Stacking device and control method thereof

Abstract

The invention relates to a stacking device and a control method thereof, and relates to the technical field of automatic machining, the stacking device comprises a stacking platform, a mounting box, a grabbing mechanism, a lifting mechanism and a controller, and the lifting mechanism is used for driving the grabbing mechanism to ascend and descend; the grabbing mechanism comprises a robot arm device, a plurality of position feedback devices and a plurality of state detection devices, the position feedback devices and the state detection devices are installed on all parts of the robot arm device, and the position feedback devices are used for feeding back real-time position data of all the parts of the robot arm device. The state detection equipment is used for detecting real-time state data of each part of the robot arm equipment; and the controller is used for updating a planned path according to the real-time feedback data and the real-time state data, and controlling the grabbing mechanism and the lifting mechanism to work according to the updated planned path. The automatic machining device has the effect of effectively improving the automatic machining efficiency.

Description

Technical Field

[0001] The present application relates to the field of automated processing technology, and in particular to a palletizing device and a control method thereof. Background Art

[0002] With the automation and mechanization of the production process, palletizers are now widely used to replace manual handling and transfer of items. The working principle of the palletizer is to control the robotic arm to grab the items, and then position the items in the designated position so that the items are stacked for easy transportation or storage.

[0003] However, the existing palletizers have complex structures, large floor space, and poor flexibility, making it difficult to adapt to changes in pallet size, height, and cargo type. In addition, due to the low flexibility, the set actions are complex to execute, and there may be many redundant actions, which affects the efficiency of automated processing. Summary of the invention

[0004] The purpose of this application is to provide a palletizing device and a control method thereof, so as to effectively improve the efficiency of automated processing.

[0005] In the first aspect, the present application provides a palletizing device that adopts the following technical solution: A palletizing device comprises a palletizing platform, an installation box, a grabbing mechanism, a lifting mechanism and a controller, wherein the installation box is located in the middle of the palletizing platform, the grabbing mechanism is installed on the top of the installation box, the lifting mechanism is installed inside the installation box and connected to the grabbing mechanism, the lifting mechanism is used to drive the grabbing mechanism to rise and fall, and the grabbing mechanism and the lifting mechanism are respectively connected to the controller in communication; The gripping mechanism includes a robot device, a plurality of position feedback devices and a plurality of state detection devices, wherein the plurality of position feedback devices and the plurality of state detection devices are installed at various parts of the robot device, the position feedback device is used to feedback the real-time position data of various parts of the robot device, and upload the real-time position data to the controller, and the state detection device is used to detect the real-time state data of various parts of the robot device, and upload the real-time state data to the controller; The controller is used to update the planned path according to the real-time feedback data and the real-time status data, and control the gripping mechanism and the lifting mechanism to work according to the updated planned path.

[0006] By adopting the above technical solution, the present application drives the gripping mechanism to complete the lifting action through the lifting mechanism, which can be more suitable for the use scenario of transferring items with height differences, or it is convenient to adjust the height of the gripping mechanism accordingly when stacking to a certain height, so as to complete the stacking more accurately. At the same time, the present application uses the position feedback device to feedback the real-time position data of each part of the robot arm device, and uses the status detection device to detect the real-time status data of each part of the robot arm device, so that the controller can update the planned path according to the real-time feedback data and the real-time status data, and can perform path planning according to the actual situation, reduce redundant actions in the stacking process, and effectively improve the efficiency of automated processing.

[0007] Furthermore, the robotic arm device includes a first rotation joint, a second rotation joint, a main robotic arm, a third rotation joint, a secondary robotic arm, a fourth rotation joint and a fifth rotation joint connected in sequence from bottom to top, and the several position feedback devices are respectively installed at the first rotation joint, the second rotation joint, the third rotation joint, the fourth rotation joint and the fifth rotation joint.

[0008] By adopting the above-mentioned technical solution, the robot arm device of the present application includes five rotating joints, which can achieve more flexible movements through multi-axis coordination. Different grasping devices can be installed at the end to make the handling process more labor-saving. It can also adapt to the update of different planned paths, effectively improving the efficiency of automated processing.

