Automobile bumper transfer robot and control method thereof

Abstract

The application provides a car bumper transfer robot and a control method thereof, and relates to the technical field of robots.The robot mainly comprises a running part, a buffer store and a control part.The buffer store is arranged on the upper part of the running part and comprises an inlet and an outlet, between which an electric conveying belt device and a width adjusting mechanism are arranged.The width adjusting mechanism is arranged between the two electric conveying belt devices and is used for adjusting the lateral spacing between the two electric conveying belt devices.The robot can automatically run and stop and automatically adjust the width of the conveying belt in the buffer store, so that different specifications of car bumpers can be transferred.The scheme has simple structure and reasonable layout, can effectively avoid the problems of bumping, falling and falling during the transfer of car bumpers, and can also consider the appearance and foolproof detection of car bumpers, which helps to avoid the flow of defective products into the next process.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a car bumper transport robot and its control method. Background Technology

[0002] Currently, discrete manufacturing, zero-inventory, and flexible production methods are becoming increasingly common in the automotive industry, which requires more flexible and intelligent methods for transferring automotive parts in-process.

[0003] Patent application CN212023732U, entitled "A Segmented Adjustable Car Bumper Buffer Library," discloses a buffer library comprising a conveying area, an adjustment area, and an outer frame. The conveying area includes a drive unit, a belt conveyor unit, a support and guide unit, a linkage opening and closing unit, an inbound counting sensor, an outbound subtraction sensor, and a positioning photoelectric sensor. The drive unit further includes a motor control system, a reduction system, and a tensioning structure. The linkage opening and closing unit includes a cross-shaped turntable and a synchronous connecting rod. Both the linkage opening and closing unit and the electric cylinder opening and closing unit include position detection. While this buffer library can automatically count bumpers, automatically adjust the load-bearing width, and automatically adjust bumper tilt, it cannot achieve automatic driving and parking.

[0004] Patent application CN110948778B, entitled "An Intelligent Production System for the Entire Process of Automobile Bumpers from Injection Molding to Painting," discloses a buffer library divided into upper and lower layers. Each layer consists of two belt conveyor units. The longer belt conveyor unit receives automobile bumpers transported by the injection molding RGV, while the shorter belt conveyor unit transports automobile bumpers to the painting RGV. The width of the two belt conveyor units can automatically adjust according to the bumper shape information produced. A guide wheel assembly structure is used between the conveyor belt units and the support beam. A photoelectric encoder is used to check the width opening and closing displacement. This buffer library has an upper and lower double-layer structure, which increases the information interaction function with the factory's MES system. However, it still does not solve the problems of long-distance automatic transfer and movement of bumpers in discrete workshops, and its flexibility is not good.

[0005] Patent application CN213950471 U, entitled "An AGV with Four-Point Synchronous Lifting of Loads," discloses an AGV including a chassis frame, a lifting mechanism, a support wheel mechanism, navigation sensors, positioning sensors, and a shock absorption mechanism. While this AGV can move automatically, it lacks a buffer for handling car bumpers, and when carrying multiple car bumpers, it cannot prevent collisions between them. Furthermore, it lacks the ability to promptly detect and isolate quality issues arising from bumper collisions.

[0006] Therefore, developing a transport robot that can drive autonomously, buffer car bumpers of different sizes, automatically dock with other transport platforms, ensure that car bumpers are not damaged during transport, and inspect the appearance and other quality aspects of car bumpers has become the key to solving the problem. Summary of the Invention

[0007] The purpose of this invention is to provide an automotive bumper transfer robot and its control method to solve at least one of the aforementioned technical problems in the prior art.

[0008] In a first aspect, to solve the above-mentioned technical problems, the present invention provides an automotive bumper transfer robot, comprising a driving unit, a buffer unit, and a control unit:

[0009] The driving unit is used to automatically drive and stop according to instructions;

[0010] The buffer storage is located above the driving unit and includes an inlet and an outlet. An electric conveyor belt device and a width adjustment mechanism are arranged between the two: two electric conveyor belt devices are arranged in parallel and symmetrically to form the first conveying group, so that the car bumpers can be transported horizontally; the body of each electric conveyor belt device is movably connected to the frame of the buffer storage. The width adjustment mechanism is located between the two electric conveyor belt devices and is used to adjust the lateral spacing between the two electric conveyor belt devices to accommodate car bumpers of different sizes and specifications.

[0011] The control unit, located outside the frame of the cache library, includes a memory, a processor, a wireless communication module, and a display screen: the memory stores instructions and data read by the processor; the processor is used to call the instructions and data in the memory; the wireless communication module is used to wirelessly transmit instructions and data to the outside world; the display screen is used for human-computer interaction with instructions and data, can view inventory information at any time, and can switch between automatic and manual operation;

[0012] The driving unit and the cache are electrically connected to the control unit.

[0013] The aforementioned robots can achieve the technical objectives of flexible warehousing, such as autonomous driving and buffering car bumpers of different sizes.

[0014] In one feasible implementation, the driving unit includes a vehicle body, electric drive wheels, a wireless power supply device, navigation sensors, positioning sensors, a shock absorption mechanism, and support wheels: the electric drive wheels are located at the bottom of the vehicle body; the electric drive wheels can be driven by electricity to rotate and save space; the wireless power supply device is located at the bottom of the vehicle body to provide power to the robot, and with the pre-embedded wireless power supply device, it can not only get rid of the constraints of power cords, but also has no time limit; the navigation sensors are evenly distributed around the vehicle body to provide navigation data to the robot; the positioning sensors are located at the bottom of the vehicle body to provide station location detection data to the robot; the shock absorption mechanism is located between the electric drive wheels and the vehicle body to reduce vibration during the robot's movement; the support wheels are evenly distributed at the four corners of the vehicle body to provide auxiliary support for the vehicle body, maintain the vehicle body's balance, and prevent the robot from tipping over; the electric drive wheels, the wireless power supply device, the navigation sensors, and the positioning sensors are respectively electrically connected to the control unit to command and control the robot to drive and stop autonomously.

[0015] In one feasible implementation, the front and rear ends of the driving unit are provided with touch emergency stop switches, which are used to immediately send an emergency stop signal when the vehicle touches an obstacle or a person, so as to avoid safety accidents.

