CN112678561B

CN112678561B - Automatic loading method

Info

Publication number: CN112678561B
Application number: CN202110264543.4A
Authority: CN
Inventors: 李政德; 刘霞; 武杰; 戴冬冬; 霍英杰
Original assignee: Austong Intelligent Robot Technology Co Ltd
Current assignee: Austong Intelligent Robot Technology Co Ltd
Priority date: 2021-03-11
Filing date: 2021-03-11
Publication date: 2021-06-01
Anticipated expiration: 2041-03-11
Also published as: CN112678561A

Abstract

The embodiment of the invention relates to the field of loading in the logistics industry and discloses an automatic loading method. In the invention, the product is disassembled and output to the conveying belt, and the empty trays are output after being turned and overlapped; the conveying belt conveys the products passing through the direction checking link to the loading part; and the loading part receives the products output by the conveying belt, arranges and arranges the products and puts the products into the carriage. The automatic loading device realizes full-automatic loading of products, gets rid of dependence on workers, improves loading efficiency and ensures product safety, improves the working efficiency of the automatic loading method by matching product discharging speed with conveying speed, automatically transfers and superposes empty trays without manual long-term guard, simplifies the structure of the loading device by the product arrangement and placement mode of loading parts, reduces the complexity of the structure, and also reduces the complexity of system control, thereby improving loading efficiency, and the automatic loading method can adapt to the loading process of products with different sizes.

Description

Automatic loading method

Technical Field

The embodiment of the invention relates to the field of loading in the logistics industry, in particular to an automatic loading method.

Background

The inventor finds that at least the following problems exist in the prior art: with the mass sale of fast-consumed products such as milk, beverages, wines and the like, the loading and transportation industry has come to a great pressure. The produced fast-food products such as milk and the like are all stored in a stacking mode, usually carried by using a tray, disassembled into individuals, coded into a specific arrangement mode according to the compartment space and the product shape, reloaded according to a certain rule, and transported after being loaded. However, the manual loading time is long, the labor intensity is high, the waiting time of the vehicle is long, the turnover is slow, the worker for loading is difficult and unstable, and the manual loading cost is high.

The product loading process mainly comprises a disassembling link, a conveying link and a loading link. In the prior art, the disassembling link is mainly divided into mechanical arm grabbing and sucker sucking, the mechanical arm grabbing mode has high cost, the mechanical arm control process is complex, the disassembling speed is slow, the sucker sucking mode can only suck the whole disc of products with the same size as that of a sucker, if the area of the whole disc of products is smaller than that of the sucker, the condition of vacuum leakage is easy to occur, and the products are easy to drop; in the prior art, the loading link mainly depends on manual work, the products are sorted and placed piece by manual work, the efficiency is low, the phenomenon of throwing the packages is easy to occur during manual placement, the products are easy to drop and damage, the positions of the products placed manually are not accurate, the phenomenon of collapsing the boxed products is easy to occur, the products are damaged, and the loading time is prolonged; still have the loading mode that exceeds the blanking among the prior art, this type of mode product is put the link and has been broken away from the reliance to the manual work, does not have the arrangement link of product, puts the product piece by piece, and loading efficiency is slow, and the blanking is located the carriage top, and the space that the system needs is great, and the mode of blanking easily damages the product, can only be applied to the loading of specific type product, and leads to the locating position inaccurate easily through the mode of blanking, and the risk that the loading height also easily takes place to collapse beyond the threshold value. In recent years, the manipulator is gradually used for grabbing products for placement, the rules and efficiency of placing in such a mode are mainly realized by a control system of the manipulator, only one product can be grabbed each time when a single product is grabbed by the manipulator for placement, the products are not arranged in batches before placement, the posture and position of the manipulator are controlled each time when the products are grabbed, and the placement efficiency is low; the manipulator is used for grabbing a plurality of products to place, only simple position adjustment is carried out on the products, the placing positions and the shapes of the products are all required to be achieved through algorithm calculation and the manipulator, the manipulator needs to adjust the position of a joint in the grabbing and putting-down process, the loading efficiency is low, in addition, the cost of the manipulator is high, the activity space needs to be large, the cost is high, the control logic and the structure are complex, only a few products can be grabbed at each time to be placed, and the loading efficiency is not high. In order to reduce cost, realized automatic loading through mechanical structure cooperation has appeared gradually in recent years, but above-mentioned structure adopts independent power supply to carry out simple product and stirs and position adjustment mostly, and the device structure is complicated, and the power supply needs a lot more, and the cost is higher, and the product propelling movement speed after the arrangement is slow, is unfavorable for wholly improving loading speed, and most loading equipment is applicable to the product of specific classification, and the equipment suitability is poor, is difficult to use widely.

Disclosure of Invention

The invention aims to provide an automatic loading method aiming at the problems in the prior art.

In order to solve the technical problem, an embodiment of the present invention provides an automatic loading method, which is applied to an automatic loading device, where the automatic loading device includes a tray detaching device, a conveying belt, and a loading part, and the automatic loading method specifically includes:

step 1, the product is received by the tray disassembling device, the product is disassembled and output to the conveying belt by the tray disassembling device, and the empty trays are output after being turned and overlapped;

step 2, the conveyer belt receives the products output by the tray detaching device, an orientation adjusting part and an orientation checking part are arranged on the conveyer belt, the orientation checking part judges whether the orientation of the products on the conveyer belt meets a preset orientation condition, if not, the orientation checking part adjusts the orientation of the products, and the products are transmitted to the loading part;

step 3, the loading part receives the products output by the conveying belt, arranges and arranges the products and puts the products into a carriage;

the loading part comprises a plurality of sensors, a first push rod, a supporting frame, a guide plate, a stop block and an integration platform, wherein a roller is arranged on the integration platform, limiting frames are arranged on two sides of the integration platform and are matched and connected with the upper surfaces of two ends of the first push rod, the supporting frame is rotatably connected with one end of the guide plate, the other end of the guide plate is fixedly connected with the first push rod, the lower surface of the guide plate is connected with the stop block, the loading part comprises a second push rod and a first bottom plate,

the step 3 specifically includes:

step 3.1, a control unit receives output signals of the sensors, controls the rotation direction of the roller according to the output signals of the sensors, and conveys products on the roller to a specific position of the integration platform;

