CN107618894B - Flexible automatic loading system and application thereof - Google Patents
Flexible automatic loading system and application thereof Download PDFInfo
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- CN107618894B CN107618894B CN201710886986.0A CN201710886986A CN107618894B CN 107618894 B CN107618894 B CN 107618894B CN 201710886986 A CN201710886986 A CN 201710886986A CN 107618894 B CN107618894 B CN 107618894B
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Abstract
The invention discloses a flexible automatic loading system and application thereof, and aims to solve the problems that the conventional bagged material loading equipment lacks a corresponding automatic scanning and positioning system and is low in automation degree. The invention carries out brand-new optimization design on the mechanism of the loading system, automatically scans and positions the carriage through the laser scanning and positioning unit, conveys materials through the feeding unit, and effectively places the materials on the designated position of the carriage through the stacking and loading unit to realize automatic loading of the materials. The invention can adapt to the requirements of different types of material transporting vehicles on size and height change, can automatically plan the loading path according to the size information of the carriage of the target vehicle and the loading task, realizes automatic loading according to the data provided by the laser scanning positioning unit, and only needs to manually send the loading task in the whole loading process. The invention can effectively reduce the labor intensity of workers, avoid bad loading environment, improve the production efficiency of enterprises, reduce the labor cost of enterprises and have higher application value.
Description
Technical Field
The invention relates to the field of machinery, in particular to the field of material loading, and specifically relates to a flexible automatic loading system and application thereof. By adopting the application, bagged materials on the belt conveyor of the production line can be directly loaded into the carriage, the loading requirement of the bagged materials of automobiles and trains is met, the loading efficiency is greatly improved, the labor intensity and the transportation cost of workers are reduced, and the application value and the application prospect are high.
Background
Chinese patent CN201420470511.5 discloses an automatic loading machine for bagged goods, which consists of a mechanical part, an electric control part and a safety device, and is characterized in that the mechanical part comprises a main supporting beam, a transfer belt, a lifting platform and a loading belt; a transfer belt is arranged below the main support beam along the direction of the main support beam, one end of the transfer belt is connected with a production line belt, the other end of the transfer belt is connected with a loading belt, and the loading belt is arranged perpendicular to the direction of the main support beam; the loading belt is arranged on the lifting platform; an anti-overlapping counter is arranged on the transfer belt, and a chute is arranged between the transfer belt and the production line belt and between the transfer belt and the loading belt. The scheme can directly stack the bagged goods packaged on a production line into a train or an automobile carriage, so that stacking and loading can be achieved in one step, stacking can be tidy, and an accurate counting function can be achieved. The device is not provided with a corresponding carriage automatic scanning and positioning system, and the automation degree of the system is not high.
Chinese patent CN201420484214.6 discloses a full-automatic bagged cement truck loader, which adopts power equipment to carry out the loading operation of bagged cement, and the bagged cement on an inclined conveying device is conveyed to corresponding number of bag unloading devices by at least 2 conveying lines through a distribution device, and then conveyed to corresponding stacking devices through each bag unloading device, and finally the bagged cement is transversely and linearly arranged through all the stacking devices to complete stacking. However, after the research of the applicant, the device is complex in mechanical structure, has a plurality of power parts and is easy to cause problems in the operation process.
Chinese patent CN201420277314.1 discloses an automatic bagged cement loader. The bagged cement enters a bagged cement rotary pushing mechanism through a belt conveyor, and meanwhile, a bagged cement rotating mechanism operates to rotate the bagged cement to a preset direction to shape the bagged cement, and the bagged cement rotating mechanism resets after shaping is finished; when the bagged cement is shaped, the bagged cement rotary pushing mechanism operates to push the bagged cement to the bagged cement stacking mechanism, and meanwhile, the bagged cement rotary pushing machine head resets; the bagged cement stacking mechanism drops the bagged cement into the truck, and meanwhile, the bagged cement stacking mechanism resets, so far, the bagged cement stacking mechanism is a whole set of flow, and the steps are continuously circulated, so that repeated and continuous loading can be realized. In the structure, the power part adopts a pneumatic mechanism, so that the impact load is large, the fault is easy to occur, and the work is influenced. Meanwhile, the device still needs to rely on a belt conveyor and position adjustment of a worker on a car loader to load cement, scanning and automatic positioning of a carriage cannot be achieved, and the automation degree is low.
To this end, a new device and/or method is urgently needed to solve the above problems.
Disclosure of Invention
The invention aims to: aiming at the problems that the prior bagged material loading equipment lacks a corresponding automatic scanning and positioning system and has lower automation degree, a flexible automatic loading system and application thereof are provided. The invention carries out brand-new optimization design on the mechanism of the loading system, automatically scans and positions the carriage through the laser scanning and positioning unit, conveys materials through the feeding unit, and effectively places the materials on the designated position of the carriage through the stacking and loading unit to realize automatic loading of the materials. The automatic loading system can meet the requirements of different types of material transporting vehicles on size and height change, can automatically plan a loading path according to the size information of a carriage of a target vehicle and a loading task, realizes automatic loading according to data provided by the laser scanning positioning unit, and only needs to manually issue the loading task in the whole loading process. The invention has the advantages of ingenious concept, reasonable design, convenient maintenance and installation and high reliability, can effectively reduce the labor intensity of workers, avoid severe loading environment, improve the production efficiency of enterprises, reduce the labor cost of enterprises, and has higher application value and better application prospect.
In order to achieve the purpose, the invention adopts the following technical scheme:
a flexible automated loading system comprising:
a control system;
the laser scanning positioning unit is connected with the control system and can scan and position the compartment to be loaded and feed the measured information back to the control system;
the feeding unit is connected with the control system and can convey materials to the stacking and loading unit;
the stacking and loading unit is connected with the control system and can load materials into the carriage to stack the materials;
the feeding unit comprises a guide rail, a lifting mechanism and a transmission mechanism, the lifting mechanism is arranged on the guide rail and connected with the stacking truck unit, the lifting mechanism can drive the stacking truck unit to move relative to the guide rail, the transmission mechanism is connected with the stacking truck unit, the transmission mechanism can convey materials to the stacking truck unit, and the lifting mechanism and the transmission mechanism are respectively connected with the control system.
