CN107618894A - A kind of flexibility automatic loading system and its application - Google Patents
A kind of flexibility automatic loading system and its application Download PDFInfo
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- CN107618894A CN107618894A CN201710886986.0A CN201710886986A CN107618894A CN 107618894 A CN107618894 A CN 107618894A CN 201710886986 A CN201710886986 A CN 201710886986A CN 107618894 A CN107618894 A CN 107618894A
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Abstract
The invention discloses a kind of flexibility automatic loading system and its application, it is therefore intended that and solve existing bagged material truck-loading facilities and lack corresponding automatically scanning and alignment system, the problem of automaticity is relatively low.The present invention has carried out brand-new optimization design to the mechanism of loading system, it carries out automatically scanning positioning by laser scanning positioning unit to compartment, conveying to material is realized by feeding unit, material is effectively placed in compartment specified location by stacking entrucking unit, realizes the automatic loading of material.The present invention adapts to the size dimension and height change demand of variety classes dumper, it can plan entrucking path automatically according to target vehicle car sizes information and entrucking task, automatic loading is realized according to the data that laser scanning positioning unit provides, whole entrucking process only needs manually to issue entrucking task.The present invention can effectively reduce labor strength, avoid severe entrucking environment, improve enterprises production efficiency, reduce enterprises using the labor cost, have higher application value.
Description
Technical field
The present invention relates to mechanical field, especially material entrucking field, specially a kind of flexibility automatic loading system and
It is applied.Using the application, the bagged material on production line belt conveyor can be directly loadable into compartment, meet automobile, fire
The bagged material entrucking demand of car, entrucking efficiency is greatly improved, reduces labor strength and cost of transportation, there is higher answer
With value and preferable application prospect.
Background technology
Chinese patent CN201420470511.5 discloses a kind of bag cargo automatic loading machine, and the carloader is by Machinery Ministry
Point, electric control part and safety device composition, it is characterized in that to include main support beam, transhipment belt, lifting flat for described mechanical part
Platform, entrucking belt；One transhipment belt, transhipment belt one and production line belt are installed along main support beam direction thereunder
Rank knot, other end are connected with entrucking belt, entrucking belt upright main support beam direction arrangement；Entrucking belt is arranged on hoistable platform
On；Anti-stacked counter is housed on transhipment belt, is provided with and slips between transhipment belt and production line belt, entrucking belt
Groove.Packaged bag cargo direct code on production line can be put into train or automobile bodies by the motion, realize stacking and
Entrucking settles at one go, and can pile up neatly, realizes accurate counting function.Be not provided with the device corresponding compartment automatically scanning and
Alignment system, system automation degree be not high.
Chinese patent CN201420484214.6 discloses a kind of full-automatic bag-pack cement loading machine, and it uses power-equipment
The car loading operation of bagged cement is carried out, at least divides the bagged cement on inclined conveyor to 2 supply lines by distributor
Unloading in bag apparatus for respective amount is delivered to, then bagged cement is delivered to by corresponding palletizing apparatus by each bag apparatus of unloading
On, it is finally by all palletizing apparatus that bagged cement is laterally arranged in a straight line, complete stacking.However, found after applicant's research,
The device for mechanical is complicated, and power part is more, is easily gone wrong in operation process.
Chinese patent CN201420277314.1 discloses a kind of bagged cement automatic loading machine.Bagged cement passes through belt
Conveyer enters bagged cement rotation pusher, while bagged cement rotating mechanism operates, and bagged cement is rotated to pre-
If orientation, by carry out shaping, after shaping bagged cement rotating mechanism reset；While bagged cement shaping finishes,
Bagged cement rotation pusher operating, bagged cement is pushed into bagged cement stacking mechanism, while bagged cement rotation pushes away
Expect that head resets；Bagged cement stacking mechanism falls into bagged cement in car, at the same bagged cement stacking mechanism reset, so far for
One a whole set of flow, continues cycling through that above-mentioned steps are i.e. repeatable, continuous loading.In the structure, power part uses pneumatic motor
Structure, shock loading is big, easily breaks down, influences the progress of work.Meanwhile the device still needs to rely on belt conveyor,
And position adjustment of the worker to carloader, the entrucking of cement could be realized, the scanning to compartment can not be realized and be automatically positioned, from
Dynamicization degree is relatively low.
Therefore, there is an urgent need to a kind of new device and/or method, to solve the above problems.
The content of the invention
The goal of the invention of the present invention is：Lack corresponding automatically scanning for existing bagged material truck-loading facilities and positioning is
System, the problem of automaticity is relatively low, there is provided a kind of flexibility automatic loading system and its application.The present invention is to loading system
Mechanism has carried out brand-new optimization design, and it carries out automatically scanning positioning by laser scanning positioning unit to compartment, by sending
Material unit realizes the conveying to material, and material is effectively placed in compartment specified location by stacking entrucking unit, realizes thing
The automatic loading of material.The present invention adapts to the size dimension and height change demand of variety classes dumper, and it can be according to target
Vehicle car dimension information and entrucking task plan entrucking path automatically, and the data provided according to laser scanning positioning unit are realized
Automatic loading, whole entrucking process only need manually to issue entrucking task.Present inventive concept is ingenious, reasonable in design, safeguards, installation
Convenient, reliability is high, and can effectively reduce labor strength, avoids severe entrucking environment, improves enterprises production efficiency, drop
Low enterprises using the labor cost, there is higher application value and preferable application prospect.
To achieve these goals, the present invention adopts the following technical scheme that：
A kind of flexibility automatic loading system, including：
Control system；
Laser scanning positioning unit, the laser scanning positioning unit is connected with control system and laser scanning positioning unit can be right
Treat that entrucking compartment is scanned and positioned, and feedback of the information will be determined to control system；
Feeding unit, the feeding unit is connected with control system and material can be delivered to stacking entrucking unit by feeding unit；
Stacking entrucking unit, the stacking entrucking unit is connected with control system and material can be mounted in compartment by stacking entrucking unit
It is interior, realize the stacking to material；
Wherein, the feeding unit include guide rail, the hoisting mechanism being arranged on guide rail, transmission mechanism, the hoisting mechanism with
Stacking entrucking unit is connected and hoisting mechanism can drive stacking entrucking unit opposite rail to move, and the transmission mechanism fills with stacking
Car unit is connected and material can be delivered to stacking entrucking unit by transmission mechanism, the hoisting mechanism, transmission mechanism respectively with control
System processed is connected.
The transmission mechanism includes being arranged on the supplied materials belt conveyor of guide rail, the 3rd motor, matched with supplied materials belt conveyor
Inclination belt conveyor, the 4th motor of conjunction, the 3rd motor is connected with supplied materials belt conveyor and the 3rd motor can drive supplied materials
Belt conveyor moves, and the 4th motor is connected with inclination belt conveyor and the 4th motor can drive and tilt belt conveyor motion,
3rd motor, the 4th motor are connected with control system respectively.
