CN114590550A - Automatic loader and control method - Google Patents
Automatic loader and control method Download PDFInfo
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- CN114590550A CN114590550A CN202210174260.5A CN202210174260A CN114590550A CN 114590550 A CN114590550 A CN 114590550A CN 202210174260 A CN202210174260 A CN 202210174260A CN 114590550 A CN114590550 A CN 114590550A
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- telescopic
- conveyor belt
- stage
- belt device
- automatic loader
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G41/00—Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames
- B65G41/001—Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames with the conveyor adjustably mounted on the supporting frame or base
- B65G41/003—Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames with the conveyor adjustably mounted on the supporting frame or base mounted for linear movement only
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G21/00—Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors
- B65G21/10—Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors movable, or having interchangeable or relatively movable parts; Devices for moving framework or parts thereof
- B65G21/14—Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors movable, or having interchangeable or relatively movable parts; Devices for moving framework or parts thereof to allow adjustment of length or configuration of load-carrier or traction element
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Framework For Endless Conveyors (AREA)
Abstract
The invention discloses an automatic loader and a control method, which relate to the technical field of transportation, and the automatic loader comprises: the multi-axis moving mechanism at least comprises a horizontal moving device, a vertical moving device and a moving tail end; the multi-stage telescopic conveying belt device and the telescopic driving device are arranged on the movable tail end, the multi-stage telescopic conveying belt device comprises a plurality of telescopic conveying belt devices which are sequentially stacked, wherein the telescopic conveying belt device positioned at the top layer is a one-stage telescopic conveying belt device used for receiving articles, and each stage of telescopic conveying belt device positioned below the one-stage telescopic conveying belt device is used for sequentially receiving the articles conveyed by the previous stage of telescopic conveying belt device and continuously conveying the articles; the telescopic driving device is used for driving all stages of telescopic conveyor belt devices in the multi-stage telescopic conveyor belt devices to stretch and retract. The automatic loader provided by the invention can be compatible with various article shapes and sizes, and has high loading efficiency.
Description
Technical Field
The invention relates to the technical field of transportation, in particular to an automatic loader and a control method.
Background
In an airport transportation scene, after luggage articles and the like of airport passengers are conveyed to a shipping position of an airport terminal, the articles conveyed by a rotary table need to be sequentially stacked and stacked in an article bulk trailer or an airplane bulk container.
Traditional transportation stack mode mainly relies on the manual work, inside the transportation worker carries article and loads to trailer or aircraft bulk cargo container, this kind of mode was tested the physical strength of people bigger, and long-time work has the damage to people's health. To this problem, develop another kind of transportation stack mode afterwards, carry and load the article to trailer or inside the aircraft bulk cargo container through manual operation semi-automatic equipment promptly, however, need the operative employee to carry with the help of semi-automatization's auxiliary assembly in handling through manual operation semi-automatic equipment, though compare pure manual handling and saved physical power, degree of automation is not high, still needs to consume great physical power and just can accomplish the article and load.
In addition, another full-automatic robot in the prior art carries and loads articles, but is limited by high manufacturing and using costs, high requirements on the appearance state of the articles, and only can carry and load articles with certain hardness and flat surfaces, and cannot adapt to articles with insufficient hardness or uneven surfaces, such as a backpack.
Disclosure of Invention
The invention aims to provide an automatic loader and a control method, wherein the automatic loader conveys different articles through a multi-stage telescopic conveying belt, the requirements on the material, hardness, surface flatness and the like of the conveyed articles are low, the automatic loader can be widely applied to various use scenes, and the market prospect is good.
An object of the present invention is to provide an automatic loader and a control method thereof, wherein the automatic loader realizes movement in different directions through a multi-axis moving mechanism, and the degree of automation is high instead of manual operation.
An object of the present invention is to provide an automatic loader and a control method thereof, in which a multi-stage telescopic conveyor belt can convey two pieces of luggage at a time, the working efficiency is high, and the time and the use cost are saved.
