CN111392449A - Intelligent loading control method and system and loading robot - Google Patents
Intelligent loading control method and system and loading robot Download PDFInfo
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- CN111392449A CN111392449A CN202010227095.6A CN202010227095A CN111392449A CN 111392449 A CN111392449 A CN 111392449A CN 202010227095 A CN202010227095 A CN 202010227095A CN 111392449 A CN111392449 A CN 111392449A
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- hopper
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
- B65G67/04—Loading land vehicles
- B65G67/06—Feeding articles or materials from bunkers or tunnels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/34—Devices for discharging articles or materials from conveyor
- B65G47/44—Arrangements or applications of hoppers or chutes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/03—Stacking of articles by adding to the top of the stack from above
Abstract
The invention discloses an intelligent loading control method, an intelligent loading control system and a loading robot. The loading robot comprises a control system and a fixed truss, a rack is arranged on the truss, a conveying belt and a long arm are arranged on the rack, an electric cylinder, a hopper and a laser scanning radar are arranged on the long arm, a conveying belt is arranged on the long arm, the conveying belt is connected with the conveying belt and the hopper, and the control system comprises a wireless communication module, a 3D modeling module, a motion control module and a central control module. By adopting the intelligent loading control method, the intelligent loading control system and the loading robot, the product loading efficiency can be effectively improved, the operation can be carried out in a low space, the logistics cost of an enterprise is reduced, the automation degree of loading is improved, and the market competitiveness of the enterprise is improved.
Description
Technical Field
The invention relates to an intelligent loading control method, an intelligent loading control system and a loading robot, and belongs to the technical field of machinery.
Background
Along with the development of economy, the market has higher and higher requirements on the aspects of product production, transportation, loading and the like, and has higher requirements on the product logistics efficiency. For example, the loading of grain packages, cement packages and the like is low in efficiency if the loading is carried out by manpower, the loading is hard, the logistics time is prolonged, and the market competitiveness of the product production is reduced. Many times, the goods are stored in a warehouse on the second floor and have a certain height, and how to quickly load the goods is a problem to be considered by material production enterprises. In addition, the volume of general loading equipment is large, so that the loading height is limited, and the high vehicle is difficult to adapt to the loading requirement sometimes.
Disclosure of Invention
The invention mainly solves the technical problems of providing the intelligent loading control method, the intelligent loading control system and the loading robot, and by adopting the intelligent loading control method, the intelligent loading control system and the loading robot, the product loading efficiency can be effectively improved, the logistics cost of enterprises can be reduced, the automation degree of loading can be improved, and the market competitiveness of the enterprises can be improved.
In order to solve the technical problems, the invention adopts the technical scheme that: the intelligent loading control method comprises the following steps:
(1) the method comprises the following steps that a vehicle to be loaded is parked in a loading area, the number of goods packages to be loaded is input into a remote control device, the remote control device controls a loading robot to move from a standby original point position, the loading robot moves from one end of the vehicle to the other end of the vehicle, a laser scanning radar on the loading robot scans the appearance and the size of the vehicle in the moving process, the scanning result is transmitted to a loading control system, the loading control system carries out 3D modeling and identifies the loading vehicle according to data fed back by the laser scanning radar and controls the loading robot to move front and back, left and right to match the position of the loading vehicle, and a patrol vehicle positioning task is completed;
(2) the method comprises the following steps that goods packages to be loaded fall onto a conveying belt of a loading robot from a feed opening in a ceiling of a warehouse, a control system controls the conveying belt to convey the goods packages to a hopper of the loading robot, the hopper descends to the upper side of a carriage of a loading vehicle to throw the goods packages into the carriage, the control system adjusts an operation area of the loading robot according to 3D modeling data in the process of throwing the hoppers to discharge the goods packages, and the control system calculates and sets the number of layers of the loaded goods packages and the goods package stacking direction of each layer of loading ending operation according to the number of the goods packages to be loaded;
(3) then, continuously dropping the goods packages from a feed opening on the ceiling of the warehouse onto a conveyor belt of the loading robot and entering the hopper, controlling the hopper to move to the next goods package position in the carriage by the control system to drop the goods packages in the hopper to the position, continuously dropping the goods packages into the carriage according to the mode sequentially according to the rows or the columns, after the package of one row or one column of goods is completely dropped in the carriage, controlling the hopper to move to the next row or one column of position by the loading control system, placing the one row or one column of position in the carriage with the goods packages again until one layer of goods packages are fully placed in the carriage, controlling the hopper to rise by the height of one layer of goods packages by the loading control system, and loading the next layer of goods packages until the loading setting number is completed;
(4) and when the goods packages are stacked in the carriage according to the set number and the number of layers and the number of the goods packages which can be placed in each layer, the loading control system controls the loading robot to return to the standby original point to wait for loading operation of the next vehicle.