The laser scanning positioning unit is arranged on guide rail.
Also include the parallel linkage being engaged with stacking entrucking unit.
The parallel linkage parallelogram.
The inclination belt conveyor relative level is obliquely installed.
The absolute value encoder being connected with control system is provided with the stacking entrucking unit.
The application of foregoing soft automatic loading system, comprises the following steps：
（1）Entrucking storing cycle is treated below laser scanning positioning unit, laser scanning positioning unit is carried out to the compartment of vehicle
Scanning, and car information is fed back into control system；
（2）Material is delivered to stacking entrucking unit by feeding unit, while control system passes through lifting mechanism control stacking entrucking
The position of unit；When stacking entrucking unit reaches specified location, stacking entrucking unit piles up material in specified location；When
After specified location material is piled up, stacking entrucking unit is moved to next specified location by control system by hoisting mechanism,
Stacking entrucking unit starts stacking；So repeat, until stacking is completed.
In the step 2, the transmission mechanism includes the supplied materials belt conveyor, the 3rd motor and supplied materials for being arranged on guide rail
Inclination belt conveyor that belt conveyor is engaged, the 4th motor, the 3rd motor is connected with supplied materials belt conveyor and the 3rd electricity
Function drives the motion of supplied materials belt conveyor, and the 4th motor is connected with inclination belt conveyor and the 4th motor can drive inclination defeated
Belt movement is sent, the 3rd motor, the 4th motor are connected with control system respectively；
Supplied materials belt conveyor of the material through feeding unit is delivered to inclination belt conveyor, tilts belt conveyor and is again delivered to material
Stacking entrucking unit.
The laser scanning positioning unit include be used for compartment is measured laser range sensor, for being arranged on
Rotary unit above compartment, the rotary unit include base, the first rotating mechanism, the second rotating mechanism, first rotation
Rotation mechanism is arranged on base and the first rotating mechanism base rotation, second rotating mechanism can be arranged on the first rotation relatively
In mechanism and the second rotating mechanism can rotate relative to the first rotating mechanism, and the laser range sensor is arranged on the second whirler
On structure and rotary unit can drive laser range sensor to relatively rotate；
The laser range sensor, the first rotating mechanism, the second rotating mechanism are connected with control system respectively.
First rotating mechanism includes the first motor being connected with control system, the first biography being engaged with the first motor
Motivation structure, first motor is connected by the first transmission mechanism with the second rotating mechanism and the first motor can be by the first transmission
Mechanism drives the second rotating mechanism to relatively rotate.
Second rotating mechanism includes the second motor being connected with control system, the second biography being engaged with the second motor
Motivation structure, second motor is connected by the second transmission mechanism with the second rotating mechanism and the second motor can be by the second transmission
Mechanism drives the second rotating mechanism to relatively rotate.
Also including the one or more in the display being connected with control system, the touch screen being connected with control system.
Also include to be defined car position with the baffle plate of compartment cooperation and baffle plate.
Work is respectively adopted between the base and the first rotating mechanism, between the second rotating mechanism and laser range sensor
Dynamic connection is fixedly connected.
Use and be detachably connected between the base and the first rotating mechanism.
Also support can be provided including the support frame being connected with rotary unit and support frame for rotary unit.
Support frame as described above is formed by connecting using several connecting rods and between connecting rod using flexible connection.
The stacking entrucking unit includes frame, the conveyer being arranged in frame, the pendulum being engaged with conveyer
Motivation structure, cache mechanism, boxing mechanism, cache mechanism are located at below swing mechanism, and boxing mechanism is located at below cache mechanism；
The swing mechanism includes the swinging support part of gantry rotation, the pan feeding that can position material bag keeping off in place relatively
Plate, material feeding baffle pushing meanss, the material feeding baffle pushing meanss are connected with swinging support part and material feeding baffle pushing meanss energy
Swinging support part is driven with respect to gantry rotation；
The cache mechanism includes being arranged on is cached to material baffle plate, door switching mechanism in frame；
Door drive mechanism that the door switching mechanism includes being connected with control system, door, it is connected with door drive mechanism
Door link member, the door link member, door are respectively two, and the door link member be arranged in parallel and door link member
Door can be driven with respect to gantry rotation, two doors form door units and door unit when two doors are parallel to each other is in
Closed mode, the door unit, it is cached to and expects to form buffering chamber between baffle plate；
The boxing mechanism include material can be pushed in the horizontal direction specified location vanning pushing mechanism, can open and from
And it will expect that bag is put into the vanning switching mechanism in compartment, and stacking storehouse is formed above the vanning switching mechanism；
The material feeding baffle pushing meanss, door drive mechanism, vanning pushing mechanism, vanning switching mechanism respectively with control system
It is connected.
The position of material bag can also be carried out including several alignment sensors being connected with control system and alignment sensor
Detection.
The pan feeding that the alignment sensor includes whether to detect material bag in place in swing mechanism detects biography in place
The vanning sensor being cached in material sensor, boxing mechanism in sensor, cache mechanism, the pan feeding detect sensing in place
Device, it is cached to and expects that sensor, vanning sensor are connected with control system respectively.
It is in 5 ~ 85 ° of angles between the door unit and horizontal plane of door switching mechanism in the cache mechanism.
It is in 30 ~ 60 ° of angles between the door unit and horizontal plane of door switching mechanism in the cache mechanism.
The door drive mechanism is cylinder.
Also include the anticollision induction installation being arranged in frame, the anticollision induction installation is connected with control system.
The anticollision induction installation include right anti-collision sensor, preceding anti-collision sensor, left anti-collision sensor, after
Anti-collision sensor, the right anti-collision sensor, preceding anti-collision sensor, left anti-collision sensor, rear anti-collision sensor
It is connected respectively with control system.
The conveyer is belt conveyer or enters feed roller.
Also include the sub-material stacking mechanism shell being engaged with frame.
Also include the status indicator lamp being connected with control system.
The vanning pushing mechanism includes the servomotor being connected with control system, the pusher being engaged with servomotor
Plate, timing belt, the servomotor are arranged in frame, and the servomotor is connected by timing belt with scraping wings and servo electricity
Machine can drive scraping wings to specified location by timing belt.
Vanning drive mechanism that the vanning switching mechanism includes being connected with control system, drive mechanism is connected with casing
Vanning link member, the door being connected with vanning link member, the vanning link member, door are respectively two, and vanning link member is put down
Row is set and vanning link member can drive door to form door unit with respect to gantry rotation, two doors.