[0009] Furthermore, the installation box includes a driving cavity and a heat dissipation cavity, the driving cavity and the heat dissipation cavity are isolated by a heat dissipation plate, and the lifting mechanism is installed in the driving cavity.

[0010] By adopting the above technical solution, the present application divides the installation box into two parts according to functional differences, so that different functions can be stably implemented and are not easily affected by each other, thereby ensuring the reliability and operational stability of the palletizing device.

[0011] Furthermore, the lifting mechanism includes a driving device and a guide rail device. The bottom of the robot device is connected to the guide rail device through a lifting platform. The guide rail device is connected to the driving device. The driving device is used to drive the guide rail device and the robot device to lift and lower.

[0012] By adopting the above technical solution, the present application enables the robot device to be lifted and lowered stably through the cooperation between the driving device and the guide rail device, thereby improving the applicability of the stacking device to different usage scenarios during use.

[0013] Furthermore, the guide rail device includes a guide rail slide and a slider, the guide rail slide is installed on a side of the heat dissipation plate close to the driving cavity, the slider is slidably connected to the guide rail slide, and the lifting platform is connected to the slider.

[0014] By adopting the above technical solution, the present application takes into account the heavy weight of the robot arm equipment and ensures the stability of the lifting process of the lifting platform through guide rails, slides and sliders.

[0015] Furthermore, the guide rail device also includes a guide rail chain, which is installed on a side of the heat dissipation plate close to the heat dissipation cavity, and the guide rail chain is connected to the bottom of the robot arm device.

[0016] By adopting the above technical solution, the present application takes into account the heavy weight of the robot arm device and ensures the stability of the lifting process of the robot arm device through the guide rail chain.

[0017] Furthermore, the driving device includes a driving motor, a screw rod and a connecting block, the driving motor is installed at the bottom of the driving cavity, the screw rod is connected to the output shaft of the driving motor, the connecting block is nested outside the screw rod, and the lifting platform is connected to the connecting block.

[0018] By adopting the above technical solution, the present application enables the lifting platform and the robot equipment installed on the lifting platform to be driven to achieve lifting through the cooperation of the driving motor, the screw rod and the connecting block, thereby improving the applicability of the stacking device to different usage scenarios during use.

[0019] Furthermore, a heat dissipation mechanism is provided in the heat dissipation cavity, and the heat dissipation mechanism is communicatively connected with the controller; The heat dissipation mechanism comprises a heat dissipation fan and a heat dissipation fin. The heat dissipation fan is installed on a side of the guide rail chain away from the heat dissipation plate, and the heat dissipation fin is installed on the inner wall of the heat dissipation cavity.

[0020] By adopting the above technical solution, the present application dissipates heat from the lifting mechanism in operation in the installation box through the heat dissipation mechanism, thereby ensuring the reliability and stability of the use process of the palletizing device.

[0021] In the second aspect, a control method for a palletizing device provided in the present application adopts the following technical solution: A palletizing device control method, applied to the palletizing device described in the first aspect, comprising: Control the gripping mechanism and lifting mechanism to work according to the preset initial planning path; Acquire the real-time position data of each part of the robot device uploaded by the position feedback device and the real-time status data of each part of the robot device uploaded by the status detection device during the working process of the grasping mechanism; Update the planned path based on real-time feedback data and real-time status data; The gripping mechanism and the lifting mechanism are controlled to work according to the updated planned path.

[0022] By adopting the above technical solution, the present application updates the planned path through real-time feedback data and real-time status data, can adjust the path planning according to actual conditions, reduce redundant actions in the palletizing process, and effectively improve the efficiency of automated processing.

[0023] Further, updating the planned path according to the real-time feedback data and the real-time status data includes: Construct the initial model for planning path prediction and configure the model parameters for constructing the initial model for planning path prediction; Obtain feedback data samples, status data samples and corresponding planned path samples in the planned path database; The initial feedback data samples and state data samples are used as input features, and the corresponding planned path samples are used as output features to construct a sample set; The initial model for planning path prediction is trained according to the sample set to obtain a trained planning path prediction model; The real-time feedback data and real-time status data are input into the trained planning path prediction model to obtain an updated planning path.

