CN109795893A - The conveying of array cargo and stowage, equipment and computer readable storage medium - Google Patents
The conveying of array cargo and stowage, equipment and computer readable storage medium Download PDFInfo
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- CN109795893A CN109795893A CN201910218637.0A CN201910218637A CN109795893A CN 109795893 A CN109795893 A CN 109795893A CN 201910218637 A CN201910218637 A CN 201910218637A CN 109795893 A CN109795893 A CN 109795893A
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Abstract
The present invention discloses a kind of conveying of array cargo and stowage, equipment and computer readable storage medium, the array cargo conveying and stowage include: to obtain the width adjustment parameter of corresponding external box width, the width of the first end of conveying device is adjusted according to the width adjustment parameter, so that the conveying device can transmit row cargo to be installed corresponding with the box width；The first end of conveying device is stretched over corresponding to loading position in compartment；At least row cargo to be installed is placed in the second end of the conveying device；It controls the conveying device and the cargo to be installed is transported to the first end from the second end；The cargo to be installed is loaded into described to loading position by control manipulator from the first end.The present invention has the effect of improving working efficiency.
Description
Technical field
The present invention relates to cargo handling technical field, in particular to a kind of array cargo conveying and stowage, equipment
And computer readable storage medium.
Background technique
In order to which cargo is quickly packed into container, multiple cargos of arrangement in a row can be grabbed by manipulator,
Be then placed into container to loading position.
But current automated handling cargo interests case, the cargo of same row, and limited width can only be grabbed simultaneously.In general,
When having wanted loading in a row, needs 2 to 3 pick-and-place movements and the position of cargo and posture are adjusted.Which increase machines
The control difficulty of tool hand, and cause working efficiency lower.
Summary of the invention
The main object of the present invention is to provide a kind of conveying of array cargo and stowage, equipment and computer-readable deposits
Storage media, it is intended to improve working efficiency
To achieve the above object, a kind of array cargo conveying proposed by the present invention and stowage, the array goods
Object conveying and stowage include:
The width adjustment parameter for obtaining corresponding external box width, according to the width adjustment parameter to the of conveying device
The width of one end is adjusted, so that the row corresponding with the box width that can transmit of the conveying device waits freighting
Object；
The first end of conveying device is stretched over corresponding to loading position in compartment；
At least row cargo to be installed is placed in the second end of the conveying device；
It controls the conveying device and the cargo to be installed is transported to the first end from the second end；
The cargo to be installed is loaded into described to loading position by control manipulator from the first end.
Optionally, the array cargo conveying and stowage further include:
The useful load of the manipulator is adjusted with the conveying device width, so that the manipulator being capable of same fashionable dress
Carry at least row cargo to be installed.
Optionally, the cargo to be installed is loaded into compartment loading position packet from the first end by the control manipulator
It includes:
It controls the manipulator and pushes, draws or grab the cargo to be installed according to its end effector loaded, from
The first end is moved to described to loading position, and the primary loading to complete the cargo to be installed acts.
Optionally, the array cargo conveying and stowage further include:
The case where described in identification to loading position and the cargo to be installed；
Multiple rows of cargo to be installed with it is described matched when loading position when, control the manipulator according to its load end hold
Row device pushes, draws or grab the cargo to be installed of corresponding number of rows.
Optionally, the array cargo conveying and stowage further include:
Identification is described to loading position；
Described when the difference in height of loading position and external container top surface is greater than preset value, the manipulator crawl is controlled
The top surface of the cargo to be installed；Otherwise the front of cargo is grabbed.
Optionally, the array cargo conveying and stowage further include:
After the manipulator completes primary load, the position of the first end is adjusted, so that the first end is directed at vehicle
It is next to loading position in compartment.
Optionally, the array cargo conveying and stowage further include:
The case where described in identification to loading position and the cargo to be installed；
Multiple rows of and multilayer cargo to be installed with it is described matched when loading position when, in the second end of the conveying device
Place the cargo to be installed of corresponding number of rows and the corresponding number of plies.