The vanning link member includes shaking with balance plate, stacking hatch door connecting rod, the stacking hatch door that vanning drive mechanism is connected
Bar, stacking hatch door montant, stacking hatch door cross bar, stacking hatch door connecting rod, stacking hatch door rocking bar, stacking hatch door montant are respectively two
Individual, it is in Qian font that stacking hatch door montant is connected with the both ends of stacking hatch door cross bar respectively, and the lower end of stacking hatch door montant passes through code
Pile hatch door rocking bar is connected with hatch door, and the both ends of balance plate are connected by stacking hatch door connecting rod with stacking hatch door montant respectively.
The vanning sensor, vanning switching mechanism are respectively two groups.
The cache mechanism is two, and the cache mechanism is symmetricly set on swing mechanism both sides, the boxing mechanism position
Below cache mechanism.
The quantity of material bag can be also measured including the counting device being connected with control system and counting device.
The counting device is Photoelectric Detection counter.
The quality of material bag can also be surveyed including the quality measuring apparatus being connected with control system and quality measuring apparatus
Determine, or the colour assessment apparatus and colour assessment apparatus being connected with control system can be measured to the color of material bag.
For foregoing problems, the present invention provides a kind of flexibility automatic loading system and its application.The device includes laser
Scan orientation unit, feeding unit, stacking entrucking unit, control system, laser scanning positioning unit be connected with control system and
Laser scanning positioning unit can treat entrucking compartment and be scanned and position, and will determine feedback of the information to control system；Feeding
Unit is connected with control system and material can be delivered to stacking entrucking unit by feeding unit；Stacking entrucking unit and control system
It is connected and stacking entrucking unit can realizes the stacking to material by material in compartment.
When the device works, dumper is first docked into parking area, will treat that entrucking storing cycle is determined in laser scanning
Below bit location, laser scanning positioning unit is scanned to the compartment of vehicle, and car information is fed back into control system, meter
Length and width, terrain clearance, breast board height and the vehicle body for calculating compartment stop rake angle, realize and material mover carriage is accurately positioned；Control
System processed by the position of lifting mechanism control stacking entrucking unit, meanwhile, material is delivered to stacking entrucking list by feeding unit
Member；When stacking entrucking unit reaches specified location, stacking entrucking unit piles up material in specified location；Work as specified location
After material is piled up, stacking entrucking unit is moved to next specified location, stacking entrucking by control system by hoisting mechanism
Unit starts stacking；So repeat, until stacking is completed.
Further, feeding unit includes guide rail, the hoisting mechanism being arranged on guide rail, transmission mechanism, hoisting mechanism and code
Pile entrucking unit is connected and hoisting mechanism can drive stacking entrucking unit opposite rail to move, transmission mechanism and stacking entrucking unit
It is connected and material can be delivered to stacking entrucking unit by transmission mechanism, hoisting mechanism, transmission mechanism is connected with control system respectively.
In the structure, guide rail can provide support, the movement of hoisting mechanism energy opposite rail, and and then drive and elevator for hoisting mechanism
The connected stacking entrucking unit movement of structure, so as to reach specified location.Further, laser scanning positioning unit is arranged on guide rail
On.Structure-based improvement, laser scanning positioning unit of the invention need not set corresponding moving guide rail, thus can be direct
Borrow guide rail and corresponding support is provided.
Further, in addition to stacking entrucking unit the parallel linkage being engaged, and parallel linkage can be effective
The horizontal jitter of stacking entrucking unit is reduced, ensures the accuracy of stacking entrucking cell position.In the present invention, guardrail is arranged on
Two belt conveyor both sides, it can prevent material from being come off from the second belt conveyor.
Further, the second belt conveyor relative level is obliquely installed, and it is advantageous to material and entered in stacking entrucking unit.
Further, it is in certain angle between the second belt conveyor and horizontal plane, angle is 5 ~ 35 °.
The present invention work when, material successively through supplied materials belt conveyor, tilt belt conveyor be delivered to stacking entrucking unit and
Stacking entrucking unit can be by material in compartment, the height of lifting mechanism control stacking entrucking unit and position, to coordinate code
The work of pile entrucking unit, so as to realize the automatic loading demand of material.
Further, supplied materials belt conveyor realizes that upstream equipment is packed to the material bag completed is delivered to inclination belt conveyor, inclines
The position feedback of oblique belt conveyor uses absolute value encoder.
In the present invention, dumper is material transportation platform, completes material transfer work, and to be then the application need in compartment into
Row positioning and the target of measure；Laser range sensor is used to realize range measurement of the sensor to compartment；First rotating mechanism
It can rotate freely, it can be made up of the first motor and the first transmission mechanism；Second rotating mechanism can rotate freely, by the second motor
And second transmission mechanism composition；First rotating mechanism is connected with the second rotating mechanism；First rotating mechanism and the second rotating mechanism
Laser range sensor is driven to complete the compartment three dimensional point cloud measurement to dumper；Control system passes with laser ranging respectively
Sensor, the first rotating mechanism, the second rotating mechanism are connected, for regulation of the realization to laser range sensor position and to measure
The collection of quantity, according to the data of laser range sensor measure, calculate the length and width in compartment, terrain clearance, breast board height and
Vehicle body stops rake angle, and material mover carriage is accurately positioned so as to realize.
When laser scanning positioning unit works, dumper is reached parking stall by dumper driver, and operator starts control
System is realized and target vehicle compartment is scanned and positioned.After compartment Scan orientation program starts, control system establishes XYZ seats
Mark system, laser range sensor complete the three-dimensional in target vehicle compartment under the drive of the first rotating mechanism and the second rotating mechanism
Cloud data obtains, and detailed process is：First, the second rotating mechanism locks after turning to scanning starting position, the first whirler
Structure drives laser range sensor to complete first time compartment three dimensional point cloud and measures and record；Second rotating mechanism turns to
Two scanning elements, the first rotating mechanism drive laser range sensor to complete compartment three dimensional point cloud and measure and record；Repeat
Above procedure, measure and record until completing whole compartment three dimensional point cloud.
In the present invention, structure-based improvement so that the present invention is without using corresponding guide rail, with what is be engaged with guide rail
Travel mechanism, structure are greatly simplified, and site operation amount greatly reduces.Meanwhile the present invention is independent of guide rail and accordingly
Travel mechanism, this allow the invention to preferably to meet different size size, height material mover carriage location requirement, tool
Well adapting to property and flexibility.
Further, stacking entrucking unit includes frame, the conveyer being arranged in frame, is engaged with conveyer
Swing mechanism, cache mechanism, boxing mechanism, cache mechanism are located at below swing mechanism, and boxing mechanism is located at below cache mechanism.
Swing mechanism includes the swinging support part of the relative gantry rotation of energy, the pan feeding that positioned can be wrapped to material, and baffle plate, pan feeding are kept off in place
Plate pushing meanss, material feeding baffle pushing meanss are connected with swinging support part and material feeding baffle pushing meanss can drive swinging support part
With respect to gantry rotation.
