CN113379965A - Control method of cargo allocation machine - Google Patents
Control method of cargo allocation machine Download PDFInfo
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- CN113379965A CN113379965A CN202110444225.6A CN202110444225A CN113379965A CN 113379965 A CN113379965 A CN 113379965A CN 202110444225 A CN202110444225 A CN 202110444225A CN 113379965 A CN113379965 A CN 113379965A
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F11/00—Coin-freed apparatus for dispensing, or the like, discrete articles
- G07F11/02—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines
- G07F11/04—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines in which magazines the articles are stored one vertically above the other
- G07F11/16—Delivery means
- G07F11/26—Endless bands
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F11/00—Coin-freed apparatus for dispensing, or the like, discrete articles
- G07F11/02—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines
- G07F11/04—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines in which magazines the articles are stored one vertically above the other
- G07F11/06—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines in which magazines the articles are stored one vertically above the other supported individually on pivotally-mounted flaps or shelves
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F11/00—Coin-freed apparatus for dispensing, or the like, discrete articles
- G07F11/02—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines
- G07F11/04—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines in which magazines the articles are stored one vertically above the other
- G07F11/16—Delivery means
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Abstract
The invention discloses a control method of a goods allocation machine, belongs to the field of control methods of vending machines, and aims to solve the problem that the existing vending machines cannot give consideration to both reliability and cost, and adopts the following technical scheme: a method of cargo dispenser control, comprising: step 1, obtaining goods channel position information; step 2, delivering goods: after the delivery order is issued, the cargo bucket moves to the end part of the cargo channel corresponding to the delivery order; a goods channel control board on the goods bucket sends out a modulated optical signal, and after a goods channel circuit board on the goods channel receives the modulated optical signal, a control motor corresponding to the goods channel is started to push goods to the goods bucket; a goods channel control board on the goods bucket stops sending out a modulated light signal, a control motor corresponding to the goods channel is closed, and then a goods channel conveying belt stops rotating; and step 3, delivering. The positioning of the cargo bucket is completed by modulating the optical signal, so that the reliability is high; the invention has low requirements on processing precision and control precision and can well give consideration to both reliability and cost.
Description
Technical Field
The invention belongs to the field of control methods of a goods allocation machine, and particularly relates to a control method of a goods allocation machine.
Background
The automatic vending machine can be used as a goods distribution device in an e-commerce goods distribution center, each goods channel of the traditional vending machine is independently powered, and therefore the wiring harness is complex, high in cost, low in reliability and suitable for a falling-type goods vending machine without a goods hopper. In the prior art, a socket is arranged on each goods channel of the vending machine with the goods bucket, a plug is arranged on the goods bucket, and when the plug is matched with the socket, the goods channels are electrified to deliver goods. The vending machine also adopts a magnetic field induction wireless control mode, namely a method of using a magnet or a cursor as a cargo bucket for positioning, and particularly adopts a method of using an electromagnetic coil to generate a magnetic field to control a related circuit. Because the vending machine generally requires easy carrying, the equipment is light, and therefore the vending machine is usually made of a sheet metal structure, but the sheet metal structure is characterized by low dimensional accuracy, the low accuracy causes large size fluctuation of the distance between the goods channel and the goods bucket, and in order to reliably control the worst case of the distance fluctuation, on one hand, a large-sized magnet is needed for positioning (enough magnetic field intensity on the induction side when the distance is large) and on the other hand, a large magnetic field is needed to be generated to drive the induction circuit, so that the overall size is large, the occupied space is large, and the space utilization rate of the equipment is low.
Disclosure of Invention
Aiming at the problem that the existing vending machine has low reliability or space utilization rate, the invention provides a control method of a goods allocation machine, which can effectively solve the problem.