The present invention also provides a kind of conveying of array cargo and charging appliance, the array cargo conveying and loading are set
Standby includes conveying device, manipulator and position regulator；
The conveying device includes transmission track portion, and transmission moving portion；The transmission track portion prolongs in front-rear direction
It stretches；The transmission moving portion moves shape in front and back and is movably arranged in the transmission track portion, and the transmission moving portion
Left and right width be in adjustable shape；
The manipulator is equipped with end effector；
The position regulator drives the front end of the conveying device to go up and down, and is moved forward and backward；
The array cargo conveying and charging appliance further include processor and reservoir, and the reservoir stores array
The conveying of formula cargo and load module；
The processor is for executing the array cargo conveying and load module, to execute above-mentioned array cargo
The step of conveying and stowage.
Optionally, the transmission track portion includes the bracket that front and back extends, and is arranged on bracket in time interval shape
Multiple idler wheels；The transmission moving portion includes the multiple conveyer belts being arranged on the idler wheel；
Multiple idler wheels away from adjustable shape in being arranged between left and right, and multiple conveyer belts are between left and right away from the setting of adjustable shape.
Optionally, the end effector includes flat-pushing portion, and the flat-pushing portion is in being moved forward and backward, for that will transmit moving portion
On chest push forward；And/or
The end effector includes mutually indepedent and can front and back and up and down multiple sucker dress extended up and down
It sets；The spacing of multiple Acetabula devices is arranged in adjustable shape；And/or
The end effector includes mutually indepedent and can the sucker dress that extends of front and back and up and down multiple front and backs
It sets；The spacing of multiple Acetabula devices is arranged in adjustable shape；And/or
The end effector includes the guide part that left and right extends, and is movably set on the guide part at least
One front and back or the Acetabula device extended up and down；The Acetabula device can front and back and it is up and down；And/or
The end effector includes can front and back and up and down scoop.
Optionally, the position regulator drives the integral elevating of the conveying device, and is moved forward and backward；
The front end opposed rear end in the transmission track portion of the conveying device is in can elastic shape setting；
The position regulator drives the front end opposed rear end of the conveying device elastic.
The present invention also provides a kind of computer readable storage medium, battle array is stored on the computer readable storage medium
The conveying of column cargo and load module；The array cargo conveying and load module are realized when being executed by processor as above-mentioned
The step of conveying of array cargo and stowage.
Array cargo conveying provided by the present invention and stowage at work can be to the conveying devices
Width is adjusted, so that the width of conveying device can transmit a row cargo essentially identical with external box width.
When due to this row's cargo on a conveyor, just have reached of same size with external container, then it is additional right not need
The position of cargo to be installed and posture are adjusted, it is only necessary to by manipulator by row's cargo be loaded into it is described to loading position i.e.
It can.Therefore, the demand for control to manipulator is reduced, to improve work efficiency.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
The structure shown according to these attached drawings obtains other attached drawings.
Fig. 1 is the flow diagram of array cargo of the present invention conveying and stowage first embodiment；
Fig. 2 is the flow diagram of array cargo of the present invention conveying and stowage second embodiment；
Fig. 3 is the flow diagram of array cargo of the present invention conveying and stowage 3rd embodiment；
Fig. 4 is the flow diagram of array cargo of the present invention conveying and stowage fourth embodiment；
Fig. 5 is the flow diagram of array cargo of the present invention conveying and the 5th embodiment of stowage；
Fig. 6 is the flow diagram of array cargo of the present invention conveying and stowage sixth embodiment；
Fig. 7 is the flow diagram of array cargo of the present invention conveying and the 7th embodiment of stowage；
Fig. 8 is the structural schematic diagram of array cargo of the present invention conveying and charging appliance first embodiment；
Fig. 9 is the schematic cross-sectional view of array cargo shown in Fig. 8 conveying and charging appliance；
Figure 10 is the structural schematic diagram of array cargo of the present invention conveying and charging appliance second embodiment；
Figure 11 is the structural schematic diagram of array cargo of the present invention conveying and charging appliance 3rd embodiment.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiment is only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts it is all its
His embodiment, shall fall within the protection scope of the present invention.
