CN111703919A

CN111703919A - Car loader, car loading system and car loading method

Info

Publication number: CN111703919A
Application number: CN202010593934.6A
Authority: CN
Inventors: 许大红; 石江涛; 张�杰; 周文晓
Original assignee: Hefei Taihe Optoelectronic Technology Co Ltd
Current assignee: Hefei Taihe Optoelectronic Technology Co Ltd
Priority date: 2020-06-23
Filing date: 2020-06-23
Publication date: 2020-09-25

Abstract

The invention discloses a car loader, a car loading system and a car loading method, and relates to the technical field of car loading. This carloader includes main control unit, get and put device and running gear, get and put the device and connect in running gear, running gear can drive to get and put the device and put the position motion towards the pile up, and stop when being close to the pile up position, and the stop position is the parking position, main control unit can be when running gear is located the parking position, get and put the device according to offset control and drive the goods and remove, so that the goods is located preset position, wherein, the deviation of the skew preset orbit of offset sign running gear, preset position is located the one end of presetting the orbit, get and put the device and can also put the goods in a yard to the pile up position when the goods is located preset position. The car loader, the corresponding car loading system and the corresponding car loading method have the characteristic of high precision of automatically stacking goods.

Description

Car loader, car loading system and car loading method

Technical Field

The invention relates to the technical field of loading, in particular to a car loader, a car loading system and a car loading method.

Background

In production and logistics transportation links, transport mechanism reciprocating motion is often required to convey goods to the stacking position, for example, goods are sent into the carriage or are unloaded by the carriage, however, position deviation easily occurs in the transport mechanism reciprocating motion, especially, the goods are sent into the carriage or are unloaded by the carriage, because the carriage inner space is narrow, the light is poor and other reasons, the forklift worker is easily influenced by sight, generally, the goods are difficult to stack in place once, secondary adjustment is required to be carried out, especially, when the goods are loaded and unloaded in the carriage of a container type, the difficulty of manually opening the forklift for loading and unloading is large, the stacking precision is not high, and the degree of automation is low.

In view of this, it is very important to develop and design a car loader, a car loading system and a car loading method that can solve the above technical problems.

Disclosure of Invention

The invention aims to provide a car loader which has the characteristic of higher precision of automatically stacking goods.

Another object of the present invention is to provide a loading system, which has the characteristic of high precision of automatically stacking goods.

Another object of the present invention is to provide a loading method, which has a high precision of automatically stacking goods.

The invention provides a technical scheme that:

in a first aspect, an embodiment of the invention provides a car loader, which comprises a main controller, a taking and placing device and a traveling mechanism, wherein the taking and placing device is connected to the traveling mechanism and is electrically connected with the main controller; the walking mechanism can drive the taking and placing device to move towards a stacking position and stop when the taking and placing device is close to the stacking position, and the stopping position is a parking position; the picking and placing device can drive the goods to move, and the main controller can control the picking and placing device to drive the goods to move according to an offset when the travelling mechanism is located at the parking position so as to enable the goods to be located at a preset position, wherein the offset represents a deviation amount of the travelling mechanism deviating from a preset track, and the preset position is located at one end of the preset track; the picking and placing device can also stack the goods to the stacking position when the goods are positioned at the preset position.

With reference to the first aspect, in a first implementation manner of the first aspect, the pick-and-place device includes a pick-and-place mechanism, a lifting mechanism, and a swing mechanism, which are connected in sequence, and the swing mechanism is connected to the traveling mechanism; the picking and placing mechanism can be connected with the goods, and the lifting mechanism can drive the picking and placing mechanism to lift so as to drive the picking and placing mechanism to lift and complete the action of picking and placing the goods together with the picking and placing mechanism; the offset comprises an offset angle, the offset angle represents an angle between a first central axis of the traveling mechanism and the preset track, and the main controller is electrically connected with the slewing mechanism and can control the slewing mechanism to drive the lifting mechanism to rotate by the offset angle when the traveling mechanism is located at the parking position, so that the goods are driven to horizontally rotate by the offset angle.

With reference to the first aspect and the foregoing implementation manner, in a second implementation manner of the first aspect, the pick-and-place device further includes a traverse mechanism, where the traverse mechanism is connected between the swing mechanism and the lifting mechanism, or connected between the lifting mechanism and the pick-and-place mechanism; the offset further comprises a transverse offset distance, the transverse offset distance represents the distance between the center of the traveling mechanism and the preset track, the main controller is electrically connected with the transverse moving mechanism and can control the transverse moving mechanism to drive the goods to move along a straight line at the first direction when the traveling mechanism stops at the parking position, and the first direction is horizontal and perpendicular to the direction of the preset track.