The technical scheme adopted by the invention is as follows: a method of cargo dispenser control, comprising:
step 1.1, controlling a cargo bucket to be positioned at a mechanical origin;
step 1.2, controlling the cargo bucket to move longitudinally, enabling a position photoelectric sensor on the cargo bucket to sweep the bottom of a cargo channel to obtain longitudinal position information of adjacent cargo storage layers, then controlling the cargo bucket to return to a mechanical origin, and pointing a positioning target to a first cargo storage layer;
step 1.3, controlling the bucket to move to the starting point position of a first storage layer, then controlling the bucket to move transversely, enabling a position photoelectric sensor on the bucket to sweep the bottom of a cargo channel of the current storage layer to obtain transverse position information of each cargo channel on the current storage layer, and then pointing a positioning target to the next storage layer;
step 1.4, repeating the step 1.3 until all the storage layers are scanned, and obtaining the position information of all the goods channels;
and step 2, driving:
step 2.1, the cargo bucket moves: after a delivery command is issued, the cargo bucket is driven to move to a cargo channel corresponding to the delivery command, the cargo bucket is controlled to extend out of the cargo channel, and at the moment, a modulated light transmitting element on a cargo channel control plate on the cargo bucket is aligned with a modulated light receiving element in a cargo channel circuit board on the cargo channel;
step 2.2, the cargo way rotates: controlling a goods channel control board on the goods hopper to send out a modulated optical signal, and after a goods channel circuit board on the goods channel receives the modulated optical signal, starting a goods channel driving motor corresponding to the goods channel so as to drive a goods channel conveying belt in the goods channel to convey goods to be matched forwards and convey the goods to the goods hopper;
and step 3, stopping: when goods enter the goods bucket, triggering a photoelectric correlation sensor positioned on one side of a goods inlet of the goods bucket to change a sensing signal of the photoelectric correlation sensor, controlling a goods channel control board on the goods bucket to stop sending a modulated light signal, closing a goods channel driving motor corresponding to the goods channel, further stopping rotating a goods channel conveying belt, and controlling the goods bucket to retreat;
The cargo channel is driven by the modulated optical signals, and the modulated optical signals are equivalent to alternating current signals, and natural light and indoor light are equivalent to direct current signals, so that the cargo channel circuit board has a good anti-interference effect and high reliability; the size of the cargo channel circuit board can be very small, the cost is not high, and the implementation is easy; in addition, the invention has low requirements on processing precision and control precision, and can control the cost within a reasonable range, so that the reliability is higher by adopting the control mode, and the reliability and the cost can be well considered.
Furthermore, two adjacent goods channels on the same goods storage layer are separated by a partition plate, so that goods are prevented from moving between the adjacent goods channels; and a goods way power line is arranged on each goods storage layer, each goods way is matched with a group of mutually connected goods way driving motors and goods way circuit boards, and the goods way circuit boards of each goods way are respectively connected to the goods way power lines. As long as change the voltage on the goods way power cord in major control system one side, just can change goods way driving motor's rotational speed, and then change the speed of goods way conveyer belt, the goods that realize not equidimension and weight have different speeds, to smallclothes commodity, the speed of carrying its conveyer belt must be a lot of slower than the speed of major possession commodity, in order to avoid appearing the conveyer belt and start the problem of once seeing off many commodities, improve the adaptability of goods way to the commodity of variation in size, weight difference, guarantee the reliability. Compared with the traditional independent power supply mode, the distributed wiring mode has the advantages that the wiring harness is simple and clear, the control mode is reliable, and the maintenance is convenient.
Further, the method comprises a step 2.3 of separating the goods: the speed of the conveying belt in the goods hopper is controlled to be higher than that of the goods channel conveying belt, and goods to be distributed are separated from goods which are not distributed on the goods channel conveying belt by means of the speed difference, so that a plurality of goods are not taken out.