It is to be appreciated that the directional instruction (such as up, down, left, right, before and after ...) of institute is only used in the embodiment of the present invention
In explaining in relative positional relationship, the motion conditions etc. under a certain particular pose (as shown in the picture) between each component, if should
When particular pose changes, then directionality instruction also correspondingly changes correspondingly.
In addition, the description for being related to " first ", " second " etc. in the present invention is used for description purposes only, and should not be understood as referring to
Show or imply its relative importance or implicitly indicates the quantity of indicated technical characteristic." first ", " are defined as a result,
Two " feature can explicitly or implicitly include at least one of the features.In addition, the technical solution between each embodiment can
It to be combined with each other, but must be based on can be realized by those of ordinary skill in the art, when the combination of technical solution occurs
Conflicting or cannot achieve when, will be understood that the combination of this technical solution is not present, also not the present invention claims protection model
Within enclosing.
Embodiment one
Present embodiments provide a kind of conveying of array cargo and stowage.
Fig. 1 is please referred to, the array cargo conveying and stowage include:
Step S101 obtains the width adjustment parameter of corresponding external box width, according to the width adjustment parameter to defeated
The width of the first end of device is sent to be adjusted, so that the conveying device can transmit corresponding with the box width one
Arrange cargo to be installed；
The first end of conveying device is stretched over corresponding to loading position in compartment by step S102；
Step S103 places at least row cargo to be installed in the second end of the conveying device；
Step S104 controls the conveying device for the cargo to be installed and is transported to the first end from the second end；
The cargo to be installed is loaded into described to loading position by step S105, control manipulator from the first end.
In the present embodiment, it by reading the modes such as the data being manually entered or laser measurement, obtains corresponding external
The width adjustment parameter of box width is adjusted the width of the first end of conveying device according to the width adjustment parameter,
So that the conveying device can transmit row cargo to be installed corresponding with the box width.Wherein, conveying device can be with
Cargo is transmitted in front and back, and the width of its left and right is adjustable.The first end of conveying device is the one end being inserted into inside box width.?
When conveying articles, the width adjustment of the first end is to being slightly less than box width, so that interior on the one hand can be stretched to,
In addition it can disposably transport a row cargo essentially identical with box width.
In the present embodiment, the first end is being adjusted and then is being placed in the second end of the conveying device
At least row cargo to be installed.Wherein, the width of second end and the width of first end are consistent preferably, so as to by row's goods
Object is directly sent to first end from second end, without adjusting.It is, of course, also possible to be that second end is wider than first end, thus one
Cargo is arranged during transmitting to first end, compact effect can also be become in the direction of the width；Or it is also possible to
Second end is narrower than first end, so that second end is needed to transmit to first end several times more, it could be being arranged in the width direction of first end
Full cargo.
In the present embodiment, band cargo to be installed is placed in the second end and then the control conveying device will
The cargo to be installed is transported to the first end from the second end.Wherein, when conveying, it can be chest and be placed in conveyer belt
On, so that the mode of conveyer belt continuous rolling conveys；It is also possible to chest to be placed on delivery tray, delivery tray is along leading
The mode that rail moves forward conveys.During transmission, it needs to monitor whether cargo has been transferred to second end, works as cargo
When reaching second end, then stops cargo and continue to transmit.So that cargo rests on second end.Whether specific detection cargo arrives
Scheme up to second end has very much, such as by setting in second end setting load cell, or in the second end
Infrared laser sensor is set, or in the picture etc. for shooting second end by video camera.