The conveying mechanism comprises an incoming material conveying belt, a third motor, an inclined conveying belt and a fourth motor, wherein the incoming material conveying belt and the inclined conveying belt are arranged on the guide rail, the inclined conveying belt is matched with the incoming material conveying belt, the third motor is connected with the incoming material conveying belt and can drive the incoming material conveying belt to move, the fourth motor is connected with the inclined conveying belt and can drive the inclined conveying belt to move, and the third motor and the fourth motor are respectively connected with the control system.
The laser scanning positioning unit is arranged on the guide rail.
The stacking and loading device further comprises a parallel connecting rod mechanism matched with the stacking and loading unit.
The parallel link mechanism is in a parallelogram shape.
The inclined conveying belt is obliquely arranged relative to the horizontal plane.
And an absolute value encoder connected with the control system is arranged on the pallet loading unit.
The application of the flexible automatic loading system comprises the following steps:
(1) The vehicle to be loaded is parked below the laser scanning and positioning unit, the laser scanning and positioning unit scans the carriage of the vehicle and feeds carriage information back to the control system;
(2) The feeding unit conveys materials to the stacking loading unit, and the control system controls the position of the stacking loading unit through the lifting mechanism; when the stacking and loading unit reaches a designated position, the stacking and loading unit stacks materials on the designated position; after the materials are stacked at the appointed position, the control system moves the stacking and loading unit to the next appointed position through the lifting mechanism, and the stacking and loading unit starts stacking; and repeating the process until the stacking is completed.
In the step 2, the conveying mechanism comprises an incoming material conveying belt arranged on the guide rail, a third motor, an inclined conveying belt matched with the incoming material conveying belt, and a fourth motor, the third motor is connected with the incoming material conveying belt and can drive the incoming material conveying belt to move, the fourth motor is connected with the inclined conveying belt and can drive the inclined conveying belt to move, and the third motor and the fourth motor are respectively connected with the control system;
the materials are conveyed to the inclined conveying belt through the material conveying belt of the feeding unit, and then conveyed to the stacking loading unit through the inclined conveying belt.
The laser scanning positioning unit comprises a laser ranging sensor for measuring the carriage and a rotating unit for being arranged above the carriage, the rotating unit comprises a base, a first rotating mechanism and a second rotating mechanism, the first rotating mechanism is arranged on the base and can rotate relative to the base, the second rotating mechanism is arranged on the first rotating mechanism and can rotate relative to the first rotating mechanism, the laser ranging sensor is arranged on the second rotating mechanism, and the rotating unit can drive the laser ranging sensor to rotate relative to the second rotating mechanism;
the laser ranging sensor, the first rotating mechanism and the second rotating mechanism are respectively connected with the control system.
The first rotating mechanism comprises a first motor connected with the control system and a first transmission mechanism matched with the first motor, the first motor is connected with the second rotating mechanism through the first transmission mechanism, and the first motor can drive the second rotating mechanism to rotate relatively through the first transmission mechanism.
The second rotating mechanism comprises a second motor connected with the control system and a second transmission mechanism matched with the second motor, the second motor is connected with the second rotating mechanism through the second transmission mechanism, and the second motor can drive the second rotating mechanism to rotate relatively through the second transmission mechanism.
The system also comprises one or more of a display connected with the control system and a touch screen connected with the control system.
The baffle plate is matched with the carriage, and the position of the carriage can be defined by the baffle plate.
The base is movably connected or fixedly connected with the first rotating mechanism and the second rotating mechanism is fixedly connected with the laser ranging sensor.
The base is detachably connected with the first rotating mechanism.
The support frame is connected with the rotating unit and can provide support for the rotating unit.
The support frame is formed by connecting a plurality of connecting rods, and the connecting rods are movably connected.
The stacking and loading unit comprises a rack, a conveying device arranged on the rack, a swinging mechanism matched with the conveying device, a caching mechanism and a loading mechanism, wherein the caching mechanism is positioned below the swinging mechanism, and the loading mechanism is positioned below the caching mechanism;
the swing mechanism comprises a swing support piece capable of rotating relative to the rack, a feeding in-place baffle capable of positioning the material bag, and a feeding baffle pushing device, wherein the feeding baffle pushing device is connected with the swing support piece and can drive the swing support piece to rotate relative to the rack;
the buffer memory mechanism comprises a buffer memory to material baffle plate and a bin gate opening and closing mechanism which are arranged on the rack;
the bin gate opening and closing mechanism comprises a bin gate driving mechanism connected with the control system, bin gates and bin gate connecting rod pieces connected with the bin gate driving mechanism, the number of the bin gate connecting rod pieces and the number of the bin gates are two, the bin gate connecting rod pieces are arranged in parallel and can drive the bin gates to rotate relative to the rack, the two bin gates form a bin gate unit, the bin gate unit is in a closed state when the two bin gates are parallel to each other, and a buffer bin is formed between the bin gate unit and the buffer stop plate;
the boxing mechanism comprises a boxing pushing mechanism capable of pushing materials to a designated position in the horizontal direction and a boxing switch mechanism capable of being opened and putting material bags into a carriage, and a stacking bin is formed above the boxing switch mechanism;
and the feeding baffle pushing device, the bin gate driving mechanism, the boxing pushing mechanism and the boxing opening and closing mechanism are respectively connected with the control system.
Still include a plurality of positioning sensor and the positioning sensor that links to each other with control system can detect the position of material package.
The positioning sensor comprises a feeding in-place detection sensor which can detect whether the material bag is in place in the swing mechanism, a buffer memory in the buffer memory mechanism, and a packing sensor in the packing mechanism, wherein the feeding in-place detection sensor, the buffer memory and the packing sensor are respectively connected with the control system.
An included angle of 5 to 85 degrees is formed between a bin gate unit of a bin gate switching mechanism in the cache mechanism and a horizontal plane.
An included angle of 30 to 60 degrees is formed between a bin gate unit of a bin gate switching mechanism in the cache mechanism and a horizontal plane.
The bin gate driving mechanism is an air cylinder.
The anti-collision device is arranged on the rack and connected with the control system.