Further, in order to conveniently execute the step 2.1 and the step 3, the cargo bucket adopts a structure that: the goods hopper comprises a bottom plate and two side plates, the two side plates are opposite and arranged at intervals to form the goods inlet and the goods outlet, a rack is arranged on the bottom plate, and a first guide rail arranged along the directions of the goods inlet and the goods outlet is fixed on the bottom plate; the bottom of the two side plates is connected through a supporting plate, the supporting plate is connected with the first guide rail through a sliding block, the supporting plate is connected with a transverse moving motor, a driving gear is arranged on an output shaft of the transverse moving motor, the driving gear is meshed with the rack, and the transverse moving motor is controlled to be opened, so that the two side plates are driven by the transverse moving motor to extend out or retract relative to the bottom plate along the directions of the goods inlet and the goods outlet.
Further, go into the goods mouth outside and be equipped with conveyer for accept the goods that the goods way was carried, during the goods of being convenient for got into the goods fill smoothly, the goods way control panel sets up conveyer is last, when carrying out step 2.1, conveyer is located wait to join in marriage the below of goods, prevent that the goods from fighting and the clearance department between the goods way from dropping.
Furthermore, the conveying device comprises a rotating roller and a shielding plate, wherein the rotating roller is transversely arranged between the two side plates, the shielding plate surrounds the rotating roller, the rotating roller is positioned on the outer side of the lower part of the goods inlet, and the rotating roller rotates towards the direction of the goods outlet through a driving device; the goods way control panel sets up on the shielding plate, the shielding plate has an inclined plane that opens there is the through-hole, the profile face of live-rollers can pass through the through-hole stretches out to contact goods for during goods gets into the goods fill under the rotation effect, effectively prevent the goods card in goods entry department. The conveyer is arranged outside the goods inlet, can catch goods to prevent the goods from falling into the goods distribution machine, and the contour surface of the rotating roller can stretch out from the through hole of the shielding plate to contact with the goods, and the rotating roller generates thrust in the rotating process and simultaneously has a vibration effect, so that the goods can be guaranteed to be conveyed into a goods hopper, and the probability of failure in goods delivery is effectively reduced.
Further, the conveyer belt by drive arrangement drives, the conveyer belt with the bottom plate is the contained angle setting to prevent that the goods from making a round trip to roll when the goods fill removes. The included angle between the conveyor belt and the bottom plate is (0, 5 degrees).
Furthermore, the driving device comprises a driving motor arranged below the conveyor belt, a driving gear sleeved on an output shaft of the driving motor, a first gear set sleeved on a rotating shaft of the conveyor belt and a second gear set linked with the rotating roller, wherein the first gear set is matched between the driving gear and the second gear set. In this arrangement, the speed at which the rotatable rollers and belt rotate can be adjusted by changing the size and number of gears in the gear set.
Furthermore, a lifting door is arranged at the goods outlet, and when the conveyor belt moves, the lifting door is shielded on the upper surface of the conveyor belt to prevent goods from falling off; the two ends of the lifting door are respectively sleeved on the vertically arranged second guide rails through the connecting seats, the connecting seats are fixedly connected onto a belt, the belt is driven by a forward and reverse rotating motor, and when the forward and reverse rotating motor rotates forward and reverse, the lifting door is lifted.
Furthermore, the two position photoelectric sensors are respectively arranged at the upper part and the lower part of one side of the cargo bucket, the working ends of the two position photoelectric sensors face the cargo channel, when the step 1.2 and the step 1.3 are executed, the cargo channel at the upper part is scanned by the position photoelectric sensor at the upper part of the cargo bucket, and the cargo channel at the lower part is scanned by the position photoelectric sensor at the lower part of the cargo bucket; the photoelectric correlation sensor has a plurality of groups which are oppositely arranged at the inner side of the side plate.
The invention has the following beneficial effects: the goods hopper can extend out or retract along the directions of the goods inlet and the goods outlet, the movement of the goods hopper is not influenced, goods can be effectively prevented from falling from a gap between the goods hopper and the goods carrying device, the goods hopper can sell goods in various shapes, and the universality is good; in addition, this application adopts distributed goods way drive scheme, and the pencil design is simple and clear, has both guaranteed the reliability, is convenient for maintain again.
