Intelligent warehousing material displacement detection arm and method

Abstract

The application discloses a kind of intelligent warehousing removal material displacement detection inserting arm and method, including displacement detection inserting arm: the removal detection inserting arm is by inserting arm body, detection circuit board, detection flat cable, longitudinal displacement detection area and transverse displacement detection area Composition;The longitudinal displacement detection area and transverse displacement detection area are by damping layer, positive power layer, flexible resistance layer, negative power layer, insulating layer and sticking layer Composition, the damping layer is top layer, the bottom of the damping layer is equipped with positive power layer, the bottom of the positive power layer is provided with flexible resistance layer, the bottom of the flexible resistance layer is provided with negative power layer, the present application is increased by detecting unit on inserting arm, whether the removal material on inserting arm appears displacement is judged by detecting unit, whether material exists collision or falling risk is judged, different abnormality can be judged to notify intelligent warehousing control system to stop current movement in time, and further prevent material from being damaged.

Description

Technical Field

[0001] This invention relates to a detection arm, and more particularly to an intelligent warehouse material displacement detection arm and method. Background Technology

[0002] Current intelligent warehouse pallet arms have the function of transferring materials between inlet / outlet ports and different storage locations. In the process of handling high-value-added materials, most of them use methods such as adding grippers and anti-slip coatings to increase the friction between the material and the pallet arm, reducing the risk of material falling off the pallet arm surface. However, if the positioning accuracy is not good, when the transferred material collides with the shelf or other materials, it is impossible to avoid the transferred material shifting off the pallet arm surface or even falling off.

[0003] When the positioning accuracy of the transfer mechanism is compromised, the transferred material on the insert arm may collide with the shelf or other materials, inevitably causing the transferred material to shift or even fall off the surface of the insert arm, resulting in material damage.

[0004] It should be noted that the above content falls within the inventor's technical knowledge and does not necessarily constitute prior art. Summary of the Invention

[0005] To address the aforementioned problems, the purpose of this invention is to provide an intelligent material displacement detection arm and method for warehouse transfer.

[0006] To achieve the above objectives, this invention proposes an intelligent warehousing and material transfer displacement detection arm and method, comprising a displacement detection arm:

[0007] The displacement detection arm consists of an arm body, a detection circuit board, a detection cable, a longitudinal displacement detection area, and a lateral displacement detection area;

[0008] The longitudinal displacement detection area and the lateral displacement detection area are composed of a damping layer, a positive power supply layer, a flexible resistor layer, a negative power supply layer, an insulating layer, and an adhesive layer. The damping layer is the top layer, and a positive power supply layer is located at the bottom of the damping layer. A flexible resistor layer is located at the bottom of the positive power supply layer, a negative power supply layer is located at the bottom of the flexible resistor layer, and an insulating layer is located at the bottom of the negative power supply layer. The insulating layer is used to isolate the negative power supply layer from the adhesive layer and provides insulation. The adhesive layer is used to attach the longitudinal displacement detection area or the lateral displacement detection area to the surface of the insert body.

[0009] In one example, the flexible resistive layer is made of a flexible material.

[0010] In one example, the surface of the damping layer is set to a rough surface.

[0011] In one example, the positive power layer consists of multiple constant current sources whose positive terminals are not interconnected.

[0012] In one example, the flexible resistive layer has multiple strip resistors insulated from each other in the middle.

[0013] In one example, the negative power supply layer is used to provide the negative terminals of multiple constant current sources that are not interconnected.

