Trolley synchronization mechanism, system and control method

Abstract

The application discloses a trolley synchronization mechanism, system and control method. The trolley synchronization mechanism comprises a support, a driving device, a roller rod, an encoder and two rollers. The driving device is fixed on the support. The roller rod is hinged to the support. The two rollers are respectively hinged to two ends of the roller rod. The driving device is connected with the roller rod and drives the roller rod to rotate around the support in a clockwise direction or an anticlockwise direction. At least one encoder is connected with the roller and rotates synchronously with the roller. The application is provided with the roller rod and the roller. The roller rod is driven to rotate in the clockwise direction or the anticlockwise direction, so that one of the rollers is in contact with the trolley. The advancing speed of the trolley is detected by the encoder which rotates synchronously with the roller. Since there are two rollers, when one of the rollers is separated from the trolley, the roller rod can be rotated to make the other roller contact with the trolley, so that the advancing speed of the trolley can be continuously detected. Thus, the synchronization distance is expanded, and the synchronization distance requirement which is greater than the length of the trolley is met.

Description

Technical Field

[0001] This invention relates to the field of vehicle-related technologies, and in particular to a trolley synchronization mechanism, a trolley synchronization system, a control method, a device, an electronic device, and a storage medium. Background Technology

[0002] In accumulating conveyor systems, robots need to work in sync with the movement of trolleys. Existing synchronization systems, such as... Figure 1 As shown, the system includes a robot system 2', a controller 3', an encoder 4', and a trigger switch 5'. The controller 3' is typically a programmable logic controller (PLC). The encoder 4' is positioned above the trolley 1'. When the trolley 1' moves to the position of the trigger switch 5', the trigger controller 3' controls the robot system 2' to move the robotic arm above the trolley 1'. While controlling the robotic arm to move forward along the direction of movement of the trolley 1', the controller grasps components on the trolley 1'. Simultaneously, the trolley 1' comes into contact with the encoder 4', which is a speed sensor. When the trolley 1' moves, it drives the encoder 4' to rotate. The encoder 4' detects the speed and sends it to the robot system 2'. The robot system 2' converts the speed into the forward speed of the trolley 1', thereby controlling the forward speed of the robotic arm along the direction of movement of the trolley 1' based on the speed detected by the encoder 4', ensuring that the forward speed of the robotic arm is synchronized with that of the trolley 1'.

[0003] However, as Figure 1 As shown, since the position of encoder 4' is fixed, when trolley 1' moves from the starting point to the ending point of the work, after trolley 1' has moved a distance L, trolley 1' loses contact with encoder 4', and robot system 2' cannot obtain the forward speed of trolley 1', thus failing to maintain synchronization with trolley 1'.

[0004] Therefore, due to the limitation of the length L of the trolley 1', when the synchronization distance required by the robot system is greater than the length L of the trolley, for example, when the required synchronization distance is L+L1, the existing synchronization system cannot meet the work requirements. Summary of the Invention

[0005] Therefore, it is necessary to address the technical problem that existing synchronization systems cannot meet the synchronization distance requirements greater than the length of the trolley by providing a trolley synchronization mechanism, trolley synchronization system, control method, device, electronic equipment, and storage medium.

[0006] The present invention provides a trolley synchronization mechanism, comprising: a bracket, a drive device, a roller rod, an encoder, and two rollers. The drive device is fixed on the bracket, the roller rod is hinged to the bracket, and the two rollers are respectively hinged to the two ends of the roller rod. The drive device is connected to the roller rod and drives the roller rod to rotate around the bracket in a clockwise or counterclockwise direction. At least one encoder is connected to the roller and rotates synchronously with the roller.

[0007] Furthermore, there is one encoder, and the two rollers rotate synchronously.

[0008] Furthermore, there are two encoders, each encoder being connected to one of the rollers and rotating synchronously with the connected roller.

[0009] Furthermore, it also includes a drive rod, the drive device being a cylinder, the drive rod being hinged to the bracket, the drive rod being parallel to the roller rod, the drive rod being connected to the roller rod via a rotary shaft, the cylinder seat of the cylinder being fixed on the bracket, and the cylinder rod of the cylinder being connected to one end of the drive rod.

[0010] Furthermore, it also includes a proximity switch fixed to the bracket, the proximity switch being used to detect the height position of one end of the drive rod.

[0011] The present invention provides a trolley synchronization system, including a trolley synchronization mechanism, a trolley, a robot system, and a controller as described above. The bracket of the trolley synchronization mechanism is located above the trolley and extends along the movement direction of the trolley. The controller controls the roller rod to rotate around the bracket in a clockwise or counterclockwise direction according to the position of the trolley, and controls the robot system to operate.

[0012] This invention provides a control method for the trolley synchronization system as described above, comprising:

[0013] When the trolley reaches the first position, the robotic arm of the robot system is driven to move to a first preset position above the trolley, and the drive device is controlled to drive the roller rod to rotate so that one of the rollers contacts the trolley.

