CN111470295B - Wireless conveying roller for assembly - Google Patents

Wireless conveying roller for assembly Download PDF

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Publication number
CN111470295B
CN111470295B CN202010294383.3A CN202010294383A CN111470295B CN 111470295 B CN111470295 B CN 111470295B CN 202010294383 A CN202010294383 A CN 202010294383A CN 111470295 B CN111470295 B CN 111470295B
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goods
cargo
controller
assembly
distance
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CN111470295A (en
Inventor
罗涛
顾宇峰
宋涛
罗云
李新亮
陈贻斌
付涛
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Lsl Intelligence Technology Shenzhen Co ltd
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Shenzhen Yimeixun Intelligent Technology Co ltd
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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
    • B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
    • B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
    • 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
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0208—Control or detection relating to the transported articles
    • B65G2203/0225—Orientation of the article
    • 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
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0208—Control or detection relating to the transported articles
    • B65G2203/0233—Position of the article
    • 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
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0208—Control or detection relating to the transported articles
    • B65G2203/0258—Weight of the article
    • 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
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0266—Control or detection relating to the load carrier(s)
    • B65G2203/0291—Speed of the load carrier
    • 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
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • B65G2203/041—Camera

Abstract

The invention provides a wireless conveying roller for assembly, which comprises a conveying roller body and further comprises: the goods detection assembly is used for detecting the states and positions of goods on the conveying roller body; the goods adjusting device is connected with the conveying roller body and is used for adjusting the goods state and position on the conveying roller body; the controller is electrically connected with the power supply, the cargo adjusting device and the cargo detection assembly; the controller also sends data to the outside through the wireless communication module. The cargo state and position information is detected through the cargo detection assembly and sent to the controller, the controller judges whether the cargo state and position are abnormal or not according to the cargo state and position information, and when the cargo state and position are abnormal, the controller controls the cargo adjusting device to work according to the cargo state and position information so as to adjust the cargo state and position and avoid the influence on cargo conveying when the cargo position and state are abnormal.

Description

Wireless conveying roller for assembly
Technical Field
The invention relates to the technical field of rollers, in particular to a wireless conveying roller for assembly.
Background
The conveying roller comprises: the unpowered conveying roller and the driving roller are arranged; the unpowered conveying roller is also called as a free roller and consists of a cylinder body, a shaft core, a deep groove ball bearing and a bearing mounting frame, is used for auxiliary rolling in use, has no power and rolls by external force; the driving roller is generally an electric roller with a built-in motor, and the driving roller is also a roller with a chain wheel, a synchronous belt wheel and the like which can be driven by a speed reducing motor, the structure of the driving roller is basically the same as that of a non-powered roller, and only the built-in motor or the external part of the driving roller is additionally provided with other components such as the chain wheel or the synchronous belt wheel and the like which can be driven by the speed reducing motor.
At present, the conveying roller is applied to conveying various goods, such as assembly lines, and can be used for conveying finished products or semi-finished products. The existing conveying roller is not provided with a cargo adjusting device for adjusting the position and the state of a cargo generally, and the conveying of the cargo is influenced when the position and the state of the cargo are abnormal.
Disclosure of Invention
The invention provides a wireless conveying roller for assembly, which is used for solving the technical problem.
The utility model provides a wireless transport roller of assembly usefulness, includes the transport roller body, still includes:
the goods detection assembly is used for detecting the states and positions of goods on the conveying roller body;
the goods adjusting device is connected with the conveying roller body and is used for adjusting the goods state and position on the conveying roller body;
the controller is electrically connected with the power supply, the cargo adjusting device and the cargo detection assembly;
the controller also sends data to the outside through the wireless communication module.
Preferably, the conveying roller body comprises: the roller frame and the roller group are arranged on the roller frame;
the cargo adjustment device includes:
the two first fixed blocks are respectively arranged on two sides of the conveying roller body along the conveying direction of the conveying roller body;
the two lifting brackets are connected to the upper end of the first fixed block;
the two first adjusting components are respectively arranged at the upper ends of the two lifting brackets;
the second shell is arranged between the two first adjusting components, and a second adjusting component is arranged in the second shell;
the first adjustment assembly includes:
the first shell is fixedly connected to the top end of a lifting support;
the first rotating rod is parallel to the axial direction of the roller set, two ends of the first rotating rod are respectively and rotatably connected with two ends of the first shell, and one end of the first rotating rod, which is close to the other lifting support, penetrates through the first shell;
the second shell is fixedly connected with one end, close to the other lifting support, of the first rotating rod, and the second shell is located right above the roller set;
the first motor is arranged in the first shell, and an output shaft of the first motor is parallel to the first rotating rod;
the first gear is fixedly connected to an output shaft of the first motor, the second gear is fixedly connected to the first rotating rod, and the first gear and the second gear are in meshing transmission;
the second adjustment assembly includes:
the screw rod is arranged in the second shell and is parallel to the first rotating rod, and two ends of the screw rod are respectively in rotating connection with two ends of the second shell;
the second motor is arranged on the inner side wall of the second shell, and an output shaft of the second motor is parallel to the screw rod;
the third gear is fixedly connected to an output shaft of the second motor, the fourth gear is fixedly connected to the screw rod, and the third gear and the fourth gear are in meshing transmission;
the sliding sleeve is provided with a horizontal thread through hole, and the horizontal thread through hole is in threaded connection with the screw rod;
the upper end of the first connecting rod is fixedly connected to the lower end of the sliding sleeve, and the lower end of the second shell is provided with a sliding groove for the other end of the first connecting rod to pass through.
