame Formula mechanical arm.

This logistics code fetch system sorting equipment is fully digitalization control unit, can be total with the numeral of logistics code fetch system Line, which is seamlessly connected, realizes concentration digital management, it is possible to achieve fully digitalization is sorted, and complete computer auto-control operation can Avoid because of influence of the human factors such as operating personnel's sense of responsibility, mood to manufacturing schedule, while skill can be operated from operating personnel Can qualification limitation, it is entirely avoided manual operation there are the drawbacks of, can realize intelligent operation, improve sorting efficiency, Especially suitable for being directed to the handling goods sort operation of freight container in the container shipping of logistic storage.

Claims (6)

1. a kind of logistics code fetch system sorting equipment, the electric control gear of logistics code fetch system includes industrial control computer, sorting Control loop is piled up, industrial control computer includes data input output ports；It is characterized in that,

This sorting equipment includes being arranged on a logistics code fetch system handler left side along logistics code fetch system handler length direction Side and/or multiple sorting mechanical arms (5) on right side and mechanical arm electrical control mechanism；

The sorting mechanical arm (5), which is set up, to be installed on loading/unloading platform (1), and sorting mechanical arm (5) includes at least left and right directions The Z coordinate driving that the Y-coordinate driving and vertical direction movement that the mobile X-coordinate driving set, anteroposterior direction movement are set are set, The minor details for sorting mechanical arm (5) are equipped with crawl stacking manipulator；Mechanical hand is piled up in crawl includes manipulator body, mechanical finger support Frame (51), hinged seat (52), crawl mechanical finger (53) and reversal propulsion machine structure (54)；The manipulator body back side is connected to sorter Minor details end, the front of tool arm (5) are connected with mechanical finger supporting rack (51) installation, and distance is additionally provided with manipulator body front and is passed Sensor；Mechanical finger supporting rack (51) relative to manipulator body it is symmetrical and/or it is front and rear be symmetrical arranged, and symmetrically arranged machine The appearance and size that tool refers to the span size and goods packaging box between supporting rack (51) coordinates；Hinged seat (52) is arranged to multiple, It is fixedly connected on the front of mechanical finger supporting rack (51)；Capture the quantity and the quantity phase of hinged seat (52) of mechanical finger (53) Together, the bottom for capturing mechanical finger (53) is articulated and connected in hinged seat (52)；Reversal propulsion machine structure (54) one end is articulated and connected in machine Tool refers to supporting rack (51), and other end articulated connection is in crawl mechanical finger (53)；

The mechanical arm electrical control mechanism includes mechanical arm controller, the mechanical arm power electric being electrically connected with mechanical arm controller Control loop is piled up in source, crawl, and mechanical arm controller drives with X-coordinate driving, Y-coordinate driving, Z coordinate respectively, manipulator sheet Range sensor and reversal propulsion machine structure (54) on body front are electrically connected, and mechanical arm controller is calculated with the Industry Control Mechatronics.

2. logistics code fetch system sorting equipment according to claim 1, it is characterised in that the manipulator body back side It is additionally provided between the minor details end of sorting mechanical arm (5) vertically as the C coordinate rotation drivings of rotation axis, C coordinates The body end of rotation driving is fixedly connected with the minor details end of sorting mechanical arm (5), round end and the manipulator body back side are fixed Connection, the rotation driving of C coordinates are electrically connected with mechanical arm controller；Pattern-recognition biography is additionally provided with the manipulator body front Sensor, pattern-recognition sensor are electrically connected with mechanical arm controller, and mechanical arm controller further includes pattern-recognition and judges circuit.

3. logistics code fetch system sorting equipment according to claim 2, it is characterised in that the symmetrically arranged machinery Span regulating member is equipped between finger supporting rack (51), span regulating member is electrically connected with mechanical arm controller.

4. logistics code fetch system sorting equipment according to claim 3, it is characterised in that the span regulating member bag Include span and adjust servomotor and the horizontal bidirectional screw bar set up on manipulator body, bidirectional screw bar and span tune There is oppositely oriented screw structure, the machine on the connection of section servomotor and the bidirectional screw bar left and right ends body of rod Tool refers to supporting rack (51) and is equipped with the screw being fitted to bidirectional screw bar on bidirectional screw bar, and span adjusts servomotor It is electrically connected with mechanical arm controller.

5. the logistics code fetch system sorting equipment according to Claims 1-4 any claim, it is characterised in that described Reversal propulsion machine structure (54) be cylinder, cylinder is connected by gas circuit pipeline with pneumatic control valve group, pneumatic control valve group with pressure Strength source is connected by gas circuit pipeline, and pneumatic control valve group is also electrically connected with the mechanical arm controller.

6. the logistics code fetch system sorting equipment according to Claims 1-4 any claim, it is characterised in that described Sorting mechanical arm (5) be gantry type mechanical arm.