In a second aspect, an embodiment of the present invention further provides a car loader system, including a position detection device and the car loader; the car loader comprises a main controller, a taking and placing device and a traveling mechanism, wherein the taking and placing device is connected to the traveling mechanism and is electrically connected with the main controller; the walking mechanism can drive the taking and placing device to move towards the stacking position and stop when being close to the stacking position, and the stopping position is a parking position.

The position detection device comprises an emitting mechanism and a receiving mechanism arranged on the travelling mechanism, the emitting mechanism is used for emitting positioning light to the receiving mechanism when the travelling mechanism stops at the parking position, the receiving mechanism can receive the positioning light and form a positioning pattern, and the positioning pattern represents the preset track; the main controller is electrically connected with the receiving mechanism, can identify the deviation of the positioning pattern relative to a preset pattern, and generates the offset, wherein the preset pattern represents the position of the travelling mechanism.

The picking and placing device can drive the goods to move, and the main controller can control the picking and placing device to drive the goods to move according to an offset when the travelling mechanism is located at the parking position so as to enable the goods to be located at a preset position, wherein the offset represents a deviation amount of the travelling mechanism deviating from a preset track, and the preset position is located at one end of the preset track; the picking and placing device can also stack the goods to the stacking position when the goods are positioned at the preset position.

With reference to the second aspect, in a first implementation manner of the second aspect, the receiving mechanism includes a collector and a receiving plate, a side of the receiving plate close to the emitting mechanism is lower than a side of the receiving plate far from the emitting mechanism, and an upper surface of the receiving plate is disposed to be biased toward the emitting mechanism, so as to receive positioning light through the upper surface of the receiving plate and form the positioning pattern on the upper surface of the receiving plate; the collector is electrically connected with the main controller and faces the upper surface of the receiving plate, and the collector is used for collecting the positioning patterns and sending the positioning patterns to the main controller.

In a third aspect, an embodiment of the present invention further provides a loading method, which is applied to the loading system, and the loading method includes: and when the travelling mechanism stops at the parking position, controlling the pick-and-place device to drive the goods to move according to the offset so as to enable the goods to be located at the preset position.

With reference to the third aspect, in a first implementation manner of the third aspect, the offset includes an offset angle, and the offset angle represents an included angle between a first central axis of the traveling mechanism and the preset track; the step of controlling the pick-and-place device to drive the goods to move according to the offset comprises the following steps: and controlling the pick-and-place device to drive the goods to horizontally rotate by the offset angle.

With reference to the third aspect and the foregoing implementation manner, in a second implementation manner of the third aspect, before the step of controlling the pick-and-place device to drive the goods to move according to the offset, the loading method further includes: and identifying an angle between the preset track represented by the positioning pattern and the first central axis represented by the preset pattern, and generating the offset angle.

With reference to the third aspect and the foregoing implementation manner of the third aspect, in a third implementation manner of the third aspect, the offset further includes a lateral offset distance, where the lateral offset distance represents a distance that the cargo deviates from the preset track when the traveling mechanism reaches the parking position; the step of controlling the pick-and-place device to drive the goods to move according to the offset comprises the following steps: and controlling the pick-and-place device to drive the goods to move along a straight line in a first direction by the transverse offset distance, wherein the first direction is a direction which is horizontal and vertical to the preset track.

With reference to the third aspect and the foregoing implementation manner, in a fourth implementation manner of the third aspect, before the step of controlling the pick-and-place device to drive the goods to move according to the offset, the loading method further includes: and generating the transverse offset distance according to the distance between the preset track represented by the positioning pattern and the walking mechanism represented by the preset pattern.

Compared with the prior art, the car loader provided by the embodiment of the invention has the beneficial effects that:

running gear can drive and get and put the device and move towards the position of putting things in good order to stop when being close to the position of putting things in good order, the position that running gear stopped at this moment is the parking position, gets to put the device and can drive the goods and remove, main control unit can get according to offset control and put the device and drive the goods and remove when running gear is located the parking position, so that the goods is located preset position, wherein, offset sign running gear skew the deviation volume of predetermineeing the orbit. And get and put the device and can also put the goods that corresponds to the stacking position when the goods is located preset position to the stacking position, in order to accomplish the stacking work of goods automatically, in order to get the device and move towards the stacking position in the drive of running gear, when the skew condition of predetermineeing the orbit motion appears, the deviation through the skew preset orbit of running gear is controlled and is got the device and drive the goods and remove, with the position of revising the goods be preset position, the rethread is got the device and is accomplished the stacking work according to the action of predetermineeing, in order to guarantee the precision of the stacking goods of carloader. And then accomplish the action of putting things in good order automatically, and its precision of putting things in good order is higher.