The goods pushing assembly is arranged at the lower end of the first connecting rod;
the first motor, the second motor and the lifting support are respectively and electrically connected with the controller.
Preferably, the pushing assembly comprises:
the lower end of the hollow cylindrical body is opened;
the two ends of the hollow conical body are open, and the upper end of the hollow conical body is fixedly connected with the lower end of the hollow cylindrical body;
the hollow cylindrical body is connected with an electric pumping and inflating pump through an air pipe, and the electric pumping and inflating pump is electrically connected with the controller.
Preferably, the pushing assembly comprises:
the third shell is fixedly connected to the lower end of the first connecting rod;
the second rotating rod is vertically arranged, and the upper part of the second rotating rod is rotatably connected in the third shell;
the third motor is arranged in the third shell, and an output shaft of the third motor is vertically arranged;
the fifth gear is fixedly connected to an output shaft of the third motor, the sixth gear is fixedly connected to the second rotating rod, and the fifth gear and the sixth gear are in meshing transmission;
the supporting plate is fixedly connected to the lower end of the second rotating rod;
the supporting block is rotatably connected to the lower end of the supporting plate through a rotating shaft in the front-back direction and is driven to rotate around the rotating shaft by the driving device;
the two first electric telescopic rods are respectively and fixedly connected to the left side and the right side of the lower end of the supporting block;
the upper ends of the two clamping plates are respectively connected with the telescopic ends of the two first electric telescopic rods;
and the third motor, the driving device and the first electric telescopic rod are respectively and electrically connected with the controller.
Preferably, the upper ends of the two clamping plates are respectively connected with the telescopic ends of the two first electric telescopic rods;
the push away goods subassembly still includes:
and two ends of the second electric telescopic rod are respectively fixedly connected with one side of the corresponding first electric telescopic rod, which is close to the clamping plate, and the second electric telescopic rod is electrically connected with the controller.
Preferably, the conveying roller body comprises: the roller frame and the roller group are arranged on the roller frame;
the cargo detection assembly includes:
the first distance sensors are arranged on the cargo adjusting device in different directions;
the camera is arranged on the cargo adjusting device;
roller body still is connected with the line speed test spare for measure the transfer chain speed of carrying roller body:
the controller is electrically connected with the first distance sensors, the camera and the linear velocity detection piece;
the controller controls the cargo adjusting device to work according to the first distance sensors, the camera and the linear speed detecting piece.
Preferably, the method further comprises the following steps:
the second distance sensors are respectively arranged on the rollers of the roller group and used for detecting the distance between the rollers;
the alarm device is arranged on the roller frame;
the controller is electrically connected with the second distance sensor and the alarm device.
Preferably, a plurality of goods adjusting devices are arranged on the conveying route of the conveying roller body at intervals;
the pressure sensor is arranged on the roller group;
the goods adjusting device is provided with a goods identification module;
the controller is provided with a counting module and is respectively and electrically connected with the pressure sensor and the cargo identification module;
the goods identification module sends the goods information and the serial number information of the goods identification module identified by the goods identification module to the controller, the controller judges the position of the goods identification module according to the serial number information of the goods identification module, and the controller judges whether the goods are on a preset conveying track of the goods according to the position information of the goods identification module and the goods information.
Preferably, the conveying roller body comprises: the roller frame and the roller group are arranged on the roller frame;
the cargo adjustment device includes: the working end of the lifting assembly is provided with a rotating assembly, and the working end of the rotating assembly is provided with a clamping or adsorbing assembly;
the cargo detection assembly includes:
the first distance sensors are arranged on the cargo adjusting device in different directions and used for detecting distance value information of the positions of the first distance sensors from the cargo adjusting device, and the distance value information comprises horizontal distance value information and vertical direction distance information;
the camera is connected to the cargo adjusting device through a camera rotating assembly;
roller body still is connected with the line speed test spare for measure the transfer chain speed of carrying roller body:
the pressure sensor is arranged on the roller group;
the third distance sensor is arranged on the cargo adjusting device and positioned in front of the first distance sensor, and the third distance sensor is used for detecting the distance value information of the position where the third distance sensor is positioned from the cargo;
the controller is electrically connected with the first distance sensors, the camera, the linear speed detection piece, the pressure sensor and the third distance sensor;
the controller controls the cargo adjusting device to work according to each first distance sensor, the camera, the linear speed detection piece, the third distance sensor and the pressure sensor, and the method comprises the following steps:
step 1: the controller firstly controls the third distance sensor to work, and when the distance value detected by the third distance sensor is smaller than a preset distance standard value, the controller controls the camera rotating assembly and the camera to work so as to shoot a cargo image in front of the cargo adjusting device;
the controller compares the similarity of the cargo image with a preset cargo image to be adjusted, obtains a similarity value and obtains cargo orientation information;
step 2: the controller preliminarily controls the cargo adjusting device according to the cargo orientation information so as to adjust the orientation of the clamping or adsorbing assembly;
and step 3: the controller judges the inclination angle information of goods according to the information that a plurality of first distance sensor detected, and the controller is according to inclination angle information makes goods adjusting device work to make centre gripping or adsorption component centre gripping or adsorb the goods, and calculate the centre gripping or the target dynamics of adsorbing the goods through step 31, step 32, controller control centre gripping or adsorption component with the target dynamics comes the centre gripping or adsorbs the goods, with adjustment goods state and position:
step 31: calculating the target force for clamping or adsorbing the goods according to the formula (1);
Figure GDA0002722188290000051
wherein F is the target force for clamping or adsorbing the goods, F1The value detected by the pressure sensor is B, the comprehensive influence coefficient is B, theta is the inclination angle of the highest point of the goods, and f is the preset friction coefficient of the roller and the goods;
step 32: calculating a comprehensive influence coefficient according to formulas (2) and (3);
Figure GDA0002722188290000061
Figure GDA0002722188290000062
wherein A is the similarity obtained in step 1, C is the average precision of the third distance sensor and the first distance sensor, and BmaxThe vertical distance from the highest point of the goods to the roller,
Figure GDA0002722188290000063
is the average value of the vertical distances from the four detection points of the goods to the roller, H2The horizontal distance H from the highest point of the goods to the goods adjusting device1The horizontal distance between the center of the goods and the goods adjusting device is beta, the distance between the adjacent rollers is beta, and V is the conveying line speed detected by the speed detecting piece.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic view of the structure of the present invention.
