CN2803998Y - Logistic work training system - Google Patents

Abstract

The utility model is a logistics operation training system, which includes a manipulator assembly and handling operation unit, an automatic cargo identification buffer operation unit, a stacking operation unit, an automatic warehouse operation unit, a visual detection operation unit, a coding operation unit, a cargo flow direction control operation unit and a container Packing operation units, each operation unit is equipped with modular interfaces of single-chip microcomputer circuit and logic circuit as the electrical connection port, and different unit combinations can be selected to perform cascade configuration. The utility model has reasonable design, rigorous structure, simple manufacture, convenient use, and is suitable for various teaching and training modes. Each system unit avoids duplication of technology as far as possible, adds new technology and new content, and covers the teaching content involved in mechanical and electrical integration. Since all the actual industrial components are used, the gap between the training process and the actual production process can be shortened, and the comprehensive application ability of students' multidisciplinary professional knowledge can be improved.

Description

Logistics operation training system

technical field

The utility model relates to a teaching tool for logistics process of automated industrial production, in particular to a logistics operation training system.

Background technique

Production logistics is responsible for the tasks of transportation, storage, loading and unloading materials, etc. Traditional production logistics, equipment and management are very backward, lacking integration and systematization. The modern production and logistics system is a complex comprehensive system, which integrates technologies such as machinery, electronics, automation, computers, management, and system analysis. At present, of the nearly 300 three-dimensional warehouses that have been built in my country, only 30 three-dimensional warehouses have achieved full automation, basically using automated logistics, which consists of automatic storage systems, automatic guided vehicles, electronic scanners and barcodes. And use robots to complete the stacking and packaging of materials, monitor the logistics process, and perform certain processes. The automatic conveyor system provides the handling of materials and tools, which speeds up the handling and greatly improves the logistics efficiency. However, there are still many deficiencies in my country's production logistics system, such as the lack of image and graphic recognition and text and color recognition in the detection system. Another thing is to add a container packing system to integrate the logistics system with the manufacturing system to form a complete production system. With the development of my country's current logistics system, the demand and level of modern logistics talents will be higher and higher, which requires that education must go first, and the first thing to be solved is the training method of the production logistics system. Developed countries such as Germany's Festool's training equipment have single functions and relatively expensive prices, which are not suitable for my country's national conditions. If on-site training is used directly, there are many disadvantages. Firstly, each set of equipment in the modern production and logistics system will cover an area of 1000-3000m ² . improve. During the training process, the safety of persons and equipment cannot be guaranteed. Because once the parameters of the equipment are set incorrectly or errors in debugging will cause damage to the equipment, affect actual production, and even cause casualties of trainers.

Contents of the invention

The main purpose of this utility model is to solve the problems existing in the teaching of automated production and logistics, provide a teaching and training mode suitable for various, shorten the gap between the training process and the actual production process, and improve the comprehensive application ability of students' multidisciplinary professional knowledge Logistics operation training system.

The relationship between the logistics system and manufacturing is like the relationship between the blood circulation system and internal organs in the human body. The logistics system is the link of the organic whole composed of all links in the manufacturing process and the basis for the continuation of the production process.

The technical scheme that the utility model solves its technical problem adopts is:

Including manipulator assembly and handling operation unit, cargo automatic identification buffer operation unit, stacking operation unit, automatic warehouse operation unit, visual inspection operation unit, coding operation unit, cargo flow control operation unit and container packing operation unit, at least one The operation unit constitutes the operation training system. The lower part of each operation unit is provided with an operation unit base, the operation unit control panel is fixed on the operation unit base, and the upper part of the operation unit base is provided with different operation units. The fixed bolts are fixedly connected, and the actuators in the working unit include servo motors, AC motors, DC motors, stepper motors and cylinders.

The utility model is a physical model of logistics operation training, equipment for production logistics operation training, and a teaching method for logistics operation training. Each operation unit is composed of different functional modules, and each operation unit can work independently and can be recombined. It can constitute a variety of different teaching and training devices, and can be configured in steps according to needs.

The 8 operating units can be operated independently or in different combinations. The combination of different operating units constitutes different training systems and can complete different training contents. Users can choose different combinations of operating units according to actual needs for cascade configuration.

Each operating unit is equipped with a modular interface of the single-chip circuit and logic circuit as the electrical connection port of each device, including the PLC output master signal and the connection required for the sensor are directly connected to the switching interface, according to the flow direction of the signal information Connect the signal orientation of PLC, sensors and actuators with the terminal interface.

The design of various interface circuits with intelligent diagnosis function not only simplifies the wiring, saves space, but also brings convenience to the debugging and maintenance of the system, and increases the hardware isolation protection function, test function and signal connection and conversion function. It is convenient to set various faults and complete various troubleshooting trainings. At the same time, the unit composed of each module has hardware protection functions, such as limit protection functions. During the operation of the job training system, once abnormal conditions such as logic errors, overload, and short circuit occur, the intelligent protection module can lock the output information data and stop the operation of the actuators of the job training system.

The standard interface of each operation unit can be connected with the industrial computer I/O acquisition card or PLC or single-chip microcomputer or embedded computer to form a control system, and different operation units can be selected to combine into a job training system for cascade configuration.

Each system unit is controlled by PLC, and PC-LINK network and PROFIBUS field bus are used to realize the control of the entire operation training system and computer management and monitoring. It can complete the whole process of packing, handling, testing, classification, identification, transmission, warehousing, management, and shipping of goods. And it can be combined with integrated logistics system software to perform whole-process management, business operation, role simulation, optimization, etc. of warehousing, distribution, transportation, and cargo loan in the whole process of third-party logistics, enterprise logistics, and commercial logistics.

The manipulator assembles and carries the operation unit, realizes the automatic storage and assembly of parts, and sends the finished product to the designated position through the conveyor belt. The goods are sent to the visual inspection unit by the robot, and the graphics, images, finished products and waste products are identified by the visual inspection system, and the detected goods are sent to the coding unit through the conveyor belt. Identification of waste products. It is sent to the automatic cargo identification buffer operation unit through the conveyor belt, and the finished products and waste products in the cargo are sent to different buffer warehouses. Whenever any one of the buffer warehouses is filled with 10, it will be out of the warehouse immediately. It is sent to the stacking operation unit through the conveyor belt, and the goods are put on the pallet according to the predetermined method, and sent to the automatic warehouse operation unit by the chain transmission, and then the different goods are put into different three-dimensional warehouses by the roadway crane. When the goods need to go out of the warehouse, they are taken out from the three-dimensional warehouse by the roadway crane, and the goods are sent into the goods flow direction control operation unit through the roller chain transmission. The lifting mechanism of the cargo flow control operation unit reverses the direction of the cargo according to the predetermined method, and then the cargo is sent into the container operation unit by the roller chain drive, and the cargo is sent into the container by the cargo propulsion mechanism. When the container is full of cargo, Transport it away, place a new container, and repeat the operation process in a cycle.

The robot assembly and handling operation unit is equipped with a cargo shifting turntable mechanism, a cargo pushing mechanism, a cargo translation mechanism, a cargo box pushing mechanism, a four-axis linkage manipulator mechanism and a transmission mechanism.

Along one side of the manipulator assembly and handling operation unit, the transmission mechanism is relatively fixed and fixed, and the side of one end of the transmission mechanism is provided with a cargo shifting turntable mechanism. On the manipulator assembly and handling operation unit, the upper part of the base support is provided with a turntable base, and the two sides of the turntable base are oppositely provided with positioning sensors. Cargo arrival detection sensors are arranged in the cargo holes, positioning cylinders are arranged relatively parallel to one side of the turntable base, and the ends of the positioning cylinders correspond to the cargo holes of the turntable.

The two-layer structure of the upper turntable and the lower turntable is adopted. The ball guide rail is set on the lower turntable. The upper turntable is connected with the transmission shaft through a flat key. The motor drives the upper turntable to rotate through gear transmission. The rotation of the upper turntable drives the goods to move along the ball guide rail in a circular track, so that the goods enter different assembly stations along with the holes of the goods. Change the number of cargo holes on the upper turntable to reach the number of required stations. The cargo holes on the upper turntable are through holes, which greatly improves the processing performance. The lower turntable adopts a ball guide rail structure, which reduces the friction between the goods and the static carrier.

One side of the cargo shifting turntable mechanism is equipped with a cargo pushing mechanism, a cargo translation mechanism and a cargo box pushing mechanism. on the work unit.

The upper end of the base support is used to store the material tower, and the lower part of the material storage tower is fixedly equipped with a material pushing out positioning platform, and a detection sensor is installed in the material pushing out positioning platform, and one side of the material pushing out positioning platform is relatively parallel and fixedly equipped with a pushing out cylinder. One end of the push-out cylinder corresponds to the cargo-material push-out positioning platform. The base bracket at the lower part of the cargo translation mechanism is fixed on the cargo shifting turntable mechanism through the fixing mechanism. The upper part of the base bracket is relatively parallel with a translation linear cylinder, and one end of the translation linear cylinder is relatively vertical and fixed with a cargo lifting cylinder. One end of the material lifting cylinder is provided with a suction cup.

The cylinder is used to provide the driving force to push out the goods in the storage tower, and make the goods slide into the goods holes of the turntable mechanism along the chute with an inclined angle. In order to make the goods accurately enter the predetermined carousel holes of the turntable, It must be ensured that the maximum gap between the goods moving along the chute should be less than 0.8 times the minimum gap between the cargo hole on the turntable and the goods, and the inclination angle of the chute must ensure the stability of the dynamic balance of the goods during the sliding process, so that the goods can slide smoothly into the turntable In the cargo hole of the mechanism assembly station.

The base support at the lower part of the container push-out mechanism is fixed on the manipulator assembly and handling unit through the fixing mechanism. The upper part of the base support is provided with a storage tower. One side of the storage tower is relatively parallel and fixed with a container push-out cylinder. The other side of the storage tower A chute is fixed on one side, and the storage tower corresponds to the chute.

The base bracket of the lower part of the four-axis linkage manipulator mechanism is fixed on the manipulator assembly and handling unit, the upper part of the base bracket is fixedly equipped with a turntable mechanism, and the upper part of the turntable mechanism is relatively vertically fixed with a Y-axis moving device. One end of the Y-axis moving device is connected to the turntable mechanism. The fixed phase is connected, the other end of the Y-axis moving device is fixedly equipped with a stepping motor, the middle part of the Y-axis moving device is relatively parallel to the X-axis moving device, the X-axis moving device moves vertically along the Y-axis moving device, and one end of the X-axis moving device A stepping motor is fixed at the top, and the other end of the X-axis moving device is relatively vertically fixed with an air-controlled manipulator. The air-controlled manipulator moves horizontally with the X-axis moving device. Corresponding to the ports; the lower part of the transmission mechanism is fixed with a base bracket, the lower end of the base bracket is fixed on the manipulator assembly and handling unit, the upper end of the base bracket is relatively parallel and fixed with a parallel belt, and one end of the parallel belt is set with a tension regulator , the other end of the parallel belt is provided with a transmission shaft, the lower part of the transmission mechanism is fixedly provided with an AC motor, the output end of the AC motor is connected with the transmission shaft with a synchronous belt, and the parallel belt is synchronously driven to rotate.

Put the cargo box in the storage tower of the cargo box push-out mechanism, drive the cylinder to make the action, push the cargo box out, and make it slide into the three-point hole of the clock coordinate system of the turntable. The turntable rotates 90° counterclockwise and is positioned by the turntable. The sensor detects the container, and it is precisely positioned by the positioning cylinder. The three-point hole of the turntable is vacated. The cylinder of the storage material tower pushes out the container again, and the turntable rotates 90° again. When it is moved to the nine o'clock position of the clock coordinate system of the turntable, the container detection sensor under the turntable detects the container, and then enters the second step of the action process.

The material is put into the material storage tower of the material pushing mechanism. After the sensor in the material storage tower detects the material, the cylinder acts to push the material into the material positioning platform, and the cylinder resets. After the sensor in the material positioning platform detects the material, the material lifting cylinder moves downward, the material is sucked by the vacuum suction cup, the lifting cylinder lifts the material, and the parallel linear cylinder moves the material to the turntable clock Above the first hole of the cargo box in the square hole at nine o’clock, the cylinder aligns with the hole and puts it into the hole, the suction cup is released, and the material is put into the first hole of the cargo box. The lifting cylinder resets, and at the same time the translational linear cylinder returns, waiting for the next material to be placed on the positioning platform for material release, and the turntable also rotates at an angle of about 29° at the same time, so that the second hole on the container occupies the first hole position, turn to the third step of the action process.

When the second material appears on the material push-out positioning platform, the material lifting cylinder, the suction cup and the translational linear cylinder, etc. start to repeat the action of the second step, and put the second material into the second In the hole position, turn to the fourth step.

After the goods are put into the two holes of the cargo box, the turntable rotates 90°-29° again. At the six o’clock hole in the clock coordinate system of the turntable, the goods fall onto the conveyor belt, and the conveyor belt transmits the goods to the manipulator. area, turn to the action of the fifth step manipulator.

The manipulator moves to the top of the goods on the conveyor belt. The manipulator opens and moves downward. The manipulator clamps the goods. The goods are placed on the predetermined position, and the goods enter the input port of the operation unit of the next operation unit, as shown in Fig. 8 .