In the present invention, brand-new design is carried out to the structure of stacking entrucking unit, it includes sub-material, caching, stacking, biography
The parts such as sensor, control system.When the device works, after detecting material bag in place, swing mechanism will treat that entrucking material bag divides automatically
Flow in buffering chamber；Material bag in buffering chamber in place after, door switching mechanism is opened, and material bag is dropped in stacking storehouse, now, is delayed
The door of storage is closed；Then, pushing mechanism of casing will expect that bag is pushed to specified location, and the door in stacking storehouse is opened, and material bag falls
Fall in target compartment, the door in stacking storehouse is closed, and single stacking flow terminates.Above flow is repeated, then completes material
Automatic loading stacking.
In the present invention, by the design to bag pulling mechanism, using servomotor as bag pulling mechanism power resources, it can adapt to
The demand of different target vehicle car size automatic loading；Designed using buffering chamber, stacking storehouse, system operation effect can be effectively improved
Rate.
In summary, the present invention provides a kind of flexibility automatic loading system and loading method, and it adapts to variety classes
Size dimension and height the change demand of dumper, have extremely strong adaptability.In the present invention, system is according to target vehicle compartment
Dimension information and entrucking task plan entrucking path automatically（In the present invention, using laser range sensor above vehicle body to fortune
Truck compartment is scanned, and the distance value fed back according to laser sensor determines length and width, terrain clearance, the column of material mover carriage
Plate height and dumper stop rake angle, can adapt to different material mover carriage positioning automatically）, positioned according to laser scanning measurement
The data that system provides realize automatic loading；Whole entrucking process only needs manually to issue entrucking task.Meanwhile the present invention
Installation, easy to maintenance, reliability height（In the present invention, from drive device of the servomotor as subpackage mechanism, reduce impact and carry
Lotus, improve equipment service life；Whether in place material bag is detected using shaft pin sensor；Reduced using parallelogram linkage
Rock oblique belt line end；Meanwhile the structure based on position feedback is actual, greatly improves the system accuracy of the present invention）, and energy
Dumper driver's operation difficulty is effectively reduced, improves enterprises production efficiency, enterprises using the labor cost is reduced, there is higher application
Value and economic value.
Brief description of the drawings
Examples of the present invention will be described by way of reference to the accompanying drawings, wherein：
Fig. 1 is the dimensional structure diagram of embodiment 1.
Fig. 2 is the structural representation of laser scanning positioning unit in embodiment 1.
Fig. 3 is characterized an extraction schematic diagram.In Fig. 3, black color dots are laser range sensor, and x1 ~ x12 is respectively corresponding
Characteristic point（That is measurement point）.
Fig. 4 is the dimensional structure diagram of stacking entrucking unit in embodiment 1.
Fig. 5 is the internal structure schematic diagram of stacking entrucking unit in embodiment 1.
Fig. 6 is the side view of stacking entrucking unit in embodiment 1.
Fig. 7 is Fig. 6 partial structural diagram.
Marked in figure：1st, sub-material stacking mechanism shell, 2, right anti-collision sensor, 3, preceding anti-collision sensor, 4, Zuo Fang
Crash sensor, 5, rear anti-collision sensor, 6, status indicator lamp, 7, left stacking storehouse, 8, right stacking storehouse, 9, right buffering chamber, 10,
The right side is cached to material baffle plate, and 11, swinging support part, 12, pan feeding baffle plate in place, 13, material feeding baffle pushing meanss, 14, lower collision inspection
Survey sensor, 15, lifting hanging point, 16, connecting shaft, 18, frame, 19, control system, 20, left buffering chamber, 21, a left side is cached to
Expect baffle plate, 22, a left side be cached to material sensor, 23, vanning pushing mechanism, 24, left scraping wings, 25, right pusher servomotor, 27,
Enter feed roller, 28, pan feeding to level detection sensor, 29, left pusher servomotor, 30, the right side be cached to material sensor, 31, the right side pushes away
Flitch, 32, stacking hatch door rocking bar, 34, stacking hatch door connecting rod, 35, balance plate, 37, stacking hatch door montant, 38, stacking hatch door it is horizontal
Bar, 41, laser range sensor, the 42, first rotating mechanism, the 43, second rotating mechanism, 51, dumper, 52, guide rail, 53, swash
Optical scanning positioning unit, 54, hoisting mechanism, 55, tilt belt conveyor, 56, parallel linkage, 57, control system, 58, come
Expect belt conveyor, 59, site of deployment, 60, parking area, 61, stacking entrucking unit.
Embodiment
All features disclosed in this specification, or disclosed all methods or during the step of, except mutually exclusive
Feature and/or step beyond, can combine in any way.
Any feature disclosed in this specification, unless specifically stated otherwise, can be equivalent by other or with similar purpose
Alternative features are replaced.I.e., unless specifically stated otherwise, each feature is an example in a series of equivalent or similar characteristics
.
Embodiment 1
As illustrated, the present embodiment provides a kind of flexibility automatic loading system, it includes control system, laser scanning positioning list
Member, feeding unit, stacking entrucking unit, laser scanning positioning unit, feeding unit, stacking entrucking unit respectively with control system
It is connected.Wherein, laser scanning positioning unit is mainly used in that the compartment of dumper is scanned and positioned, and it is anti-to determine information
Feed control system；Feeding unit is mainly used in material being delivered to stacking entrucking unit；Stacking entrucking unit is then used for thing
Material is piled up in the compartment mounted in dumper, realizes the stacking to material.
In the present embodiment, feeding unit includes guide rail, the hoisting mechanism being arranged on guide rail, transmission mechanism and stacking and filled
The parallel linkage that car unit is engaged, hoisting mechanism, transmission mechanism are connected with control system respectively.In the present embodiment, pass
Transfer mechanism includes being arranged on the supplied materials belt conveyor of guide rail, the 3rd motor, the inclination conveying skin being engaged with supplied materials belt conveyor
Band, the 4th motor, the 3rd motor is connected with supplied materials belt conveyor and the 3rd motor can drive supplied materials belt conveyor to move, the 4th electricity
Machine with tilt belt conveyor be connected and the 4th motor can drive tilt belt conveyor move, the 3rd motor, the 4th motor respectively with
Control system is connected.In the present embodiment, hoisting mechanism is connected with stacking entrucking unit, and hoisting mechanism can drive stacking entrucking unit
Opposite rail moves；Supplied materials belt conveyor, inclination belt conveyor in transmission mechanism are engaged with stacking entrucking unit respectively, are passed
Material can be delivered to stacking entrucking unit by transfer mechanism.Parallel linkage parallelogram structure, it can effectively reduce code
The shake of pile entrucking unit in the process of running, ensure the accurate progress of stacking.
Further, in the present embodiment, tilt belt conveyor relative level and be obliquely installed, it is defeated from tilting that this is advantageous to material
Send when being fallen on belt, preferably into stacking entrucking unit.Meanwhile it is additionally provided with stacking entrucking unit and control system
Connected absolute value encoder.