Fig. 2 is a schematic structural diagram of an embodiment of the pushing assembly.
In the figure: 1. a conveying roller body; 2. a cargo adjusting device; 21. a first fixed block; 22. a lifting support; 23. a first adjustment assembly; 231. a first housing; 232. a first rotating lever; 233. a first motor; 234. a first gear; 235. a second gear; 24. a second housing; 25. a second adjustment assembly; 251. a second motor; 252. a third gear; 253. a fourth gear; 254. a sliding sleeve; 255. a first link; 256. a screw; 26. a pushing assembly; 261. a hollow cylindrical body; 262. a hollow conical body; 263. a third housing; 264. a second rotating lever; 265. a third motor; 266. a fifth gear; 267. a sixth gear; 268. a support block; 269. a second electric telescopic rod; 2610. a clamping plate; 2611. a first electric telescopic rod; 2612. a rotating shaft; 2613. and a support plate.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
In addition, the descriptions related to the first, the second, etc. in the present invention are only used for description purposes, do not particularly refer to an order or sequence, and do not limit the present invention, but only distinguish components or operations described in the same technical terms, and are not understood to indicate or imply relative importance or implicitly indicate the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions and technical features between various embodiments can be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not be within the protection scope of the present invention.
The embodiment of the invention provides a wireless conveying roller for assembly, as shown in fig. 1, which comprises a conveying roller body 1 (the existing conveying roller body is of a structure in the prior art, and is not described again here), and further comprises:
the goods detection assembly is used for detecting the states and positions of goods on the conveying roller body;
the goods adjusting device 2 is connected with the conveying roller body 1 and used for adjusting the goods state and position on the conveying roller body;
the controller is electrically connected with the power supply, the cargo adjusting device 2 and the cargo detection assembly;
the controller also sends data to the outside (such as sending data to the monitoring terminal) through the wireless communication module.
The working principle and the beneficial effects of the technical scheme are as follows: the goods state and the position information are detected through the goods detection assembly and sent to the controller, the controller judges whether the goods state and the position are abnormal or not according to the goods state (the goods state comprises a goods inclined state and/or the direction (including the positive direction and the negative direction and the goods orientation)) and the position information (for example, the goods state and the position are abnormal due to the abnormality of the structure of the conveying roller or the abnormality of the conveying roller input due to the work factor of the conveying front end station), and when the goods state and the position are abnormal, the controller controls the goods adjusting device to work according to the goods state and the position information so as to adjust the goods state and the position and avoid the influence on the conveying of the goods when the goods position and the state are abnormal.
The controller also can be connected with the conveying roller body to transmit control parameter data of the conveying roller body, so that the work of the conveying roller is convenient to monitor.