The cargo automatic identification buffer operation unit is equipped with a delivery mechanism for incoming goods, several sorting buffer warehouses and a delivery mechanism for outgoing goods. The lower part of the delivery mechanism for incoming goods is fixed with a base support. The side part is relatively horizontally fixed on the cargo automatic identification buffer operation unit, the lower part of the delivery mechanism for incoming goods is fixedly provided with a base support, the lower end of the base support is fixedly located on the cargo automatic identification buffer operation unit, and the upper end of the base support is fixed relatively parallel Install parallel belts, one end of the parallel belts is provided with a tension regulator, the other end of the parallel belts is provided with a transmission shaft, the lower part of the delivery mechanism for incoming goods is fixedly provided with an AC motor, and the output end transmission shaft of the AC motor is connected with a synchronous belt. Synchronized drive parallel belts. The upper part of the parallel belt of the delivery mechanism of incoming goods is fixedly arranged photoelectric sensor, capacitive sensor, color sensor and spare capacitive sensor along parallel belt, and one side of capacitive sensor, color sensor and spare capacitive sensor is fixedly set cylinder fixing bracket. The incoming conveying mechanism runs through the inner side of one side of the sorting buffer relatively in parallel, and one end of the parallel belt of the incoming conveying mechanism corresponds to the input port of the operation unit.

The main body of the sorting buffer warehouse is that the matrix support is in the shape of a rectangle. Double rows of ring-shaped roller chains are arranged along the matrix support in the rectangular matrix support. Several bucket storage shelves are arranged equidistantly along the matrix support in the rectangular matrix support. The two bucket storage shelves are The ends are respectively fixed and connected in parallel with the double-row annular roller chains. The double-row annular roller chains drive the bucket storage rack to move along the rectangular base support. One side of the bucket storage rack is fixed with a box-free sensor. An AC motor is fixedly arranged on one side of the upper part of the base support to drive the double-row annular roller chain to run along the rectangular base support, and a positioning chain sensor is fixedly installed on the other side of the lower part of the rectangular base support.

The bucket storage rack is fixed on two parallel main driving roller chains, and is connected with the driven roller chains through the posture holder. The main driving roller chain and the driven roller chain are respectively driven by the driving shaft and the driven shaft, and the driving shaft and the driven shaft are synchronously driven by the motor through the chain, so that the bucket storage rack is always kept in a horizontal state during the whole rotation process . Therefore, the goods always maintain the same posture during the whole week of operation. Improve the accuracy and stability of cargo movement. The main drive roller chain and the driven roller chain are used to directly fix the bucket storage rack on the chain, and the tightness of the roller chain can be adjusted through the slider embedded in the profile groove.

Along the other side of the automatic cargo identification buffer operation unit, the delivery transmission mechanism is fixed relatively horizontally. The lower part of the delivery transmission mechanism is fixed with a base support, and the lower end of the base support is fixed on the automatic cargo identification buffer operation unit. The upper end of the bracket is relatively parallel and fixed with a parallel belt, one end of the parallel belt is provided with a tension regulator, the other end of the parallel belt is provided with a drive shaft, the lower part of the delivery mechanism is fixed with an AC motor, and the AC motor is connected by a synchronous belt. The drive shaft at the output end is connected, and the parallel belt is synchronously driven. One end of the parallel belt of the outgoing transport mechanism corresponds to the input port of the operation unit, and the other end of the parallel belt corresponds to the output port of the operation unit of the automatic cargo identification buffer operation unit.

The materials output from the output port of the previous operation unit are sent to the parallel belt of the incoming conveying mechanism through the input port of the operation unit of the automatic cargo identification buffer operation unit, and the parallel belt transports the materials to the bucket sorting work area , through the color sensor, capacitance sensor, spare capacitance sensor and other devices, the goods are sorted and sent to the corresponding bucket sorting buffer warehouse by the cylinder. When the goods stored in the buffer warehouse reach 10 pieces, the goods are pushed out of the buffer warehouse. The roller chain drives the bucket-type material support to send the goods into the delivery mechanism for delivery, and sends the goods to the input port of the next operation unit through parallel belts, as shown in Figure 12.

The stacking operation unit is equipped with a pallet supply mechanism, a pallet transmission mechanism, a cargo lifting mechanism, a cargo propulsion mechanism and a cargo transmission mechanism. Pallet cylinders are fixed on both sides, and a parallel belt roller support mechanism is installed along the base bracket. The parallel belt roller support mechanism is connected with the double-row parallel conveyor belts, and the two ends of the well-type pallet storage mechanism are connected with the double-row conveyor parallel belts. A DC motor is fixedly arranged on one side of the lower part of the base support, and the DC motor drives the double-row transmission parallel belts to drive the well-type tray storage mechanism to send the trays into the tray transmission mechanism. The lower part of the conveying mechanism of the pallet is fixedly provided with a base support, the lower end of the base support is fixedly provided on the stacking operation unit, the upper end of the base support is relatively parallel and fixedly provided with a transmission roller chain, and the lower part of the pallet conveying mechanism is fixedly provided with an AC motor, The output end of the AC motor is connected with the drive shaft with a synchronous belt, and the driving roller chain is driven to run.

Several pallets are stored in the well-type pallet storage rack. The well-type pallet storage rack is equipped with rolling bearings, and the bearings are embedded in the grooves of the profile columns. The well-type pallet storage rack is fixed with the synchronous toothed belt, and the motor drives the synchronous belt. The rotation of the well tray storage rack slides up and down along the profile groove. There is a handle on the two linkage cylinders, and the automatic supply of the pallet is realized through the linkage of the two cylinders.

The main body of the cargo lifting mechanism is the base bracket, the lower end of the base bracket is relatively vertical and fixedly connected with the stacking operation unit, the cargo lifting frame is relatively parallel to the base bracket, and the cargo conveying mechanism is set on the cargo lifting rack, the upper end of the base bracket and The lower ends are respectively equipped with ascending limit sensors and descending limit sensors to control the stroke of the cargo lifting frame. One side of the base support is relatively parallel with roller chains along the base support, and one side of the lower end of the base support is fixed with a DC motor. The output end of the motor is connected with the roller chain, and the DC motor drives the roller chain to drive the goods lifting frame to lift and lower the stacked goods between the ascending limit sensor and the descending limit sensor.

The main body of the cargo propulsion mechanism is the base bracket. The cargo platform is arranged relatively parallel in the base bracket of the cargo propulsion mechanism. The upper side of the base bracket is relatively parallel and fixed with several limit sensors along the base bracket. One side of the lower part of the base bracket A DC motor is fixedly installed, and a double-row transmission toothed belt is arranged relatively parallel to the base support of the cargo propulsion mechanism, and a feeding baffle is relatively parallel to the base bracket of the cargo propulsion mechanism, and the two ends of the feed baffle are connected to the double-row transmission. The toothed belt is connected. The DC motor drives the double-row transmission toothed belt and the feeding baffle to send the goods on the cargo platform into the cargo lifting mechanism: the lower part of the cargo conveying mechanism is fixed with a base support, and the lower end of the base support is fixed in the stacking unit Above, the upper end of the base bracket is relatively parallel and fixed with a parallel belt, one end of the parallel belt is provided with a tension regulator, the other end of the parallel belt is provided with a transmission shaft, and the lower part of the cargo transmission mechanism is fixed with an AC motor. The transmission shafts at the output ends of the AC motors are connected to each other, and the parallel belts are synchronously driven. The upper part of the parallel belt of the conveying mechanism is fixedly provided with a cargo limiter along the parallel belt, and the other end of the parallel belt corresponds to the output port of the operation unit. One end of the cargo conveying mechanism corresponds to the operation unit input port of the stacking operation unit, and the other end of the cargo conveying mechanism is connected with the cargo propulsion mechanism. One end of the tray transmission mechanism is connected to the supply tray mechanism, the other end of the tray transmission mechanism is connected to the cargo lifting mechanism, and the top end of the other end of the transmission mechanism corresponds to the output port of the stacking operation unit.

The goods output from the output port of the previous operation unit are sent to the parallel belt of the conveying mechanism of the goods through the input port of the operation unit of the stacking operation unit, so that the goods enter the goods propulsion mechanism. When the specified number of goods is reached, The cargo propulsion baffle of the cargo propulsion mechanism acts to send the cargo into the loading platform of the cargo lifting mechanism, and the cargo propulsion mechanism accurately places the cargo on the loading pallet. , determined according to needs), the pallet transmission mechanism sends the goods to the roller chain of the loading platform, and the supply pallet mechanism acts to send the pallet to the roller chain of the pallet transmission mechanism, driving the pallet to send it to the cargo lifting mechanism In the pallet working area, the stacking operation unit repeats the stacking operation process cyclically, as shown in Figure 18.

The operation unit of the automated warehouse is equipped with a loading platform for storage, several storage warehouses, roadway cranes and a loading platform for delivery. On the unit, the upper part of the chassis base is fixed with a runner, the upper part of the runner is provided with a turntable, one side of the turntable is fixed with a DC motor, the upper part of the turntable is fixed with the main body of the loading platform, and the upper side of the main body of the loading platform is fixed with a sensor. , to detect the goods on the loading platform. The upper part of the main body of the loading platform is relatively parallel with a sprocket transmission mechanism, and a double-row roller chain is arranged on the sprocket transmission mechanism. A DC motor is fixed inside the main body of the loading platform, and the output end of the DC motor and the sprocket are driven by the roller chain. The mechanism is connected, and the DC motor drives the double-row roller chain through the roller chain and the sprocket transmission mechanism to send the detected goods into the roadway crane.

The loading platform is fixed to the turntable, and the gear is fixed to the chassis. The motor drives the turntable through the gear to rotate, thereby realizing the rotation of the loading platform. The loading platform is composed of a chain conveyor belt. When the loading platform rotates to the position of picking up goods, the motor drives the chain conveyor belt on the loading platform to rotate, so that the goods are sent into the loading platform. When the loading platform rotates to the outbound position position, the motor rotates so that the goods on the chain conveyor belt are sent to the next operation unit through the output port of the operation unit. The main body of the storehouse is a matrix support, which is divided into several rectangular frames. Cargo storage platforms are arranged in pairs on the frame walls of the matrix support, and detection sensors are arranged on the upper part of the cargo storage platform on one side of the matrix support.

The central part of the automatic warehouse operation unit is relatively parallel with a roadway crane, and the lower base of the roadway crane is provided with a walking guide rail relatively parallel to the automatic warehouse operation unit. The other end of the crane base is equipped with a DC motor, which drives the storage and retrieval mechanism to move horizontally along the walking guide rail. The bottom of the stepping motor is provided with a leading screw, on which a storage and retrieval device is arranged, and the lower end of the leading screw is connected with the storage and retrieval mechanism, and the leading screw drives the stepping motor to drive the leading screw to drive the storage and retrieval device to move up and down. The roadway crane adopts the ball screw as the lifting mechanism, and the precise cooperation with the stepping motor ensures the accuracy of the position of the goods in and out of the warehouse, and at the same time ensures the stability of the goods during the lifting process. The lead screw is fixed on the storage and retrieval mechanism (i.e. the slider) with linear bearings, the storage and retrieval mechanism slides left and right on the walking guide rail, the timing belt is connected with the storage and retrieval mechanism, and the storage and retrieval mechanism is driven by the motor to realize the lifting mechanism Horizontal left and right movement.

The goods output from the output port of the previous operation unit enter the loading platform of the automatic warehouse operation unit through the operation unit input port of the automatic warehouse operation unit, the detection sensor detects the goods, and drives the roadway crane to do the action. The goods are accurately sent to the predetermined warehouse reserve through the storage and retrieval mechanism, and then the cargo storage and retrieval mechanism of the roadway crane takes the goods out of the three-dimensional warehouse and puts them into the loading platform of the outbound warehouse. The extracted goods enter the lower A working unit, as shown in Figure 22.

The visual inspection operation unit is equipped with a visual inspection system, a conveyor belt mechanism for goods, a graphics, an image display and an image processor. Set up the detection sensor. Graphics, image displays and image processors are installed on the other side of the visual inspection unit, and a visual inspection system is installed in the middle of the cargo conveying mechanism. On the working unit, the upper end of the base bracket is relatively parallel and fixed with a parallel belt, one end of the parallel belt is provided with a tension regulator, the other end of the parallel belt is provided with a transmission shaft, and the lower part of the cargo transmission mechanism is fixed with an AC motor. The belt connects the drive shafts at the output end of the AC motor, and drives parallel belts synchronously. The cargo conveyor belt mechanism runs through the visual detection system relatively parallel. The main body of the visual detection system is the visual detection shielding bracket. The visual detection shielding bracket straddles the conveying mechanism of the goods. The visual column is provided with a visual camera on the visual column.

The goods output from the output port of the previous work unit enter the conveying mechanism of the goods through the input port of the work unit of the visual inspection unit, and the photoelectric detection sensor detects the goods, and the conveying mechanism of the goods starts to work, and the goods are sent to the visual inspection unit. unit. In the visual detection unit, when the detection sensor detects that there is goods entering the visual detection system unit, the ring LED light source is activated, the CCD camera takes pictures, and the data is transmitted to the PLC through the color image processor unit. The image captured by the CCD vision camera can be observed on the screen. The PLC classifies the goods according to the image processing data, stores the goods information at the same time, and sends the relevant data to the next operation unit, as shown in Figure 25.