Compared with the prior art, the beneficial effects of the loading system and the loading method provided by the embodiment of the invention are the same as the beneficial effects of the loader compared with the prior art, and are not repeated herein.

In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments will be briefly described below. It is appreciated that the following drawings depict only certain embodiments of the invention and are therefore not to be considered limiting of its scope. For a person skilled in the art, it is possible to derive other relevant figures from these figures without inventive effort.

Fig. 1 is a schematic side view of a car loader according to a first embodiment of the present invention.

Fig. 2 is a schematic diagram of a deviation between a first central axis of a traveling mechanism of a car loader and a preset track according to a first embodiment of the present invention.

Fig. 3 is a schematic perspective view of a car loader according to a first embodiment of the present invention.

Fig. 4 is a schematic perspective view of the car loader according to the first embodiment of the present invention from another viewing angle.

Fig. 5 is a schematic structural diagram of a loading system according to a second embodiment of the present invention.

Fig. 6 is a schematic sectional structure view of a detection box of a loading system according to a second embodiment of the present invention.

Fig. 7 is a schematic flow chart of a loading method according to a third embodiment of the present invention.

Fig. 8 is a flowchart illustrating the sub-step of step S100 of the loading method according to the third embodiment of the present invention.

Icon: 100-loading system; 21-a launching mechanism; 22-a receiving mechanism; 23-a launch movement mechanism; 24-a cartridge; 241-a detection opening; 221-a collector; 222-a receiving plate; 10-a car loader; 11-a running gear; 13-a pick-and-place device; 131-a pick and place mechanism; 132-a traversing mechanism; 133-a lifting mechanism; 134-a tilt mechanism; 135-a slewing mechanism; 910-park position; 920-stacking position; 930-preset position; a-a first direction; y-a preset trajectory; z-a first central axis; o-center of gyration; Δ d-lateral offset distance; delta theta-offset angle.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. The terms "upper", "lower", "inner", "outer", "left", "right", and the like, refer to an orientation or positional relationship as shown in the drawings, or as would be conventionally found in use of the inventive product, or as would be conventionally understood by one skilled in the art, and are used merely to facilitate the description and simplify the description, but do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be construed as limiting the present invention. The terms "first," "second," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance. The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

It is also to be understood that, unless expressly stated or limited otherwise, the terms "disposed," "connected," and the like are intended to be open-ended, and mean "connected," i.e., fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; the connection may be direct or indirect via an intermediate medium, and may be a communication between the two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

The following detailed description of embodiments of the invention refers to the accompanying drawings.

The first embodiment:

referring to fig. 1, fig. 1 is a schematic side view of a car loader 10 according to a first embodiment of the present invention.

The first embodiment of the present invention provides a car loader 10, and the car loader 10 can automatically complete stacking of goods and has a feature of high accuracy of stacking the goods.

The structural composition, the working principle and the beneficial effects of the car loader 10 provided by the first embodiment of the invention will be described in detail below.

Referring to fig. 1 and fig. 2, fig. 2 is a schematic diagram illustrating a deviation between a first central axis Z of a traveling mechanism 11 of a car loader 10 and a predetermined track Y according to a first embodiment of the present invention. The first central axis Z is a central line along the traveling direction of the traveling mechanism 11, and fig. 2 is a schematic diagram of a deviation between the first central axis Z and the preset trajectory Y when the traveling mechanism 11 stops at the parking position 910, in addition, in fig. 2, a straight line corresponding to Y represents the preset trajectory Y, a straight line corresponding to Z represents the first central axis Z, a point corresponding to O is a rotation center O, which is a projection of a rotation axis of the pick-and-place device 13 driving the goods to rotate on a horizontal plane, a direction indicated by an arrow corresponding to a is a first direction a, Δ d is a lateral offset distance Δ d, a corresponding dotted line represents a distance from the rotation center O to the preset trajectory Y, Δ θ is an offset angle Δ θ, which represents an included angle between the preset trajectory Y and the first central axis Z of the traveling mechanism 11.