In the present embodiment, the cargo to be installed is being sent to the first end and then control manipulator will be described
Cargo to be installed is loaded into described to loading position from the first end.Wherein, manipulator can be the type that track moves back and forth,
It is also possible to the type in apery joint.By installing different end effectors on manipulator, so as in different ways
Load cargo.For example, end effector includes the flat-pushing plank in front and back, then it can be flat-pushing to described to be installed by the cargo to be installed
Goods yard is set, and such case is suitable for the case where goods yard to be installed is set to plane.In another example end effector is suction moving up and down
Disk can then pick up cargo to be installed, then again be placed into cargo to be installed from top to bottom described to loading position, such case
Stair-stepping situation is set to suitable for goods yard to be installed.
The conveying of array cargo provided by the present embodiment and stowage at work can be to the conveying devices
Width be adjusted so that the width of conveying device can transmit a row goods essentially identical with external box width
Object.It when due to this row's cargo on a conveyor, has just had reached of same size with external container, has not then needed additional
The position and posture for treating loading object are adjusted, it is only necessary to are loaded into row's cargo by manipulator described to loading position
?.Therefore, the demand for control to manipulator is reduced, to improve work efficiency.
Embodiment two
Present embodiments provide a kind of conveying of array cargo and stowage.The present embodiment based on the above embodiment, and
And additionally increase step.It is specific as follows:
Please refer to Fig. 2, the array cargo conveying and stowage further include:
The useful load of step S202, the manipulator are adjusted with the conveying device width, so that the manipulator
At least row cargo to be installed can be loaded simultaneously.
Other steps of the present embodiment are same as the previously described embodiments, specifically may refer to above-described embodiment, no longer superfluous herein
It states.
In the present embodiment, the useful load of manipulator is adjustable, specifically can be by adjusting the end effector of manipulator
Width is realized.Such as flat push type end effector, then it can be realized by stretching；Sucked type end effector, then can be with
It is realized by increase and decrease sucker quantity.
The conveying of array cargo provided by the present embodiment and stowage, the useful load by the way that manipulator is arranged can be adjusted
It is whole, then can by the cargo in conveying device, disposable loading to external container to further increase work in " loaded " position
Efficiency.
Embodiment three
Present embodiments provide a kind of conveying of array cargo and stowage.The present embodiment based on the above embodiment, and
And wherein step is had been described in detail.It is specific as follows:
Fig. 3 is please referred to, the cargo to be installed is loaded into compartment loading position from the first end by the control manipulator
Include:
Step S306, control the manipulator and push, draw according to the end effector that it is loaded or described in grab to
It freights object, is moved to from the first end described to loading position, the primary loading to complete the cargo to be installed acts.
Other steps of the present embodiment are same as the previously described embodiments, specifically may refer to above-described embodiment, no longer superfluous herein
It states.
In the present embodiment, manipulator is by loading different end effectors, to load different control programs, uses
To execute different loading movements, to realize the loading for treating loading object.
Example IV
Present embodiments provide a kind of conveying of array cargo and stowage.The present embodiment based on the above embodiment, and
And add additional step.It is specific as follows:
Please refer to Fig. 4, the array cargo conveying and stowage further include:
Step S401, identification it is described to loading position and the cargo to be installed the case where；
Step S402, multiple rows of cargo to be installed with it is described matched when loading position when, control the manipulator according to its dress
The end effector of load pushes, draws or grab the cargo to be installed of corresponding number of rows.
Other steps of the present embodiment are same as the previously described embodiments, specifically may refer to above-described embodiment, no longer superfluous herein
It states.
In the present embodiment, during loading cargo, the identification feelings to loading position and the cargo to be installed
Condition.Wherein, described to can be row's cargo to loading position and load simultaneously, being also possible to multiple rows of cargo can load simultaneously.
For example, most load lower layer when, due to container bottom surface be usually it is smooth, multiple rows of cargo can be pushed into simultaneously.Example again
Such as, when loading middle layer, if accumulation cargo be formed by surface layer be it is smooth, can disposably be pushed into multiple rows of cargo.