The coding operation unit is equipped with a cargo transmission mechanism and a coding mechanism. The cargo transmission mechanism is arranged on the coding operation unit relatively parallel to the coding operation unit. One side of the cargo transmission mechanism is equipped with a cargo arrival detection sensor and a coding arrival sensor. , One side of the middle part of the conveying mechanism of the goods is provided with a coding mechanism. The lower part of the conveying mechanism of the goods is fixed with a base bracket, the lower end of the base bracket is fixed on the coding unit, the upper end of the base bracket is relatively parallel and fixed with a parallel belt, and one end of the parallel belt is provided with a tension regulator. The other end of the machine is provided with a transmission shaft, and the lower part of the cargo transmission mechanism is fixedly provided with an AC motor, and the output end transmission shaft of the AC motor is connected with a synchronous belt, and the parallel belts are synchronously driven.

The goods output from the output port of the previous operation unit enter the transmission mechanism of the coding operation unit through the input port of the operation unit of the coding operation unit. When the in-position detection sensor detects the arrival of the goods, the coding machine starts to work, and the conveyor belt Send the goods in place. The conveyor belt stops running. The PLC prints the data stored in the system onto the goods through the coding machine. After the coding machine completes the coding operation, the conveyor belt starts to run and sends the goods to the next operation unit, as shown in Figure 28 shown.

The cargo flow direction control operation unit is equipped with a monitoring display, a vertical conveyor chain mechanism, a horizontal conveyor chain mechanism and a lifting mechanism, and the middle part of the cargo flow direction control operation unit is equipped with a monitoring display. Conveying chain mechanism, one end of the transverse conveying chain mechanism corresponds to the input port of the operation unit, the other end of the transverse conveying chain mechanism is connected with the lifting mechanism, and the profile conveying line of the transverse conveying chain mechanism controls the relative level of the operating unit along the flow direction of the goods It is installed on one side of the cargo flow direction control operation unit, and a chain support plate is set relatively horizontally along the profile transmission line between the profile transmission lines. One end of the chain support plate is provided with a driven shaft, and the other end of the chain support plate is provided with a drive shaft. and an AC motor, the AC motor drives the drive shaft to drive the roller chain supported on the chain support plate. On one side of the cargo flow direction control operation unit, a longitudinal conveyor chain mechanism is arranged relatively vertically along the cargo flow direction control operation unit. One end of the longitudinal conveyor chain mechanism is connected to the lifting mechanism, and the other end of the horizontal conveyor chain mechanism corresponds to the output port of the operation unit. The profile transmission line body of the longitudinal conveyor chain mechanism is arranged relatively horizontally on one side of the cargo flow control operation unit along the flow direction of the goods, and the chain support plates are arranged relatively horizontally along the profile transmission line body between the profile transmission lines. A driven shaft is arranged at one end, and a driving shaft and an AC motor are arranged at the other end of the chain support plate, and the AC motor drives the driving shaft to drive the roller chain supported on the chain support plate.

When the goods enter the horizontal chain conveyor line, the lifting cargo platform is raised, and at the same time, the roller transmission mechanism on the cargo platform realizes synchronous rotation, and the goods are sent to the lifting cargo platform, and the lifting cargo platform descends at the same time, and the lifting The goods on the loading platform are sent to the vertical chain conveyor line, and the goods are transported to the next operation unit by the vertical chain conveyor line.

The lower part of the lifting mechanism is provided with a lifting bottom plate, and the upper part of the lifting bottom plate is fixed with a cylinder. The upper part of the guide sleeve and guide column of the cylinder is provided with a lifting middle plate. plate, a DC motor is arranged between the hexagonal columns, and a roller shaft support is arranged relatively parallel to the upper part of the lifting upper plate, and several roller shafts are arranged on the roller shaft support. The DC motor drives the roller shaft. After the goods enter the horizontal conveyor chain mechanism from the input port of the operation unit, they enter the vertical conveyor chain mechanism after a 90° reversal through the roller shaft, and are output by the output port of the operation unit.

The loading platform is composed of a roller transmission mechanism. The transmission rollers are connected by O-belts. The motor drives the O-belt to make the rollers rotate synchronously, and the goods are sent to the loading platform. The transmission roller is connected with the upper plate, the upper plate is connected with the middle plate through the column, the guide sleeve is fixed on the middle plate, and the reciprocating motion of the cylinder drives the loading platform to lift along the guide column as a whole. The flow valve enables the cargo to be lifted and lowered smoothly.

The goods output from the output port of the previous operation unit enter the horizontal conveying chain mechanism of the goods flow control unit through the input port of the operation unit of the coding operation unit. When the goods arrive at the turning point, the arrival signal of the goods is detected. The lifting mechanism starts to act to lift the goods, and at the same time the cylinder acts to send the goods to the conveyor belt entrance of the longitudinal conveyor chain mechanism. When the conveyor belt of the longitudinal conveyor chain mechanism detects the arrival signal of the goods, the lifting mechanism descends, and at the same time the longitudinal conveyor belt starts to move to complete the 90° turn of the goods. As shown in Figure 31.

The container packing operation unit is equipped with a packing transmission mechanism, a packing mechanism and several spare containers. The lower base support of the packing transmission mechanism, the lower end of the base support is fixedly connected with the container packing operation unit, and the upper end of the base support The crossbeam is relatively parallel to the upper part, and the two ends of the beam are respectively equipped with a transmission shaft and a tension adjuster. A roller chain is arranged between the transmission shaft and the tension adjuster. Corresponding to the input port of the operation unit, the lower part of the beam is equipped with a DC motor, a cargo propulsion bracket, a lifting cylinder, a light bar guide rail and a slider. The lifting cylinder is fixedly installed, the DC motor is driven to drive the cargo propulsion bracket to move along the guide rail of the light bar, and the lifting cylinder is driven to drive the cargo propulsion bracket to rise and fall.

The slider is equipped with a linear bearing, and the slider is connected with the timing belt. The rotation of the motor drives the timing belt, so that the slider slides left and right along the light bar guide rail. The cylinder lifting pusher is fixed on the slider, and when the pneumatic pusher is pushed up, the goods are pushed into the container driven by the motor.

The other end of the conveying mechanism for boxing is provided with a boxing mechanism, and the lower part of the boxing mechanism is relatively horizontally fixed with a fixed bottom plate, which is fixedly connected with the container packing operation unit, and the fixed bottom plate is relatively vertically fixed with hydraulic cylinders and guide columns , the guide column is arranged on both sides of the hydraulic cylinder, the upper part of the hydraulic cylinder and the guide column is relatively horizontally fixed with a lifting tray, one side of the lifting tray is fixed with a full load sensor, and the upper part of the lifting tray is placed with a container. Several spare containers are placed on the other side of the container packing operation unit.

There are four positioning holes on the lifting pallet, and positioning conical pins are installed on the container. The container can be placed on the lifting pallet through the positioning conical pins, and the replacement of the container can be realized conveniently. The lifting tray is connected with the guide sleeve, and the lifting tray is lifted up and down along the guide column through the lifting of the cylinder to complete the lifting of the container.

The goods output from the output port of the previous operation unit enter the transmission mechanism through the input port of the operation unit of the container packing operation unit. The goods are delivered into the container.

When the goods in the container are full (the loading capacity of the container is 3 pallets), the lifting cylinder mechanism will automatically place the goods in order from inside to outside. When the number of goods exceeds the maximum loading capacity of the container, the container is closed and a new container is replaced, as shown in FIG. 34 .

Several operation units realize the communication between the PLCs of each operation unit through the PC-LINK communication network to form a PLC control system. The (-) terminal of the transmission line at the end station is short-circuited with the E terminal, and its network structure is a three-layer structure. The physical layer and the data link layer are oriented to communication, and the application layer provides services to users. In the shared memory communication in serial communication, a storage area is designated in the communication unit of each station, and the storage area occupies the same address number in each station. space, the shared memory is the LINK area, and the shared communication mode of the LINK area is only applicable to the token exchange of information between PLCs, which is N:N communication.

The actuator in the working unit is connected with the intelligent protection module, and the sensor in the working unit is connected with the standard interface B and the intelligent protection module. All standard interfaces have input terminals and output terminals. The input terminals of a standard interface are connected to the output terminals of another standard interface. The standard interface A is fixed on the control panel. The intelligent module is connected with the servo motor, AC motor, DC motor, stepper motor and cylinder in the operation unit, and the field signals generated by various sensors set in the operation unit are connected with the standard interface B and the intelligent protection module through the line, and the power supply Input from standard interface A, supply power to the actuator through standard interface B, the output terminal of standard interface A is connected to the input port of PLC, and the input terminal of standard interface A is connected to the output port of PLC. The input terminal of the standard interface B is connected to the sensor in the working unit, the output terminal of the standard interface B is connected to the input port of the intelligent protection module, the output interface of the intelligent protection module is connected to the actuator, and the sensor of the working unit is connected to the intelligent protection module. connected to the input interface of the module. The master signal is connected to the output interface of the standard interface A, the master signal is connected to the input interface of the switching interface, the output interface of the switching interface is connected to the input interface of the standard interface A, and the output interface of the PLC is connected to the switching interface. The output interface of PLC is connected with the input interface of standard interface A, as shown in Figure 35 and Figure 36.

The single-chip microcomputer circuit arranged in the operation unit includes enhanced LPC900 series single-chip microcomputer or ARM32 bit as controller or PIC single-chip microcomputer or DSP single-chip microcomputer, and the logic circuit arranged in the operation unit includes programmable logic device (PLD) or matrix circuit.

In the interface application between PLC and actuators (such as various types of motors, contactors, cylinders, solenoid valves, etc.), usually only one normally open contact function is required, and the actuator type output interface is connected by a screw or spring 5mm base and pluggable small relay or optocoupler. In the interface application between PLC actuators (such as position control system manipulators, high-speed pulses, etc.), sometimes manual and automatic switching is required. Manual high-speed pulses are directly generated by the pulse switching interface and do not need to be output by the PLC. There is a single-chip microcomputer circuit inside the PLC actuator interface, which can generate pulses. When the system is running automatically, the PLC will send pulses. Once the system is in manual operation, the single-chip microcomputer in the interface will send pulses. Each interface can generate 2 channels of pulses, and the pulse speed is 1.5 K. The PLC actuator interface is connected by a spring connection terminal. All actuators including PLC output the master signal, and the wiring required by the sensor is directly connected to the pulse switching interface. Pulse switching interface with integrated interface function, no additional terminals are required. The feed-in terminal and return terminal are saved, and the connection is reduced by adopting the spring connection method. In the connection interface between the PLC and the sensor (proximity switch, limit switch, etc.) Concentrate in one piece and run from one strand of cable.

During operation, if load overload or interface error occurs, the automatic gear can be switched to the manual gear, and various buttons on the operation panel can be pressed to check the operating status of each step of the operating system, which can facilitate troubleshooting and Can complete the adjustment of the work unit system. At the same time, the hardware of each operation unit is equipped with leakage protection function, short circuit protection function, emergency stop protection function, intelligent diagnosis function and various limit protection functions, so as to ensure the safety of personal and equipment during the operation of each operation unit.

The upper part of the parallel belt of the transmission mechanism is fixedly provided with photoelectric sensors, capacitance sensors, color sensors and backup capacitance sensors along the parallel belts, and one side of the capacitance sensors, color sensors and backup capacitance sensors is fixedly provided with cylinder fixing brackets. The upper part of the parallel belt of the conveying mechanism is fixedly provided with a cargo limiter along the parallel belt, and the other end of the parallel belt corresponds to the output port of the operation unit.

The rectangular work unit base is made of profiles, and the work unit control panel is fixed on the upper part of the work unit base. The top of the work unit base is respectively fixed with a manipulator assembly and handling work unit, an automatic cargo identification buffer work unit, a stacking work unit, Automated warehouse operation unit, visual inspection operation unit, coding operation unit, cargo flow control operation unit and container packing operation unit. Corresponding operating devices are set up on different operating units, and each operating unit is equipped with a modular interface of a single-chip microcomputer circuit and a logic circuit as the electrical connection port of each device, including the PLC output master signal and the connection required by the sensor. Directly connect to the switching interface, and connect the signals of PLC, sensors and actuators to the terminal interface according to the flow direction of the information flow. Choose different operation units to combine into a job training system, and carry out cascade configuration. The standard interface of each operation unit is connected with the I/O acquisition card of the industrial computer or PLC or single-chip microcomputer or embedded computer to form the control system.

The cargo shifting turntable mechanism, cargo material push-out mechanism, cargo translational movement mechanism, cargo box push-out mechanism, four-axis linkage manipulator mechanism and transmission mechanism are fixedly installed in the manipulator assembly and handling operation unit. The cargo automatic identification buffer operation unit is fixedly equipped with a delivery mechanism for incoming goods, several sorting buffer stores and a delivery mechanism for outgoing goods. The pallet supply mechanism, the pallet transmission mechanism, the goods lifting mechanism, the goods pushing mechanism and the goods transmission mechanism are fixedly arranged in the stacking operation unit. In the automatic warehouse operation unit, the loading platform for storage, several storage warehouses, alley cranes and the loading platform for delivery are fixed. The visual inspection system, cargo conveyor belt mechanism, graphics, image display and image processor are fixed in the visual inspection unit. The conveying mechanism of the goods and the hot stamping coding mechanism are fixedly arranged in the coding operation unit. The monitoring display, longitudinal conveyor chain mechanism, horizontal conveyor chain mechanism and lifting mechanism are fixedly installed in the cargo flow control operation unit. The container packing operation unit is fixedly equipped with a packing transmission mechanism, a packing mechanism and several spare containers.

