CN116281261A - Full-automatic cargo loader and control method thereof - Google Patents
Full-automatic cargo loader and control method thereof Download PDFInfo
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- CN116281261A CN116281261A CN202310559739.5A CN202310559739A CN116281261A CN 116281261 A CN116281261 A CN 116281261A CN 202310559739 A CN202310559739 A CN 202310559739A CN 116281261 A CN116281261 A CN 116281261A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
- B65G67/04—Loading land vehicles
- B65G67/08—Loading land vehicles using endless conveyors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G15/00—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration
- B65G15/22—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration comprising a series of co-operating units
- B65G15/24—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration comprising a series of co-operating units in tandem
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G15/00—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration
- B65G15/22—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration comprising a series of co-operating units
- B65G15/26—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration comprising a series of co-operating units extensible, e.g. telescopic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
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- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a full-automatic cargo loader and a control method thereof, belongs to the technical field of loading and unloading equipment, and solves the problems of high assembly difficulty and misoperation of the cargo loader; the feeding conveying mechanism, the main conveying mechanism and the secondary conveying mechanism are internally provided with conveying servo motors respectively, the conveying servo motors are respectively connected with chain wheels, and the chain wheels are provided with driving belts; the feeding conveying mechanism is connected with a traveling power mechanism, a main rotating mechanism is arranged on the traveling power mechanism, a main conveying mechanism is arranged on the main rotating mechanism, a main conveying swinging mechanism is also connected between the main conveying mechanism and the main rotating mechanism, a main conveying translation mechanism is arranged in the traveling power mechanism, and the main conveying translation mechanism is connected with the main rotating mechanism; the main conveying mechanism is connected with the secondary conveying mechanism. The invention combines the vision camera and the radar to control the cooperative movement of all the mechanisms, and can fully automatically and accurately load and stack the vehicles.
Description
Technical Field
The invention belongs to the technical field of loading and unloading equipment, and particularly relates to a full-automatic cargo loading machine and a control method thereof.
Background
The automatic loading machine is novel and professional loading and unloading equipment, can be provided with hydraulic lifting and moving casters and the like for operation, is humanized automatic logistics transportation equipment for operation, and is mainly applied to the industries of postal service, express delivery, airports, wharfs, medicines, chemical industry, tobacco and the like.
Many domestic manufacturers adopt manual loading, because of the increasing labor cost at the present stage and the increasing factors of the aging degree in China, the labor cost consumed when the factories for producing raw materials are used for loading is very high, the problem that the manpower cannot meet the requirement when a large number of loads are needed can not be solved, the labor intensity of manual loading is high, the loading staff is more, the efficiency is low, and the soft materials are required to be reworked in the factory for many times after being packaged. The automatic car loader can overcome the defects, and brings considerable economic benefit for manufacturers.
The existing automatic loading machine still needs manual operation, although the working efficiency is greatly improved compared with pure manual loading, the degree of automation still does not reach the expectation, most of the operation needs visual and judgment of people, the machine operation difficulty is high, the working efficiency cannot be further improved, and meanwhile errors possibly caused by manual operation are also difficult to avoid.
Disclosure of Invention
The invention aims at:
in order to solve the problems of high assembly difficulty and misoperation caused by manual operation still because the automation degree of the automatic loading machine in the prior art cannot reach full automation, the full-automatic loading machine for goods and a control method thereof are provided.
