CN117819226A - Continuous automatic loading and unloading equipment control system - Google Patents
Continuous automatic loading and unloading equipment control system Download PDFInfo
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- CN117819226A CN117819226A CN202311590261.9A CN202311590261A CN117819226A CN 117819226 A CN117819226 A CN 117819226A CN 202311590261 A CN202311590261 A CN 202311590261A CN 117819226 A CN117819226 A CN 117819226A
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- 238000012856 packing Methods 0.000 claims abstract description 5
- 230000001276 controlling effect Effects 0.000 claims description 15
- 230000007723 transport mechanism Effects 0.000 claims description 15
- 238000004891 communication Methods 0.000 claims description 12
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- 238000012545 processing Methods 0.000 claims description 7
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Abstract
A continuous automatic loading and unloading equipment control system comprises an execution module, a state acquisition module, a boxing planning module, a motion control module, an integrated controller and a data exchange network; the execution module is provided with a driver and a motor to control each mechanism to execute corresponding actions; the state acquisition module comprises different perception modules and/or sensor modules; the boxing planning module forms boxing planning and provides data for compensating the transverse and longitudinal positions of the loading mechanism; the motion control module completes distribution of control commands and collection of running states; the integrated controller realizes the integrated control of each module; the data exchange network enables the modules to conduct data transmission and exchange with the integrated controller. According to the invention, a packing plan can be formed according to the sizes of the carrier and the cargoes, so that the cargoes are stacked to the full coverage of the carrier space, the loading rate of the carrier is improved, the transportation mechanism is controlled to move in multiple dimensions, and the precision of the cargoes stacking is realized.
Description
Technical Field
The invention relates to a control system in the field of logistics loading, in particular to a control system for continuous automatic loading and unloading equipment.
Background
In recent years, with the rapid development of automation and intelligent technologies, semi-automation and automation equipment for box-type cargo loading, unloading, stacking and carrying operations gradually replace the former forklift and manual mode, but the equipment are mutually independent, and a complete automation flow cannot be formed, so that the semi-automation and automation equipment becomes a bottleneck link affecting the operation efficiency.
The control system CN207182000U of the cantilever type full-automatic loading and unloading truck equipment can control automatic stacking of cargoes, so that the efficiency of cargo stacking is improved, continuous uninterrupted work is realized, the labor intensity of workers is reduced, the labor cost is saved, the scheme is high in adaptability, and the cargo can be transported and transferred by being matched with a conventional transport mechanism, a triaxial linkage mechanism and the like; however, it does not have a solution to increase the loading rate of the tool, and is not adaptable in a complex logistics transportation environment, and is not widely used.
Disclosure of Invention
In order to solve the problems, the invention provides a continuous automatic loading and unloading equipment control system, which comprises the following specific technical scheme:
the control system of the continuous automatic loading and unloading equipment at least comprises a palletizing mechanism, a chassis traveling mechanism, a vertical lifting mechanism, a lifting translation mechanism, a conveying mechanism and a loading mechanism; the control system includes:
the execution module is arranged on each mechanism of the automatic loading and unloading equipment and controls each mechanism to execute corresponding actions by arranging a driver and a motor;
the state acquisition module comprises different sensing modules and/or sensor modules which are respectively arranged on the mechanisms and used for identifying the size and the direction of cargoes, identifying the size of a carrier, detecting the transport position of the cargoes, and monitoring and positioning the loading, unloading and stacking conditions of the cargoes;
the packing planning module is used for forming a packing plan according to the analysis processing data of the size of the carrier and the size of the goods and providing data for compensating the transverse and longitudinal positions of the loading mechanism;
the motion control module is connected with each execution module through a communication bus and used for completing distribution of control commands and collection of running states according to the data of the sensor module;
the integrated controller is used for receiving, analyzing and processing the data of the state acquisition module and the running state data of each execution module transmitted by the motion control module, and realizing the integrated control of each module; and
and the data exchange network enables the motion control module, the state acquisition module and the integrated controller to carry out data transmission and exchange through a wired or wireless network.
Further, the motion controller at least comprises a logic operation unit, a communication control unit and a data storage unit, wherein the logic operation unit receives data of each sensor module by using the IO module to perform logic operation, and the communication control unit is used for realizing multidimensional control of each execution module.
Further, the sensor comprises a laser sensor or a distance sensor which is arranged on the loading mechanism and is used for providing real-time cargo stacking position data for the logic operation unit and controlling the lifting translation mechanism and the transport mechanism to move.
Further, the sensor also comprises a weight sensor which is arranged on the conveying mechanism and the vertical lifting mechanism and used for judging the conveying state of the goods and controlling the conveying mechanism to sleep or run through the motion controller.