[0014] The robotic arm of the robot system moves forward along the direction of movement of the trolley while grasping the first part to be grasped on the trolley. The forward speed of the robotic arm moving along the direction of movement of the trolley is controlled according to the rotation speed detected by the encoder.

[0015] When the trolley reaches the second position, the robotic arm of the robot system is driven to move to the second preset position above the trolley, and the drive device is controlled to drive the roller rod to rotate so that the other roller contacts the trolley;

[0016] The robotic arm of the robot system moves forward along the direction of movement of the trolley while grasping a second part to be grasped on the trolley. The forward speed of the robotic arm moving along the direction of movement of the trolley is controlled according to the rotation speed detected by the encoder.

[0017] Furthermore, the trolley synchronization mechanism also includes a drive rod, which is hinged to the bracket and parallel to the roller rod. The drive rod is connected to the roller rod via a rotary shaft. The cylinder seat of the drive device is fixed on the bracket, and the cylinder rod of the cylinder seat is connected to one end of the drive rod.

[0018] The method of controlling the drive device to drive the roller rod to rotate so that one of the rollers contacts the trolley includes: controlling the drive device to drive one end of the drive rod to a first height, at the first height, the bottom of one of the rollers reaches the surface height of the trolley, so that one of the rollers contacts the trolley;

[0019] The method of controlling the drive device to drive the roller rod to rotate so that the other roller contacts the trolley includes: controlling the drive device to drive one end of the drive rod to a second height, at the second height, the bottom of the other roller reaches the surface height of the trolley, so that the other roller contacts the trolley.

[0020] This invention provides a control device for the trolley synchronization system as described above, comprising:

[0021] The first position response module is used to drive the robotic arm of the robot system to move to a first preset position above the trolley when the trolley reaches the first position, and control the drive device to drive the roller rod to rotate so that one of the rollers contacts the trolley.

[0022] The first position following module is used to control the robotic arm of the robot system to move forward along the movement direction of the trolley while grasping the first part to be grasped on the trolley. The forward speed of the robotic arm of the robot system along the movement direction of the trolley is controlled according to the rotation speed detected by the encoder.

[0023] The second position response module is used to drive the robotic arm of the robot system to move to a second preset position above the trolley when the trolley reaches the second position, and control the drive device to drive the roller rod to rotate so that the other roller contacts the trolley;

[0024] The second position following module is used to control the robotic arm of the robot system to move forward along the movement direction of the trolley while grasping the second part to be grasped on the trolley. The forward speed of the robotic arm of the robot system along the movement direction of the trolley is controlled according to the rotation speed detected by the encoder.

[0025] This invention provides an electronic device, comprising:

[0026] At least one processor; and,

[0027] A memory communicatively connected to at least one of the processors; wherein,

[0028] The memory stores instructions that can be executed by at least one of the processors, which enable the at least one processor to perform the control method of the trolley synchronization system as described above.

[0029] The present invention provides a storage medium that stores computer instructions, which, when executed by a computer, are used to perform all steps of the control method for the trolley synchronization system as described above.

[0030] This invention includes a roller rod and rollers. By driving the roller rod to rotate clockwise or counterclockwise, one of the rollers contacts the trolley. An encoder that rotates synchronously with the rollers detects the forward speed of the trolley. Since there are two rollers, when one roller disengages from the trolley, the roller rod can be rotated to contact the trolley through the other roller, continuing to detect the forward speed of the trolley. This expands the synchronization distance and meets the requirement of a synchronization distance greater than the length of the trolley. Attached Figure Description

[0031] Figure 1 A schematic diagram of an existing synchronization system;

[0032] Figure 2 This is a schematic diagram of the structure of a trolley synchronization mechanism according to an embodiment of the present invention;

[0033] Figure 3 This is a system schematic diagram of a trolley synchronization system according to an embodiment of the present invention;

[0034] Figure 4 This is a schematic diagram of the drive rod position of a trolley synchronization system according to an embodiment of the present invention;

[0035] Figure 5 This is a flowchart illustrating the control method of a trolley synchronization system as described above, according to an embodiment of the present invention.

[0036] Figure 6This is a schematic diagram of a control device for a trolley synchronization system as described above, according to an embodiment of the present invention;

[0037] Figure 7 This is a schematic diagram of the hardware structure of an electronic device according to the present invention.

[0038] Marker description

[0039] 1. Trolley synchronization mechanism; 11. Support; 111. Proximity switch; 112. Support platform; 12. Drive device; 121. Cylinder seat; 122. Cylinder rod; 13. Roller rod; 14. Encoder; 15. Roller; 151. First roller; 152. Second roller; 153. Belt; 16. Drive rod; 161. Mechanical limit device; 17. Rotary shaft; 171. Connecting flange; 18. Drive shaft; 19. Tensioning device; 191. Tensioning base; 110. Base plate; 192. Tensioning slider; 2. Trolley; 21. First position sensor; 22. Second position sensor; 3. Robot system; 4. Controller. Detailed Implementation

[0040] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings. Identical components are indicated by the same reference numerals. It should be noted that the terms "front," "rear," "left," "right," "up," and "down" used in the following description refer to directions in the accompanying drawings, while the terms "inner" and "outer" refer to directions toward or away from the geometric center of a specific component, respectively.