step 3.2, the control unit receives detection signals of a plurality of sensors, when the detection signals of the plurality of sensors meet a first preset condition, the control unit sends a box pushing control signal, the supporting frame slides forwards according to the box pushing control signal, the lower surface of the guide plate is separated from the stop block, the guide plate rotates downwards around the supporting frame, the first push rod is separated from the limiting frame, and the arranged products are pushed to advance; when the product leaves the roller, the control unit controls the roller to rotate, returns to step 3.1, and receives and arranges a new product; the first push rod pushes a product leaving the roller to advance to a first preset position, the control unit sends a push rod withdrawing signal, the supporting frame retreats according to the push rod withdrawing signal, the lower surface of the guide plate is in contact connection with the stop block, the guide plate rotates upwards, and two ends of the first push rod are in fit connection with the limiting frame;

and 3.3, receiving the product output in the step 3.2 by the first bottom plate, and putting the product into the carriage by the second push rod and the first bottom plate in a matching manner.

Preferably, the plurality of sensors include a first sensor disposed in a middle region of the integration platform and a second sensor and a third sensor disposed on two sides of the integration platform, and step 3.1 specifically includes:

the control unit controls the roller to rotate towards the first direction where the second sensor is located, the product moves towards the first direction, the control unit conveys the product to the first side end portion of the integration platform based on the detection signal of the second sensor, the control unit confirms whether the product exists at the current position according to the detection signal of the first sensor, if yes, the control unit outputs a rotation direction adjusting signal, the roller rotates towards the second direction where the third sensor is located, and the product newly received from the acceleration unit is placed towards the second direction.

Preferably, the step 1 includes a product discharging step, and the product discharging step specifically includes:

the tray disassembling device comprises a feeding unit, a sensor unit is arranged on the feeding unit, the sensor unit detects whether a tray exists on the feeding unit, if so, a locking signal is sent out, the receiving of a new tray is suspended, otherwise, an unlocking signal is sent out, and the tray loaded with products is received;

the tray disassembling device comprises an execution unit, the execution unit receives a tray output by the feeding unit and acquires product information on the tray, the product information on the tray comprises the total height of products on the tray and the height of each layer of products, whether the working cycle of the tray disassembling device reaches a material taking cycle threshold corresponding to the current tray is judged, if yes, the products on the current tray are completely acquired by the suckers, the execution unit sends out empty tray transfer signals, and the execution unit executes output of the empty tray;

if not, calculating the descending height of the tray dismounting device in the next working period based on the count value of the next working period, the total height of the products on the tray and the height of each layer of products, sending a descending signal to control the tray dismounting device to descend, wherein the descending signal carries the descending height.

Preferably, the disc detaching device comprises a sucker, the surface of the sucker is divided into a plurality of geometric areas, each geometric area is provided with a small hole, and a limiting bead is embedded in each small hole;

the product discharging step comprises the following steps: the sucker moves to the position above the product to be disassembled, and the sucker slides downwards to contact the surface of the product; the surface of the product pushes the limiting bead in the geometric shape area of the surface of the contact sucker back into the sucker, and the sucker sucks the upper surface of the product; the sucking disc after sucking the product slides upwards and forwards, and conveys the sucked product to a disassembling position.

Preferably, the step 1 includes an empty tray discharging step, and the empty tray discharging step specifically includes:

if an empty tray exists on the tray detaching device, sending an empty tray transfer signal;

responding to the empty tray transfer signal, and transmitting the empty tray to a tray discharging unit by a first driving unit on the tray disassembling device;

the tray discharging unit comprises a first tray discharging station and a second tray discharging station, and in response to the empty tray transfer signal, the first tray discharging station receives the empty trays and transfers the received empty trays to the second tray discharging station to stack the empty trays.

Preferably, a second driving unit and a third driving unit are arranged in the first tray discharging station, and the second driving unit receives an empty tray and transmits the empty tray to the first tray discharging station;

when the empty tray is conveyed to the first tray discharging station, sending a superposition trigger signal, responding to the superposition trigger signal, enabling a third driving unit to rotate towards the second tray discharging station, and conveying the empty tray to the second tray discharging station;

a plurality of rotating pieces are arranged on the empty tray frame of the second tray discharging station, and in response to a superposition trigger signal, the rotating pieces slide downwards along the empty tray frame to the lowest part of the second tray discharging station;

the rotating pieces horizontally rotate for a preset angle around the empty tray frame and are in contact connection with the bottom surface of the existing empty tray on the second tray discharging station;

the rotating pieces slide upwards for a first preset distance along the empty tray frame, and a fourth driving unit on the second tray discharging station receives the empty tray output by the first tray discharging station and transmits the newly received empty tray to the position right below the existing empty tray on the second tray discharging station;

the rotating pieces rotate to positions parallel to the side edges of the existing empty trays on the second tray discharging station, and the existing empty trays on the second tray discharging station fall down to be overlapped with the newly received empty trays.

stopping the palladium from falling at the space between the adjacent products;

the disc disassembling device comprises a first sensor combination, the first sensor combination detects the number and the distance of products at the joint of the conveying belt and the disc disassembling device, and if the number and the distance of the products at the joint of the conveying belt and the disc disassembling device meet preset conditions, the stopping palladium is lifted to keep a certain height, and disassembled products are output to the conveying belt.

Preferably, in step 2, the conveyor belt receives the product output by the tray detaching device, the conveyor belt is provided with an orientation adjusting component and an orientation verifying component, the orientation verifying component judges whether the orientation of the product on the conveyor belt meets a preset orientation condition, if not, the orientation verifying component adjusts the orientation of the product, and transmits the product passing through the orientation verifying link to the loading component;

the direction adjusting component adjusts the direction of the product on the conveying belt to enable one side edge of the product to be parallel to the frame of the conveying belt;

the orientation checking component acquires a preset orientation condition based on the product information and adjusts the angle of the orientation detection sensor according to the product information, and the orientation checking component judges whether the orientation of the product on the conveying belt meets the preset orientation condition based on a detection signal of the orientation detection sensor;

if the preset orientation condition is not met, the orientation verification part adjusts the orientation of the product and transmits the product passing through the orientation verification link to the loading part.

