CN116216220A - Compact conveying device and method - Google Patents

Compact conveying device and method Download PDF

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Publication number
CN116216220A
CN116216220A CN202211566165.6A CN202211566165A CN116216220A CN 116216220 A CN116216220 A CN 116216220A CN 202211566165 A CN202211566165 A CN 202211566165A CN 116216220 A CN116216220 A CN 116216220A
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China
Prior art keywords
conveyor belt
warehouse
product
mechanical arm
belt
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Granted
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CN202211566165.6A
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Chinese (zh)
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CN116216220B (en
Inventor
赵云
钱凯
赵青
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Jiangsu Chifeng Technology Co ltd
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Jiangsu Chifeng Technology Co ltd
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Priority to CN202211566165.6A priority Critical patent/CN116216220B/en
Publication of CN116216220A publication Critical patent/CN116216220A/en
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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
    • B65G37/00—Combinations of mechanical conveyors of the same kind, or of different kinds, of interest apart from their application in particular machines or use in particular manufacturing processes
    • 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
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • 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
    • B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0208—Control or detection relating to the transported articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0266—Control or detection relating to the load carrier(s)
    • B65G2203/0291—Speed of the load carrier

Abstract

The invention discloses a compact conveying device, which comprises: an off-warehouse mechanism for transporting the product; the plurality of storage mechanisms are used for accommodating products; the mechanical arm mechanism is in butt joint with the outer mechanism of the warehouse in a first state so as to convey products from the outer mechanism of the warehouse to the mechanical arm mechanism, and is in butt joint with the warehouse position mechanism in a second state so as to convey products from the mechanical arm mechanism to the warehouse position mechanism. The invention provides a compact conveying device, which is characterized in that products on an out-of-warehouse mechanism are conveyed to target warehouse mechanisms in a plurality of warehouse mechanisms through a mechanical arm mechanism, so that intelligent storage and storage of the products can be realized quickly and orderly, and the conveying and storage efficiency is improved.

Description

Compact conveying device and method
Technical Field
The invention belongs to the technical field of product conveying and storage, and particularly relates to a compact conveying device and method.
Background
When the products are intelligently delivered and stored and coiled, the products are required to be stored according to the principle of being put together with batch numbers and being put outside near the validity period, so that bar codes are attached to the outer package of the products, the information of the products can be obtained through automatic scanning, and then the products are conveyed to a specified multi-layer multi-column conveying belt storage mechanism through a conveying belt.
However, during the process of conveying products, when the products are conveyed together in a close contact manner, the laser correlation sensor cannot judge whether the conveying of the single product is finished or not. In order to solve the problem, the prior proposal is that before the products are conveyed, each product is separated, and the products are stored at intervals during storage, thus the laser correlation sensor is convenient to judge the completion of conveying the single product. However, such a transportation and storage method wastes space, which not only reduces transportation efficiency, but also wastes warehouse capacity.
Therefore, in order to solve the above-mentioned problems, it is necessary to provide a compact conveying device and a compact conveying method.
Disclosure of Invention
Accordingly, the present invention is directed to a compact conveying apparatus and method.
In order to achieve the above object, an embodiment of the present invention provides the following technical solution:
a compact transport device, the compact transport device comprising:
an off-warehouse mechanism for transporting the product;
the plurality of storage mechanisms are used for accommodating products;
the mechanical arm mechanism is in butt joint with the outer mechanism of the warehouse in a first state so as to convey products from the outer mechanism of the warehouse to the mechanical arm mechanism, and is in butt joint with the warehouse in a second state so as to convey products from the mechanical arm mechanism to the warehouse.
In one embodiment, the out-of-store mechanism includes a first conveyor belt and a first motor for driving the first conveyor belt; the mechanical arm mechanism comprises a second conveying belt and a second motor for driving the second conveying belt; the warehouse mechanism comprises a third conveying belt and a third motor for driving the third conveying belt.
In one embodiment, the out-of-store mechanism includes a first position sensor located at a head end of a first conveyor belt;
the mechanical arm mechanism comprises a second position sensor positioned at the tail end of the second conveying belt and a third position sensor positioned at the head end of the second conveying belt;
the warehouse position mechanism comprises a fourth position sensor positioned at the tail end of the third conveyer belt and a fifth position sensor positioned at the head end of the third conveyer belt.