Preferably, when the goods packages on the first layer are stacked, the loading control system calculates the number of the goods packages which can be stacked on each layer according to the length of the carriage and the size of the goods packages, when the first layer is stacked at the tail end of the vehicle tail, the loading control system judges whether the carriage can stack one goods package in the residual space of the layer, if the carriage cannot stack one goods package in the residual space of the layer, the loading control system controls the hopper to ascend by the height of one layer of the goods packages, the next layer of the goods packages is loaded, the process is repeated until the goods packages with the set number and the set number of layers are loaded, and then the loading control system controls the loading robot to return to the standby original point to wait for the loading operation of the next vehicle.
Preferably, a wire frame is drawn on the loading area where the loading vehicle is parked, and the loading vehicle is parked in the wire frame area.
The invention also provides a control system applied to the intelligent loading control method, which comprises a 3D modeling module for receiving the scanning information of the laser scanning radar on the loading robot and carrying out calculation and modeling, a motion control module for controlling the motion of the loading robot and a central control module for controlling the work of the wireless communication module, the 3D modeling module and the motion control module, wherein the wireless communication module, the 3D modeling module and the motion control module are respectively in communication connection with the central control module.
The invention also provides a loading robot applied to the intelligent loading control method, which comprises a control system and a fixed truss, wherein the truss is provided with a rack capable of moving back and forth along the truss, the rack is provided with a conveyor belt capable of moving linearly along the length direction of the truss, one end of the rack is provided with a long arm extending outwards, one end of the long arm is hinged with one end of the rack, the long arm is provided with an electric cylinder, the tail end of the electric cylinder is hinged with one end of the rack, the outer end of a piston rod of the electric cylinder is hinged with the long arm, the electric cylinder is obliquely arranged between the long arm and the one end of the rack, the other end of the long arm is provided with a laser scanning radar and a hopper, the laser scanning radar extends out of the front end of the hopper, the hopper is provided with a driving device for opening or closing the hopper, the long arm is provided with a conveying belt, one end of the conveying belt is connected with one end of the conveying belt, the other end of the conveying belt is connected with the hopper, the control system comprises a wireless communication module for wireless communication, a 3D modeling module for receiving laser scanning radar scanning information and calculating and modeling, a motion control module for controlling the motion of the loading robot and a central control module for controlling the work of the wireless communication module, the 3D modeling module and the motion control module, the laser scanning radar is in communication connection with the 3D modeling module, driving devices of the electric cylinder and the hopper are in communication connection with the motion control module, and the wireless communication module, the 3D modeling module and the motion control module are in communication connection with the central control module respectively.
Preferably, the two trusses are parallel to each other. And a pull rope used for keeping the hopper horizontal is arranged between the long arm and the rack, one end of the pull rope is fixed on the upper part of the hopper, and the other end of the pull rope is fixed on one end of the rack.
Preferably, the frame one end top is provided with and exceeds the linking bridge of frame, the tail end of electric jar with the linking bridge is articulated, the one end of long arm with the linking bridge is articulated, be provided with first gear and drive in the frame first gear pivoted first motor, first gear level sets up, first gear and linking bridge fixed connection, first gear includes inner circle and outer lane, the inner circle is fixed in the frame, the outer lane with the linking bridge is together fixed, be provided with the teeth of a cogwheel on the outer lane, the outer lane can rotate for the inner circle.