The anti-collision sensing device comprises a right anti-collision sensor, a front anti-collision sensor, a left anti-collision sensor and a rear anti-collision sensor, and the right anti-collision sensor, the front anti-collision sensor, the left anti-collision sensor and the rear anti-collision sensor are respectively connected with the control system.
The conveying device is a belt conveying device or a feeding roller.
The material distributing and stacking mechanism further comprises a material distributing and stacking mechanism shell matched with the rack.
And the system also comprises a status indicator lamp connected with the control system.
The boxing pushing mechanism comprises a servo motor, a material pushing plate and a synchronous belt, wherein the servo motor is connected with the control system, the material pushing plate is matched with the servo motor, the servo motor is arranged on the rack, the servo motor is connected with the material pushing plate through the synchronous belt, and the servo motor can drive the material pushing plate to a specified position through the synchronous belt.
The boxing opening and closing mechanism comprises a boxing driving mechanism connected with the control system, a boxing connecting rod piece connected with the boxing driving mechanism, and bin gates connected with the boxing connecting rod piece, wherein the boxing connecting rod piece and the bin gates are respectively two, the boxing connecting rod piece is arranged in parallel, the boxing connecting rod piece can drive the bin gates to rotate relative to the rack, and the two bin gates form a bin gate unit.
Packing connecting rod spare includes balance plate, pile up neatly hatch door connecting rod, pile up neatly hatch door rocker, pile up neatly hatch door montant, pile up neatly hatch door horizontal pole that link to each other with the driving mechanism that vanns, and pile up neatly hatch door connecting rod, pile up neatly hatch door rocker, pile up neatly hatch door montant are two respectively, and pile up neatly hatch door montant links to each other with the both ends of pile up neatly hatch door horizontal pole respectively and is the U style of calligraphy, and the lower extreme of pile up neatly hatch door montant passes through pile up neatly hatch door rocker and links to each other with the hatch door, and the both ends of balance plate link to each other with pile up neatly hatch door montant through pile up neatly hatch door connecting rod respectively.
The boxing sensors and the boxing switch mechanisms are respectively divided into two groups.
The two buffer mechanisms are symmetrically arranged on two sides of the swing mechanism, and the boxing mechanism is located below the buffer mechanisms.
The counting device is connected with the control system and can measure the number of the material packages.
The counting device is a photoelectric detection counter.
The quality measuring device is connected with the control system and can measure the quality of the material bag, or the color measuring device is connected with the control system and can measure the color of the material bag.
Aiming at the problems, the invention provides a flexible automatic loading system and application thereof. The device comprises a laser scanning positioning unit, a feeding unit, a stacking loading unit and a control system, wherein the laser scanning positioning unit is connected with the control system and can scan and position a carriage to be loaded and feed measured information back to the control system; the feeding unit is connected with the control system and can convey materials to the stacking loading unit; the stacking and loading unit is connected with the control system and can load materials in the carriage, so that the materials can be stacked.
When the device works, the material transporting vehicle is firstly parked in a parking area, namely, the vehicle to be loaded is parked below the laser scanning and positioning unit, the laser scanning and positioning unit scans the carriage of the vehicle and feeds carriage information back to the control system, the length, the width, the height above the ground, the height of the breast board and the parking inclination angle of the vehicle body of the vehicle are calculated, and the carriage of the material transporting vehicle is accurately positioned; the control system controls the position of the stacking loading unit through the lifting mechanism, and meanwhile, the feeding unit conveys materials to the stacking loading unit; when the stacking and loading unit reaches an appointed position, the stacking and loading unit stacks the materials on the appointed position; after the materials are stacked at the appointed position, the control system moves the stacking and loading unit to the next appointed position through the lifting mechanism, and the stacking and loading unit starts stacking; and repeating the steps until the palletizing is completed.
Furthermore, the feeding unit comprises a guide rail, a lifting mechanism and a transmission mechanism, the lifting mechanism is arranged on the guide rail and is connected with the stacking truck unit, the lifting mechanism can drive the stacking truck unit to move relative to the guide rail, the transmission mechanism is connected with the stacking truck unit and can convey materials to the stacking truck unit, and the lifting mechanism and the transmission mechanism are respectively connected with the control system. In the structure, the guide rail can provide support for the lifting mechanism, the lifting mechanism can move relative to the guide rail, and further the stacking and loading unit connected with the lifting mechanism is driven to move, so that the specified position is reached. Further, the laser scanning positioning unit is arranged on the guide rail. Based on the structural improvement, the laser scanning positioning unit does not need to be provided with a corresponding movable guide rail, so that corresponding support can be provided by directly using the guide rail.
Furthermore, the stacking and loading device further comprises a parallel connecting rod mechanism matched with the stacking and loading unit, the horizontal shaking of the stacking and loading unit can be effectively reduced by the parallel connecting rod mechanism, and the accuracy of the position of the stacking and loading unit is ensured. According to the invention, the guardrails are arranged on two sides of the second conveying belt, so that the materials can be prevented from falling off from the second conveying belt.
Furthermore, the second conveying belt is obliquely arranged relative to the horizontal plane, and materials can enter the pallet truck unit conveniently. Further, a certain included angle is formed between the second conveying belt and the horizontal plane, and the included angle is 5-35 degrees.
When the automatic loading device works, materials are sequentially conveyed to the stacking and loading unit through the incoming material conveying belt and the inclined conveying belt, the stacking and loading unit can load the materials into the carriage, and the lifting mechanism controls the height and the position of the stacking and loading unit to match with the operation of the stacking and loading unit, so that the automatic loading requirement of the materials is met.
Further, the feeding conveyor belt conveys the material bags packaged by the upstream equipment to the inclined conveyor belt, and an absolute value encoder is adopted for position feedback of the inclined conveyor belt.
In the invention, the material transporting vehicle is a material transporting platform to finish material transfer work, and the carriage is a target to be positioned and measured; the laser ranging sensor is used for measuring the distance from the sensor to the carriage; the first rotating mechanism can rotate freely and consists of a first motor and a first transmission mechanism; the second rotating mechanism can rotate freely and consists of a second motor and a second transmission mechanism; the first rotating mechanism is connected with the second rotating mechanism; the first rotating mechanism and the second rotating mechanism drive the laser ranging sensor to complete the measurement of the three-dimensional point cloud data of the carriage of the material transporting vehicle; the control system is respectively connected with the laser ranging sensor, the first rotating mechanism and the second rotating mechanism and used for adjusting the position of the laser ranging sensor and collecting the measured quantity, and the length, the width, the ground clearance, the height of the breast board and the vehicle body inclination stopping angle of the carriage are calculated according to data measured by the laser ranging sensor, so that the carriage of the material transporting vehicle is accurately positioned.