In one embodiment, the out-of-store mechanism further comprises a length sensor located between the first conveyor belt head end and the first conveyor belt end.
In one embodiment, the off-warehouse mechanism further comprises an image recognition device located at an end of the first conveyor belt.
The technical scheme provided by the other embodiment of the invention is as follows:
a compact delivery method, the method comprising the steps of:
s1, driving a mechanical arm mechanism to enable the mechanical arm mechanism to be in butt joint with an out-warehouse mechanism;
s2, conveying the product from the out-of-warehouse mechanism to the mechanical arm mechanism;
s3, driving the mechanical arm mechanism to separate the mechanical arm mechanism from the out-of-warehouse mechanism and then butting the mechanical arm mechanism with the target warehouse position mechanism;
s4, conveying the product from the mechanical arm mechanism to the target warehouse position mechanism.
In one embodiment, the method further comprises: the length L1 of the product conveyed to the robot arm mechanism is measured by a length sensor.
In one embodiment, the step S2 includes:
s21, driving a first conveying belt to drive at a rated speed through a first motor so as to convey products on the first conveying belt;
s22, calculating the length L2 of a second conveyor belt capable of containing products, comparing the L2 with L1, if L2 is greater than or equal to L1, controlling the first conveyor belt to continue driving at a rated speed so as to convey the products from the first conveyor belt to the second conveyor belt, and if L2 is less than L1, closing the first motor, and stopping driving by the first conveyor belt;
s23, judging whether a product is detected by a second position sensor of the mechanical arm mechanism, and if so, driving a second conveyer belt to drive at a rated speed through a second motor;
s24, judging whether a first position sensor of the mechanism outside the warehouse detects a product, if not, closing the first motor, stopping transmission of the first conveyor belt, and if so, controlling the first conveyor belt to continue transmission at a rated speed;
s25, judging whether a product is detected by a second position sensor of the mechanical arm mechanism, if not, closing a second motor, stopping transmission of the second conveyor belt, and if so, controlling the second conveyor belt to continue transmission at a rated speed;
s26, repeating the steps S21 to S25.
In one embodiment, the step S4 includes:
s41, driving a second conveying belt to drive at a rated speed through a second motor so as to convey the second conveying belt with products;
s42, calculating the length L3 of a third conveyor belt capable of containing the product, comparing the L3 with L1, if L3 is greater than or equal to L1, controlling the second conveyor belt to continue to drive at a rated speed so as to convey the product from the second conveyor belt to the third conveyor belt, and if L3 is less than L1, closing the second motor, and stopping the second conveyor belt from driving;
s43, judging whether a product is detected by a fourth position sensor of the warehouse mechanism, if so, driving a third conveyer belt to drive at a rated speed through a third motor;
s44, judging whether the transmission length of the second conveyor belt reaches a preset length threshold, if so, turning off the second motor, stopping transmission of the second conveyor belt, and if not, controlling the second conveyor belt to continue transmission at a rated speed;
s45, judging whether a product is detected by a fourth position sensor of the warehouse mechanism, if not, closing a third motor, and stopping transmission of the third conveyer belt, if so, controlling the third conveyer belt to continue transmission at a rated speed;
s46, judging whether a third position sensor of the mechanical arm mechanism detects a product, if so, controlling the second conveyer belt to reversely drive at a rated speed, and if not, closing the second motor, and stopping the drive of the second conveyer belt;
s47, repeating the steps S41 to S46.
In one embodiment, the method further comprises: the product information is identified by the image identification means.
The invention has the following beneficial effects:
the invention provides a compact conveying device, which is characterized in that products on an out-of-warehouse mechanism are conveyed to target warehouse mechanisms in a plurality of warehouse mechanisms through a mechanical arm mechanism, so that intelligent storage and storage of the products can be realized quickly and orderly, and the conveying and storage efficiency is improved;
the invention provides a compact conveying method, which is characterized in that a mechanical arm mechanism is used for conveying products on an out-of-warehouse mechanism to a designated target warehouse position mechanism, two adjacent products can be tightly attached together, the space can be saved, the utilization rate of a third conveying belt can be improved, the conveying efficiency of the products can be improved, and the warehouse position storage capacity can be increased.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and other drawings may be obtained according to the drawings without inventive effort to those skilled in the art.