The technical scheme provided by the invention for the technical problem is as follows:
in one aspect, the present invention provides an automatic loader comprising:
the multi-axis moving mechanism at least comprises a horizontal moving device, a vertical moving device and a moving tail end;
the multi-stage telescopic conveying belt device and the telescopic driving device are arranged on the movable tail end, the multi-stage telescopic conveying belt device comprises a plurality of telescopic conveying belt devices which are sequentially stacked, wherein the telescopic conveying belt device positioned at the top layer is a one-stage telescopic conveying belt device used for receiving articles, and each stage of telescopic conveying belt device positioned below the one-stage telescopic conveying belt device is used for sequentially receiving the articles conveyed by the previous stage of telescopic conveying belt device and continuously conveying the articles;
the telescopic driving device is used for driving all stages of telescopic conveyor belt devices in the multi-stage telescopic conveyor belt devices to stretch and retract.
According to the automatic loader, the multi-stage telescopic conveyor belt device comprises a mounting frame, the one-stage telescopic conveyor belt device is arranged on the top layer of the mounting frame, the telescopic driving device is arranged on the mounting frame, and all stages of telescopic conveyor belt devices below the one-stage telescopic conveyor belt device are located below the one-stage telescopic conveyor belt device.
According to the automatic loader, the telescopic driving device comprises a telescopic driving transmission chain wheel, a telescopic driving power chain wheel and a telescopic driving chain, and the telescopic driving transmission chain wheel is driven by the telescopic driving chain wheel to rotate;
the mounting frame is further provided with a guide rail, the telescopic driving device further comprises an assembly part connected with the telescopic driving chain, and the assembly part is movably arranged on the guide rail;
the guide rails are used for moving the assembly parts when the telescopic conveyor belt devices of all the stages of the multi-stage telescopic conveyor belt devices are stretched. According to the automatic loader, the mounting frame is further provided with an extension stroke limiting part and/or a retraction stroke limiting part for limiting the mounting block.
According to the automatic loader, the telescopic driving device comprises a plurality of telescopic cylinders, the end part of a telescopic rod of each telescopic cylinder is provided with a fixed block, and all stages of telescopic conveyor belt devices below the one-stage telescopic conveyor belt device are arranged on the fixed blocks.
According to the automatic loader, the telescopic conveying belt devices of the multi-stage telescopic conveying belt devices respectively comprise a transmission roller, a conveying belt and an electric roller, and the electric rollers are used for driving the transmission rollers to rotate through the conveying belt.
According to the automatic loader, the horizontal moving device comprises a first driver, a first base and a horizontal rail arranged on the first base, and the horizontal moving bearing piece is arranged on the horizontal rail in a sliding manner; the first driver is used for driving the horizontal movable bearing piece to move.
According to the automatic loader, the vertical moving device comprises a second driver, a second base and a vertical rail arranged on the second base, and the vertical moving bearing piece is arranged on the vertical rail in a sliding manner; the second driver is used for driving the vertical movable bearing piece to move.
In another aspect, the present invention also provides a control method of an automatic loader, the method including:
acquiring position information of an article and position information to be placed by using a preset inductor;
controlling the horizontal activity of the horizontal activity device and the vertical activity of the vertical activity device according to the position information; determining the telescopic amount of the multi-stage telescopic conveyor belt device according to the information of the position to be placed;
and if the multi-stage telescopic conveyor belt device receives the articles, the articles are conveyed to the position to be placed corresponding to the position information to be placed sequentially through the one-stage telescopic conveyor belt device and the following telescopic conveyor belt devices at all stages.
According to the control method of the automatic loader, before the position information of the article and the position information to be placed are obtained by using the preset sensor, the method comprises the following steps:
acquiring an article placement condition image of an article placement position by using a visual camera;
and judging the vacant position of the article according to the article placing condition image to be used as the position to be placed.
The technical scheme provided by the embodiment of the invention has the following beneficial effects:
the automatic loader provided by the invention can realize full-automatic loading of articles. The loader can realize the triaxial activity, and the cooperation visual analysis can be with the comparatively accurate loading of article inside trailer or aircraft bulk cargo container. Meanwhile, the device can be compatible with articles of different shapes, materials and sizes, the probability of damaging the articles in the process of transferring the articles can be reduced, the articles can be conveyed to the interior of a trailer or an airplane bulk container, and a complex grabbing device does not need to be designed. In addition, the loading efficiency is improved, and the design of multi-stage telescopic conveyor belt devices is adopted, so that the conveyor belts of all stages of telescopic conveyor belt devices can realize one-time connection of two articles, and the device has a temporary storage function and is excellent in economy and efficiency.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic perspective view of an automatic loader according to an embodiment of the present invention.