The technical scheme adopted by the invention is as follows:
a full-automatic cargo loader comprises a feeding conveying mechanism, a main conveying mechanism and a secondary conveying mechanism which are connected in sequence; the feeding conveying mechanism, the main conveying mechanism and the secondary conveying mechanism are internally provided with conveying servo motors respectively, the conveying servo motors are respectively connected with chain wheels, the chain wheels are respectively connected with driving rollers, and the driving rollers are respectively provided with driving belts;
the feeding device comprises a feeding conveying mechanism, a main rotating mechanism, a main conveying swinging mechanism, a main conveying translation mechanism, a main rotating mechanism and a main conveying swinging mechanism, wherein the bottom of the feeding conveying mechanism is provided with a roller, the feeding conveying mechanism is connected with a walking power mechanism, the walking power mechanism is provided with the main rotating mechanism, the main conveying mechanism is arranged on the main rotating mechanism, the main conveying swinging mechanism is also connected between the main conveying mechanism and the main rotating mechanism, and the main conveying translation mechanism is arranged in the walking power mechanism and is connected with the main rotating mechanism;
the main conveying mechanism is connected with a secondary conveying mechanism, the secondary conveying mechanism is connected with a secondary conveying swinging mechanism which is hinged with the main conveying mechanism, and the secondary conveying swinging mechanism is also connected with a secondary conveying rotating mechanism.
Further, the main rotating mechanism comprises a main rotating servo motor, the main rotating servo motor is connected with a main rotating planetary reducer, and the main rotating planetary reducer is connected with a rotating gear set;
the main conveying translation mechanism comprises a mounting plate connected with the main rotation mechanism, and the mounting plate is connected with a translation hydraulic rod.
Further, the main conveying swing mechanism comprises a pair of main swing hydraulic cylinders, and two ends of each main swing hydraulic cylinder are respectively hinged with the bottom of the main conveying mechanism and the main rotating mechanism.
Further, the secondary conveying swing mechanism comprises a pair of secondary swing hydraulic cylinders, and two ends of each secondary swing hydraulic cylinder are respectively hinged with the main conveying mechanism and the secondary conveying mechanism;
the secondary conveying rotating mechanism comprises a secondary rotating servo motor, and the secondary rotating servo motor is connected with a secondary rotating planetary reducer.
Further, a 3D snapshot image analysis camera is also installed on the secondary conveying mechanism; the walking power mechanism is provided with a connecting bracket which is fixedly connected with the feeding conveying mechanism, and the connecting bracket is provided with a 3D auxiliary navigation vision camera;
the laser obstacle avoidance radar is respectively installed at two ends of the walking power mechanism, and at least two safety radar sensors are installed on the main rotating mechanism.
A control method of a full-automatic cargo loader comprises the following steps:
A. after a truck to be loaded is in place, the loader moves into the truck body under the navigation of the 3D measuring vision cameras on the left side and the right side, and combines the front laser radar, the rear laser radar and the small square radars on the two sides of the truck body to assist in obstacle avoidance;
B. when the loader approaches the end in the wagon box, stopping advancing, and then carrying out photographing image processing on a required stacking station by a 3D snapshot image analysis camera carried below the secondary conveying mechanism, and converting the photographing image processing into 3D data, namely analog data;
C. the 3D data is combined with an I/O module of an AMR safety system of the 3D snapshot image analysis camera and then is transmitted to the PLC, the PLC transmits corresponding control commands to the execution mechanism, and a material waiting and loading stage is entered;
D. when the material is conveyed to the feeding conveying mechanism from the front end, the material triggers a first photoelectric sensor on the feeding conveying mechanism, a signal is transmitted to the PLC, and the PLC drives a control signal to stop conveying for the front-end feeding conveying mechanism;
E. the main conveying translation mechanism and the main conveying swing mechanism are used for adjusting and retracting the position and the posture of the control mechanism to an initial position according to the real-time scene scanned by the current vision camera and the laser radar, resetting the main conveying mechanism and triggering an in-place sensing signal of the first proximity switch;
F. the first proximity switch signal is fed back to the PLC, and a command is executed to enable the feeding conveying mechanism to continue conveying until the feeding conveying mechanism is conveyed to the main conveying mechanism and the second photoelectric sensor is triggered;
G. after the second photoelectric sensor is excited, the main conveying mechanism stops; the secondary conveying swinging mechanism and the secondary conveying rotating mechanism move, the secondary conveying mechanism is leveled to an initial position, and an in-place sensing signal of the second proximity switch is triggered;
H. the second proximity switch feeds back to the PLC through a signal, a main conveying mechanism continues to convey a command is executed, and after the material is transited to the secondary conveying mechanism through the main conveying mechanism to trigger the third photoelectric sensor, the secondary conveying mechanism stops;
I. all mechanisms carry out position and posture adjustment according to real-time feedback of the vision camera and the laser radar in combination with a control command, so that after the terminal posture of the secondary conveying mechanism reaches a correct position, the secondary conveying mechanism continues conveying materials until a fourth photoelectric sensor is excited, one-time palletizing and loading is completed, and circulation is continued until loading and palletizing are completed.