[0041] like Figure 2 The diagram shows a trolley synchronization mechanism 1 according to the present invention, including: a bracket 11, a drive device 12, a roller rod 13, an encoder 14, and two rollers 15. The drive device 12 is fixed on the bracket 11. The roller rod 13 is hinged to the bracket 11. The two rollers 15 are respectively hinged to the two ends of the roller rod 13. The drive device 12 is connected to the roller rod 13 and drives the roller rod 13 to rotate clockwise or counterclockwise around the bracket 11. At least one encoder 14 is connected to the roller 15 and rotates synchronously with the roller 15.

[0042] Specifically, the drive unit 12 is fixed to the bracket 11, which in turn can be fixed to the base plate 110. The drive unit 12 drives the roller rod 13 to rotate around the bracket 11. The roller rod 13 is hinged to the bracket 11 via a rotating shaft 17. The drive unit 12 drives the rotating shaft 17 to rotate, thereby causing the roller rod 13 to rotate. Specifically, one end of the rotating shaft 17 is hinged to the bracket 11, and the other end is fixedly connected to the roller rod 13 via a connecting flange 171.

[0043] Two rollers 15 are hinged to each end of the roller rod 13. The rollers 15 are hinged to at least one encoder 14, which is used to detect the rotational speed. The roller shaft of the roller 15 is connected to the encoder shaft of the encoder 14 through a coupling. When the roller 15 rotates, it will drive the encoder 14 to rotate synchronously.

[0044] In some embodiments, the roller 15 is hinged to the encoder 14 via the drive shaft 18.

[0045] In some embodiments, the two rollers 15 are a first roller 151 and a second roller 152, respectively.

[0046] The rotation of roller 15 will drive encoder 14 to rotate.

[0047] like Figure 3 As shown, in use, the roller rod 13 is set along the movement direction of the trolley 2. When the trolley 2 moves forward from the starting point of the first working segment, the first positioning sensor 21 can detect that the trolley 2 has reached the starting point of the first working segment. At this time, the roller rod 13 is driven to rotate, so that the first roller 151 contacts the upper surface of the trolley 2. As the trolley 2 moves forward, it drives the first roller 151 to rotate, which in turn drives the second roller 152 to rotate through the belt 153, thereby driving the encoder 14 to rotate synchronously, so that the encoder 14 detects the rotational speed of the first roller 151. The rotational speed of the first roller 151 is converted into linear velocity, which is the forward speed of the trolley 2 within the first synchronous distance L. The rotational speed detected by the encoder 14 is sent to the robot system to control the forward speed of the robot arm.

[0048] After the trolley 2 completes the first synchronous distance L, it begins to enter the second synchronous distance L. Starting from the second working point, the second positioning sensor 22 can detect when the trolley 2 reaches the second working point. At this time, the drive roller rod 13 rotates in the opposite direction, causing the second roller 152 to contact the upper surface of the trolley 2. As the trolley 2 moves forward within the second synchronous distance L, it drives the second roller 152 to rotate, which in turn drives the encoder 14 to rotate. The encoder 14 detects the rotational speed of the second roller 152, thus obtaining the forward speed of the trolley 2 within the first synchronous distance L.

[0049] By using the drive device 12 to control two synchronizations, the total synchronization distance can be up to twice the length L of the trolley, thus achieving a maximum synchronization distance of 2L.

[0050] The length of the roller rod 13 and the distance between the two rollers 15 on the roller rod 13 can be set according to actual needs. The position of the first roller 151 on the plane of the upper surface of the trolley 2 is the first roller position, and the position of the second roller 152 on the plane of the upper surface of the trolley 2 is the second roller position. The distance between the first roller position and the second roller position is the total synchronization distance, which is half of the required synchronization distance.

[0051] In some embodiments, the length of the roller rod 13 is greater than the length of the trolley 2. When the length of the roller rod 13 is greater than the length of the trolley 2, the distance between the first roller position and the second roller position can reach the length of the trolley 2, thereby achieving a maximum synchronization distance of twice the length of the trolley.

[0052] This invention includes a roller rod and rollers. By driving the roller rod to rotate clockwise or counterclockwise, one of the rollers contacts the trolley. An encoder that rotates synchronously with the rollers detects the forward speed of the trolley. Since there are two rollers, when one roller disengages from the trolley, the roller rod can be rotated to contact the trolley through the other roller, continuing to detect the forward speed of the trolley. This expands the synchronization distance and meets the requirement of a synchronization distance greater than the length of the trolley.

[0053] In one embodiment, there is one encoder 14 and two rollers 15 rotate synchronously.

[0054] Specifically, the two rollers 15 can rotate synchronously via a belt 153. The belt 153 encircles the two rollers 15, for example, encircling the first roller 151 and the second roller 152. The encoder 14 is connected to one of the rollers 15, for example, to the second roller 152. Since the two rollers 15 rotate synchronously, rotation of either roller 15 will drive the other roller 15 to rotate, thereby causing the encoder 14 to rotate synchronously.