The utility model is a logistics operation training system, which is reasonable in design, rigorous in structure, simple in manufacture and convenient in use, and is suitable for various teaching and training modes. Aiming at the imperfections of the production logistics system, the production logistics training device is composed of eight units. In the visual inspection system unit, there are cargo image graphic recognition, text and color recognition detection functions, and a cargo flow control system unit and The container packing system unit makes the storage and transportation containerized, and the container can be directly sent to each process station in the production, which can greatly reduce the number of product handling, reduce the damage cost of the product, reduce industrial waste, and improve the imperfection of the production logistics system place. Each unit is controlled by PLC, and PC-LINK network and PROFIBUS field bus are used to realize the whole system control and computer management and monitoring. It can complete the process of packing, handling, testing, classification, identification, transmission, warehousing, management, and shipping of goods, and can realize the whole process of warehousing and distribution of third-party logistics, enterprise logistics, and commercial logistics when combined with integrated logistics system software. Process management, business operations, role simulation, optimization, etc., make modern production more systematic and flexible, and greatly improve labor productivity. As a physical model of training, the logistics training device is the best teaching platform for mechatronics training and the ideal equipment for production logistics training. The logistics training device occupies a small area and is suitable for centralized and effective training, which is conducive to the students to learn various professional knowledge in the logistics system. Compared with the actual logistics system training, the training effect is better. The use of logistics training devices for graduation practice, graduation design, course design, skills training and other training costs are low, and training students to master professional knowledge has achieved twice the result with half the effort. The production and logistics training device is equipped with various protection functions such as leakage protection, short circuit protection, emergency stop protection, isolation protection, and intelligent protection. Once a fault occurs during operation, the system can automatically diagnose and stop, ensuring the safety of people and equipment. The modular structure can flexibly form various teaching and training modes. Each system unit is composed of different functional modules, which can work independently or be recombined. Each configuration has new technologies and new content. Users can customize according to their own needs. It needs to be configured step by step to form a variety of different teaching and training devices, which fully reflects the advancement and diversity of the training technology covered as a teaching and training platform. Each system unit avoids duplication of technology as much as possible, and adds new technology and new content, covering mechanical structure, sensor detection, motor (AC motor, DC motor, stepping motor, servo motor) drive control, PROFIBUS field bus involved in mechatronics , computer management and monitoring, PC-LINK network and other technologies are conducive to the training of multidisciplinary knowledge of mechanical and electrical integration. Since all the actual industrial components are used, the gap between the training process and the actual production process can be shortened, and the comprehensive application ability of students' multidisciplinary professional knowledge can be improved.

Description of drawings

The utility model is described in detail below in conjunction with accompanying drawing and embodiment.

Figure 1 Front view (A) and top view (B) of the structure of the manipulator assembly and handling unit

Figure 2 Front view (A) and top view (B) of the cargo shifting carousel mechanism

Figure 3 Schematic diagram of the structure of the material pushing mechanism

Figure 4 Structural schematic diagram of cargo translation mechanism

Figure 5 Schematic diagram of the structure of the container push-out mechanism

Figure 6 Schematic diagram of the structure of the four-axis linkage manipulator mechanism

Figure 7 Schematic diagram of the structure of the conveying mechanism of the goods

Figure 8 Operation flow chart of manipulator handling operation unit

Figure 9 Front view (A) and top view (B) of the structure of the automatic cargo identification buffer operation unit

Figure 10 Structural schematic diagram of incoming delivery mechanism

Schematic diagram of the structure of the sorting buffer library in Figure 11

Figure 12 The operation flow chart of the automatic cargo identification buffer operation unit

Fig.13 Front view (A) and top view (B) of stacking unit structure

Fig. 14 Front view (A) and top view (B) of the structure of the supply tray mechanism

Fig.15 The structural front view (A) and top view (B) of the conveying mechanism of the tray

Figure 16 Structural schematic diagram of cargo lifting mechanism

Fig. 17 Structural front view (A) and top view (B) of cargo propulsion mechanism

Figure 18 The operation flow chart of the stacking operation unit

Fig.19 Front view (A) and top view (B) of the structure of the automated warehouse operation unit

Fig. 20 Front view (A) and top view (B) of the structure of the loading platform

Figure 21 Front view (A) and top view (B) of the roadway crane structure

Figure 22 The operation flow chart of the automated warehouse operation unit

Figure 23 The structural front view (A) and top view (B) of the visual inspection unit

Figure 24 Schematic diagram of visual inspection structure

Figure 25 Operation flow chart of visual inspection operation unit

Fig. 26 Front view (A) and top view (B) of the structure of the coding unit

Figure 27 Schematic diagram of coding and transmission mechanism

Figure 28 The operation flow chart of the coding operation unit

Fig. 29 Front view (A) and top view (B) of the structure of the cargo flow direction control operation unit

Figure 30 Structural Front View (A) Top View (B) of Lifting Mechanism

Figure 31 The flow chart of the cargo flow control operation unit

Figure 32 The structural front view (A) and top view (B) of the container packing operation unit

Figure 33 Schematic diagram of chain transmission mechanism

Figure 34 Structural schematic diagram of the packing mechanism

Figure 35 Electrical wiring block diagram of each working unit

Figure 36 block diagram of intelligent protection module

Figure 37 PC-LINK network system block diagram

Figure 38 PC-LINK hardware wiring diagram

Figure 39 Schematic diagram of the combination of two operating units

Figure 40 Schematic diagram of the combination of two operating units

Figure 41 Schematic diagram of the combination of three operating units

Figure 42 Schematic diagram of the combination of four operating units

Figure 43 Schematic diagram of the combination of six operating units

Figure 44 Schematic diagram of the combination of six operating units

Figure 45 Schematic diagram of the combination of eight operating units

1 Manipulator assembly and handling operation unit, 2 cargo automatic identification buffer operation unit, 3 stacking operation unit, 4 automated warehouse operation unit, 5 visual inspection operation unit, 6 coding operation unit, 7 cargo flow control operation unit, 8 container packing Operation unit, 9 base bracket, 10 fixing mechanism, 11 standard interface, 12 communication cable, 13 operation unit base, 14 operation unit control panel, 15 cargo hole, 16 DC motor, 17 AC motor, 18 transmission mechanism, 19 steps Inlet motor, 1-1 goods displacement turntable mechanism, 1-1-1 turntable, 1-1-2 positioning cylinder, 1-1-3 turntable base, 1-1-5 goods arrival detection sensor, 1-1- 6 positioning sensors, 1-2 material push-out mechanism, 1-2-1 storage material tower, 1-2-2 push-out cylinder, 1-2-3 material push-out positioning platform, 1-2-6 detection sensor, 1 -3 material translation mechanism, 1-3-1 translation linear cylinder, 1-3-2 material lifting cylinder, 1-3-3 suction cup, 1-4 cargo box pushing mechanism, 1-4-1 storage Tower, 1-4-2 container ejection cylinder, 1-4-3 chute, 1-5 four-axis linkage manipulator mechanism, 1-5-1 air-controlled manipulator, 1-5-2Y-axis moving device, 1-5 -3 turntable mechanism, 1-5-4 X-axis moving device, 1-6-1 parallel belt, 1-6-2 drive shaft, 1-6-3 timing belt, 1-6-4 tension regulator, 2- 1-1 capacitance sensor, 2-1-2 color sensor, 2-1-3 spare capacitance sensor, 2-1-4 cylinder fixing bracket, 2-1-5 photoelectric sensor, 2-2 sorting buffer library, 2- 2-2 roller chains, 2-2-3 bucket storage racks, 2-2-5 presence or absence of container sensors, 2-2-6 positioning chain sensors, 2-5-2 cargo limiters, 3-1 Supply tray mechanism, 3-1-3 parallel belt roller support mechanism, 3-1-4 conveying parallel belt, 3-1-5 well type tray storage mechanism, 3-1-6 pallet placement cylinder, 3-3 cargo lifting mechanism , 3-3-3 cargo conveying mechanism, 3-3-4 cargo lifting frame, 3-3-6 ascending limit sensor, 3-3-7 descending limit sensor, 3-4 cargo propulsion mechanism, 3-4- 1 feeding baffle, 3-4-2 limit sensor, 3-4-3 loading platform, 3-4-4 transmission toothed belt, 4-1 loading platform, 4-1-2 chassis base, 4 -1-3 sprocket transmission mechanism, 4-1-4 runner, 4-1-5 sensor, 4-1-6 turntable, 4-2 storage, 4-3 lane crane, 4-3-1 wire Bar drive stepper motor, 4-3-2 lead screw, 4-3-3 walking guide rail, 4-3-4 storage and retrieval device, 4-3-5 storage and retrieval mechanism, 4-3-6 photoelectric encoder , 4-4-1 cargo storage platform, 4-4-2 detection sensor, 4-5 delivery platform, 5-1 visual detection system, 5-1-1 cargo conveyor belt mechanism, 5-1-2 detection sensor , 5-1-3 visual light source, 5-1-4 visual detection shielding bracket, 5-1-5 visual column, 5-1-6 visual camera, 5-2 graphics, image display, 5-3 image processor, 6-1-1 Goods in place detection sensor, 6-1-2 Coding in place sensor, 6-2 Coding mechanism, 7-1 Monitoring display, 7-2 Vertical conveyor chain mechanism, 7-3 Horizontal conveyor chain mechanism, 7 -4 lifting mechanism, 7-2-1 driving shaft, 7-2-2 profile transmission line body, 7-2-3 chain support plate, 7-3-1 driven shaft, 7-4-1 lifting bottom plate, 7 -4-2 cylinder, 7-4-3 lifting middle plate, 7-4-4 hexagonal column, 7-4-5 lifting upper plate, 7-4-6 roller support, 7-4-7 roller, 7 -4-9 guide sleeve, 7-4-10 guide column, 8-1-1 beam, 8-1-4 cargo propulsion bracket, 8-1-5 hydraulic cylinder, 8-1-6 light rod guide rail, 8- 1-7 slider, 8-2 spare container, 8-2-1 lifting pallet, 8-2-2 fixed floor, 8-2-3 container, 8-2-4 full sensor, 8-3 packing mechanism

Detailed ways

Example 1

The manipulator assembly and handling unit (1) is equipped with a cargo shifting turntable mechanism (1-1), a cargo pushing mechanism (1-2), a cargo translation mechanism (1-3), and a cargo box pushing mechanism (1-4) , a four-axis linkage manipulator mechanism (1-5) and a transmission mechanism (18).

Along one side of the manipulator assembly and handling operation unit (1), a transmission mechanism (18) is relatively fixed and fixed, and one side of one end of the transmission mechanism (18) is provided with a cargo shifting turntable mechanism (1-1), and the cargo shifting turntable mechanism The lower part of (1-1) is provided with a substrate support (9), the lower end of the substrate support (9) is fixedly arranged on the manipulator assembly and handling operation unit (1), and the top of the substrate support (9) is provided with a turntable base (1-1 -3), the two sides of the turntable base (1-1-3) are oppositely provided with positioning sensors (1-1-6), and the upper part of the turntable base (1-1-3) is provided with a turntable (1-1-1) , the upper part of the turntable (1-1-1) is relatively equidistantly provided with at least four or more cargo holes (15), each of which is equipped with a cargo arrival detection sensor (1-1-5), and the turntable base One side of (1-1-3) is relatively parallel with the positioning cylinder (1-1-2), and the end of the positioning cylinder (1-1-2) is connected to the cargo hole position (15) of the turntable (1-1-1). )Corresponding.

One side of the cargo shifting turntable mechanism (1-1) is provided with a material pushing mechanism (1-2), a material translation mechanism (1-3) and a container pushing mechanism (1-4), and the material pushing mechanism ( The lower end of 1-2) is provided with a base support (9), and the lower end of the base support (9) is fixedly arranged on the manipulator assembly and handling operation unit (1) by a fixing mechanism (10).

The upper end of the substrate support (9) stores the material tower (1-2-1), and the bottom of the material storage tower (1-2-1) is fixedly provided with the material pushing out positioning platform (1-2-3), and the material A detection sensor (1-2-6) is installed in the push-out positioning platform (1-2-3), and one side of the material push-out positioning platform (1-2-3) is relatively parallel and fixedly arranged with a push-out cylinder (1-2-2 ), one end of the release cylinder (1-2-2) is corresponding to the release positioning platform (1-2-3) of the goods. The base bracket (9) at the lower part of the material translation mechanism (1-3) is fixedly arranged on the cargo shifting turntable mechanism (1-1) through the fixing mechanism (10), and the upper part of the base bracket (9) is relatively parallel to set the translation The linear cylinder (1-3-1), one end of the translational linear cylinder (1-3-1) is relatively vertically fixed with the material lifting cylinder (1-3-2), and the material lifting cylinder (1-3-2 ) is provided with a suction cup (1-3-3) at one end.