Preferably, a rack is arranged at the bottom of the truss along the length direction of the truss, and a second gear meshed with the rack and a second motor driving the second gear to rotate are arranged on the rack.
Preferably, a second speed reducer is arranged on the frame, and the second gear is arranged on the second speed reducer.
Preferably, a first speed reducer is arranged on the rack, a first speed reduction gear is arranged on the first speed reducer, the first speed reduction gear is meshed with the first gear, and the first speed reduction gear is driven by a first motor.
The invention has the beneficial effects that: by adopting the intelligent loading control method, the intelligent loading control system and the loading robot, automatic loading is realized by automatically conveying the goods package, automatically moving the swing arm and the hopper and accurately calculating the package quantity, the product loading efficiency can be effectively improved, the logistics cost of an enterprise is reduced, the automation degree of loading is improved, the market competitiveness of the enterprise is improved, the loading robot is compact and flat in structure, the space occupation on the height can be reduced, the operation space is increased, and the intelligent loading control method, the intelligent loading control system and the loading robot are suitable for loading vehicles with higher heights and operating in relatively low space. The height of the loading robot can be within 1.2 meters, and the loading robot can be installed in a loading shed house only by 5.5 meters, so that the loading robot is suitable for wide loading shed range of customers.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without inventive efforts, wherein:
FIG. 1 is a schematic structural view of a loading robot according to the present invention;
FIG. 2 is an enlarged schematic view of the structure at A in FIG. 1;
FIG. 3 is a schematic structural diagram of a long arm, a connecting bracket, a rack and a first gear of the loading robot;
FIG. 4 is a schematic view of the mounting of a first gear with a frame and a first reducer in the loading robot of the present invention;
FIG. 5 is a schematic structural view of a hopper in the loading robot of the present invention;
FIG. 6 is a schematic view of the loading robot in a standby position;
FIG. 7 is a schematic view of the mounting of a rack, a second gear, a second motor and a second reducer in the loading robot of the present invention;
fig. 8 is a block diagram of a control system in the present invention.
The parts in the drawings are numbered as follows: 1. the device comprises a rack, 2, a truss, 3, a rack, 4, a conveyor belt, 5, a connecting support, 6, an electric cylinder, 7, a long arm, 8, a guy cable, 9, a hopper, 10, a driving device, 11, a laser scanning radar, 12, a first gear, 13, a second motor, 14, a second speed reducer, 15, a connecting mechanism, 16, an outer ring, 17, an inner ring, 18, a first speed reducer, 19, a first motor, 20, a first speed reduction gear, 21, a driving roller, 22, a driving roller motor, 23, a driven roller, 24 and a second gear.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the invention comprises the following steps: an intelligent loading control method comprises the following steps:
(1) the vehicle to be loaded is parked in the loading area, the number of the goods packages to be loaded is input into the remote control device, the remote control device controls the loading robot to move from the standby original point position, the loading robot moves from one end of the vehicle to the other end of the vehicle, the laser scanning radar on the loading robot scans the shape and the size of the vehicle in the moving process, and the scanning result is transmitted to a loading control system, the loading control system carries out 3D modeling and vehicle loading identification according to the data fed back by the laser scanning radar and controls the loading robot to move back and forth, left and right to match the position of the loading vehicle, the patrol positioning task is completed, the remote control device can be a mobile phone or a tablet personal computer or similar equipment capable of carrying out information input and wireless communication, setting an operation program in the remote control device, wherein the remote control device can be in wireless communication with the control system;
(2) the method comprises the following steps that goods packages to be loaded fall onto a conveying belt of a loading robot from a feed opening in a ceiling of a warehouse, a control system controls the conveying belt to convey the goods packages to a hopper of the loading robot, the hopper descends to the upper side of a carriage of a loading vehicle to throw the goods packages into the carriage, the control system adjusts an operation area of the loading robot according to 3D modeling data in the process of throwing the hoppers to discharge the goods packages, and the control system calculates and sets the number of layers of the loaded goods packages and the goods package stacking direction of each layer of loading ending operation according to the number of the goods packages to be loaded;
(3) then, continuously dropping the goods packages from a feed opening on the ceiling of the warehouse onto a conveyor belt of the loading robot and entering the hopper, controlling the hopper to move to the next goods package position in the carriage by the control system to drop the goods packages in the hopper to the position, continuously dropping the goods packages into the carriage according to the mode sequentially according to the rows or the columns, after the package of one row or one column of goods is completely dropped in the carriage, controlling the hopper to move to the next row or one column of position by the loading control system, placing the one row or one column of position in the carriage with the goods packages again until one layer of goods packages are fully placed in the carriage, controlling the hopper to rise by the height of one layer of goods packages by the loading control system, and loading the next layer of goods packages until the loading setting number is completed;
(4) and when the goods packages are stacked in the carriage according to the set number and the number of layers and the number of the goods packages which can be placed in each layer, the loading control system controls the loading robot to return to the standby original point to wait for loading operation of the next vehicle.
