CN120328203A

CN120328203A - A bag material loading robot, control system and control method thereof

Info

Publication number: CN120328203A
Application number: CN202510750518.5A
Authority: CN
Inventors: 郑伟军; 张春阳; 袁浩; 陆名伟
Original assignee: Kunshan Tongri Robot Intelligent Technology Co ltd
Current assignee: Kunshan Tongri Robot Intelligent Technology Co ltd
Priority date: 2024-10-29
Filing date: 2025-06-06
Publication date: 2025-07-18
Also published as: CN119018655A

Abstract

The present invention provides a bag material loading robot, control system and control method thereof, wherein the robot comprises a walking track, a scraper conveyor line, a walking mechanism, a slewing support, a rotating assembly, a first conveyor line, a z-axis driving unit and a hopper assembly; the walking mechanism can drive the slewing support, the rotating assembly, the first conveyor line and the hopper assembly to move along the walking track; the slewing support can drive the rotating assembly, the first conveyor line and the hopper assembly to rotate relative to the walking mechanism; the z-axis driving unit can drive the hopper assembly to move up and down in the vertical direction; one end of the first conveyor line is arranged on the rotating assembly, and the hopper assembly is fixedly connected to the other end of the first conveyor line; the hopper assembly comprises a first gripper, a second gripper and an A-axis driving unit, and the A-axis driving unit is used to drive the first gripper and the second gripper to rotate. In this way, the first gripper and the second gripper can accurately match the loading conditions, adjust the loading position of the bag material, and realize the accurate loading of the bag material.

Description

Bag type material loading robot, control system and control method thereof

Technical Field

The application relates to the technical field of intelligent bag material loading, in particular to a bag material loading robot, a control system and a control method thereof.

Background

In the prior art, when bag-type materials such as grain and oil industry, chemical industry, feed industry, cement industry and the like are loaded, manual loading is usually used, the manual loading is high in labor intensity, a large amount of powder can be generated when powdery materials such as flour bags, cement bags and the like are loaded, the powder is inhaled for a long time, certain harm can be caused to a human body, and meanwhile, the loading efficiency is low.

In the existing loading equipment, when loading of bag-type materials is carried out, the bag-type materials are only generally lost in trucks, the problems that the loading is irregular, the loading positions of the bag-type materials cannot be accurately matched according to the conditions of the truck to be loaded and the bag-type materials, the accurate loading of the bag-type materials cannot be carried out and the like exist.

Disclosure of Invention

In order to solve the technical problems, the application provides a bag type material loading robot, a control system and a control method thereof.

The application provides a bag type material loading robot which comprises a walking track, a scraper conveying line, a walking mechanism, a rotary support, a rotating assembly, a first conveying line, a Z-axis driving unit and a hopper assembly, wherein the scraper conveying line is arranged on the walking track, the walking mechanism is arranged on the walking track and can move along the walking track, the rotary support is arranged below the walking mechanism, the rotating assembly is arranged below the rotary support, the Z-axis driving unit is arranged on the rotating assembly, the extending end of the Z-axis driving unit is connected with the first conveying line, one end of the first conveying line is arranged on the rotating assembly, the hopper assembly is fixedly connected with the other end of the first conveying line, and the hopper assembly comprises a first gripper, a second gripper and an A-axis driving unit, and the A-axis driving unit is used for driving the first gripper and the second gripper to rotate.

In some embodiments of the present application, the hopper assembly further includes a hopper frame body, a camera, a first gripper driving unit, and a second gripper driving unit, where the hopper frame body is fixedly connected with the first conveying line, the a-axis driving unit and the camera are disposed on the hopper frame body, the first gripper and the second gripper are disposed on the gripper frame body, the a-axis driving unit is in transmission connection with the gripper frame body, the first gripper driving unit and the second gripper driving unit are disposed on the gripper frame body, an extending end of the first gripper driving unit is connected with the first gripper, and an extending end of the second gripper driving unit is connected with the second gripper.

In some embodiments of the present application, a positioning mechanism and a scanning system are disposed in each of the first and second handles, the positioning mechanism is used for positioning the conveyed bag-type material, and the scanning system is used for scanning the conveyed bag-type material.

In some embodiments of the present application, the first and second handles each comprise a handle side wall and a handle bottom wall that are connected to each other, and the positioning mechanism comprises a first positioning component and a second positioning component, wherein the first positioning component is disposed on the handle bottom wall, and the second positioning component is disposed on the handle side wall.

In some embodiments of the present application, the first positioning assembly includes a first positioning driving unit, a first bottom plate, a first side plate, a second positioning driving unit and a rotation positioning plate, where the first positioning driving unit is disposed on a bottom wall of the gripper, the first positioning driving unit is disposed on the first bottom plate, the first side plate and the second side plate are disposed on the first bottom plate at intervals, the second positioning driving unit is disposed on one side of the first side plate, and the rotation positioning plate is disposed between the first side plate and the second side plate and is in transmission connection with the second positioning driving unit.

In some embodiments of the present application, the second positioning assembly includes a third positioning driving unit, a sliding rod, a connecting rod and a pushing plate, where the third positioning driving unit is disposed on a side wall of the gripper, a piston rod of the third positioning driving unit is connected with one end of the sliding rod and hinged with one end of the connecting rod, the other end of the connecting rod is hinged with the pushing plate, a slideway is disposed on the side wall of the gripper, and the other end of the sliding rod is slidably disposed in the slideway.

The application provides a bag type material loading robot control system, which comprises an upper computer, a visual scanning unit and a loading robot controller, wherein the upper computer is used for receiving stored data, analyzing and processing the data and sending corresponding control instructions, the visual scanning unit is connected with the upper computer and is used for scanning a truck to be loaded and bag type materials and transmitting the scanning data to the upper computer, and the loading robot controller is respectively connected with the upper computer and the loading robot and is used for receiving bag type material loading planning data issued by the upper computer and converting the bag type material loading planning data into movement instructions of the loading robot to be sent to the loading robot.