Drawings
FIG. 1 is a front view of a cargo dispenser;
FIG. 2 is a side view of the cargo dispenser;
FIG. 3 is a schematic view of the structure of the bucket;
FIG. 4 is a schematic view of the internal structure of the bucket;
FIG. 5 is a schematic view of the structure of the cargo outlet;
FIG. 6 is a schematic structural diagram of a driving device;
FIG. 7 is a schematic view of a bottom plate structure;
FIG. 8 is a schematic view of the assembly structure of the shielding plate and the rotating roller;
FIG. 9 is a schematic view of a rotating roller structure;
FIG. 10 is a schematic view of the structure of the bucket in cooperation with the loading passage for loading;
FIG. 11 is a schematic diagram of a power supply structure of a cargo channel;
FIG. 12 shows a modulated signal transmitting circuit according to an embodiment;
FIG. 13 shows a modulated signal receiving circuit according to an embodiment;
in the figure: 1-a cargo way; 11-a lane circuit board; 12-a separator; 13-cargo way power cord; 14-layer plate; 15-a cargo way driving motor; 16-a lane controller; 17-a lane conveyor; 2-a cargo bucket; 21-position photosensor; 22-a lane control panel; 23-a lift gate; 24-a conveyor belt; 25-photoelectric correlation sensor; 26-a bottom plate; 261-a rack; 262-a first guide rail; 27-side plate; 271-a support plate; 272-a slide block; 273-traverse motor; 274-a drive gear; 3-a conveying device; 31-a turning roll; 32-a shutter; 321-inclined plane; 4-a drive device; 41-driving motor; 42-a drive gear; 43-first gear set; 44-a second gear set; 5-a connecting seat; 6-a second guide rail; 7-a belt; 8-a positive and negative rotation motor; a-a cargo inlet; b-a goods outlet.
Detailed Description
The technical solutions of the embodiments of the present invention are explained and explained below with reference to the drawings of the present invention, but the following embodiments are only preferred embodiments of the present invention, and not all embodiments. Based on the embodiments in the implementation, other embodiments obtained by those skilled in the art without any creative effort belong to the protection scope of the present invention.
As shown in fig. 1 to 11, the control method of the cargo allocation machine in the embodiment includes:
step 1.1, controlling a cargo bucket 2 to be positioned at a mechanical origin;
step 1.2, controlling the longitudinal movement of the cargo bucket 2, enabling a position photoelectric sensor 21 on the cargo bucket 2 to sweep the bottom of the cargo channel 1 to obtain longitudinal position information of adjacent cargo storage layers, then controlling the cargo bucket 2 to return to a mechanical origin, and pointing a positioning target to a first cargo storage layer;
step 1.3, controlling the bucket 2 to move to the starting point position of a first storage layer, then controlling the bucket 2 to move transversely, enabling a position photoelectric sensor 21 on the bucket 2 to sweep the bottom of a cargo channel 1 of the current storage layer to obtain transverse position information of each cargo channel 1 on the current storage layer, and then pointing a positioning target to the next storage layer;
step 1.4, repeating the step 1.3 until all the storage layers are scanned, and obtaining the position information of all the goods channels 1;
and step 2, driving:
step 2.1, the cargo bucket 2 moves: after a delivery command is issued, the bucket 2 is driven to move to the corresponding cargo channel 1 of the delivery command, the bucket 2 is controlled to extend out of the cargo channel 1, and at the moment, a modulated light transmitting element on a cargo channel control plate 22 on the bucket 2 is aligned with a modulated light receiving element in a cargo channel circuit board 11 on the cargo channel 1;
step 2.2, the cargo way 1 rotates: controlling a goods way control board 22 on the goods bucket 2 to send out a modulated optical signal, and after a goods way circuit board 11 on the goods way 1 receives the modulated optical signal, starting a goods way driving motor 15 corresponding to the goods way 1 so as to drive a goods way conveying belt 17 in the goods way 1 to convey goods to be matched forwards and convey the goods to the goods bucket 2;
step 2.3, separating the goods: controlling the speed of the conveying belt 24 in the cargo bucket 2 to be higher than that of the cargo way conveying belt 17, and separating the goods to be prepared from the goods which are not distributed on the cargo way conveying belt 17 by using the speed difference so as to avoid taking out a plurality of goods;
and step 3, stopping: when goods enter the goods bucket 2, triggering the photoelectric correlation sensor 25 positioned on one side of the goods inlet A of the goods bucket 2, enabling the sensing signal of the photoelectric correlation sensor 25 to change, controlling the goods channel control board 22 on the goods bucket 2 to stop sending out a modulated light signal, closing the goods channel driving motor 15 corresponding to the goods channel 1, further stopping rotating the goods channel conveying belt 17, and controlling the goods bucket 2 to retreat;
As shown in fig. 12, the modulation signal transmitting circuit: the control system generates a 1KHz square wave signal which is loaded to the base of Q3, amplified by Q3 and converted into an optical signal through D4, and the optical signal is output, wherein R9 is a current-limiting resistor.