Further, the loading sequence of the loading machine for the materials is from bottom to top, from middle to right and from middle to left, and the loading is carried out gradually from the inside of the car body to the outside; after the material is loaded in one layer, the traveling power mechanism of the loading machine drives the traveling power mechanism to move backward, and then loading is started.
Further, the main conveying translation mechanism is driven by a hydraulic cylinder, so that all conveying surfaces on the main conveying translation mechanism are integrally translated; when the material is conveyed to the position of the feeding conveying mechanism, the main conveying translation mechanism retracts the main conveying mechanism to the initial position; when the loading and stacking are carried out by carrying out end conveying, the main conveying translation mechanism stretches out the main conveying mechanism.
Further, the main rotating mechanism and the secondary conveying rotating mechanism have the same rotating angle and opposite rotating directions, and the belt conveying direction of the tail end secondary conveying mechanism is parallel to the left surface and the right surface of the truck box body.
In summary, due to the adoption of the technical scheme, the beneficial effects of the invention are as follows:
the invention is provided with the vision scanning and the laser radar, so that the automatic car loader can independently and independently move forwards, backwards, turn and adjust the terminal posture; the automatic loading device is matched with a kinematic algorithm to realize autonomous loading of equipment, and full-automatic loading is carried out according to the size of the loaded space and the loading material quantity input by a terminal, so that the automatic loading device is wide in technical frontier and high in practical value, and provides powerful guarantee for the last-closing loading automation of the open platform. When the full-automatic car loader is adopted, the full-automatic car loader can achieve better effects no matter the control of labor cost or the prevention of personnel safety hidden danger, and particularly has obvious advantages when a large number of single-variety materials are loaded, and the full-automatic equipment can ensure the productivity and realize the stability of enterprise benefits.
The full-automatic loading machine is used for loading and stacking, particularly for box type vehicle types, can overcome the disadvantage that the traditional truss manipulator or industrial robot can only load the vehicle without a top cover, can be used for loading and unloading, and has dual purposes. The manufacturing and assembling difficulty is low, the equipment cost is low, and the energy utilization rate is high.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a block diagram of the feed conveyor mechanism of the present invention;
FIG. 3 is a structural view of the main conveyor mechanism of the present invention;
FIG. 4 is a block diagram of a secondary transport mechanism according to the present invention;
FIG. 5 is a block diagram of the walking power mechanism of the present invention;
FIG. 6 is a block diagram of a primary rotary mechanism of the present invention;
FIG. 7 is a block diagram of a primary transport translation mechanism of the present invention;
FIG. 8 is a block diagram of a main conveying swing mechanism of the present invention;
FIG. 9 is a schematic diagram of a secondary transport swing mechanism according to the present invention;
fig. 10 is a structural view of the sub-feeding rotating mechanism of the present invention.
The marks in the figure: 1-feeding conveying mechanism, 2-main conveying mechanism, 3-secondary conveying mechanism, 4-walking power mechanism, 5-main rotating mechanism, 6-main conveying translation mechanism, 7-main conveying swing mechanism, 8-secondary conveying swing mechanism, 9-secondary conveying rotating mechanism, 10-3D snapshot image analysis camera, 11-3D auxiliary navigation vision camera, 12-laser obstacle avoidance radar and 13-safety radar sensor.