In a third aspect of the present application, there is provided a control method for loading a bag-type material, the control method employing a robot for loading a bag-type material and a control system, and comprising the steps of:

s1, scanning a truck to be loaded, a parking area of the truck to be loaded and bag materials to be loaded by adopting a visual scanning unit, and transmitting data to an upper computer;

S2, integrating a 3D modeling system in an upper computer, processing data by the 3D modeling system to generate a 3D model of a truck to be loaded and a 3D model of a bag material, analyzing and processing the 3D model of the truck to be loaded and the 3D model of the bag material by the upper computer to generate bag material loading planning data, and sending the bag material loading planning data to a loading robot controller, wherein the loading robot controller generates corresponding motion instructions;

S3, the loading robot executes a corresponding motion instruction and drives the hopper assembly to move to a first bag type material loading point of the first section, the first bag type material is put into the loading robot by the bin, and the first bag type material is conveyed to the hopper assembly through a scraper conveying line and a second conveying unit of the loading robot;

s4, the vision scanning unit scans the first bag-type materials in the hopper assembly and transmits the data to the upper computer, and the 3D modeling system of the upper computer processes the data and generates a 3D model of the first bag-type materials;

S5, analyzing and processing the 3D model of the first bag-type material and the bag-type material loading planning data by the upper computer, generating first bag-type material position adjustment data, and issuing the first bag-type material position adjustment data to a loading robot controller, wherein the loading robot controller generates corresponding movement instructions;

s6, the loading robot executes corresponding motion instructions and drives the hopper assembly to rotate and/or adjust the inclination angle of the hopper, and then the first bag type materials are piled up to a first bag type material loading point;

And S7, repeating the steps S3 to S6 until loading of all bag materials is completed.

In some embodiments of the present application, the method for generating the bag-type material loading planning data in the step S2 includes:

s21, carrying out bag type material loading planning and configuration into bags, sections, layers and vehicles;

Multiple packets form one section, multiple sections form one layer, and multiple layers form one vehicle;

s22, according to the orientation of the packet header, configuring the orientation of the packet into a first direction, a second direction, a third direction and a fourth direction;

S23, selecting a center point of the front end of a van carriage to be loaded as an origin of a coordinate system by the upper computer according to scanning data of the van carriage to be loaded and the bag-type materials, wherein the direction from the front end to the rear end of the van carriage to be loaded is the positive direction of an X axis;

S24, the segments are configured into horizontal rows or vertical rows, wherein the horizontal rows are configured to place the bags along the Y-axis direction, and the orientation of the bags is the first direction or the second direction;

The method comprises the steps of S25, configuring a layer to comprise a first section, a second section, a third section, a fourth section and a fifth section, wherein the first section and the second section are configured to be horizontal rows, each row comprises N packets, the third section, the fourth section and the fifth section are configured to be vertical rows, each row comprises N packets, the vehicle is configured to be a first layer, a second layer, a third layer and a third layer from bottom to top of a carriage, and N, N and r are all positive integers greater than or equal to 1;

S26, selecting the center of the end part of the truck parking area as the origin of a new coordinate system, and obtaining the center point coordinate of the front end of the truck carriage to be loaded as The coordinates of the central point of the rear end of the carriage are%) The right side coordinates of the tail part of the carriage areThe left coordinates of the left side of the tail part of the carriage are;

It can be calculated that the vehicle longitudinal inclination rate;

Slope of vehicle transverse direction;

S27, calculating coordinates of each packet of the first segment of the r layer;

;

Calculating coordinates of each packet of the second segment of the r-th layer;

;

Calculating coordinates of each packet of the third segment of the r-th layer;

;

Calculating coordinates of each packet of the fourth segment of the r-th layer;

;

Calculating coordinates of each packet of the fifth segment of the r-th layer;

;

Wherein, the For the length of the carriage,For the width of the carriage, the vehicle body,In order to make the package wide,For the length of the bag, the bag is provided with a plurality of grooves,Is the height of the bag.

In some embodiments of the present application, the method for generating the corresponding motion instruction by the loading robot controller in step S2 includes:

s28, when the loading robot is in an initial state, selecting the center point of the hopper assembly as the initial point of the loading robot, wherein the coordinates of the initial point are The length of the first conveying drive isThe length from the end part of the first conveying driving extension end to the center point of the hopper assembly isAssume that the coordinate point of any packet is;

S29, calculating the initial point movement to the arbitrary packet coordinate pointIs a distance of (2);

;;

calculating the motion of the initial point in the z-axis direction Compensation amount in x direction:

;

Calculating the motion of the initial point in the y-axis direction Compensation amount in x direction:

;

。

compared with the prior art, the bag type material loading robot has the advantages that the walking track, the scraper conveying line, the walking mechanism, the rotary support, the rotating assembly, the first conveying line, the z-axis driving unit and the hopper assembly are arranged in the bag type material loading robot, the walking mechanism can drive the rotary support, the rotating assembly, the first conveying line and the hopper assembly to move along the walking track, the rotary support can drive the rotating assembly, the first conveying line and the hopper assembly to rotate relative to the walking mechanism, the z-axis driving unit can drive the hopper assembly to move up and down in the vertical direction, the A-axis driving unit can drive the first gripper and the second gripper to rotate, and therefore the first gripper and the second gripper can be accurately matched with loading working conditions, the loading position of bag type materials can be adjusted, and accurate loading of bag type materials is achieved.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention as claimed.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure, illustrate and explain the disclosure, and do not constitute a limitation on the disclosure. In the drawings:

Fig. 1 is a schematic structural view of a bag-type material loading robot according to an exemplary embodiment of the present application;

fig. 2 is a schematic structural view of a bag-type material loading robot (hidden traveling rail and scraper conveyor line) according to an exemplary embodiment of the present application;