Preferably, when the goods packages on the first layer are stacked, the loading control system calculates the number of the goods packages which can be stacked on each layer according to the length of the carriage and the size of the goods packages, when the first layer is stacked at the tail end of the vehicle tail, the loading control system judges whether the carriage can stack one goods package in the residual space of the layer, if the carriage cannot stack one goods package in the residual space of the layer, the loading control system controls the hopper to ascend by the height of one layer of the goods packages, the next layer of the goods packages is loaded, the process is repeated until the goods packages with the set number and the set number of layers are loaded, and then the loading control system controls the loading robot to return to the standby original point to wait for the loading operation of the next vehicle.
Preferably, a wire frame is drawn on the loading area where the loading vehicle is parked, and the loading vehicle is parked in the wire frame area. Therefore, the loading position of each vehicle is relatively fixed, the invalid moving time of the loading robot is not greatly reduced, and the vehicles are ensured to be in the working range of the loading robot.
The intelligent loading control method has the advantages of high loading automation degree, less manpower requirement, simple operation and high intelligent degree, and can effectively improve the product loading efficiency, reduce the logistics cost of enterprises and improve the market competitiveness of the enterprises.
The invention also provides a control system applied to the intelligent loading control method, which comprises a wireless communication module for communicating with the remote control device, a 3D modeling module for receiving laser scanning radar scanning information on the loading robot and carrying out calculation and modeling, a motion control module for controlling the motion of the loading robot, and a central control module for controlling the wireless communication module, the 3D modeling module and the motion control module to work, wherein the wireless communication module, the 3D modeling module and the motion control module are respectively in communication connection with the central control module. The central control module adopts an ARM board processor. The remote control device can be a mobile phone or a tablet computer or similar equipment capable of inputting information and performing wireless communication, and an operation program is arranged in the remote control device and can be in wireless communication with the control system.
The laser scanning radar scans the carriage of the vehicle to transmit the scanning data information to the 3D modeling module, the 3D modeling module calculates and models, and the specification and size of the carriage can be known.