The car loader 10 includes a main controller (not shown), a pick-and-place device 13 and a traveling mechanism 11, wherein the pick-and-place device 13 is connected to the traveling mechanism 11, and the pick-and-place device 13 is further electrically connected to the main controller. Running gear 11 can drive to get puts device 13 and move towards stacking position 920 to stop when being close to stacking position 920, the position that running gear 11 stopped at this moment is parking position 910, get and put device 13 and can drive the goods and remove, main controller can get and put device 13 and drive the goods and remove according to the offset control when running gear 11 is located parking position 910, so that the goods is located and predetermines position 930, wherein, the offset represents the deviation of running gear 11 skew default trajectory Y. The pick-and-place device 13 can also stack the corresponding goods to the stacking position 920 when the goods are located at the preset position 930 to automatically complete the stacking work of the goods, in other words, when the walking mechanism 11 drives the pick-and-place device 13 to move towards the stacking position 920, the walking mechanism 11 is prone to move deviating from the preset track Y, so that the parking position 910 is not located on the preset track Y, and when the walking mechanism 11 is parked, the position of the goods is not located at the preset position 930, and a certain deviation occurs, if the pick-and-place device 13 completes the stacking work according to the preset action, the goods are prone to deviate from the stacking position 920, the stacking precision is affected, and the pick-and-place device 13 is controlled to drive the goods to move by the deviation amount of the walking mechanism 11 deviating from the preset track Y to correct the position of the goods to be the preset position 930, and then the pick-and-place device 13 completes the stacking work according to the preset action, to ensure the goods stacking precision of the car loader 10.

For example, as shown in fig. 2, in the process that the traveling mechanism 11 drives the pick-and-place device 13 to move toward the stacking position 920, an actual movement track of the picking-and-place device 13 is the first central axis Z in fig. 2, when the traveling mechanism 11 stops at the parking position 910, the traveling mechanism 11 deviates from the preset track Y, at this time, the main controller controls the pick-and-place device 13 to drive the goods to move according to the deviation amount, so that the goods are located at the preset position 930, because the deviation amount representing that the traveling mechanism 11 deviates from the preset track Y is equal to the deviation amount of the goods deviating from the preset position 930, the position deviation of the goods can be repaired by controlling the pick-and-place device 13 to move the goods to the preset position 930 through the deviation amount, and after the position deviation of the goods is repaired, the goods are stacked to the pick-and-place.

For another example, when the stacking position 920 is located in a carriage, that is, when goods are stacked in the carriage, the preset trajectory Y may be a central axis of the carriage, where the central axis is a central line along a traveling direction of the carriage or a straight line parallel to the central axis of the carriage, the traveling mechanism 11 first drives the pick-and-place device 13 to enter the carriage, and when the traveling mechanism 11 stops at the parking position 910, the main controller controls the pick-and-place device 13 to drive the goods to move according to the offset, so as to correct the position deviation of the goods.

Referring to fig. 2, fig. 3 and fig. 4, fig. 3 is a schematic perspective view of a car loader 10 according to a first embodiment of the present invention. Fig. 4 is a schematic perspective view of the car loader 10 according to the first embodiment of the present invention from another perspective.

The pick-and-place device 13 may include a pick-and-place mechanism 131, a lifting mechanism 133 and a revolving mechanism 135 connected in sequence, the revolving mechanism 135 is connected to the traveling mechanism 11, the pick-and-place mechanism 131 may be connected to the goods, the revolving center O is a projection of a rotation axis of the revolving mechanism 135 on a horizontal plane, and the lifting mechanism 133 may drive the pick-and-place mechanism 131 to lift, thereby driving the pick-and-place mechanism 131 to lift and complete the action of picking and placing the goods together with the pick-and-place mechanism 131. The offset amount further includes an offset angle Δ θ, the main controller is electrically connected to the swing mechanism 135, and is capable of controlling the swing mechanism 135 to drive the lifting mechanism 133 to rotate by the offset angle Δ θ when the traveling mechanism 11 stops at the parking position 910, so as to drive the goods to horizontally rotate by the offset angle Δ θ, so that the orientation of the goods is the same as the extending direction of the preset track Y, so as to correct the angular offset of the goods, so that the stacked goods are regular and the situation of skew is not easy to occur.

It should be noted that, in the embodiment, the pick-and-place mechanism 131 is a fork tine mechanism, which can be adapted to the fork hole on the tray, of course, the pick-and-place device 13 may also be other structures for picking and placing the goods, such as a negative pressure suction nozzle for absorbing the goods or a clamping structure for clamping the goods, and the specific structure is not limited in the embodiment; furthermore, a structure for pushing out the goods may be provided on the pick-and-place device 13 to horizontally push the goods or the goods stack to the stacking position 920 from the fork mechanism.