As shown in fig. 13, the modulation signal receiving circuit: s1 is a light signal receiving tube, Q1 is an emitter follower, and the modulated light signal received in S1 is subjected to current amplification; the IC1 is a voltage comparator, R4, R5 and R6 are divider resistors which respectively set working voltages for a positive input end of the IC1 and a capacitor C3, and C4 is a filter capacitor which resists interference; when the modulation signal is not received, the IC1 outputs a high level, the Q2 is in an off state, and the control motor MT (equivalent to the cargo way driving motor 15) is powered off; d1, D2, C1 and C2 form a pumping circuit, under the control of a modulation signal output by Q1, electric charge is pumped into C2 through C1, after tens of signal periods, the voltage at two ends of C2, namely the voltage at the reverse input end of a voltage comparator IC1 is higher than that at the positive input end, IC1 outputs low level, Q2 is conducted, and the motor MT is electrified and rotated; after the light modulation signal disappears, the R3 provides a discharge loop for the C2, the voltage at the two ends of the C2 is reduced, the IC1 outputs high level again, the Q2 is turned off, and the motor MT loses power and stops rotating; d3 is an anti-reverse diode.
According to the method, the cargo channel 1 is driven by the modulated optical signals, and as the modulated optical signals are equivalent to alternating current signals and natural light and indoor light are equivalent to direct current signals, the cargo channel circuit board 11 has a good anti-interference effect and high reliability; the size of the cargo channel circuit board 11 can be very small, the cost is not high, and the implementation is easy; in addition, the invention has low requirements on processing precision and control precision, and can control the cost within a reasonable range, so that the reliability is higher by adopting the control mode, and the reliability and the cost can be well considered.
Each goods storage layer is separated by a laminate 14, and two adjacent goods channels 1 on the same goods storage layer are separated by a partition plate 12, so that goods are prevented from moving between the adjacent goods channels 1; and a goods channel power line 13 is arranged on each goods storage layer, each goods channel 1 is matched with a group of mutually connected goods channel driving motors 15 and goods channel circuit boards 11, and the goods channel circuit boards 11 of each goods channel 1 are respectively connected to the goods channel power line 13. As long as change the voltage on goods way power cord 13 in major control system one side, just can change goods way driving motor 15's rotational speed, and then change the speed of goods way conveyer belt 17, it has different speeds to realize the goods of different sizes and weight, to smallclothes commodity, the speed of the conveyer belt of carrying it must be a lot slower than the speed of major possession commodity, in order to avoid appearing the conveyer belt and start the problem of once seeing off many commodities, improve goods way 1 to the variation in size, the adaptability of the different commodity of weight, guarantee the reliability. The distributed wiring mode not only has simple and clear wiring harness, but also has reliable control mode and convenient maintenance.