The conveying of array cargo provided by the present embodiment and stowage, by loading position and cargo to be installed
When situation matches, while multiple rows of cargo to be installed being loaded into loading position simultaneously, so as to further increase the effect of loading
Rate.
Embodiment five
Present embodiments provide a kind of conveying of array cargo and stowage.The present embodiment based on the above embodiment, and
And add additional step.It is specific as follows:
Please refer to Fig. 5, the array cargo conveying and stowage further include:
Step S501, identification are described to loading position；
Step S502, described when the difference in height of loading position and external container top surface is greater than preset value, described in control
Manipulator grabs the top surface of the cargo to be installed；Otherwise the front of cargo is grabbed.
Other steps of the present embodiment are same as the previously described embodiments, specifically may refer to above-described embodiment, no longer superfluous herein
It states.
In the present embodiment, when loading cargo, identification is described to loading position.Wherein, it identifies to be installed described in goods
Goods yard is set, and be can be through preset packaging data and is carried out calculating identification, is also possible to shoot by vision capture apparatus real
When picture, then again in real time calculate identification.
In the present embodiment, identification it is described to loading position and then described to loading position and external container top
When the difference in height in face is greater than preset value, the top surface that the manipulator grabs the cargo to be installed is controlled；Otherwise cargo is being grabbed just
Face.Wherein, the end effector of manipulator includes sucker, by adjusting the suction in the angle or enabled different angle of sucker
Disk, to realize the different location of crawl container.Therefore, when the apical side height of container and difference in height to loading position are lower than pre-
If then adjusting the angle of sucker when value so that the transverse shifting of sucker, to draw the side of cargo to be installed, then sucker again on
Lower activity is moved up and down to control cargo to be installed.
The conveying of array cargo provided by the present embodiment and stowage, by judging that container determines face and to loading position
Difference in height, then worked at different angles with controlling sucker.So as to avoid sucker higher than cargo, and and container
Top surface the case where bumping against.
Embodiment six
Present embodiments provide a kind of conveying of array cargo and stowage.The present embodiment based on the above embodiment, and
And add additional step.It is specific as follows:
Please refer to Fig. 6, the array cargo conveying and stowage further include:
Step S606 adjusts the position of the first end, so that described first after the manipulator completes primary load
It is next to loading position in the alignment compartment of end.
Other steps of the present embodiment are same as the previously described embodiments, specifically may refer to above-described embodiment, no longer superfluous herein
It states.
In the present embodiment, the height and position by adjusting the first end and horizontal position, so that first end is aligned institute
Need to loading position.It then can reduce the distance that manipulator crawl cargo moves in the sky.Further, the position of first end
Adjustment, can carry out during cargo transports forward packed, then not need additionally to increase the waiting time.Therefore, pass through
The position that first end is arranged is adjustable, and adjusts to next to loading position to its, then can reduce the loading time of manipulator,
The rate of loading for increasing cargo, further increases the efficiency of loading.
Embodiment seven
Present embodiments provide a kind of conveying of array cargo and stowage.The present embodiment based on the above embodiment, and
And add additional step.It is specific as follows:
Please refer to Fig. 7, the array cargo conveying and stowage further include:
Step S701, identification it is described to loading position and the cargo to be installed the case where；
Step S702, multiple rows of and multilayer cargo to be installed with it is described matched when loading position when, the conveying fill
The second end set places the cargo to be installed of corresponding number of rows and the corresponding number of plies.
Other steps of the present embodiment are same as the previously described embodiments, specifically may refer to above-described embodiment, no longer superfluous herein
It states.
The present embodiment is similar with the scheme of fourth embodiment, and the scheme for adding additional multilayer while loading.To
When the matched situation that can reach the standard, the corresponding row of number of matches and respective layer cargo are placed into conveying device, then passed through
Cargo to be installed is loaded into corresponding to loading position by manipulator by the one or many movements of these cargos.
Embodiment eight
Present embodiments provide a kind of conveying of array cargo and charging appliance.