FIG. 3 is a front view of a travel rail and travel mechanism provided in an exemplary embodiment of the present application;

FIG. 4 is a cross-sectional view taken at A-A of FIG. 3;

FIG. 5 is an enlarged view of FIG. 4 at I;

FIG. 6 is a front view of a bag material loading robot (hidden travel rail and doctor blade conveyor line) provided in an exemplary embodiment of the application;

FIG. 7 is a schematic view of a slewing bearing provided in an exemplary embodiment of the present application;

fig. 8 is an enlarged view at a in fig. 7;

FIG. 9 is a schematic view of the configuration of a drive gear and slewing bearing teeth provided in an exemplary embodiment of the present application;

fig. 10 is an enlarged view at B in fig. 9;

FIG. 11 is a schematic view of a hopper assembly according to an exemplary embodiment of the present application;

FIG. 12 is a schematic diagram of a first positioning assembly provided in an exemplary embodiment of the present application;

FIG. 13 is a left side view of a first positioning assembly provided in an exemplary embodiment of the present application;

FIG. 14 is a schematic diagram of a second positioning assembly provided in an exemplary embodiment of the present application;

FIG. 15 is a schematic view of a slide provided in an exemplary embodiment of the application;

FIG. 16 is a schematic view of the morphological position of bag material entering a gripper (prior to positioning) according to an exemplary embodiment of the present application;

FIG. 17 is a schematic view of the morphological position of a pocket material entering a gripper (after positioning) according to an exemplary embodiment of the present application;

FIG. 18 is a flow chart of a method for controlling the loading of bag-type materials according to an exemplary embodiment of the present application;

FIG. 19 is a schematic view of a coordinate system of a truck to be loaded provided in an exemplary embodiment of the present application;

FIG. 20 is a schematic diagram of a bag material loading planning configuration according to an exemplary embodiment of the present application;

FIG. 21 is a schematic illustration of layers in a bag material loading planning configuration according to an exemplary embodiment of the present application;

FIG. 22 is a schematic diagram of a new coordinate system and coordinates of a bag-in-car truck according to an exemplary embodiment of the present application;

fig. 23 is a schematic diagram of a simulated actual loading process provided by an exemplary embodiment of the present application.

In the figure:

100A, bag materials;

10. A walking rail; 101, a first track, 102, a second track, 103, a rack;

20. A scraper conveyor line;

301. the scraper 302, the first chute 303, the second chute;

40. The walking device comprises a walking mechanism, a walking frame body, a walking main driving wheel set, a 4021 walking main driving frame body, a 4022 walking main driving unit, a 4023 walking driving gear, a 4024 walking wheel, a 403 walking driven wheel set;

501. 5011, a driving gear, 5012, a rotary supporting tooth, 5013, a connecting cover plate, 5014, a first check ring, 5015, a second check ring, 5016, a main driving gear assembly, 5017, a first check groove, 5018, a second check groove, 502, a rotating assembly, 503, a first conveying line, 5031, a first conveying drive and 504, a z-axis driving unit;

60. The automatic feeding device comprises a hopper assembly, a hopper frame body, 602, an A-axis driving unit, 603, a camera, 6041, a first gripper, 6042, a second gripper, 6043, a first gripper driving unit, 6044, a second gripper driving unit, 6045, a gripper frame body, 6046, a gripper side wall, 6047, a gripper bottom wall, 605, a first positioning assembly, 6051, a first positioning driving unit, 6052, a first bottom plate, 6053, a first side plate, 6054, a second side plate, 6055, a second positioning driving unit, 6056, a rotary positioning plate, 6057, an arc chute, 6058, a first roller assembly, 6059, an inductive switch, 6060, an inductive rod, 606, a second positioning assembly, 6061, a third positioning driving unit, 6062, a sliding rod, 6063, a connecting rod, 6064, a push plate assembly, 6065, a slideway, 6066, a second roller assembly, 6067 and a third roller assembly.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application. It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be arbitrarily combined with each other.

Based on the above, the exemplary embodiment of the application provides a bag type material loading robot, wherein a walking track, a scraper conveying line, a walking mechanism, a rotary support, a rotating assembly, a first conveying line, a z-axis driving unit and a hopper assembly are arranged in the bag type material loading robot, the walking mechanism can drive the rotary support, the rotating assembly, the first conveying line and the hopper assembly to move along the walking track, the rotary support can drive the rotating assembly, the first conveying line and the hopper assembly to rotate relative to the walking mechanism, the z-axis driving unit can drive the hopper assembly to move up and down in the vertical direction, the A-axis driving unit can drive the first gripper and the second gripper to rotate, so that the first gripper and the second gripper can be accurately matched with loading working conditions, the loading position of bag type materials can be adjusted, and the accurate loading of the bag type materials can be realized.

An exemplary embodiment of the present application provides a truck loading robot for pocket-type materials 100A, as shown in fig. 1 and 2, where the truck loading robot for pocket-type materials 100A includes a traveling rail 10, a scraper conveyor line 20, a traveling mechanism 40, a swing support 501, a rotating assembly 502, a first conveyor line 503, a z-axis driving unit 504 and a hopper assembly 60, the scraper conveyor line 20 is fixedly disposed on the traveling rail 10, the traveling mechanism 40 is disposed on the traveling rail 10 and can move along the traveling rail 10, the traveling mechanism 40 can drive the swing support 501, the rotating assembly 502, the first conveyor line 503 and the hopper assembly 60 to move along the traveling rail 10, the swing support 501 is disposed below the traveling mechanism 40, the swing support 501 can drive the rotating assembly 502, the first conveyor line 503 and the hopper assembly 60 to rotate relative to the traveling mechanism 40, the rotating assembly 502 is disposed below the swing support 501, the z-axis driving unit 504 is disposed on the rotating assembly 502, an extending end of the z-axis driving unit 504 is connected to the first conveyor line 503, the z-axis driving unit 504 can drive the hopper assembly 60 to move in a vertical direction, one end of the first conveyor line 503 is disposed on the hopper assembly 60, the other end of the rotating assembly 60 is disposed on the rotating assembly 60, and the other end of the first conveyor line 60 is connected to the first gripper assembly 60, and the first gripper assembly 60 is connected to the first gripper unit 60, and the second gripper unit 60 is precisely mounted to the truck loading unit 60 is mounted on the first gripper unit 60, and can be driven by a hand, and can precisely drive the hand truck loading unit 602, and can be mounted to the hand truck loading unit 41, and can be precisely mounted on the hand truck loading truck, and can be mounted on the hand truck loading truck, and can be mounted on the hand truck, and can be driven.