The lane circuit board 11 is disposed within the lane controller 16.
In order to conveniently execute the step 2.1 and the step 3, the cargo bucket 2 adopts a structure that: the cargo bucket 2 comprises a bottom plate 26 and two side plates 27, the two side plates 27 are opposite and arranged at intervals to form the cargo inlet A and the cargo outlet B, a rack 261 is arranged on the bottom plate 26, and a first guide rail 262 arranged along the directions of the cargo inlet A and the cargo outlet B is fixed on the bottom plate 26; the bottoms of the two side plates 27 are connected through a support plate 271, the support plate 271 is connected with the first guide rail 262 through a slider 272, the support plate 271 is connected with a traverse motor 273, a driving gear 274 is arranged on an output shaft of the traverse motor 273, the driving gear 274 is meshed with the rack 261 to control the opening of the traverse motor 273, so that the two side plates 27 extend out or retract relative to the bottom plate 26 along the directions of the goods inlet A and the goods outlet B under the driving of the traverse motor 273.
Go into the goods mouth A outside and be equipped with conveyer 3 for accept the goods that goods way 1 carried, the goods of being convenient for get into goods smoothly and fight 2 in, goods way control panel 22 sets up conveyer 3 is last, and when carrying out step 2.1, conveyer 3 is located the below of waiting to join in marriage the goods prevents that goods from fighting 2 and goods way 1 clearance department between dropping.
The conveying device 3 comprises a rotating roller 31 transversely arranged between two side plates 27 and a shielding plate 32 surrounding the rotating roller 31, wherein the rotating roller 31 is positioned at the outer side of the lower part of the goods inlet A and generates rotation towards the goods outlet B by a driving device 4; the goods way control panel 22 sets up on the shielding plate 32, the shielding plate 32 has the inclined plane 321 that opens there is the through-hole, the profile face of live-rollers 31 can pass through the through-hole stretches out to contact goods for goods get into goods under the rotation effect and fill 2 in, effectively prevent the goods card in income goods mouth A department. Conveyer 3 is located into goods mouth A outside, can catch the goods and prevent that the goods from dropping to the machine of joining in marriage, and the live-rollers 31 profile face can stretch out and the goods contact from the through-hole department of shielding plate 32, and the live-rollers 31 still has vibration effect simultaneously rotating the in-process and producing thrust, can guarantee that the goods conveys during fighting 2, effectively reduces the probability of delivery failure.
In the present embodiment, the rotary roller 31 is a divided quadrangular roller, and accordingly, the number of through holes in the shielding plate 32 is adapted to the number of divided quadrangular rollers.
The conveyor belt 24 is driven by the driving device 4, and the conveyor belt 24 and the bottom plate 26 are arranged at an included angle to prevent goods from rolling back and forth when the goods bucket 2 moves. The angle between the conveyor belt 24 and the bottom plate 26 is (0, 5 °).
The driving device 4 includes a driving motor 41 disposed below the conveyor belt 24, a driving gear 42 disposed on an output shaft of the driving motor 41, a first gear set 43 disposed on a rotation shaft of the conveyor belt 24, and a second gear set 44 linked with the rotation roller 31, wherein the first gear set 43 is fitted between the driving gear 42 and the second gear set 44. In this arrangement, the speed at which the rotating roller 31 and the belt 24 rotate can be adjusted by changing the size and number of teeth of the gears in the gear train.
The goods outlet B is provided with a lifting door 23, and when the conveyor belt 24 moves, the lifting door 23 is shielded on the upper surface of the conveyor belt 24 to prevent goods from falling; the two ends of the lifting door 23 are respectively sleeved on the vertically arranged second guide rails 6 through the connecting seats 5, the connecting seats 5 are fixedly connected onto a belt 7, the belt 7 is driven by a forward and reverse rotation motor 8, and when the forward and reverse rotation motor 8 rotates forward and reverse, the lifting door 23 is lifted.