FIG. 1 is a schematic view of a compact conveyor device according to an embodiment of the invention;
FIG. 2 is a schematic diagram of an external mechanism of a first embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a mechanical arm mechanism according to a first embodiment of the present invention;
FIG. 4 is a schematic diagram of a library mechanism according to an embodiment of the present invention;
FIG. 5 is a schematic flow chart of a compact conveying method according to a second embodiment of the invention;
FIG. 6 is a flow chart of step S2 in the second embodiment of the present invention;
fig. 7 is a flow chart of step S4 in the second embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the embodiments of the present invention, it should be understood that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and the like indicate orientations or positional relationships based on those shown in the drawings, or those conventionally put in place when the product of the application is used, or those conventionally understood by those skilled in the art, merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element to be referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
In the description of the embodiments of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
In the description of the embodiments of the present invention, it should be further noted that, as used herein, the terms "first," "second," and the like do not denote any order or sequence, but rather are merely used to distinguish one element or operation from another.
It should be noted that, for the sake of more clarity in describing the structure, the term "distal" is defined herein to mean the end that is remote from the operator during operation, and "proximal" means the end that is near the operator during operation. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other.
The technical scheme of the invention will be described below with reference to the accompanying drawings.
Embodiment one:
referring to fig. 1, a compact conveyor apparatus according to an embodiment of the present invention includes an off-warehouse mechanism 1 for conveying products 4; a plurality of storage mechanisms 3 for accommodating products 4; the mechanical arm mechanism 2 is in butt joint with the external mechanism 1 in a first state to convey the product 4 from the external mechanism 1 to the mechanical arm mechanism 2, and in butt joint with the position mechanism 3 in a second state to convey the product 4 from the mechanical arm mechanism 2 to the position mechanism 3.
According to the design, the product 4 on the out-of-warehouse mechanism 1 can be transported to the target warehouse position mechanism 3 in the plurality of warehouse position mechanisms 3 through the mechanical arm mechanism 2, the intelligent storage of the stored product 4 can be realized rapidly and orderly, and the efficiency of conveying and storing is improved.
Specifically, referring to fig. 2 to 4, the out-of-warehouse mechanism 1 in the present embodiment includes a first conveyor belt 11 and a first motor 12 for driving the first conveyor belt 11; the mechanical arm mechanism 2 includes a second conveyor belt 21 and a second motor 22 for driving the second conveyor belt 21; the magazine mechanism 3 includes a third conveyor belt 31 and a third motor 32 for driving the third conveyor belt 31.
According to the design, the first motor 12 drives the first conveyor belt 11 to convey the products 4 from the tail end of the first conveyor belt 11 to the head end of the first conveyor belt 11; after the out-of-warehouse mechanism 1 is in butt joint with the mechanical arm mechanism 2, the second conveying belt 21 is driven by the second motor 22, products 4 are conveyed from the head end of the first conveying belt 11 to the tail end of the second conveying belt 21, the second conveying belt 21 is driven by the second motor 22 to continue transmission, and the products 4 are conveyed from the tail end of the second conveying belt 21 to the head end of the second conveying belt 21; when the mechanical arm mechanism 2 is in butt joint with the warehouse mechanism 3, the third conveying belt 31 is driven by the third motor 32, the product 4 is conveyed from the head end of the second conveying belt 21 to the tail end of the third conveying belt 31, the third motor 32 is driven by the third conveying belt 31 to continue transmission, and the product 4 is conveyed from the tail end of the third conveying belt 31 to the head end of the third conveying belt 31.
Preferably, the out-of-warehouse mechanism 1 in this embodiment includes a first position sensor 13 located at the head end of the first conveyor belt 11. The robot arm mechanism 2 includes a second position sensor 23 located at the end of the second conveyor belt 21 and a third position sensor 24 located at the head end of the second conveyor belt 21. The magazine 3 comprises a fourth position sensor 33 at the end of the third conveyor belt 31 and a fifth position sensor 34 at the head end of the third conveyor belt 31.