The base support (9) at the lower part of the cargo box push-out mechanism (1-4) is fixedly arranged on the manipulator assembly and handling operation unit (1) through the fixing mechanism (10), and the upper part of the base support (9) is provided with a storage tower (1-4 -1), one side of the cargo storage tower (1-4-1) is relatively parallel and fixedly installed with the container push-out cylinder (1-4-2), and the other side of the cargo storage tower (1-4-1) is fixed with a slide Groove (1-4-3), storage tower (1-4-1) is corresponding with chute (1-4-3).

The base bracket (9) at the lower part of the four-axis linkage manipulator mechanism (1-5) is fixedly arranged on the manipulator assembly and handling operation unit (1), and the upper part of the base bracket (9) is fixedly equipped with the turntable mechanism (1-5-3), the turntable The upper part of the mechanism (1-5-3) is relatively vertically fixed with a Y-axis moving device (1-5-2), and one end of the Y-axis moving device (1-5-2) is fixed to the turntable mechanism (1-5-3) Connected, the other end of the Y-axis mobile device (1-5-2) is fixedly provided with a stepper motor (19), and the middle part of the Y-axis mobile device (1-5-2) is relatively parallel to the X-axis mobile device (1-5-2). 5-4), the X-axis moving device (1-5-4) moves vertically along the Y-axis moving device (1-5-2), and one end of the X-axis moving device (1-5-4) is fixedly provided with a DC motor ( 16), the other end of the X-axis moving device (1-5-4) is relatively vertically fixed with an air-controlled manipulator (1-5-1), and the air-controlled manipulator (1-5-1) follows the X-axis moving device ( 1-5-4) Horizontal movement, the four-axis linkage manipulator mechanism (1-5) corresponds to the output port of the work unit of the manipulator assembly and handling work unit (1). The lower part of the transmission mechanism (18) is fixedly provided with a substrate support (9), the lower end of the substrate support (9) is fixedly arranged on the manipulator assembly and handling operation unit (1), and the upper end of the substrate support (9) is relatively parallel and fixedly provided with parallel belts. (1-6-1), one end of the parallel belt (1-6-1) is provided with a tension regulator (1-6-4), and the other end of the parallel belt (1-6-1) is provided with a transmission shaft ( 1-6-2), the lower part of the transmission mechanism (18) is fixedly provided with an AC motor (17), and the output end of the AC motor (17) is connected to the drive shaft (1-6-2) with a synchronous belt (1-6-3). ) are connected, and the synchronous transmission parallel belt (1-6-1) rotates, as shown in Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6 and Fig. 7.

Example 2

The cargo automatic identification buffer operation unit (2) is provided with an incoming delivery mechanism (18), several sorting buffers (2-2) and an outgoing delivery mechanism (18), and the lower part of the incoming delivery mechanism (18) is fixedly set The base bracket (9), the lower end of the base bracket (9) is relatively horizontally fixed on the automatic cargo identification buffer operation unit (2) along one side of the automatic cargo identification buffer operation unit (2), and the delivery mechanism for incoming goods (18 ), the lower part of the base bracket (9) is fixedly arranged on the lower part of the base bracket (9), and the lower end of the base bracket (9) is fixedly arranged on the cargo automatic identification buffer operation unit (2), and the upper end of the base bracket (9) is relatively parallel and fixedly arranged with parallel belts (1- 6-1), one end of the parallel belt (1-6-1) is provided with a tension regulator (1-6-4), and the other end of the parallel belt (1-6-1) is provided with a transmission shaft (1-6 -2), the lower part of the transmission mechanism (18) of the incoming goods is fixedly provided with an AC motor (17), and the output end drive shaft (1-6-2) of the AC motor (17) is phase-phased with a synchronous belt (1-6-3) Coupling, synchronous drive parallel belts (1-6-1). The upper part of the parallel belt (1-6-1) of the conveying mechanism (18) of incoming goods is fixedly provided with photoelectric sensor (2-1-5), capacitive sensor (2-1-1) along parallel belt (1-6-1) , color sensor (2-1-2) and spare capacitive sensor (2-1-3), capacitive sensor (2-1-1), color sensor (2-1-2) and spare capacitive sensor (2-1- 3) One side of the cylinder is fixedly provided with a cylinder fixing bracket (2-1-4). The delivery mechanism (18) of incoming goods runs through the inner side of one side of the sorting buffer storehouse (2-2) relatively in parallel, and one end of the parallel belt (1-6-1) of the delivery mechanism (18) of incoming goods is connected with the input port of the operation unit. Corresponding.

The main body of the sorting buffer storehouse (2-2) is that the substrate support (9) is rectangular, and the inside of the rectangular substrate support (9) is provided with double-row annular roller chains (2-2-2) along the substrate support (9), and the rectangular substrate Several bucket-type storage racks (2-2-3) are equidistantly arranged along the matrix bracket (9) in the bracket (9), and the two ends of the bucket-type storage racks (2-2-3) are respectively connected with double rows of annular rollers. The chains (2-2-2) are relatively parallel and fixedly connected, and the double-row annular roller chain (2-2-2) drives the bucket storage rack (2-2-3) to move along the rectangular base support (9). One side of the type storage shelf (2-2-3) is fixedly provided with a container-free sensor (2-2-5), and the upper side of the rectangular substrate support (9) is fixedly provided with an AC motor (17), which drives the double-row annular roller The sub-chains (2-2-2) run along the rectangular base support (9), and the other side of the lower part of the rectangular base support (9) is fixedly provided with a positioning chain sensor (2-2-6).

Along the other side of the cargo automatic identification buffer operation unit (2), the delivery transmission mechanism (18) is fixed relatively horizontally, and the lower part of the delivery transmission mechanism (18) is fixedly provided with the substrate support (9), and the substrate support (9) The lower end of the lower end is fixedly arranged on the cargo automatic identification buffer operation unit (2), the upper end of the base support (9) is relatively parallel and fixedly arranged with a parallel belt (1-6-1), and one end of the parallel belt (1-6-1) The tension regulator (1-6-4) is set at the top, the transmission shaft (1-6-2) is set at the other end of the parallel belt (1-6-1), and the lower part of the delivery mechanism (18) is fixedly set Alternating current motor (17), with synchronous belt (1-6-3) the output drive shaft (1-6-2) of alternating current electrical machinery (17) is connected, synchronous transmission parallel belt (1-6-1). One end of the parallel belt (1-6-1) of the delivery mechanism (18) corresponds to the input port of the operation unit, and the other end of the parallel belt (1-6-1) is connected to the cargo automatic identification buffer operation unit ( 2) corresponds to the output port of the operation unit, as shown in Figure 9, Figure 10, and Figure 11.

Example 3

The stacking operation unit (3) is provided with a supply pallet mechanism (3-1), a pallet transmission mechanism (18), a cargo lifting mechanism (3-3), a cargo pushing mechanism (3-4) and a cargo transmission mechanism (18) , the main body of the tray supply mechanism (3-1) is a substrate support (9), the substrate support (9) is fixedly arranged on the stacking operation unit (3), and the both sides of the substrate support (9) are fixedly provided with a tray cylinder (3 -1-6), a parallel belt roller support mechanism (3-1-3) is set along the base support (9), and the parallel belt roller support mechanism (3-1-3) is connected with the double-row transmission parallel belt (3-1- 4) connected with each other, the two ends of the well-type tray storage mechanism (3-1-5) are connected with the double-row conveying parallel belts (3-1-4), and the lower side of the base support (9) is fixedly equipped with a DC motor (16), DC motor (16) drives double-row conveying parallel belts (3-1-4) to drive well type tray reserve mechanism (3-1-5) and tray is sent into the conveying mechanism (18) of tray. The lower part of the conveying mechanism (18) of the pallet is fixedly provided with a substrate support (9), the lower end of the substrate support (9) is fixedly provided on the stacking operation unit (3), and the upper end of the substrate support (9) is relatively parallel and fixedly provided with a transmission The roller chain (2-2-2), the lower part of the conveying mechanism (18) of the tray is fixedly provided with an AC motor (17), and the output end of the AC motor (17) is connected to the driving shaft with a synchronous belt (1-6-3). (3-2-1) are connected to drive the transmission roller chain (2-2-2) row.

The main body of the cargo lifting mechanism (3-3) is the base bracket (9), the lower end of the base bracket (9) is connected to the stacking operation unit (3) relatively vertically and fixedly, and the base bracket (9) is relatively parallel to the cargo lifting device. frame (3-3-4), the goods conveying mechanism (3-3-3) is set on the goods lifting frame (3-3-4), and the upper end and the lower end of the base support (9) are respectively set with a rise limit sensor ( 3-3-6) and the descending limit sensor (3-3-7), control the stroke of the cargo lifting frame (3-3-4), and one side of the base support (9) is arranged relatively parallel along the base support (9) The roller chain (2-2-2), one side of the lower end of the substrate support (9) is fixedly provided with a DC motor (16), and the output end of the DC motor (16) is in phase with the roller chain (2-2-2). Connecting, the DC motor (16) drives the roller chain (2-2-2) to drive the cargo lifting frame (3-3-4) in the ascending limit sensor (3-3-6) and descending limit sensor (3-3 -7) Between lifting and lowering the stacked goods.

The main body of the cargo propulsion mechanism (3-4) is a substrate support (9), and the cargo platform (3-4-3) is relatively parallelly arranged in the substrate support (9) of the cargo propulsion mechanism (3-4), and the substrate support (9 ) on one side of the upper part of the substrate bracket (9) is relatively parallel and fixed with several limit sensors (3-4-2), and one side of the lower part of the substrate bracket (9) is fixed with a DC motor (16), and the cargo propulsion mechanism (3-4) inside the base bracket (9) along the base bracket (9) relatively parallel to the double-row transmission toothed belt (3-4-4), the cargo propulsion mechanism (3-4) inside the base bracket (9) The feeding baffles (3-4-1) are relatively parallelly arranged, and the two ends of the feeding baffles (3-4-1) are connected with the double-row transmission toothed belts (3-4-4). The DC motor (16) drives the double-row transmission toothed belt (3-4-4) and the feeding baffle (3-4-1) to send the cargo on the loading platform (3-4-3) into the cargo lifting mechanism (3-3). The lower part of the conveying mechanism (18) of the goods is fixedly provided with a substrate support (9), the lower end of the substrate support (9) is fixedly arranged on the stacking operation unit (3), and the upper end of the substrate support (9) is relatively parallel and fixedly arranged parallel Belt (1-6-1), one end of the parallel belt (1-6-1) is provided with a tension regulator (1-6-4), and the other end of the parallel belt (1-6-1) is provided with a transmission shaft (1-6-2), the bottom of the transmission mechanism (18) of the goods is fixedly provided with an AC motor (17), and the output end transmission shaft (1-6) of the AC motor (17) is connected with a timing belt (1-6-3). -2) connected, synchronous transmission parallel belts (1-6-1). The upper part of the parallel belt (1-6-1) of the transmission mechanism (18) is fixedly provided with the cargo limiter (2-5-2) along the parallel belt (1-6-1), and the parallel belt (1-6-1) The other end of is corresponding to the output port of the operation unit. One end of the cargo transmission mechanism (18) corresponds to the operation unit input port of the stacking operation unit (3), and the other end of the cargo transmission mechanism (18) is connected with the cargo propulsion mechanism (3-4): pallet One end of the transmission mechanism (18) is connected with the supply tray mechanism (3-1), the other end of the transmission mechanism (18) of the tray is connected with the goods lifting mechanism (3-3), and the transmission mechanism (18) The top end of the other end corresponds to the work unit output port of the stacking work unit (3), as shown in Fig. 13, Fig. 14, Fig. 15, Fig. 16 and Fig. 17.

Example 4

The automatic warehouse operation unit (4) is equipped with a loading platform (4-1) for storage, several storage warehouses (4-2), a roadway crane (4-3) and a loading platform for delivery (4-1) The lower part of the main body of the loading platform (4-1) is provided with a chassis base (4-1-2), and the lower part of the chassis base (4-1-2) is fixedly arranged on the automatic warehouse operation unit (4), and the chassis base The top of seat (4-1-2) is fixedly provided with runner (4-1-4), and the top of runner (4-1-4) is provided with turntable (4-1-6), and turntable (4-1-6 ) is fixedly arranged on one side of the DC motor (16), the upper part of the turntable (4-1-6) is fixedly arranged on the main body of the loading platform (4-1), and one side of the upper part of the main body of the loading platform (4-1) is fixedly installed on the sensor (4-1-5), detect the goods on the loading platform (4-1). The upper part of the main body of the loading platform (4-1) is relatively parallel with a sprocket transmission mechanism (4-1-3), and a double-row roller chain (2-2-2) is arranged on the sprocket transmission mechanism (4-1-3). ), the DC motor (16) is fixedly installed in the main body of the loading platform (4-1), and the output end of the DC motor (16) and the sprocket drive mechanism (4-1- 3) connected, the DC motor (16) drives the double-row roller chain (2-2-2) through the roller chain (2-2-2) and the sprocket drive mechanism (4-1-3) to pass the detected The goods are fed into the roadway crane (4-3).