Fig. 2 is a schematic perspective view of a horizontal movement device provided by the present invention.
Fig. 3 is a schematic perspective view of the vertical movement device provided by the present invention at a viewing angle.
Fig. 4 is a schematic perspective view of the vertical movement device provided by the present invention from another viewing angle.
Fig. 5 is a schematic perspective view of a multi-stage telescopic conveyor belt device according to the present invention.
Fig. 6 is a schematic longitudinal sectional structure diagram of a multi-stage telescopic conveyor belt device provided by the present invention.
Fig. 7 is a flowchart illustrating a control method of the automatic loader according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
Referring to fig. 1 to 6, an embodiment of the automatic loader 100 provided by the present invention is disclosed, and the automatic loader 100 is mainly applied to a cargo transportation system, and more specifically, is used for receiving luggage conveyed by a luggage carousel and transferring the luggage to a designated position such as a trailer or an airplane bulk container in a scene such as an airport.
The automatic loader 100 provided by the present invention may include a multi-axis moving mechanism for enabling a moving tip of the multi-axis moving mechanism to move to a target position, a target height, and a target attitude through multi-axis kinematic coordination.
In this embodiment, the multi-axis moving mechanism includes a horizontal moving device 11 and a vertical moving device 12, and a multi-stage telescopic conveyor belt device 13 and a telescopic driving device 14 are provided at the moving end. The multi-stage telescopic conveyor belt device 13 includes a plurality of telescopic conveyor belt devices which are sequentially stacked and have sequentially increased telescopic strokes, wherein the telescopic conveyor belt device located at the top layer is a one-stage telescopic conveyor belt device 132 for receiving the baggage, and each stage of telescopic conveyor belt device located below the one-stage telescopic conveyor belt device 132 is used for sequentially receiving the baggage conveyed by the previous stage of telescopic conveyor belt device and continuously conveying the baggage. The telescopic driving device 14 is used for driving each stage of telescopic conveyor belt device in the multi-stage telescopic conveyor belt device 13 to perform one or more telescopic operations so as to reach a target position.
It can be understood that the conveyer belts of all levels of telescopic conveyer belt devices which are sequentially stacked can be mutually independently arranged, that is, the conveyer belts of all levels of telescopic conveyer belt devices are not contacted with each other and do not interfere with the operation of other levels of telescopic conveyer belt devices, so that the independent control of all levels of telescopic conveyer belt devices is facilitated, and the flexibility of conveying luggage is improved. The conveyer belts of all levels of telescopic conveyer belt devices can be contacted with each other, and the movement of the conveyer belts of all levels of telescopic conveyer belt devices is relatively unified and integrated, and the driving force required by the operation of the conveyer belts is saved to a certain extent.
Referring to fig. 2, preferably, the horizontal moving device 11 is mainly used for carrying the vertical moving device 12 thereon to move in the X-axis direction, that is, the vertical moving device 12 is displaced in the horizontal direction by means of the horizontal moving device 11, the horizontal moving device 11 may include a horizontal moving bearing 114 for bearing the vertical moving device 12, the vertical moving device 12 is disposed on the horizontal moving device 11 through the horizontal moving bearing 114, and further includes a first driver (a motor is adopted in the drawing, and corresponds to the first motor 118), a first base 111 and a horizontal rail 113, specifically:
the first guide groove 112 is formed on the first base 111, and here, the horizontal rail 113 may include two first groove type guide rails respectively disposed on the first base 111 at both sides of the first guide groove 112, and the two first groove type guide rails respectively disposed at both sides of the first guide groove 112. A first chain 115, a first transmission sprocket 116 and a first power sprocket 117 connected to an output end of a first motor 118 are disposed in the first guide groove 112, and the first power sprocket 117 and the first transmission sprocket 116 are connected by the first chain 115. The non-bearing action surface of the horizontal movable bearing element 114 is provided with a fixed tooth matched with the first chain 115, or the non-bearing action surface of the horizontal movable bearing element 114 is fixedly connected with the first chain 115, that is, the horizontal movable bearing element 114 is movably arranged on the first chain 115, so that after the first motor 118 drives the first power sprocket 117 to rotate, the horizontal movable bearing element 114 is driven to move along the horizontal rail 113 and drive the first transmission sprocket 116 to rotate under the further action of the first chain 115, and the horizontal movable bearing element 114 can further drive the vertical movable device 12 thereon to translate on the X axis, and the vertical movable device 12 realizes translation in the horizontal direction through the horizontal movable bearing element 114.