In one embodiment, with continued reference to fig. 1 and 2, the doctor blade conveyor line 20 is provided with a doctor blade 301, the running gear 40 is provided with a first chute 302, and the rotating assembly 502 is provided with a second chute 303. The bag type material 100A enters the scraper conveying line 20, the material is conveyed to the scraper 301 under the conveying of the scraper conveying line 20, the bag type material 100A falls onto the first sliding chute 302 from the scraper conveying line 20 under the action of the scraper 301, and slides down along the first sliding chute 302 to enter the second sliding chute 303, and slides down along the second sliding chute 303 to the first conveying line 503, and enters the hopper assembly 60 under the conveying of the first conveying line 503.

In one embodiment, as shown in fig. 3 and 4, the walking rail 10 includes two rail assemblies disposed in parallel, the rail assemblies include a first rail 101 and a second rail 102 disposed symmetrically, and a rack 103 is disposed below the first rail 101 and the second rail 102. Preferably, the track assembly is made of I-steel, and a rack 103 is arranged below the I-steel.

Illustratively, the length direction of the travel rail 10 is set to the x-axis direction of the loading robot, the width direction of the travel rail 10 is set to the y-axis direction, and the vertical direction is set to the z-axis direction.

As shown in fig. 2 and 3, the travelling mechanism includes a travelling frame 401, a travelling main driving wheel set 402 and a travelling driven wheel set 403, the travelling main driving wheel set 402 and the travelling driven wheel set 403 are disposed on the travelling frame 401, travelling wheels 4024 are disposed on the travelling main driving wheel set 402 and the travelling driven wheel, and the travelling wheels 4024 can travel along the travelling rail 10. Preferably, the traveling mechanism 40 comprises two traveling main driving wheel sets 402 and four traveling driven wheel sets 403, and one traveling main driving wheel set 402 and two traveling driven wheel sets 403 are respectively distributed on each track assembly.

As shown in fig. 4 and 5, the traveling main driving wheel set 402 includes a traveling main driving frame body 4021, a traveling main driving unit 4022, a traveling driving gear 4023 and traveling wheels 4024, the traveling main driving unit 4022 is fixedly arranged on the traveling main driving frame body 4021 and is in transmission connection with the traveling driving gear 4023, the traveling driving gear 4023 is in meshing transmission with the rack 103, two traveling wheels 4024 are symmetrically arranged on the traveling main driving frame body 4021, and the two traveling wheels 4024 are respectively arranged on the first track 101 and the second track 102 in a rolling manner, so that the traveling main driving unit 4022 can transmit power to the traveling driving gear 4023 to drive the traveling main driving wheel set 402 to move along the traveling track 10. The loading robot can realize reciprocating motion in the x-axis direction.

Preferably, the traveling wheel 4024 is a conical wheel, and the conical traveling wheel 4024 can be automatically centered to prevent the traveling wheel 4024 from being separated from the traveling rail 10.

The traveling driven wheel group 403 comprises a traveling driven frame body, traveling driven gears and traveling wheels 4024, the traveling driven gears are arranged on the traveling driven frame body through rotating shafts, the traveling driven gears are in meshed transmission with the racks 103, the two traveling wheels 4024 are symmetrically arranged on the traveling driven frame body, and the two traveling wheels 4024 are respectively arranged on the first track 101 and the second track 102 in a rolling mode. The traveling driven wheel set 403 can move along the traveling track 10 under the driving of the traveling main driving wheel set 402.

As shown in fig. 7 to 10, the swing support 501 includes a driving gear 5011, a swing support tooth 5012, a connection cover plate 5013, a first stop ring 5014, a second stop ring 5015 and a main driving gear assembly 5016, the main driving gear assembly 5016 includes a motor and a driving gear 5011, the driving gear 5011 is in driving connection with the motor, and the driving gear 5011 is engaged with an outer ring of the driving gear 5011, so that the motor can drive the driving gear 5011 to rotate. The bottom of the driving gear 5011 is fixedly connected with the rotating component 502, the top of the connecting cover plate 5013 is fixedly connected with the traveling frame body 401 of the traveling mechanism 40, and the rotary supporting teeth 5012 are fixedly connected with the connecting cover plate 5013. Be provided with first backstop groove 5017 on the inner circle of driving gear 5011, be provided with second backstop groove 5018 on the outer lane of gyration support tooth 5012, first backstop circle 5014 part holding is in first backstop groove 5017, the part that first backstop circle 5014 stretched out first backstop groove 5017 and the bottom contact of gyration support tooth 5012, second backstop circle 5015 part holding is in second backstop groove 5018, the part that second backstop circle 5015 stretched out second backstop groove 5018 and the top contact of driving gear 5011, so, under the drive of motor, driving gear 5011 can drive rotation subassembly 502, first transfer chain 503, hopper assembly 60 rotation. The loading robot can realize left and right movement along the width direction, namely, realize reciprocating movement along the y-axis direction.