Detailed Description
The present invention will be described in further detail with reference to the following examples in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
According to the full-automatic cargo loader, materials can be effectively and accurately conveyed to the terminal conveying belt through the cooperation of the belt conveyors of all the regional sections, and then the independent walking of the full-automatic cargo loader and the adjustment of the positions of all the conveying sections are controlled by combining the vision algorithm, the laser radar algorithm and the dynamics control algorithm of equipment. The invention adopts visual navigation and visual three-dimensional modeling, and the laser radar assists the navigation automatic loader, so that the material is accurately conveyed to an accurate position.
As shown in fig. 1, the invention comprises a feeding conveying mechanism 1, a main conveying mechanism 2 and a secondary conveying mechanism 3 which are connected in sequence; the feeding conveying mechanism 1, the main conveying mechanism 2 and the secondary conveying mechanism 3 are internally provided with conveying servo motors respectively, the conveying servo motors are respectively connected with chain wheels, the chain wheels are respectively connected with driving rollers, and driving belts are respectively arranged on the driving rollers; the bottom of the feeding conveying mechanism 1 is provided with rollers, the feeding conveying mechanism 1 is connected with a traveling power mechanism 4, a main rotating mechanism 5 is arranged on the traveling power mechanism 4, a main conveying mechanism 2 is arranged on the main rotating mechanism 5, a main conveying swinging mechanism 7 is further connected between the main conveying mechanism 2 and the main rotating mechanism 5, a main conveying translation mechanism 6 is arranged in the traveling power mechanism 4, and the main conveying translation mechanism 6 is connected with the main rotating mechanism 5; the main conveying mechanism 2 is connected with a secondary conveying mechanism 3, the secondary conveying mechanism 3 is connected with a secondary conveying swinging mechanism 8 which is hinged with the main conveying mechanism 2, and the secondary conveying swinging mechanism 8 is also connected with a secondary conveying rotating mechanism 9.
The main conveying translation mechanism 6 is driven by a hydraulic cylinder to integrally translate all conveying surfaces, and comprises a main conveying mechanism 2 and a secondary conveying mechanism 3. When the material is fed to the feed conveyor 1, the main conveyor translation mechanism 6 retracts its main conveyor 2 to the initial position, but when the loading palletizing is performed by the end conveying, the main conveyor translation mechanism 6 extends its main conveyor 2.
The main rotating mechanism 5 is controlled by a servo motor, and large torque is transmitted through a gear set and a main rotating planetary reducer matched with the gear set, so that the whole left-right rotation of all conveying mechanisms of the automatic loader is realized. The secondary conveying rotating mechanism 9 is controlled by a servo motor and is connected with the secondary conveying mechanism 3 through the output end of the secondary rotating planetary reducer, so that the rotation of the secondary conveying mechanism 3 at the tail end of the automatic loader is realized.
The secondary conveying rotating mechanism 9 is controlled by a servo motor and is connected with the secondary conveying mechanism 3 through the output end of the planetary reducer, so that the rotation of the secondary conveying mechanism 3 at the tail end of the automatic loader is realized. The sub-conveying swing mechanism 8 controls the mechanism by which the sub-conveying mechanism 3 swings up and down independently. The final execution gesture and the consistency of the actions of all the mechanism actions can be matched with a visual algorithm, a laser radar algorithm and a motion control algorithm to realize the consistency of the actions.
As shown in fig. 2, the feed conveyor 1 is the conveyance start end of the entire apparatus. The driving roller is driven by a servo motor to rotate through a chain wheel, and the driving roller drives a belt to run by friction force, so that materials are conveyed to move forward.