In this embodiment, the horizontal movable bearing component 114 may include a first plate 1141 and first rollers 1142 mounted on two sides of the first plate 1141, and the first rollers 1142 on two sides are all rolled in the grooves of the first groove-type guide rail, so that the friction between the horizontal movable bearing component 114 and the first base 111 is rolling friction, and the first rollers 1142 on two sides can improve the stability of the horizontal movable bearing component 114 in movement.
Further, in another embodiment of the present invention, the difference from the above embodiment is that the horizontal rail 113 may include two first guide rails respectively disposed at two sides of the first guide groove 112, the horizontally movable bearing member 114 further includes first sliding blocks (not shown, a variant structure corresponding to the first roller) mounted at two sides of the first plate body 1141, each first sliding block is movably disposed at each first guide rail, and the friction manner between the horizontally movable bearing member 114 and the first base 111 is sliding friction. It is to be noted that only the differences are set forth for the sake of brevity and understanding, and are not to be construed as any limitation of the present invention.
In this embodiment, the first base 111 specifically adopts a rectangular base, the first guide groove 112 formed in the first base 111 is a square groove, and the two first groove-type guide rails are respectively disposed on the long sides of the rectangular base. The first plate 1141 is supported by four first rollers 1142, and the first rollers 1142 are rotatably disposed on a mounting plate (not shown), and an upper edge of the mounting plate is integrally formed with a side edge of the first plate 1141.
It will be appreciated that the non-load bearing surface of the horizontally movable bearing member 114 is disposed opposite and out of plane with the load bearing surface of the first plate 1141 that bears the vertically movable device 12.
In order to limit the moving range of the horizontal moving bearing member 114, a first limiting member 119 is further disposed on the first base 111, and the first limiting member 119 may be a blocking piece or a limiting switch for controlling the first motor 118 to turn off.
Referring to fig. 3 and 4, fig. 3 is a schematic perspective view of a vertical movement device provided by the present invention at a viewing angle; fig. 4 is a schematic perspective view of the vertical moving device in another view angle, and referring to fig. 1, fig. 2, and fig. 6, the vertical moving device 12 may include a vertical moving carrier 124 for carrying the multi-stage telescopic conveyor belt device 13 and the telescopic driving device 14, and further includes a second driver (also employing a motor, which corresponds to the second motor 128 in the figure), a second base 121, and a vertical rail 123, where the second base 121 may include a vertically arranged upright 1211, the vertical rail 123 is vertically arranged along the upright 1211, and the second motor 128 is used for driving the vertical moving carrier 124 to move vertically, specifically:
the second base 121 is fixedly disposed on the first plate 1141 of the horizontally movable bearing member 114, and the upright 1211 is provided with a second guiding groove 122, and similarly, the vertical rail 123 herein may include two second groove-type guiding rails respectively disposed on the upright 1211 at two sides of the second guiding groove 122. A second chain 125, a second driving sprocket 126 and a second power sprocket 127 connected to the output end of the second motor 128 are disposed in the second guide groove 122, and the second power sprocket 127 and the second driving sprocket 126 are connected by the second chain 125.
In this embodiment, the vertical movable supporting member 124 may include a second plate 1241 and second rollers 1242 installed at two sides of the second plate 1241, and the second rollers 1242 at two sides are all rolled in the groove of the second groove-type guide rail, so that the friction between the vertical movable supporting member 124 and the upright 1211 is rolling friction, and the second rollers 1242 at two sides can improve the stability of the vertical movable supporting member 124 in the movement. The second motor 128 is disposed on the top end of the upright 1211, and the non-bearing surface of the movable vertical carrier 124 can be fixedly connected to the second chain 125, or the movable vertical carrier 124 is provided with a fixed tooth matching with the second chain 125, that is, the movable vertical carrier 124 is movably disposed on the second chain 125.