Referring to fig. 1 to 7, the present invention further provides a loading robot applied to the above intelligent loading control method, which includes a control system and a fixed truss 2, where the truss 2 is generally fixed on a ceiling of a warehouse, a frame 1 capable of moving back and forth along the truss 2 is disposed on the truss 2, and a conveyor belt 4 capable of moving linearly along a length direction of the truss 2 is disposed on the frame 1. The one end of frame 1 is provided with the outside long arm 7 that stretches out, the one end of long arm 7 with frame 1 one end is articulated, be provided with electric jar 6 on the long arm 7, the tail end of electric jar 6 with frame 1 one end is articulated, the piston rod outer end of electric jar 6 with long arm 7 is articulated, electric jar 6 is in long arm 7 and frame 1 the slope sets up between the one end. The other end of the long arm 7 is provided with a laser scanning radar 11 and a hopper 9, the laser scanning radar 11 extends out of the front end of the hopper 9, a driving device 10 which enables the hopper 9 to be opened or closed is arranged on the hopper 9, a conveying belt (not marked in the figure) is arranged on the long arm 7, one end of the conveying belt is connected with one end of the conveying belt 4, the other end of the conveying belt is connected with the hopper 9, the control system comprises a wireless communication module for wireless communication, a 3D modeling module for receiving scanning information of the laser scanning radar 11 and calculating and modeling, a motion control module for controlling the motion of the loading robot and a central control module for controlling the wireless communication module, the 3D modeling module and the motion control module to work, the laser scanning radar 11 is in communication connection with the 3D modeling module, and each motion part of the loading robot is an electric cylinder 6, The first motor 13 and the driving device 10 of the hopper 9 are in communication connection with a motion control module, and the wireless communication module, the 3D modeling module and the motion control module are in communication connection with a central control module respectively. The drive means 10 may be an electric cylinder or an air cylinder.
Preferably, the two trusses 2 are parallel to each other. A pull rope 8 used for keeping the hopper horizontal is arranged between the long arm 7 and the rack 1, one end of the pull rope 8 is fixed on the upper portion of the hopper 9, and the other end of the pull rope 8 is fixed at one end of the rack 1. The length of the stay 8 may vary during the raising and lowering of the hopper 9, but keeps the hopper 9 horizontal by pulling the hopper 9.
Preferably, frame 1 the one end top is provided with and exceeds frame 1's linking bridge 5, the tail end of electricity jar 6 with linking bridge 5 is articulated, the one end of long arm 7 with linking bridge 5 is articulated, be provided with first gear 12 and the first motor 19 of drive first gear 12 pivoted in the frame 1, first gear 12 level sets up, first gear 12 and linking bridge 5 fixed connection, first gear 12 includes inner circle 17 and outer lane 16, the inner circle is fixed in frame 1, outer lane 16 with linking bridge 5 is together fixed, be provided with the teeth of a cogwheel on the outer lane 16, outer lane 16 can rotate for inner circle 17.
Preferably, the frame 1 is provided with a first speed reducer 18, the first speed reducer 18 is provided with a first speed reduction gear 20, the first speed reduction gear 20 is meshed with the first gear 12, and the first speed reduction gear 20 is driven by a first motor 19.
Preferably, a rack 3 is arranged at the bottom of the truss 2 along the length direction of the truss 2, and a second gear 24 engaged with the rack 3 and a second motor 13 driving the second gear 24 to rotate are arranged on the frame 1.
Preferably, the frame is provided with a second speed reducer 14, the second gear 24 is arranged on the second speed reducer 14, and the second gear 24 is driven by the second motor 13, that is, the second motor 13 drives the second gear 24 of the second speed reducer 14 to rotate, so that the frame 1 can move back and forth along the rack 3, and further the long arm 7 and the hopper 9 move back and forth.
The connecting support 5 is provided with a driving roller 21, a driving roller motor 22 and a driven roller 23, the driving roller 21 drives the driving roller 21 to rotate, the driving roller 21 is parallel to the driven roller 23, belts (not marked in the figure) are wound on the driving roller 21 and the driven roller 23, the driving roller 21 is close to the long arm 7, the driven roller 23 is close to the rack 1, the goods package can be moved onto the belts on the driving roller 21 and the driven roller 23 from the conveying belt 4, then the goods package is conveyed onto the conveying belt on the long arm 7 through the belts, and finally the goods package is conveyed into the hopper 9 through the conveying belt.
The method comprises the steps that a vehicle to be loaded stops on the ground, a wire frame loading area is drawn, the number of the goods to be loaded is input into a remote control device such as a mobile phone, the remote control device is in wireless communication with a wireless communication module of a loading control system, and the loading control system can control the work of a loading robot according to the number of the goods to be loaded. The remote control device starts to control the loading robot to move from a standby original point position, the loading robot moves from one end of a vehicle to the other end of the vehicle, a laser scanning radar 11 on the loading robot scans the appearance and the size of the vehicle in the moving process, a scanning result is transmitted to a 3D modeling module of a loading control system, the 3D modeling module obtains the size specification of a carriage, namely the length and the width of the carriage according to data fed back by the laser scanning radar 11, the front, back, left and right maximum moving distance of a long arm 7 of the loading robot is controlled, and the maximum moving distance is also the length and the width of the carriage.