As shown in fig. 3, the main conveyor 2 is the middle conveyor end of the entire apparatus. The driving roller is driven by a servo motor to rotate through a chain wheel, and the driving roller drives a belt to run by friction force, so that materials are conveyed to move forward. In addition, this part is connected to the main rotation mechanism 5 and the main transport translation mechanism 6, so that it has the function of swinging in the vertical direction and rotating in the horizontal direction. In order for the material to smoothly transition from the feed conveyor 1 to the main conveyor 2, the system execution command resets the main conveyor 2 via the main conveyor translation mechanism 6 and the main conveyor swing mechanism 7 when the material reaches the feed conveyor 1. Wherein the primary conveyor 2 and the secondary conveyor 3 are connected together.
As shown in fig. 4, the secondary transport mechanism 3 is the transport end of the entire apparatus. The driving roller is driven by a servo motor to rotate through a chain wheel, and the driving roller drives a belt to run by friction force, so that materials are conveyed to move forward. The sub-conveying swing mechanism 8 and the sub-conveying rotation mechanism 9 are connected to each other, so that the sub-conveying swing mechanism has a function of swinging in the vertical direction and rotating in the horizontal direction. In order for the material to smoothly transition from the main conveyor 2 to the sub conveyor 3, the system execution command resets the sub conveyor 3 via the sub conveyor swing mechanism 8 and the sub conveyor rotation mechanism 9 when the material reaches the main conveyor 2. When the material reaches the belt surface on the main conveying mechanism 2 and the sensor feeds back signals to the PLC, the system controls the main conveying translation mechanism 6 and the main conveying swing mechanism 7 to adjust the corresponding position and posture according to the real-time scene scanned by the current vision camera and the laser radar. After the material reaches the belt surface on the secondary conveying mechanism 3 and the sensor feeds back a signal to the PLC, the system controls the primary conveying translation mechanism 6, the primary conveying swing mechanism 7, the secondary conveying swing mechanism 8 and the secondary conveying rotation mechanism 9 to cooperatively make corresponding position and posture adjustment according to the real-time scene scanned by the current vision camera and the laser radar, so that loading and stacking are completed.
The walking power mechanism 4 is shown in fig. 5, is an autonomous walking part of the whole equipment, and has a crawler-type structure. Two motors are used for independently controlling the two tracks to run.
As shown in fig. 6, the main rotation mechanism 5 is formed by integrally rotating the main conveying mechanism 2, the sub conveying mechanism 3, the main conveying swinging mechanism 7, the sub conveying swinging mechanism 8 and the sub conveying rotation mechanism 9 through a planetary reducer and a pair of gear sets by a servo motor, and is structurally connected with the main conveying translation mechanism 6, and the integral translation is also formed for all the mechanisms.
The main conveying translation mechanism 6 shown in fig. 7 is a mechanism for driving the main conveying mechanism 2, the sub conveying mechanism 3, the main conveying swinging mechanism 7, the sub conveying swinging mechanism 8 and the sub conveying rotation mechanism 9 to move back and forth as a whole, and is composed of a hydraulic rod and a corresponding mounting plate.
As shown in fig. 8, the main conveying swing mechanism 7 is composed of a pair of hydraulic cylinders of the same type, and is fixed to the bottom plate of the main rotation mechanism 5, and the main conveying mechanism 2, the sub-conveying mechanism 3, the sub-conveying swing mechanism 8, and the sub-conveying rotation mechanism 9 are controlled to swing up and down as a whole by lifting and lowering the hydraulic cylinders.
As shown in fig. 9, the sub-conveying swing mechanism 8 is composed of a pair of hydraulic cylinders of the same type, and the up-and-down swing of the sub-conveying mechanism 3 is controlled by the lifting of the hydraulic cylinders.
As shown in fig. 10, the sub-conveyance rotating mechanism 9 drives the sub-conveyance swinging mechanism 8 and the sub-conveyance rotating mechanism 9 to rotate by a servo motor and a planetary reducer. The flanges at the two ends of the shaft are respectively fixed on the metal plates at the two sides of the main conveying mechanism 2.