[0055] This embodiment reduces the need for an encoder by using synchronously rotating rollers. The rollers are connected by a synchronous belt, achieving zero synchronization error.

[0056] In some embodiments, a tensioning device 19 is also included. The tensioning device 19 includes a tensioning base 191 and a tensioning slider 192. The tensioning base 191 is fixed to the roller rod 13, and the tensioning slider 192 slides up and down on the groove of the tensioning base 191 in a direction perpendicular to the roller rod 13. The belt loops around the two rollers 15. When increased tension is required, the tensioning slider 192 is moved up or down to press against and tighten the belt, thereby increasing the tension.

[0057] This embodiment prevents the belt from coming loose by adding a tensioning device.

[0058] In one embodiment, there are two encoders 14, each encoder 14 is connected to a roller 15 and rotates synchronously with the connected roller 15.

[0059] Specifically, the two rollers 15 can rotate independently, and each roller 15 is connected to an encoder 14. So when either roller 15 rotates, an encoder 14 will detect the rotation speed.

[0060] This embodiment uses two encoders to avoid inaccurate synchronization caused by belt loosening during belt synchronization, thereby obtaining the accurate rotational speed of each roller.

[0061] In one embodiment, a drive rod 16 is also included. The drive device 12 is a cylinder. The drive rod 16 is hinged to the bracket 11. The drive rod 16 is parallel to the roller rod 13. The drive rod 16 is connected to the roller rod 13 through a rotary shaft 17. The cylinder seat 121 of the cylinder is fixed on the bracket 11. The cylinder rod 122 of the cylinder is connected to one end of the drive rod 16.

[0062] Specifically, the drive rod 16 and the roller rod 13 are connected by a rotary shaft 17. The drive device 12 is a cylinder. When the cylinder rod 122 rises or falls, it drives the drive rod 16 to rotate the roller rod 13 clockwise or counterclockwise.

[0063] In this embodiment, a drive rod is used to drive the roller rod. Since the drive rod is parallel to the roller rod, the roller rod can be positioned above the trolley's direction of movement, while the support connecting the drive device is located to one side of the trolley's direction of movement, thus avoiding interference with the trolley's motion.

[0064] In some embodiments, mechanical limiting devices 161 are also provided at both ends of the bottom of the drive rod 16.

[0065] The support platform 112 of the bracket 11 supports the rotating shaft 17, and the drive rod 16 is located above the support platform 112. The mechanical limit device 161 limits the rotational stroke of the drive rod 16. When the mechanical limit device 161 contacts the support platform 112, it will restrict the drive rod 16 from continuing to rotate and will sound an alarm.

[0066] In one embodiment, a proximity switch 111 fixed to the bracket 11 is also included, the proximity switch 111 being used to detect the height position of one end of the drive rod 16.

[0067] Specifically, the drive unit 12 can have multiple drive positions. For example, a three-stage cylinder can be used as the drive unit, thus having upper, middle, and lower drive positions. Figure 4As shown, when the drive rod 16 of the three-stage cylinder is in drive position one, i.e., the lower position, this is the first synchronization position, the trolley 2 is within the first synchronization distance L, and the first roller 151 contacts the trolley 2. When the drive rod 16 is in drive position two, i.e., the lower position, this is the second synchronization position, the trolley 2 is within the second synchronization distance L, and the second roller 152 contacts the trolley 2. When the drive rod 16 is in drive position three, i.e., the middle position, this is the waiting position, the trolley 2 has not entered the synchronization distance, and no roller 15 contacts the trolley 2.

[0068] Since the drive device 12 has multiple drive positions, a proximity switch 111 is provided. The proximity switch 111 can have multiple detection points, such as three detection points. When one end of the drive rod 16 approaches one of the detection points, the proximity switch 111 outputs detection information to the controller 4, and the controller 4 controls the drive device 12 to stop operating.

[0069] This embodiment adds a proximity switch to ensure that the drive device is driven into position.

[0070] like Figure 3 The diagram shown is a schematic diagram of a trolley synchronization system according to an embodiment of the present invention. It includes a trolley synchronization mechanism 1, a trolley 2, a robot system 3, and a controller 4 as described above. The support 11 of the trolley synchronization mechanism 1 is located above the trolley 2 and extends along the movement direction of the trolley 2. The controller 4 controls the roller rod 13 to rotate around the support 11 in a clockwise or counterclockwise direction according to the position of the trolley 2, and controls the robot system 3 to operate.

[0071] In some embodiments, a first positioning sensor 21 and a second positioning sensor 22 are also provided along the movement direction of the trolley 2.

[0072] This invention includes a roller rod and rollers. By driving the roller rod to rotate clockwise or counterclockwise, one of the rollers contacts the trolley. An encoder that rotates synchronously with the rollers detects the forward speed of the trolley. Since there are two rollers, when one roller disengages from the trolley, the roller rod can be rotated to contact the trolley through the other roller, continuing to detect the forward speed of the trolley. This expands the synchronization distance and meets the requirement of a synchronization distance greater than the length of the trolley.