[0014] The intelligent warehouse material displacement detection arm and method proposed in this invention can bring the following beneficial effects:

[0015] This invention adds a detection unit to the insertion arm. The detection unit determines whether the material being transferred on the insertion arm is displaced and whether there is a risk of collision or falling. Different abnormalities can be identified and the intelligent warehouse control system can be notified in a timely manner to stop the current movement, thereby preventing further damage to the material. Attached Figure Description

[0016] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this invention, illustrate exemplary embodiments of the invention and are used to explain the invention, but do not constitute an undue limitation of the invention. In the drawings:

[0017] Figure 1 This is a schematic diagram of the insert arm structure of the present invention;

[0018] Figure 2 This is a schematic diagram of the displacement detection area structure of the present invention;

[0019] Figure 3 This is a state diagram of the displacement detection zone under normal and compressed conditions according to the present invention;

[0020] Figure 4 This is a schematic diagram of the normal transfer state of the present invention;

[0021] Figure 5 This is a schematic diagram illustrating the longitudinal movement anomaly detection method of the present invention;

[0022] Figure 6 This is a schematic diagram illustrating the lateral movement anomaly detection method of the present invention;

[0023] Figure 7 This is a schematic diagram illustrating the deflection anomaly detection method of the present invention;

[0024] Figure 8 This is a schematic diagram illustrating the abnormal lifting judgment of the present invention.

[0025] In the diagram: 1. Displacement detection arm; 2. Arm body; 3. Lateral displacement detection area; 4. Detection cable; 5. Detection circuit board; 6. Longitudinal displacement detection area; 7. Positive power supply layer; 8. Flexible resistor layer; 9. Negative power supply layer; 10. Insulating layer; 11. Adhesive layer. Detailed Implementation

[0026] To more clearly illustrate the overall concept of the present invention, a detailed description will be provided below with reference to the accompanying drawings and examples.

[0027] In the description of this invention, it should be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0028] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0029] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a communication connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0030] In this invention, unless otherwise expressly specified and limited, the first feature "on" or "below" the second feature may be in direct contact with the first and second features, or indirect contact through an intermediate medium. In the description of this specification, references to terms such as "an embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0031] like Figures 1 to 8 As shown, an embodiment of the present invention proposes an intelligent warehousing and material transfer displacement detection arm and method, including displacement detection arm 1:

[0032] The displacement detection arm 1 consists of an arm body 2, a detection circuit board 5, a detection cable 4, a longitudinal displacement detection area 6, and a transverse displacement detection area 3;

[0033] The insert arm body 2 supports the transferred material, enabling material transfer between the storage inlet / outlet and different storage locations. The detection circuit board 5 detects changes in the electrical signal in the displacement detection area, analyzing the displacement state of the transferred material during the transfer process to determine if there is any displacement and whether there is a risk of collision or falling. The detection cable 4 connects the longitudinal displacement detection area 6 or the transverse displacement detection area 3 to the detection circuit board 5, allowing the detection circuit board 5 to detect and judge changes in the electrical signal in the longitudinal displacement detection area 6 or the transverse displacement detection area 3. If the material in the longitudinal displacement detection area 6 has displacement along the direction of the insert arm body 2, a sudden change in the electrical signal in that area will help the detection circuit board 5 determine if there is material displacement along the direction of the insert arm body 2. If the material in the transverse displacement detection area 3 has displacement perpendicular to the direction of the insert arm body 2, a sudden change in the electrical signal in that area will help the detection circuit board 5 determine if there is material displacement perpendicular to the direction of the insert arm body 2.

[0034] like Figure 2 As shown, the longitudinal displacement detection area 6 and the lateral displacement detection area 3 are composed of a damping layer 6, a positive power supply layer 7, a flexible resistor layer 8, a negative power supply layer 9, an insulating layer 10, and an adhesive layer 11. The damping layer 6 is the top layer, and the positive power supply layer 7 is located at the bottom of the damping layer 6. The flexible resistor layer 8 is located at the bottom of the positive power supply layer 7, the negative power supply layer 9 is located at the bottom of the flexible resistor layer 8, and the insulating layer 10 is located at the bottom of the negative power supply layer 9. The insulating layer 10 is used to isolate the negative power supply layer 9 from the adhesive layer 11, thus providing insulation. The adhesive layer 11 is used to bond the longitudinal displacement detection area 6... Alternatively, the lateral displacement detection area 3 can be pasted on the surface of the insert arm body 2. The flexible resistance layer 8 is made of flexible material, and the surface of the damping layer 6 is set to a rough surface, which can prevent small displacement of the transferred material on the insert arm body 2 during start-up and shutdown to a certain extent. The positive power supply layer 7 is the positive electrode of multiple constant current sources that are not connected to each other. The flexible resistance layer 8 has multiple strip resistors in the middle that are insulated from each other, and the resistance value changes to a certain extent under different pressure conditions. The negative power supply layer 9 is used to provide the negative electrode of multiple constant current sources that are not connected to each other.