[0016] In one feasible implementation, the width adjustment mechanism includes a servo motor, a first turntable, a connecting rod, a guide rail slider mechanism, a synchronous belt mechanism, and an encoder.

[0017] The servo motor and the body of the first turntable are both fixed to the frame of the cache library;

[0018] The output shaft of the servo motor is connected to the input shaft of the first turntable. The first turntable has two hinge points evenly distributed around its circumference. Each hinge point is hinged to the body of an electric conveyor belt device via a connecting rod. The body of the electric conveyor belt device is also fixed to the slider of the guide rail slider mechanism, and the guide rail of the guide rail slider mechanism is fixed to the frame of the buffer. In this way, when the servo motor rotates, it can drive the first turntable to rotate, and at the same time drive the two electric conveyor belt devices to move closer or further apart, so as to adjust the distance between the two electric conveyor belt devices.

[0019] The main body of the synchronous belt mechanism is fixed on the frame of the buffer library, and the synchronous belt of the synchronous belt mechanism is connected to the slider through a connecting block; the encoder is set on a synchronous pulley of the synchronous belt mechanism; the encoder and the servo motor are electrically connected to the control unit respectively; in this way, the encoder feeds back the number of revolutions of the synchronous pulley to the control unit, the control unit calculates the actual width between the two electric conveyor belt devices based on this, compares it with the theoretical width, calculates the difference, and outputs it to the servo motor for distance compensation.

[0020] In one feasible implementation, the buffer unit further includes a second transport group, which is connected to the first transport group;

[0021] The width adjustment mechanism also includes a second turntable, which is disposed between the two electric conveyor belt devices of the second conveying group. The body of the second turntable is fixed to the frame of the buffer. The second turntable has four hinge positions evenly distributed around its circumference: two of the hinge positions are spaced apart and form a parallelogram mechanism with the first turntable through connecting rods, so that the second turntable can rotate synchronously while the first turntable rotates; the other two hinge positions are spaced apart and are hinged to the bodies of the two electric conveyor belt devices in the second conveying group through connecting rods.

[0022] In the second conveyor group, the main body of the electric conveyor belt device is fixed on the slider of several guide rail slider mechanisms, and the guide rails of several guide rail slider mechanisms are fixed on the frame of the buffer library.

[0023] In this way, when the second turntable rotates, it can drive the two electric conveyor belt devices in the second conveyor group to move closer or further away, thereby realizing the synchronous width adjustment of the first conveyor group and the second conveyor group.

[0024] In one feasible implementation, the cache library includes a multi-layer structure, each layer of which includes multiple delivery groups, and is replicated and expanded based on the aforementioned width adjustment mechanism to increase inventory capacity.

[0025] In one feasible implementation, a plurality of telescopic rod devices are arranged beside the belt of the electric conveyor belt device. These telescopic rod devices are electrically connected to the control unit. Each telescopic rod includes a telescopic rod, a limit switch, and a telescopic motor. The limit switch sends a signal upon contact with the car bumper. The telescopic motor extends or retracts the telescopic rod according to an instruction. These telescopic rod devices not only detect the specific position and direction of the car bumper on the electric conveyor belt but also separate the car bumper to prevent collisions. Furthermore, they can be used in conjunction with the electric conveyor belt for material sorting and warehousing operations, achieving first-in, first-out (FIFO) processing.

[0026] In one feasible implementation, an auxiliary conveying device is also provided at the end of the electric conveyor belt device near the outlet, including an auxiliary rod, an eccentric block, and a limiting pin: the eccentric block is rotatably mounted next to the belt and is in a vertical state under the action of gravity; the auxiliary rod is located on the top of the eccentric block and can be touched by the car bumper; the limiting pin is fixed to one side of the eccentric block and is used to limit the rotation of the eccentric block to a horizontal angle; thus, when the car bumper is not leaving the warehouse, the auxiliary rod is in a vertical state under the action of the eccentric block, and when the car bumper is moved out of the warehouse by the electric conveyor belt, it will push the auxiliary rod down, the eccentric block will rotate accordingly, and under the action of the limiting pin, the auxiliary rod will be kept in a horizontal position. At this time, the auxiliary rod can support the car bumper, thereby preventing the car bumper from falling into the gap between the robot and other loading platforms.

[0027] In one feasible implementation, the cache library further includes a machine vision inspection unit, including a camera and a fill light. The camera and the fill light are located inside the cache library and are capable of capturing images of the car bumper's position for appearance quality inspection and error-proofing inspection of the car bumper in the cache library.

[0028] Secondly, based on the same inventive concept, this application also provides a control method using the aforementioned car bumper transfer robot, including a car bumper storage method, the specific steps of which include:

[0029] Step a1: The control unit receives the external warehouse entry request instruction through the wireless communication module and collects data such as the target location, target height, width of the car bumper, and number of car bumpers to be entered into the warehouse.

[0030] Step a2: The control unit detects whether there are remaining storage spaces in the cache via the telescopic rod device. If yes, it plans a driving route based on the target location data, issues a driving command to the driving unit, and executes step a3. If no, it remains in standby mode.

[0031] Step a3: After receiving the driving instruction, the driving unit starts from the parking space and gradually moves to the target location, and aligns the entrance of the cache library with the output platform at the target location;

[0032] Step a4: The control unit determines whether the target height is consistent with the height of the remaining storage locations based on the number of floors where the remaining storage locations are located. If yes, then proceed to step a5; otherwise, send a request for help through the wireless communication module to mobilize transfer personnel or transfer robots for transfer assistance.

[0033] Step a5: Based on the width of the car bumper, the control unit adjusts the width of the remaining storage space through the width adjustment mechanism corresponding to the remaining storage space until it meets the requirements;

[0034] Step a6: The control unit starts the electric conveyor belt of the remaining storage space and simultaneously sends a handover command to the outside via the wireless communication module to enable the output platform at the target location to start synchronously until the control unit receives the signal from the telescopic rod device at the remaining storage space; based on the number of car bumpers entering the storage, the car bumper storage operation is completed; the control unit stores the storage completion information in the memory and sends it out via the wireless communication module.

[0035] Step a7: The control unit plans a return route based on the parking space location information and sends a driving command to the driving unit;

[0036] Step a8: After receiving the driving instruction, the driving unit gradually drives to the parking space.