Fig. 8 and Fig. 9 are please referred to, in the present embodiment, the array cargo conveying and charging appliance include conveying device
100, manipulator 200 and position regulator 300.
In the present embodiment, the conveying device 100 includes transmission track portion 110, and transmission moving portion 120；It is described
Transmission track portion 110 extends in front-rear direction；The transmission moving portion 120 moves shape in front and back and is movably arranged on the transmission
On orbit portion 110, and the left and right width of the transmission moving portion 120 is in adjustable shape.Wherein, transmission track portion 110 can be
Kinds of schemes.Specifically, being two roller bearings side by side, transmission moving portion 120 is the transmission being sleeved on roller bearing in the present embodiment
Band.Width in order to realize transmission moving portion 120 is adjustable, then roller bearing is separately shape, and the adjustable shape of spacing distance is set
It sets, and conveyer belt is also separately to be arranged.
In the present embodiment, the manipulator 200 is equipped with end effector 210.Wherein, end effector 210 can be
Kinds of schemes includes the device of multiple scalable suckers in the present embodiment.Specifically, including phase for the end effector 210
It is mutually independent and can front and back and up and down multiple Acetabula devices extended up and down；The spacing of multiple Acetabula devices is in can
Adjust shape setting.Certainly, in other embodiments, can also use: the end effector 210 includes mutually indepedent and can front and back
The Acetabula device extended with up and down multiple front and backs；The spacing of multiple Acetabula devices is arranged in adjustable shape.In addition,
In other embodiments, small number of Acetabula device can also be only set, then the guide rail of left and right directions is arranged, then control this
A little Acetabula devices move left and right on guide rail, so as to realize the effect for loading row's cargo one by one.
In the present embodiment, the position regulator 300 drives the front end of the conveying device 100 to go up and down, Yi Jiqian
After move.Wherein, position regulator 300 can be kinds of schemes, cooperate in the present embodiment for oscilaltion platform elastic
The scheme of plate.Specifically, the position regulator 300 drives the integral elevating of the conveying device 100 and front and back to move
It is dynamic.The front end opposed rear end in the transmission track portion 110 of the conveying device 100 is in can elastic shape setting.The position tune
Engagement positions 300 drive the front end opposed rear end of the conveying device 100 elastic.
In the present embodiment, the array cargo conveying and charging appliance further include processor and reservoir, the storage
Storage stores the conveying of array cargo and load module；
The processor is for executing the array cargo conveying and load module, to execute above-mentioned array cargo
The step of conveying and stowage first embodiment.
The conveying of the array cargo as provided by the present embodiment and charging appliance, convey including above-mentioned array cargo
And all technical characteristics of stowage first embodiment, therefore also there are all beneficial effects brought by its, it specifically can be with
Referring to above-described embodiment, details are not described herein.In addition, the conveying of above-mentioned array cargo and stowage other embodiments is all
It improves, is readily applicable to the present embodiment in the case where no obviously conflict.
In the present embodiment, the transmission track portion 110 includes the bracket 111 that front and back extends, and is in time interval shape
Multiple idler wheels 112 on bracket 111 are set；The transmission moving portion 120 includes the multiple biographies being arranged on the idler wheel 112
Send band 121.
For multiple idler wheels 112 in being arranged between left and right away from adjustable shape, multiple conveyer belts 121 are between left and right away from adjustable shape
Setting.
Certainly, in other embodiments, transmission track portion 110 and transmission moving portion 120 are also possible to using other cooperations
Scheme realizes between left and right away from adjustable, and can front and back move back and forth.For example, transmission track portion 110 is front-rear direction extension
Track, transmission moving portion 120 be pallet in orbit to be arranged, and the left and right length of pallet is scalable.