[0024] By adopting the above technical solution, the present application predicts the current optimal planned path through the planning path prediction model and updates it, ensuring that the robot arm equipment can perform palletizing operations under the optimal planned path, improving the intelligence and reliability of path planning, reducing redundant actions in the palletizing process, and effectively improving the efficiency of automated processing.

[0025] In summary, the present application includes at least one of the following beneficial technical effects: 1. The present application uses a lifting mechanism to drive the gripping mechanism to complete the lifting action, which can be more suitable for the use scenario of transferring items with height differences, or it is convenient to adjust the height of the gripping mechanism when stacking to a certain height, so as to complete the stacking more accurately; 2. This application uses a position feedback device to feedback the real-time position data of each part of the robot arm device, and uses a status detection device to detect the real-time status data of each part of the robot arm device, so that the controller can update the planned path according to the real-time feedback data and the real-time status data, and can perform path planning according to actual conditions, reduce redundant actions in the palletizing process, and effectively improve the efficiency of automated processing; 3. The robot arm device of the present application includes five rotating joints, which can achieve more flexible movements through multi-axis coordination. Different gripping devices can be installed at the end to make the handling process more labor-saving and adapt to the update of different planned paths, effectively improving the efficiency of automated processing; 4. The present application uses a heat dissipation mechanism to dissipate heat from the lifting mechanism in operation in the installation box, thereby ensuring the reliability and stability of the palletizing device during use. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present application; Figure 2 This is a schematic diagram of the controller connection of the embodiment of the present application. Figure 3 This is a schematic diagram of the internal structure of the installation box of an embodiment of the present application; Figure 4 is a flow chart of the control method of an embodiment of the present application; In the figure, 1. stacking platform; 2. installation box; 21. drive chamber; 22. heat dissipation chamber; 23. heat dissipation plate; 3. grasping mechanism; 31. robot arm device; 311. first rotating joint; 312. second rotating joint; 313. main robot arm; 314. third rotating joint; 315. auxiliary robot arm; 316. fourth rotating joint; 317. fifth rotating joint; 32. position feedback device; 33. state detection device; 4. lifting mechanism; 41. driving device; 42. guide rail device; 43. lifting platform; 5. heat dissipation mechanism; 51. cooling fan; 52. heat sink; 6. controller. DETAILED DESCRIPTION

[0027] The following is combined with Figure 1 -Attached Figure 4 State detection equipment, further details of this application are provided.

[0028] The existing palletizer has a complex structure, occupies a large area, and has poor flexibility, making it difficult to adapt to changes in the size and height of the pallet and the type of goods. In addition, due to the low flexibility, the set actions are complex to execute, and there may be many redundant actions, which affects the efficiency of automated processing. Therefore, the present application provides a palletizer, referring to Figure 1 , Figure 2 and Figure 3, including a palletizing platform 1, an installation box 2, a grabbing mechanism 3, a lifting mechanism, a heat dissipation mechanism and a controller. The installation box 2 is located in the middle of the palletizing platform 1, the grabbing mechanism 3 is installed on the top of the installation box 2, the heat dissipation mechanism is installed inside the installation box 2, the lifting mechanism is installed inside the installation box 2 and connected to the grabbing mechanism 3, the grabbing mechanism 3 is used to grab and move objects to the palletizing platform 1, the palletizing platform 1 is used to stack objects moved by the grabbing mechanism 3, the lifting mechanism is used to drive the grabbing mechanism 3 to rise and fall, the heat dissipation mechanism is used to dissipate heat for the palletizing device, and the heat dissipation mechanism, the grabbing mechanism 3 and the lifting mechanism are respectively connected to the controller for communication and are controlled by the controller. The grasping mechanism 3 includes a robot device 31, a plurality of position feedback devices and a plurality of state detection devices, which are installed at various parts of the robot device 31. The position feedback devices and the state detection devices are connected to the controller in communication. The position feedback devices are used to feedback the real-time position data of various parts of the robot device 31 and upload the real-time position data to the controller. The state detection devices are used to detect the real-time state data of various parts of the robot device 31 and upload the real-time state data to the controller. The controller is used to update the planned path according to the real-time feedback data and the real-time state data, and control the grasping mechanism 3 and the lifting mechanism to work according to the updated planned path.