In one embodiment, as shown in fig. 1, the delivery roll body 1 comprises: a roller frame and a roller group arranged on the roller frame (figure 1 is a side view);
the cargo adjusting apparatus 2 includes:
the two first fixed blocks 21 are respectively arranged at two sides of the conveying roller body 1 along the conveying direction of the conveying roller body 1;
two lifting brackets 22 connected to the upper end of the first fixing block 21;
two first adjusting components 23 respectively arranged at the upper ends of the two lifting brackets 22;
a second housing 24 disposed between the two first adjustment assemblies, a second adjustment assembly 25 disposed within the second housing 24;
the first adjustment assembly 23 includes:
a first housing 231 fixedly coupled to a top end of one of the elevating brackets 22;
the first rotating rod 232 is parallel to the axial direction of the roller set, two ends of the first rotating rod 232 are respectively connected with two ends of the first shell 231 in a rotating manner, and one end of the first rotating rod 232 close to the other lifting support 22 penetrates through the first shell 231;
the second shell 24 is fixedly connected with one end of the first rotating rod 232 close to the other lifting bracket 22, and the second shell 24 is positioned right above the roller group;
a first motor 233 disposed in the first housing 231, an output shaft of the first motor 233 being parallel to the first rotating rod 232;
the first gear 234 and the second gear 235, the first gear 234 is fixedly connected to the output shaft of the first motor 233, the second gear 235 is fixedly connected to the first rotating rod 232, and the first gear 234 and the second gear 235 are in meshing transmission;
the second adjustment assembly 25 comprises:
the screw 256 is arranged in the second shell 24 and is parallel to the first rotating rod 232, and two ends of the screw 256 are respectively connected with two ends of the second shell 24 in a rotating manner;
a second motor 251 arranged on the inner side wall of the second shell 24, wherein the output shaft of the second motor is parallel to the screw 256;
the third gear 252 and the fourth gear 253, the third gear 252 is fixedly connected to the output shaft of the second motor, the fourth gear 253 is fixedly connected to the screw 256, and the third gear 252 and the fourth gear 253 are in meshing transmission;
the sliding sleeve 254 is provided with a horizontal threaded through hole which is in threaded connection with the screw 256;
the upper end of the first connecting rod 255 is fixedly connected to the lower end of the sliding sleeve 254, and the lower end of the second housing 24 is provided with a sliding groove for the other end of the first connecting rod 255 to pass through.
The goods pushing assembly 26 is arranged at the lower end of the first connecting rod 255;
the first motor 233, the second motor and the lifting bracket 22 are electrically connected with the controller respectively.
Preferably, the number of the goods adjusting devices is set to be a plurality according to the conveying length of the conveying roller;
the two lifting brackets are connected to the upper end of the first fixed block in a sliding manner, the first fixed block is provided with a driving device (such as an electric cylinder, an electric telescopic rod, an electric cylinder, an electric hydraulic cylinder and the like) for driving the lifting brackets to slide on the upper end of the first fixed block, and the specific adjusting position of the cargo adjusting device can be adjusted, so that the cargo adjusting device can move in a corresponding range to adjust cargos;
the working principle and the beneficial effects of the technical scheme are as follows: the controller controls the first motor to rotate, the second shell is driven to rotate up and down through the first rotating rod, the goods pushing assembly can be driven to rotate up and down, and the goods pushing assembly can be conveniently adjusted in goods state and position (for example, the goods state (direction, whether the goods are inclined or not can be detected) and can be adjusted in a turnover mode);
the controller controls the second motor to rotate to drive the screw rod to rotate, so that the sliding sleeve moves left and right on the screw rod, the goods pushing assembly is dragged to move left and right, the position of goods is convenient to adjust, and if the goods at the edge are pushed to the middle, the goods are prevented from being separated from the conveying roller body;
the controller controls the lifting support to lift up and down to adjust the upper position and the lower position of the goods pushing assembly, so that the goods pushing assembly is convenient to adapt to goods of different sizes.
In one embodiment, as shown in fig. 1, the pushing assembly 26 comprises:
a hollow cylindrical body 261, the lower end of the hollow cylindrical body 261 being open;
a hollow conical body 262 with two open ends and an upper end fixedly connected with the lower end of the hollow cylindrical body 261;
the hollow cylindrical body 261 is connected with an electric pumping and inflating pump through an air pipe, and the electric pumping and inflating pump is electrically connected with the controller.
The working principle and the beneficial effects of the technical scheme are as follows: the hollow cylindrical body 261 is connected with an electric pumping and inflating pump through an air pipe, the electric pumping and inflating pump is electrically connected with the controller, the controller can control the hollow cylindrical body and the hollow conical body to be inflated and deflated, so that goods can be adsorbed and clamped, and the goods can be conveniently overturned or the position of the goods can be conveniently adjusted by dragging (for example, the goods are partially sunk between the roller assemblies to influence the conveying). And the taper of the hollow cone can be used to push the goods.
In one embodiment, as shown in fig. 2, the pushing assembly 26 comprises:
a third housing 263 fixedly connected to a lower end of the first link 255;
a second rotating rod 264 which is vertically arranged, and the upper part of the second rotating rod 264 is rotatably connected in the third shell 263;
a third motor 265 disposed in the third housing 263, an output shaft of the third motor being disposed vertically;
a fifth gear 266 and a sixth gear 267, wherein the fifth gear 266 is fixedly connected to the output shaft of the third motor 265, the sixth gear 267 is fixedly connected to the second rotating rod 264, and the fifth gear 266 and the sixth gear 267 are in meshing transmission;
a support plate 2613 fixedly connected to a lower end of the second rotating lever 264;
the supporting block 268 is rotatably connected to the lower end of the supporting plate 2613 through a rotating shaft 2612 in the front-back direction, and the supporting block 268 is driven to rotate around the rotating shaft 2612 by a driving device (for example, a motor drives the rotating shaft to rotate, or an expansion rod is arranged on the supporting plate and connected with the supporting block to adjust the angle between the supporting block and the supporting plate through the expansion rod);
two first electric telescopic rods 2611 are respectively and fixedly connected to the left side and the right side of the lower end of the supporting block;
the upper ends of the two clamping plates 2610 are respectively connected with the telescopic ends of the two first electric telescopic rods;
the third motor 265, the driving device and the first electric telescopic rod 2611 are respectively electrically connected with the controller.