Preferably, the loading part comprises an accelerating transmission belt, and the step 3.1 is preceded by:

the loading part receives the products from the conveying belt, and detects the space between the adjacent products from the conveying belt;

if the distance between the adjacent products from the conveying belt is smaller than a preset first distance value, the control unit sends a speed adjusting signal;

and adjusting the rotating speed of the accelerating transmission belt according to the speed adjusting signal, so that the distance between adjacent products from the conveying belt is adjusted.

Preferably, step 3 further comprises: a loading part positioning step, wherein the loading part positioning step specifically comprises the following steps:

the method comprises the following steps that a laser scanner scans a loading space in real time, and a motion controller controls a loading part to move to a current product stacking position according to a detection signal of the laser scanner;

the motion controller controls the integration platform to stretch and contract according to detection signals of the laser scanner and detection signals of sensors arranged on two sides of the integration platform;

and the first push rod which is matched and connected with the limiting frame of the integration platform stretches.

Compared with the prior art, the full-automatic loading method and the full-automatic loading device have the advantages that full-automatic loading of products is realized, dependence on workers is eliminated, loading efficiency is improved, and safety of the products is guaranteed. Particularly, the product output speed of the disassembling link can be controlled according to product information on a conveying belt in the disassembling link, the adjacent products are avoided and are not beneficial to the subsequent loading process, the relative distance between products output to the conveying belt can be adjusted through a product discharging sensor and stopping palladium, the matching of the discharging speed and the conveying speed is ensured, and the matching of the front link and the rear link is beneficial to improving the working efficiency of the automatic loading method. The conveying link can adjust the orientation of the product based on real-time detection, so that the orientation of the product transmitted to a subsequent process is normalized. In the loading link, the loading part only relies on the triggering of control signal and braced frame's back-and-forth movement, can drive the deflector, the dog, spacing frame, the cooperation action of first push rod, realize automatic loading, the gos forward of first push rod, withdraw and use same power supply can, only need control braced frame back-and-forth movement can, the structure of loading device has been simplified, the complexity of structure has been reduced, system control's complexity has also been reduced, and the gos forward of first push rod and return through different motion path, make when first push rod returns, the control unit can control the integration platform and receive and arrange new product in order, on the basis that does not need newly-increased power supply, the efficiency of putting has further been improved to the integration, thereby loading efficiency has been improved.

The automatic loading method of the invention gets rid of the dependence on manpower and improves the loading efficiency; compared with the existing high-altitude blanking and loading mode, a portal frame is not needed, the occupied space of the device is reduced, the safety of products is ensured, and the intelligent degree of product placement is improved; compared with the existing manipulator grabbing, the manipulator grabbing device has the advantages that the requirement on an algorithm is lowered, the manipulator purchasing cost is reduced, the requirement on space is reduced, a plurality of products can be arranged and placed according to a specific placing rule, and the loading efficiency is improved; compared with the prior art of realizing product loading by a mechanical structure, the control algorithm is simplified, and the loading efficiency is improved.

Compared with other prior art, further, the integration platform only utilizes the co-directional arrangement to realize the product arrangement by the cooperation of the rollers and the sensors, wherein the rollers and the sensors can be driven to roll in different directions, the occupied space is small, the arrangement control logic is simple, and the arrangement efficiency is high.

Compared with other prior art, further, the speed that conveys the product to the receipt and the interval of product around can be adjusted to the driving belt with higher speed, adapts to different grade type, different transmission speed's conveyer belt, and the interval of product is in order to cooperate the arrangement speed of follow-up link around the adjustment simultaneously, and the setting up of link with higher speed makes the conveyer belt of different grade type can adapt with the cooperation of integration platform, improves the work efficiency of follow-up integration platform, has further improved the efficiency of loading.

Compared with other prior art, further, the control unit controls and adjusts the width of the guardrail and adjusts the lengths of the roller, the first push rod, the transition plate, the second roller and the second push rod, so that the automatic loading method can adapt to loading processes of products with different sizes.

The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.

Drawings

One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.

FIG. 1 is a schematic flow chart of an automatic loading method according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of an automatic loading apparatus to which the automatic loading method of the embodiment of the present invention is applied;

FIG. 3 is a schematic diagram of a disk dismounting device according to an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a tray discharging unit according to an embodiment of the present invention;

FIG. 5 is a schematic structural view of a truck-loading part according to an embodiment of the present invention;

fig. 6 is a schematic diagram of a first angle structure of an acceleration unit according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, it will be appreciated by those of ordinary skill in the art that numerous technical details are set forth in order to provide a better understanding of the present application in various embodiments of the present invention. However, the technical solution claimed in the present application can be implemented without these technical details and various changes and modifications based on the following embodiments. The following embodiments are divided for convenience of description, and should not constitute any limitation to the specific implementation manner of the present invention, and the embodiments may be mutually incorporated and referred to without contradiction.

An automatic loading method provided according to some embodiments of the present invention is described below with reference to fig. 1 to 6.

A first embodiment of the present invention relates to an automatic loading method. The automatic loading device is applied to an automatic loading device, the automatic loading device comprises a tray disassembling device, a conveying belt and a loading part, and the automatic loading method comprises the following steps:

step 1, a tray disassembling device 1 receives a tray, a whole stack of stacked products is arranged on the tray, the products are disassembled and output to a conveying belt by the tray disassembling device, and empty trays are output after being turned and stacked;

the tray detaching device 1 comprises a feeding unit 11, an executing unit 12, a tray detaching unit 13, a product discharging unit 14 and a tray discharging unit 15, and the step 1 comprises a product discharging step and an empty tray discharging step.

The feeding unit is used for receiving trays loaded with products, and further is provided with a sensor unit which detects whether the trays exist on the feeding unit or not, if yes, a locking signal is sent out, the new trays are temporarily stopped to be received, and if not, an unlocking signal is sent out, and the trays loaded with the products are received.