The main body of the reserve storehouse (4-2) is a matrix support (9), which is divided into several rectangular frames. On the frame wall of the matrix support (9), cargo storage platforms (4-4-1) are relatively parallelly arranged, and the matrix support (9) A detection sensor (4-4-2) is arranged on the top of the goods storage platform (4-4-1) on one side.

A roadway crane (4-3) is arranged relatively parallel to the middle part of the automatic warehouse operation unit (4), and a walking guide rail (4-3) is arranged relatively parallel to the automatic warehouse operation unit (4) on the lower base of the roadway crane (4-3). -3), one end of the base of the roadway crane (4-3) is provided with a photoelectric encoder (4-3-6) and a storage and retrieval mechanism (4-3-5), and the base of the roadway crane (4-3) The other end of the seat is provided with a DC motor (16), and the DC motor (16) drives the storage and retrieval mechanism (4-3-5) to move horizontally along the walking guide rail (4-3-3), and the storage and retrieval mechanism (4-3 -5) The upper part is provided with leading screw drive stepping motor (19), leading screw (4-3-2) and storage and retrieval device (4-3-4), and the lower part of leading screw driving stepping motor (19) is set Leading screw (4-3-2), storage and retrieval device (4-3-4) is arranged on the leading screw (4-3-2), the lower end of leading screw (4-3-2) and storage and retrieval mechanism (4-3-5) are connected, and the leading screw drives the stepper motor (19) to drive the leading screw (4-3-2) to drive the storage and retrieval device (4-3-4) to move up and down, as shown in Figure 19 and Figure 20 , as shown in Figure 21.

Example 5

The visual detection operation unit (5) is provided with a visual detection system (5-1), a conveyor belt mechanism (18) for goods, a graph, an image display (5-2) and an image processor (5-3), and a conveyor belt mechanism (18) for goods ) is relatively horizontally arranged on one side of the visual inspection unit (5) along the visual inspection unit (5), and a detection sensor (5-1-2) is arranged at one end of the conveyor belt mechanism (18) of the goods. Graphics, image displays (5-2) and image processors (5-3) are arranged on the other side of the visual inspection unit (5), and a visual inspection system (5-1) is arranged in the middle of the conveyor belt mechanism (18) of the goods. The lower part of the conveying mechanism (18) of the goods is fixedly provided with a substrate support (9), the lower end of the substrate support (9) is fixedly arranged on the visual inspection operation unit (5), and the upper end of the substrate support (9) is relatively parallel and fixed and arranged parallel Belt (1-6-1), one end of the parallel belt (1-6-1) is provided with a tension regulator (1-6-4), and the other end of the parallel belt (1-6-1) is provided with a drive shaft (1-6-2), the bottom of the transmission mechanism (18) of the goods is fixedly provided with an AC motor (17), and the output end transmission shaft (1-6) of the AC motor (17) is connected with a timing belt (1-6-3). -2) connected, synchronous transmission parallel belts (1-6-1). The cargo conveyor belt mechanism (5-1-1) runs through the visual detection system (5-1) relatively parallel, the main body of the visual detection system (5-1) is the visual detection shielding bracket (5-1-4), and the visual detection shielding bracket ( 5-1-4) straddling the conveying mechanism (18) of the goods, a visual light source (5-1-3) is set on one side of the visual detection shielding bracket (5-1-4), and the visual detection shielding bracket (5-1 -4) A vision column (5-1-5) is arranged on the upper part, and a vision camera (5-1-6) is arranged on the vision column (5-1-5), as shown in Fig. 23 and Fig. 24 .

Example 6

The coding operation unit (6) is provided with the conveying mechanism (18) and hot stamping coding mechanism (6-2) of the goods, and the conveying mechanism (18) of the goods is arranged in the coding operation unit relatively parallel to the coding operation unit (6). (6), one side of the delivery mechanism (18) of the goods is provided with a goods arrival detection sensor (6-1-1) and a coding arrival sensor (6-1-2), and a middle part of the delivery mechanism (18) of the goods The hot stamping coding mechanism (6-2) is arranged on the side. The lower part of the conveying mechanism (18) of the goods is fixedly provided with a substrate support (9), the lower end of the substrate support (9) is fixedly arranged on the coding operation unit (6), and the upper end of the substrate support (9) is relatively parallel and fixedly arranged parallel Belt (1-6-1), one end of the parallel belt (1-6-1) is provided with a tension regulator (1-6-4), and the other end of the parallel belt (1-6-1) is provided with a drive shaft (1-6-2), the bottom of the delivery mechanism (18) of the goods is fixedly provided with an AC motor (17), and the output end of the AC motor (17) is connected to the transmission shaft (1-6-3) with a synchronous belt (1-6-3). 6-2) are connected together, synchronously driving parallel belts (1-6-1), as shown in Figure 26 and Figure 27.

Example 7

The cargo flow direction control operation unit (7) is equipped with a monitoring display (7-1), a vertical conveyor chain mechanism (7-2), a horizontal conveyor chain mechanism (7-3) and a lifting mechanism (7-4), and the cargo flow direction control operation unit The central part of (7) is provided with a monitoring display (7-1), and one side of the cargo flow control operation unit (7) is relatively parallel with a horizontal conveyor chain mechanism (7-3) along the cargo flow control operation unit (7). One end of (7-3) corresponds to the input port of the operation unit, the other end of the transverse transmission chain mechanism (7-3) is connected with the lifting mechanism (7-4), and the transverse transmission chain mechanism (7-3) The profile transmission line body (7-2-2) is relatively horizontally arranged on one side of the cargo flow direction control operation unit (7) along the cargo flow direction control operation unit (7). The profile transmission line body (7-2-2) is relatively horizontally provided with a chain support plate (7-2-3), and one end of the chain support plate (7-2-3) is provided with a driven shaft (7-3-1), The other end of the chain support plate (7-2-3) is provided with a drive shaft (7-2-1) and an AC motor (17), and the AC motor (17) drives the drive shaft (7-2-1) to drive and support the chain Roller chain (2-2-2) on support plate (7-2-3). A longitudinal conveyor chain mechanism (7-2) is arranged relatively vertically along one side of the cargo flow direction control operation unit (7) along the cargo flow direction control operation unit (7). One end of the vertical conveyor chain mechanism (7-2) is connected to the lifting mechanism (7- 4) connected, the other end of the horizontal conveyor chain mechanism (7-3) corresponds to the output port of the work unit, and the profile conveyor line body (7-2-2) of the vertical conveyor chain mechanism (7-2) follows the flow direction of the goods The control operation unit (7) is relatively horizontally arranged on one side of the cargo flow direction control operation unit (7), and the profile conveying line bodies (7-2-2) are relatively horizontally arranged along the profile conveying line bodies (7-2-2) Chain support plate (7-2-3), one end of chain support plate (7-2-3) is provided with driven shaft (7-3-1), the other end of chain support plate (7-2-3) The drive shaft (7-2-1) and the AC motor (17) are set, and the AC motor (17) drives the drive shaft (7-2-1) to drive the roller chain supported on the chain support plate (7-2-3) (2-2-2).

The lower part of the lifting mechanism (7-4) is provided with a lifting base plate (7-4-1), and the upper part of the lifting base plate (7-4-1) is fixedly provided with a cylinder (7-4-2), and the cylinder (7-4-2) The upper part of the guide sleeve (7-4-9) and the guide post (7-4-10) is provided with the lifting middle plate (7-4-3), and the upper part of the lifting middle plate (7-4-3) is fixedly arranged with several The hexagonal column (7-4-4), the top of the hexagonal column (7-4-4) is fixedly provided with a lifting upper plate (7-4-5), and a DC motor ( 16), the upper part of the lifting upper plate (7-4-5) is relatively parallel to the roller shaft support (7-4-6), and several roller shafts (7-4-6) are arranged on the roller shaft support (7-4-6). 7). The DC motor (16) drives the roller shaft (7-4-7) to achieve a 90° commutation through the roller shaft (7-4-7) after the goods enter the transverse conveyor chain mechanism (7-3) from the input port of the operation unit After entering the vertical transmission chain mechanism (7-2), it is output by the output port of the work unit, as shown in Figure 29 and Figure 30.

Example 8

The container packing operation unit (8) is provided with the conveying mechanism (18), packing mechanism (8-3) and some spare containers (8-2) of packing, the lower base body support of the conveying mechanism (18) of packing ( 9), the lower end of the base support (9) is fixedly connected to the container packing operation unit (8), and the upper end of the base support (9) is relatively parallel with a beam (8-1-1), and the beam (8-1- 1) The transmission shaft (1-6-2) and the tension regulator (1-6-4) are respectively arranged at both ends, and the transmission shaft (1-6-2) and the tension regulator (1-6-4 ) between roller chains (2-2-2), one end of the packing transmission mechanism (18) corresponds to the work unit input port of the container packing work unit (8), and the beam (8-1-1 ) is provided with DC motor (16), cargo propulsion bracket (8-1-4), lifting cylinder (7-4-2), light bar guide rail (8-1-6) and slide block (8-1-7 ), one end of the cargo propulsion bracket (8-1-4) is connected to the output end of the DC motor (16) through the slider (8-1-7), and the lower part of the cargo propulsion bracket (8-1-4) is fixedly arranged The lifting cylinder (8-1-5), drives the DC motor (16) to drive the cargo propulsion bracket (8-1-4) to move along the light bar guide rail (8-1-6), and drives the lifting cylinder (7-4-2) It drives the cargo propulsion support (8-1-4) to rise and fall.

The other end of the conveying mechanism (18) of packing is provided with packing mechanism (8-3), and the bottom of packing mechanism (8-3) is fixedly fixed base plate (8-2-2) relatively horizontally, and fixed base plate (8-2-2) -2-2) It is fixedly connected with the container packing operation unit (8), and the hydraulic cylinder (8-1-5) and the guide column (7-4-10) are fixed relatively vertically on the fixed bottom plate (8-2-2) ), the guide post (7-4-10) is arranged on both sides of the hydraulic cylinder (8-1-5), and the upper part of the hydraulic cylinder (8-1-5) and the guide post (7-4-10) are fixed relatively horizontally The lifting pallet (8-2-1) is set, and one side of the lifting pallet (8-2-1) is fixedly provided with a full sensor (8-2-4), and the upper part of the lifting pallet (8-2-1) places the container ( 8-2-3); the other side of the container packing operation unit (8) places several spare containers (8-2), as shown in Figure 32 and Figure 33.

Example 9

Including manipulator assembly and handling operation unit (1), cargo automatic identification buffer operation unit (2), stacking operation unit (3), automated warehouse operation unit (4), visual inspection operation unit (5), coding operation unit (6 ), cargo flow direction control operation unit (7) and container packing operation unit (8), at least one operation unit constitutes an operation training system, and the bottom of each operation unit is provided with an operation unit base (13), and the operation unit base ( 13) The operation unit control panel (14) is fixedly arranged on the upper part, and different operation units are arranged on the upper part of the operation unit base (13), and the operation units are fixedly connected with the operation units by fixing bolts, and the actuators in the operation units include servo motors , AC motors, DC motors, stepper motors and cylinders.

Each operating unit is equipped with a modular interface of the single-chip circuit and logic circuit as the electrical connection port of each device, including the PLC output master signal and the connection required for the sensor are directly connected to the switching interface, according to the flow direction of the signal information Connect the signal orientation of PLC, sensors and actuators with the terminal interface.

The standard interface of each operation unit can be connected with the industrial computer I/O acquisition card or PLC or single-chip microcomputer or embedded computer to form a control system, and different operation units can be selected to combine into a job training system for cascade configuration.

Several operation units realize the communication between the PLCs of each operation unit through the PC-LINK communication network to form a PLC control system. The (-) terminal of the transmission line at the end station is short-circuited with the E terminal, and its network structure is a three-layer structure. The physical layer and the data link layer are oriented to communication, and the application layer provides services to users. In the shared memory communication in serial communication, a storage area is designated in the communication unit of each station, and the storage area occupies the same address number in each station. space, the shared memory is the LINK area, and the shared communication mode of the LINK area is only applicable to the exchange of information between PLCs and PLCs in the form of tokens, which is N:N communication, as shown in Figure 35, Figure 36, Figure 37, and Figure 38.

The actuator in the working unit is connected with the intelligent protection module, and the sensor in the working unit is connected with the standard interface B and the intelligent protection module. All standard interfaces have input terminals and output terminals. The input terminals of a standard interface are connected to the output terminals of another standard interface. The standard interface A is fixed on the control panel (14). , and connected with the servo motor, AC motor, DC motor, stepper motor and cylinder in the operation unit through the intelligent module, and the field signals generated by various sensors set in the operation unit are connected with the standard interface B and the intelligent protection module through the line Connection, the power is input from the standard interface A, and the power is supplied to the actuator through the standard interface B. The output terminal of the standard interface A is connected to the input port of the PLC, and the input terminal of the standard interface A is connected to the output port of the PLC. The input terminal of the standard interface B is connected to the sensor in the working unit, the output terminal of the standard interface B is connected to the input port of the intelligent protection module, the output interface of the intelligent protection module is connected to the actuator, and the sensor of the working unit is connected to the intelligent protection module. connected to the input interface of the module. The master signal is connected to the output interface of the standard interface A, the master signal is connected to the input interface of the switching interface, the output interface of the switching interface is connected to the input interface of the standard interface A, and the output interface of the PLC is connected to the switching interface. The output interface of PLC is connected with the input interface of standard interface A, as shown in Figure 35 and Figure 36.