As shown in fig. 2 and 6, the rotating assembly 502 is disposed below the slewing bearing 501, and the z-axis driving unit 504 is disposed on the rotating assembly 502, and the extending end of the z-axis driving unit 504 is connected to the first conveying line 503, so that the z-axis driving unit 504 can drive the hopper assembly 60 to move up and down in the vertical direction, that is, realize the reciprocating motion of the loading robot in the z-axis direction. One end of the first conveying line 503 is disposed on the rotating component 502, and the hopper assembly 60 is fixedly connected with the other end of the first conveying line 503. The first conveyor line 503 includes a first conveyor drive 5031, the first conveyor drive 5031 being fixedly disposed on the rotating assembly 502, the first conveyor drive 5031 being configured to power the first conveyor line 503.

As shown in fig. 11, the hopper assembly 60 further includes a hopper frame 601, a camera 603, a first gripper driving unit 6043, and a second gripper driving unit 6044, wherein the hopper frame 601 is fixedly connected with the first conveying line 503, the a-axis driving unit 602 and the camera 603 are disposed on the hopper frame 601, and the camera 603 can scan a truck to generate scan data of the truck. The scan data of the truck includes information such as the truck's parking position, parking angle, width, height of the truck's cargo compartment, etc. The first grip 6041 and the second grip 6042 are provided on the grip frame 6045, and the a-axis driving unit 602 is in transmission connection with the grip frame 6045 for driving the first grip 6041 and the second grip 6042 to rotate along the a-axis.

The first gripper driving unit 6043 and the second gripper driving unit 6044 are arranged on the gripper frame body 6045, the extending end of the first gripper driving unit 6043 is hinged with the first gripper 6041, and the extending end of the second gripper driving unit 6044 is hinged with the second gripper 6042. The first gripper driving unit 6043 can drive the first gripper 6041 to rotate relative to the gripper frame 6045, and the second gripper driving unit 6044 can drive the second gripper 6042 to rotate relative to the gripper frame 6045, so that the opening and closing angle between the first gripper 6041 and the second gripper 6042 can be adjusted according to different material types.

The first grip 6041 and the second grip 6042 are respectively provided with a positioning mechanism and a scanning system, wherein the positioning mechanism is used for positioning the conveyed bag-type materials 100A, and the scanning system is used for scanning the conveyed bag-type materials 100A to generate scanning data of the bag-type materials 100A.

The first grip 6041 and the second grip 6042 each include a grip side wall 6046 and a grip bottom wall 6047 that are connected to each other, the length direction of the grip bottom wall 6047 is the length direction of the first grip 6041 and the second grip 6042, and the width direction of the grip bottom wall 6047 is the width direction of the first grip 6041 and the second grip 6042. The positioning mechanism includes a first positioning assembly 605 and a second positioning assembly 606, the first positioning assembly 605 being disposed on the grip bottom wall 6047 and the second positioning assembly 606 being disposed on the grip side wall 6046. The first positioning assembly 605 is used for positioning the bag-type material 100A in the length direction of the first grip 6041 and the second grip 6042, and the second positioning assembly 606 is used for positioning the bag-type material 100A in the width direction of the first grip 6041 and the second grip 6042. First grip 6041 and second grip 6042 are each provided with a first positioning assembly 605 and a second positioning assembly 606. After the bag material 100A enters the first grip 6041 and the second grip 6042, the first positioning assembly 605 and the second positioning assembly 606 respectively position the bag material 100A, preferably, the first positioning assembly 605 is started to position the bag material 100A in the length direction of the first grip 6041 and the second grip 6042, and then the second positioning assembly 606 is started to position the bag material 100A in the width direction of the first grip 6041 and the second grip 6042. After the bag-type material 100A is positioned, a scanning system is started, and a control system controls the loading robot to stack the bag-type material 100A to a specified position according to data scanned by the scanning system.

As shown in fig. 12 and 13, the first positioning assembly 605 includes a first positioning drive unit 6051, a first bottom plate 6052, a first side plate 6053, a second side plate 6054, a second positioning drive unit 6055, and a rotational positioning plate 6056. The first positioning driving unit 6051 is disposed on the gripper bottom wall 6047, the first positioning driving unit 6051 may be an air cylinder sliding table, a first bottom plate 6052 is disposed on the first positioning driving unit 6051, a first side plate 6053 and a second side plate 6054 are disposed on the first bottom plate 6052 at intervals, a second positioning driving unit 6055 is disposed on one side of the first side plate 6053, the second positioning driving unit 6055 may be a motor, an output end of the second positioning driving unit 6055 is in transmission connection with a rotary positioning plate 6056, and the rotary positioning plate 6056 is disposed between the first side plate 6053 and the second side plate 6054. Preferably, the first side plate 6053 and the second side plate 6054 are provided with an arc chute 6057, the arc chute 6057 is preferably a 1/4 arc chute, the two side edges of the rotary positioning plate 6056 are provided with connecting parts, the connecting parts are provided with first roller assemblies 6058, the first roller assemblies 6058 are accommodated in the arc chute 6057, the first roller assemblies 6058 can slide in the arc chute 6057, and the rotary movement of the rotary positioning plate 6056 can be guided.

Before the bag material 100A enters the first grip 6041 and the second grip 6042, the rotation positioning plate 6056 is inclined at a predetermined angle with respect to the first bottom plate 6052, for example, the predetermined angle may be any angle between ° and 90 °, preferably the predetermined angle is 45 °, and at this time, the rotation positioning plate 6056 is inclined toward the direction in which the bag material 100A moves, so as to provide more space for the bag material 100A. After the bag material 100A enters the first grip 6041 and the second grip 6042, the first positioning assembly 605 is activated to position the bag material 100A.