In addition, in this embodiment, the pick-and-place device 13 may further include a tilting mechanism 134, which is respectively connected to the lifting mechanism 133 and the swing mechanism 135, and the lifting mechanism 133 is rotatably connected to the swing mechanism 135, and the tilting mechanism 134 can drive the lifting mechanism 133 to rotate relative to the swing mechanism 135, so that the lifting mechanism 133 is vertical or tilted, and when the lifting mechanism 133 is tilted, the fork tooth mechanism is tilted, so as to tilt the goods, thereby improving the convenience of transferring the goods.

Further, the pick-and-place device 13 may further include a traverse mechanism 132 connected between the lifting mechanism 133 and the pick-and-place mechanism 131, the offset amount further includes a lateral offset distance Δ d, the lateral offset distance Δ d represents a distance from a center of the traveling mechanism 11 to the preset track Y, in this embodiment, the rotation center O is a center of the traveling mechanism 11, that is, the lateral offset distance Δ d is a distance from the rotation center O to the preset track Y, the main controller is further electrically connected to the traverse mechanism 132, and when the traveling mechanism 11 stops at the parking position 910, the traverse mechanism 132 is controlled to drive the goods to move the lateral offset distance Δ d along a straight line in the first direction a, so that the goods are located at the preset position 930 to correct the position offset of the goods. The accuracy of cargos stacked by the car loader 10 is improved.

It should be noted that, in the embodiment, when the traveling mechanism 11 stops at the parking position 910, the main controller first controls the revolving mechanism 135 to drive the lifting mechanism 133 to rotate by the offset angle Δ θ, and then controls the transverse mechanism 132 to drive the goods to move along the straight line in the first direction a by the transverse offset distance Δ d, so as to complete the repairing operation of the goods position, of course, in other embodiments, the two operations may be performed simultaneously, and of course, the two operations may also be performed together with the operation of the pick-and-place device 13 to stack the goods to the stacking position 920. In addition, in other embodiments, the traversing mechanism 132 may also be connected between the revolving mechanism 135 and the lifting mechanism 133 to move the goods laterally by the lateral movement of the electric lifting mechanism 133.

The working principle of the car loader 10 provided by the first embodiment of the invention is as follows:

running gear 11 can drive to get puts device 13 and move towards stacking position 920 to stop when being close to stacking position 920, the position that running gear 11 stopped at this moment is parking position 910, get and put device 13 and can drive the goods and remove, main controller can get and put device 13 and drive the goods and remove according to the offset control when running gear 11 is located parking position 910, so that the goods is located and predetermines position 930, wherein, the offset represents the deviation of running gear 11 skew default trajectory Y. The taking and placing device 13 can also stack corresponding goods to the stacking position 920 when the goods are located at the preset position 930 to automatically complete stacking work of the goods, so that when the walking mechanism 11 drives the taking and placing device 13 to move towards the stacking position 920 and the situation of movement deviating from the preset track Y occurs, the taking and placing device 13 is controlled to drive the goods to move by the deviation amount of the walking mechanism 11 deviating from the preset track Y, the position of the goods is corrected to be the preset position 930, and the stacking work is completed by the taking and placing device 13 according to the preset action, so that the accuracy of stacking the goods of the car loader 10 is guaranteed. And then accomplish the action of putting things in good order automatically, and its precision of putting things in good order is higher.

In summary, the following steps:

the first embodiment of the present invention provides a car loader 10, which can automatically stack goods and has a feature of high precision in stacking goods.

Second embodiment:

referring to fig. 5 and fig. 6, fig. 5 is a schematic structural diagram of a loading system 100 according to a second embodiment of the present invention. Fig. 6 is a schematic cross-sectional view of the detecting box 24 of the loading system 100 according to the second embodiment of the present invention.

The loading system 100 includes a position detecting device (not shown) and the loader 10, wherein the basic principle and the technical effect of the loader 10 are the same as those of the above-mentioned embodiment, and for the sake of brief description, reference may be made to the corresponding content in the above-mentioned embodiment for the part of this embodiment that is not mentioned.

The position detection device comprises an emitting mechanism 21 and a receiving mechanism 22 mounted on the traveling mechanism 11, wherein the emitting mechanism 21 is used for emitting positioning light to the receiving mechanism 22 when the traveling mechanism 11 stops at the parking position 910, the receiving mechanism 22 can receive the positioning light and form a positioning pattern, and the positioning pattern represents the preset track Y, in other words, the positioning light irradiates along the extending direction of the preset track Y so as to form the positioning pattern representing the preset track Y on the receiving mechanism 22; the main controller is also electrically connected to the receiving means 22, and is capable of recognizing a deviation of the positioning pattern from a preset pattern, and generating an offset, wherein the preset pattern characterizes a position of the traveling mechanism 11, in other words, the main controller recognizes a deviation of the traveling mechanism 11 from the preset trajectory Y by recognizing the deviation of the positioning pattern from the preset pattern, so as to obtain the offset. In this way, the specific position of the positioning pattern formed by the receiving mechanism 22 is identified and compared with the preset pattern to reflect the deviation of the traveling mechanism 11 relative to the preset track Y, and the acquisition and identification method is not easily interfered and has high stability.