Further, in another embodiment of the present invention, different from the above-mentioned embodiment, the vertical rail 123 may include two second guide rails respectively disposed at two sides of the second guide groove 122, the vertically movable bearing 124 further includes second sliders (not shown, a variant structure corresponding to the second roller) mounted at two sides of the second plate 1241, each second slider is movably disposed at each second guide rail, and the friction manner between the vertically movable bearing 124 and the upright 1211 is sliding friction. It is to be noted that only the differences are set forth for the sake of brevity in order to facilitate understanding, and not as any limitation of the present invention.
It is understood that the non-bearing surface of the vertically movable bearing member 124 and the bearing surface of the second plate 1241 for bearing the multi-stage telescopic conveyor belt device 13 and the telescopic driving device 14 are disposed opposite and out-of-plane.
In this embodiment, the upright 1211 is specifically a rectangular upright, the second guide groove 122 formed in the upright 1211 is a similar rectangular groove, and the two second groove-type guide rails are respectively disposed on the two long sides of the rectangular upright and have opposite positions. The second plate 1241 is also supported by four second rollers 1242 in a rolling manner or by four second sliders in a sliding manner, and the required supporting force can be provided by the second chain 125. Similarly to the horizontal movement device 11, the second roller 1242 may be rotatably disposed on a mounting plate, or the second slider may be slidably disposed on the mounting plate, and the plate edge of the mounting plate may be integrally formed with the edge of the second plate 1241.
After the second motor 128 drives the second power sprocket 127 to rotate, under the further action of the second chain 125, the vertical movable carrier 124 is driven and moves along the vertical rail 123, the second transmission sprocket 126 is driven to rotate, and the vertical movable carrier 124 can further drive the multi-stage telescopic conveyor belt device 13 and the telescopic driving device, which are arranged on the vertical movable carrier 124, to translate on the Z axis.
Similarly, in order to form the movable range of the vertically movable supporting member 124, a second limiting member 129 is further disposed on the upright 1211, and the second limiting member 129 may be a blocking piece, or may be a limiting switch for controlling the second motor 128 to be turned off, and the movable range of the vertically movable supporting member 124.
In this embodiment, further, a bracket may be fixedly provided on one side of the post 1211 to be placed for controlling the cabinet 15 for driving each driver.
With reference to fig. 2-4, the horizontal movable bearing part 114 and the vertical movable bearing part 124 of the present invention both comprise plate structures, and a plurality of hollow-outs are formed on the plate structures, so as to facilitate reducing the self-weight thereof and reducing the driving power requirement.
Here, the multi-axis moving mechanism includes a two-axis moving mechanism, that is, including X-axis and Z-axis rectangular coordinates. It is understood that the multi-axis moving mechanism may also be a five-axis moving mechanism, that is, three rectangular coordinates and two rotation coordinates are included, so as to more precisely control the postures of the multi-stage telescopic conveyor belt device 13 and the telescopic driving device 14 at the moving ends thereof, and improve the accuracy of baggage transportation. It should be noted that the multi-axis moving mechanism may also be implemented as a three-axis or four-axis moving mechanism, and in the present invention, the number of axes of the multi-axis moving mechanism is not limited, and in different application scenarios, the multi-axis moving mechanism can be implemented as different numbers of axes.
It is to be understood that the multi-axis moving mechanism may also be a multi-axis moving robot arm that moves the multi-stage telescopic conveyor belt device to a preset position and maintains a preset posture through multi-axis cooperation.
Referring to fig. 5 and 6, fig. 5 is a schematic perspective view of a multi-stage telescopic conveyor belt device provided by the present invention; fig. 6 is a schematic longitudinal sectional structure diagram of a multi-stage telescopic conveyor belt device provided by the present invention. The multi-stage telescopic conveyor belt device 13 is a two-stage telescopic conveyor belt device, and includes a first-stage telescopic conveyor belt device 132 located at the top layer and a second-stage telescopic conveyor belt device 133 located between the first-stage telescopic conveyor belt device 132 and the telescopic driving device 14, wherein a conveyor belt of the first-stage telescopic conveyor belt device 132 is used for receiving articles, such as baggage conveyed by a baggage carousel conveyor belt, and transferring the articles to a conveyor belt of the second-stage telescopic conveyor belt device 133, and then the articles are transferred to a preset position by the second-stage telescopic conveyor belt device 133, such as the interior of a baggage bulk cargo trailer or an airplane bulk cargo container.