According to the design, the first position sensor 13 can control whether the first conveyor belt 11 needs to be driven, the second position sensor 23 and the third position sensor 24 can control whether the second conveyor belt 21 needs to be driven, and the fourth position sensor 33 and the fifth position sensor 34 can control whether the third conveyor belt 31 needs to be driven, so that the products 4 and 4 can be closely accommodated in the warehouse entry mechanism 3 in the process of conveying the products 4.
In addition, referring to fig. 2, the out-of-warehouse mechanism 1 of the present embodiment further includes a length sensor 14 located between the head end of the first conveyor belt 11 and the end of the first conveyor belt 11 for measuring the length of the product 4.
Further, the out-of-warehouse mechanism 1 of the present embodiment further includes an image recognition device 15 located at the end of the first conveyor belt 11, and the head portrait recognition device is used for performing shooting recognition on the bar code on the product 4 and recording information of the product 4.
Embodiment two:
referring to fig. 5, the compact type conveying method in the present embodiment includes the steps of:
s1, driving a mechanical arm mechanism to enable the mechanical arm mechanism to be in butt joint with an out-warehouse mechanism;
s2, conveying the product from the out-of-warehouse mechanism to the mechanical arm mechanism;
s3, driving the mechanical arm mechanism to separate the mechanical arm mechanism from the out-of-warehouse mechanism and then butting the mechanical arm mechanism with the target warehouse position mechanism;
s4, conveying the product from the mechanical arm mechanism to the target warehouse position mechanism.
According to the design, the product on the mechanism outside the warehouse can be transported to the target warehouse position mechanism in the plurality of warehouse position mechanisms through the mechanical arm mechanism, and the intelligent storage and storage of the product can be realized rapidly and orderly.
The compact conveying method of the present embodiment further includes measuring a length L1 of the product conveyed to the robot arm mechanism by a length sensor.
Specifically, referring to fig. 6, step S2 in the compact conveying method in the present embodiment includes:
s21, driving a first conveying belt to drive at a rated speed through a first motor so as to convey products on the first conveying belt;
s22, calculating the length L2 of a second conveyor belt capable of containing products, comparing the L2 with L1, if L2 is greater than or equal to L1, controlling the first conveyor belt to continue driving at a rated speed so as to convey the products from the first conveyor belt to the second conveyor belt, and if L2 is less than L1, closing the first motor, and stopping driving by the first conveyor belt;
s23, judging whether a product is detected by a second position sensor of the mechanical arm mechanism, and if so, driving a second conveyer belt to drive at a rated speed through a second motor;
s24, judging whether a first position sensor of the mechanism outside the warehouse detects a product, if not, closing the first motor, stopping transmission of the first conveyor belt, and if so, controlling the first conveyor belt to continue transmission at a rated speed;
s25, judging whether a product is detected by a second position sensor of the mechanical arm mechanism, if not, closing a second motor, stopping transmission of the second conveyor belt, and if so, controlling the second conveyor belt to continue transmission at a rated speed;
s26, repeating the steps S21 to S25.
The implementation effect of step S2 in this embodiment is:
the first conveyer belt is driven by the first motor to start conveying the product, and the length L1 of the product conveyed to the mechanical arm mechanism is measured by the length sensor when the product is conveyed on the first conveyer belt 1 Calculating the length L2 of the second conveying belt capable of placing products 1 L2 when the first product is transported to the second conveyor belt 1 The value of (2) is the length of the distance between the second position sensor and the third position sensor. L2 1 Greater than or equal to L1 1 And when the first conveyor belt is controlled to continue driving at the rated speed.
When the front end of the product reaches the second position sensor, the second conveyor belt starts to drive at the same speed, when the rear end of the product leaves the first position sensor, the first conveyor belt stops driving, and when the rear end of the product leaves the second position sensor, the second conveyor belt stops driving.