The first gripper 6041 and the second gripper 6042 are both provided with a first positioning component 605, when the positions of the bag materials 100A in the length directions of the first gripper 6041 and the second gripper 6042 are positioned, the first positioning driving unit 6051 can drive the first bottom plate 6052 to move towards the bag materials 100A, and then the rotary positioning plate 6056 is driven to move towards the bag materials 100A, in the process, the second positioning driving unit 6055 can drive the rotary positioning plate 6056 to rotate, the rotary positioning plate 6056 is enabled to rotate to be perpendicular to the first bottom plate 6052, at the moment, the two rotary positioning plates 6056 in the first gripper 6041 and the second gripper 6042 can push the edges of the bag materials 100A to enable the bag materials 100A to be positioned in the length directions of the first gripper 6041 and the second gripper 6042.

In order to facilitate detection of whether the rotation positioning plate 6056 rotates to a position perpendicular to the first bottom plate 6052, a sensing switch 6059 is provided at a side of the second side plate 6054, the sensing switch 6059 is provided above a rotation shaft of the rotation positioning plate 6056, a sensing rod 6060 is provided on the rotation shaft of the rotation positioning plate 6056, and when the rotation positioning plate 6056 rotates to a position perpendicular to the first bottom plate 6052, the sensing rod 6060 is located in a sensing portion of the sensing switch 6059 to prompt the rotation positioning plate 6056 to rotate in place.

After the rotation positioning plate 6056 rotates to a position perpendicular to the first base plate 6052, the first positioning drive unit 6051 may continue to drive the first base plate 6052 to move forward until a preset stroke is completed.

As shown in fig. 14, the second positioning assembly 606 includes a third positioning driving unit 6061, a slide bar 6062, a link 6063 and a push plate 6064, the third positioning driving unit 6061 is provided on the grip side wall 6046, preferably, the third positioning driving unit 6061 may be a cylinder, a piston rod of the third positioning driving unit 6061 is connected with one end of the slide bar 6062 while being hinged with one end of the link 6063, the other end of the link 6063 is hinged with the push plate 6064, a slide 6065 is provided on the grip side wall 6046, an extending direction of the slide 6065 is parallel to an extending direction of a piston rod of the third positioning driving unit 6061, and the other end of the slide bar 6062 is slidably provided in the slide 6065.

Preferably, as shown in fig. 15, the cross-section of the slide 6065 is in a "convex" shape, and includes a first slide close to the grip sidewall 6046 and a second slide far from the grip sidewall 6046, the first slide and the second slide are communicated with each other, and a second roller assembly 6066 is provided on an end of the slide rod 6062, and the second roller assembly is rollably provided in the first slide. The bottom of the push plate 6064 is provided with a third roller assembly 6067 that can roll on the gripper bottom wall 6047.

Before the bag material 100A enters the first grip 6041 and the second grip 6042, the piston rod of the third positioning drive unit 6061 is in a retracted state, and at this time, the push plate 6064 approaches the grip side wall 6046. After the bag-type material 100A enters the first grip 6041 and the second grip 6042, the piston rod of the third positioning drive unit 6061 extends to drive the sliding rod 6062 to move along the slideway 6065 towards the grip bottom wall 6047, and when the third roller assembly 6067 contacts the grip bottom wall 6047, the piston rod of the third positioning drive unit 6061 continues to extend to drive the connecting rod 6063 to drive the push plate 6064 to close towards the bag-type material 100A so as to position the bag-type material 100A in the width direction of the first grip 6041 and the second grip 6042.

The first grip 6041 and the second grip 6042 are provided with second positioning assemblies 606, and the two second positioning assemblies 606 are symmetrically arranged. After the bag-type material 100A enters the first grip 6041 and the second grip 6042, the two second positioning assemblies 606 are simultaneously started, and the two pushing plates 6064 simultaneously push against the bag-type material 100A, so that the bag-type material 100A is positioned in the width direction of the first grip 6041 and the second grip 6042.

The shape positions of the bag-type material 100A entering the first grip 6041 and the second grip 6042 may be various, as shown in fig. 16, four shape positions a, b, c, d of the bag-type material 100A are shown in the figure, if the positioning mechanism is not arranged in the first grip 6041 and the second grip 6042, the shape positions of the bag-type material 100A are changed, even if the scanning system is arranged to transfer the shape positions of the bag-type material 100A to the control system, the control system operates according to the shape positions of the bag-type material 100A and controls the loading robot to match the shape positions of the bag-type material 100A, so that the bag-type material 100A is piled up in a truck, but the control system needs to perform a large amount of data processing and operation according to the various shape positions of the bag-type material 100A, so that the operation is complex, and the corresponding operation method and control system are required.

However, if the positioning mechanism is provided in the first grip 6041 and the second grip 6042, after the positioning mechanism positions the bag-type material 100A, the bag-type material 100A is centered to the center of the hopper assembly 60, and the bag-type material 100A at this time has only four form positions as shown in fig. 17, and the arrow direction on the bag in fig. 17 is the orientation of the header. At this time, after the scanning system scans the form position of the bag-type material 100A, the form position of the bag-type material 100A is matched with the position of the bag-type material 100A planned in the loading planning data of the bag-type material 100A according to the orientation of the packet header, and then the position of the hopper assembly 60 is adjusted, so that the position of the bag-type material 100A in the hopper assembly 60 is consistent with the position of the bag-type material 100A planned in the loading planning data of the bag-type material 100A.

An exemplary embodiment of the application provides a bag-type material loading robot control system, which comprises an upper computer, a visual scanning unit and a loading robot controller. The upper computer is used for receiving the stored data, analyzing and processing the data and sending corresponding control instructions, and can be a notebook computer which is provided with the programming control software of the loading robot of the bag-type material 100A as a central for receiving and transmitting the instructions and processing the data. The visual scanning unit is connected with the upper computer through a data line, the visual scanning unit is used for scanning a truck to be loaded and the bag-type material 100A and transmitting scanning data to the upper computer through the data line, the visual scanning unit comprises a camera 603 and a scanning system, the camera 603 and the scanning system both comprise a laser emission source and the camera 603, laser with coding information can be actively emitted to an object to be detected, the laser reflected back from different angles in a diffuse mode is recorded through the camera 603 and is uploaded to the upper computer, and the upper computer generates a 3D structure of the object to be detected through a reconstruction algorithm. And a positioning module is integrated in the scanning system, so that the space coordinates of the execution tail end of the loading robot can be positioned in real time.