When the laser scanning positioning unit works, a material transporting vehicle driver drives the material transporting vehicle to a parking space, and the operator starts the control system to scan and position the carriage of the target vehicle. After the carriage scanning positioning program is started, the control system establishes an XYZ coordinate system, the laser ranging sensor is driven by the first rotating mechanism and the second rotating mechanism to complete the acquisition of three-dimensional point cloud data of a target vehicle carriage, and the specific process is as follows: firstly, the second rotating mechanism is locked after rotating to a scanning starting position, and the first rotating mechanism drives the laser ranging sensor to complete the first measurement and recording of three-dimensional point cloud data of the carriage; the second rotating mechanism rotates to a second scanning point, and the first rotating mechanism drives the laser ranging sensor to complete the measurement and recording of the three-dimensional point cloud data of the carriage; and repeating the processes until the three-dimensional point cloud data of the whole carriage is measured and recorded.
According to the invention, based on the improvement of the structure, the invention does not need to adopt a corresponding guide rail and a moving mechanism matched with the guide rail, the structure is greatly simplified, and the field construction amount is greatly reduced. Meanwhile, the invention does not depend on a guide rail and a corresponding moving mechanism, so that the invention can better meet the positioning requirements of carriages of the material transporting vehicles with different sizes and heights, and has better adaptability and flexibility.
Further, the stacking and loading unit comprises a rack, a conveying device arranged on the rack, a swing mechanism matched with the conveying device, a caching mechanism and a loading mechanism, wherein the caching mechanism is located below the swing mechanism, and the loading mechanism is located below the caching mechanism. The swing mechanism comprises a swing support piece capable of rotating relative to the rack, a feeding in-place baffle capable of positioning the material bag, and a feeding baffle pushing device, wherein the feeding baffle pushing device is connected with the swing support piece and can drive the swing support piece to rotate relative to the rack.
In the invention, the structure of the stacking and loading unit is completely new designed and comprises a material distributing part, a buffer memory part, a stacking part, a sensor part, a control system part and the like. When the device works, after detecting that the material bag is in place, the swinging mechanism automatically shunts the material bag to be loaded into the cache bin; after the material bags in the buffer storage bin are in place, the bin gate opening and closing mechanism is opened, the material bags fall into the stacking bin, and at the moment, the bin gate of the buffer storage bin is closed; then, the bin packing pushing mechanism pushes the material bags to a specified position, a bin gate of the stacking bin is opened, the material bags fall into a target compartment, the bin gate of the stacking bin is closed, and the single stacking process is finished. And repeatedly executing the processes to finish the automatic loading and stacking of the materials.
According to the invention, through the design of the package pushing mechanism, the servo motor is used as a power source of the package pushing mechanism, so that the requirements of automatic loading of different target vehicle compartment sizes can be met; the design of a buffer bin and a stacking bin is adopted, so that the system operation efficiency can be effectively improved.
In summary, the present invention provides a flexible automatic loading system and loading method, which can meet the requirements of different types of trucks on size and height, and have strong adaptability. In the invention, a system automatically plans a loading path according to the size information of a target vehicle carriage and a loading task (in the invention, a laser ranging sensor is adopted to scan the carriage of the material transporting vehicle from the upper part of a vehicle body, the length, the width, the height above the ground, the height of a breast board and the parking angle of the material transporting vehicle are determined according to the distance value fed back by the laser sensor, and the positioning of different carriages of the material transporting vehicle can be automatically adapted), and the automatic loading is realized according to the data provided by the laser scanning measuring and positioning system; the whole loading process only needs to manually send a loading task. Meanwhile, the material bag packaging device is convenient to install and maintain and high in reliability (in the invention, a servo motor is selected as a driving device of a sub-packaging mechanism, so that impact load is reduced, the service life of equipment is prolonged, whether a material bag is in place or not is detected by adopting a shaft pin sensor, the swinging of the tail end of an inclined belt line is reduced by adopting a parallelogram link mechanism, and meanwhile, the system precision is greatly improved based on the structural reality of position feedback), the operation difficulty of a material conveying vehicle driver can be effectively reduced, the production efficiency of an enterprise is improved, the labor cost of the enterprise is reduced, and the material bag packaging device has high application value and economic value.
Drawings
The invention will now be described, by way of example, with reference to the accompanying drawings, in which:
fig. 1 is a schematic perspective view of embodiment 1.
Fig. 2 is a schematic structural diagram of a laser scanning positioning unit in embodiment 1.
Fig. 3 is a schematic diagram of feature point extraction. In fig. 3, the black dots are laser ranging sensors, and x1 to x12 are corresponding feature points (i.e., measurement points).
Fig. 4 is a schematic perspective view of the pallet loading unit in embodiment 1.
Fig. 5 is a schematic diagram of the internal structure of the pallet loading unit in embodiment 1.
Fig. 6 is a side view of the pallet truck unit of embodiment 1.
Fig. 7 is a partial structural view of fig. 6.
The mark in the figure is: 1. a shell of a material distribution stacking mechanism, 2, a right anti-collision sensor, 3, a front anti-collision sensor, 4, a left anti-collision sensor, 5, a rear anti-collision sensor, 6, a state indicator light, 7, a left stacking bin, 8, a right stacking bin, 9, a right buffer storage bin, 10, a right buffer storage arrival baffle, 11, a swing support piece, 12, a feeding arrival baffle, 13, a feeding baffle pushing device, 14, a lower collision detection sensor, 15, a lifting suspension point, 16, a connecting shaft, 18, a rack, 19, a control system, 20, a left buffer storage bin, 21, a left buffer storage arrival baffle, 22, a left buffer storage arrival sensor, 23, a boxing pushing mechanism, 24, a left material pushing plate, 25 and a right material pushing servo motor, 27, a feeding roller, 28, a feeding in-place detection sensor, 29, a left pushing servo motor, 30, a right buffer feeding sensor, 31, a right pushing plate, 32, a stacking cabin door rocker, 34, a stacking cabin door connecting rod, 35, a balance plate, 37, a stacking cabin door vertical rod, 38, a stacking cabin door cross rod, 41, a laser distance measuring sensor, 42, a first rotating mechanism, 43, a second rotating mechanism, 51, a material conveying vehicle, 52, a guide rail, 53, a laser scanning positioning unit, 54, a lifting mechanism, 55, an inclined conveying belt, 56, a parallel connecting rod mechanism, 57, a control system, 58, a feeding conveying belt, 59, an application field, 60, a parking area, 61 and a stacking loading vehicle unit.