The two position photoelectric sensors 21 are respectively positioned at the upper part and the lower part of one side of the cargo bucket 2, the working ends of the two position photoelectric sensors face the cargo channel 1, when the step 1.2 and the step 1.3 are executed, the cargo channel 1 positioned at the upper part is scanned by the position photoelectric sensor 21 positioned at the upper part of the cargo bucket 2, and the cargo channel 1 positioned at the lower part is scanned by the position photoelectric sensor 21 positioned at the lower part of the cargo bucket 2; the photoelectric correlation sensor 25 has a plurality of sets, and is oppositely arranged on the inner side of the side plate 27.
While the invention has been described with reference to specific embodiments, the scope of the invention is not limited thereto, and those skilled in the art will appreciate that the invention includes, but is not limited to, the accompanying drawings and the description of the embodiments above. Any modification which does not depart from the functional and structural principles of the present invention is intended to be included within the scope of the claims.
Claims (10)
1. A method of controlling a dispenser, comprising:
step 1, obtaining position information of a cargo channel (1):
step 1.1, controlling a cargo bucket (2) to be positioned at a mechanical origin;
step 1.2, controlling the longitudinal movement of the cargo bucket (2), enabling a position photoelectric sensor (21) on the cargo bucket (2) to sweep the bottom of a cargo channel to obtain longitudinal position information of adjacent cargo storage layers, then controlling the cargo bucket (2) to return to a mechanical origin, and pointing a positioning target to a first cargo storage layer;
step 1.3, controlling the cargo bucket (2) to move to the starting point position of a first cargo storage layer, then controlling the cargo bucket (2) to move transversely, enabling a position photoelectric sensor (21) on the cargo bucket (2) to sweep the bottom of a cargo channel (1) of the current cargo storage layer to obtain transverse position information of each cargo channel (1) on the current cargo storage layer, and then pointing a positioning target to the next cargo storage layer;
step 1.4, repeating the step 1.3 until all the storage layers are scanned, and obtaining the position information of all the goods channels (1);
and step 2, driving:
step 2.1, the cargo bucket moves: after a delivery command is issued, the cargo bucket (2) is driven to move to a cargo channel corresponding to the delivery command, the cargo bucket (2) is controlled to extend out of the cargo channel, and at the moment, a modulated light transmitting element on a cargo channel control plate (22) on the cargo bucket (2) is aligned with a modulated light receiving element in a cargo channel circuit board (11) on the cargo channel;
step 2.2, the cargo way rotates: a goods channel control board (22) on the goods hopper (2) is controlled to send out a modulation optical signal, when a goods channel circuit board (22) on the goods channel receives the modulation optical signal, a goods channel driving motor (15) corresponding to the goods channel is started so as to drive a goods channel conveying belt (17) in the goods channel to convey goods to be matched forwards and convey the goods to the goods hopper;
and step 3, stopping: when goods enter the goods bucket (2), triggering a photoelectric correlation sensor (25) positioned on one side of a goods inlet of the goods bucket, enabling a sensing signal of the photoelectric correlation sensor (25) to change, controlling a goods channel control board (22) on the goods bucket (2) to stop sending a modulated light signal, closing a goods channel driving motor (15) corresponding to the goods channel, further stopping rotating a goods channel conveying belt (17), and controlling the goods bucket (2) to retreat;
step 4, shipment: controlling the bucket (2) to move to a specified position, and obtaining the needed goods at the goods outlet (B) of the bucket (2).
2. A method for controlling a dispenser according to claim 1, wherein two adjacent lanes (1) on the same storage level are separated by a partition (12); be equipped with goods way power cord (13) on every storage layer, every goods way (1) matches a set of goods way driving motor (23) and goods way circuit board (11) that link to each other, and every goods way circuit board (11) are connected respectively on goods way power cord (13).
3. The method of control of a dispenser according to claim 1, further comprising step 2.3 of separating the goods: the speed of the conveyor belt (24) in the bucket is controlled to be higher than that of the goods channel conveyor belt (17), and goods to be distributed are separated from goods which are not distributed on the goods channel conveyor belt (17) by using the speed difference.