Similarly, the length L1 of the second product is measured while the second product is being conveyed from the first conveyor to the second conveyor 2 Calculating the length L2 of the second conveying belt capable of placing products 2 L2 while the second product is transported to the second conveyor 2 Has a value of L2 1 Subtracting L1 from the value of (2) 1 The value of (2), L2 K+1 ＝L2 K -L1 K (K is more than or equal to 1), judging whether the product can be conveyed to the second conveyor belt according to the length of L2 when the product is conveyed from the first conveyor belt to the second conveyor belt each time, and ensuring that the product on the second conveyor belt cannot exceed the second position for conveyingA sensor and a third position sensor.
The method can convey the products to the appointed target storage position mechanism through the mechanical arm mechanism in a one-time manner by clinging the products together, can save space, improve the utilization rate of the second conveying belt and improve the conveying efficiency of the products.
Preferably, referring to fig. 7, step S4 in the compact conveying method in the present embodiment includes:
s41, driving a second conveying belt to drive at a rated speed through a second motor so as to convey products on the second conveying belt;
s42, calculating the length L3 of a third conveyor belt capable of containing the product, comparing the L3 with L1, if L3 is greater than or equal to L1, controlling the second conveyor belt to continue to drive at a rated speed so as to convey the product from the second conveyor belt to the third conveyor belt, and if L3 is less than L1, closing the second motor, and stopping the second conveyor belt from driving;
s43, judging whether a product is detected by a fourth position sensor of the warehouse mechanism, if so, driving a third conveyer belt to drive at a rated speed through a third motor;
s44, judging whether the transmission length of the second conveyor belt reaches a preset length threshold, if so, turning off the second motor, stopping transmission of the second conveyor belt, and if not, controlling the second conveyor belt to continue transmission at a rated speed;
s45, judging whether a product is detected by a fourth position sensor of the warehouse mechanism, if not, closing a third motor, and stopping transmission of the third conveyer belt, if so, controlling the third conveyer belt to continue transmission at a rated speed;
s46, judging whether a third position sensor of the mechanical arm mechanism detects a product, if so, controlling the second conveyer belt to reversely drive at a rated speed, and if not, closing the second motor, and stopping the drive of the second conveyer belt;
s47, repeating the steps S41 to S46.
The implementation effect of step S4 in this embodiment is:
the second conveyor belt is driven by the second motor to start to convey the product, and the length L3 of the third conveyor belt capable of placing the product is calculated 1 At the first stageL3 when the products are conveyed to the third conveying belt 1 The value of (2) is the length of the distance between the fourth position sensor and the fifth position sensor. L3 1 Greater than or equal to L1 1 And when the second conveyer belt is controlled to continue driving at the rated speed.
When the front end of the first product passes through the third position sensor, calculating the transmission length of the second conveyor belt; when the front end of the product reaches the fourth position sensor, the third conveyor belt starts to drive, and then whether the driving length of the second conveyor belt is equal to the preset length is judged, preferably, the preset length is greater than or equal to the product length, and further, the preset length is equal to the product length L1.
If the length is equal to the preset length, the second conveyer belt stops driving; then judging whether the rear end of the product leaves the fourth position sensor, and if so, stopping transmission by the third conveyer belt; and finally, judging whether the latter product blocks the third position sensor through the third position sensor, namely, judging whether the third position sensor detects a new product, and if so, reversely driving the second conveyor belt through the second motor until the front end of the product retreats to the third position sensor and cannot detect the product.
Similarly, when the second product is conveyed from the second conveyor belt to the third conveyor belt, calculating the length L3 of the second conveyor belt capable of placing the product 2 L3 when the second product is transported to the third conveyor belt 2 Has a value of L3 1 Subtracting L1 from the value of (2) 1 The value of (1), L3 K+1 ＝L3 K -L1 K And (K is more than or equal to 1), judging whether the product can be conveyed to the third conveyor belt according to the length of L3 when the product is conveyed to the third conveyor belt from the second conveyor belt each time, and ensuring that the product on the third conveyor belt does not exceed the fourth position sensor and the fifth position sensor.
The steps are repeated, so that products can be conveyed on the third conveying belt of the appointed storage position mechanism one by one, each product is kept to be closely stored, the utilization rate of the third conveying belt is improved, and the storage capacity of the storage position is increased.