The working principle of the full-automatic car loader of the invention is as follows:
when the material is conveyed to the feeding conveying mechanism 1, the main conveying translation mechanism 6 retracts the main conveying mechanism 2 to the initial position; the main conveying swing mechanism 7 levels the main conveying mechanism 2 to an initial position; the main rotating mechanism 5 rotates the main conveying mechanism 2 back to the initial position, so that materials can accurately enter the belt conveying surface of the main conveying mechanism 2; when the material enters the belt conveying surface of the main conveying mechanism 2; the secondary conveying swinging mechanism 8 levels the secondary conveying mechanism 3 to an initial position; the secondary conveying rotating mechanism 9 levels the secondary conveying mechanism 3 to an initial position, and when the material reaches a belt conveying surface above the secondary conveying mechanism 3, the main rotating mechanism 5, the main conveying swinging mechanism 7, the main conveying translation mechanism 6, the secondary conveying swinging mechanism 8 and the secondary conveying rotating mechanism 9 are subjected to information processing according to information captured by a vision camera and a laser radar and then are converted into control commands, and linkage is executed at the same time, so that loading action is completed.
According to the equipment working principle, the control method and logic of the full-automatic car loader are as follows:
A. after a truck to be loaded is in place, the loader moves into the truck body under the navigation of the 3D measuring vision cameras on the left side and the right side, and combines the front laser radar, the rear laser radar and the small square radars on the two sides of the truck body to assist in obstacle avoidance;
B. when the loader approaches the end in the wagon box, the loader stops advancing, and then the 3D snapshot image analysis camera 10 carried below the secondary conveying mechanism 3 performs shooting image processing on the required stacking stations and converts the shooting image processing into 3D data, namely analog data;
C. the 3D data is combined with the I/O module of the AMR safety system of the 3D snapshot image analysis camera 10 and then is transmitted to the PLC, the PLC transmits corresponding control commands to the executing mechanism, and the material waiting and loading stage is entered;
the AMR security system comprises two large modules, namely a security PLC and a security laser scanner, and is based on the internet/IP CIP security, and the security system is stronger because the AMR security system inherits the industrial security bus protocol related to SICK and the additional security protocol checking and the integrity mechanism for ensuring the transmission data. The system is a successful result of improving the SICK EFI interface, and can realize intelligent safety protection of Automatic Guided Vehicles (AGVs), robots and other high-demand applications. The safety data and the non-safety data can be quickly exchanged and transmitted between all the related communication layers through the network technology EFI-pro based on the industrial Ethernet, so that the integration of safety signals, diagnosis information, navigation data and the like is realized.
The I/O module of the AMR safety system enables the SICK safety sensor to be connected with the safety PLC through only 2 wires, so that the advanced expansion function is realized, and the connection and control become efficient, convenient and simple.
D. When the material is conveyed to the feeding conveying mechanism 1 from the front end, the material triggers a first photoelectric sensor on the feeding conveying mechanism 1, a signal is transmitted to a PLC, and the PLC drives a control signal to stop conveying for the front-end feeding conveying mechanism 1;
E. the main conveying translation mechanism 6 and the main conveying swing mechanism 7 adjust and retract to an initial position according to the real-time scene scanned by the current vision camera and the laser radar, reset the main conveying mechanism 2 and trigger an in-place sensing signal of the first proximity switch;
F. the first proximity switch signal is fed back to the PLC, and a command is executed to enable the feeding conveying mechanism 1 to continue conveying until conveying to the main conveying mechanism 2 and triggering the second photoelectric sensor;
G. after the second photoelectric sensor is excited, the main conveying mechanism 2 stops; the secondary conveying swinging mechanism 8 and the secondary conveying rotating mechanism 9 move to level the secondary conveying mechanism 3 to an initial position and trigger an in-place sensing signal of the second proximity switch;
H. the second proximity switch feeds back to the PLC through a signal, a continuous conveying command of the main conveying mechanism 2 is executed, and after the material is transited to the secondary conveying mechanism 3 through the main conveying mechanism 2 to trigger the third photoelectric sensor, the secondary conveying mechanism 3 stops;
I. all mechanisms carry out position and posture adjustment according to real-time feedback of the vision camera and the laser radar and by combining control commands, after the terminal posture of the secondary conveying mechanism 3 reaches the correct position, the secondary conveying mechanism 3 continues conveying materials until a fourth photoelectric sensor is excited, one-time palletizing and loading is completed, and circulation is continued until loading and palletizing are completed.