[0029] The implementation principle of the embodiment of the present application is: the lifting mechanism drives the gripping mechanism 3 to complete the lifting action, which can be more suitable for the use scenario of transferring items with height differences, or it is convenient to adjust the height of the gripping mechanism 3 when stacking to a certain height, so as to complete the stacking more accurately. At the same time, the real-time position data of each part of the robot arm device 31 is fed back through the position feedback device, and the real-time status data of each part of the robot arm device 31 is detected through the status detection device, so that the controller can update the planned path according to the real-time feedback data and the real-time status data, and can perform path planning according to the actual situation, reduce redundant actions in the stacking process, and effectively improve the efficiency of automated processing.

[0030] like Figure 1 As shown, the robot hand device 31 of the embodiment of the present application includes a first rotating joint 311, a second rotating joint 312, a main robot arm 313, a third rotating joint 314 state detection device, a secondary robot arm 315 lifting platform, a fourth rotating joint 316 heat sink and a fifth rotating joint connected in sequence from bottom to top, and a plurality of position feedback devices are respectively installed at the first rotating joint 311, the second rotating joint 312, the third rotating joint 314 state detection device, the fourth rotating joint 316 heat sink and the fifth rotating joint. In the specific implementation process, the position feedback device is used to detect the position of each rotating joint and generate real-time feedback data, which can feedback whether each rotating joint of the robot hand device 31 has reached the corresponding position of the planned route.

[0031] like Figure 3 As shown, the installation box 2 of the embodiment of the present application includes a driving cavity 21 and a heat dissipation cavity 22, the driving cavity 21 and the heat dissipation cavity 22 are isolated by a heat dissipation plate 23, and the lifting mechanism is installed in the driving cavity 21. The lifting mechanism includes a driving device and a guide rail device, the bottom of the robot device 31 is connected to the guide rail device through a lifting platform, the guide rail device is connected to the driving device, and the driving device is used to drive the guide rail device and the robot device 31 to rise and fall.

[0032] like Figure 3 As shown, the guide rail device of the embodiment of the present application includes a guide rail chain, a guide rail slide and a slider, the guide rail slide is installed on the side of the heat dissipation plate 23 close to the driving cavity 21, the slider is slidably connected to the guide rail slide, and the lifting platform is connected to the slider. The guide rail chain is installed on the side of the heat dissipation plate 23 close to the heat dissipation cavity 22, and the guide rail chain is connected to the bottom of the robot device 31.

[0033] like Figure 3 As shown, the driving device of the embodiment of the present application includes a driving motor, a screw and a connecting block, the driving motor is installed at the bottom of the driving cavity 21, the screw is connected to the output shaft of the driving motor, the connecting block is nested outside the screw, and the lifting platform is connected to the connecting block. In the specific implementation process, the connection between the connecting block and the screw is provided with a thread, so that the rotation of the motor output shaft can be converted into lifting through the screw.

[0034] like Figure 2 and Figure 3 As shown, the heat dissipation mechanism of the embodiment of the present application is installed in the heat dissipation cavity 22, the heat dissipation mechanism is connected to the controller in communication, and the heat dissipation mechanism includes a heat dissipation fan and a heat sink, the heat dissipation fan is installed on the side of the guide chain away from the heat dissipation plate 23, and the heat sink is installed on the inner wall of the heat dissipation cavity 22. In the specific implementation process, a temperature sensor can be set inside the installation box 2 to detect the working temperature data of the palletizing device, and upload the detected working temperature data to the controller. When it is detected that the working temperature exceeds the preset temperature threshold, it indicates that the current temperature is too high and needs to be cooled down, and the controller controls the heat dissipation mechanism to start.

