A stacker pick-and-place cargo system and its application method

Abstract

A stacker pick-and-place cargo system and its application method, including a host computer, a stacker, goods, pallets, shelves, and a PLC control unit; the host computer sends data on the shape and size of the goods to the stacker; the stacker receives the host computer Send the data of the shape and size of the goods and execute the procedure of picking and placing the goods; install the goods shape detection system based on the distance measurement of the visual camera on the cargo platform; place the goods on the pallet; the shelves are used to store the goods, including fixed shelves or retractable shelves; The PLC control unit is installed on the loading platform for system control and output alarm; the application method of the system includes four steps: upper computer task scheduling; cargo shape data scanning and cargo shape overrun detection when the goods enter the loading platform ; Out-of-limit detection of cargo shape for the target cargo location; handling of cargo shape out-of-limit problems. The invention can effectively solve the problem that the shape of goods stored flexibly in the three-dimensional warehouse exceeds the limit.

Description

technical field [0001] The invention relates to the field of logistics and warehousing automation, in particular to a stacker pick-and-place cargo system and an application method of the system. Background technique [0002] The action process of the stacker picking up the goods is as follows: the stacker is positioned at the position of the pallet to be picked, and the loading platform is at a low position at this time, which is convenient for the fork to extend into the cargo slot under the pallet, and then the fork extends to the corresponding pallet. In the cargo slot, it is directly under the pallet; after the loading platform is raised, the fork will pick up the goods and leave the shelf, and finally the fork will retract to bring the goods back to the loading platform. [0003] The action flow of the stacker is as follows: the stacker is fully loaded and positioned to the position where the pallet is placed. The shelf is directly above, and then the loading platform ...

AI Technical Summary

Problems solved by technology

[0005] 1) Fixed photoelectric shape detection method: The traditional fixed shape detection method of the loading platform is no longer suitable for the flexible production requirements of Industry 4.0 and the versatility of the storage of goods in the vertical warehouse, because it will detect the photoelectric fixed, and the limited safe area of ​​​​the shape of the goods is Fixed, unable to meet the detection requirements of various cargo shapes

If only the maximum size of the cargo is used as the basis for judging the overrun, it will not be possible to ensure that the small-sized cargo has a regular appearance, and it will not be possible to detect the dumping and skewing of the small-sized cargo

[0006] 2) Limitations of photoelectric shape detection: According to the existing technical scheme, for the goods of multiple specifications and models in a three-dimensional warehouse, it is necessary to set up multiple sets of detection photoelectrics to cooperate with the shape detection of the goods, and it needs to be based on the shape of the goods and the size of the cargo space. Develop programs by category and execute the logic of cargo shape detection. On the one hand, the problem brought about by this method is that multiple photoelectric groups are installed on the loading platform with limited space at the same time, which increases the difficulty of mechanical design and installation and electrical wiring. Depending on the situation on site, it is necessary to adjust the irradiation angle of the photoelectricity. The increase in the number will double the difficulty of adjusting the photoelectricity, and it is necessary to avoid the influence between the photoelectricity and photoelectricity; on the other hand, the increase of photoelectricity will inevitably lead to program logic complexity. Improvement requires more program development time and debugging time, and the overall stability of the system will also decrease with the increase of peripheral devices

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