The system adjusts the position and the posture of all mechanisms according to the real-time feedback of the vision camera and the laser radar after the full-automatic loading machine finishes loading the materials, so as to meet the flexible loading requirement.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (9)
1. The full-automatic cargo loader is characterized by comprising a feeding conveying mechanism (1), a main conveying mechanism (2) and a secondary conveying mechanism (3) which are connected in sequence; the feeding and conveying mechanism (1), the main conveying mechanism (2) and the secondary conveying mechanism (3) are internally provided with conveying servo motors respectively, the conveying servo motors are respectively connected with chain wheels, the chain wheels are respectively connected with driving rollers, and the driving rollers are respectively provided with driving belts;
the feeding and conveying device is characterized in that rollers are arranged at the bottom of the feeding and conveying mechanism (1), the feeding and conveying mechanism (1) is connected with a traveling power mechanism (4), a main rotating mechanism (5) is arranged on the traveling power mechanism (4), a main conveying mechanism (2) is arranged on the main rotating mechanism (5), a main conveying swinging mechanism (7) is further connected between the main conveying mechanism (2) and the main rotating mechanism (5), a main conveying translation mechanism (6) is arranged in the traveling power mechanism (4), and the main conveying translation mechanism (6) is connected with the main rotating mechanism (5);
the novel automatic conveying device is characterized in that the main conveying mechanism (2) is connected with the secondary conveying mechanism (3), the secondary conveying mechanism (3) is connected with the secondary conveying swinging mechanism (8) which is hinged with the main conveying mechanism (2), and the secondary conveying swinging mechanism (8) is also connected with the secondary conveying rotating mechanism (9).
2. The full-automatic cargo loader according to claim 1, wherein the main rotation mechanism (5) comprises a main rotation servo motor connected with a main rotation planetary reducer connected with a rotation gear set;
the main conveying translation mechanism (6) comprises a mounting plate connected with the main rotation mechanism (5), and the mounting plate is connected with a translation hydraulic rod.
3. The full-automatic cargo loader according to claim 1, wherein the main conveying swing mechanism (7) comprises a pair of main swing hydraulic cylinders, and two ends of each main swing hydraulic cylinder are respectively hinged with the bottom of the main conveying mechanism (2) and the main rotating mechanism (5).
4. The full-automatic cargo loader according to claim 1, wherein the secondary conveying swing mechanism (8) comprises a pair of secondary swing hydraulic cylinders, and two ends of each secondary swing hydraulic cylinder are respectively hinged with the main conveying mechanism (2) and the secondary conveying mechanism (3);
the secondary conveying rotating mechanism (9) comprises a secondary rotating servo motor, and the secondary rotating servo motor is connected with a secondary rotating planetary reducer.
5. The full-automatic cargo loader according to claim 1, wherein the secondary conveying mechanism (3) is further provided with a 3D snapshot image analysis camera (10);
a connecting bracket is arranged on the walking power mechanism (4), the connecting bracket is fixedly connected with the feeding conveying mechanism (1), and a 3D auxiliary navigation vision camera (11) is arranged on the connecting bracket;
the laser obstacle avoidance radar (12) is respectively installed at two ends of the walking power mechanism (4), and at least two safety radar sensors (13) are installed on the main rotating mechanism (5).