The primary telescopic conveyor belt device 132 and the secondary telescopic conveyor belt device 133 are disposed independently, wherein the primary telescopic conveyor belt device 132 may include a first conveyor belt 1321, a first transmission roller 1322 and a first motor roller 1323, the first motor roller 1323 drives the first transmission roller 1322 to rotate through the first conveyor belt 1321, and the first conveyor belt 1321 may drive the baggage thereon to displace. The secondary telescopic conveyor belt device 133 is used for receiving the baggage output by the primary telescopic conveyor belt device 132. Similar to the first-stage telescopic conveyor belt device 132, the second-stage telescopic conveyor belt device 133 may include a second conveyor belt 1331, a second driving roller 1332 and a second electric roller 1333, wherein the second electric roller 1333 drives the second driving roller 1332 to rotate through the second conveyor belt 1331, and the second conveyor belt 1331 may drive the baggage on the second conveyor belt 1331 to displace.
In this embodiment, the primary telescopic conveyor belt device 132 may be relatively fixedly disposed with respect to the secondary telescopic conveyor belt device 133, that is, the primary telescopic conveyor belt device 132 may be relatively fixedly disposed on the mounting frame 131, and the secondary telescopic conveyor belt device 133 may be driven by the telescopic driving device 14 to extend out of the primary telescopic conveyor belt device 132 and extend to the position of the article to be placed, so as to transport the article in place. In some variations, the primary telescopic conveyor belt assembly 132 is also telescopically mounted on the mounting frame 131, i.e., both the primary telescopic conveyor belt assembly 132 and the secondary telescopic conveyor belt assembly 133 are telescopic relative to the mounting frame 131.
The telescopic driving device 14 may include a telescopic driving chain 141, a telescopic driving power sprocket 142 and a third transmission wheel 143, wherein the telescopic driving power sprocket 142 drives the telescopic driving transmission sprocket 143 to rotate through the telescopic driving chain 141.
More specifically, the mounting bracket 131 may further be provided with a guide rail 1312, the guide rail 1312 may be implemented as a slide rail, here, a fitting part 144 corresponding to the secondary telescopic conveyor belt device 133 is provided on the telescopic driving chain 141, the fitting part 144 may be implemented as a slide block, and the secondary telescopic conveyor belt device 133 is provided on the fitting part 144. The guide rail 1312 is used for moving the assembly member 144 when the secondary telescopic conveyor belt device 133 is moved. Here, the mounting frame 131 includes a connecting frame 1311 connected to the vertically movable carrier 124 and a supporting frame 1313 for fixing and supporting the multi-stage telescopic conveyor belt 13 and the telescopic driving device 14.
It is understood that in other embodiments, the rails 1312 may be implemented as slotted rails and the fitting 144 may be implemented as rollers, the slotted rails being used for movement of the rollers when the secondary telescopic conveyor belt device 133 is extended or retracted.
It is understood that in other embodiments, the first-stage telescopic conveyor belt device 132 and the second-stage telescopic conveyor belt device 133 can be both telescopic relative to the mounting frame 131, and the mounting frame 131 is provided with two sets of guide rails 1312, and the telescopic driving device 14 is provided with two sets of mounting members 144 and corresponding sprockets, chain assemblies, etc.
It is understood that, as a modified embodiment of the telescopic driving device 14, the telescopic driving device 14 may further include an air cylinder having a telescopic rod, and the telescopic rod is driven by the air cylinder to drive the primary telescopic conveyor belt device 132 and/or the secondary telescopic conveyor belt device 133 to telescope.
It can be understood that, compared to the case that the horizontal moving device 11 drives the vertical moving device 12 to move on the X axis, and the vertical moving device 12 drives the multi-stage telescopic conveyor belt device 13 to move on the Z axis, the multi-stage telescopic conveyor belt device 13 drives the articles on the multi-stage telescopic conveyor belt device 13 to move on the Y axis during the telescopic process.