The working principle and the beneficial effects of the technical scheme are as follows: controller control third motor rotates, it rotates to drive the second dwang through fifth gear and sixth gear, thereby drive the supporting shoe, a supporting plate, the grip block, subassembly such as electric telescopic handle rotates, the centre gripping direction of the adjustment grip block of being convenient for, synthesize first motor drive and push away goods subassembly tilting, this technical scheme realizes the horizontal rotation, but the centre gripping goods of being more convenient for (centre gripping goods is local, controller control second motor drags the goods after the centre gripping), from being more convenient for drag adjustment goods position (if the goods part is absorbed into the adjustment when carrying in the influence between the roller subassembly).
In one embodiment, as shown in fig. 2, the two holding plates 2610 are respectively connected with the two first electric telescopic rods 2611 at the upper ends thereof in a rotating manner;
the pushing assembly 26 further comprises:
and two ends of the second electric telescopic rod 269 are fixedly connected with one side, close to each other, of the corresponding first electric telescopic rod 2611 and the corresponding clamping plate 2610 respectively, and the second electric telescopic rod 269 is electrically connected with the controller.
The working principle and the beneficial effects of the technical scheme are as follows: the controller can control the second electric telescopic rod to stretch and retract, an included angle between the clamping plates and the first electric telescopic rod is adjusted, the clamping distance between the two clamping plates can be adjusted conveniently according to the size of goods, and the electric telescopic device is convenient to use.
In one embodiment, the delivery roll body 1 comprises: the roller frame and the roller group are arranged on the roller frame;
the cargo detection assembly includes:
a plurality of first distance sensors arranged on the cargo adjusting device 2 in different directions;
the camera is arranged on the cargo adjusting device 2;
roller body still is connected with the line speed test spare for measure the transfer chain speed of carrying roller body:
the controller is electrically connected with the first distance sensors, the camera and the linear velocity detection piece;
the controller controls the cargo adjusting device to work according to the first distance sensors, the camera and the linear speed detecting piece.
The working principle and the beneficial effects of the technical scheme are as follows: the first distance sensors are arranged on the cargo adjusting device 2 in different directions and used for detecting the distance information of the cargo in different directions and transmitting the distance information to the controller, and the controller judges the attitude of the cargo according to the distance information and controls the cargo adjusting device to work according to the attitude of the cargo; the camera is used for collecting cargo image information and transmitting the cargo image information to the controller, the controller acquires cargo attitude information according to the cargo image information, the integrated distance sensor is more convenient to accurately judge the cargo attitude information, when any one of the distance sensor or the camera works abnormally, the other one can be used for judging, and when the difference between the attitude information judged according to the distance sensor and the attitude information judged by the camera is larger, the controller controls the alarm connected with the controller to give an alarm, so that the reliable work of the invention is convenient to guarantee.
The roller body is further connected with a linear velocity detection piece for measuring the conveying linear velocity of the conveying roller body, and the controller controls the goods adjusting device to work according to the conveying line velocity of the conveying roller body, so that the goods adjusting velocity is adaptive to the rotating speed of the conveying roller body.
In one embodiment, further comprising:
the second distance sensors are respectively arranged on the rollers of the roller group and used for detecting the distance between the rollers;
the alarm device is arranged on the roller frame;
the controller is electrically connected with the second distance sensor and the alarm device.
The working principle and the beneficial effects of the technical scheme are as follows: the second distance sensor is used for detecting distance information between the rollers and transmitting the distance information to the controller, a roller distance standard value is preset in the controller, and when the distance value detected by the second distance sensor is larger than the distance standard value, the controller controls the alarm device to give an alarm so as to avoid that goods conveying is influenced by abnormal roller distance (such as the position of the roller is abnormal due to long-time use of the conveying roller).
In one embodiment, a plurality of goods adjustment devices are arranged on the conveying path of the conveying roller body at intervals
A device;
the pressure sensor is arranged on the roller group;
the goods adjusting device is provided with a goods identification module;
the controller is provided with a counting module and is respectively and electrically connected with the pressure sensor and the cargo identification module;
the goods identification module sends the goods information and the serial number information of the goods identification module identified by the goods identification module to the controller, the controller judges the position of the goods identification module according to the serial number information of the goods identification module, and the controller judges whether the goods are on a preset conveying track of the goods according to the position information of the goods identification module and the goods information.
The working principle and the beneficial effects of the technical scheme are as follows: the pressure sensor is used for detecting pressure information of the position where the pressure sensor is located, judging weight information of the goods according to the pressure information, and when the pressure information is larger than a pressure standard value, the controller controls an alarm device connected with the pressure sensor to give an alarm to avoid damaging the conveying roller;
the controller is also provided with a counting module, and the controller judges the total weight of the conveyed goods according to the weight information and the counting of the goods, so that the assembly and the measurement of products are more convenient.
The goods identification module sends the goods information and the serial number information of the goods identification module identified by the goods identification module to the controller, the controller judges the position of the goods identification module according to the serial number information of the goods identification module, the controller judges whether the goods are on the preset conveying track of the goods according to the position information of the goods identification module and the goods information, and when the goods are not on the corresponding conveying track of the goods, the controller controls an alarm device connected with the controller to give an alarm, so that the error of the goods conveying position is avoided.