As illustrated, laser scanning positioning unit is arranged on guide rail.In the present embodiment, laser scanning positioning unit includes
For laser range sensor, the rotary unit for being arranged on above compartment being measured to compartment, rotary unit includes
Base, the first rotating mechanism, the second rotating mechanism, the first rotating mechanism is arranged on base and the first rotating mechanism can relative bottom
Seat is rotated, and the second rotating mechanism is arranged on the first rotating mechanism and the second rotating mechanism can rotate relative to the first rotating mechanism,
Laser range sensor is arranged on the second rotating mechanism and rotary unit can drive laser range sensor to relatively rotate.Its
In, laser range sensor, the first rotating mechanism, the second rotating mechanism are connected with control system respectively.
In the present embodiment, in addition to display, touch screen, display, touch screen are connected with control system respectively；Base with
Between first rotating mechanism, it is respectively adopted and is detachably connected between the second rotating mechanism and laser range sensor.
As illustrated, dumper is reached parking stall by dumper driver, operator starts control system and realized to target
Vehicle car is scanned and positioned.After compartment Scan orientation program starts, control system establishes XYZ coordinate system, laser ranging
The three dimensional point cloud that sensor completes target vehicle compartment under the drive of the first rotating mechanism and the second rotating mechanism obtains,
Detailed process is as follows：First, the second rotating mechanism locks after turning to scanning starting position, and the first rotating mechanism drives Laser Measuring
Measure and record away from sensor completion first time compartment three dimensional point cloud；Second rotating mechanism turns to second scanning element,
First rotating mechanism drives laser range sensor to complete compartment three dimensional point cloud and measures and record；Above procedure is repeated, directly
Measure and record to the whole compartment three dimensional point cloud of completion.
Control system analysis compartment three dimensional point cloud, it is prominent with Z-direction distance in X-direction and Y-direction cloud data respectively
First measurement point become as compartment characteristic point, electric control system according to compartment three dimensional point cloud, analyze first x1 ~
The elevation information of x12 point Z-directions, then x1 ~ x12 consecutive points Z-direction information is made the difference, difference forms a new ordered series of numbers, root
Judge according to the change of the symbol of element in ordered series of numbers, if the symbol of two neighboring difference changes, cause difference symbol to occur
The point of change is necessarily " flex point " of compartment feature；The characteristic point of car information can be extracted using above method.As schemed
Show, the length information in target compartment can be calculated according to the characteristic point 5 of extraction, 7 information；Believed according to the characteristic point 8,9 of extraction
Breath can calculate the width information in target compartment；According to the characteristic point 6 of extraction, 11 information can calculate target compartment from
Ground level information；Mesh can be calculated according to the information of characteristic point 5,7,8,9,10,12 of extraction and compartment terrain clearance information
Mark the breast board elevation information in compartment；Vehicle can be calculated according to the characteristic point 9,10 and 8,12 of extraction and stop oblique information；According to
Above step, you can calculate the length and width in target compartment, terrain clearance, breast board height and stop rake angle.More than, compartment scanning
Positioning is completed.
In the device, by the improvement to structure, material mover carriage is entered above vehicle body using laser range sensor
Row scanning, the distance value fed back according to laser sensor determine the length and width of material mover carriage, terrain clearance, breast board height and
Dumper stops rake angle, is positioned with adapting to different material mover carriages.
As illustrated, the stacking entrucking unit includes frame, the anticollision induction installation being arranged in frame, is arranged on machine
Sub-material stacking mechanism shell on the outside of frame, the conveyer being arranged in frame, the swing mechanism being engaged with conveyer, set
Put the cache mechanism below swing mechanism, boxing mechanism, the status indicator lamp being connected with control system, anticollision induction installation
It is connected with control system.Wherein, boxing mechanism is located at below cache mechanism.
In the present embodiment, anticollision induction installation includes right anti-collision sensor, preceding anti-collision sensor, left anticollision and passed
Sensor, rear anti-collision sensor, right anti-collision sensor, preceding anti-collision sensor, left anti-collision sensor, rear defence collision sensing
Device is connected with control system respectively.Meanwhile conveyer uses feed roller.
In the present embodiment, swing mechanism includes boxing mechanism, pan feeding baffle plate, the material feeding baffle being connected with control system in place
Pushing meanss, pan feeding to level detection sensor, pan feeding to level detection sensor are connected with control system.Wherein, boxing mechanism, enter
Expect that a baffle plate is separately positioned in frame, the relative gantry rotation of boxing mechanism energy, baffle plate can be determined material bag pan feeding in place
Position, material feeding baffle pushing meanss can drive boxing mechanism with respect to gantry rotation, and pan feeding to level detection sensor can be then to expecting bag
It is no to be detected in place.
In the present embodiment, cache mechanism includes left cache mechanism, right cache mechanism.Wherein, left cache mechanism includes setting
A left side in frame is cached to material baffle plate, the left side that is connected with control system is cached to and expects sensor, left door switching mechanism；The right side is slow
Depositing mechanism includes that the right side that is arranged in frame is cached to material baffle plate, the right side that is connected with control system is cached to and expects sensor, You Cang
Door switch mechanism.
Wherein, door switching mechanism includes being connected with control system door drive mechanism, it is connected with door drive mechanism
Door link member, with the door of door link member；Wherein, door link member, door are respectively two, and door link member is parallel
Set and door link member can drive door to form door unit with respect to gantry rotation, two doors.Two doors are parallel to each other
When, door unit is closed；When not parallel between two doors, gap is formed between door, door unit is in
Open mode, material bag enter next stage by the door unit opened.
Door unit and be cached to material baffle plate between form buffering chamber；Wherein, the storehouse in left cache mechanism, right cache mechanism
Gate cell and pan feeding form left buffering chamber, right buffering chamber between baffle plate respectively in place.The storehouse of door switching mechanism in cache mechanism
It is in 5 ~ 85 ° of angles between gate cell and horizontal plane；Further, in the present embodiment, left cache mechanism, the door list of right cache mechanism
Angle between member and horizontal plane is in 30 ~ 60 °（When i.e. door unit is closed, between door unit and horizontal plane
Angle is 5 ~ 85 °.Further, the angle between door unit and horizontal plane is 30 ~ 60 °）.Simultaneously as cache mechanism is located at
Below swing mechanism, this enables the material bag to drop on swing mechanism to drop down onto door unit bottom along under door unit.This
In embodiment, door drive mechanism uses cylinder.