Embodiment nine
Present embodiments provide a kind of conveying of array cargo and charging appliance.The present embodiment is with the implementation of above equipment first
Based on example, local directed complete set has been carried out to manipulator therein.In order to simpler and clear explanation, tied in the present embodiment
The outer portion that structure does not change manipulator continues to continue to use the label in above-described embodiment, and same as the previously described embodiments, herein not
The structure feature of other parts is repeated again.It is specific:
Figure 10 is please referred to, in the present embodiment, the end effector 210 includes flat-pushing portion, and the flat-pushing portion is in front and back
It is mobile, for the chest transmitted in moving portion 120 to be pushed forward.
Embodiment ten
Present embodiments provide a kind of conveying of array cargo and charging appliance.The present embodiment is with the implementation of above equipment first
Based on example, local directed complete set has been carried out to manipulator therein.In order to simpler and clear explanation, tied in the present embodiment
The outer portion that structure does not change manipulator continues to continue to use the label in above-described embodiment, and same as the previously described embodiments, herein not
The structure feature of other parts is repeated again.It is specific:
Figure 11 is please referred to, the manipulator 200 is installed on the first end of the transmitting device 100, so that manipulator
200 can follow the first end to enter the inside of external container.
Embodiment 11
Present embodiments provide a kind of conveying of array cargo and charging appliance.The present embodiment is with the implementation of above equipment first
Based on example, local directed complete set has been carried out to manipulator therein.In order to simpler and clear explanation, tied in the present embodiment
The outer portion that structure does not change manipulator continues to continue to use the label in above-described embodiment, and same as the previously described embodiments, herein not
The structure feature of other parts is repeated again.It is specific:
In the present embodiment, the end effector 210 include can front and back and up and down scoop.For goods will to be inserted into
The lower surface of object, with supporting goods.
Embodiment 12
Present embodiments provide a kind of computer readable storage medium, which is characterized in that the computer-readable storage medium
The conveying of array cargo and load module are stored in matter；When the array cargo conveying and load module are executed by processor
The step of realizing above-mentioned array cargo conveying and stowage first embodiment.
The computer-readable storage media as provided by the present embodiment includes above-mentioned array cargo conveying and loading side
All technical characteristics of method first embodiment, therefore, it may have all beneficial effects brought by these technical characteristics, herein not
It repeats again.In addition, the improvement in the other embodiments of above-mentioned array cargo conveying and stowage is readily applicable to this reality
Example is applied, specifically may refer to above-described embodiment, details are not described herein.
The above description is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all at this
Under the inventive concept of invention, using equivalent structure transformation made by description of the invention and accompanying drawing content, or directly/use indirectly
It is included in other related technical areas in scope of patent protection of the invention.
Claims (12)
1. a kind of array cargo conveying and stowage, which is characterized in that the array cargo conveying and stowage packet
It includes:
The width adjustment parameter for obtaining corresponding external box width, according to the width adjustment parameter to the first end of conveying device
Width be adjusted so that the conveying device can transmit row cargo to be installed corresponding with the box width；
The first end of conveying device is stretched over corresponding to loading position in compartment；
At least row cargo to be installed is placed in the second end of the conveying device；
It controls the conveying device and the cargo to be installed is transported to the first end from the second end；
The cargo to be installed is loaded into described to loading position by control manipulator from the first end.
2. array cargo conveying as described in claim 1 and stowage, which is characterized in that the array cargo conveying
And stowage further include:
The useful load of the manipulator is adjusted with the conveying device width, so that the manipulator can load institute simultaneously
State at least row cargo to be installed.
3. array cargo as described in claim 1 conveying and stowage, which is characterized in that the control manipulator is by institute
It states cargo to be installed and is loaded into compartment loading position from the first end and include:
It controls the manipulator and pushes, draws or grab the cargo to be installed according to its end effector loaded, from described
First end is moved to described to loading position, and the primary loading to complete the cargo to be installed acts.
4. array cargo conveying as claimed in claim 3 and stowage, which is characterized in that the array cargo conveying
And stowage further include:
The case where described in identification to loading position and the cargo to be installed；
Multiple rows of cargo to be installed with it is described matched when loading position when, control the manipulator according to its load end effector
To push, draw or grab the cargo to be installed of corresponding number of rows.