As an alternative embodiment, the feeding unit comprises two stations, a first feeding station and a second feeding station. When feeding the product, the first feeding station receives the tray loaded with the product and transmits the tray to the second feeding station through the first driving unit. When the products are cached, the first feeding station cache receives the tray loaded with the products, the second feeding station is provided with a second driving unit, as an optional embodiment, the second driving unit can be a chain or a belt, the second driving unit of the second feeding station conveys the tray to the execution unit, the tray synchronously receives the cache conveyed by the first feeding station, the first driving unit and the second driving unit are matched in speed and synchronously act to continuously receive and convey the tray, the first feeding station and the second feeding station are arranged in front of and behind, a plurality of feeding stations are vertically arranged, different working states of receiving the products and buffering the products can be provided on the basis of a certain space, the feeding speed is fully guaranteed, the working frequency of subsequent working units is matched, and the whole loading efficiency is improved.

As an optional embodiment, the automatic loading device comprises a plurality of feeding units, each feeding unit works independently and simultaneously disassembles and supplies products, the number and the speed of the products are increased by arranging the feeding units, the feeding links can be matched with various conveying belts and loading parts behind the products, the supply efficiency of the products is increased, and the automatic loading efficiency is further increased.

The execution unit receives a tray loaded with products and output by the feeding unit, and is provided with a third driving unit and a first driving unit, the third driving unit is arranged in parallel with the first driving unit, and the driving directions of the first driving unit and the third driving unit are mutually perpendicular. In the product discharging step, when the product is received and disassembled, the control unit controls the third driving unit to receive and hold the tray, and the tray is conveyed to the station of the execution unit 12 for disassembling the tray disassembling device. As an optional embodiment, the surface of the sucking disc is divided into a plurality of geometric shape areas, the geometric shape can be a rectangle, a regular hexagon and the like, a small hole is arranged in each geometric shape area, a limiting bead is embedded in the small hole, when the sucking disc is used for sucking a product, when the sucking disc is contacted with the surface of the product, the surface of the product pushes the limiting bead back into the sucking disc, the sucking disc sucks the upper surface of the product to form a vacuum state, when the area of the whole disc of the product is smaller than that of the sucking disc, part of the geometric shape areas are not contacted with the surface of the product, the limiting bead is limited in the small hole at the moment to prevent vacuum leakage, the firmness of the sucked product is ensured, the sucking disc can accelerate the disassembly of the product, the feeding speed is ensured, the subsequent conveying and loading speed is fully matched, the supplied material support is provided for accelerating the material support, and the limiting bead arranged on the sucking disc can prevent the product, avoiding damaging the product.

Further, the execution unit acquires product information on the tray, the product information on the tray comprises the total height of products on the tray and the height of each layer of products, whether the work cycle of the tray detaching device reaches a material taking cycle threshold corresponding to the current tray is judged, if yes, the products on the current tray are acquired by the suckers, the execution unit sends out empty tray transfer signals, and the execution unit executes output of empty trays. If not, calculating the descending height of the tray dismounting device in the next working period based on the count value of the next working period, the total height of the products on the tray and the height of each layer of products, sending a descending signal to control the tray dismounting device to descend, wherein the descending signal carries the descending height. The descending height of each working period of the disk dismounting device can be determined only by the working period counting value, the descending height of each working period does not need to be memorized and compared, and the data volume stored in each working period is reduced.

The tray disassembling device comprises a tray discharging unit 15, in the discharging step of the empty tray, when the product on the tray is acquired by the sucker, the execution unit executes the output of the empty tray and sends out an empty tray transfer signal. The control unit receives the empty tray transfer signal, and the first driving unit transmits the empty tray on the execution unit to the tray discharging unit. As an alternative embodiment, the first drive unit may be a chain. A station of the execution unit can simultaneously convey products and trays, the empty trays are conveyed to the surrounding idle stations in time, the follow-up new trays loaded with the products are guaranteed to be received in time, the setting is on the basis of saving the space, the situation that the trays need to be manually moved away after each tray product is disassembled is avoided, the automation degree of the loading process is improved, dependence on manpower is eliminated, continuous supply of the products can be guaranteed by moving the empty trays in time, delay of the product disassembling speed due to the fact that the empty trays occupy the positions is avoided, the situation that no products can be placed is achieved, and the working efficiency of the whole loading process is improved.

The tray discharging unit 15 receives the empty trays output by the execution unit, and realizes the functions of empty tray steering and empty tray stacking. The tray discharging unit comprises a first tray discharging station and a second tray discharging station which are arranged in the front and back, and in response to an empty tray transfer signal, the first tray discharging station receives an empty tray conveyed by the execution unit 12 and conveys the received empty tray to the second tray discharging station to realize a stacking function. The second driving unit and the third driving unit are arranged in the first tray discharging station and are arranged vertically, and the moving directions of the second driving unit and the third driving unit are mutually vertical. As an alternative embodiment, the second and third drive units may be chains. The second drive receives the empty tray conveyed by the execution unit, the empty tray is conveyed to the designated position of the first tray discharging station, when the empty tray is conveyed to the designated position of the first tray discharging station, a superposition trigger signal is sent out, in response to the superposition trigger signal, the third drive unit rotates towards the second tray discharging station, the empty tray is conveyed to the second tray discharging station, the fourth drive unit receives the empty tray, and the fourth drive unit and the third drive unit are arranged in the same direction and rotate in the same direction. A plurality of rotating pieces 1522 are arranged on an empty tray frame of the second tray discharging station, and in response to a superposition trigger signal, the rotating pieces slide downwards along the empty tray frame and slide to the lowest part of the second tray discharging station; the rotating piece horizontally rotates for a preset angle around the empty tray frame at the current height, and rotates to the position below the existing empty tray from the position parallel to the side edge of the existing empty tray, so that the rotating piece is in contact connection with the bottom surface of the existing empty tray; the rotating piece slides upwards for a first preset distance along the empty tray frame, and an existing empty tray on the second tray discharging station is lifted for a preset height; the fourth driving unit receives the empty tray output by the first tray discharging station and transmits the newly received empty tray to the position right below the existing empty tray on the second tray discharging station; when the newly received empty tray moves to a preset position on the second tray discharging station, the rotating piece rotates to a position parallel to the side edge of the existing empty tray on the second tray discharging station, and the existing empty tray on the second tray discharging station falls down and is overlapped with the newly received empty tray.