[0073] like Figure 5 The figure shown is a control method for a trolley synchronization system as described above, according to an embodiment of the present invention, comprising:

[0074] Step S501: When the trolley 2 reaches the first position, drive the robotic arm of the robot system 3 to move to the first preset position above the trolley 2, and control the drive device 12 to drive the roller rod 13 to rotate so that one of the rollers 15 contacts the trolley 2.

[0075] Step S502: Control the robotic arm of the robot system 3 to move forward along the movement direction of the trolley 2 while grabbing the first part to be grabbed on the trolley 2. The forward speed of the robotic arm of the robot system 3 along the movement direction of the trolley 2 is controlled according to the rotation speed detected by the encoder 14.

[0076] Step S503: When the trolley 2 reaches the second position, drive the robotic arm of the robot system 3 to move to the second preset position above the trolley 2, and control the drive device 12 to drive the roller rod 13 to rotate so that the other roller 15 contacts the trolley 2.

[0077] Step S504: Control the robotic arm of the robot system 3 to move forward along the movement direction of the trolley 2 while grasping the second part to be grasped on the trolley 2. The forward speed of the robotic arm of the robot system 3 along the movement direction of the trolley 2 is controlled according to the rotation speed detected by the encoder 14.

[0078] Specifically, this invention can be applied to electronic devices with processing capabilities.

[0079] The trolley 2 runs along a preset running trajectory, such as along a preset track. A first positioning sensor 21 and a second positioning sensor 22 can be set on the running route of the trolley 2. When the trolley 2 runs to a first position, such as the position of the front of the trolley 2, the first positioning sensor 21 is triggered, which will trigger step S501. The controller 4 drives the robotic arm of the robot system 3 to move to a first preset position above the trolley 2, and controls the drive device 12 to drive the roller rod 13 to rotate so that one of the rollers 15 contacts the trolley 2.

[0080] like Figure 3 As shown, the roller rod 13 can be driven to rotate by the drive device 12, so that the first roller 151 contacts the trolley 2. Then the forward speed of the trolley 2 can be converted into the rotation speed of the first roller 151, which is detected by the encoder 14. The rotation speed detected by the encoder 14 will be sent to the robot system 3.

[0081] Simultaneously, the robotic arm of robot system 3 moves above trolley 2 to prepare to grasp the first component to be grasped. The first component to be grasped and the second component to be grasped are placed sequentially on trolley 2. The robotic arm grasps both components and transfers them to other equipment. Robot system 3 pre-calibrates a first preset position, which is the position above the first component to be grasped when trolley 2 reaches a first position, for example, when the front of trolley 2 reaches the position of the first positioning sensor 21. The robotic arm can also calibrate its position by taking photographs.

[0082] Then, step S502 is executed, controlling the robotic arm of the robot system 3 to move forward along the movement direction of the trolley 2 while grasping the first part to be grasped on the trolley 2. The forward speed of the robotic arm of the robot system 3 moving along the movement direction of the trolley 2 is controlled according to the rotation speed detected by the encoder 14.

[0083] Specifically, the rotational speed detected by the encoder 14 is generally angular velocity, which can be converted into linear velocity based on the diameter of the roller 15, such as the diameter of the first roller 151, thereby obtaining the forward speed of the trolley 2. The robotic arm is controlled to move forward at the same forward speed along the direction of movement of the trolley 2, so that the robotic arm and the trolley 2 remain synchronized in the direction of movement of the trolley 2. Therefore, the robotic arm will always remain directly above the first part to be grasped, and the height of the robotic arm is lowered to grasp the first part to be grasped.

[0084] After the robotic arm grasps the first part to be grasped, it raises the height and transports the first part to be grasped to other equipment.

[0085] Then, when the trolley 2 moves to the second position, such as the head position of the trolley 2 triggering the second positioning sensor 22, step S503 will be triggered, driving the robotic arm of the robot system 3 to move to the second preset position above the trolley 2, controlling the drive device 12 to drive the roller rod 13 to rotate, so that the other roller 15 contacts the trolley 2.

[0086] like Figure 3 As shown, the roller rod 13 can be driven to rotate in another direction by the drive device 12, so that the second roller 152 contacts the trolley 2. The forward speed of the trolley 2 can be converted into the rotation speed of the second roller 152, which is detected by the encoder 14. The rotation speed detected by the encoder 14 will be sent to the robot system 3.

[0087] Simultaneously, the robotic arm of robot system 3 moves above the trolley 2 to prepare for grasping the second part to be grasped. Robot system 3 pre-calibrates a second preset position, which is the position above the second part to be grasped when the trolley 2 reaches a second position, for example, when the front of the trolley 2 reaches the position of the second positioning sensor 22. The robotic arm can also calibrate its position by taking a picture.

[0088] Then, step S504 is executed, controlling the robotic arm of the robot system 3 to move forward along the movement direction of the trolley 2 while grasping the second part to be grasped on the trolley 2. The forward speed of the robotic arm of the robot system 3 moving along the movement direction of the trolley 2 is controlled according to the rotation speed detected by the encoder 14.