5. array cargo conveying as claimed in claim 4 and stowage, which is characterized in that the array cargo conveying
And stowage further include:
Identification is described to loading position；
Described when the difference in height of loading position and external container top surface is greater than preset value, control described in the manipulator crawl
The top surface of cargo to be installed；Otherwise the front of cargo is grabbed.
6. array cargo conveying as described in claim 1 and stowage, which is characterized in that the array cargo conveying
And stowage further include:
After the manipulator completes primary load, the position of the first end is adjusted, so that in first end alignment compartment
It is next to loading position.
7. array cargo conveying as described in claim 1 and stowage, which is characterized in that the array cargo conveying
And stowage further include:
The case where described in identification to loading position and the cargo to be installed；
Multiple rows of and multilayer cargo to be installed with it is described matched when loading position when, the conveying device second end place
The cargo to be installed of corresponding number of rows and the corresponding number of plies.
8. a kind of array cargo conveying and charging appliance, which is characterized in that the array cargo conveying and charging appliance packet
Include conveying device, manipulator and position regulator；
The conveying device includes transmission track portion, and transmission moving portion；The transmission track portion extends in front-rear direction；Institute
It states transmission moving portion to be movably arranged in the transmission track portion in the removable shape in front and back, and the left and right of the transmission moving portion
Width is in adjustable shape；
The manipulator is equipped with end effector；
The position regulator drives the front end of the conveying device to go up and down, and is moved forward and backward；
The array cargo conveying and charging appliance further include processor and reservoir, and the reservoir stores array goods
Object conveying and load module；
The processor is for executing the array cargo conveying and load module, to execute the claims 1 to 7
The step of conveying of array cargo described in one and stowage.
9. array cargo conveying as claimed in claim 8 and charging appliance, which is characterized in that the transmission track portion includes
The bracket that front and back extends, and the multiple idler wheels being arranged in time interval shape on bracket；The transmission moving portion includes setting
Multiple conveyer belts on the idler wheel；
Multiple idler wheels away from adjustable shape in being arranged between left and right, and multiple conveyer belts are between left and right away from the setting of adjustable shape.
10. array cargo conveying as claimed in claim 8 and charging appliance, which is characterized in that the end effector packet
Flat-pushing portion is included, the flat-pushing portion is in being moved forward and backward, for pushing the chest transmitted in moving portion forward；And/or
The end effector includes mutually indepedent and can front and back and up and down multiple Acetabula device extended up and down；It is more
The spacing of a Acetabula device is arranged in adjustable shape；And/or
The end effector includes mutually indepedent and can the Acetabula device that extends of front and back and up and down multiple front and backs；It is more
The spacing of a Acetabula device is arranged in adjustable shape；And/or
The end effector includes the guide part that left and right extends, and at least one being movably set on the guide part
Front and back or the Acetabula device extended up and down；The Acetabula device can front and back and it is up and down；And/or
The end effector includes can front and back and up and down scoop.
11. array cargo conveying as described in claim 1 and charging appliance, which is characterized in that the position regulator
The integral elevating of the conveying device is driven, and is moved forward and backward；
The front end opposed rear end in the transmission track portion of the conveying device is in can elastic shape setting；
The position regulator drives the front end opposed rear end of the conveying device elastic.
12. a kind of computer readable storage medium, which is characterized in that be stored with array on the computer readable storage medium
Cargo conveying and load module；The array cargo conveying and load module realize such as claim 1 when being executed by processor
To the step of 7 described in any item array cargo conveyings and stowage.
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| CN201910218637.0A CN109795893B (en) | 2019-03-21 | 2019-03-21 | Array cargo conveying and loading method, equipment and computer readable storage medium |
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| CN201910218637.0A CN109795893B (en) | 2019-03-21 | 2019-03-21 | Array cargo conveying and loading method, equipment and computer readable storage medium |
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