The automatic loading device is characterized in that a plurality of driving units which act in a matched mode are arranged in a limited space, the driving units rotate in a matched mode, and empty trays are turned and stacked, on one hand, the turning of the empty trays is beneficial to adjusting the direction of the empty trays according to the placing direction of the empty trays when products are fed, and the empty trays are convenient to move away in the same placing direction as that of the fed materials in the later period of a forklift, the direction does not need to be adjusted again when the empty trays are reused and fed materials, so that the process steps of the whole process are simplified, the steps of manual operation and intervention are reduced, the dependence on manpower is reduced, the automation degree is improved, the direction adjusting link is omitted, and the integral loading speed is increased; on the other hand, can shift and superpose empty tray through simple chain and the cooperation action of rotating the piece, can be in the automatic loading of realization of long time under the condition of unmanned supervision, need not the manual work in the short time and pull away the tray, realized the automation of loading process better, and empty tray ejection of compact rapidly and superpose and handle at other stations, help the follow-up tray pan feeding that contains the product, flow cooperation between each part has further promoted the efficiency of loading.

The product discharging unit 14 receives the whole tray product output by the tray detaching unit 13, the product discharging unit is provided with a fifth driving unit, a first sensor combination is arranged at the joint of the fifth driving unit and the conveying belt, as a specific embodiment, the fifth driving unit can be a roller, a universal wheel or a belt with different sizes, and the first sensor combination comprises a laser sensor, a distance measuring sensor, a visible light camera and the like. The servo motor drives the fifth driving unit to disassemble the whole disc of products into single products, and a space exists between every two adjacent single products. And the product discharging unit outputs the disassembled product to the conveying belt.

Further, before the product discharging unit receives the whole disc of products output by the disc disassembling unit, the product discharging unit detects whether products which are not disassembled exist on the product discharging unit or not, the detection signal is compared with the state recorded by the product discharging unit, if the detection signal and the state recorded by the product discharging unit are consistent, the disc disassembling device is controlled according to the detection signal, otherwise, whether products which are not disassembled exist on the product discharging unit are repeatedly detected, and the step of comparing the detection signal with the state recorded by the product discharging unit is returned. And if the detection signal is inconsistent with the state recorded by the product discharging unit after the first preset number of times is repeated, controlling the disc detaching device according to the detection signal, and updating the state recorded by the product discharging unit. The step of controlling the disc disassembling device according to the detection signal specifically comprises the steps of sending a pause signal if the product discharging unit has a product which is not disassembled, and controlling the disc disassembling device to pause and fall down to avoid the collision of two batches of products; and if the product discharging unit does not have the un-disassembled product, sending a falling signal to allow the disassembling disc device to fall down and supply a new product.

Further, the first sensor combination detects the number and the spacing of the products at the joint of the conveying belt and the tray detaching unit. And if the number and the distance of the products at the joint of the conveyer belt and the tray detaching unit meet preset conditions, the stopping palladium is lifted. The distance exists between products on the fifth driving unit, the stopping palladium falls under the action of gravity at the distance between adjacent products, the first sensor combination detects the quantity and distance information of the products, if the quantity of the products at the joint of the conveying belt and the fifth driving unit is smaller than a preset value, and the distance between the adjacent products is smaller than the preset value, the condition of product accumulation is shown, the distance between the adjacent products is too small, the subsequent arrangement is not facilitated, the stopping palladium keeps a falling state at the moment, the product discharging is prevented, and the quantity and the distance of the products are continuously detected by the first sensor combination. And if the number and the distance of the products at the joint of the conveyer belt and the tray detaching unit are larger than preset values, the stopping palladium is lifted to keep a certain height, and the detached products are output to the conveyer belt.

Further, if contain a plurality of pan feeding units among the automatic loading device, the product ejection of compact unit that every pan feeding unit corresponds detects the quantity and the interval of adjacent product ejection of compact unit ejection of compact product respectively, if the quantity and the interval of adjacent product ejection of compact unit ejection of compact product satisfy first predetermined condition, explain that there is not the conflict in the product ejection of compact between the adjacent pan feeding unit, can not cause the product to block up, stop the palladium and lift up and keep the take the altitude, will disassemble the product output extremely the conveyer belt. The invention can disassemble and supply products simultaneously through a plurality of lines, thereby improving the supply quantity and speed of the products, improving the cooperation capability of the plurality of lines by the detection before discharging and the control of the discharging speed, and improving the automatic loading efficiency.

Step 2, the conveyer belt receives the product that dish-detaching device 1 exported, be equipped with position adjustment part and orientation check part on the conveyer belt, the position of the product on the conveyer belt is adjusted to position adjustment part, makes a product side parallel with the conveyer belt frame, orientation check part obtains the orientation condition of predetermineeing based on product information to according to the angle of product information adjustment orientation detection sensor, make orientation detection sensor can detect the product of conveying on the conveyer belt, orientation check part judges based on the detected signal of orientation detection sensor whether the orientation of the product on the conveyer belt accords with the orientation condition of predetermineeing, if not accord with predetermineeing the orientation condition, orientation check part adjusts the orientation of product, will pass through the product of orientation check link transmit to loading part 3. The conveyer belt is provided with an orientation checking component for adjusting the direction of the product, so that the product is matched with the arrangement direction of the loading components, and the arrangement and loading efficiency of the loading components are improved. In addition, the orientation detection sensor can adjust the angle and is suitable for detecting the product information with different widths, and compared with a method for detecting the product information by fixing the position of the sensor, the orientation detection sensor does not need to adopt a complex product detection and identification algorithm, and can be suitable for detecting the products with different widths by adopting the angle-adjustable sensor, thereby being suitable for conveying and automatic loading of the products with different product phases.

The conveyer belt includes the horizontal zone, and as an optional embodiment, the horizontal zone conveyer belt below is connected with telescoping device, and telescoping device specifically is X type alternately rotates the connecting rod, and according to the demand of different loading distance, the conveyer belt can set up to different length, and when the transport distance was far away, X type alternately rotated the connecting rod and rotated, and the first contained angle grow between X type first cross arm and the X type second cross arm lengthens the length of conveyer belt. The conveyor belt comprises a climbing area and is used for receiving the products conveyed by the horizontal area and conveying the products to the same height as the loading part.

And 3, receiving the products output by the conveying belt by the loading part 3, arranging the products and putting the products into the carriage.