[0089] Specifically, the rotational speed detected by the encoder 14 is generally angular velocity, which can be converted into linear velocity based on the diameter of the roller 15, such as the diameter of the second roller 152, thereby obtaining the forward speed of the trolley 2. The robotic arm is controlled to move forward at the same forward speed along the direction of movement of the trolley 2, so that the robotic arm and the trolley 2 remain synchronized in the direction of movement of the trolley 2. Therefore, the robotic arm will always remain directly above the second part to be grasped, and the height of the robotic arm is lowered to grasp the second part to be grasped.

[0090] Table 1

[0091]

[0092] As shown in Table 1, this embodiment uses a drive unit encoder for synchronization, which, compared to existing technologies, achieves a synchronization distance twice the length of the trolley with a double-distance synchronization mechanism, and the synchronization accuracy is much higher than that of the drive unit encoder synchronization structure. Furthermore, compared to manual handling, this embodiment has lower costs and reduces personnel management difficulties.

[0093] This invention features a roller rod and rollers. By driving the roller rod to rotate clockwise or counterclockwise, one of the rollers contacts the trolley. An encoder, rotating synchronously with the roller, detects the trolley's forward speed. Since there are two rollers, when one roller disengages from the trolley, the roller rod can rotate to contact the trolley again via the other roller, continuing to detect the trolley's forward speed. This expands the synchronization distance, meeting the requirement of a synchronization distance greater than the trolley's length. By controlling the robotic arm according to the encoder's rotation speed, the robotic arm moves synchronously with the trolley, enabling multiple grabbing of components from the trolley.

[0094] In one embodiment, the trolley synchronization mechanism 1 further includes a drive rod 16, which is hinged to the bracket 11 and parallel to the roller rod 13. The drive rod 16 is connected to the roller rod 13 via a rotary shaft 17. The cylinder seat 121 of the drive device 12 is fixed on the bracket 11, and the cylinder rod 122 of the cylinder seat 121 is connected to one end of the drive rod 16.

[0095] The method of controlling the drive device 12 to drive the roller rod 13 to rotate so that a roller 15 contacts the trolley 2 includes: controlling the drive device 12 to drive one end of the drive rod 16 to a first height, at the first height, the bottom of a roller 15 reaches the surface height of the trolley 2, so that a roller 15 contacts the trolley 2.

[0096] The method of controlling the drive device 12 to drive the roller rod 13 to rotate so that the other roller 15 contacts the trolley 2 includes: controlling the drive device 12 to drive one end of the drive rod 16 to a second height, at the second height, the bottom of the other roller 15 reaches the surface height of the trolley 2, so that the other roller 15 contacts the trolley 2.

[0097] Specifically, the height of the drive rod 16 can be detected by a proximity switch 111 mounted on the bracket 11. For example... Figure 4 As shown, when proximity switch 111 detects that the end of drive rod 16 connected to cylinder rod 122 is in drive position one, the end of drive rod 16 connected to cylinder rod 122 is at the first height, and at this time the first roller 151 reaches the height of the upper surface of trolley 2 and contacts trolley 2. When proximity switch 111 detects that the end of drive rod 16 connected to cylinder rod 122 is in drive position two, the end of drive rod 16 connected to cylinder rod 122 is at the second height, and at this time the second roller 152 reaches the height of the upper surface of trolley 2 and contacts trolley 2.

[0098] This embodiment determines whether the roller has reached the preset height by detecting the height of the drive rod.

[0099] Based on the same inventive concept, such as Figure 6 The diagram shown is a schematic representation of a control device for a trolley synchronization system as described above, according to an embodiment of the present invention, comprising:

[0100] The first position response module 601 is used to drive the robotic arm of the robot system 3 to move to a first preset position above the trolley 2 when the trolley 2 reaches the first position, and control the drive device 12 to drive the roller rod 13 to rotate so that one of the rollers 15 contacts the trolley 2.

[0101] The first position following module 602 is used to control the robotic arm of the robot system 3 to move forward along the movement direction of the trolley 2 while grasping the first part to be grasped on the trolley 2. The forward speed of the robotic arm of the robot system 3 along the movement direction of the trolley 2 is controlled according to the rotation speed detected by the encoder 14.

[0102] The second position response module 603 is used to drive the robotic arm of the robot system 3 to move to the second preset position above the trolley 2 when the trolley 2 reaches the second position, and control the drive device 12 to drive the roller rod 13 to rotate so that the other roller 15 contacts the trolley 2.

[0103] The second position following module 604 is used to control the robotic arm of the robot system 3 to move forward along the movement direction of the trolley 2 while grasping the second part to be grasped on the trolley 2. The forward speed of the robotic arm of the robot system 3 along the movement direction of the trolley 2 is controlled according to the rotation speed detected by the encoder 14.

[0104] This invention features a roller rod and rollers. By driving the roller rod to rotate clockwise or counterclockwise, one of the rollers contacts the trolley. An encoder, rotating synchronously with the roller, detects the trolley's forward speed. Since there are two rollers, when one roller disengages from the trolley, the roller rod can rotate to contact the trolley again via the other roller, continuing to detect the trolley's forward speed. This expands the synchronization distance, meeting the requirement of a synchronization distance greater than the trolley's length. By controlling the robotic arm according to the encoder's rotation speed, the robotic arm operates synchronously with the trolley, enabling multiple grabbing of components from the trolley.