In one embodiment, the conveyor roller body comprises: the roller frame and the roller group are arranged on the roller frame;
the cargo adjustment device includes: the working end of the lifting assembly is provided with a rotating assembly, and the working end of the rotating assembly is provided with a clamping or adsorbing assembly;
the cargo detection assembly includes:
the first distance sensors are arranged on the cargo adjusting device in different directions and used for detecting distance value information of the positions of the first distance sensors from the cargo adjusting device, and the distance value information comprises horizontal distance value information and vertical direction distance information;
the camera is connected to the cargo adjusting device through a camera rotating assembly;
roller body still is connected with the line speed test spare for measure the transfer chain speed of carrying roller body:
the pressure sensor is arranged on the roller group;
the third distance sensor is arranged on the cargo adjusting device and is positioned in front of the first distance sensor (namely close to the cargo input end in the conveying direction of the roller set), and the third distance sensor is used for detecting the distance value information of the position where the third distance sensor is positioned from the cargo;
the controller is electrically connected with the first distance sensors, the camera, the linear speed detection piece, the pressure sensor and the third distance sensor;
the controller controls the cargo adjusting device to work according to each first distance sensor, the camera, the linear speed detection piece, the third distance sensor and the pressure sensor, and the method comprises the following steps:
step 1: the controller firstly controls the third distance sensor to work, and when the distance value detected by the third distance sensor is smaller than a preset distance standard value, the controller controls the camera rotating assembly and the camera to work so as to shoot a cargo image in front of the cargo adjusting device;
the controller compares the similarity of the cargo image with a preset cargo image to be adjusted, obtains a similarity value and obtains cargo orientation information;
step 2: the controller preliminarily controls the cargo adjusting device according to the cargo orientation information so as to adjust the orientation of the clamping or adsorbing assembly;
and step 3: the controller judges the inclination angle information of the goods according to the information detected by the plurality of first distance sensors, the controller enables the goods adjusting device to work according to the inclination angle information so that the clamping or adsorption component clamps or adsorbs the goods (the angle of the goods adjusting device is adjusted to enable the angle of the clamping or adsorption component to be matched with the angle of the goods, the middle part of the clamped or adsorbed goods or the position close to the highest point can be set), the target force for clamping or adsorbing the goods is calculated through the steps 31 and 32, and the controller controls the clamping or adsorption component to clamp or adsorb the goods according to the target force so as to adjust the state and the position of the goods (for example, the goods inclined to the part in the gap of the roller are dragged out after clamping or adsorption);
step 31: calculating the target force for clamping or adsorbing the goods according to the formula (1);
Figure GDA0002722188290000151
wherein F is the target force for clamping or adsorbing the goods, F1The value detected by the pressure sensor is B, the comprehensive influence coefficient is B, theta is the inclination angle of the highest point of the goods, and f is the preset friction coefficient of the roller and the goods;
step 32: calculating a comprehensive influence coefficient according to formulas (2) and (3);
Figure GDA0002722188290000152
Figure GDA0002722188290000153
wherein A is the similarity obtained in step 1, and C is a third distance sensorAnd average accuracy of the first distance sensor, BmaxThe vertical distance from the highest point of the goods to the roller,
Figure GDA0002722188290000154
is the average value of the vertical distances from the four detection points of the goods to the roller, H2The horizontal distance H from the highest point of the goods to the goods adjusting device1The horizontal distance between the center of the goods and the goods adjusting device is beta, the distance between the adjacent rollers is beta, and V is the conveying line speed detected by the speed detecting piece.
The calculation can be sent to the control terminal by the wireless communication module through the controller for calculation.
The cargo detection assembly includes:
the working principle and the beneficial effects of the technical scheme are as follows: the first distance sensors are used for detecting distance value information from the first distance sensors to the goods, and the distance value information comprises horizontal distance value information and vertical distance information; the camera is used for detecting a cargo image; line speed detector for measure the transfer chain speed of carrying roller body: the pressure sensor is used for acquiring the gravity information of the goods; the controller controls the goods adjusting device to work according to each first distance sensor, the camera, the linear velocity detection piece, the third distance sensor and the pressure sensor, and is convenient for intelligently synthesizing the multiple factors (the distance, the inclination angle, the goods image, the conveying linear velocity of the conveying roller and the goods gravity) to control the goods adjusting device to work in real time, so that the goods are adjusted more reliably, and manual adjustment is avoided.