Detailed Description
All of the features disclosed in this specification, or all of the steps of any method or process so disclosed, may be combined in any combination, except combinations of features and/or steps that are mutually exclusive.
Any feature disclosed in this specification may be replaced by alternative features serving equivalent or similar purposes, unless expressly stated otherwise. That is, unless expressly stated otherwise, each feature is only an example of a generic series of equivalent or similar features.
Example 1
As shown in the figure, the embodiment provides a flexible automatic loading system, which includes a control system, a laser scanning positioning unit, a feeding unit, and a pallet loading unit, where the laser scanning positioning unit, the feeding unit, and the pallet loading unit are respectively connected to the control system. The laser scanning and positioning unit is mainly used for scanning and positioning a carriage of the material transporting vehicle and feeding back measurement information to the control system; the feeding unit is mainly used for conveying materials to the stacking truck loading unit; the stacking loading unit is used for stacking materials in a carriage of the material transporting vehicle to stack the materials.
In this embodiment, the feeding unit includes a guide rail, a lifting mechanism, a transmission mechanism and a parallel link mechanism, wherein the lifting mechanism and the transmission mechanism are arranged on the guide rail, and the parallel link mechanism is matched with the pallet loading unit, and the lifting mechanism and the transmission mechanism are respectively connected with the control system. In this embodiment, the conveying mechanism includes an incoming material conveying belt, a third motor, an inclined conveying belt matched with the incoming material conveying belt, and a fourth motor that are disposed on the guide rail, the third motor is connected to the incoming material conveying belt and can drive the incoming material conveying belt to move, the fourth motor is connected to the inclined conveying belt and can drive the inclined conveying belt to move, and the third motor and the fourth motor are respectively connected to the control system. In the embodiment, the lifting mechanism is connected with the stacking truck unit and can drive the stacking truck unit to move relative to the guide rail; the incoming material conveying belt and the inclined conveying belt in the conveying mechanism are respectively matched with the stacking loading unit, and the conveying mechanism can convey materials to the stacking loading unit. The parallel connecting rod mechanism is of a parallelogram structure, so that the shaking of the stacking and loading unit in the operation process can be effectively reduced, and the accurate stacking is ensured.
Further, in this embodiment, the slope conveyor belt sets up relative to the horizontal plane slope, and this is favorable to the material to fall from the slope conveyor belt when, gets into in the pile up neatly loading unit better. Meanwhile, an absolute value encoder connected with the control system is further arranged on the stacking and loading unit.
As shown in the figure, the laser scanning positioning unit is arranged on the guide rail. In this embodiment, the laser scanning positioning unit includes a laser ranging sensor for measuring the carriage, and a rotating unit for being disposed above the carriage, and the rotating unit includes a base, a first rotating mechanism and a second rotating mechanism, where the first rotating mechanism is disposed on the base and can rotate relative to the base, the second rotating mechanism is disposed on the first rotating mechanism and can rotate relative to the first rotating mechanism, and the laser ranging sensor is disposed on the second rotating mechanism and the rotating unit can drive the laser ranging sensor to rotate relative to the first rotating mechanism. The laser ranging sensor, the first rotating mechanism and the second rotating mechanism are respectively connected with the control system.
In the embodiment, the device further comprises a display and a touch screen, wherein the display and the touch screen are respectively connected with the control system; the base is detachably connected with the first rotating mechanism, and the second rotating mechanism is detachably connected with the laser ranging sensor.
As shown, the cart driver drives the cart to the parking space and the operator activates the control system to scan and locate the target vehicle compartment. After the carriage scanning positioning program is started, the control system establishes an XYZ coordinate system, the laser ranging sensor is driven by the first rotating mechanism and the second rotating mechanism to complete the acquisition of three-dimensional point cloud data of a target vehicle carriage, and the specific process is as follows: firstly, the second rotating mechanism is locked after rotating to a scanning starting position, and the first rotating mechanism drives the laser ranging sensor to complete the first measurement and recording of three-dimensional point cloud data of the carriage; the second rotating mechanism rotates to a second scanning point, and the first rotating mechanism drives the laser ranging sensor to complete the measurement and recording of the three-dimensional point cloud data of the carriage; and repeating the processes until the three-dimensional point cloud data of the whole carriage is measured and recorded.
The control system analyzes the three-dimensional point cloud data of the carriage, the first measuring point with the Z-direction distance mutation in the X-direction point cloud data and the first measuring point with the Z-direction distance mutation in the Y-direction point cloud data are respectively used as characteristic points of the carriage, the electrical control system firstly analyzes the height information of the X1-X12 points in the Z direction according to the three-dimensional point cloud data of the carriage, then the Z-direction information of the adjacent X1-X12 points is subjected to difference, the difference forms a new sequence, the judgment is carried out according to the change of element symbols in the sequence, and if the symbols of the two adjacent difference change, the point which causes the change of the symbol of the difference is inevitably the 'inflection point' of the carriage characteristic; by adopting the method, the characteristic points of the carriage information can be extracted. As shown in the figure, the length information of the target compartment can be calculated according to the extracted information of the feature points 5 and 7; the width information of the target compartment can be calculated according to the extracted information of the characteristic points 8 and 9; the ground clearance information of the target compartment can be calculated according to the extracted information of the characteristic points 6 and 11; the height information of the target carriage can be calculated according to the extracted characteristic points 5, 7, 8, 9, 10 and 12 information and the carriage ground clearance height information; the vehicle inclination stopping information can be calculated according to the extracted feature points 9 and 10 and 8 and 12; according to the steps, the length, the width, the ground clearance height, the height of the breast board and the inclination stopping angle of the target carriage can be calculated. And the carriage scanning and positioning are finished.