Boxing mechanism includes vanning sensor, vanning pushing mechanism, vanning switching mechanism, and vanning sensor, vanning promote
Mechanism, vanning switching mechanism are connected with control system respectively, and vanning sensor, vanning switching mechanism are respectively two groups, and vanning is opened
Stacking storehouse is formed above shutting mechanism；In the present embodiment, left stacking storehouse, right stacking storehouse are formed respectively above vanning switching mechanism.Its
In, vanning pushing mechanism can push to material in the horizontal direction specified location, and vanning switching mechanism can be opened, so as to expect
Bag is put into compartment.In the present embodiment, vanning switching mechanism includes left vanning switching mechanism, right vanning switching mechanism；Left vanning
Left stacking storehouse, right stacking storehouse are formed respectively above switching mechanism, right vanning switching mechanism.
In the present embodiment, servomotor that vanning pushing mechanism includes being connected with control system, it is engaged with servomotor
Scraping wings, timing belt, servomotor is arranged in frame, and servomotor is connected by timing belt with scraping wings and servomotor
Scraping wings can be driven to specified location by timing belt.In the present embodiment, vanning pushing mechanism is two groups；Two are set respectively
Servomotor, scraping wings, timing belt, servomotor are divided into right pusher servomotor, left pusher servomotor, and scraping wings is divided into a left side
Scraping wings, right scraping wings.
Vanning switching mechanism includes the vanning drive mechanism being connected with control system, the vanning being connected with vanning drive mechanism
Link member, the door being connected with vanning link member.Wherein, vanning link member, door are respectively two, and casing, link member is parallel to be set
Put and link member of casing can drive door to form door unit with respect to gantry rotation, two doors.When two doors are parallel to each other,
Door unit is closed；When not parallel between two doors, gap is formed between door, door unit, which is in, to be opened
State, material bag enter next stage by the door unit opened.
In the present embodiment, vanning drive mechanism uses cylinder；Vanning link member includes putting down with what vanning drive mechanism was connected
Weigh plate, stacking hatch door connecting rod, stacking hatch door rocking bar, stacking hatch door montant, stacking hatch door cross bar, stacking hatch door connecting rod, stacking cabin
Door rocking bar, stacking hatch door montant are respectively two, and it is in Qian word that stacking hatch door montant is connected with the both ends of stacking hatch door cross bar respectively
Type, the lower end of stacking hatch door montant are connected by stacking hatch door rocking bar with hatch door, and the both ends of balance plate pass through stacking hatch door respectively
Connecting rod is connected with stacking hatch door montant.During the arrangement works, vanning drive mechanism pass sequentially through balance plate, stacking hatch door connecting rod with
Stacking hatch door montant is connected, and when stacking hatch door montant reaches extreme higher position, drives door to close；Conversely, vanning drive mechanism
During counter motion, door is opened.
When the device works, material bag is after tilting belt conveyor by entering feed roller pan feeding, on boxing mechanism, pan feeding
Baffle plate can package position-limiting action to material in place.After pan feeding to level detection sensor detects material bag in place, material feeding baffle
Pushing meanss drive boxing mechanism to be swung with respect to frame so that material bag enters cache mechanism.In an instantiation, recrater
Structure counter-clockwise swing, material bag rotate 90 ° and dropped on left buffering chamber；In the present embodiment, the door unit below left cache mechanism
It is in certain angle between horizontal plane, this enables material bag to drop down onto pan feeding baffle plate in place along under door unit, and pan feeding is in place
Baffle plate packages the effect of positioning to material；Meanwhile the left side in left buffering chamber is cached to material sensor and detects material bag in place, door
Drive mechanism acts, and rotates door by door link member, and then opens left buffering chamber, and material Bao Ze enters left stacking storehouse
It is interior；After vanning sensor detects the material bag in left stacking storehouse, vanning pushing mechanism will expect that bag shifts specified location, vanning switch onto
Mechanism action, material bag is put into compartment.When waiting material bag to arrive buffering chamber, the boxing mechanism of swing mechanism returns to balance position
Put, next material bag proceeds by, so as to carry out the work of stacking next time.So repeatedly, it is known that complete stacking.
Further, in addition to frame the connecting shaft being connected, or the lifting hanging point being connected with frame.In the present embodiment,
Also include lower collision detection sensor.
More than, sub-material stacking flow is completed.
The course of work of the device is as follows.
1st, dumper is docked to entrucking parking area by driver（Entrucking storing cycle will be treated in laser scanning positioning unit
Lower section）；
2nd, system manager's typing automatic loading mission bit stream and control system is started；
3rd, control system starts laser scanning positioning unit and completed to compartment length and width, compartment terrain clearance, breast board height, vehicle
Stop the survey calculation of the information such as rake angle, compartment coordinate；Result of calculation is transmitted to control system by laser scanning positioning unit；
4th, control system plans entrucking path automatically according to car information and entrucking mission bit stream；
5th, control system control stacking entrucking unit runs to entrucking original position；
6th, tilt belt conveyor and supplied materials belt conveyor starts, material bag enters stacking entrucking unit（In the structure, material is through feeding
The supplied materials belt conveyor of unit is delivered to inclination belt conveyor, tilts belt conveyor and material is delivered into stacking entrucking unit again）；
7th, after material bag enters stacking entrucking unit, the left entrucking position and right entrucking position that can be assigned to sub-material palletizing system automatically are entered
Luggage car stacking, after a line entrucking stacking is completed, tilt belt conveyor and supplied materials belt conveyor stops, control system judges to work as
Whether preceding entrucking task is completed；If entrucking task is completed, step 8 is jumped to；If entrucking task does not complete, jump to
Step 9；
8th, truck fill flow terminates；
9th, control system control supplied materials belt conveyor retreats the distance of a bag material, and control system judges whether entrucking path performs
Complete, if entrucking path performs completion, repeat step 6,7 works；If entrucking path is not carried out completing, repeat step
5th, 6,7 work.
More than, automatic loading process is completed.
In the present embodiment, dumper, guide rail, laser scanning positioning unit, hoisting mechanism, inclination belt conveyor, parallel company
Linkage, control system, supplied materials belt conveyor, site of deployment, parking area, stacking entrucking unit form the entrucking that entrucking is completed
System.Wherein, dumper is material transportation platform, completes material transfer work；Guide rail is that equipment is moved along dumper length X-direction
It is dynamic that running track is provided；Laser scanning positioning unit realizes material mover carriage Scan orientation；Lifting mechanism control stacking entrucking list
Member completes Z-direction stacking, and position feedback uses absolute value encoder；Belt conveyor is tilted to convey material from supplied materials belt conveyor
To stacking entrucking unit；Parallel linkage reduces the horizontal jitter of stacking entrucking unit；Control system realizes automatic loading code
Pile process control；Supplied materials belt conveyor realizes that upstream equipment is packed to the material bag completed is delivered to inclination belt conveyor, tilts defeated
Send the position of belt to feed back and use absolute value encoder；Site of deployment is equipment installation and operation place；Parking area is automatic
Entrucking region, driver must dock to dumper in designated area；Stacking entrucking unit is by parts such as subpackage, pusher and stackings
Composition, subpackage, pusher part are driven by servomotor, whether in place to detect material bag with shaft pin sensor, stacking part is by cylinder
Driving, magnetic sensor test position；Under control of the control system, subpackage, pusher and the stacking work of material bag are realized.