[0037] Using the methods described above, the car bumper transfer robot can automatically match the target of the receiving warehouse and automatically complete the receiving operation.

[0038] In one feasible implementation, the control method further includes a width adjustment compensation method, the specific steps of which include:

[0039] Step b1: The processor of the control unit, based on the width dimension KG of the car bumper to be put into the warehouse, retrieves the conveyor belt width comparison data in the memory and searches for the corresponding servo motor rotation data KD.

[0040] Step b2: The processor outputs the servo motor rotation data KD to the servo motor; and based on the servo motor rotation data KD and the turntable diameter DZ, calculates the theoretical displacement KL of the electric conveyor belt using the circumference calculation formula. The specific formula can be:

[0041] KL = KD × π × DZ;

[0042] Step b3: The servo motor rotates based on the servo motor rotation data KD, adjusts the spacing of the electric conveyor belt device, and drives the synchronous belt mechanism to operate simultaneously.

[0043] Step b4: After the servo motor stops rotating, the encoder on the synchronous belt mechanism feeds back the revolution count data QT to the processor; the processor calculates the actual displacement KS of the electric conveyor belt based on the circumference calculation formula and the diameter DT of the synchronous belt pulley. The specific formula can be:

[0044] KS = QT × π × DT;

[0045] Step b5: The processor calculates the difference ΔK between the actual displacement KS and the theoretical displacement KL. The specific formula can be:

[0046] ΔK = KS - KL;

[0047] Step b6: The processor, based on the difference ΔK, calculates the servo motor compensation data KB using the circumference calculation formula. The specific formula can be:

[0048] KB = ΔK / (π × DZ);

[0049] Step b7: The processor outputs the servo motor compensation data KB to the servo motor for compensation operation, iteratively executing step b4 until ΔK is zero; wherein, when KB is positive and the servo motor is inverted, it means that the output shaft of the servo motor needs to rotate counterclockwise by KB turns; when KB is negative and the servo motor is inverted, it means that the output shaft of the servo motor needs to rotate clockwise by KB turns.

[0050] Using the above method, the servo motor can be compensated through closed-loop feedback, thereby enabling the width adjustment mechanism to accurately complete the width adjustment.

[0051] In one feasible implementation, the control method further includes a method for removing a car bumper from its parking space, the specific steps of which include:

[0052] Step c1: The control unit receives the external outbound request instruction through the wireless communication module and collects data such as the target location, target height, car bumper width, and number of car bumpers to be outbound.

[0053] Step c2: The control unit searches the storage for inventory information and determines whether the outbound demand instruction is met. If yes, it plans a driving route based on the target location data, issues a driving instruction to the driving unit, and executes step c3. If no, it remains in standby mode.

[0054] Step c3: After receiving the driving instruction, the driving unit starts from the parking space and gradually moves to the target location, and aligns the entrance of the cache library with the input platform at the target location;

[0055] Step c4: The control unit determines whether the target height is consistent with the height of the storage location based on the floor number of the storage location. If yes, proceed to step b5; otherwise, send a request for help through the wireless communication module to mobilize personnel or robots for transfer assistance.

[0056] Step c5: The control unit starts the electric conveyor belt at the warehouse location and simultaneously sends a handover command to the outside via the wireless communication module to synchronize the start of the input platform at the target location.

[0057] Step c6: The control unit simultaneously sends a downward movement command to the telescopic motors of the two telescopic rod devices closest to the outlet of the buffer warehouse in the conveyor group where the warehouse is located; after the telescopic rods of these two telescopic rod devices move downward, the car bumper to be out of the warehouse moves out of the warehouse to the input platform at the target position under the drive of the electric conveyor belt, and the number in the warehouse decreases by one, thus achieving the purpose of first-in-first-out.

[0058] Step c7: After receiving a successful receiving signal from the input platform at the target location via the wireless communication module, the control unit simultaneously sends a downward movement command to the two telescopic motors closest to the buffer warehouse exit. After the telescopic rods of these two telescopic rod devices move downward, the next car bumper to be shipped out moves out to the input platform at the target location under the drive of the electric conveyor belt, reducing the number in stock by one. This process is repeated iteratively until the number in stock is zero, completing the car bumper shipping operation. The control unit simultaneously sends a reset command to the telescopic motors of the two telescopic rod devices closest to the buffer warehouse exit in the conveyor group where the stocked position is located, causing the telescopic rods to move upward to their initial positions. The control unit stores the shipping completion information in the memory and transmits it externally via the wireless communication module.

[0059] Step c8: The control unit plans a return route based on the parking space location information and sends a driving command to the driving unit;

[0060] Step c9: After receiving the driving instruction, the driving unit gradually drives to the parking space.

[0061] Using the methods described above, the car bumper transfer robot can automatically connect to the outbound demand and automatically complete the outbound operation.

[0062] In one feasible implementation, when multiple delivery groups exist in the cache, the method for removing car bumpers from the cache further includes:

[0063] Step c10: The control unit synchronously starts the first conveyor group that has just completed the outbound operation and the second conveyor group connected to it;

[0064] Step c11: If the control unit detects that there are still car bumpers in the first conveyor group, it simultaneously sends a downward movement command to the two telescopic rod devices located at the position of the car bumper closest to the exit. After these two telescopic rods move downward, the car bumper moves to the end of the first conveyor group and is stopped by the last pair of telescopic rod devices under the drive of the electric conveyor belt. After receiving the limit switch signal of the pair of telescopic rod devices, the control unit sends a reset command to the telescopic motor of the next pair of telescopic rod devices. At this time, the next pair of telescopic rods moves upward and resets. Step c11 is executed iteratively until the forward movement operation of all car bumpers in the first conveyor group is completed, and then step c12 is executed. If the control unit detects that there are no car bumpers in the first conveyor group, step c12 is executed directly.

[0065] Step c12: The control unit simultaneously issues a downward movement command to the two telescopic rod devices in the second conveyor group that are closest to the first conveyor group; after these two telescopic rods move down, the car bumpers at that location are transferred from the second conveyor group to the first conveyor group by the electric conveyor belt; step c12 is executed iteratively until all car bumpers in the second conveyor group have completed the forward movement operation, and then the first conveyor group is closed; in the remaining conveyor groups, the forward movement operation is completed in sequence according to step c12.