When the loading system 100 is used for stacking goods in a carriage, the emitting mechanism 21 can emit positioning light rays into the carriage, so that the receiving mechanism 22 located in the carriage receives the positioning light rays and forms a positioning pattern representing the preset track Y.

It should be noted that, in this embodiment, the preset pattern may include a pattern representing the rotation center O and the first central axis Z, and the positioning light is a linear laser, in other embodiments, the positioning light may also be a laser spot array composed of a plurality of spot lasers in a specified manner reflecting the preset track Y, or may also be a specific pattern composed of laser beams reflecting the preset track Y, and the specific form of this embodiment is not limited.

In addition, the position detection device may further include a transmitting moving mechanism 23, the transmitting mechanism 21 is mounted on the transmitting moving mechanism 23, the transmitting moving mechanism 23 is configured to be mounted on the ground, and the position of the transmitting mechanism 21 can be adjusted to adjust the position and the angle of the transmitting mechanism 21 according to the preset track Y or the position of the carriage, so that the positioning light emitted by the transmitting mechanism 21 coincides with the projection of the preset track Y on the horizontal plane.

Further, the receiving mechanism 22 may further include a collector 221 and a receiving plate 222, a side of the receiving plate 222 close to the emitting mechanism 21 is lower than a side of the receiving plate 222 away from the emitting mechanism 21, and an upper surface of the receiving plate 222 is biased toward the receiving mechanism 22, so as to receive the positioning light through the upper surface of the receiving plate 222 and form a positioning pattern on the upper surface of the receiving plate 222; the collector 221 is disposed toward the upper surface of the receiving plate 222, the collector 221 is used for collecting positioning patterns, the collector 221 is electrically connected to the main controller, and the collector 221 can transmit the positioning patterns to the main controller. The receiving and positioning light and collecting and positioning pattern device is simple in structure, and can stably complete the actions of receiving and positioning light and collecting and positioning patterns in narrow space and poor light environments such as a carriage.

It should be noted that the upper surface of the receiving plate 222 is a rough and diffuse plane to form an easily-collected positioning pattern on the upper surface of the receiving plate 222. In addition, the receiving mechanism 22 and the collecting mechanism can be disposed in the detecting box 24, the detecting opening 241 is disposed on the side of the detecting box 24 facing the emitting mechanism 21, and the detecting opening 241 is covered by a transparent plate, so that the positioning light can be irradiated on the receiving plate 222 through the detecting opening 241, the dust and other impurities can be prevented from adhering to the upper surface of the receiving plate 222 and the lens of the collector 221, and the working stability of the position detecting device can be improved.

The loading system 100 according to the second embodiment of the present invention has the following working principle:

the traveling mechanism 11 can drive the pick-and-place device 13 to move towards the stacking position 920 and stop when approaching the stacking position 920, the stopping position of the traveling mechanism 11 is a parking position 910, the pick-and-place device 13 can drive the goods to move, and the main controller can form a positioning pattern representing the preset track Y on the receiving mechanism 22 by identifying the irradiation of positioning light along the extending direction of the preset track Y when the traveling mechanism 11 is located at the parking position 910; and further, the deviation of the positioning pattern relative to the preset pattern is identified to identify the deviation of the traveling mechanism 11 relative to the preset track Y, so as to obtain the deviation. The main controller can also control the pick-and-place device 13 to move the goods according to the offset, so that the goods are located at the preset position 930. The taking and placing device 13 can also stack corresponding goods to the stacking position 920 when the goods are located at the preset position 930 to automatically complete stacking work of the goods, so that when the walking mechanism 11 drives the taking and placing device 13 to move towards the stacking position 920 and the situation of movement deviating from the preset track Y occurs, the taking and placing device 13 is controlled to drive the goods to move by the deviation amount of the walking mechanism 11 deviating from the preset track Y, the position of the goods is corrected to be the preset position 930, and the stacking work is completed by the taking and placing device 13 according to the preset action, so that the accuracy of stacking the goods of the loading system 100 is ensured. And then accomplish the action of putting things in good order automatically, and its precision of putting things in good order is higher.