4. The control method of the cargo dispenser according to claim 3, wherein the cargo hopper (2) comprises a bottom plate (26) and two side plates (27), the two side plates (27) are arranged oppositely and at intervals to form the cargo inlet (A) and the cargo outlet (B), a rack (261) is arranged on the bottom plate (26), and a first guide rail (262) arranged along the direction of the cargo inlet (A) and the cargo outlet (B) is fixed on the bottom plate (26); the bottoms of the two side plates (27) are connected through a supporting plate (271), the supporting plate (271) is connected with the first guide rail (262) through a sliding block (272), the supporting plate (271) is connected with a traverse motor (273), an output shaft of the traverse motor (273) is provided with a driving gear (274), the driving gear (274) is meshed with the rack (261), and the traverse motor (273) is controlled to be opened so that the two side plates (27) extend or retract relative to the bottom plate (26) along the directions of the goods inlet (A) and the goods outlet (B) under the driving of the traverse motor (273), and therefore one side of the goods inlet (A) of the goods hopper (2) extends or retracts towards the goods channel (1).
5. The control method of the goods allocation machine according to the claim 4, characterized in that a conveying device (3) is arranged outside the goods inlet (A), the goods way control board (22) is arranged on the conveying device (3), and when the step 2.1 is executed, the conveying device (3) is positioned below the goods to be allocated.
6. A control method for a goods distributor according to claim 5, wherein the conveyor (3) comprises a rotating roller (31) arranged transversely between two side plates (27) and a shielding plate (32) surrounding the rotating roller (31), the rotating roller (31) is arranged outside the lower part of the goods inlet (A) and is rotated towards the goods outlet (B) by a driving device (4); the goods way control panel (22) is arranged on the shielding plate (32), the shielding plate (32) is provided with an inclined surface (321) with a through hole, and the contour surface of the rotating roller (31) can extend out through the through hole, so that goods enter the goods hopper (2) under the rotating action.
7. A control method according to claim 6, characterized in that the conveyor belt (17) is driven by the drive means (4), the conveyor belt (17) being arranged at an angle to the floor (26).
8. The control method of the cargo dispenser according to claim 7, wherein the driving device (4) comprises a driving motor (41) disposed below the conveyor belt (17), a driving gear (42) sleeved on an output shaft of the driving motor (41), a first gear set (43) sleeved on a rotating shaft of the conveyor belt (17), and a second gear set (44) interlocked with the rotating roller (31), wherein the first gear set (43) is fitted between the driving gear (42) and the second gear set (44).
9. The control method of the cargo dispenser according to claim 5, characterized in that a lifting door (23) is provided at the cargo outlet (B), and when the conveyor belt (17) moves, the lifting door (23) shields the upper surface of the conveyor belt (17) to prevent the cargo from falling; the two ends of the lifting door (23) are respectively sleeved on the vertically arranged second guide rails (6) through the connecting seats (5), the connecting seats (5) are fixedly connected onto a belt (7), the belt (7) is driven by a forward and reverse rotating motor (8), and when the forward and reverse rotating motor (8) rotates forward and reverse, the lifting door (23) is lifted.
10. The control method of the cargo dispenser according to claim 4 or 5, characterized in that the two position photoelectric sensors are respectively arranged at the upper part and the lower part of one side of the cargo bucket (2), the working ends of the two position photoelectric sensors face to the cargo channel, when the steps 1.2 and 1.3 are executed, the cargo channel at the upper part is scanned by the position photoelectric sensor at the upper part of the cargo bucket (2), and the cargo channel at the lower part is scanned by the position photoelectric sensor at the lower part of the cargo bucket; the photoelectric correlation sensors (25) are provided with a plurality of groups and are oppositely arranged on the inner side of the side plate (27).
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Application publication date: 20210910 |