Further, the sensor further comprises an infrared sensor which is arranged on the transporting mechanism and the loading mechanism and used for detecting the specific position of the goods.
Further, the sensing module at least comprises a visual camera or a radar which is arranged on the unstacking mechanism and the loading mechanism and is used for identifying the size of goods and the size of a carrier respectively.
Further, the loading mechanism is provided with a compensation module, and the compensation module is controlled by the motion control module to move transversely or longitudinally according to the compensation data.
Further, the motor is provided with at least a speed encoder and a position encoder for precisely controlling the position movements of the chassis running mechanism, the vertical lifting mechanism, the lifting translation mechanism, the transport mechanism and the loading mechanism.
The beneficial effects are that:
(1) According to the invention, a boxing plan can be formed according to the sizes of the carrier and the cargoes, and the loading mechanism is subjected to transverse and longitudinal position compensation movement, so that the full coverage of stacking the cargoes to the space of the carrier is realized, and the loading rate of the carrier is improved.
(2) The modules cooperatively control the invention to monitor the information of cargo transportation, unstacking, stacking and the like in real time, control the transportation mechanism to carry out multidimensional movement, and realize the precision of cargo stacking.
(3) The invention is provided with various sensors for monitoring the transportation state of goods and controlling the dormancy or the operation of transportation equipment so as to achieve the energy-saving effect.
Drawings
FIG. 1 is a block diagram of an integrated control system of the present invention.
Fig. 2 is a schematic view of the automatic loading and unloading device of the present invention.
In the figure: the device comprises a destacking mechanism 1, a longitudinal conveying mechanism 2, a chassis travelling mechanism 3, a vertical lifting mechanism 4, a lifting translation mechanism 5, a conveying mechanism 6, a loading mechanism 7 and cargos 8.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It will be apparent that the described embodiments are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise. In the description of the present application, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically connected, electrically connected or can be communicated with each other; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.
As shown in fig. 2, a control system of continuous automatic loading and unloading equipment at least comprises a palletizing mechanism 1, a chassis travelling mechanism 3, a vertical lifting mechanism 4, a lifting translation mechanism 5, a conveying mechanism 6 and a loading mechanism 7; wherein:
the unstacking and stacking mechanism 1 can realize unstacking and stacking of cargos 8 through a multi-axis mechanical arm, is at least provided with a visual identification system so as to identify the size and the direction of the cargos 8 and stacks the cargos 8 on a longitudinal conveying mechanism 2.
A vertical lifting mechanism 4 equipped with at least a motor and a lifting mechanism, receiving the cargo 8 of the longitudinal transport mechanism 2, and vertically lifting and transporting the cargo 8; the weight sensor may be configured to detect the movement of the cargo 8.
The lifting translation mechanism 5 is mounted on the chassis running mechanism 3 in a transversely movable manner, and the lifting translation mechanism 5 is at least provided with two motors capable of controlling lifting movement and transverse movement and is used for controlling the conveying mechanism 6 to perform lifting movement and transverse left-right movement according to stacking rules and providing movement control of the conveying mechanism 6 in two dimensions.
A transporting mechanism 6 mounted on the lifting and translating mechanism 5 for receiving the goods 8 transported from the vertical lifting mechanism 4; the conveying mechanism 6 is provided with a multi-stage telescopic mechanism capable of moving back and forth in a telescopic manner, and the multi-stage telescopic mechanism and the lifting translation mechanism 5 jointly complete movement control in three dimensions, so that accurate stacking control of cargoes 8 in a carrier is realized; a weight sensor, an infrared sensor may be configured to detect a specific location of the cargo 8.
A loading mechanism 7 arranged at the front end of the transport mechanism 6 for transporting the goods 8 and stacking the goods 8 into the carrier; the device is at least provided with a plurality of combinations of infrared sensors, distance sensors or visual recognition systems for recognizing and measuring the size of the carrier, carrying out vertical compensation or horizontal compensation according to the position of the top side of the carrier, and simultaneously controlling the goods 8 to rotate according to the stacking rule in time.
The chassis running mechanism 3 adopts a crawler-type running mode and is used for controlling the crossing exchanging operation.
As shown in fig. 1 and 2, based on the structure of the automatic loading and unloading device, the control system comprises an execution module, a motion control module, a state acquisition module, a boxing planning module, an integrated controller and a data exchange network. Specifically:
the execution module is arranged on each mechanism of the automatic loading and unloading equipment, and controls each mechanism to execute corresponding actions by arranging a driver and a motor.