Further, the compact type conveying method in this embodiment further includes: the product length is measured by a length sensor, preferably the preset length threshold is greater than or equal to the product length. According to the design, the product length detected by the length sensor is combined with the transmission lengths of the first conveying belt, the second conveying belt and the third conveying belt, so that the products are finally stored on the second conveying belt and the third conveying belt, the storage effect is that each product is closely stored, the utilization rate of the second conveying belt and the third conveying belt is improved, and the conveying efficiency is improved.
In addition, the compact type conveying method in this embodiment further includes: through image recognition device, discernment product information, design according to this, can combine the product information who discerns, accomodate the product to accomodate the product of same product lot number on the third conveyer belt of same storehouse position mechanism, and the result that the product that makes the period of validity be close to is deposited to the end that is close to the third conveyer belt.
The specific implementation manner of the compact conveying method in this embodiment is as follows:
firstly, the steps to be completed before the step S1 include:
and conveying the products to the tail end of the first conveying belt, and driving the first conveying belt to drive through a first motor so as to convey the products from the tail end of the first conveying belt to the head end of the first conveying belt.
And during the period, the image recognition device is used for photographing and recognizing information such as bar codes on products, recording relevant information of the products, and measuring the length of the products through the length sensor.
Next, step S1 is performed: driving the mechanical arm mechanism to be in butt joint with the out-of-warehouse mechanism;
then, step S2 is performed: the products are transported from the out-of-store mechanism to the robotic mechanism and steps S21 through S25 are repeated so that the products are transported between the head end of the second conveyor belt and the end of the second conveyor belt.
Further, step S3 is performed: driving the mechanical arm mechanism to separate the mechanical arm mechanism from the out-of-warehouse mechanism and then butting the mechanical arm mechanism with the target warehouse position mechanism;
finally, step S4 is performed: the product is transported from the robot arm mechanism to the target magazine mechanism and steps S41 to S45 are repeated so that the product is transported between the head end of the third conveyor belt and the end of the third conveyor belt.
In this embodiment, the mechanical arm mechanism is driven to dock with the out-of-warehouse mechanism after the product is placed on the first conveyor belt, but the invention is not limited thereto, and the mechanical arm mechanism may be driven to dock with the out-of-warehouse mechanism, and then the first conveyor belt is driven by the first motor to drive, so that the product is conveyed from the first conveyor belt to the second conveyor belt, which is understood and accepted by those skilled in the art.
The technical scheme shows that the invention has the following beneficial effects:
the invention provides a compact conveying device, which is characterized in that products on an out-of-warehouse mechanism are conveyed to target warehouse mechanisms in a plurality of warehouse mechanisms through a mechanical arm mechanism, so that intelligent storage and storage of the products can be realized quickly and orderly, and the conveying and storage efficiency is improved;
the invention provides a compact conveying method, which is characterized in that a mechanical arm mechanism is used for conveying products on an out-of-warehouse mechanism to a designated target warehouse position mechanism, two adjacent products can be tightly attached together, the space can be saved, the utilization rate of a third conveying belt can be improved, the conveying efficiency of the products can be improved, and the warehouse position storage capacity can be increased.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present disclosure describes embodiments in terms of embodiments, not every embodiment is provided with a separate technical solution, and this description is for clarity only, and those skilled in the art should consider the disclosure as a whole, and the technical solutions in the embodiments may be combined appropriately to form other embodiments that can be understood by those skilled in the art.

Claims (10)

1. A compact transport device, comprising:
an off-warehouse mechanism for transporting the product;
the plurality of storage mechanisms are used for accommodating products;
the mechanical arm mechanism is in butt joint with the outer mechanism of the warehouse in a first state so as to convey products from the outer mechanism of the warehouse to the mechanical arm mechanism, and is in butt joint with the warehouse in a second state so as to convey products from the mechanical arm mechanism to the warehouse.
2. The compact transport device of claim 1, wherein the out-of-garage mechanism comprises a first conveyor belt and a first motor for driving the first conveyor belt; the mechanical arm mechanism comprises a second conveying belt and a second motor for driving the second conveying belt; the warehouse mechanism comprises a third conveying belt and a third motor for driving the third conveying belt.