[0035] In the diagram: 1. Displacement detection arm; 2. Arm body; 3. Lateral displacement detection area; 4. Detection cable; 5. Detection circuit board; 6. Longitudinal displacement detection area; 7. Positive power supply layer; 8. Flexible resistor layer; 9. Negative power supply layer; 10. Insulating layer; 11. Adhesive layer.

[0036] The state of longitudinal displacement detection zone 6 or transverse displacement detection zone 3 under normal and compressive conditions is as follows: Figure 3As shown, under normal conditions, the positive power supply layer 7 and the negative power supply layer 9 form a loop with the flexible resistor layer 8. Under constant current supply, the voltage of the flexible resistor layer 8 in all loops remains consistent. Under pressure, the resistance of the flexible resistor layer 8 decreases, the voltage across it decreases, the greater the deformation of the flexible resistor layer 8, the smaller the resistance value, and the smaller the voltage value generated across it.

[0037] like Figure 3 As shown, under normal circumstances, voltage changes in the longitudinal displacement detection area 6 or the transverse displacement detection area 3 will only occur during the material handling process. When handling materials, the flexible resistor layer 8 is compressed, and the voltage of the compressed part decreases. When placing materials, the flexible resistor layer 8 rebounds, and the voltage returns to normal. The detection circuit board 5 can communicate with the intelligent warehousing system to avoid judging voltage sudden changes as abnormal during handling.

[0038] Normal transfer process such as Figure 4 As shown, the transferred material is placed on two detection zones, and there is no voltage change inside the displacement detection zone during the transfer process;

[0039] Abnormalities in materials during the transplanting process include the following situations:

[0040] Longitudinal resistance, such as Figure 5 As shown, when the material on the insert arm is subjected to a force along the direction of the insert arm body 2, it moves inward towards the inside of the insert arm body 2. During this process, the voltage in the upper longitudinal displacement detection area 6 changes. The left area is continuously compressed, resulting in a voltage decrease, while the right area continuously rebounds, causing the voltage to recover. The longitudinal displacement detection area 6 can be used to identify the movement of the material under force along the direction of the insert arm body 2.

[0041] Lateral resistance, such as Figure 6 As shown, when the material on the insert arm is subjected to a force perpendicular to the insert arm body 2, it moves downwards from the insert arm body 2. During this process, a voltage change occurs in the lower lateral displacement detection area, with the lower area continuously experiencing pressure and a voltage decrease. The lateral displacement detection area 3 can detect the movement of the material under force in the direction perpendicular to the insert arm body 2.

[0042] Eccentric resistance, such as Figure 7 As shown, the material on the insert arm body 2 is subjected to an eccentric force and rotates on the surface of the insert arm body 2. During this process, there are voltage abrupt changes in the displacement detection areas on both the upper and lower sides, and the approximate range of material rotation can be calculated by comparing with the original state. The deflection of the material on the insert arm body 2 can be determined by the displacement detection areas on both sides.

[0043] Vertical upward resistance, such as Figure 8As shown, after the material on the insert arm body 2 is subjected to a vertically upward force, part of the material detaches from the insert arm surface. During this process, the voltage of a portion of the circuit in the upper longitudinal displacement detection area 6 recovers, while the voltage of a local circuit further decreases due to increased pressure. The abnormal lifting state of the material on the insert arm can be determined through the displacement detection areas on both sides.

[0044] When subjected to vertical downward resistance and extrusion force, the area where the voltage drops remains unchanged. However, as the extrusion force increases, the deformation of the flexible resistive layer 8 increases, and the resistance in the deformation area decreases, leading to a further drop in voltage. By observing that the voltage change in the voltage change area remains unchanged, it can be determined that the material on the insert arm body 2 is subjected to vertical downward extrusion force.