Wherein, the unstacking mechanism 1 is provided with a plurality of motors for realizing multi-axis movement; the chassis running mechanism 3 is provided with a motor capable of controlling the crawler running; the transport mechanism 6 is provided with a motor for controlling the transportation of cargoes 8 and a motor for controlling multi-stage expansion; the loading mechanism 7 is provided with a motor for loading the goods 8 and a motor for rotationally controlling the goods 8. The motors are respectively and accurately controlled by corresponding drivers to rotate speed, move position and other parameters.
In one embodiment, the motor is a servo motor, which is provided with at least a speed encoder and a position encoder, so as to precisely control the position movement of each mechanism and execute corresponding actions.
The state acquisition module comprises different sensing modules and/or sensor modules which are respectively arranged on the mechanisms and used for identifying the size and the direction of the cargoes 8, identifying the size of the carrier, detecting the transportation position of the cargoes 8, and monitoring and positioning the loading and unloading and stacking conditions of the cargoes 8.
The boxing programming module is integrally arranged in the integrated controller, processes data according to the analysis of the size of the carrier and the size of the goods 8, forms boxing programming, and provides data for compensating the transverse and longitudinal positions of the loading mechanism 7.
The motion control module is connected with each execution module through a communication bus and is used for completing distribution of control commands and collection of running states according to data of the sensor module.
The integrated controller receives, analyzes and processes the data of the state acquisition module and the running state data of each execution module transmitted by the motion control module, and realizes the integrated control of each module.
The data exchange network enables the motion control module, the state acquisition module and the integrated controller to conduct data transmission and exchange through a wired or wireless network.
As shown in fig. 1, the motion controller at least includes a logic operation unit (LCU), a communication control unit (DCU), and a Data Storage Unit (DSU), where the logic operation unit receives data of each sensor module by using the IO module to perform logic operation, and implements multidimensional control of each execution module through the communication control unit, and coordinates and controls walking, cargo 8 conveying, and loading control of the automatic loading and unloading device.
Specifically, each sensor module can transmit data to the motion controller through a wired or wireless network, the logic operation unit receives the data of each sensor module, performs logic operation according to a preset program to complete data processing, sends out a control command according to a data processing result, and controls the corresponding motor to execute actions after each driver receives the control command, and each driver synchronously returns the data of the running state, the rotating speed, the running time, the forward and reverse rotation and the like of the motor; meanwhile, the above-mentioned respective data are stored in the data storage unit.
In one embodiment, the sensing module comprises at least a visual camera or radar mounted on the destacking mechanism 1 and the loading mechanism 7 for identifying the size of the cargo 8 and the size of the vehicle, respectively.
Specifically, the type of the goods 8, such as box type, bag type, etc., can be preset in the integrated controller, and the stacking mode, such as five flower stacks, six sequential stacks, etc., can be preset; the visual camera or radar is arranged on the mechanical arm of the unstacking mechanism 1 and used for identifying the type, size and direction of the goods 8; and according to the requirements of the stacking mode, the placing direction of the cargoes 8 is adjusted and placed on the conveying mechanism 6. Meanwhile, a visual camera or radar is also arranged on the loading mechanism 7 and used for measuring the size of the carrier, and a boxing planning module forms a boxing plan according to the size of the carrier and the size of the goods 8 in combination with a stacking mode and timely calculates corresponding compensation data.
For areas on the top or both sides of the vehicle, the loading mechanism 7 often cannot place the cargo 8 there; preferably, a compensation module may be disposed on the loading mechanism 7, and the compensation module is controlled by the motion control module to perform lateral movement or longitudinal movement according to the compensation data, so that the cargo 8 can be stacked on the top and both side areas of the vehicle as much as possible, thereby improving the loading rate of the vehicle.
In one embodiment, the sensor comprises a laser sensor or a distance sensor, which is mounted on the loading mechanism 7, and provides real-time palletizing position data of the cargoes 8 for the logic operation unit, so as to control the lifting and translating mechanism 5 and the transporting mechanism 6 to move.
When the goods 8 are piled in the carrier, the piling of the goods 8 in one bag/box is completed each time, and the loading mechanism 7 needs to adjust the corresponding position to carry out the piling of the next goods 8. Therefore, the motion controller issues control commands by utilizing the communication control unit according to the data processing of the logic operation unit, so that the transport mechanism 6 performs corresponding lifting motion and transverse left-right movement, meanwhile, after the cargoes 8 are stacked in a row, the transport mechanism 6 is controlled to perform shrinkage movement, and finally, the cargoes 8 of the carrier are stacked.