The controller firstly controls the third distance sensor to sense whether goods are close to the goods adjusting device or not, then shoots images through the camera, judges whether the goods adjusting device needs to be started or not according to the images before the goods reach the goods adjusting device, and firstly controls the goods adjusting device preliminarily according to the goods orientation information to adjust the orientation of the clamping or adsorbing assembly when the goods need to be started; firstly, avoid frequently starting a plurality of first distance sensor, secondly judge before reaching goods adjusting device whether need start the goods device and tentatively adjust the orientation of centre gripping or adsorption component, the quick response of being more convenient for. And the control comprehensively considers the state parameters (the horizontal and vertical distance information, the friction coefficient and the gravity) of the goods and the parameters (the conveying linear speed and the distance between the adjacent rollers) of the conveying roller body to control the clamping or adsorbing force, so that the control is more reliable.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims (8)

1. The utility model provides a wireless transport roller of assembly usefulness, is including carrying roller body (1), its characterized in that still includes:
the goods detection assembly is used for detecting the states and positions of goods on the conveying roller body;
the goods adjusting device (2) is connected with the conveying roller body (1) and is used for adjusting the goods state and position on the conveying roller body;
the controller is electrically connected with the power supply, the cargo adjusting device (2) and the cargo detection assembly;
the controller also sends data to the outside through the wireless communication module;
the conveying roller body (1) comprises: the roller frame and the roller group are arranged on the roller frame;
the cargo adjustment device (2) comprises:
the two first fixed blocks (21) are respectively arranged on two sides of the conveying roller body (1) along the conveying direction of the conveying roller body (1);
two lifting brackets (22) connected to the upper end of the first fixed block (21);
the two first adjusting components (23) are respectively arranged at the upper ends of the two lifting brackets (22);
a second housing (24) arranged between the two first adjusting components (23), a second adjusting component (25) being arranged in the second housing (24);
the first adjustment assembly (23) comprises:
the first shell (231) is fixedly connected to the top end of a lifting bracket (22);
the first rotating rod (232) is parallel to the axial direction of the roller set, two ends of the first rotating rod (232) are respectively connected with two ends of the first shell (231) in a rotating mode, and one end, close to the other lifting support (22), of the first rotating rod (232) penetrates through the first shell (231);
the second shell (24) is fixedly connected with one end, close to the other lifting support (22), of the first rotating rod (232), and the second shell (24) is located right above the roller set;
a first motor (233) disposed within the first housing (231), an output shaft of the first motor (233) being parallel to the first rotating rod (232);
the first gear (234) is fixedly connected to an output shaft of the first motor (233), the second gear (235) is fixedly connected to the first rotating rod (232), and the first gear (234) and the second gear (235) are in meshing transmission;
the second adjustment assembly (25) comprises:
the screw rod (256) is arranged in the second shell (24) and is parallel to the first rotating rod (232), and two ends of the screw rod (256) are respectively in rotating connection with two ends of the second shell (24);
a second motor (251) arranged on the inner side wall of the second shell (24), wherein the output shaft of the second motor (251) is parallel to the screw rod (256);
the third gear (252) and the fourth gear (253), the third gear (252) is fixedly connected to an output shaft of the second motor (251), the fourth gear (253) is fixedly connected to the screw rod (256), and the third gear (252) and the fourth gear (253) are in meshing transmission;
a sliding sleeve (254) provided with a horizontal threaded through hole, wherein the horizontal threaded through hole is in threaded connection with the screw rod (256);
the upper end of the first connecting rod (255) is fixedly connected with the lower end of the sliding sleeve (254), and the lower end of the second shell (24) is provided with a sliding groove for the other end of the first connecting rod (255) to pass through;
the goods pushing assembly (26) is arranged at the lower end of the first connecting rod (255);
the first motor (233), the second motor (251) and the lifting support (22) are electrically connected with the controller respectively.
2. The assembly-use wireless transfer roller according to claim 1,
the pushing assembly (26) comprises:
a hollow cylindrical body (261), the lower end of the hollow cylindrical body (261) being open;
a hollow conical body (262), both ends of which are open, and the upper end of which is fixedly connected with the lower end of the hollow cylindrical body (261);
the hollow cylindrical body (261) is connected with an electric pumping and inflating pump through an air pipe, and the electric pumping and inflating pump is electrically connected with the controller.
3. The assembly-use wireless transfer roller according to claim 1,
the pushing assembly (26) comprises:
a third housing (263) fixedly connected to a lower end of the first link (255);
the second rotating rod (264) is vertically arranged, and the upper part of the second rotating rod (264) is rotatably connected into the third shell (263);
a third motor (265) disposed within the third housing (263), an output shaft of the third motor (265) being disposed vertically;
a fifth gear (266) and a sixth gear (267), wherein the fifth gear (266) is fixedly connected to an output shaft of the third motor (265), the sixth gear (267) is fixedly connected to the second rotating rod (264), and the fifth gear (266) and the sixth gear (267) are in meshing transmission;
a support plate (2613) fixedly connected to the lower end of the second rotating rod (264);
the supporting block (268) is rotatably connected to the lower end of the supporting plate (2613) through a rotating shaft (2612) in the front-back direction, and the supporting block (268) is driven by a driving device to rotate around the rotating shaft (2612);
the two first electric telescopic rods (2611) are fixedly connected to the left side and the right side of the lower end of the supporting block (268) respectively;
the upper ends of the two clamping plates (2610) are respectively connected with the telescopic ends of the two first electric telescopic rods (2611);
the third motor (265), the driving device and the first electric telescopic rod (2611) are respectively electrically connected with the controller.
4. The assembly-use wireless transfer roller according to claim 3,
the upper ends of the two clamping plates (2610) are respectively connected with the telescopic ends of the two first electric telescopic rods (2611);
the pushing assembly (26) further comprises:
and two ends of the second electric telescopic rod (269) are fixedly connected with one side, close to each other, of the corresponding first electric telescopic rod (2611) and the corresponding clamping plate (2610), and the second electric telescopic rod (269) is electrically connected with the controller.