[0066] Using the above method, the forward movement operation in the cache can be automatically completed during the parking and waiting time of the car bumper transfer robot, preparing for subsequent inbound or outbound operations and improving efficiency.

[0067] In one feasible implementation, the control method further includes a machine vision detection method, the specific steps of which include:

[0068] Step d1: Collect image data of car bumper appearance defects, and construct a training set and a test set; train the neural network model using the training set; test the neural network model using the test set to obtain a neural network model that can identify car bumper appearance defects.

[0069] Step d2: Store the neural network model in the memory of the control unit;

[0070] Step d3: Use the camera in the machine vision inspection unit to collect the image data of the car bumper to be tested from the cache library;

[0071] Step d4: The control unit calls the neural network model, inputs the image data to be tested into the neural network model, and outputs the defect identification result;

[0072] Step d5: The control unit stores the inventory information of the car bumpers and the corresponding defect identification results in the memory, and then transmits them to the outside via the wireless communication module.

[0073] Through the above steps, defects in car bumpers in robots can be automatically identified, such as bumps, scratches, burrs, excess material, insufficient material, abnormal weld lines, and other appearance quality defects. It can also identify defects such as reversed material placement and incorrect material placement, and send the defect identification results out to prevent car bumpers with quality problems from being transferred to the next process.

[0074] By adopting the above technical solution, the present invention has the following beneficial effects:

[0075] This invention provides a car bumper transfer robot and its control method, which can automatically drive and stop, and automatically adjust the width of the conveyor belt in the buffer warehouse, thereby transferring car bumpers of different specifications. The solution has a simple structure and reasonable layout, which can effectively avoid problems such as bumps and drops of car bumpers during the transfer process and drops when leaving the warehouse. The solution can also take into account the appearance of car bumpers and error-proof detection, which helps to prevent defective products from flowing into the next process. Attached Figure Description

[0076] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0077] Figure 1 A three-dimensional structural diagram of an automobile bumper transfer robot provided in an embodiment of the present invention;

[0078] Figure 2 for Figure 1 Internal diagram of the central driving section;

[0079] Figure 3 for Figure 1 A magnified view of a portion of the width adjustment mechanism;

[0080] Figure 4 for Figure 3 A partially enlarged view of the synchronous belt mechanism;

[0081] Figure 5 for Figure 1 Internal detail illustrations;

[0082] Figure 6 for Figure 5 Enlarged illustration of the telescopic rod device;

[0083] Figure 7 for Figure 5 Enlarged illustration of the auxiliary conveying device;

[0084] Figure 8 A flowchart of a method for storing car bumpers provided in an embodiment of the present invention;

[0085] Figure 9 A flowchart of the width adjustment compensation method provided in an embodiment of the present invention;

[0086] Figure 10 A flowchart of a method for removing a car bumper from a warehouse, provided in an embodiment of the present invention;

[0087] Figure 11 This is a flowchart of a machine vision inspection method provided in an embodiment of the present invention.

[0088] Figure label:

[0089] 1-Driving unit; 11-Vehicle body; 12-Electric drive wheel; 13-Wireless power supply device; 14-Navigation sensor; 15-Positioning sensor; 16-Shock absorption mechanism; 17-Support wheel; 18-Touch emergency stop switch; 2-Buffer; 21-Electric conveyor belt device; 211-Telescopic rod device; 2111-Telescopic rod; 2112-Limit switch; 2113-Telescopic motor; 212-Auxiliary conveying device; 2121-Auxiliary rod; 2122-Limit pin; 2123-Eccentric block; 22-Width adjustment mechanism; 221-Servo motor; 222-First turntable; 223-Connecting rod; 224-Guide rail slider mechanism; 2241-Slider; 2242-Guide rail; 225-Synchronous belt mechanism; 226-Encoder; 227-Second turntable; 228-Connecting block; 3-Control unit; 4-Parking space; 5-Car bumper. Detailed Implementation

[0090] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0091] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for 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 the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0092] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0093] The present invention will be further explained below with reference to specific embodiments.

[0094] It should also be noted that the specific embodiments or implementation methods described below are a series of optimized settings listed by the present invention to further explain the specific content of the invention, and these settings can be combined or used in conjunction with each other.

[0095] Example 1:

[0096] like Figure 1 As shown, this embodiment provides a car bumper transfer robot, including a driving unit 1, a buffer 2, and a control unit 3:

[0097] The driving unit 1 is used to drive and stop automatically according to instructions;

[0098] The buffer storage 2 is located above the driving unit 1 and includes an inlet and an outlet. An electric conveyor belt device 21 and a width adjustment mechanism 22 are arranged between the two. The two electric conveyor belt devices 21 are arranged in parallel and symmetrically to form the first conveying group, so that the car bumper 5 can be conveyed horizontally. The body of each electric conveyor belt device 21 is movably connected to the frame of the buffer storage 2. The width adjustment mechanism 22 is arranged between the two electric conveyor belt devices 21 and is used to adjust the lateral spacing between the two electric conveyor belt devices 21 to adapt to car bumpers 5 of different sizes and specifications.

[0099] The control unit 3 is located outside the frame of the cache library 2 and includes a memory, a processor, a wireless communication module, and a display touch screen. The memory stores instructions and data read by the processor. The processor is used to call the instructions and data in the memory. The wireless communication module is used to wirelessly transmit instructions and data to the outside world. The display touch screen is used for human-computer interaction with instructions and data, and can view inventory information at any time and switch between automatic and manual operation.

[0100] The driving unit 1 and the cache 2 are electrically connected to the control unit 3.

[0101] The aforementioned robots can achieve the technical objectives of flexible warehousing, such as automatic driving and buffering of car bumpers of different sizes.