6. A control method of a full-automatic cargo loader, using the full-automatic cargo loader according to any one of claims 1 to 5, characterized by comprising the steps of:
A. after a truck to be loaded is in place, the loader moves into the truck body under the navigation of the 3D measuring vision cameras on the left side and the right side, and combines the front laser radar, the rear laser radar and the small square radars on the two sides of the truck body to assist in obstacle avoidance;
B. when the loader approaches the end in the wagon box, the loader stops advancing, and then a 3D snapshot image analysis camera (10) carried below the secondary conveying mechanism (3) performs shooting image processing on a required stacking station and converts the shooting image processing into 3D data, namely analog data;
C. the 3D data is combined with an I/O module of an AMR safety system of the 3D snapshot image analysis camera (10) and then is transmitted to a PLC, the PLC transmits a corresponding control command to an executing mechanism, and a material waiting and loading stage is entered;
D. when the material is conveyed to the feeding conveying mechanism (1) from the front end, the material triggers a first photoelectric sensor on the feeding conveying mechanism (1), a signal is transmitted to a PLC, and the PLC drives a control signal to stop conveying for the front-end feeding conveying mechanism (1);
E. the main conveying translation mechanism (6) and the main conveying swing mechanism (7) adjust and retract to an initial position according to the real-time scene scanned by the current vision camera and the laser radar, reset the main conveying mechanism (2) and trigger an in-place sensing signal of the first proximity switch;
F. the first proximity switch signal is fed back to the PLC, and a command is executed to enable the feeding conveying mechanism (1) to continue conveying until the feeding conveying mechanism is conveyed to the main conveying mechanism (2) and the second photoelectric sensor is triggered;
G. after the second photoelectric sensor is excited, the main conveying mechanism (2) stops; the secondary conveying swinging mechanism (8) and the secondary conveying rotating mechanism (9) move, the secondary conveying mechanism (3) is leveled to an initial position, and an in-place sensing signal of the second proximity switch is triggered;
H. the second proximity switch feeds back to the PLC through a signal, a continuous conveying command of the main conveying mechanism (2) is executed, and after the material is transited to the secondary conveying mechanism (3) through the main conveying mechanism (2) to trigger the third photoelectric sensor, the secondary conveying mechanism (3) stops;
I. all mechanisms carry out position posture adjustment according to real-time feedback of the vision camera and the laser radar and by combining control commands, after the terminal posture of the secondary conveying mechanism (3) reaches the correct position, the secondary conveying mechanism (3) continues to convey materials until a fourth photoelectric sensor is excited, one-time palletizing, loading and circulating are completed until loading and palletizing are completed.
7. The control method of a full-automatic cargo loader according to claim 6, wherein the loading sequence of the cargo loader for loading materials is from bottom to top, from middle to right and from middle to left, and the cargo loader is loaded from the inside of the cargo loader gradually to the outside; after the material is loaded in one layer, a traveling power mechanism (4) of the loading machine drives the material to retreat, and then loading is started.
8. The control method of the full-automatic cargo loader according to claim 6, wherein the main conveying translation mechanism (6) is driven by a hydraulic cylinder to integrally translate all conveying surfaces on the main conveying translation mechanism; when the material is conveyed to the position of the feeding conveying mechanism (1), the main conveying translation mechanism (6) retracts the main conveying mechanism (2) to the initial position; when the loading and stacking are carried out through end conveying, the main conveying translation mechanism (6) stretches out the main conveying mechanism (2).
9. The control method of the full-automatic cargo loader according to claim 6, wherein the main rotating mechanism (5) and the secondary conveying rotating mechanism (9) have the same rotating angle and opposite rotating directions, and the belt conveying direction of the tail end secondary conveying mechanism (3) is parallel to the left surface and the right surface of the truck box body.
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