In order to limit the range of motion of the assembly member 144, a travel limiting member 145 and/or a travel limiting member 146 for limiting the motion of the assembly member 144 are further disposed on the mounting bracket 131, wherein each limiting member may be a stop, a limit switch, or other elements capable of achieving the same limiting effect, but is not limited herein.
When the automatic loader 100 shown in fig. 1 is used to transfer articles, in an application scenario, for example, in a scenario where baggage is transferred by an airport baggage carousel, after the baggage is subjected to security inspection and posture adjustment, the position of the baggage to be received can be determined by the automatic loader 100 according to a machine vision technology, and the one-stage telescopic conveyor belt device 132 located at the top layer of the multi-stage telescopic conveyor belt device 13 can receive the transported baggage by controlling the multi-axis moving mechanism to operate. Then, the position of the baggage to be placed is determined according to the machine vision technology, and the baggage is placed at the position to be placed by controlling the multi-axis moving mechanism and the telescopic driving device 14 to act and controlling the conveyor belts of the multi-stage telescopic conveyor belt device 13. It will be appreciated that after the baggage has been placed at the ready position, the extended telescopic conveyor belt devices of the respective stages may also be controlled to retract to allow the next placing of the baggage at the other ready position to be completed.
The automatic loader 100 provided by the present invention can realize fully automatic loading of articles. The autoloader 100 enables three-axis activities and, in conjunction with visual analysis, enables relatively precise loading of items, such as luggage, into a trailer or aircraft bulk container. Meanwhile, the device can be compatible with articles of different shapes, materials and sizes, the probability of damaging the articles in the process of transferring the articles can be reduced, the articles can be conveyed to the interior of a trailer or an airplane bulk container, and a complex grabbing device does not need to be designed. In addition, the loading efficiency is improved, the design of the multi-stage telescopic conveyor belt devices is adopted, the conveyor belts of all stages of telescopic conveyor belt devices can realize one-time connection of two pieces of luggage, the efficiency is improved, the conveyor belts of all stages of telescopic conveyor belt devices have the function of temporarily storing articles, and the economy and the efficiency are good.
Referring to fig. 7, a flow chart of a control method of the automatic loader according to the present invention is shown, where the control method is mainly applied to the automatic loader, and the purpose of accurately transferring articles by using the automatic loader is achieved by controlling the cooperation between each device and each module.
As shown in fig. 7, the control method may include the steps of:
step S101: and acquiring the position information of the article and the position information to be placed by using a preset inductor. The position image of the article after security check and posture adjustment can be acquired by the visual camera, and the article placement condition image of the region to be placed of the article can be acquired by the visual camera or another visual camera.
In this step, the image recognition technology can be used to recognize the object in the image and determine the position of the object. It is understood that, before this step, the position to be placed may also be acquired by:
and acquiring an article placing condition image of an article placing position by using a visual camera, and judging an article vacant position according to the article placing condition image to be used as the position to be placed.
Step S102: controlling the horizontal activity of the horizontal activity device and the vertical activity of the vertical activity device according to the position information; and determining the telescopic amount of the multi-stage telescopic conveyor belt device according to the information of the position to be placed.
In this step, after the position information of the article is obtained, the multi-stage telescopic conveyor belt device is moved to a proper height and position by controlling the activity of the horizontal movable bearing piece of the horizontal movable device and the activity of the vertical movable bearing piece of the vertical movable device. After the position information to be placed is obtained, the articles are placed at the corresponding positions by controlling the first-stage telescopic conveyor belt device and/or the telescopic conveyor belt devices below the first-stage telescopic conveyor belt device to sequentially extend step by step. It can be understood that the stretching amount of the multi-stage telescopic conveyor belt device can be determined according to the information of the position to be placed, including the stretching stage number and the stretching length.
Step S103: and if the multi-stage telescopic conveyor belt device receives the articles, the articles are conveyed to the position to be placed corresponding to the position information to be placed sequentially through the one-stage telescopic conveyor belt device and the lower telescopic conveyor belt devices at all stages.