The loading robot controller is connected with the upper computer through an interactive data line to realize the issuing of the loading planning data of the bag-type materials 100A and the uploading of the position information of the execution tail end of the loading robot, the loading robot controller is connected with the execution tail end of the loading robot through the interactive data line to convert the loading planning data of the bag-type materials 100A into the motion instructions of each shaft of the loading robot and issue the motion instructions to the loading robot, and meanwhile, encoder signals representing the motion information of each shaft of the loading robot are also uploaded to the loading robot controller in real time and used for calculating the spatial position coordinates of the execution tail end of the loading robot.

An exemplary embodiment of the present application provides a control method for loading bag materials, which includes the above-mentioned robot and control system for loading bag materials, and includes the following steps, as shown in fig. 18 in detail:

The loading robot is provided with a parking area for loading the truck on the ground at one side, and the truck to be loaded is parked to the designated parking area for the bagged truck before loading.

S1, a vision scanning unit is adopted to scan a truck to be loaded, a parking area of the truck to be loaded and a bag material 100A to be loaded, and data are transmitted to an upper computer.

In step S1, the wagon compartment length L1, the wagon compartment width W1, the package length L2, the package width W2, and the package height H are obtained through calculation.

S2, integrating A3D modeling system in the upper computer, processing data by the 3D modeling system to generate A3D model of a truck to be loaded and A3D model of the bag-type material 100A, analyzing and processing the 3D model of the truck to be loaded and the 3D model of the bag-type material 100A by the upper computer to generate bag-type material 100A loading planning data, and issuing the bag-type material 100A loading planning data to the loading robot controller, wherein the loading robot controller generates corresponding motion instructions.

The method for generating the loading planning data of the bag-type material 100A in the step S2 includes:

s21, the bag-type material 100A loading plan is configured into bags, sections, layers and vehicles;

S22, according to the orientation of the packet header, the orientation of the packet is configured to be a first direction, a second direction, a third direction and a fourth direction, as shown in FIG. 17, the orientation of the packet in the diagram (a) is the first direction, the orientation of the packet in the diagram (c) is the second direction, the orientation of the packet in the diagram (b) is the third direction, and the orientation of the packet in the diagram (d) is the fourth direction.

S23, the upper computer selects the center point of the front end of the truck carriage to be loaded as the origin of a coordinate system according to the scanning data of the truck to be loaded and the bag-type material 100A, and at the moment, the direction from the truck head to the truck tail is the positive X-axis direction, the extending direction of the vehicle width to the loading robot is the positive Y-axis direction, and the vertical upward direction is the positive Z-axis direction, as shown in FIG. 19.

S24, as shown in the figure, the segments are configured into horizontal rows or vertical rows, wherein the horizontal rows are configured to place the packets along the Y-axis direction, and the packets are oriented in the first direction or the second direction, and the vertical rows are configured to place the packets along the X-axis direction, and the packets are oriented in the third direction or the fourth direction.

S25, as shown in FIG. 21, the layer is configured to comprise a first section, a second section, a third section, a fourth section and a fifth section, wherein the first section and the second section are configured to be horizontal rows, each row comprises N packets, the third section, the fourth section and the fifth section are configured to be vertical rows, each row comprises N packets, the vehicle is configured to be a first layer, a second layer, a third layer and a third layer from bottom to top of a carriage, and N, N and r are positive integers greater than or equal to 1.

S26, as shown in FIG. 22, taking the center of the end part of the truck parking area as the origin of a new coordinate system, and obtaining the center point coordinate of the front end of the truck carriage to be loaded asThe coordinates of the central point of the rear end of the carriage are%) The right side coordinates of the tail part of the carriage areThe left coordinates of the left side of the tail part of the carriage are;

It can be calculated that the vehicle longitudinal inclination rate;

Slope of vehicle transverse direction;

;

Calculating coordinates of each packet of the second segment of the r-th layer;

;

Calculating coordinates of each packet of the third segment of the r-th layer;

;

Calculating coordinates of each packet of the fourth segment of the r-th layer;

;

Calculating coordinates of each packet of the fifth segment of the r-th layer;

;

The method for generating the corresponding motion instruction by the loading robot controller in the step S2 comprises the following steps:

s28, when the loading robot is in the initial state, the center point of the hopper assembly 60 is selected as the initial point of the loading robot, and the coordinates of the initial point are As shown in FIG. 23, the first conveying drive has a length ofThe length from the end part of the first conveying driving extension end to the center point of the hopper assembly isAssume that the coordinate point of any packet is;

;;

;

the distance from the initial point to the arbitrary packet coordinate point (T, R, W) can be obtained 、、。

S3, the loading robot executes corresponding motion instructions and drives the hopper assembly 60 to move to a loading point of the first bag-type material 100A of the first section, the first bag-type material 100A is put into the loading robot by the bin, and the first bag-type material 100A is conveyed to the hopper assembly 60 through a scraper conveying line 20 and a second conveying unit of the loading robot.

S4, after the first bag-type material 100A entering the hopper assembly 60 passes through the first positioning component 605 and the second positioning component 606, the vision scanning unit scans the first bag-type material 100A in the hopper assembly 60 and transmits data to the upper computer, and the 3D modeling system of the upper computer processes the data and generates a 3D model of the first bag-type material 100A.