The ceiling of the warehouse for storing goods is provided with a feed opening, goods packages in the warehouse are conveyed onto the conveyor belt 4 from the feed opening, the rack 1 is provided with a motor (not marked in the figure) for driving the conveyor belt 4 to move, the conveyor belt 4 conveys the goods packages onto a belt at the connecting bracket 5, then the goods packages are conveyed onto the conveyor belt on the long arm 7 through the belt, and finally the goods packages are conveyed into the hopper 9 through the conveyor belt.
The piston rod of the electric cylinder 6 extends out to enable one end of the hopper 9 of the long arm 7 to descend to a height suitable for package loss, the second motor 13 drives the second gear 24 to rotate on the rack 3, so that the rack 1, the long arm 7 and the hopper 9 are driven to move back and forth, the goods packages in the hopper 9 and the hopper 9 are enabled to move to a proper position on a carriage, the head or the tail of the carriage is generally moved at the beginning, the hopper 9 is enabled to be opened by the driving device 10 of the hopper 9, and the goods packages in the hopper 9 leak into the carriage. Then the second motor 13 continues to drive the second gear 24 to rotate on the rack 3, so that the hopper 9 moves to the next goods placing position of the carriage, and meanwhile, the next goods package is fed onto the conveyor belt 4 from the warehouse feed opening and is delivered into the hopper 9 and is thrown to the next goods placing position of the carriage, and the operation is circulated until a layer of goods is fully stacked in the carriage. Then the first motor 13 drives the first reduction gear 20 of the first reduction gear 18 to rotate, so as to drive the first gear 12 to rotate, the first gear 12 is driven to rotate, namely, the outer ring 16 of the first gear 12 is driven to rotate, the connecting bracket 5 fixed with the outer ring 16 swings, so as to drive the long arm 7 connected with the connecting bracket 5 to swing, namely, the hopper 9 swings to the position of the next layer in the carriage, the goods packaging and stacking of the layer are started until the layer is fully stacked with the goods, and the vehicle loading is finished until the last layer of the goods is stacked. The motion control module sends out an instruction, the second motor 13 drives the second gear 24 to rotate on the rack 3 to enable the long arm 7, the hopper 9 and the rack 1 to move linearly, the electric cylinder 6 enables the long arm 7 and the hopper 9 to ascend, and finally the long arm 7, the hopper 9 and the rack 1 return to the standby original point to wait for loading operation of the next vehicle.