3. The compact transport device of claim 2, wherein the off-garage mechanism includes a first position sensor at a first conveyor belt head end;
the mechanical arm mechanism comprises a second position sensor positioned at the tail end of the second conveying belt and a third position sensor positioned at the head end of the second conveying belt;
the warehouse position mechanism comprises a fourth position sensor positioned at the tail end of the third conveyer belt and a fifth position sensor positioned at the head end of the third conveyer belt.
4. The compact transport device of claim 2, wherein the off-garage mechanism further comprises a length sensor located between the first conveyor belt head end and the first conveyor belt end.
5. The compact transport device of claim 2, wherein the off-warehouse mechanism further comprises an image recognition device located at an end of the first conveyor belt.
6. A compact delivery method, the method comprising the steps of:
s1, driving a mechanical arm mechanism to enable the mechanical arm mechanism to be in butt joint with an out-warehouse mechanism;
s2, conveying the product from the out-of-warehouse mechanism to the mechanical arm mechanism;
s3, driving the mechanical arm mechanism to separate the mechanical arm mechanism from the out-of-warehouse mechanism and then butting the mechanical arm mechanism with the target warehouse position mechanism;
s4, conveying the product from the mechanical arm mechanism to the target warehouse position mechanism.
7. The compact transport method as defined in claim 6, further comprising: the length L1 of the product conveyed to the robot arm mechanism is measured by a length sensor.
8. The compact transport method according to claim 7, wherein the step S2 includes:
s21, driving a first conveying belt to drive at a rated speed through a first motor so as to convey products on the first conveying belt;
s22, calculating the length L2 of a second conveyor belt capable of containing products, comparing the L2 with L1, if L2 is greater than or equal to L1, controlling the first conveyor belt to continue driving at a rated speed so as to convey the products from the first conveyor belt to the second conveyor belt, and if L2 is less than L1, closing the first motor, and stopping driving by the first conveyor belt;
s23, judging whether a product is detected by a second position sensor of the mechanical arm mechanism, and if so, driving a second conveyer belt to drive at a rated speed through a second motor;
s24, judging whether a first position sensor of the mechanism outside the warehouse detects a product, if not, closing the first motor, stopping transmission of the first conveyor belt, and if so, controlling the first conveyor belt to continue transmission at a rated speed;
s25, judging whether a product is detected by a second position sensor of the mechanical arm mechanism, if not, closing a second motor, stopping transmission of the second conveyor belt, and if so, controlling the second conveyor belt to continue transmission at a rated speed;
s26, repeating the steps S21 to S25.
9. The compact transport method according to claim 7, wherein the step S4 includes:
s41, driving a second conveying belt to drive at a rated speed through a second motor so as to convey products on the second conveying belt;
s42, calculating the length L3 of a third conveyor belt capable of containing the product, comparing the L3 with L1, if L3 is greater than or equal to L1, controlling the second conveyor belt to continue to drive at a rated speed so as to convey the product from the second conveyor belt to the third conveyor belt, and if L3 is less than L1, closing the second motor, and stopping the second conveyor belt from driving;
s43, judging whether a product is detected by a fourth position sensor of the warehouse mechanism, if so, driving a third conveyer belt to drive at a rated speed through a third motor;
s44, judging whether the transmission length of the second conveyor belt reaches a preset length threshold, if so, turning off the second motor, stopping transmission of the second conveyor belt, and if not, controlling the second conveyor belt to continue transmission at a rated speed;
s45, judging whether a product is detected by a fourth position sensor of the warehouse mechanism, if not, closing a third motor, and stopping transmission of the third conveyer belt, if so, controlling the third conveyer belt to continue transmission at a rated speed;
s46, judging whether a third position sensor of the mechanical arm mechanism detects a product, if so, controlling the second conveyer belt to reversely drive at a rated speed, and if not, closing the second motor, and stopping the drive of the second conveyer belt;
s47, repeating the steps S41 to S46.
10. The compact transport method as defined in claim 6, further comprising: the product information is identified by the image identification means.
CN202211566165.6A 2022-12-07 2022-12-07 Compact conveying device and method Active CN116216220B (en)

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JPH07206132A (en) * 1994-01-13 1995-08-08 Okura Yusoki Co Ltd Conveying device
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