S5, analyzing and processing the 3D model of the first bag-type material 100A and the loading planning data of the bag-type material 100A by the upper computer, if the position form of the first bag-type material 100A is matched with the position form planned in the loading planning data of the bag-type material 100A, generating no first bag-type material 100A position adjustment data, at the moment, directly stacking the first bag-type material 100A to a loading point of the first bag-type material 100A by the loading robot, and if the position form of the first bag-type material 100A is not matched with the position form planned in the loading planning data of the bag-type material 100A, generating first bag-type material 100A position adjustment data, and issuing the first bag-type material 100A position adjustment data to the loading robot controller, wherein the loading robot controller generates corresponding motion instructions.

S6, the loading robot executes corresponding motion instructions and drives the hopper assembly 60 to rotate and/or adjust the inclination angles of the first grip 6041 and the second grip 6042, and then stacks the first bag-type material 100A to the loading point of the first bag-type material 100A.

And S7, repeating the steps S3 to S6 until loading of all the bag materials 100A is completed.

According to the bag-type material 100A loading robot, the control system and the control method thereof, provided by the application, the loading planning data of the bag-type material 100A can be generated according to the actual conditions of the truck to be loaded and the bag-type material 100A, the bag-type material 100A can be positioned in the loading process, and the accurate stacking of the bag-type material 100A is realized by combining the loading planning data of the bag-type material 100A.

In the present disclosure, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that an article or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such article or apparatus. Without further limitation, an element defined by the phrase "comprising" does not exclude the presence of additional identical elements in an article or apparatus that includes the element.

While preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the application.

It will be apparent to those skilled in the art that various modifications and variations can be made to the present application without departing from the spirit or scope of the application. Thus, it is intended that the present application also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.

Claims

1. The bag type material loading robot is characterized by comprising a walking track, a scraper conveying line, a walking mechanism, a rotary support, a rotating assembly, a first conveying line, a Z-axis driving unit and a hopper assembly, wherein the scraper conveying line is arranged on the walking track, the walking mechanism is arranged on the walking track and can move along the walking track, the rotary support is arranged below the walking mechanism, the rotating assembly is arranged below the rotary support, the Z-axis driving unit is arranged on the rotating assembly, the extending end of the Z-axis driving unit is connected with the first conveying line, one end of the first conveying line is arranged on the rotating assembly, the hopper assembly is fixedly connected with the other end of the first conveying line, the hopper assembly comprises a first gripper, a second gripper and an A-axis driving unit, and the A-axis driving unit is used for driving the first gripper and the second gripper to rotate.

2. The bag material loading robot of claim 1, wherein the hopper assembly further comprises a hopper frame, a camera, a first gripper driving unit and a second gripper driving unit, the hopper frame is fixedly connected with the first conveying line, the a-axis driving unit and the camera are arranged on the hopper frame, the first gripper and the second gripper are arranged on the gripper frame, the a-axis driving unit is in transmission connection with the gripper frame, the first gripper driving unit and the second gripper driving unit are arranged on the gripper frame, the extending end of the first gripper driving unit is connected with the first gripper, and the extending end of the second gripper driving unit is connected with the second gripper.

3. The bag material loading robot of claim 1, wherein the first and second handles are each provided with a positioning mechanism and a scanning system, the positioning mechanism is used for positioning the transferred bag material, and the scanning system is used for scanning the transferred bag material.

4. The bag material loading robot of claim 3, wherein the first and second grippers each comprise a gripper side wall and a gripper bottom wall that are connected to each other, the positioning mechanism comprises a first positioning assembly and a second positioning assembly, the first positioning assembly is disposed on the gripper bottom wall, and the second positioning assembly is disposed on the gripper side wall.

5. The bag-type material loading robot according to claim 4, wherein the first positioning assembly comprises a first positioning driving unit, a first bottom plate, a first side plate, a second positioning driving unit and a rotary positioning plate, the first positioning driving unit is arranged on the bottom wall of the gripper, the first bottom plate is arranged on the first positioning driving unit, the first side plate and the second side plate are arranged on the first bottom plate at intervals, the second positioning driving unit is arranged on one side of the first side plate, and the rotary positioning plate is arranged between the first side plate and the second side plate and in transmission connection with the second positioning driving unit.

6. The bag material loading robot of claim 4, wherein the second positioning assembly comprises a third positioning driving unit, a sliding rod, a connecting rod and a pushing plate, the third positioning driving unit is arranged on the side wall of the gripper, a piston rod of the third positioning driving unit is connected with one end of the sliding rod and is hinged with one end of the connecting rod at the same time, the other end of the connecting rod is hinged with the pushing plate, a slide way is arranged on the side wall of the gripper, and the other end of the sliding rod is slidably arranged in the slide way.

7. The bag type material loading robot control system is characterized by comprising an upper computer, a visual scanning unit and a loading robot controller, wherein the upper computer is used for receiving storage data, analyzing and processing data and sending corresponding control instructions, the visual scanning unit is connected with the upper computer and is used for scanning a truck to be loaded and bag type materials and transmitting the scanning data to the upper computer, the loading robot controller is respectively connected with the upper computer and the loading robot, and the loading robot controller is used for receiving bag type material loading planning data issued by the upper computer and converting the bag type material loading planning data into movement instructions of the loading robot to be issued to the loading robot.

8. A method of controlling the loading of bag-type materials, characterized by using a robot for loading bag-type materials as claimed in any one of claims 1 to 12 and a control system as claimed in claim 13, and comprising the steps of:

9. The method for controlling loading of bag-type materials according to claim 8, wherein the method for generating the planning data of loading of bag-type materials in step S2 comprises the steps of:

It can be calculated that the vehicle longitudinal inclination rate;

Slope of vehicle transverse direction;

;

Calculating coordinates of each packet of the second segment of the r-th layer;

;

Calculating coordinates of each packet of the third segment of the r-th layer;

;

Calculating coordinates of each packet of the fourth segment of the r-th layer;

;

Calculating coordinates of each packet of the fifth segment of the r-th layer;

;

10. The method for controlling loading of bag-type materials according to claim 8, wherein the method for generating the corresponding motion command by the loading robot controller in step S2 is as follows:

;;

;

。