Furthermore, it is necessary to illustrate, the specific embodiment described in this specification, the shape of its parts and components, it is named
Title etc. can be different, and the above content described in this specification is only to structure example explanation of the present invention.It is all according to
The equivalence changes or simple change done according to the construction described in inventional idea of the present invention, feature and principle, are included in this hair
In the protection domain of bright patent.Those skilled in the art can do various to described specific embodiment
The modification of various kinds or supplement are substituted using similar mode, without departing from structure of the invention or surmount present claims
Scope defined in book, protection scope of the present invention all should be belonged to.
The invention is not limited in foregoing embodiment.The present invention, which expands to, any in this manual to be disclosed
New feature or any new combination, and disclose any new method or process the step of or any new combination.
Claims (10)
- A kind of 1. flexibility automatic loading system, it is characterised in that including：Control system；Laser scanning positioning unit, the laser scanning positioning unit is connected with control system and laser scanning positioning unit can be right Treat that entrucking compartment is scanned and positioned, and feedback of the information will be determined to control system；Feeding unit, the feeding unit is connected with control system and material can be delivered to stacking entrucking unit by feeding unit；Stacking entrucking unit, the stacking entrucking unit is connected with control system and material can be mounted in compartment by stacking entrucking unit It is interior, realize the stacking to material；Wherein, the feeding unit include guide rail, the hoisting mechanism being arranged on guide rail, transmission mechanism, the hoisting mechanism with Stacking entrucking unit is connected and hoisting mechanism can drive stacking entrucking unit opposite rail to move, and the transmission mechanism fills with stacking Car unit is connected and material can be delivered to stacking entrucking unit by transmission mechanism, the hoisting mechanism, transmission mechanism respectively with control System processed is connected.
- 2. flexibility automatic loading system according to claim 1, it is characterised in that the transmission mechanism includes being arranged on leading Supplied materials belt conveyor, the 3rd motor, the inclination belt conveyor being engaged with supplied materials belt conveyor, the 4th motor of rail, described Three motors are connected with supplied materials belt conveyor and the 3rd motor can drive supplied materials belt conveyor to move, and the 4th motor is defeated with tilting Send belt connected and the 4th motor can drive and tilt belt conveyor motion, the 3rd motor, the 4th motor are respectively with control System is connected.
- 3. flexibility automatic loading system according to claim 1 or claim 2, it is characterised in that the laser scanning positioning unit Including the laser range sensor for being measured to compartment, the rotary unit for being arranged on above compartment, the rotation Unit includes base, the first rotating mechanism, the second rotating mechanism, and first rotating mechanism is arranged on base and the first rotation Mechanism can be arranged on the first rotating mechanism with respect to base rotation, second rotating mechanism and the second rotating mechanism can relative the One rotating mechanism is rotated, and the laser range sensor is arranged on the second rotating mechanism and rotary unit can drive laser ranging Sensor relatively rotates；The laser range sensor, the first rotating mechanism, the second rotating mechanism are connected with control system respectively.
- 4. according to any one of the claim 1-3 flexibility automatic loading systems, it is characterised in that the stacking entrucking unit Including frame, the conveyer being arranged in frame, the swing mechanism being engaged with conveyer, cache mechanism, boxing mechanism, Cache mechanism is located at below swing mechanism, and boxing mechanism is located at below cache mechanism；The swing mechanism includes the swinging support part of gantry rotation, the pan feeding that can position material bag keeping off in place relatively Plate, material feeding baffle pushing meanss, the material feeding baffle pushing meanss are connected with swinging support part and material feeding baffle pushing meanss energy Swinging support part is driven with respect to gantry rotation；The cache mechanism includes being arranged on is cached to material baffle plate, door switching mechanism in frame；Door drive mechanism that the door switching mechanism includes being connected with control system, door, it is connected with door drive mechanism Door link member, the door link member, door are respectively two, and the door link member be arranged in parallel and door link member Door can be driven with respect to gantry rotation, two doors form door units and door unit when two doors are parallel to each other is in Closed mode, the door unit, it is cached to and expects to form buffering chamber between baffle plate；The boxing mechanism include material can be pushed in the horizontal direction specified location vanning pushing mechanism, can open and from And it will expect that bag is put into the vanning switching mechanism in compartment, and stacking storehouse is formed above the vanning switching mechanism；The material feeding baffle pushing meanss, door drive mechanism, vanning pushing mechanism, vanning switching mechanism respectively with control system It is connected.
- 5. flexibility automatic loading system according to claim 4, it is characterised in that if also including what is be connected with control system It detect the position that dry alignment sensor and alignment sensor can wrap to material.
- 6. flexibility automatic loading system according to claim 4, it is characterised in that door switching on and shutting down in the cache mechanism It is in 5 ~ 85 ° of angles between the door unit and horizontal plane of structure.
- 7. flexibility automatic loading system according to claim 4, it is characterised in that the vanning pushing mechanism includes and control The connected servomotor of system processed, the scraping wings, the timing belt that are engaged with servomotor, the servomotor are arranged on frame On, the servomotor is connected by timing belt with scraping wings and servomotor can drive scraping wings to specific bit by timing belt Put.
- 8. flexibility automatic loading system according to claim 4, it is characterised in that the vanning switching mechanism includes and control The connected vanning drive mechanism of system processed, the vanning link member being connected with vanning drive mechanism, the storehouse being connected with vanning link member Door, the vanning link member, door are respectively two, and vanning link member be arranged in parallel and link member of casing can drive door relative Gantry rotation, two doors form door unit.
- 9. flexibility automatic loading system according to claim 8, it is characterised in that the vanning link member includes and vanning The connected balance plate of drive mechanism, stacking hatch door connecting rod, stacking hatch door rocking bar, stacking hatch door montant, stacking hatch door cross bar, stacking Hatch door connecting rod, stacking hatch door rocking bar, stacking hatch door montant are respectively two, stacking hatch door montant respectively with stacking hatch door cross bar It is in Qian font that both ends, which are connected, and the lower end of stacking hatch door montant is connected by stacking hatch door rocking bar with hatch door, the both ends point of balance plate It is not connected by stacking hatch door connecting rod with stacking hatch door montant.
- 10. the application of any one of the foregoing 1-9 flexibility automatic loading systems, it is characterised in that comprise the following steps：（1）Entrucking storing cycle is treated below laser scanning positioning unit, laser scanning positioning unit is carried out to the compartment of vehicle Scanning, and car information is fed back into control system；（2）Material is delivered to stacking entrucking unit by feeding unit, while control system passes through lifting mechanism control stacking entrucking The position of unit；When stacking entrucking unit reaches specified location, stacking entrucking unit piles up material in specified location；When After specified location material is piled up, stacking entrucking unit is moved to next specified location by control system by hoisting mechanism, Stacking entrucking unit starts stacking；So repeat, until stacking is completed.