[0035] The present application also provides a method for controlling a palletizing device, referring to Figure 4 Status detection equipment, including: S1. Control the gripping mechanism 3 and the lifting mechanism to work according to the preset initial planning path.

[0036] Specifically, the preset planning path is the initial default planning path, which can be set manually or adaptively planned by visual detection equipment to determine the position and size of the objects and the position of the stacking platform 1, thereby controlling the grabbing mechanism 3 and the lifting mechanism to move the objects to the stacking platform 1 for stacking.

[0037] S2. Acquire the real-time position data of each part of the robot device 31 uploaded by the position feedback device and the real-time status data of each part of the robot device 31 uploaded by the status detection device during the working process of the grasping mechanism 3.

[0038] Specifically, during the working process, the position feedback device collects the position data of each rotating joint and uploads it to the controller as real-time position data. The state detection device collects the real-time state data of each part of the robot device 31 and uploads it to the controller. The state data may include temperature data, joint flexibility data, response time data, etc.

[0039] S3. Update the planned path according to the real-time feedback data and real-time status data.

[0040] Specifically, more flexible path planning can be achieved by constructing and training the corresponding planning path prediction model, with minimum response time, minimum energy consumption and optimal joint flexibility as optimization goals.

[0041] S4 status detection equipment controls the operation of the grabbing mechanism 3 and the lifting mechanism according to the updated planned path.

[0042] The implementation principle of the embodiment of the present application is: by updating the planned path through real-time feedback data and real-time status data, the path planning can be adjusted according to the actual situation, thereby reducing redundant actions in the palletizing process and effectively improving the efficiency of automated processing.

[0043] Step S3 of the control method in the embodiment of the present application specifically includes: S31. Construct an initial model for planning path prediction, and configure model parameters for constructing the initial model for planning path prediction.

[0044] Specifically, a planning path prediction model is built based on deep learning, such as the deep Q network (DQN), double deep Q network (DDQN) or proximal policy optimization (PPO) algorithm.

[0045] S32317 fifth rotation joint, obtain feedback data samples, state data samples and corresponding planned path samples in the planned path database.

[0046] Specifically, collect feedback data samples, status data samples and corresponding planning path samples of the palletizing device in different working environments. Clean the data, process missing values, standardize or normalize the data, and provide high-quality training samples for the deep learning model.

[0047] S33 position feedback device, takes initial feedback data samples and state data samples as input features, and the corresponding planned path samples as output features, to construct a sample set.

[0048] Specifically, the sample set can reflect the characteristic relationship between the feedback data samples, the state data samples and the planned path samples.

[0049] S34 state detection equipment, trains the initial model of planning path prediction according to the sample set, and obtains a trained planning path prediction model.

[0050] Specifically, the collected data is used to train the model, and the path planning of the palletizer is optimized through a reward mechanism to reduce invalid actions and improve efficiency.

[0051] S35 lifting platform, inputs real-time feedback data and real-time status data into the trained planning path prediction model to obtain an updated planning path.

[0052] Specifically, the planning path prediction model is used to predict the current optimal planning path for updating, ensuring that the robot arm device 31 can perform palletizing operations under the optimal planning path, improving the intelligence and reliability of path planning, reducing redundant actions in the palletizing process, and effectively improving the efficiency of automated processing.

[0053] The embodiments of this specific implementation are all preferred embodiments of the present application, and are not intended to limit the protection scope of the present application. The same components are represented by the same figure marks. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A palletizing device, characterized in that: The invention comprises a palletizing platform (1), an installation box (2), a grabbing mechanism (3), a lifting mechanism and a controller, wherein the installation box (2) is located in the middle of the palletizing platform (1), the grabbing mechanism (3) is installed on the top of the installation box (2), the lifting mechanism is installed inside the installation box (2) and is connected to the grabbing mechanism (3), the lifting mechanism is used to drive the grabbing mechanism (3) to rise and fall, and the grabbing mechanism (3) and the lifting mechanism are respectively connected to the controller for communication; The gripping mechanism (3) comprises a robot arm device (31), a plurality of position feedback devices and a plurality of state detection devices, wherein the plurality of position feedback devices and the plurality of state detection devices are installed at various parts of the robot arm device (31), the position feedback device is used to feed back real-time position data of various parts of the robot arm device (31), and upload the real-time position data to a controller, and the state detection device is used to detect real-time state data of various parts of the robot arm device (31), and upload the real-time state data to the controller; The controller is used to update the planned path according to the real-time feedback data and the real-time status data, and to control the operation of the grasping mechanism (3) and the lifting mechanism according to the updated planned path.