In summary, the following steps:

the second embodiment of the present invention provides a loading system 100, which can automatically stack goods and has a feature of high precision of stacking goods.

The third embodiment:

referring to fig. 7, fig. 7 is a schematic flow chart of a loading method according to a third embodiment of the present invention.

The loading method is applied to the loading system 100 of the above embodiment, and the basic principle and the generated technical effect are the same as those of the above embodiment, and for brief description, no part of this embodiment is mentioned, and corresponding contents in the above embodiment can be referred to.

The loading method comprises the following steps:

step S100: when the traveling mechanism 11 stops at the parking position 910, the pick-and-place device 13 is controlled to move the cargo according to the offset, so that the cargo is located at the predetermined position 930. When deviation occurs in the process that the travelling mechanism 11 drives the pick-and-place device 13 to move towards the stacking position 920, the position of the goods is corrected to be the preset position 930, so that the precision of stacking the goods in the loading system 100 is improved.

Referring to fig. 8, fig. 8 is a schematic flow chart illustrating the sub-step of step S100 of the loading method according to the third embodiment of the present invention.

Further, step S100 may further include:

step S103: and controlling the pick-and-place device 13 to drive the goods to horizontally rotate by the offset angle delta theta. So that the orientation of goods is the same with the extending direction of presetting the orbit Y to the angle skew of correction goods, so that the goods after putting in order is regular, the crooked condition is difficult for appearing.

Before step S103, the loading method may further include:

step S101: and identifying an angle between a preset track Y represented by the positioning pattern and a first central axis Z represented by the preset pattern, and generating an offset angle delta theta. The specific position of the positioning pattern formed by the receiving mechanism 22 is identified to be compared with the preset pattern, so that the angular deviation of the travelling mechanism 11 relative to the preset track Y is reflected, the acquisition and identification mode is not easily interfered, and the stability is high.

Further, step S100 may further include:

step S104: and controlling the pick-and-place device 13 to drive the goods to move along the straight line of the first direction A by the transverse offset distance delta d. So that the cargo is located at the preset position 930 to correct the positional deviation of the cargo. The accuracy of cargos stacked by the car loader 10 is improved.

Before step S104, the loading method may further include:

step S102: and generating a transverse offset distance delta d according to the distance between the preset track Y represented by the positioning pattern and the walking mechanism 11 represented by the preset pattern. The specific position of the preset track Y represented by the positioning pattern formed by identifying the irradiation on the receiving mechanism 22 is compared with the position of the walking mechanism 11 represented by the preset pattern to reflect the distance of the walking mechanism 11 relative to the preset track Y, and the acquisition and identification mode is not easily interfered and has high stability.

The operating principle of the loading method provided by the third embodiment of the invention is as follows:

when the traveling mechanism 11 stops at the parking position 910, the pick-and-place device 13 is controlled according to the offset to drive the goods to move, so that the goods are located at the preset position 930, the orientation of the goods is the same as the extending direction of the preset track Y, the position offset and the angle offset of the goods are corrected, the goods stacked are neat, the skew condition is not easy to occur, and the precision of the goods stacked in the loading system 100 is improved.

In summary, the following steps:

the third embodiment of the present invention provides a loading method, which also has a characteristic of high precision in automatically stacking goods.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and it is obvious to those skilled in the art that the features in the above embodiments may be combined with each other and the present invention may be variously modified and changed without conflict. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention. The present embodiments are to be considered as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims

1. The car loader is characterized by comprising a main controller, a taking and placing device (13) and a traveling mechanism (11), wherein the taking and placing device (13) is connected to the traveling mechanism (11) and is electrically connected with the main controller;

the travelling mechanism (11) can drive the taking and placing device (13) to move towards a stacking position (920) and stop when approaching the stacking position (920), and the stopping position is a parking position (910);

the picking and placing device (13) can drive goods to move, and the main controller can control the picking and placing device (13) to drive the goods to move according to the offset when the travelling mechanism (11) is located at the parking position (910), so that the goods are located at a preset position (930), wherein the offset represents the offset of the travelling mechanism (11) deviating from a preset track (Y), and the preset position (930) is located at one end of the preset track (Y);

the taking and placing device (13) can also be used for stacking the goods to the stacking position (920) when the goods are located at the preset position (930).