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| CN201710886986.0A CN107618894B (en) | 2017-09-27 | 2017-09-27 | Flexible automatic loading system and application thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108328361A (en) * | 2018-04-03 | 2018-07-27 | 无锡科天海自动化设备有限公司 | Bag cargo automatic loading device |
| CN109250532A (en) * | 2018-08-29 | 2019-01-22 | 山东矩阵软件工程股份有限公司 | A kind of goods and materials loading method, system and relevant apparatus in bulk based on single feed opening |
| CN109534019A (en) * | 2018-12-19 | 2019-03-29 | 广州市意诺仕智能设备有限公司 | A kind of bagged material loading device and application method |
| CN109704096A (en) * | 2018-12-24 | 2019-05-03 | 唐山智能电子有限公司 | The detection of automatic loading locomotive compartment and position control |
| CN109720891A (en) * | 2018-12-29 | 2019-05-07 | 浙江明度智控科技有限公司 | A kind of cargo loads planning system and method automatically |
| CN110077861A (en) * | 2019-05-29 | 2019-08-02 | 四川福德机器人股份有限公司 | A kind of sacked material sub-material palletizing system |
| CN110077860A (en) * | 2019-05-29 | 2019-08-02 | 四川福德机器人股份有限公司 | A kind of sacked material sub-material palletizing system |
| CN110104445A (en) * | 2019-05-29 | 2019-08-09 | 四川福德机器人股份有限公司 | A kind of sacked material sub-material palletizing system |
| CN110817428A (en) * | 2019-12-04 | 2020-02-21 | 上海瑞赤智能科技有限公司 | Automatic material package of railway carriage or compartment carries pile up neatly system |
| CN111652936A (en) * | 2020-08-06 | 2020-09-11 | 天津迦自机器人科技有限公司 | Three-dimensional sensing and stacking planning method and system for open container loading |
| CN111689255A (en) * | 2020-07-08 | 2020-09-22 | 淮北矿业股份有限公司 | Accurate blanking device and blanking method |
| CN111924575A (en) * | 2020-09-02 | 2020-11-13 | 湖北三江航天机电设备有限责任公司 | Unmanned intelligent car loader |
| CN111942918A (en) * | 2020-08-17 | 2020-11-17 | 天地科技股份有限公司 | Method for unloading automobile in full-automatic loading station |
| CN112299051A (en) * | 2020-11-25 | 2021-02-02 | 三明市缘福生物质科技有限公司 | Method for realizing automatic loading of modified lignin |
| CN112978256A (en) * | 2019-12-16 | 2021-06-18 | 中车唐山机车车辆有限公司 | Rail vehicle floor installation conveyor |
| CN113636298A (en) * | 2021-07-30 | 2021-11-12 | 杭州电子科技大学 | System and method for detecting stacking state of bagged material car loader |
| CN117023177A (en) * | 2023-09-18 | 2023-11-10 | 杭州中建云天科技有限公司 | Stacker crane based on machine vision AI control |
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| CN108328361A (en) * | 2018-04-03 | 2018-07-27 | 无锡科天海自动化设备有限公司 | Bag cargo automatic loading device |
| CN109250532A (en) * | 2018-08-29 | 2019-01-22 | 山东矩阵软件工程股份有限公司 | A kind of goods and materials loading method, system and relevant apparatus in bulk based on single feed opening |
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| CN109704096B (en) * | 2018-12-24 | 2023-12-29 | 唐山智能电子有限公司 | Carriage detection and position control device of automatic car loader |
| CN109720891A (en) * | 2018-12-29 | 2019-05-07 | 浙江明度智控科技有限公司 | A kind of cargo loads planning system and method automatically |
| CN110077860A (en) * | 2019-05-29 | 2019-08-02 | 四川福德机器人股份有限公司 | A kind of sacked material sub-material palletizing system |
| CN110077861A (en) * | 2019-05-29 | 2019-08-02 | 四川福德机器人股份有限公司 | A kind of sacked material sub-material palletizing system |
| CN110077861B (en) * | 2019-05-29 | 2024-04-05 | 四川福德机器人股份有限公司 | Bagged material distributing and stacking system |
| CN110104445A (en) * | 2019-05-29 | 2019-08-09 | 四川福德机器人股份有限公司 | A kind of sacked material sub-material palletizing system |
| CN110104445B (en) * | 2019-05-29 | 2024-04-05 | 四川福德机器人股份有限公司 | Bagged material distributing and stacking system |
| CN110077860B (en) * | 2019-05-29 | 2024-04-05 | 四川福德机器人股份有限公司 | Bagged material distributing and stacking system |
| CN110817428A (en) * | 2019-12-04 | 2020-02-21 | 上海瑞赤智能科技有限公司 | Automatic material package of railway carriage or compartment carries pile up neatly system |
| CN112978256A (en) * | 2019-12-16 | 2021-06-18 | 中车唐山机车车辆有限公司 | Rail vehicle floor installation conveyor |
| CN111689255A (en) * | 2020-07-08 | 2020-09-22 | 淮北矿业股份有限公司 | Accurate blanking device and blanking method |
| CN111652936A (en) * | 2020-08-06 | 2020-09-11 | 天津迦自机器人科技有限公司 | Three-dimensional sensing and stacking planning method and system for open container loading |
| CN111942918A (en) * | 2020-08-17 | 2020-11-17 | 天地科技股份有限公司 | Method for unloading automobile in full-automatic loading station |
| CN111924575A (en) * | 2020-09-02 | 2020-11-13 | 湖北三江航天机电设备有限责任公司 | Unmanned intelligent car loader |
| CN112299051A (en) * | 2020-11-25 | 2021-02-02 | 三明市缘福生物质科技有限公司 | Method for realizing automatic loading of modified lignin |
| CN112299051B (en) * | 2020-11-25 | 2024-05-10 | 三明市缘福生物质科技有限公司 | Method for realizing automatic loading of modified lignin |
| CN113636298A (en) * | 2021-07-30 | 2021-11-12 | 杭州电子科技大学 | System and method for detecting stacking state of bagged material car loader |
| CN113636298B (en) * | 2021-07-30 | 2022-09-23 | 杭州电子科技大学 | Bag stacking state detection system and method of bagged material car loader |
| CN117023177B (en) * | 2023-09-18 | 2024-01-16 | 杭州中建云天科技有限公司 | Stacker crane based on machine vision AI control |
| CN117023177A (en) * | 2023-09-18 | 2023-11-10 | 杭州中建云天科技有限公司 | Stacker crane based on machine vision AI control |
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