2. A palletizing device according to claim 1, characterized in that: The robot arm device (31) includes a first rotation joint (311), a second rotation joint (312), a main robot arm (313), a third rotation joint (314), a secondary robot arm (315), a fourth rotation joint (316) and a fifth rotation joint which are connected in sequence from bottom to top, and the plurality of position feedback devices are respectively installed at the first rotation joint (311), the second rotation joint (312), the third rotation joint (314), the fourth rotation joint (316) and the fifth rotation joint.

3. A palletizing device according to claim 1, characterized in that: The installation box (2) comprises a driving cavity (21) and a heat dissipation cavity (22); the driving cavity (21) and the heat dissipation cavity (22) are isolated by a heat dissipation plate (23); and the lifting mechanism is installed in the driving cavity (21).

4. A palletizing device according to claim 3, characterized in that: The lifting mechanism comprises a driving device and a guide rail device. The bottom of the robot device (31) is connected to the guide rail device via a lifting platform. The guide rail device is connected to the driving device. The driving device is used to drive the guide rail device and the robot device (31) to lift and lower.

5. A palletizing device according to claim 4, characterized in that: The guide rail device comprises a guide rail slide and a slider, the guide rail slide is installed on a side of the heat dissipation plate (23) close to the drive cavity (21), the slider is slidably connected to the guide rail slide, and the lifting platform is connected to the slider.

6. A palletizing device according to claim 5, characterized in that: The guide rail device also includes a guide rail chain, which is installed on a side of the heat dissipation plate (23) close to the heat dissipation cavity (22), and the guide rail chain is connected to the bottom of the robot hand device (31).

7. A palletizing device according to claim 6, characterized in that: The driving device comprises a driving motor, a screw rod and a connecting block, wherein the driving motor is mounted at the bottom of the driving cavity (21), the screw rod is connected to the output shaft of the driving motor, the connecting block is nested outside the screw rod, and the lifting platform is connected to the connecting block.

8. A palletizing device according to any one of claims 3 to 7, characterized in that: A heat dissipation mechanism is provided in the heat dissipation cavity (22), and the heat dissipation mechanism is communicatively connected with the controller; The heat dissipation mechanism comprises a heat dissipation fan and a heat dissipation fin. The heat dissipation fan is installed on a side of the guide rail chain away from the heat dissipation plate (23), and the heat dissipation fin is installed on the inner wall of the heat dissipation cavity (22).

9. A control method for a palletizing device, characterized in that: A palletizing device according to any one of claims 1 to 8, comprising: Controlling the gripping mechanism (3) and the lifting mechanism to work according to a preset initial planning path; Acquire the real-time position data of each part of the robot hand device (31) uploaded by the position feedback device and the real-time status data of each part of the robot hand device (31) uploaded by the status detection device during the working process of the grasping mechanism (3); Update the planned path based on real-time feedback data and real-time status data; The gripping mechanism (3) and the lifting mechanism are controlled to work according to the updated planned path.

10. A palletizing device control method according to claim 9, characterized in that: The updating of the planned path according to the real-time feedback data and the real-time status data includes: Construct the initial model for planning path prediction and configure the model parameters for constructing the initial model for planning path prediction; Obtain feedback data samples, status data samples and corresponding planned path samples in the planned path database; The initial feedback data samples and state data samples are used as input features, and the corresponding planned path samples are used as output features to construct a sample set; The initial model for planning path prediction is trained according to the sample set to obtain a trained planning path prediction model; The real-time feedback data and real-time status data are input into the trained planning path prediction model to obtain an updated planning path.

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