In this step, after the stretching amounts of the multiple stages of the telescopic conveyor belt devices are obtained, the telescopic driving devices can be controlled to drive the telescopic conveyor belt devices of the corresponding stages to stretch, and the telescopic conveyor belt devices of all stages are started to convey articles to the positions to be placed by using the conveyor belts of all stages of the telescopic conveyor belt devices.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. An automatic loader, comprising:
the multi-axis moving mechanism at least comprises a horizontal moving device, a vertical moving device and a moving tail end;
the multi-stage telescopic conveying belt device and the telescopic driving device are arranged on the movable tail end, the multi-stage telescopic conveying belt device comprises a plurality of telescopic conveying belt devices which are sequentially stacked, wherein the telescopic conveying belt device positioned at the top layer is a one-stage telescopic conveying belt device used for receiving articles, and each stage of telescopic conveying belt device positioned below the one-stage telescopic conveying belt device is used for sequentially receiving the articles conveyed by the previous stage of telescopic conveying belt device and continuously conveying the articles;
the telescopic driving device is used for driving all stages of telescopic conveyor belt devices in the multi-stage telescopic conveyor belt devices to stretch and retract.
2. The automatic loader of claim 1, in which said multi-stage telescopic conveyor belt arrangement comprises a mounting frame, said one-stage telescopic conveyor belt arrangement being provided at a top layer of said mounting frame, said telescopic drive arrangement being provided at said mounting frame, each stage of telescopic conveyor belt arrangement below said one-stage telescopic conveyor belt arrangement being located below said one-stage telescopic conveyor belt arrangement.
3. The automatic loader of claim 2, wherein the telescopic drive device comprises a telescopic drive transmission sprocket, a telescopic drive power sprocket, and a telescopic drive chain, and the telescopic drive transmission sprocket is driven by the telescopic drive chain to rotate;
the mounting frame is further provided with a guide rail, the telescopic driving device further comprises an assembly part connected with the telescopic driving chain, and the assembly part is movably arranged on the guide rail;
the guide rails are used for moving the assembly parts when the telescopic conveyor belt devices of all the stages of the multi-stage telescopic conveyor belt devices are stretched.
4. The automatic loader of claim 3, wherein an extension stop and/or a retraction stop is provided on the mounting bracket to stop the mounting block.
5. The automatic loader of claim 2, wherein the telescopic driving device comprises a plurality of telescopic cylinders, a fixed block is provided at the end of each telescopic rod of the telescopic cylinders, and each stage of telescopic conveyor belt device below the one stage of telescopic conveyor belt device is provided on the fixed block.
6. The automatic loader of claim 2, wherein the telescopic conveyor belts of the multi-stage telescopic conveyor belts each comprise a driving roller, a conveyor belt and a motorized roller, and the motorized roller is used for driving the driving roller to rotate through the conveyor belt.
7. The automatic loader of any one of claims 1 to 6, wherein the horizontally movable device comprises a first driver, a first base, a horizontal rail provided on the first base, and a horizontally movable carrier slidably disposed on the horizontal rail; the first driver is used for driving the horizontal movable bearing piece to move.
8. The automatic loader of any one of claims 1 to 6,
the vertical movable device comprises a second driver, a second base and a vertical rail arranged on the second base, and the vertical movable bearing piece is arranged on the vertical rail in a sliding manner; the second driver is used for driving the vertical movable bearing piece to move.
9. A control method applied to the automatic loader according to claims 1 to 8, characterized in that the method comprises:
acquiring position information of an article and position information to be placed by using a preset inductor;
controlling the horizontal activity of the horizontal activity device and the vertical activity of the vertical activity device according to the position information; determining the telescopic amount of the multi-stage telescopic conveyor belt device according to the information of the position to be placed;
and if the multi-stage telescopic conveyor belt device receives the articles, the articles are conveyed to the position to be placed corresponding to the position information to be placed sequentially through the one-stage telescopic conveyor belt device and the following telescopic conveyor belt devices at all stages.
10. The control method of the automatic loader according to claim 9, wherein before the position information of the article and the position information to be placed are obtained by using the preset sensor, the method comprises:
acquiring an article placement condition image of an article placement position by using a visual camera;
and judging the vacant position of the article according to the article placing condition image to be used as the position to be placed.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210174260.5A CN114590550A (en) | 2022-02-24 | 2022-02-24 | Automatic loader and control method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210174260.5A CN114590550A (en) | 2022-02-24 | 2022-02-24 | Automatic loader and control method |
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| CN202210174260.5A Pending CN114590550A (en) | 2022-02-24 | 2022-02-24 | Automatic loader and control method |
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