[0102] Furthermore, such as Figure 2As shown, the driving unit 1 includes a vehicle body 11, electric drive wheels 12, wireless power supply devices 13, navigation sensors 14, positioning sensors 15, a shock absorption mechanism 16, and support wheels 17. Two electric drive wheels 12 are located at opposite corners of the bottom of the vehicle body 11. These electric drive wheels 12 can be electrically driven to rotate, saving space. Two wireless power supply devices 13 are located at one corner of the bottom of the vehicle body 11 to provide power to the robot. Combined with a pre-embedded wireless power supply device, this not only eliminates the constraints of power cords but also eliminates battery life limitations. The navigation sensors 14 are evenly distributed around the vehicle body 11 to provide navigation sensors to the robot. The system provides navigation data; the positioning sensor 15 is located at the center of the bottom of the vehicle body 11 to provide station location detection data for the robot; the shock absorption mechanism 16 is located between the electric drive wheel 12 and the vehicle body 11 to reduce vibration during the robot's movement; the support wheels 17 are evenly distributed at the four corners of the vehicle body 11 to provide auxiliary support for the vehicle body 11, maintain the vehicle's balance, and prevent the robot from tipping over; the electric drive wheel 12, the wireless power supply device 13, the navigation sensor 14, and the positioning sensor 15 are electrically connected to the control unit 3 to command and control the robot to drive and stop autonomously.

[0103] Furthermore, the front and rear ends of the driving unit 1 are provided with emergency stop switches 18, which are used to immediately send an emergency stop signal when the vehicle touches an obstacle or a person, so as to avoid safety accidents.

[0104] Furthermore, such as Figure 3 As shown, the width adjustment mechanism 22 includes a servo motor 221, a first turntable 222, six connecting rods 223, eight sets of guide rail slider mechanisms 224, a set of synchronous belt mechanisms 225, and an encoder 226.

[0105] The servo motor 221 and the first turntable 222 are both fixed to the frame of the cache library 2;

[0106] The output shaft of the servo motor 221 is connected to the input shaft of the first turntable 222. The first turntable 222 has four hinge positions evenly distributed around its circumference. Two hinge positions spaced apart are hinged to the body of an electric conveyor belt device 21 via a connecting rod 223. The body of the electric conveyor belt device 21 is also fixed to the sliders 2241 of two sets of guide rail slider mechanisms 224, and the guide rails 2242 of these two sets of guide rail slider mechanisms 224 are fixed to the frame of the buffer 2. In this way, when the servo motor 221 rotates, it can drive the first turntable 222 to rotate, and at the same time drive the two electric conveyor belt devices 21 to move closer or further apart, so as to adjust the distance between the two electric conveyor belt devices 21.

[0107] like Figure 4As shown, the body of the synchronous belt mechanism 225 is fixed on the frame of the buffer 2, and the synchronous belt of the synchronous belt mechanism 225 is connected to the slider 2241 through the connecting block 228; the encoder 226 is set on a synchronous pulley of the synchronous belt mechanism 225; the encoder 226 and the servo motor 221 are electrically connected to the control unit 3 respectively; in this way, the encoder 226 feeds back the number of revolutions of the synchronous pulley to the control unit 3, and the control unit 3 calculates the actual width between the two electric conveyor belt devices 21 based on this, compares it with the theoretical width, calculates the difference, and outputs it to the servo motor 221 for distance compensation.

[0108] Furthermore, the buffer unit 2 also includes a second conveying group, which is connected to the first conveying group;

[0109] The width adjustment mechanism 22 also includes a second turntable 227, which is disposed between the two electric conveyor belt devices 21 of the second conveying group. The body of the second turntable 227 is fixed to the frame of the buffer 2. The second turntable 227 has four hinge positions evenly distributed around its circumference: two of the hinge positions are spaced apart and form a parallelogram mechanism with the remaining hinge positions of the first turntable 222 through connecting rods 223, so that the second turntable 227 can be driven to rotate synchronously while the first turntable 222 rotates; the other two hinge positions are hinged to the bodies of the two electric conveyor belt devices 21 in the second conveying group through connecting rods 223.

[0110] In the second conveying group, the main body of the electric conveyor belt device 21 is fixed on the slider 2241 of the two sets of guide rail slider mechanisms 224, and the guide rail 2242 of the two sets of guide rail slider mechanisms 224 is fixed on the frame of the buffer library 2.

[0111] When the second turntable 227 rotates, it can drive the two electric conveyor belt devices 21 in the second conveyor group to move closer or further away, thereby realizing the synchronous width adjustment of the first conveyor group and the second conveyor group.

[0112] Furthermore, the cache library includes a two-layer structure, with each layer comprising two transport groups. The second layer replicates the main structural design of the first layer to increase the storage capacity.

[0113] Furthermore, such as Figures 5-6As shown, several telescopic rod devices 211 are arranged beside the belt of the electric conveyor belt device 21. The telescopic rod devices 211 are electrically connected to the control unit 3. Each telescopic rod device 211 includes a telescopic rod 2111, a limit switch 2112, and a telescopic motor 2113. The limit switch 2112 is used to send a signal when it contacts the car bumper 5. The telescopic motor 2113 is used to extend or retract the telescopic rod 2111 according to the command. Through the several telescopic rod devices 211, not only can the specific position and direction of the car bumper 5 on the electric conveyor belt be detected, but the car bumper 5 can also be separated to avoid collisions. It can also be used in conjunction with the electric conveyor belt for material sorting and outbound operations to achieve first-in, first-out (FIFO) processing.

[0114] Furthermore, such as Figure 7 As shown, the electric conveyor belt device 21 is also equipped with an auxiliary conveying device 212 near the outlet, including an auxiliary rod 2121, an eccentric block 2123, and a limiting pin 2122: the eccentric block 2123 is rotatably mounted next to the belt and is in a vertical state under the action of gravity; the auxiliary rod 2121 is located on the top of the eccentric block 2123 and can be touched by the car bumper 5; the limiting pin 2122 is fixed to one side of the eccentric block 2123 and is used to limit the rotation of the eccentric block 2123. Turn to a horizontal angle; when the car bumper 5 is not leaving the warehouse, the auxiliary rod 2121 is in a vertical state under the action of the eccentric block 2123. When the car bumper 5 is moved out of the warehouse by the electric conveyor belt, it will push the auxiliary rod 2121 down, and the eccentric block 2123 will rotate accordingly. Under the action of the limit pin 2122, the auxiliary rod 2121 will be kept in a horizontal position. At this time, the auxiliary rod 2121 can support the car bumper 5, thereby preventing the car bumper 5 from falling into the gap between the robot and other cargo platforms.