The single-chip microcomputer circuit arranged in the operation unit includes enhanced LPC900 series single-chip microcomputer or ARM32 bit as controller or PIC single-chip microcomputer or DSP single-chip microcomputer, and the logic circuit arranged in the operation unit includes programmable logic device (PLD) or matrix circuit.

Example 10

The manipulator assembly and handling operation unit and the cargo automatic identification buffer operation unit constitute an operation training system. An operation unit base (13) is arranged at the bottom of each operation unit, and an operation unit control panel (14) is fixedly installed on the operation unit base (13). Different operating units are arranged on the top of the unit base (13), and the operating units are fixedly connected with fixing bolts between the operating units, as shown in Figure 39.

Example 11

The manipulator assembly and handling operation unit and the automatic warehouse operation unit constitute an operation training system. An operation unit base (13) is arranged at the bottom of each operation unit, and an operation unit control panel (14) is fixedly arranged on the operation unit base (13). The top of seat (13) is provided with different operating units, and is fixedly connected with fixing bolts between operating units and operating units, as shown in Figure 40.

Example 12

The manipulator assembly and handling operation unit, the stacking operation unit and the automatic warehouse operation unit constitute the operation training system, and the operation unit base (13) is set at the bottom of each operation unit, and the operation unit control panel (14) is fixedly arranged on the operation unit base (13). ), the top of the operating unit base (13) is provided with different operating units, and is fixedly connected with fixing bolts between the operating units and the operating units, as shown in Figure 41.

Example 13

The manipulator assembly and handling operation unit, the cargo automatic identification buffer operation unit, the stacking operation unit and the automatic warehouse operation unit constitute an operation training system. The lower part of each operation unit is provided with an operation unit base (13), and the operation unit base (13) is fixed The operating unit control panel (14) is set, and different operating units are arranged on the top of the operating unit base (13), and the operating units are fixedly connected with fixing bolts, as shown in Figure 42.

Example 14

The manipulator assembly and handling operation unit, the visual inspection operation unit, the coding operation unit, the automatic cargo identification buffer operation unit, the stacking operation unit and the automatic warehouse operation unit constitute the operation training system, and the lower part of each operation unit is provided with an operation unit base (13) , the operation unit control panel (14) is fixedly arranged on the operation unit base (13), and different operation units are arranged on the top of the operation unit base (13), and the operation unit is fixedly connected with the operation unit by fixing bolts, as shown in Figure 43 shown.

Example 15

The manipulator assembly and handling operation unit, the cargo automatic identification buffer operation unit, the stacking operation unit, the automatic warehouse operation unit, the cargo flow control operation unit and the container packing operation unit constitute the operation training system. 13), the operation unit control panel (14) is fixedly arranged on the operation unit base (13), and different operation units are arranged on the top of the operation unit base (13), and the operation unit is fixedly connected with the operation unit by fixing bolts, such as Figure 44 shows.

Example 16

The manipulator assembly and handling operation unit, visual inspection operation unit, coding operation unit, cargo automatic identification buffer operation unit, stacking operation unit, automatic warehouse operation unit, cargo flow control operation unit and container packing operation unit constitute the operation training system. The bottom of the operating unit is provided with an operating unit base (13), the operating unit control panel (14) is fixedly arranged on the operating unit base (13), and the top of the operating unit base (13) is provided with different operating units. The units are fixed and connected with fixing bolts, as shown in Figure 45.

Claims (5)