5. The assembly-use wireless transfer roller according to claim 1,
the conveying roller body (1) comprises: the roller frame and the roller group are arranged on the roller frame;
the cargo detection assembly includes:
a plurality of first distance sensors arranged on the cargo adjusting device (2) in different directions;
the camera is arranged on the cargo adjusting device (2);
roller body still is connected with the line speed test spare for measure the transfer chain speed of carrying roller body (1):
the controller is electrically connected with the first distance sensors, the camera and the linear velocity detection piece;
the controller controls the cargo adjusting device to work according to the first distance sensors, the camera and the linear speed detecting piece.
6. The assembly-use wireless transfer roller according to claim 5, further comprising:
the second distance sensors are respectively arranged on the rollers of the roller group and used for detecting the distance between the rollers;
the alarm device is arranged on the roller frame;
the controller is electrically connected with the second distance sensor and the alarm device.
7. The assembly-use wireless transfer roller according to claim 5,
a plurality of goods adjusting devices (2) are arranged on a conveying route of the conveying roller body (1) at intervals;
the pressure sensor is arranged on the roller group;
a cargo identification module is arranged on the cargo adjusting device (2);
the controller is provided with a counting module and is respectively and electrically connected with the pressure sensor and the cargo identification module;
the goods identification module sends the goods information and the serial number information of the goods identification module identified by the goods identification module to the controller, the controller judges the position of the goods identification module according to the serial number information of the goods identification module, and the controller judges whether the goods are on a preset conveying track of the goods according to the position information of the goods identification module and the goods information.
8. The assembly-use wireless transfer roller according to claim 1,
the conveying roller body comprises: the roller frame and the roller group are arranged on the roller frame;
the cargo adjustment device includes: the working end of the lifting assembly is provided with a rotating assembly, and the working end of the rotating assembly is provided with a clamping or adsorbing assembly;
the cargo detection assembly includes:
the first distance sensors are arranged on the cargo adjusting device in different directions and used for detecting distance value information of the positions of the first distance sensors from the cargo adjusting device, and the distance value information comprises horizontal distance value information and vertical direction distance information;
the camera is connected to the cargo adjusting device through a camera rotating assembly;
roller body still is connected with the line speed test spare for measure the transfer chain speed of carrying roller body:
the pressure sensor is arranged on the roller group;
the third distance sensor is arranged on the cargo adjusting device and positioned in front of the first distance sensor, and the third distance sensor is used for detecting the distance value information of the position where the third distance sensor is positioned from the cargo;
the controller is electrically connected with the first distance sensors, the camera, the linear speed detection piece, the pressure sensor and the third distance sensor;
the controller controls the cargo adjusting device to work according to each first distance sensor, the camera, the linear speed detection piece, the third distance sensor and the pressure sensor, and the method comprises the following steps:
step 1: the controller firstly controls the third distance sensor to work, and when the distance value detected by the third distance sensor is smaller than a preset distance standard value, the controller controls the camera rotating assembly and the camera to work so as to shoot a cargo image in front of the cargo adjusting device;
the controller compares the similarity of the cargo image with a preset cargo image to be adjusted, obtains a similarity value and obtains cargo orientation information;
step 2: the controller preliminarily controls the cargo adjusting device according to the cargo orientation information so as to adjust the orientation of the clamping or adsorbing assembly;
and step 3: the controller judges the inclination angle information of goods according to the information that a plurality of first distance sensor detected, and the controller is according to inclination angle information makes goods adjusting device work to make centre gripping or adsorption component centre gripping or adsorb the goods, and calculate the centre gripping or the target dynamics of adsorbing the goods through step 31, step 32, controller control centre gripping or adsorption component with the target dynamics comes the centre gripping or adsorbs the goods, with adjustment goods state and position:
step 31: calculating the target force for clamping or adsorbing the goods according to the formula (1);
Figure FDA0002722188280000051
wherein F is the target force for clamping or adsorbing the goods, F1The value detected by the pressure sensor is B, the comprehensive influence coefficient is B, theta is the inclination angle of the highest point of the goods, and f is the preset friction coefficient of the roller and the goods;
step 32: calculating a comprehensive influence coefficient according to formulas (2) and (3);
Figure FDA0002722188280000061
Figure FDA0002722188280000062
wherein A is the similarity obtained in step 1, C is the average precision of the third distance sensor and the first distance sensor, and BmaxThe vertical distance from the highest point of the goods to the roller,
Figure FDA0002722188280000063
is the average value of the vertical distances from the four detection points of the goods to the roller, H2The horizontal distance H from the highest point of the goods to the goods adjusting device1The horizontal distance between the center of the goods and the goods adjusting device is beta, the distance between the adjacent rollers is beta, and V is the conveying line speed detected by the speed detecting piece.
CN202010294383.3A 2020-04-15 2020-04-15 Wireless conveying roller for assembly Active CN111470295B (en)

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JPS612608A (en) * 1984-06-14 1986-01-08 Nissan Motor Co Ltd Conveyor for carrying car batteries
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