[0105] In one embodiment, the trolley synchronization mechanism 1 further includes a drive rod 16, which is hinged to the bracket 11 and parallel to the roller rod 13. The drive rod 16 is connected to the roller rod 13 via a rotary shaft 17. The cylinder seat 121 of the drive device 12 is fixed on the bracket 11, and the cylinder rod 122 of the cylinder seat 121 is connected to one end of the drive rod 16.

[0106] The method of controlling the drive device 12 to drive the roller rod 13 to rotate so that a roller 15 contacts the trolley 2 includes: controlling the drive device 12 to drive one end of the drive rod 16 to a first height, at the first height, the bottom of a roller 15 reaches the surface height of the trolley 2, so that a roller 15 contacts the trolley 2.

[0107] The method of controlling the drive device 12 to drive the roller rod 13 to rotate so that the other roller 15 contacts the trolley 2 includes: controlling the drive device 12 to drive one end of the drive rod 16 to a second height, at the second height, the bottom of the other roller 15 reaches the surface height of the trolley 2, so that the other roller 15 contacts the trolley 2.

[0108] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0109] like Figure 7 The diagram shown is a hardware structure schematic of an electronic device according to the present invention, comprising:

[0110] At least one processor 701; and,

[0111] A memory 702 is communicatively connected to at least one of the processors 701; wherein,

[0112] The memory 702 stores instructions that can be executed by at least one of the processors to enable the at least one processor to perform the control method of the trolley synchronization system as described above.

[0113] Figure 7 Take the 701 processor as an example.

[0114] The electronic device may also include an input device 703 and a display device 704.

[0115] The processor 701, memory 702, input device 703 and display device 704 can be connected by a bus or other means. The figure shows an example of connection by a bus.

[0116] The memory 702, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as the program instructions / modules corresponding to the control method of the trolley synchronization system in the embodiments of this application, for example, Figure 5 The method flow is shown. The processor 701 executes various functional applications and data processing by running non-volatile software programs, instructions, and modules stored in the memory 702, thereby realizing the control method of the trolley synchronization system in the above embodiment.

[0117] The memory 702 may include a program storage area and a data storage area. The program storage area may store the operating system and application programs required for at least one function; the data storage area may store data created based on the use of the control method of the trolley synchronization system. Furthermore, the memory 702 may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 702 may optionally include memory remotely located relative to the processor 701, and these remote memories can be connected via a network to means of performing the control method of the trolley synchronization system. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0118] The input device 703 can receive user clicks and signal inputs related to user settings and function control for generating control methods synchronized with the trolley system. The display device 704 may include a display screen or other display equipment.

[0119] When one or more modules are stored in the memory 702, and are run by one or more processors 701, the control method of the trolley synchronization system in any of the above method embodiments is executed.

[0120] This invention features a roller rod and rollers. By driving the roller rod to rotate clockwise or counterclockwise, one of the rollers contacts the trolley. An encoder, rotating synchronously with the roller, detects the trolley's forward speed. Since there are two rollers, when one roller disengages from the trolley, the roller rod can rotate to contact the trolley again via the other roller, continuing to detect the trolley's forward speed. This expands the synchronization distance, meeting the requirement of a synchronization distance greater than the trolley's length. By controlling the robotic arm according to the encoder's rotation speed, the robotic arm moves synchronously with the trolley, enabling multiple grabbing of components from the trolley.

[0121] One embodiment of the present invention provides a storage medium that stores computer instructions, which, when executed by a computer, are used to perform all steps of the control method for the trolley synchronization system as described above.

[0122] In the context of this disclosure, a storage medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. The storage medium can be a machine-readable signal medium or a machine-readable storage medium. Optionally, the storage medium can be a non-transitory computer-readable storage medium, such as a ROM, random access memory (RAM), compact disc ROM (CD-ROM), magnetic tape, floppy disk, and optical data storage device.

[0123] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. A trolley synchronization mechanism (1), characterized in that, include: The system comprises a bracket (11), a drive device (12), a roller rod (13), an encoder (14), and two rollers (15). The drive device (12) is fixed on the bracket (11). The roller rod (13) is hinged to the bracket (11). The two rollers (15) are respectively hinged to the two ends of the roller rod (13). The drive device (12) is connected to the roller rod (13) and drives the roller rod (13) to rotate clockwise or counterclockwise around the bracket (11), so that one of the rollers contacts the trolley. When one roller is disengaged from the trolley, the rotating roller rod contacts the trolley through the other roller. At least one encoder (14) is connected to the roller (15) and rotates synchronously with the roller (15).

2. The trolley synchronization mechanism (1) according to claim 1, characterized in that, The encoder (14) is one, and the two rollers (15) rotate synchronously.

3. The trolley synchronization mechanism (1) according to claim 1, characterized in that, There are two encoders (14), each encoder (14) is connected to a roller (15) and rotates synchronously with the connected roller (15).