[0115] Furthermore, the cache library 2 also includes a machine vision inspection unit, including a camera and a fill light. The camera and the fill light are located inside the cache library and are able to capture the position of the car bumper 5 for appearance quality inspection and error prevention inspection of the car bumper 5 in the cache library 2.

[0116] Example 2:

[0117] This embodiment provides a control method for using the aforementioned car bumper transfer robot, including a car bumper storage method, such as... Figure 8 As shown, the specific steps include:

[0118] Step a1: The control unit receives the external warehouse entry request instruction through the wireless communication module and collects data such as the target location, target height, width of the car bumper, and number of car bumpers to be entered into the warehouse.

[0119] Step a2: The control unit detects whether there are remaining storage spaces in the cache via the telescopic rod device. If yes, it plans a driving route based on the target location data, issues a driving command to the driving unit, and executes step a3. If no, it remains in standby mode.

[0120] Step a3: After receiving the driving instruction, the driving unit starts from the parking space and gradually moves to the target location, and aligns the entrance of the cache library with the output platform at the target location;

[0121] Step a4: The control unit determines whether the target height is consistent with the height of the remaining storage locations based on the number of floors where the remaining storage locations are located. If yes, then proceed to step a5; otherwise, send a request for help through the wireless communication module to mobilize transfer personnel or transfer robots for transfer assistance.

[0122] Step a5: Based on the width of the car bumper, the control unit sends rotation data to the servo motor of the width adjustment mechanism corresponding to the remaining storage space, and adjusts the width of the remaining storage space until it meets the requirements;

[0123] Step a6: The control unit starts the electric conveyor belt of the remaining storage space and simultaneously sends a handover command to the outside via the wireless communication module to enable the output platform at the target location to start synchronously until the control unit receives the signal from the telescopic rod device at the remaining storage space; based on the number of car bumpers entering the storage, the car bumper storage operation is completed; the control unit stores the storage completion information in the memory and sends it out via the wireless communication module.

[0124] Step a7: The control unit plans a return route based on the parking space location information and sends a driving command to the driving unit;

[0125] Step a8: After receiving the driving instruction, the driving unit gradually drives to the parking space.

[0126] Using the methods described above, the car bumper transfer robot can automatically match the target of the receiving warehouse and automatically complete the receiving operation.

[0127] Furthermore, the control method also includes a width adjustment compensation method, such as... Figure 9 As shown, the specific steps include:

[0128] Step b1: The processor of the control unit, based on the width dimension KG of the car bumper to be put into the warehouse, retrieves the conveyor belt width comparison data in the memory and searches for the corresponding servo motor rotation data KD.

[0129] Step b2: The processor outputs the servo motor rotation data KD to the servo motor; and based on the servo motor rotation data KD and the turntable diameter DZ, calculates the theoretical displacement KL of the electric conveyor belt using the circumference calculation formula. The specific formula can be:

[0130] KL = KD × π × DZ;

[0131] Step b3: The servo motor rotates based on the servo motor rotation data KD, adjusts the spacing of the electric conveyor belt device, and drives the synchronous belt mechanism to operate simultaneously.

[0132] Step b4: After the servo motor stops rotating, the encoder on the synchronous belt mechanism feeds back the revolution count data QT to the processor; the processor calculates the actual displacement KS of the electric conveyor belt based on the circumference calculation formula and the diameter DT of the synchronous belt pulley. The specific formula can be:

[0133] KS = QT × π × DT;

[0134] Step b5: The processor calculates the difference ΔK between the actual displacement KS and the theoretical displacement KL. The specific formula can be:

[0135] ΔK = KS - KL;

[0136] Step b6: The processor, based on the difference ΔK, calculates the servo motor compensation data KB using the circumference calculation formula. The specific formula can be:

[0137] KB = ΔK / (π × DZ);

[0138] Step b7: The processor outputs the servo motor compensation data KB to the servo motor for compensation operation, iteratively executing step b4 until ΔK is zero; wherein, when KB is positive and the servo motor is inverted, it means that the output shaft of the servo motor needs to rotate counterclockwise by KB turns; when KB is negative and the servo motor is inverted, it means that the output shaft of the servo motor needs to rotate clockwise by KB turns.

[0139] Using the above method, the servo motor can be compensated through closed-loop feedback, thereby enabling the width adjustment mechanism to accurately complete the width adjustment.

[0140] Furthermore, the control method also includes a method for removing the car bumper from the parking space, such as... Figure 10 As shown, the specific steps include:

[0141] Step c1: The control unit receives the external outbound request instruction through the wireless communication module and collects data such as the target location, target height, car bumper width, and number of car bumpers to be outbound.

[0142] Step c2: The control unit searches the storage for inventory information and determines whether the outbound demand instruction is met. If yes, it plans a driving route based on the target location data, issues a driving instruction to the driving unit, and executes step c3. If no, it remains in standby mode.

[0143] Step c3: After receiving the driving instruction, the driving unit starts from the parking space and gradually moves to the target location, and aligns the entrance of the cache library with the input platform at the target location;

[0144] Step c4: The control unit determines whether the target height is consistent with the height of the storage location based on the floor number of the storage location. If yes, proceed to step c5; otherwise, send a request for help through the wireless communication module to mobilize personnel or robots for transfer assistance.

[0145] Step c5: The control unit starts the electric conveyor belt at the warehouse location and simultaneously sends a handover command to the outside via the wireless communication module to synchronize the start of the input platform at the target location.

[0146] Step c6: The control unit simultaneously sends a downward movement command to the telescopic motors of the two telescopic rod devices closest to the outlet of the buffer warehouse in the conveyor group where the warehouse is located; after the telescopic rods of these two telescopic rod devices move downward, the first car bumper to be out of the warehouse moves out of the warehouse to the input platform at the target position under the drive of the electric conveyor belt, and the number in the warehouse decreases by one, thus achieving the purpose of first-in-first-out.