The loading robot disclosed by the invention has the advantages of high loading automation degree, less required manpower, simplicity in operation, high intelligence degree and high loading efficiency, and can reduce the cost of production enterprises and improve the market competitiveness of the enterprises. The loading robot is compact and flat in structure, occupied space in height can be reduced, operation space is increased, and the loading robot is suitable for loading vehicles with high heights and operating in relatively low space. The height of the loading robot can be within 1.2 meters, and the loading robot can be installed in a loading shed house only by 5.5 meters, so that the loading robot is suitable for wide loading shed range of customers.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by the present specification, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. The intelligent loading control method is characterized by comprising the following steps:
(1) the method comprises the following steps that a vehicle to be loaded is parked in a loading area, the number of goods packages to be loaded is input into a remote control device, the remote control device controls a loading robot to move from a standby original point position, the loading robot moves from one end of the vehicle to the other end of the vehicle, a laser scanning radar on the loading robot scans the appearance and the size of the vehicle in the moving process, the scanning result is transmitted to a loading control system, the loading control system carries out 3D modeling and identifies the loading vehicle according to data fed back by the laser scanning radar and controls the loading robot to move front and back, left and right to match the position of the loading vehicle, and a patrol vehicle positioning task is completed;
(2) the method comprises the following steps that goods packages to be loaded fall onto a conveying belt of a loading robot from a feed opening in a ceiling of a warehouse, a control system controls the conveying belt to convey the goods packages to a hopper of the loading robot, the hopper descends to the upper side of a carriage of a loading vehicle to throw the goods packages into the carriage, the control system adjusts an operation area of the loading robot according to 3D modeling data in the process of throwing the hoppers to discharge the goods packages, and the control system calculates and sets the number of layers of the loaded goods packages and the goods package stacking direction of each layer of loading ending operation according to the number of the goods packages to be loaded;
(3) then, continuously dropping the goods packages from a feed opening on the ceiling of the warehouse onto a conveyor belt of the loading robot and entering the hopper, controlling the hopper to move to the next goods package position in the carriage by the control system to drop the goods packages in the hopper to the position, continuously dropping the goods packages into the carriage according to the mode sequentially according to the rows or the columns, after the package of one row or one column of goods is completely dropped in the carriage, controlling the hopper to move to the next row or one column of position by the loading control system, placing the one row or one column of position in the carriage with the goods packages again until one layer of goods packages are fully placed in the carriage, controlling the hopper to rise by the height of one layer of goods packages by the loading control system, and loading the next layer of goods packages until the loading setting number is completed;
(4) and when the goods packages are stacked in the carriage according to the set number and the number of layers and the number of the goods packages which can be placed in each layer, the loading control system controls the loading robot to return to the standby original point to wait for loading operation of the next vehicle.
2. The intelligent loading control method according to claim 1, wherein when the first layer of the goods packages are stacked, the loading control system calculates the number of the goods packages which can be stacked on each layer according to the length of the carriage and the size of the goods packages, when the first layer is stacked at the tail end of the vehicle, the loading control system judges whether the remaining space of the carriage on the layer can be stacked with one goods package, if the remaining space of the carriage on the layer cannot be stacked with one goods package, the loading control system controls the hopper to ascend by the height of one layer of the goods packages, the next layer of the goods packages is loaded, the operation is repeated until the set number and the number of the layers of the goods packages are loaded, and then the loading control system controls the loading robot to return to the standby original point to wait for loading operation of the next vehicle.
3. The intelligent loading control method according to claim 1, wherein a wire frame is drawn on a loading area where the loading vehicle is parked, and the loading vehicle is parked in the wire frame area.
4. The control system applied to the intelligent loading control method of claim 1 is characterized by comprising a wireless communication module used for communicating with a remote control device, a 3D modeling module used for receiving laser scanning radar scanning information on a loading robot and carrying out calculation and modeling, a motion control module used for controlling the motion of the loading robot and a central control module used for controlling the wireless communication module, the 3D modeling module and the motion control module to work, wherein the wireless communication module, the 3D modeling module and the motion control module are respectively in communication connection with the central control module.
5. A loading robot applied to the intelligent loading control method of claim 1, which comprises a control system and a fixed truss, and is characterized in that a rack capable of moving back and forth along the truss is arranged on the truss, a conveyor belt capable of moving linearly along the length direction of the truss is arranged on the rack, a long arm extending outwards is arranged at one end of the rack, one end of the long arm is hinged with one end of the rack, an electric cylinder is arranged on the long arm, the tail end of the electric cylinder is hinged with one end of the rack, the outer end of a piston rod of the electric cylinder is hinged with the long arm, the electric cylinder is obliquely arranged between the long arm and one end of the rack, a laser scanning radar and a hopper are arranged at the other end of the long arm, the laser scanning radar extends out of the front end of the hopper, and a driving device for opening or closing the hopper is arranged on the hopper, the long arm is provided with a conveying belt, one end of the conveying belt is connected with one end of the conveying belt, the other end of the conveying belt is connected with the hopper, the control system comprises a wireless communication module for wireless communication, a 3D modeling module for receiving laser scanning radar scanning information and calculating and modeling, a motion control module for controlling the motion of the loading robot and a central control module for controlling the work of the wireless communication module, the 3D modeling module and the motion control module, the laser scanning radar is in communication connection with the 3D modeling module, driving devices of the electric cylinder and the hopper are in communication connection with the motion control module, and the wireless communication module, the 3D modeling module and the motion control module are in communication connection with the central control module respectively.