1, of a logistics operation training system, which comprises robotic assembly handling operations unit (1), the goods automatically Identification buffer operation unit (2), stacking operations unit (3), automated warehouse operation unit (4), visual inspection worksheets Element (5), play yards operating unit (6), cargo flow control operations unit (7) and container packing operation unit (8); At least more than one operating unit structure operating training system, the lower portion of each operating unit operating unit base (13), Operating unit base (13) is fixedly arranged on the control panel operation unit (14), the operating unit base (13) of the upper set Set different operating units, between the working unit and the operating unit is fixedly connected with the fixing bolts; standard for each operating unit IPC interface with I / O capture card or PLC or microcontroller or embedded computer docking constitute a control system; choose different Operating units combined into a job training system for cascade configuration; robotic assembly handling operations unit (1) of cargo Dislodged turntable mechanism (1-1), material goods ejection mechanism (1-2), material goods translational mechanism (1-3), container ejection mechanism (1-4), Axis robot mechanism (1-5) and transfer means (18); along the manipulator assembly handling operations unit (1) with a side Parallel to the fixed setting of the transfer mechanism (18), the transmission mechanism (18) side of one end portion of turntable cargo shifting mechanism (1-1), cargo shifting rotary body (1-1) of the lower portion of the substrate holder (9), the substrate holder (9) of the lower end portion of the solid Be provided in the robot assembly handling operations unit (1), the substrate body holder (9) of the upper portion of the wheel base (1-1-3), Wheel base (1-1-3) positioned opposite sides of the sensor (1-1-6), rotary base (1-1-3) The upper portion of the transfer Plate (1-1-1), dial (1-1-1) opposite the upper part of at least four equally spaced holes above items (15), the goods holes (15) Set within the cargo in place detection sensor (1-1-5), turntable base (1-1-3) side opposite parallel positioning cylinder (1-1-2), positioning cylinder (1-1-2) of the end portion of the turntable (1-1-1) of cargo holes (15) corresponding to; cargo shifting Turntable mechanism (1-1) of the side of material goods ejection mechanism (1-2), material goods translational mechanism (1-3) and ejection mechanism carton (1-4), material goods push-out mechanism (1-2) a lower end portion of the substrate holder (9), the substrate holder (9) with the lower end portion of the solid Fixed means (10) fixed to the robot assembly handling operations unit (1) on; substrate holder (9) of the upper end portion of cargo storage Feed tower (1-2-1), reservoir material goods Tower (1-2-1) lower fixed setting material goods introduced localizer (1-2-3), material goods launch scheduled Bit units (1-2-3) set within detection sensor (1-2-6), material goods introduced positioning units (1-2-3) parallel to one side of a relatively solid Schedule Set launch cylinder (1-2-2), the introduction of the cylinder (1-2-2) with one end portion of material goods introduced positioning units (1-2-3) corresponds; Material goods translational mechanism (1-3) lower substrate holder (9) by fixing means (10) fixed to the cargo shifting turntable Means (1-1) on the substrate holder (9) parallel to the upper part of the relative translational linear drive (1-3-1), the gas line translational Cylinder (1-3-1) one end fixed to material goods relative vertical lift cylinder (1-3-2), material goods lift cylinder (1-3-2) of Suction end portion (1-3-3); container ejection mechanism (1-4) lower substrate holder (9) by fixing means (10) Assembly fixed to handling operations of the robot unit (1), the substrate body holder (9) of the upper portion of the cargo storage tower (1-4-1), Cargo storage tower (1-4-1) parallel to the side opposite the cylinder fixed to launch cargo box (1-4-2), cargo storage tower (1-4-1), another Side fixed setting chute (1-4-3), cargo storage tower (1-4-1) and slide (1-4-3) corresponds; Axis Manipulator institutions (1-5) The lower substrate holder (9) fixed to the robot assembly handling operations unit (1), the substrate holder (9) Upper fixed setting dial mechanism (1-5-3), rotary mechanism (1-5-3) set the upper relative to the vertical Y axis fixed mounted Set (1-5-2), Y-axis moving means (1-5-2) end portion of the turntable means (1-5-3) is connected to a fixed, Y-axis Means (1-5-2) fixed to the other end of the stepping motor (19), Y-axis moving means (1-5-2) relatively flat in the middle Line set the X-axis moving means (1-5-4), X-axis moving means (1-5-4) in the Y-axis moving means (1-5-2) vertical movement, X-axis moving means (1-5-4) fixed to one end of the stepping motor (19), X-axis moving means (1-5-4) to another Opposite ends of the vertical fixed set gas control robot (1-5-1), gas control robot (1-5-1) as the X-axis moving means (1-5-4) Horizontal movement, the robot axis linkage mechanism (1-5) with the robot assembly handling operations unit (1) operating unit outputs Corresponds to the port; transfer means (18) fixed to the lower portion of the substrate holder (9), the substrate holder (9) of the lower end portion of the solid Be provided in the robot assembly handling operations unit (1), the substrate body holder (9) opposite the upper end portion fixed to flat parallel Line with the (1-6-1), in parallel with the (1-6-1) of the end portion of the tension adjuster (1-6-4), in parallel with the (1-6-1) on the other One end portion of the drive shaft (1-6-2), the transmission mechanism (18) fixed to the lower portion of the AC motor (17), a belt (1-6-3) The AC motor (17) and the output shaft (1-6-2) coupled, synchronous parallel transmission belt (1-6-1) rotation; goods Operating unit automatically recognizes the buffer material (2) Set stocking transport mechanism (18), a number of sorting buffer libraries (2-2) and the Article transfer means (18), arrival transfer means (18) fixed to the lower part of the base holder (9), the base body holder (9) The lower end portion in the automatic identification of goods buffer operation unit (2) is fixed to one side of the relative levels of automatic identification of the goods Buffer operation unit (2), the arrival of the transport mechanism (18) through the opposite, parallel, Library sorting buffer (2-2) in the side Inside arrival transfer means (18) parallel with the (1-6-1) and the end portion of the input operation unit corresponds to the port; stars Select Buffers (2-2) is the mainstay of the substrate holder (9) rectangular, rectangular base bracket (9) along the substrate holder (9) Set double ring roller chain (2-2-2), a rectangular matrix bracket (9) along the substrate holder (9) equally spaced several bucket Style storage shelves (2-2-3), bucket storage shelves (2-2-3) ends of each roller chain with double ring (2-2-2) is relatively flat Fixed line connection, double ring roller chain (2-2-2) led bucket storage shelves (2-2-3) along the rectangular base bracket (9) contained Goods movement, bucket storage shelves (2-2-3) on one side of a fixed set without cargo tank sensor (2-2-5), a rectangular matrix bracket (9) Fixed to the upper side of the DC motor (16) for driving the ring double roller chains (2-2-2) edge of the rectangular base frame (9) chasing Rows of the rectangular base frame (9) fixed to the other side of the lower chain positioning sensor (2-2-6); along the slow automatic identification of goods Punch operation unit (2) is fixed to the other side of the ship opposite horizontal transfer means (18), ship transfer means (18) Parallel with the (1-6-1) and the end portion of the input operation unit corresponds to the port, parallel strips (1-6-1) and the other end portion of the goods Automatic buffer recognition was working unit (2) of the operating unit corresponding to the output port; stacking operation unit (3) for supplying Tray means (3-1), the tray transfer mechanism (18), the goods lifting mechanism (3-3), the goods advancing mechanism (3-4) and Goods transport mechanism (18), supply tray means (3-1) is the main substrate holder (9), the base body holder (9) fixed Provided in the stacking operation unit (3), the substrate holder (9) placed on both sides of the tray fixed to the cylinder (3-1-6), along Substrate holder (9) set within parallel with roller support mechanism (3-1-3), parallel with roller support mechanism (3-1-3) with double Send parallel strips (3-1-4) is connected to the tray pit reserve mechanism (3-1-5) Both ends of the parallel strips double transfer (3-1-4) Connected to the substrate holder (9) fixed to the lower side of the DC motor (16), DC motor (16) driving double pass Send parallel strips (3-1-4) led Pit tray Reserve Agency (3-1-5) the tray into the tray transport mechanism (18); goods Was lifting mechanism (3-3) is the main substrate holder (9), the base body holder (9) and the stacking operation the lower end section (3) Stationary relative to the vertical is connected to the substrate holder (9) on the lift frame opposite parallel goods (3-3-4), cargo lifting frame (3-3-4) Conveying means provided on the goods (3-3-3), the base body holder (9) of the upper portion and the lower portion of the set up limit sensor (3-3-6) and fall limit sensor (3-3-7), control of the goods lifting frame (3-3-4) of the trip, the substrate holder (9) Along one side of the substrate holder (9) opposite parallel roller chains (2-2-2), the substrate holder (9) fixed on one side of the lower end portion DC specific settings (16) Motor (16) the output end of roller chains (2-2-2) is coupled, the DC motor (16) Drive roller chains (2-2-2) led cargo lifting frame (3-3-4) on the rise limit sensor (3-3-6) and fall limit transmission Sensors (3-3-7) laying between lifting and lowering a cargo; cargo advance mechanism (3-4) is the main substrate holder (9), Cargo advance mechanism (3-4) a substrate holder (9) of opposite parallel cargo units (3-4-3), the substrate holder (9), Along the upper side of the substrate holder (9) fixed to a plurality of parallel opposite limit sensors (3-4-2), the substrate holder (9) Fixed to the lower side of the DC motor (16), the goods advancing mechanism (3-4) a substrate holder (9) along the base support Frame (9) opposite parallel double toothed drive belt (3-4-4), the goods advancing mechanism (3-4) a substrate holder (9) of Feeding opposite parallel baffle (3-4-1), the feed plate (3-4-1) Both ends of the double toothed drive belt (3-4-4) Coupled; DC motor (16) driving double drive toothed belt (3-4-4) and feeding baffle (3-4-1) of the cargo units (3-4-3) Material into the goods on the goods lift mechanism (3-3); cargo transfer means (18) one end portion of stacking operation unit (3) The input port of the corresponding working unit, cargo transfer means (18) The other end portion of the goods advance mechanism (3-4) Phase Coupling; tray transfer mechanism (18) one end of the tray with the supply means (3-1) coupled, the tray transfer mechanism (18) The other end portion of the goods lifting mechanism (3-3) is coupled, the transmission mechanism (18) of the tip portion of the other end of the stacking operation Unit (3) operating unit corresponding output port; automated warehouse operations unit (4) to set storage cargo units (4-1), Several repository (4-2), Lane cranes (4-3) and shipping cargo units (4-1), cargo units (4-1) under the subject Portion of the chassis base (4-1-2), the chassis base (4-1-2) is set in an automated warehouse operations fixed unit (4) on the bottom Reel base (4-1-2) fixed to an upper runner (4-1-4), runner (4-1-4) The upper portion of the turntable (4-1-6), Dial (4-1-6) fixed to one side of the DC motor (16), wheel (4-1-6) fixed to the upper part of the cargo platform (4-1) Subject, laden Taiwan (4-1) on one side of the upper body fixed setting sensor (4-1-5), the detection laden Taiwan (4-1) on the goods Material; laden Taiwan (4-1) are arranged in parallel relative to the upper part of the body sprocket drive mechanism (4-1-3), sprocket drive mechanism (4-1-3) Set on a double roller chain (2-2-2), cargo units (4-1) within the body fixed setting DC motor (16), through the roller chain (2-2-2) of the DC motor (16) output terminal and sprocket drive mechanism (4-1-3) is coupled, the DC motor (16) through Over Roller Chain (2-2-2) and sprocket drive mechanism (4-1-3) drive double roller chain (2-2-2) to send TESTED material goods Lane into crane (4-3); repository (4-2) is the main substrate holder (9), divided into a number of rectangular frame, the base Body holder (9) of the frame wall of the goods in pairs parallel to reserve units (4-4-1), the substrate holder (9) side of the pallet Stockpile units (4-4-1) of the upper portion of the sensor (4-4-2); automated warehouse operations unit (4) relative to the middle Parallel lane cranes (4-3), Lane cranes (4-3) along the lower part of the base unit automated warehouse operations (4) Relatively parallel running rail (4-3-3), Lane cranes (4-3) to set the base end portion of the optical encoder (4-3-6) Taking goods and reservoir means (4-3-5), lane crane (4-3) the base end portion of the other DC motor (16), DC Motor (16) driving Chu to take cargo agency (4-3-5) along the running rail (4-3-3) horizontal movement, storage of goods taking institutions (4-3-5) The upper portion of the screw driving a stepping motor (19), screw (4-3-2), and to erase the cargo unit (4-3-4), screw drive step Into the motor (19) of the lower portion of the screw (4-3-2), screw (4-3-2) is provided to take the goods storage means (4-3-4), silk Bar (4-3-2) to take the lower end portion of goods with the reservoir means (4-3-5) is coupled, the stepper motor (19) driving the screw (4-3-2) Take driven cargo storage device (4-3-4) moved up and down; visual inspection operations unit (5) set the visual detection system (5-1), Cargo conveyor mechanism (18), graphics, an image display (5-2) and an image processor (5-3), the goods conveyor Institutions (18) along the visual inspection operations unit (5) to set the relative level jobs in the visual detection unit (5) on one side, cargo Matter belt mechanism (18) for detecting one end of the sensor (5-1-2); visual inspection operation unit (5) to another Side graphics, an image display (5-2) and an image processor (5-3), cargo conveyor mechanism (18) located in the middle Visual inspection system set (5-1), cargo conveyor mechanism (18) opposite, parallel, through visual inspection system (5-1), depending on Sleep detection system (5-1) is the main visual inspection shield bracket (5-1-4), visual inspection shield bracket (5-1-4) across the Cargo conveyor mechanism (18), the visual inspection shield support (5-1-4) of the side of the visual light (5-1-3), Visual inspection shield bracket (5-1-4) set the visual upper column (5-1-5), the visual column (5-1-5) set the visual camera As the first (5-1-6); coding operation unit (6) is set cargo transfer means (18) and coding structure (6-2), the goods Transfer means (18) along the coding operation unit (6) disposed on opposite parallel coding operation unit (6), the transfer of goods Institutions (18) of the side of cargo in place detection sensor (6-1-1) and a code in place sensor (6-1-2), goods Transfer mechanism (18) in the middle of one side coder structure (6-2); goods flow control operations unit (7) Set the monitoring Display (7-1), the longitudinal conveyor chain mechanism (7-2), transverse conveyor chain mechanism (7-3) and a lifting mechanism (7-4), the goods Flow control operation unit (7) is set in the middle monitor display (7-1), the goods flow control operations unit (7) side Controlling the flow of goods along the working unit (7) disposed in parallel to opposite lateral conveyance chain mechanism (7-3), transverse conveyor chain mechanism (7-3) One end portion and the operating unit corresponding to the input port, the lateral transfer chain mechanism (7-3) in the other end portion of the elevating mechanism (7-4) Coupled, horizontal conveyor chain mechanism (7-3) profiles transmission line body (7-2-2) controlled the flow of goods along the working unit (7) Set in the flow of goods relative level of control operations unit (7) side of the transmission line sections body (7-2-2) along the profiles between Transmission line body (7-2-2) horizontally relative to the chain support (7-2-3), the chain support (7-2-3) of the end portion Driven shaft (7-3-1), the chain support (7-2-3) of the other end portion of the drive shaft (7-2-1) and AC motor (17), AC motor (17) drives the driving shaft (7-2-1) led support plate supporting the chain (7-2-3) on the roller chain (2-2-2); Goods flow control operations unit (7) along the side of the flow of goods control operations unit (7) relative to the vertical longitudinal conveyor chain set Means (7-2), the longitudinal conveyor chain mechanism (7-2) end portion of the elevating mechanism (7-4) is coupled, the lateral conveyor chain drive Structure (7-3) and the other end portion of the output port corresponding to the operating unit, the longitudinal conveyor chain mechanism (7-2) of the transmission line sections Body (7-2-2) controlled the flow of goods along the working unit (7) disposed in the flow of goods relative levels of job control unit (7) of the Side of the body of the transmission line sections (7-2-2) profiles along the transmission line between the body (7-2-2) set the relative levels of the chain support plate (7-2-3), Chain supporting plate (7-2-3) of the end portion of the driven shaft (7-3-1), the chain support (7-2-3) of the other end portion of the Drive shaft (7-2-1) and AC motor (17), AC motor (17) drives the driving shaft (7-2-1) led the chain support Support plate (7-2-3) on the roller chain (2-2-2); lifting mechanism (7-4) disposed below the lifting plate (7-4-1), up Descending plate (7-4-1) set an upper fixed cylinder (7-4-2), cylinder (7-4-2) of the guide sleeve (7-4-9) and the guide post (7-4-10) Lifting the upper portion of the plate (7-4-3), lifting plate (7-4-3) set an upper fixed number of hexagonal columns (7-4-4), Hexagonal column (7-4-4) is set down on the upper part of the fixed plate (7-4-5) in the hexagonal column (7-4-4) set between DC Motor (16), lift the upper plate (7-4-5) parallel to the upper part of the relative roller bracket (7-4-6), the roller shaft holder (7-4-6) Set on a number of rollers (7-4-7); DC motor (16) driving roller shaft (7-4-7) in the cargo terminal from the operating unit input Port into the transverse conveyor chain mechanism (7-3), through the roller shaft (7-4-7) to achieve conversion of 90 ° back into the vertical conveyor chain Means (7-2) by the operating unit output port; container packing operation unit (8) to set the transfer packing mechanism (18), Packing means (8-3) and a number of spare containers (8-2), packing the transfer mechanism (18) of the lower substrate holder (9), The substrate holder (9) of the lower portion of the container packing operation unit (8) is fixed connected to the substrate holder (9) of the upper Ministry relatively parallel beams (8-1-1), beam (8-1-1) set both ends of each shaft (1-6-2) and tension adjustment Device (1-6-4), shaft (1-6-2) and the tension adjuster (1-6-4) between the roller chain (2-2-2), packing the mass Transfer means (18) one end of the container packing operation unit (8) of the operating element corresponds to the input port, the beam (8-1-1) The lower portion of the DC motor (16), promoting the goods stand (8-1-4), lifting cylinder (7-4-2), light bar rail (8-1-6) And slider (8-1-7), cargo promote bracket (8-1-4) through the slider end portion (8-1-7) and the DC motor (16) the output of Connect the terminal of the goods to promote bracket (8-1-4) of the lower fixed settings lifting cylinder (8-1-5), the drive DC motor (16) Driven cargo promote bracket (8-1-4) along the optical bar rails (8-1-6) move, driven lift cylinder (7-4-2) led the goods Promote bracket (8-1-4) up and down; boxed transfer mechanism (18) The other end portion of the container body (8-3), Packing mechanism (8-3) the relative level of the lower fixed plate fixed setting (8-2-2), the fixed plate (8-2-2) and container Packing operation unit (8) is fixed connected to the fixed plate (8-2-2) fixed to the hydraulic cylinder relative to the vertical (8-1-5) And guide posts (7-4-10), guide posts (7-4-10) is set in the hydraulic cylinder (8-1-5) on both sides of the hydraulic cylinder (8-1-5) and the guide post (7-4-10) the relative level of the upper part of a fixed set down the tray (8-2-1), lift the tray (8-2-1) on one side of a fixed set Home goods full sensor (8-2-4), lift the tray (8-2-1) placed on the upper part of the container (8-2-3); container packing operations Unit (8) placed on the other side of the plurality of spare containers (8-2). ...

2, logistics operation training system according to claim 1, it is characterized in that described several operation units realize communication between each operation unit PLC by the PC-LINK communication network, constitute the PLC control system, (-) terminal of the transmission line of terminal and E terminal short circuit, its network body structure is a three-decker, wherein Physical layer and data link layer are towards communicating by letter, the application layer user oriented provides service, shared storage communication in the serial communication, to all marking a memory space in each station communication unit, the memory space all occupies identical address number space at each station, shared storage is the LINK district, LINK district common share communication mode only is applicable to the token mode exchange message between PLC and the PLC, is N:N communication, and the actuating unit in the operation unit comprises servomotor, alternating current dynamo, DC machine, stepping motor and cylinder; Each operation unit is provided with the electrical wiring mouth of the modular interface of single chip circuit and decision circuit as each device separately, comprising that PLC output is main makes signal and the required line of sensor all directly be connected with switching interface, and the flow direction that flows according to signal information is connected the signal orientation of PLC, sensor and actr with terminal interface.

3, logistics operation training system according to claim 1 is characterized in that the actuating unit in the described operation unit is connected with intelligent protection module, and the sensor in the operation unit is connected with intelligent protection module with standard interface B; Standard interface all has input terminal and lead-out terminal, the input terminal of standard interface and the corresponding connection of the lead-out terminal of another standard interface, standard interface A is fixedly installed on the control panel (14), fixing just the loading in each operation unit of mark interface B, and by the servomotor in intelligent object and the operation unit, alternating current dynamo, DC machine, stepping motor is connected with cylinder, being arranged on the on-site signal that various sensors produce in the operation unit is connected with intelligent protection module with standard interface B by circuit, power supply is imported by standard interface A, B provides power supply to actuating unit by standard interface, the lead-out terminal of standard interface A is connected with the input port of PLC, and the input terminal of standard interface A is connected with the output port of PLC; Sensor in the input terminal of standard interface B and the operation unit is connected, the lead-out terminal of standard interface B is connected with the input port of intelligent protection module, the output interface of intelligent protection module is connected with actuating unit, and the sensor of operation unit is connected with the input interface of intelligent protection module; The master makes signal be connected with the output interface of standard interface A, the master makes signal be connected with the input interface of switching interface, the output interface of switching interface is connected with the input interface of standard interface A, the output interface of PLC is connected with switching interface, and the output interface of PLC is connected with the input interface of standard interface A.

4, logistics operation training system according to claim 1, it is characterized in that the described single chip circuit that is arranged in the operation unit comprises that enhancement mode LPC900 series monolithic or ARM32 position are controller or PIC micro controller system or DSP micro controller system, the decision circuit that is arranged in the operation unit comprises programmable logic device (PLD) (PLD) or matrix circuit.

5, logistics operation training system according to claim 1, the top that it is characterized in that the parallel band (1-6-1) of described connecting gear (18) fixedly installs opto-electronic pickup (2-1-5), capacitive transducer (2-1-1), color sensor (2-1-2) and idle capacity sensor (2-1-3) along parallel band (1-6-1), and a side of capacitive transducer (2-1-1), color sensor (2-1-2) and idle capacity sensor (2-1-3) fixedly installs cylinder fixed support (2-1-4); The top of the parallel band (1-6-1) of connecting gear (18) fixedly installs goods locating part (2-5-2) along parallel band (1-6-1), and the other end of parallel band (1-6-1) is corresponding with the operation unit output port.

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