In the device, through to the improvement of structure, adopt laser rangefinder sensor to scan the dumper carriage from the automobile body top, confirm the length, width, terrain clearance, breast board height and the dumper angle of stopping inclining of dumper carriage according to the distance value of laser sensor feedback to adapt to different dumper carriage location.
As shown in the figure, the stacking and loading unit comprises a rack, an anti-collision sensing device arranged on the rack, a material distribution stacking mechanism shell arranged outside the rack, a conveying device arranged on the rack, a swinging mechanism matched with the conveying device, a caching mechanism arranged below the swinging mechanism, a boxing mechanism and a status indicator lamp connected with a control system, wherein the anti-collision sensing device is connected with the control system. Wherein, the boxing mechanism is positioned below the caching mechanism.
In this embodiment, the anti-collision sensing device includes a right anti-collision sensor, a front anti-collision sensor, a left anti-collision sensor, and a rear anti-collision sensor, and the right anti-collision sensor, the front anti-collision sensor, the left anti-collision sensor, and the rear anti-collision sensor are respectively connected to the control system. Meanwhile, the conveying device adopts a feeding roller.
In this embodiment, the swing mechanism includes a boxing mechanism, a feeding in-place baffle, a feeding baffle pushing device connected with the control system, and a feeding in-place detection sensor, and the feeding in-place detection sensor is connected with the control system. Wherein, vanning mechanism, pan feeding baffle that targets in place set up in the frame respectively, and vanning mechanism can rotate relative to the frame, and the pan feeding baffle that targets in place can fix a position the material package, and pan feeding baffle thrust unit can drive the relative frame rotation of vanning mechanism, and pan feeding detection sensor that targets in place then can target in place the material package and detect.
In this embodiment, the cache mechanism includes a left cache mechanism and a right cache mechanism. The left buffer mechanism comprises a left buffer material-to-material baffle arranged on the rack, a left buffer material-to-material sensor connected with the control system and a left bin gate switch mechanism; the right buffer mechanism comprises a right buffer to material baffle arranged on the frame, a right buffer to material sensor connected with the control system and a right bin gate switch mechanism.
The bin gate opening and closing mechanism comprises a bin gate driving mechanism connected with the control system, a bin gate connecting rod piece connected with the bin gate driving mechanism, and a bin gate connected with the bin gate connecting rod piece; the bin gate connecting rod piece and the bin gate are respectively two, the bin gate connecting rod piece is arranged in parallel and can drive the bin gate to rotate relative to the rack, and the two bin gates form a bin gate unit. When the two bin doors are parallel to each other, the bin door unit is in a closed state; when the two bin doors are not parallel, a gap is formed between the bin doors, the bin door unit is in an open state, and the material bag enters the next stage through the opened bin door unit.
A buffer bin is formed between the bin gate unit and the buffer material baffle plate; wherein, a left buffer bin and a right buffer bin are respectively formed between the bin gate units in the left buffer mechanism and the right buffer mechanism and the feeding in-place baffle. An included angle of 5 to 85 degrees is formed between a bin gate unit of a bin gate switching mechanism in the caching mechanism and a horizontal plane; further, in this embodiment, the angle between the bin gate units of the left buffer mechanism and the right buffer mechanism and the horizontal plane is 30 to 60 ° (that is, when the bin gate units are in a closed state, the angle between the bin gate units and the horizontal plane is 5 to 85 °. Further, the angle between the bin gate units and the horizontal plane is 30 to 60 °). Meanwhile, the buffer memory mechanism is positioned below the swinging mechanism, so that the material bag falling on the swinging mechanism can fall to the lowest end of the bin gate unit along the bin gate unit. In this embodiment, the door driving mechanism employs an air cylinder.
The boxing mechanism comprises a boxing sensor, a boxing pushing mechanism and a boxing switching mechanism, the boxing sensor, the boxing pushing mechanism and the boxing switching mechanism are respectively connected with the control system, the two groups of boxing sensors and the two groups of boxing switching mechanisms are respectively arranged, and a stacking bin is formed above the boxing switching mechanism; in this embodiment, a left palletizing bin and a right palletizing bin are respectively formed above the packing switch mechanism. Wherein, vanning pushing mechanism can follow the horizontal direction propelling movement with the material to the assigned position, and vanning on-off mechanism can open to put into the carriage with the material package. In this embodiment, the boxing switch mechanism includes a left boxing switch mechanism and a right boxing switch mechanism; a left stacking bin and a right stacking bin are respectively formed above the left boxing switch mechanism and the right boxing switch mechanism.
In this embodiment, vanning pushing mechanism includes the servo motor that links to each other with control system, with servo motor matched with scraping wings, hold-in range, servo motor sets up in the frame, servo motor passes through the hold-in range and links to each other with the scraping wings and servo motor can drive the scraping wings to the assigned position through the hold-in range. In this embodiment, the boxing pushing mechanisms are divided into two groups; the two servo motors, the material pushing plate and the synchronous belt are respectively arranged, the servo motors are divided into a right material pushing servo motor and a left material pushing servo motor, and the material pushing plate is divided into a left material pushing plate and a right material pushing plate.
The boxing opening and closing mechanism comprises a boxing driving mechanism connected with the control system, a boxing connecting rod piece connected with the boxing driving mechanism, and a bin door connected with the boxing connecting rod piece. Wherein, vanning connecting rod spare, door are two respectively, and vanning connecting rod spare parallel arrangement and vanning connecting rod spare can drive the relative frame rotation of door, and two doors constitute door unit. When the two bin doors are parallel to each other, the bin door unit is in a closed state; when the two bin doors are not parallel, a gap is formed between the bin doors, the bin door unit is in an open state, and the material bag enters the next stage through the opened bin door unit.