6. The loading robot of claim 5, wherein the truss is two parallel to each other. And a pull rope used for keeping the hopper horizontal is arranged between the long arm and the rack, one end of the pull rope is fixed on the upper part of the hopper, and the other end of the pull rope is fixed on one end of the rack.
7. The loading robot of claim 5, wherein a connecting bracket higher than the rack is arranged above the one end of the rack, the tail end of the electric cylinder is hinged to the connecting bracket, the one end of the long arm is hinged to the connecting bracket, a first gear and a first motor for driving the first gear to rotate are arranged on the rack, the first gear is horizontally arranged and fixedly connected with the connecting bracket, the first gear comprises an inner ring and an outer ring, the inner ring is fixed on the rack, the outer ring is fixed to the connecting bracket, gear teeth are arranged on the outer ring, and the outer ring can rotate relative to the inner ring.
8. The loading robot of claim 5, wherein a rack is arranged at the bottom of the truss along the length direction of the truss, and a second gear meshed with the rack and a second motor driving the second gear to rotate are arranged on the rack.
9. The loading robot of claim 8, wherein the frame is provided with a second reduction gear, and the second gear is provided on the second reduction gear.
10. The loading robot of claim 7, wherein the frame is provided with a first speed reducer, the first speed reducer is provided with a first speed reduction gear, the first speed reduction gear is meshed with the first gear, and the first speed reduction gear is driven by a first motor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010227095.6A CN111392449A (en) | 2020-03-27 | 2020-03-27 | Intelligent loading control method and system and loading robot |
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| CN202010227095.6A CN111392449A (en) | 2020-03-27 | 2020-03-27 | Intelligent loading control method and system and loading robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| CN113651136A (en) * | 2021-08-24 | 2021-11-16 | 浙江中创科联智能装备技术有限公司 | Automatic finished product yardage roll loading system and application thereof |
| CN114180359A (en) * | 2021-11-29 | 2022-03-15 | 郏县众和建材有限公司 | Full-automatic blanking system suitable for loading mine stone |
| CN114194868A (en) * | 2021-12-02 | 2022-03-18 | 若宇汽车装备工业（昆山）有限公司 | Conveying equipment |
| CN114772317A (en) * | 2022-04-22 | 2022-07-22 | 广东信源物流设备有限公司 | Automatic express package loading system and control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| CN113651136A (en) * | 2021-08-24 | 2021-11-16 | 浙江中创科联智能装备技术有限公司 | Automatic finished product yardage roll loading system and application thereof |
| CN113651136B (en) * | 2021-08-24 | 2023-02-17 | 浙江中创科联智能装备技术有限公司 | Automatic finished cloth roll loading system and application thereof |
| CN114180359A (en) * | 2021-11-29 | 2022-03-15 | 郏县众和建材有限公司 | Full-automatic blanking system suitable for loading mine stone |
| CN114180359B (en) * | 2021-11-29 | 2024-03-08 | 郏县众和建材有限公司 | Full-automatic blanking system suitable for mine building stones loading |
| CN114194868A (en) * | 2021-12-02 | 2022-03-18 | 若宇汽车装备工业（昆山）有限公司 | Conveying equipment |
| CN114940356A (en) * | 2022-04-20 | 2022-08-26 | 上海婉静供应链集团有限公司 | Automatic loading equipment in garden and system thereof based on Internet of things |
| CN114940356B (en) * | 2022-04-20 | 2023-12-12 | 上海婉静供应链集团有限公司 | Automatic park loading equipment and system based on Internet of things |
| CN114772317A (en) * | 2022-04-22 | 2022-07-22 | 广东信源物流设备有限公司 | Automatic express package loading system and control method |
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