[0045] Of the above-mentioned abnormal situations, the first four are likely to cause the transferred material to fall off the surface of the insert arm body 2 and be damaged, while the fifth type of material is prone to deformation and damage under force. However, by adding a displacement detection area, different abnormalities can be identified and the intelligent warehouse control system can be notified in time to stop the current movement, thereby preventing the material from being further damaged.

[0046] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments.

[0047] The above description is merely an embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of the present invention should be included within the scope of the claims of the present invention.

Claims

1. A smart warehouse material transfer displacement detection arm, comprising a displacement detection arm (1): Its features are: The displacement detection arm (1) consists of an arm body (2), a detection circuit board (5), a detection cable (4), a longitudinal displacement detection area (6), and a transverse displacement detection area (3); The longitudinal displacement detection area and the lateral displacement detection area are composed of a damping layer, a positive power supply layer, a flexible resistor layer, a negative power supply layer, an insulating layer, and an adhesive layer. The damping layer is the top layer. A positive power supply layer is provided at the bottom of the damping layer. A flexible resistor layer is provided at the bottom of the positive power supply layer. A negative power supply layer is provided at the bottom of the flexible resistor layer. An insulating layer is provided at the bottom of the negative power supply layer. The insulating layer is used to isolate the negative power supply layer from the adhesive layer and provides insulation. The adhesive layer is used to attach the longitudinal displacement detection area or the lateral displacement detection area to the surface of the insert body. The positive and negative power supply layers form a loop with the flexible resistor layer. Under constant current supply, the voltage of the flexible resistor layer in all loops remains consistent. Under pressure, the resistance of the flexible resistor layer decreases, the voltage across it decreases, the greater the deformation of the flexible resistor layer, the smaller the resistance value, and the smaller the voltage value generated across it.

2. The intelligent warehouse material displacement detection arm according to claim 1, characterized in that: The flexible resistive layer is made of a flexible material.

3. The intelligent warehouse material transfer displacement detection arm according to claim 1, characterized in that: The surface of the damping layer is set to a rough surface.

4. The intelligent warehouse material transfer displacement detection arm according to claim 1, characterized in that: The positive power layer consists of the positive terminals of multiple constant current sources, which are not interconnected.

5. The intelligent warehouse material transfer displacement detection arm according to claim 1, characterized in that: The flexible resistive layer has multiple strip resistors in the middle that are insulated from each other.

6. The intelligent warehouse material transfer displacement detection arm according to claim 1, characterized in that: The negative power supply layer is used to provide the negative terminals of multiple constant current sources, which are not interconnected.

7. A detection method using the intelligent warehouse material transfer displacement detection arm as described in claim 6, comprising the following specific steps: The insert arm body supports the material being transferred, enabling material transfer between the warehouse inlet / outlet and different storage locations; the detection circuit board detects changes in the electrical signal in the displacement detection area, thereby monitoring the displacement of the transferred material during the transfer process. The status is analyzed to determine if there is any displacement of the material, and then to determine if there is a risk of collision or falling. The detection cable is used to connect the longitudinal or lateral displacement detection area to the detection circuit board, enabling the detection circuit board to detect and judge the changes in electrical signals in the longitudinal or lateral displacement detection area. If the material in the displacement detection area has displacement along the direction of the insert arm body, a sudden change will occur in some electrical signals within the displacement area along the direction of the insert arm body. This helps the detection circuit board determine whether there is material displacement along the direction of the insert arm body. If the material in the lateral displacement detection area has displacement perpendicular to the direction of the insert arm body, a sudden change will occur in some electrical signals within the displacement area perpendicular to the direction of the insert arm body. This helps the detection circuit board determine whether there is material displacement perpendicular to the direction of the insert arm body. The surface of the damping layer is set to a rough surface to prevent small displacements of the transferred material on the insert arm body during start-up and shutdown.

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