In this embodiment, the boxing driving mechanism adopts a cylinder; the packing connecting rod piece includes balance plate, pile up neatly hatch door connecting rod, pile up neatly hatch door rocker, pile up neatly hatch door montant, pile up neatly hatch door horizontal pole that link to each other with the vanning actuating mechanism, and pile up neatly hatch door connecting rod, pile up neatly hatch door rocker, pile up neatly hatch door montant are two respectively, and pile up neatly hatch door montant links to each other with the both ends of pile up neatly hatch door horizontal pole respectively and is the U style of calligraphy, and the lower extreme of pile up neatly hatch door montant passes through pile up neatly hatch door rocker and links to each other with the hatch door, and the both ends of balance plate link to each other with pile up neatly hatch door montant through pile up neatly hatch door connecting rod respectively. When the structure works, the boxing driving mechanism is connected with the vertical rod of the stacking cabin door through the balance plate and the stacking cabin door connecting rod in sequence, and the cabin door is driven to close when the vertical rod of the stacking cabin door reaches the highest position; on the contrary, when the boxing driving mechanism moves reversely, the bin door is opened.
When the device works, the material bags are fed through the feeding roller after passing through the inclined conveying belt and enter the boxing mechanism, and the feeding in-place baffle can play a limiting role on the material bags. When the feeding in-place detection sensor detects that the material bag is in place, the feeding baffle pushing device drives the boxing mechanism to swing relative to the rack, so that the material bag enters the caching mechanism. In one specific example, the boxing mechanism swings anticlockwise, and the material bag rotates by 90 degrees and falls on the left buffer bin; in this embodiment, a bin gate unit below the left buffer mechanism forms a certain included angle with a horizontal plane, so that the material bag can fall to the feeding in-place baffle plate along the bin gate unit, and the feeding in-place baffle plate plays a role in positioning the material bag; meanwhile, a left buffer material sensor in the left buffer bin detects that the material bag is in place, the bin gate driving mechanism acts, the bin gate is rotated through the bin gate connecting rod piece, the left buffer bin is opened, and the material bag enters the left stacking bin; after the boxing sensor detects the material package in the left stacking bin, the boxing pushing mechanism pushes the material package to an appointed position, and the boxing switching mechanism acts to place the material package into the carriage. When waiting for the material package to the buffering storehouse, swing mechanism's vanning mechanism returns to balanced position, and the next material package begins to go on to carry out the pile up neatly work next time. Repeating the steps, and knowing that the stacking is finished.
Furthermore, the lifting device also comprises a connecting shaft connected with the frame or a lifting suspension point connected with the frame. In this embodiment, a lower collision detection sensor is further included.
And the material distributing and stacking process is completed.
The operation of the device is as follows.
1. A driver parks the material transporting vehicle in a loading parking area (namely, the vehicle to be loaded is parked below the laser scanning and positioning unit);
2. a system administrator inputs automatic loading task information and starts a control system;
3. the control system starts the laser scanning positioning unit to complete the measurement and calculation of the length and width of the carriage, the height of the carriage from the ground, the height of the breast board, the vehicle inclination angle, the carriage coordinate and other information; the laser scanning positioning unit transmits the calculation result to the control system;
4. the control system automatically plans a loading path according to the carriage information and the loading task information;
5. the control system controls the pallet truck loading unit to move to a truck loading starting position;
6. the inclined conveying belt and the incoming conveying belt are started, and the material bags enter the stacking and loading unit (in the structure, the materials are conveyed to the inclined conveying belt through the incoming conveying belt of the feeding unit, and then are conveyed to the stacking and loading unit through the inclined conveying belt);
7. after the material package enters the stacking and loading unit, the material package can be automatically distributed to a left loading station and a right loading station of the material distribution and stacking system for loading and stacking, when one-line loading and stacking is completed, the inclined conveying belt and the incoming material conveying belt stop, and the control system judges whether the current loading task is completed or not; if the loading task is finished, skipping to step 8; if the loading task is not finished, skipping to the step 9;
8. finishing the loading process;
9. the control system controls the distance that the incoming material conveying belt retreats by one pack of materials, judges whether the loading path is finished, and repeats the work of the steps 6 and 7 if the loading path is finished; and if the loading path is not completed, repeating the work of the steps 5, 6 and 7.
The automatic loading process is completed.
In this embodiment, the material transporting vehicle, the guide rail, the laser scanning positioning unit, the lifting mechanism, the inclined conveying belt, the parallel link mechanism, the control system, the incoming material conveying belt, the application site, the parking area, and the stacking and loading unit form a loading system for completing loading. The material transporting vehicle is a material transporting platform and completes material transferring work; the guide rail provides a running track for the equipment to move along the length X direction of the material transporting vehicle; the laser scanning positioning unit realizes the scanning positioning of the carriage of the material transporting vehicle; the lifting mechanism controls the stacking truck unit to complete Z-direction stacking, and an absolute value encoder is adopted for position feedback; conveying the materials from the incoming material conveying belt to a stacking truck loading unit by an inclined conveying belt; the parallel link mechanism reduces the horizontal shaking of the pallet truck unit; the control system realizes the control of the automatic loading and stacking process; the incoming material conveying belt conveys the material bags packaged by the upstream equipment to the inclined conveying belt, and an absolute value encoder is adopted for position feedback of the inclined conveying belt; the application site is an equipment installation and operation site; the parking area is an automatic loading area, and a driver must park the material conveying vehicle in the designated area; the stacking loading unit consists of a sub-packaging part, a material pushing part, a stacking part and the like, wherein the sub-packaging part and the material pushing part are driven by a servo motor, a shaft pin sensor is used for detecting whether a material package is in place, the stacking part is driven by a cylinder, and a magnetic sensor is used for detecting the position; the material package subpackaging, pushing and stacking work is realized under the control of the control system.
In addition, it should be noted that the specific embodiments described in the present specification may be different in the components, the shapes of the components, the names of the components, and the like, and the above description is only an illustration of the structure of the present invention. Equivalent or simple changes in the structure, characteristics and principles of the invention are included in the protection scope of the patent. Various modifications, additions and substitutions for the specific embodiments described may be made by those skilled in the art without departing from the scope of the invention as defined in the accompanying claims.
The invention is not limited to the foregoing embodiments. The invention extends to any novel feature or any novel combination of features disclosed in this specification and any novel method or process steps or any novel combination of features disclosed.