The truck-loading part 3 includes an acceleration unit 32, an integration unit 33, and a placement unit 36. The loading part includes an integration platform, a plurality of second sensors (not shown in the figure) and a roller 331, and the roller 331 is disposed in a direction perpendicular to a long side of the integration platform and can rotate toward left and right sides of the integration platform.

And 3.1, receiving the products to be sorted by the roller, receiving output signals of the plurality of second sensors by the control unit, controlling the rotation direction of the roller according to the output signals of the plurality of second sensors, and arranging the products on the roller to a specific position of the integration platform. As an alternative embodiment, the plurality of second sensors may be infrared sensors, image sensors or photoelectric counting sensors, a sensor is disposed at a connection position between the surface of the integration platform and the acceleration unit, i.e. a middle region of the integration platform, for detecting whether a product is present at the position of the integration platform, and for determining whether the integration platform on one side is full of the product by detecting whether the product is present at the position, so as to adjust the rotation direction of the roller 331, thereby realizing the product arrangement on the whole integration platform, specifically, in an initial case, the control unit controls the roller to rotate to the right, the roller drives the product to move to the right, the sensor disposed at the connection position between the surface of the integration platform and the acceleration unit outputs a detection signal to the control unit, and when the control unit confirms that the product is present at the current position according to the sensor output signal, the control unit outputs a rotation direction, the cylinder is towards the left-hand turn, drives and puts to the left side from the new product that receives of accelerating unit to a plurality of products that will receive from accelerating unit arrange into the one line, the propelling movement of the subsequent process of being convenient for and put. Furthermore, two sides of the surface of the integration platform can be respectively provided with a sensor for detecting whether products exist on two sides of the integration platform, and the sensors are used for determining whether the products are arranged at the end part of the integration platform, so that the rotation direction of the roller 331 is adjusted, the arrangement positions of the products are adjusted, the area of the integration platform is fully utilized, more products are arranged by utilizing the limited space, and the loading efficiency is further improved. The control unit of loading part 3 receives the signal that above-mentioned sensor was gathered, and the rotation direction of adjustment cylinder only can realize the product arrangement according to the cylinder structure that the syntropy set up, can realize the range arrangement of a line product based on simple cylinder cooperation drive to the product after arranging promotes and puts as the unit group, improves the utilization ratio of integration platform, and the range control logic is simple, arranges efficiently.

The plurality of sensors comprise a first sensor arranged in the middle area of the integration platform and a second sensor and a third sensor respectively arranged at two sides of the integration platform, and as an alternative embodiment, the second sensor is arranged at the right end part, and the third sensor is arranged at the left end part. The control unit controls the roller to rotate towards the first direction where the second sensor is located, namely, the roller rotates towards the right side, the product moves towards the right side, the control unit transmits the product to the first side end part of the integration platform based on the detection signal of the second sensor, namely, the right side end part, the control unit confirms whether the product exists in the middle of the integration platform according to the detection signal of the first sensor, if so, the control unit outputs a rotation direction adjusting signal, the roller rotates towards the second direction where the third sensor is located, namely, the roller rotates towards the left side, the product newly received from the accelerating unit is placed towards the left side, and the third sensor is also used for transmitting the product to the second side end part of the integration platform, namely, the left side.

If the sensor is a photoelectric counting sensor, further calculating the number of the whole row of products to be stacked according to the stacking direction of the products, the size of the products and the width of the integration platform, judging whether the number of the sorted products reaches the number of the whole row of products to be stacked according to a detection signal of the photoelectric counting sensor, if so, finishing sorting, and sending a box pushing control signal; if not, the roller is controlled to rotate, and the products are continuously received and sorted.

The loading part comprises a first push rod 335, a supporting frame, a guide plate 336 and a stop block 337, wherein limiting frames are arranged on two sides of the integration platform and are matched and connected with the upper surfaces of two ends of the first push rod, the supporting frame is rotatably connected with one end of the guide plate, the other end of the guide plate is fixedly connected with the first push rod, and the lower surface of the guide plate is connected with the stop block.

And 3.2, receiving detection signals of the plurality of second sensors by the control unit, and judging whether products exist at the positions of the sensor detection sensors in the middle area and the two sides of the integration platform. When the detection signal meets a preset condition, the control unit sends a box pushing control signal, when the sensors at all the positions detect that products exist at the positions, the situation shows that a row of products are arranged on the integration platform, and at the moment, the control unit sends a box pushing control signal to prepare for box pushing. According to the box pushing control signal, the roller stops rotating, meanwhile, the driving unit drives the supporting frame to slide towards the direction close to the subsequent placing unit 36 under the action of the box pushing control signal, the supporting frame slides forwards, the lower surface of the guide plate is separated from the stop block, the guide plate rotates downwards around the supporting frame, the first push rod is separated from the limiting frame, and the arranged products are pushed to advance; the second sensors detect whether the products leave the roller of the integration platform, when the sensors detect that no product exists at the positions, the situation that the products leave the surface of the integration platform is indicated, if yes, the control unit sends out a control signal to drive the roller on the integration platform to rotate again, the step 3.1 is returned, and new products are continuously received and sorted. Meanwhile, the control unit controls the first push rod to continuously push the products leaving the roller to move forward to a first preset position, the first push rod continuously pushes the arranged products forward until the products are output to the placing unit 36, the control unit sends a push rod withdrawing signal, the driving unit receives the push rod withdrawing signal, the supporting frame is driven to continuously slide towards the direction away from the placing unit, the supporting frame retreats, the lower surface of the guide plate is in contact connection with the stop block again, so that the guide plate rotates upwards, and the two ends of the first push rod are driven to be in fit connection with the limiting frame. According to the invention, the matching arrangement of the shapes and positions of the guide plate, the fixture block and the stop block is matched with the action, the push rod can be pushed out and retracted only by controlling the back-and-forth movement of the support frame, the first push rod can quickly push the arranged products to the next link on the premise of not newly adding a power source, the control mechanical structure of the push rod is simplified, the control flow is simplified, the advancing and returning of the first push rod pass through different movement paths, the subsequent products can be simultaneously arranged while the push rod advances and returns, namely, the arrangement of the subsequent products is not influenced by the movement of the push rod, the arrangement and box pushing efficiency is improved, the newly added power source is not added, the loading speed is greatly increased, and the structural complexity of the system is simplified. The first push rod is limited by the simple mechanical structure, the motion track of the push rod is prevented from being calculated in real time in the motion control process of the push rod, the operation process of the system is simplified, the control efficiency is improved, and the whole loading efficiency is further improved.