In one embodiment, the sensor further comprises a weight sensor mounted on the transporting mechanism 6 and the vertical lifting mechanism 4 for judging the transporting state of the goods 8 and controlling the transporting mechanism 6 to sleep or operate through the motion controller; the weight sensor is used for detecting whether the goods 8 are transported on the transport mechanism 6 and the vertical lifting mechanism 4 in real time, and when the weight of the goods 8 is not detected within a certain time, the transport mechanism 6 and the vertical lifting mechanism 4 are in a dormant state, so that the energy-saving effect is achieved.
In one embodiment, the sensor further comprises an infrared sensor mounted on the transport mechanism 6 and the loading mechanism 7 for detecting a specific position of the cargo 8; after the goods 8 are transported to the transport mechanism by the transport mechanism 6, the motion controller controls the goods 8 to rotate correspondingly in a stacking manner.
It should be noted that, the data exchange network (DCS) is composed of a multimode communication security information transmission network, and each module communicates with the integrated controller through a wired or wireless (e.g. 4G, WLAN, LTE-R etc.) network; the communication bus may be a conventional one CAN, MVB, etherCAT or the like.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. The continuous automatic loading and unloading equipment control system is characterized by at least comprising a palletizing mechanism, a chassis traveling mechanism, a vertical lifting mechanism, a lifting translation mechanism, a conveying mechanism and a loading mechanism; the control system includes:
the execution module is arranged on each mechanism of the automatic loading and unloading equipment and controls each mechanism to execute corresponding actions by arranging a driver and a motor;
the state acquisition module comprises different sensing modules and/or sensor modules which are respectively arranged on the mechanisms and used for identifying the size and the direction of cargoes, identifying the size of a carrier, detecting the transport position of the cargoes, and monitoring and positioning the loading, unloading and stacking conditions of the cargoes;
the packing planning module is used for forming a packing plan according to the analysis processing data of the size of the carrier and the size of the goods and providing data for compensating the transverse and longitudinal positions of the loading mechanism;
the motion control module is connected with each execution module through a communication bus and used for completing distribution of control commands and collection of running states according to the data of the sensor module;
the integrated controller is used for receiving, analyzing and processing the data of the state acquisition module and the running state data of each execution module transmitted by the motion control module, and realizing the integrated control of each module; and
and the data exchange network enables the motion control module, the state acquisition module and the integrated controller to carry out data transmission and exchange through a wired or wireless network.
2. The continuous automatic handling equipment control system according to claim 1, wherein the motion controller at least comprises a logic operation unit, a communication control unit and a data storage unit, wherein the logic operation unit receives data of each sensor module by using the IO module to perform logic operation, and the communication control unit is used for realizing multidimensional control of each execution module.
3. A continuous automatic handling equipment control system according to claim 2, wherein the sensor comprises a laser sensor or a distance sensor mounted on the loading mechanism for providing real-time cargo palletizing position data to the logic unit for controlling the lifting and translating mechanism and the transport mechanism to move.
4. A continuous automatic loading and unloading equipment control system according to claim 1, wherein the sensor further comprises a weight sensor which is installed on the transporting mechanism and the vertical lifting mechanism, is used for judging the transporting state of goods, and controls the dormancy or the operation of the transporting mechanism through the motion controller.
5. A continuous automatic loading and unloading equipment control system according to claim 1, wherein the sensor further comprises an infrared sensor mounted on the transport mechanism and the loading mechanism for detecting the specific position of the cargo.
6. A continuous automatic handling device control system according to claim 1, wherein the sensing module comprises at least a vision camera or radar mounted on the unstacking mechanism and the loading mechanism for identifying the size of the cargo and the size of the vehicle, respectively.
7. The continuous automatic loading and unloading equipment control system according to claim 6, wherein the loading mechanism is provided with a compensation module, and the compensation module is controlled by the motion control module to perform lateral movement or longitudinal movement according to the compensation data.
8. A continuous automatic handling equipment control system according to claim 1, wherein the motor is provided with at least a speed encoder and a position encoder for precisely controlling the position movements of the chassis running gear, the vertical lifting gear, the lifting translation gear, the transport gear and the loading gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311590261.9A CN117819226A (en) | 2023-11-24 | 2023-11-24 | Continuous automatic loading and unloading equipment control system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311590261.9A CN117819226A (en) | 2023-11-24 | 2023-11-24 | Continuous automatic loading and unloading equipment control system |
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| CN117819226A true CN117819226A (en) | 2024-04-05 |
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| CN202311590261.9A Pending CN117819226A (en) | 2023-11-24 | 2023-11-24 | Continuous automatic loading and unloading equipment control system |
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- 2023-11-24 CN CN202311590261.9A patent/CN117819226A/en active Pending
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