Claims (4)
1. The utility model provides a flexible automatic loading system which characterized in that includes:
a control system;
the laser scanning positioning unit is connected with the control system and can scan and position the compartment to be loaded and feed the measured information back to the control system;
the feeding unit is connected with the control system and can convey materials to the stacking and loading unit;
the stacking and loading unit is connected with the control system and can load materials into the carriage to stack the materials;
the feeding unit comprises a guide rail, a lifting mechanism and a transmission mechanism, the lifting mechanism is arranged on the guide rail and connected with the stacking truck unit and can drive the stacking truck unit to move relative to the guide rail, the transmission mechanism is connected with the stacking truck unit and can convey materials to the stacking truck unit, and the lifting mechanism and the transmission mechanism are respectively connected with the control system;
the conveying mechanism comprises an incoming material conveying belt, a third motor, an inclined conveying belt and a fourth motor, the incoming material conveying belt is arranged on the guide rail, the inclined conveying belt is matched with the incoming material conveying belt, the third motor is connected with the incoming material conveying belt and can drive the incoming material conveying belt to move, the fourth motor is connected with the inclined conveying belt and can drive the inclined conveying belt to move, and the third motor and the fourth motor are respectively connected with the control system;
the laser scanning positioning unit comprises a laser ranging sensor for measuring a carriage and a rotating unit for being arranged above the carriage, the rotating unit comprises a base, a first rotating mechanism and a second rotating mechanism, the first rotating mechanism is arranged on the base and can rotate relative to the base, the second rotating mechanism is arranged on the first rotating mechanism and can rotate relative to the first rotating mechanism, the laser ranging sensor is arranged on the second rotating mechanism, and the rotating unit can drive the laser ranging sensor to rotate relative to the second rotating mechanism;
the laser ranging sensor, the first rotating mechanism and the second rotating mechanism are respectively connected with the control system;
the stacking and loading unit comprises a rack, a conveying device arranged on the rack, a swinging mechanism matched with the conveying device, a caching mechanism and a loading mechanism, wherein the caching mechanism is positioned below the swinging mechanism, and the loading mechanism is positioned below the caching mechanism;
the swing mechanism comprises a swing support piece capable of rotating relative to the rack, a feeding in-place baffle capable of positioning the material bag, and a feeding baffle pushing device, wherein the feeding baffle pushing device is connected with the swing support piece and can drive the swing support piece to rotate relative to the rack;
the buffer memory mechanism comprises a buffer memory to material baffle plate and a bin gate opening and closing mechanism which are arranged on the rack;
the bin gate opening and closing mechanism comprises a bin gate driving mechanism connected with the control system, bin gates and bin gate connecting rod pieces connected with the bin gate driving mechanism, the number of the bin gate connecting rod pieces and the number of the bin gates are two, the bin gate connecting rod pieces are arranged in parallel and can drive the bin gates to rotate relative to the rack, the two bin gates form a bin gate unit, the bin gate unit is in a closed state when the two bin gates are parallel to each other, and a buffer bin is formed between the bin gate unit and the buffer stop plate;
the boxing mechanism comprises a boxing pushing mechanism capable of pushing materials to a designated position in the horizontal direction and a boxing switch mechanism capable of being opened and putting material bags into a carriage, and a stacking bin is formed above the boxing switch mechanism;
the feeding baffle pushing device, the bin gate driving mechanism, the boxing pushing mechanism and the boxing opening and closing mechanism are respectively connected with the control system;
the boxing pushing mechanism comprises a servo motor connected with the control system, a material pushing plate matched with the servo motor and a synchronous belt, wherein the servo motor is arranged on the rack and is connected with the material pushing plate through the synchronous belt, and the servo motor can drive the material pushing plate to a specified position through the synchronous belt;
the boxing opening and closing mechanism comprises a boxing driving mechanism connected with the control system, a boxing connecting rod piece connected with the boxing driving mechanism and bin doors connected with the boxing connecting rod piece, wherein the number of the boxing connecting rod piece and the number of the bin doors are two respectively, the boxing connecting rod piece is arranged in parallel, the boxing connecting rod piece can drive the bin doors to rotate relative to the rack, and the two bin doors form a bin door unit;
packing connecting rod spare includes balance plate, pile up neatly hatch door connecting rod, pile up neatly hatch door rocker, pile up neatly hatch door montant, pile up neatly hatch door horizontal pole that link to each other with the driving mechanism that vanns, and pile up neatly hatch door connecting rod, pile up neatly hatch door rocker, pile up neatly hatch door montant are two respectively, and pile up neatly hatch door montant links to each other with the both ends of pile up neatly hatch door horizontal pole respectively and is the U style of calligraphy, and the lower extreme of pile up neatly hatch door montant passes through pile up neatly hatch door rocker and links to each other with the hatch door, and the both ends of balance plate link to each other with pile up neatly hatch door montant through pile up neatly hatch door connecting rod respectively.
2. The flexible automatic loading system according to claim 1, further comprising a plurality of positioning sensors connected to the control system and capable of detecting the positions of the material bags.
3. The flexible automatic loading system according to claim 1, wherein an included angle of 5-85 degrees is formed between a bin gate unit of a bin gate switching mechanism in the buffer memory mechanism and a horizontal plane.
4. Use of the flexible automated loading system according to any one of the preceding claims 1 to 3, characterized in that it comprises the following steps:
(1) The vehicle to be loaded is parked below the laser scanning and positioning unit, the laser scanning and positioning unit scans the carriage of the vehicle and feeds carriage information back to the control system;
(2) The feeding unit conveys materials to the stacking loading unit, and the control system controls the position of the stacking loading unit through the lifting mechanism; when the stacking and loading unit reaches a designated position, the stacking and loading unit stacks materials on the designated position; after the materials are stacked at the designated position, the control system moves the stacking and loading unit to the next designated position through the lifting mechanism, and the stacking and loading unit starts stacking; and repeating the steps until the palletizing is completed.
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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 |
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| 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 |
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| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| CN112978256B (en) * | 2019-12-16 | 2023-01-03 | 中车唐山机车车辆有限公司 | Rail vehicle floor mounting and conveying device |
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| CN111652936B (en) * | 2020-08-06 | 2020-11-06 | 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 |
| 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 |
| 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 |
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