4. The trolley synchronization mechanism (1) according to claim 1, characterized in that, It also includes a drive rod (16), the drive device (12) is a cylinder, the drive rod (16) is hinged to the bracket (11), the drive rod (16) is parallel to the roller rod (13), the drive rod (16) is connected to the roller rod (13) through a rotary shaft (17), the cylinder seat (121) of the cylinder is fixed on the bracket (11), and the cylinder rod (122) of the cylinder is connected to one end of the drive rod (16).

5. The trolley synchronization mechanism (1) according to claim 4, characterized in that, It also includes a proximity switch (111) fixed to the bracket (11), the proximity switch (111) being used to detect the height position of one end of the drive rod (16).

6. A trolley synchronization system, characterized in that, The system includes a trolley (2), a robot system (3), a controller (4), and a trolley synchronization mechanism (1) as described in any one of claims 1 to 5. The bracket (11) of the trolley synchronization mechanism (1) is located above the trolley (2) and extends along the direction of movement of the trolley (2). The controller (4) controls the roller rod (13) to rotate clockwise or counterclockwise around the bracket (11) according to the position of the trolley (2), and controls the robot system (3) to operate.

7. A control method for a trolley synchronization system as described in claim 6, characterized in that, include: When the trolley (2) reaches the first position, the mechanical arm of the robot system (3) is driven to move to the first preset position above the trolley (2), and the drive device (12) is controlled to drive the roller rod (13) to rotate so that one of the rollers (15) contacts the trolley (2). While controlling the robotic arm of the robot system (3) to move forward along the movement direction of the trolley (2), it grabs the first part to be grabbed on the trolley (2). The forward speed of the robotic arm of the robot system (3) along the movement direction of the trolley (2) is controlled according to the rotation speed detected by the encoder (14). When the trolley (2) reaches the second position, the mechanical arm of the robot system (3) is driven to move to the second preset position above the trolley (2), and the drive device (12) is controlled to drive the roller rod (13) to rotate so that the other roller (15) contacts the trolley (2). While controlling the robotic arm of the robot system (3) to move forward along the movement direction of the trolley (2), it grabs the second part to be grabbed on the trolley (2). The forward speed of the robotic arm of the robot system (3) along the movement direction of the trolley (2) is controlled according to the rotation speed detected by the encoder (14).

8. The control method for the trolley synchronization system according to claim 7, characterized in that, The trolley synchronization mechanism (1) further includes a drive rod (16), which is hinged to the bracket (11). The drive rod (16) is parallel to the roller rod (13). The drive rod (16) is connected to the roller rod (13) through a rotary shaft (17). The cylinder seat (121) of the drive device (12) is fixed on the bracket (11). The cylinder rod (122) of the cylinder seat (121) is connected to one end of the drive rod (16). The method of controlling the drive device (12) to drive the roller rod (13) to rotate so that a roller (15) contacts the trolley (2) includes: controlling the drive device (12) to drive one end of the drive rod (16) to a first height, at the first height, the bottom of a roller (15) reaches the surface height of the trolley (2) so that a roller (15) contacts the trolley (2). The control of the drive device (12) to drive the roller rod (13) to rotate so that the other roller (15) contacts the trolley (2) includes: controlling the drive device (12) to drive one end of the drive rod (16) to a second height, at the second height, the bottom of the other roller (15) reaches the surface height of the trolley (2) so that the other roller (15) contacts the trolley (2).

9. A control device for a trolley synchronization system as described in claim 6, characterized in that, include: The first position response module is used to drive the robotic arm of the robot system (3) to move to the first preset position above the trolley (2) when the trolley (2) reaches the first position, and control the drive device (12) to drive the roller rod (13) to rotate so that one of the rollers (15) contacts the trolley (2). The first position following module is used to control the robotic arm of the robot system (3) to move forward along the movement direction of the trolley (2) while grabbing the first part to be grabbed on the trolley (2). The forward speed of the robotic arm of the robot system (3) along the movement direction of the trolley (2) is controlled according to the rotation speed detected by the encoder (14). The second position response module is used to drive the robotic arm of the robot system (3) to move to the second preset position above the trolley (2) when the trolley (2) reaches the second position, and control the drive device (12) to drive the roller rod (13) to rotate so that the other roller (15) contacts the trolley (2). The second position following module is used to control the robotic arm of the robot system (3) to move forward along the movement direction of the trolley (2) while grabbing the second part to be grabbed on the trolley (2). The forward speed of the robotic arm of the robot system (3) along the movement direction of the trolley (2) is controlled according to the rotation speed detected by the encoder (14).

10. An electronic device, characterized in that, include: At least one processor; as well as, A memory communicatively connected to at least one of the processors; wherein, The memory stores instructions executable by at least one of the processors, which, when executed, enable the at least one processor to perform the control method of the trolley synchronization system as described in any one of claims 7 to 8.

11. A storage medium, characterized in that, The storage medium stores computer instructions, which, when executed by the computer, are used to perform all steps of the control method for the trolley synchronization system as described in any one of claims 7 to 8.

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