2. The car loader as claimed in claim 1, wherein the pick-and-place device (13) comprises a pick-and-place mechanism (131), a lifting mechanism (133) and a swing mechanism (135) connected in sequence, the swing mechanism (135) being connected to the traveling mechanism (11);

the picking and placing mechanism (131) can be connected with the goods, and the lifting mechanism (133) can drive the picking and placing mechanism (131) to lift, so that the picking and placing mechanism (131) is driven to lift, and the picking and placing mechanism (131) can jointly complete the actions of picking and placing the goods;

the offset comprises an offset angle (delta theta), the offset angle (delta theta) represents the angle between a first central axis (Z) of the walking mechanism (11) and the preset track (Y), the main controller is electrically connected with the swing mechanism (135), and the swing mechanism (135) is controlled to drive the lifting mechanism (133) to rotate by the offset angle (delta theta) when the walking mechanism (11) is located at the parking position (910), so that the goods are driven to horizontally rotate by the offset angle (delta theta).

3. The car loader as claimed in claim 2, wherein the pick-and-place device (13) further comprises a traverse mechanism (132), the traverse mechanism (132) being connected between the swing mechanism (135) and the lifting mechanism (133) or between the lifting mechanism (133) and the pick-and-place mechanism (131);

the offset further comprises a transverse offset distance (delta d), the transverse offset distance (delta d) represents the distance between the center of the traveling mechanism (11) and the preset track (Y), the main controller is further electrically connected with the transverse moving mechanism (132), and can control the traveling mechanism (11) to stop at the parking position (910), the transverse moving mechanism (132) drives the goods to move along the straight line of the first direction (A) to the transverse offset distance (delta d), wherein the first direction (A) is horizontal and perpendicular to the direction of the preset track (Y).

4. A loading system, characterized by comprising a position detection device and a car loader (10) according to any one of claims 1-3;

the position detection device comprises an emitting mechanism (21) and a receiving mechanism (22) installed on the traveling mechanism (11), wherein the emitting mechanism (21) is used for emitting positioning light to the receiving mechanism (22) when the traveling mechanism (11) stops at the parking position (910), the receiving mechanism (22) can receive the positioning light and form a positioning pattern, and the positioning pattern represents the preset track (Y);

the main controller is also electrically connected with the receiving mechanism (22) and can identify the deviation of the positioning pattern relative to a preset pattern and generate the deviation amount, wherein the preset pattern represents the position of the travelling mechanism (11).

5. The loading system according to claim 4, wherein the receiving mechanism (22) comprises a collector (221) and a receiving plate (222), a side of the receiving plate (222) close to the emitting mechanism (21) is lower than a side of the receiving plate (222) far away from the emitting mechanism (21), and an upper surface of the receiving plate (222) is arranged to be biased towards the emitting mechanism (21) so as to receive positioning light through the upper surface of the receiving plate (222) and form the positioning pattern on the upper surface of the receiving plate (222);

the collector (221) is electrically connected with the main controller and faces the upper surface of the receiving plate (222), and the collector (221) is used for collecting the positioning patterns and sending the positioning patterns to the main controller.

6. A loading method, applied to a loading system (100) according to any one of claims 4 to 5, comprising:

when the travelling mechanism (11) stops at the parking position (910), controlling the pick-and-place device (13) to drive the goods to move according to the offset amount so that the goods are located at the preset position (930).

7. The loading method according to claim 6, characterized in that said offset comprises an offset angle (Δ θ) representative of the angle between a first central axis (Z) of said travelling mechanism (11) and said preset trajectory (Y);

the step of controlling the picking and placing device (13) to drive the goods to move according to the offset comprises the following steps:

and controlling the pick-and-place device (13) to drive the goods to horizontally rotate by the offset angle (delta theta).

8. The loading method according to claim 7, characterized in that before the step of controlling the pick-and-place device (13) to move the goods according to the offset, the loading method further comprises:

-identifying an angle between the preset trajectory (Y) characterized by the positioning pattern and the first central axis (Z) characterized by the preset pattern, and generating the offset angle (Δ θ).

9. The loading method according to claim 6, characterized in that said offset further comprises a lateral offset distance (Δ d) characterizing the distance of said load from said preset trajectory (Y) as said travelling mechanism (11) reaches said parking position (910);

and controlling the pick-and-place device (13) to drive the goods to move by the transverse offset distance (delta d) along a straight line in a first direction (A), wherein the first direction (A) is a direction which is horizontal and vertical to the preset track (Y).

10. The loading method according to claim 9, wherein before the step of controlling the picking and placing device (13) to move the goods according to the offset, the loading method further comprises:

-generating said lateral offset distance (Δ d) as a function of the distance between said preset trajectory (Y) characterized by said positioning pattern and said travelling mechanism (11) characterized by said preset pattern.