As an alternative embodiment, the loading component includes an accelerating transmission belt, and step 3.1 is preceded by: the loading part receives the products from the conveying belt, and detects the space between the adjacent products from the conveying belt; if the distance between the adjacent products from the conveying belt is smaller than a preset first distance value, the control unit sends a speed adjusting signal; and adjusting the rotating speed of the accelerating transmission belt according to the speed adjusting signal, so that the distance between adjacent products from the conveying belt is adjusted. The accelerating unit 32 receives products, which are usually from a conveyor belt, and are placed in a carriage after waiting for arrangement, adjusts the relative position relationship between adjacent products and the conveying speed of the products, and different conveying equipment and product specifications can cause different distances and speeds of the conveyed products, on one hand, the accelerating unit has a working speed in the later step, and in order that the speed of product supply can be matched with the working speed in the later step, the control unit controls the rotating speed of the accelerating transmission belt, so that the product supply is ensured; on the other hand, the condition that a plurality of products of next-door neighbour are received probably exists in the actual production process, and this moment, the conveying speed of product can be adjusted in the setting of accelerating unit to adjust the relative distance between the adjacent product, guarantee that the product transmits to the unit of integrating one by one, and the relative distance between the product with integrate after, put the speed cooperation, help improving the integration of follow-up procedure, put efficiency, and then improve loading efficiency.

The loading part comprises a second push rod 361, a first bottom plate 362 and a chain, the chain is arranged inside the first bottom plate 362, in step 3.3, the first bottom plate 362 receives the product to be placed output in step 3.2, and the second push rod 361 and the first bottom plate 362 act in a matched mode to place the product into the carriage.

In one embodiment, the first bottom plate is provided with a receiving groove near the longitudinal direction, and the receiving groove receives the second push rod when receiving the product, so that the receiving of the product is not obstructed, and the height of the received product is not limited because the push rod is fixed above. The second push rod is connected with a chain arranged in the first bottom plate through a connecting rod. When the second push rod is arranged in the mode, the product is pushed to the preset position of the first bottom plate by the first push rod, the control unit sends a placing control signal, the driving unit drives the chain to rotate, the connecting rod drives the second push rod to rotate, the second push rod extends out of the accommodating groove and rotates to the rear surface of the product, and the second push rod moves forwards to push the product out of the first bottom plate and place the product in the carriage. After the second push rod moves for the preset distance, the control unit sends a push rod returning signal, the driving unit controls the second push rod to return to the preset position, the chain rotates around the second direction, and the second push rod rotates and returns to the accommodating groove again. The mode that the connecting rod is connected has increased the stability of push rod, has guaranteed the stable promotion of second push rod, and the connecting rod radius ratio is less when also can making the motion of second push rod, and the great motion range of second push rod can be realized to less space in the first bottom plate, helps the promotion of the not co-altitude product of adaptation to put under the condition of not increasing the device volume.

As another embodiment, the first bottom plate is fixedly connected with the chain, air cylinders are arranged on two sides of the first bottom plate, the second push rod is fixed on the air cylinders, and the fixed height of the second push rod is higher than that of a product. When the second push rod is arranged in the mode, the product is pushed to the preset position of the first bottom plate, the first bottom plate drives the product to move forward under the driving of the chain, and the second push rod slides to the back of the product from the top of the product; when the first bottom plate moves forward for a preset distance, the control signal sends a first bottom plate withdrawing signal, the first bottom plate is driven by the chain to retreat towards the transition plate according to the first bottom plate withdrawing signal, the first bottom plate retreats to the initial position, and at the moment, the second push rod places the arranged products into the carriage. The mode that adopts first bottom plate and push rod cooperation action realizes that the product is put, need not to wait for the push rod to stretch out or pack up, promotes and puts efficiency and improves, has further accelerated auto-loader's loading efficiency. The placing of products in batches can be realized by utilizing the structure matching action, the trouble of manual placing is eliminated, the placing of complex equipment such as a mechanical arm is also avoided, the placing efficiency is improved, and the placing cost and the placing complexity are reduced.

As an alternative embodiment, the roller, the first push rod, the second push rod and the first bottom plate in the integrated unit are telescopic. A plurality of groups of guardrails are arranged on two sides of the accelerating transmission belt, the rollers comprise a plurality of first sub rollers and a plurality of second sub rollers at two end regions, the lower ends of the plurality of first sub rollers and the plurality of second sub rollers are fixedly connected with a first telescopic assembly, and extension parts are arranged at two ends of the first push rod; the middle region of first bottom plate is equipped with the second cylinder, the flexible subassembly of second cylinder below fixedly connected with second, be equipped with the second extension in the middle of the second push rod, particularly, the second push rod divide into left side push rod and right side push rod, connects through interior pole between left side push rod and the right side push rod, and left side push rod and right side push rod tip combine under the initial condition, and interior pole is hidden inside left side, right side push rod cavity. In particular, the telescopic assembly may be of the X-type.