[0147] Step c7: After receiving a successful receiving signal from the input platform at the target location via the wireless communication module, the control unit simultaneously sends a downward movement command to the two telescopic motors closest to the buffer warehouse exit. After the telescopic rods of these two telescopic rod devices move downward, the next car bumper to be shipped out moves out to the input platform at the target location under the drive of the electric conveyor belt, reducing the number in stock by one. This process is repeated iteratively until the number in stock is zero, completing the car bumper shipping operation. The control unit simultaneously sends a reset command to the telescopic motors of the two telescopic rod devices closest to the buffer warehouse exit in the conveyor group where the stocked position is located, causing the telescopic rods to move upward to their initial positions. The control unit stores the shipping completion information in the memory and transmits it externally via the wireless communication module.

[0148] Step c8: The control unit plans a return route based on the parking space location information and sends a driving command to the driving unit;

[0149] Step c9: After receiving the driving instruction, the driving unit gradually drives to the parking space.

[0150] Step c10: The control unit synchronously starts the first conveyor group that has just completed the outbound operation and the second conveyor group connected to it;

[0151] Step c11: If the control unit detects that there are still car bumpers in the first conveyor group, it simultaneously sends a downward movement command to the two telescopic rod devices located at the position of the car bumper closest to the exit. After these two telescopic rods move downward, the car bumper moves to the end of the first conveyor group and is stopped by the last pair of telescopic rod devices under the drive of the electric conveyor belt. After receiving the limit switch signal of the pair of telescopic rod devices, the control unit sends a reset command to the telescopic motor of the next pair of telescopic rod devices. At this time, the next pair of telescopic rods moves upward and resets. Step c11 is executed iteratively until the forward movement operation of all car bumpers in the first conveyor group is completed, and then step c12 is executed. If the control unit detects that there are no car bumpers in the first conveyor group, step c12 is executed directly.

[0152] Step c12: The control unit simultaneously issues a downward movement command to the two telescopic rod devices in the second conveyor group that are closest to the first conveyor group; after these two telescopic rods move down, the car bumpers at that location are transferred from the second conveyor group to the first conveyor group by the electric conveyor belt; step c12 is executed iteratively until all car bumpers in the second conveyor group have completed the forward movement operation, and then the second conveyor group and the first conveyor group are shut down.

[0153] Using the above method, the forward movement operation in the cache can be automatically completed during the parking and waiting time of the car bumper transfer robot, preparing for subsequent inbound or outbound operations and improving efficiency.

[0154] Furthermore, the control method also includes machine vision detection methods, such as... Figure 11 As shown, the specific steps include:

[0155] Step d1: Collect image data of car bumper appearance defects, and construct a training set and a test set; train the neural network model using the training set; test the neural network model using the test set to obtain a neural network model that can identify car bumper appearance defects.

[0156] Step d2: Store the neural network model in the memory of the control unit;

[0157] Step d3: Use the camera in the machine vision inspection unit to collect the image data of the car bumper to be tested from the cache library;

[0158] Step d4: The control unit calls the neural network model, inputs the image data to be tested into the neural network model, and outputs the defect identification result;

[0159] Step d5: The control unit stores the inventory information of the car bumpers and the corresponding defect identification results in the memory, and then transmits them to the outside via the wireless communication module.

[0160] Through the above steps, defects in car bumpers in robots can be automatically identified, such as bumps, scratches, burrs, excess material, insufficient material, abnormal weld lines, and other appearance quality defects. It can also identify defects such as reversed material placement and incorrect material placement, and send the defect identification results out to prevent car bumpers with quality problems from being transferred to the next process.

[0161] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A car bumper transport robot, characterized in that, Includes the driving unit, cache library, and control unit: The driving unit is used to automatically drive and stop according to instructions; The buffer tank is located on the upper part of the traveling unit, including an inlet and an outlet, with an electric conveyor belt device and a width adjustment mechanism between them; two electric conveyor belt devices are arranged in parallel and symmetrically to form a first conveying group; the body of each electric conveyor belt device is movably connected to the frame of the buffer tank, and the width adjustment mechanism is located between the two electric conveyor belt devices to adjust the lateral spacing between the two electric conveyor belt devices. The control unit is located outside the frame of the cache library and includes a memory, a processor, a wireless communication module, and a display screen. The driving unit and the cache are respectively electrically connected to the control unit; Several telescopic rod devices are installed beside the belt of the electric conveyor belt device. The telescopic rod devices are electrically connected to the control unit. Each telescopic rod device includes a telescopic rod, a limit switch, and a telescopic motor. The limit switch is used to send a signal when it contacts the car bumper. The telescopic motor is used to extend or retract the telescopic rod according to the command. An auxiliary conveying device is also provided at one end of the electric conveyor belt device near the outlet, including an auxiliary rod, an eccentric block, and a limiting pin; the eccentric block is rotatably mounted next to the belt and is in a vertical state under the action of gravity; the auxiliary rod is located on the top of the eccentric block and can be touched by the car bumper; the limiting pin is fixed to one side of the eccentric block and is used to limit the rotation of the eccentric block to a horizontal angle; The robot control method includes a car bumper parking method, the specific steps of which include: Step a1: The control unit receives the external inbound request instruction through the wireless communication module and collects the target location, target height, car bumper width and the number of car bumpers to be inbound. Step a2: The control unit detects whether there are remaining storage spaces in the cache via the telescopic rod device. If yes, it plans a driving route based on the target location data, issues a driving command to the driving unit, and executes step a3. If no, it remains in standby mode. Step a3: After receiving the driving instruction, the driving unit starts from the parking space and gradually moves to the target location, and aligns the entrance of the cache library with the output platform at the target location; Step a4: The control unit determines whether the target height is consistent with the height of the remaining storage locations based on the number of floors where the remaining storage locations are located. If yes, then proceed to step a5; otherwise, send a request for help through the wireless communication module to mobilize transfer personnel or transfer robots for transfer assistance. Step a5: Based on the width of the car bumper, the control unit adjusts the width of the remaining storage space through the width adjustment mechanism corresponding to the remaining storage space until it meets the requirements; Step a6: The control unit starts the electric conveyor belt of the remaining storage space and simultaneously sends a handover command to the outside via the wireless communication module to enable the output platform at the target location to start synchronously until the control unit receives the signal from the telescopic rod device at the remaining storage space; based on the number of car bumpers entering the storage, the car bumper storage operation is completed; the control unit stores the storage completion information in the memory and sends it out via the wireless communication module. Step a7: The control unit plans a return route based on the parking space location information and sends a driving command to the driving unit; Step a8: After receiving the driving instruction, the driving unit gradually drives to the parking space.

2. The robot according to claim 1, characterized in that, The driving unit includes a vehicle body, electric drive wheels, wireless power supply device, navigation sensor, positioning sensor, shock absorption mechanism, and support wheels.

3. The robot according to claim 1, characterized in that, The width adjustment mechanism includes a servo motor, a first turntable, a connecting rod, a guide rail slider mechanism, a synchronous belt mechanism, and an encoder. The servo motor and the body of the first turntable are both fixed to the frame of the cache library; The output shaft of the servo motor is connected to the input shaft of the first turntable. The first turntable has two hinge positions evenly distributed in the circumference. Each hinge position is hinged to the body of an electric conveyor belt device through a connecting rod. The body of the electric conveyor belt device is also fixed to the slider of the guide rail slider mechanism, and the guide rail of the guide rail slider mechanism is fixed to the frame of the buffer. The main body of the synchronous belt mechanism is fixed to the frame of the buffer library, and the synchronous belt of the synchronous belt mechanism is connected to the slider through a connecting block; the encoder is set on a synchronous pulley of the synchronous belt mechanism; the encoder and the servo motor are electrically connected to the control unit respectively.

4. The robot according to claim 3, characterized in that, The cache library also includes a second delivery group, which is connected to the first delivery group; The width adjustment mechanism also includes a second turntable, which is disposed between the two electric conveyor belt devices of the second conveying group. The body of the second turntable is fixed to the frame of the buffer. The second turntable has four hinge positions evenly distributed in the circumference: two hinge positions spaced apart are connected to the first turntable through connecting rods to form a parallelogram mechanism; the other two hinge positions spaced apart are connected to the bodies of the two electric conveyor belt devices in the second conveying group through connecting rods. In the second conveying group, the main body of the electric conveyor belt device is fixed on the slider of a plurality of guide rail slider mechanisms, and the guide rails of the plurality of guide rail slider mechanisms are fixed on the frame of the buffer library.

5. The robot according to claim 4, characterized in that, The cache library has a multi-layer structure, and each layer includes multiple delivery groups.

6. The robot according to claim 1, characterized in that, The control method also includes a width adjustment compensation method, the specific steps of which include: Step b1: The processor in the control unit, based on the width dimension (KG) of the car bumper to be put into storage, retrieves the conveyor belt width comparison data from the memory and searches for the corresponding servo motor rotation data (KD). Step b2: The processor outputs the servo motor rotation data KD to the servo motor; and based on the servo motor rotation data KD and the turntable diameter DZ, calculates the theoretical displacement KL of the electric conveyor belt using the circumference calculation formula. The specific formula is as follows: KL = KD × π × DZ; Step b3: The servo motor rotates based on the servo motor rotation data KD, adjusts the spacing of the electric conveyor belt device, and drives the synchronous belt mechanism to operate simultaneously. Step b4: After the servo motor stops rotating, the encoder on the synchronous belt mechanism feeds back the revolution count data QT to the processor; the processor calculates the actual displacement KS of the electric conveyor belt according to the circumference calculation formula and the diameter DT of the synchronous belt pulley. The specific formula is as follows: KS=QT×π×DT; Step b5: The processor calculates the difference ΔK between the actual displacement KS and the theoretical displacement KL, using the following formula: ΔK = KS - KL; Step b6: The processor, based on the difference ΔK, calculates the servo motor compensation data KB using the circumference calculation formula. The specific formula is as follows: KB = ΔK / (π × DZ); Step b7: The processor outputs the servo motor compensation data KB to the servo motor for compensation operation, iteratively executing step b4 until ΔK is zero; wherein, when KB is positive and the servo motor is inverted, it means that the output shaft of the servo motor needs to rotate counterclockwise by KB turns; when KB is negative and the servo motor is inverted, it means that the output shaft of the servo motor needs to rotate clockwise by KB turns.

7. The robot according to claim 1, characterized in that, The control method also includes a method for removing a car bumper from a parking space, the specific steps of which include: Step c1: The control unit receives the external outbound demand command through the wireless communication module and collects the target location, target height, car bumper width and outbound quantity of the car bumper. Step c2: The control unit searches the storage for inventory information and determines whether the outbound demand instruction is met. If yes, it plans a driving route based on the target location data, issues a driving instruction to the driving unit, and executes step c3. If no, it remains in standby mode. Step c3: After receiving the driving instruction, the driving unit starts from the parking space and gradually moves to the target location, and aligns the entrance of the cache library with the input platform at the target location; Step c4: The control unit determines whether the target height is consistent with the height of the storage location based on the floor number of the storage location. If yes, proceed to step b5; otherwise, send a request for help through the wireless communication module to mobilize personnel or robots for transfer assistance. Step c5: The control unit starts the electric conveyor belt at the warehouse location and simultaneously sends a handover command to the outside via the wireless communication module to synchronize the start of the input platform at the target location. Step c6: The control unit simultaneously sends a downward movement command to the telescopic motors of the two telescopic rod devices closest to the outlet of the buffer warehouse in the conveyor group where the warehouse is located; after the telescopic rods of these two telescopic rod devices move downward, the car bumper to be out of the warehouse moves out of the warehouse to the input platform at the target position under the drive of the electric conveyor belt, and the number in the warehouse decreases by one. Step c7: After receiving a successful receiving signal from the input platform at the target location via the wireless communication module, the control unit simultaneously sends a downward movement command to the two telescopic motors closest to the buffer warehouse exit. After the telescopic rods of these two telescopic rod devices move downward, the next car bumper to be shipped out moves out to the input platform at the target location under the drive of the electric conveyor belt, reducing the number in stock by one. This process is repeated iteratively until the number in stock is zero, completing the car bumper shipping operation. The control unit simultaneously sends a reset command to the telescopic motors of the two telescopic rod devices closest to the buffer warehouse exit in the conveyor group where the stocked position is located, causing the telescopic rods to move upward to their initial positions. The control unit stores the shipping completion information in the memory and transmits it externally via the wireless communication module. Step c8: The control unit plans a return route based on the parking space location information and sends a driving command to the driving unit; Step c9: After receiving the driving instruction, the driving unit gradually drives to the parking space.

Images