Before the product of conveyer belt output is received to loading part 3, still include loading part location step, laser scanner real-time scanning loading space, motion control ware moves to current cycle product stacking position according to laser scanner's detected signal control loading part, and when loading part moved to current cycle product stacking position, motion control ware was flexible according to laser scanner's detected signal and the travel switch detected signal control integration platform that integration unit both sides set up. The loading part receives the specification and the placing direction information of a product to be loaded; calculating the set length of a line of products according to the specification of the products to be loaded and the placing direction information; when the carriage width is wide and the number of the products placed on each layer becomes large, the set length is large, and the control unit sends out a width adjusting signal. Controlling the guardrails in the multiple groups of guardrails to be close to or far away from each other based on the set length, controlling the first telescopic assembly to extend or contract based on the set length by the motion control unit, adjusting the relative distance between the adjacent first sub-roller and the adjacent second sub-roller, extending or retracting the extending parts at two ends of the first push rod which is connected with the limiting frame in a matched manner, and synchronously extending and retracting with the integration platform; the motion control unit controls the second telescopic assembly to stretch or contract based on the set length, adjusts the relative distance between the adjacent second rollers, and synchronously stretches or retracts the second extending part in the middle of the second push rod and the first bottom plate. With carriage width broad, the product quantity of putting on every layer is makeed more the example, it is great to set for length, the control unit sends width adjustment signal, the X type support of drive unit control cylinder below transversely expands, first contained angle grow between first support and the second support in the X type support, the relative interval increase of each adjacent cylinder in driving a plurality of first sub-cylinders and a plurality of second sub-cylinders, outwards move in step with integration platform both sides fixed connection's spacing frame, pull out the extension at first push rod both ends, it stretches out and draws back in step to realize integration platform and first push rod, drive unit specifically can be servo motor. The motion control unit sends out width adjustment signal, but the telescopic machanism who connects under the cylinder at first bottom plate middle part transversely expandes, and the first contained angle grow between first support and the second support in the X type support drives the relative interval increase between the adjacent cylinder, and the second push rod of being connected with first bottom plate simultaneously is under the drive of first bottom plate extension, and left side push rod and right side push rod tip are separated, and interior pole partially appears out, realizes the synchronous extension of first bottom plate and second push rod. The middle parts of the guardrails of the accelerating unit are fixedly connected with a first fixing part through a first connecting rod, the first fixing part is movably connected with a first frame through a lead screw, when the width of a carriage is wide and the number of products placed on each layer is increased, the set length is large, the control unit sends out a width adjusting signal, the lead screws corresponding to the lower parts of the guardrails on the two sides rotate around the second direction, and the guardrails on the two sides are driven by the first fixing part to be away from each other; on the contrary, the screw rods corresponding to the lower portions of the guardrails on the two sides rotate around the first direction, and the relative distance between the guardrails on the two sides is reduced under the driving of the first fixing portion.

The loading part further comprises a transition plate 34 arranged between the integration platform and the first bottom plate and a lifting device arranged below the transition plate, the integration platform outputs the arranged products to the transition plate, one end of the transition plate is rotatably connected with a roller on the integration platform, and a first lifting device and a second lifting device positioned in a cavity of the first lifting device are arranged below the transition plate. The second lifting device drives the first lifting device to integrally move up and down, and the first lifting device and the second lifting device can be chain wheels. In the process of stacking the products layer by layer, in order to stack the products on the current line to a specified height, the control unit selects primary lifting and secondary lifting according to the height requirement of stacking the products, and lifts the first bottom plate to the height of stacking the products. When the sorted products are pushed to a first bottom plate, a motion control unit receives a stacking type and a stacking position in the previous period, determines the current stacking height based on the stacking type and the stacking position in the previous period, sends a lifting control signal based on the current stacking height, moves the first bottom plate to the appointed current stacking height, sends a zeroing signal when a second push rod stacks the whole row of products to the designated stacking position, and enables a first lifting device and/or a second lifting device to descend to the initial state and a transition plate to receive the products arranged in the next period. The second lifting device is located inside the first lifting device cavity, occupied space is saved, the second lifting device and the first lifting device move in the direction perpendicular to the ground, the height of the multi-stage lifting device in the direction perpendicular to the ground can be increased, the second lifting device is suitable for different vehicle types and different products to be placed at a high height, and applicability is improved.

The transition plate comprises a first transition portion on the left side and a second transition portion on the right side, a third telescopic assembly is arranged in the first transition portion and the second transition portion, and the first transition portion and the second transition portion can be telescopic. The relative interval increase of each adjacent cylinder in a plurality of first sub-cylinders and a plurality of second sub-cylinders drives and integrates first transition portion and the synchronous flexible of second transition portion that the platform cylinder rotates to be connected.

The integration unit, the transition plate and the placing unit can be synchronously stretched, so that the loading part can adapt to different product specifications, the compatibility can be realized for different vehicle types and product specifications without adjusting the mechanical structure of the product, and the applicability of the system is improved. And the roller drives the first push rod, the transition plate to synchronously stretch and retract, and the first bottom plate drives the second push rod to synchronously stretch and retract, so that the telescopic driving power source is reduced, the system structure is simplified, and the system cost is reduced.

The steps of the above methods are divided for clarity, and the implementation may be combined into one step or split some steps, and the steps are divided into multiple steps, so long as the same logical relationship is included, which are all within the protection scope of the present patent; it is within the scope of the patent to add insignificant modifications to the algorithms or processes or to introduce insignificant design changes to the core design without changing the algorithms or processes.

It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples for carrying out the invention, and that various changes in form and details may be made therein without departing from the spirit and scope of the invention in practice.

Claims

1. The automatic loading method is applied to an automatic loading device, the automatic loading device comprises a tray detaching device, a conveying belt and loading parts, and the automatic loading method is characterized by specifically comprising the following steps:

the step 3 specifically includes:

2. The automatic loading method according to claim 1, characterized in that:

the plurality of sensors include a first sensor arranged in the middle area of the integration platform and a second sensor and a third sensor respectively arranged on two sides of the integration platform, and the step 3.1 specifically includes:

3. The automatic loading method according to claim 1,

the step 1 comprises a product discharging step, and the product discharging step specifically comprises:

4. The automatic loading method according to claim 3,

the disc disassembling device comprises a sucker, the surface of the sucker is divided into a plurality of geometric areas, each geometric area is provided with a small hole, and a limiting bead is embedded in each small hole;

5. The automatic loading method according to claim 1,

the step 1 comprises an empty tray discharging step, wherein the empty tray discharging step specifically comprises the following steps:

6. The automatic loading method according to claim 5,

a second driving unit and a third driving unit are arranged in the first tray discharging station, and the second driving unit receives the empty tray and transmits the empty tray to the first tray discharging station;

7. The automatic loading method according to claim 1,

stopping the palladium from falling at the space between the adjacent products;

8. The automatic loading method according to claim 1,

9. The automatic loading method according to claim 1,

the loading part comprises an accelerating transmission belt, and the step 3.1 is preceded by:

10. The automatic loading method according to claim 1,

the step 3 is preceded by: a loading part positioning step, wherein the loading part positioning step specifically comprises the following steps: