A fully automatic feeding and conveying device

Abstract

This invention relates to the field of machining technology, specifically to a fully automatic feeding and conveying device comprising a horizontal structure, a lifting structure, a conveying monitoring structure, and an identification and control structure. The identification and control structure includes an identification and determination component and a control assembly. The identification and determination component identifies the monitoring results acquired by the conveying monitoring structure and determines the irregularity level of the raw material's shape based on the identified monitoring data, issuing various adjustment signals or alarm signals. The control assembly controls the various components of the fully automatic feeding and conveying device based on the adjustment signals and alarm signals received from the identification and determination component. This invention achieves precise positioning of the raw material, improves the conveying efficiency of the raw material from the original material location to the second target location, ensures safety during the conveying process, and enables efficient, accurate, and automated feeding operations.

Description

Technical Field

[0001] This invention relates to the field of machining technology, and in particular to a fully automatic feeding and conveying device. Background Technology

[0002] In machining, machine tool processing is a conventional processing method. Currently, the loading and fixing of workpieces in machine tool processing is still done manually, or through semi-automated conveying with manual assistance. Especially in the process from the loading trolley to the target point, manual handling is mostly used. Manual operation is slow, inefficient, and labor-intensive. With social development, labor costs are constantly rising, which further increases the production costs of factories with assembly line operations, making it difficult for enterprises to survive in fierce competition. This necessitates the improvement of assembly lines to minimize the number of workers. For the feeding devices on the assembly line, which used to be done manually for loading and unloading, these simple actions can be completed automatically by simple structures. Therefore, it is necessary to improve and design the feeding devices on the assembly line.

[0003] Chinese Patent Publication No. CN109158047A discloses an automatic feeding device for a semi-automatic canning machine. The feeding device includes a moving plate with a feeding trough on it. The side of the feeding trough near the first storage tank coincides with one side of the moving plate. A hinge shaft is provided along the length of one side of the feeding trough on the side of the feeding trough that coincides with the moving plate. A seat is provided on the moving plate at both ends of the hinge shaft. The hinge shaft is rotatably connected to the seat. A first driving member is provided on the platform to drive the moving plate to move the feeding trough vertically toward the feeding trough. A second driving member is provided on the moving plate to drive the feeding trough to rotate at the hinge point on the moving plate. The first and second driving members pour the mixture of chili peppers and chili oil in the feeding trough into the feeding port.

[0004] Current automatic feeding devices still require manual assistance, resulting in low feeding efficiency and an inability to guarantee feeding accuracy. Summary of the Invention

[0005] Therefore, the purpose of this invention is to provide a fully automatic feeding and conveying device to overcome the problems of current automatic feeding devices still requiring manual assistance, resulting in low feeding efficiency and inability to guarantee feeding accuracy.

[0006] To achieve the above objectives, the present invention provides a fully automatic feeding and conveying device, comprising:

[0007] A horizontal structure is used to transfer raw materials from the raw material point to the first target point;

[0008] A horizontal structure is used to transfer raw materials from the raw material point to the first target point;

[0009] A lifting structure is used to transport the raw material from the first target point to the second target point;

[0010] A transmission monitoring structure is used to monitor the process of the raw material being transmitted from the raw material location to the second target location, and to obtain the appearance of the raw material, the placement position of the raw material, the weight of the raw material, and the actual distance when the raw material deviates.

[0011] Identify the control structure, which includes identifying and determining components and control assemblies.

[0012] The identification and determination component is used to identify the monitoring results obtained by the transmission monitoring structure, and to determine the irregularity level of the raw material shape based on the identified monitoring data and to issue various adjustment signals or alarm signals.

[0013] The control assembly is connected to the horizontal structure, the lifting structure, the conveying monitoring structure, and the identification and determination component, respectively. The control assembly controls each component of the fully automatic feeding and conveying device according to the adjustment signals and alarm signals sent by the identification and determination component, thereby determining the conveying offset level of the raw material, the actual conveying rate of the raw material, the actual gripping force on the raw material, and the final actual number of components that grip the raw material during the fully automatic feeding and conveying process.

[0014] Wherein, the first target point is the endpoint of the horizontal conveyance of the raw material;

[0015] The second target point is the final target location reached by the raw material after being conveyed horizontally and transported vertically.

[0016] Furthermore, the horizontal structure includes,

[0017] The conveying assembly includes a lateral conveying unit and a raw material holding unit, wherein the raw material holding unit is used to hold the required raw materials, and the lateral conveying unit is used to provide a conveying track for conveying the raw materials from the raw material point to the first target point.

[0018] A conveyor drive assembly is used to provide the power required to convey the raw material from the raw material point to the first target point.

[0019] Furthermore, the lifting structure includes,

[0020] The grasping and placing component includes several output units and several output execution units. The output units are used to grasp the raw materials placed on the raw material holding unit, or to swing their position, and to classify the grasping friction level according to the different numbers of protrusions on their grasping surfaces. The output execution units are used to transport the raw materials grasped by the output units from the first target point to the second target point.

[0021] A lifting drive assembly is used to provide the power required to transport the raw materials from the first target location to the second target location.

[0022] Furthermore, the transmission monitoring structure includes an image monitor, a gravity sensor, and a laser rangefinder.

[0023] The image monitor is used to monitor the appearance and placement of the raw materials on the raw material holding unit in real time.

[0024] The gravity sensor is used to obtain the weight of the raw material placed on the raw material holding unit;

[0025] The laser rangefinder is used to measure the distance difference between the initial position and the offset position of the raw material.

[0026] Furthermore, the image monitor acquires an initial image of the raw materials at the initial moment of feeding;

[0027] The identification and determination component identifies the initial raw material image and determines the actual volume-to-surface ratio of the raw material;

[0028] The gravity sensor obtains the actual weight of the raw material;

[0029] The control assembly determines the initial gripping force of the output unit and the initial number of output execution units to be used based on the actual body surface ratio and the actual weight.

[0030] Furthermore, the identification and determination component is equipped with a monitoring cycle and theoretically feasible locations;

[0031] The identification and determination component identifies the real-time position of the raw material at different monitoring times according to the monitoring cycle, and determines the offset level of the raw material at different monitoring times based on the theoretically feasible point and its fixed length of different multiples, and issues a first adjustment signal or a first alarm signal.

[0032] Furthermore, the identification and determination component is equipped with an offset distance evaluation value;

[0033] The identification and determination component determines the geometric center point of the raw material at different monitoring times;

[0034] The laser rangefinder can measure the actual distance between the geometric center point and the theoretically feasible point.

[0035] The identification and determination component determines the actual conveying rate of the raw material based on the actual distance and the offset distance evaluation value.

[0036] Furthermore, the control assembly can control the output unit to swing the position of the raw material during the process of being transferred from the raw material point to the first target point according to the first adjustment signal;

[0037] The control assembly can control the fully automatic feeding and conveying device to stop based on the first alarm signal.

[0038] Furthermore, when the raw material is located at the first target point, the image monitor acquires the final image of the raw material;

[0039] The identification and determination component is equipped with a standard raw material model.

[0040] The identification and determination component can obtain the number of standard geometric surfaces based on the standard raw material model and the number of actual geometric surfaces based on the final image;

[0041] The identification and determination component determines the shape irregularity level of the raw material based on the absolute value of the first difference, and determines the actual gripping force of the output unit and the actual number of output execution units used based on different shape irregularity levels, or determines the gripping friction level of the output unit.

[0042] Wherein, the absolute value of the first difference is the absolute value of the difference between the number of standard geometric surfaces and the number of actual geometric surfaces.

[0043] Furthermore, the identification and determination component is equipped with a standard grasping area and grasping ratio evaluation range for the output unit;

[0044] The identification and determination component obtains the target grasping area of ​​the raw material based on the final image, calculates the grasping ratio by combining it with the standard grasping area, and determines the actual grasping position of the output unit or the final actual number of output execution units based on the grasping ratio and the grasping ratio evaluation range.

[0045] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention converts electrical energy into mechanical energy through the conveying drive component and the lifting drive component to control the movement of the conveying component and the gripping and placing component. According to the conveying monitoring structure, the posture information and position of the raw material during the conveying process are obtained. The identification and determination component identifies the raw material based on the monitoring data obtained by the conveying monitoring structure and sends out corresponding signals. The control assembly receives the signals sent by the identification and determination component and controls the conveying drive component and the lifting drive component according to the corresponding signals to achieve precise positioning and motion control of the raw material conveying. This improves the conveying efficiency of the raw material from the raw material point to the second target point, ensures the safety of the conveying process, and enables efficient, accurate and automated feeding.

[0046] In particular, by employing linear electric slide modules, robotic arms, and robotic styluses, raw materials can be transported from the initial material location to the second target location. The robotic arms and styluses use electric cylinders to perform various complex movements, enabling precise grasping of raw materials, swinging of misaligned materials, and stable transport of raw materials from the first target location to the second target location. This achieves efficient, accurate, and automated material loading. During machining, using robotic arms and styluses for material loading can improve production efficiency, reduce labor costs, and enhance the stability and consistency of the production line.

[0047] In particular, by obtaining the actual weight of the raw material at the initial moment of feeding, different preset initial gripping forces are determined for raw materials with different actual weights as the initial gripping forces of each robot arm. This avoids the situation where the robot arm fails to grip the raw material due to the imbalance between the actual weight of the raw material and the initial gripping force, thus improving the safety factor in the feeding process. Furthermore, by automatically determining different initial gripping forces for raw materials of different weights, human intervention is reduced and the conveying efficiency of the device is improved.

[0048] In particular, by obtaining the actual surface area ratio of the raw material at the initial moment of feeding, and combining the obtained actual surface area ratio with the actual weight of the raw material, the initial number of robotic arms required to transport the raw material from the first target point to the second target point is determined. For raw materials that are small in volume but heavy in weight, if the initial number of robotic arms is determined only based on the actual surface area ratio, the number of robotic arms determined during the transportation process will be insufficient to transport the raw material from the first target point to the second target point. For raw materials that are large in volume but light in weight, if the initial number of robotic arms is determined only based on the actual weight, the number of robotic arms determined during the transportation process will exceed the required number of robotic arms, resulting in a waste of resources. Therefore, determining the initial number of robotic arms by combining the actual surface area ratio and the actual weight can avoid waste of resources, effectively save energy, and improve the conveying efficiency of the device to a certain extent.

[0049] In particular, by setting theoretically feasible points within the identification and determination component, and drawing circles with fixed lengths of different multiples around these theoretically feasible points as centers, different offset zones are determined. During the transfer of raw materials from the raw material point to the first target point, the identification and determination component acquires the position status of the raw materials at different monitoring times according to its set monitoring cycle. If the raw materials are identified as being in the first-level offset zone, it is determined that the raw materials are being transferred within a safe range. If the raw materials are identified as being in the second-level offset zone, the identification and determination component issues a first adjustment signal to promptly adjust the position of the raw materials in the second-level offset zone, preventing the raw materials from shifting to the third-level offset zone during subsequent transfer, thus ensuring the safety of raw material transportation. If the raw materials are identified as being in the third-level offset zone, the identification and determination component issues a first alarm signal, and timely alarm shutdown effectively prevents economic losses caused by equipment failure due to material falling during the transfer process, thus avoiding the occurrence of dangerous accidents, better mitigating risks, and improving construction efficiency.

[0050] In particular, by using a laser rangefinder to measure the actual distance between the initial center of the raw material and the geometric center of the raw material at different monitoring times, the identification and determination component identifies and analyzes the actual distances obtained to determine whether the offset distance of the raw material during the process of being transferred from the raw material point to the first target point exceeds the tolerance. If the offset distance exceeds the tolerance, the initial conveying rate of the device is adjusted. During the raw material transfer process, the initial conveying rate is adjusted in a timely manner to improve the offset distance tolerance of the raw material, avoid the raw material falling off due to the continued transfer at a high conveying rate when the offset distance exceeds the tolerance, avoid the economic losses caused by the delay in the construction period due to device failure, and improve construction efficiency.

[0051] In particular, by setting a standard raw material model within the identification and determination component, and determining the shape irregularity level of the raw material based on the number of standard geometric surfaces of the acquired standard raw material model and the actual number of geometric surfaces of the identified raw material, the identification and determination module issues different adjustment signals for different shape irregularity levels. The control assembly determines the level of robot to use and the actual gripping force and actual number of robots to be used based on each adjustment signal. This avoids the difficulty in gripping smooth raw materials when using robots with fewer protrusions on the gripping surface. For extremely irregular raw materials, the initial gripping force and initial number of robots to be used are increased, so that the raw material can move stably and safely during the transportation from the first target point to the second target point, reducing human intervention and improving the conveying efficiency of the device. Attached Figure Description

[0052] Figure 1 This is a schematic diagram of the structure of a fully automatic feeding and conveying device according to an embodiment of the invention;

[0053] Figure 2 This is a schematic diagram of the horizontal structure in a fully automatic feeding and conveying device according to an embodiment of the invention;

[0054] Figure 3 This is a schematic diagram of the lifting structure in a fully automatic feeding and conveying device according to an embodiment of the invention;

[0055] Figure 4 This is a schematic diagram of the conveying monitoring structure in a fully automatic feeding and conveying device according to an embodiment of the invention;

[0056] The diagram includes: horizontal structure 1, conveying and monitoring structure 2, lifting structure 3, identification and control structure 4, conveying component 11, conveying drive component 12, grasping and placing component 31, and lifting drive component 32. Detailed Implementation

[0057] To make the objectives and advantages of the present invention clearer, the present invention will be further described below with reference to embodiments; it should be understood that the specific embodiments described herein are merely for explaining the present invention and are not intended to limit the present invention.

[0058] Preferred embodiments of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0059] It should be noted that in the description of this invention, the terms "upper", "lower", "left", "right", "inner", "outer", etc., which indicate directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. This is only for the convenience of description and is not intended to indicate or imply that the device or element must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this invention.

[0060] Furthermore, it should be noted that, in the description of this invention, 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 according to the specific circumstances.

[0061] Please see Figures 1-4 As shown, Figure 1 This is a schematic diagram of the structure of a fully automatic feeding and conveying device according to an embodiment of the invention; Figure 2 This is a schematic diagram of the horizontal structure in a fully automatic feeding and conveying device according to an embodiment of the invention; Figure 3This is a schematic diagram of the lifting structure in a fully automatic feeding and conveying device according to an embodiment of the invention; Figure 4 This is a schematic diagram of the conveying monitoring structure in a fully automatic feeding and conveying device according to an embodiment of the invention.

[0062] This invention provides a fully automatic feeding and conveying device, comprising: a horizontal structure 1, a lifting structure 3, a conveying monitoring structure 2, and an identification and control structure 4.

[0063] The horizontal structure 1 includes,

[0064] The conveying assembly 11 includes a lateral conveying unit and a raw material holding unit. The raw material holding unit is used to hold the required raw materials, and the lateral conveying unit is used to provide a conveying track for conveying the raw materials from the raw material point to the first target point.

[0065] Wherein, the first target point is the endpoint of the horizontal conveyance of the raw material;

[0066] Conveyor drive assembly 12, which provides the power required to convey the raw material from the raw material point to the first target point;

[0067] The lifting structure 3 includes,

[0068] The gripping and placing component 31 includes several output units and several output execution units. The output units are used to grip the raw materials placed on the raw material holding unit, or to swing their position. The several output units are divided into gripping friction levels according to the number of protrusions on their gripping surfaces, including primary output units and secondary output units. The output execution units are used to transport the raw materials gripped by the output units from the first target point to the second target point.

[0069] Wherein, the second target point is the final target position reached by the raw material after being conveyed in the horizontal direction and transported in the vertical direction;

[0070] The lifting drive assembly 32 is used to provide the power required to transport the raw material from the first target point to the second target point;

[0071] The transmission monitoring structure 2 includes an image monitor, a gravity sensor, and a laser rangefinder.

[0072] The image monitor is used to monitor the appearance and placement of the raw materials on the raw material holding unit in real time.

[0073] The gravity sensor is used to obtain the weight of the raw material placed on the raw material holding unit;

[0074] The laser rangefinder is used to measure the distance difference between the initial position and the offset position of the raw material;

[0075] The identification and control structure 4 includes,

[0076] The identification and determination component is used to identify the monitoring results acquired by the transmission monitoring structure 2, and to determine the irregularity level of the raw material shape based on the identified monitoring data and to issue various adjustment signals or alarm signals.

[0077] The control assembly is connected to the conveying component 11, the conveying drive component 12, the gripping and placing component 31, the lifting drive component 32, the conveying monitoring structure 2, and the identification and determination component, respectively. The control assembly controls each component of the fully automatic feeding and conveying device according to the adjustment signals and alarm signals it receives from the identification and determination component, thereby determining the conveying offset level of the raw material, the actual conveying rate of the raw material, the actual gripping force of the output unit, and the final actual number of output execution units used during the fully automatic feeding and conveying process.

[0078] This embodiment converts electrical energy into mechanical energy through a conveying drive component and a lifting drive component, thereby controlling the movement of the conveying component and the gripping and placing component. Based on the posture information and position of the raw material obtained by the conveying monitoring structure, the identification and determination component identifies the raw material based on the monitoring data obtained by the conveying monitoring structure and sends out corresponding signals. The control assembly receives the signals sent by the identification and determination component and controls the conveying drive component and the lifting drive component according to the corresponding signals to achieve precise positioning and motion control of the raw material conveying. This improves the conveying efficiency of the raw material from the raw material point to the second target point, ensures the safety of the conveying process, and enables efficient, accurate and automated feeding.

[0079] In the specific implementation process, a linear electric sliding table module is used to transfer the raw material from the raw material point to the first target point. Of course, other electric sliding devices can also be used, and this embodiment does not make specific limitations.

[0080] The raw material holding unit is a tray-shaped electric slider, and the transverse conveying unit is a plurality of linear guide rails, including a first linear guide rail and a second linear guide rail. The conveying drive assembly 12 is the power device of the linear electric slide module. The power device includes a screw, a screw sleeve, and a conveying motor. The screw and the screw sleeve are threaded together under the action of the conveying motor, driving the electric slider to slide laterally on the first linear guide rail and the second linear guide rail, thereby conveying the raw material from the raw material point to the first target point.

[0081] In the specific implementation process, robotic arms and robotic hands are used to transport the raw materials from the first target point to the second target point. Of course, other gripping and placing devices and other automatic lifting devices can also be used, such as suction cup adsorption devices and electric telescopic rods. This embodiment does not make specific limitations.

[0082] The output unit is the robotic arm, and the robotic arms are divided into primary robotic arms and secondary robotic arms according to the number of protrusions on their gripping surfaces. The primary robotic arm is the robotic arm with a standard number of protrusions on its gripping surface, and the secondary robotic arm is the robotic arm with a larger number of protrusions on its gripping surface. The output execution unit is the robotic arm, and the lifting drive component 32 is an electric cylinder that provides power for the operation of the robotic arm and the gripping and placement of raw materials.

[0083] In this embodiment, a linear electric slide module, a robotic arm, and a robotic blade are used to transport raw materials from the raw material point to the second target point. The robotic arm and robotic blade use electric cylinders to perform various complex movements, thereby enabling precise grasping of raw materials, swinging of deviated raw materials, and stable transport of raw materials from the first target point to the second target point. This achieves efficient, accurate, and automated material loading. In machining, using robotic arms and robotic blades for material loading can improve production efficiency, reduce labor costs, and also improve the stability and consistency of the production line.

[0084] Specifically, in this embodiment, when the raw material is placed on the tray-shaped electric slider, the image monitor acquires an initial image of the raw material at that moment. The identification and determination component identifies the initial raw material image to obtain the actual surface area ratio X of the raw material. The actual weight G of the raw material is obtained based on the gravity sensor. The control assembly determines the initial gripping force F0 of each robotic arm based on the actual weight G.

[0085] When G≤G1, the control assembly selects a first preset initial gripping force F1' as the initial gripping force of each robot arm;

[0086] When G1 < G < G2, the control assembly selects the second preset initial gripping force F2' as the initial gripping force of each robotic arm;

[0087] When G≥G2, the control assembly selects a third preset initial gripping force F3' as the initial gripping force of each robotic arm;

[0088] Wherein, G1 is the first weight evaluation value set within the control assembly, and G2 is the second weight evaluation value set within the control assembly;

[0089] The control assembly is equipped with a first preset initial gripping force F1', a second preset initial gripping force F2', and a third preset initial gripping force F3';

[0090] In specific implementation, if the first weight evaluation value G1=10kg, the second weight evaluation value G2=20kg, the first preset initial gripping force F1'=90N, the second preset initial gripping force F2'=180N, and the third preset initial gripping force F3'=400N, if the gravity sensor obtains the actual weight of the raw material G=16kg, the control assembly determines that the actual weight G is between the first weight evaluation value G1=10kg and the second weight evaluation value G2=20kg, and the control assembly selects the second preset initial gripping force F2'=180N as the initial gripping force of each robot arm;

[0091] In this embodiment, it is assumed that the weight of the raw materials at each raw material point does not exceed 40 kg.

[0092] In this embodiment, the actual weight of the raw material is obtained at the initial moment of feeding. Different preset initial gripping forces are determined for raw materials with different actual weights as the initial gripping forces of each robot arm. This avoids the situation where the robot arm fails to grip the raw material due to the imbalance between the actual weight of the raw material and the initial gripping force, thereby improving the safety factor in the feeding process. Furthermore, the automatic determination of different initial gripping forces for raw materials with different weights reduces human intervention and improves the conveying efficiency of the device.

[0093] Specifically, in this embodiment, the control assembly determines the initial number Y of robotic arms to be used based on the actual surface area ratio X and the actual weight G of the obtained raw material.

[0094] ,

[0095] Wherein, G0 is the standard gripping weight of the raw material when gripped by one of the robotic arms, as set within the control assembly; and X0 is the standard gripping volume ratio of the raw material when gripped by one of the robotic arms, as set within the control assembly.

[0096] Among them, settings, Exceeding real numbers The smallest integer is the specific value of Y1, which exceeds the real number. The smallest integer is the specific value of Y2.

[0097] In practice, the standard grasping weight of the raw material is set at G0 = 10 kg, and the standard grasping surface area ratio of the raw material is... If the actual weight obtained is G=13kg, the actual body surface area obtained is... The control assembly is then adjusted based on the actual weight G=13kg and the actual body surface area ratio. Determine the initial number Y of robotic arms to be used. .

[0098] In this embodiment, the actual surface area ratio of the raw material is obtained at the initial moment of loading. Based on the obtained actual surface area ratio and the actual weight of the raw material, the initial number of robotic arms required to transport the raw material from the first target point to the second target point is determined. For raw materials that are small in volume but heavy in weight, if the initial number of robotic arms is determined only based on the actual surface area ratio, the number of robotic arms determined during the transportation process will be insufficient to transport the raw material from the first target point to the second target point. For raw materials that are large in volume but light in weight, if the initial number of robotic arms is determined only based on the actual weight, the number of robotic arms determined during the transportation process will exceed the required number of robotic arms, resulting in a waste of resources. Therefore, determining the initial number of robotic arms by using both the actual surface area ratio and the actual weight can avoid waste of resources, effectively save energy, and improve the conveying efficiency of the device to a certain extent.

[0099] Specifically, in this embodiment, the identification and determination component is equipped with a monitoring cycle T. During the process of the raw material being transferred from the raw material location to the first target location, the image monitor performs real-time monitoring of the position of the raw material on the pallet-shaped electric slider during the transfer. After each monitoring cycle T, the identification and determination component identifies the real-time image acquired by the image monitor and determines the level of positional deviation of the raw material during the transfer process.

[0100] The identification and determination component has theoretically feasible points set within it. At the initial moment of transmission, the component draws circles with these theoretically feasible points as centers and radii of fixed length L0, twice the fixed length L0, and three times the fixed length L0, sequentially to determine different offset regions, including first-level offset regions, second-level offset regions, and third-level offset regions.

[0101] If the raw material is detected to be located in the first-level offset area, the identification and determination component determines it to be a first-level offset. The offset of the raw material during the conveying process is within a safe range and there is no need to adjust its position.

[0102] If the raw material is detected to be located in the secondary offset region, the identification and determination component determines it to be a secondary offset and issues a first adjustment signal to adjust its position.

[0103] If the raw material is detected to be located in the third-level offset area, the identification and determination component determines that it is a third-level offset, and the offset of the raw material during the conveying process is not within the safe range, and issues a first alarm signal.

[0104] This embodiment identifies and determines different offset zones by setting theoretically feasible points within the identification and determination component. Using these points as centers, circles of varying fixed lengths are drawn sequentially. During the material transport from the material point to the first target point, the identification and determination component acquires the material's position at different monitoring times according to its set monitoring cycle. If the material is detected in a first-level offset zone, it is determined that the material is being transported within a safe range. If it is detected in a second-level offset zone, the component issues a first adjustment signal to promptly adjust the position of the material in the second-level offset zone, preventing it from shifting to the third-level offset zone during subsequent transport, thus ensuring the safety of material transportation. If the material is detected in a third-level offset zone, the component issues a first alarm signal, triggering a timely alarm and shutdown. This effectively prevents economic losses caused by equipment malfunctions due to material falling during transport, thus avoiding dangerous accidents, better mitigating risks, and improving construction efficiency.

[0105] Specifically, in this embodiment, the initial position of the raw material on the tray-shaped electric slider is the center of the first-level offset area. During the process of the raw material being transferred from the raw material point to the first target point, the image monitor monitors the position of the raw material in real time. The identification and determination component determines the position of the geometric center point of the raw material at different monitoring times according to the monitoring period T, and measures the actual distance L between the theoretically feasible point and the geometric center point according to the laser rangefinder.

[0106] Wherein, the initial position is the position state in which the geometric center point of the raw material coincides with the theoretically feasible point;

[0107] If L≤L', the identification and determination component determines that the offset distance of the raw material during the conveying process is within tolerance, and there is no need to adjust the initial conveying rate of the raw material.

[0108] If L > L', the identification and determination component determines that the offset distance of the raw material during the conveying process exceeds the tolerance and issues a second adjustment signal;

[0109] Wherein, L' is the offset distance evaluation value set within the identification and determination component.

[0110] In the specific implementation process, the offset distance evaluation value L'=30cm is set. If the actual distance L=50cm measured by the laser rangefinder based on the theoretical feasible point and geometric center point determined by the identification and determination component is greater than the offset distance evaluation value L'=30cm, then the identification and determination component determines that the offset distance of the raw material in the conveying process has exceeded the tolerance and issues a second adjustment signal.

[0111] Specifically, in this embodiment, the control assembly controls the robotic arm to swing the robotic hand around the raw material according to the first adjustment signal, so that the raw material is restored to the safe offset range and the material is transferred from the raw material point to the first target point.

[0112] The control assembly adjusts the initial conveying rate of the raw material according to the second adjustment signal to determine the actual conveying rate of the raw material;

[0113] The control assembly controls the fully automatic feeding and conveying device to stop based on the first alarm signal.

[0114] In this embodiment, a laser rangefinder measures the actual distance between the initial center of the raw material and the geometric center of the raw material at different monitoring times. The identification and determination component identifies and analyzes the acquired actual distance to determine whether the offset distance of the raw material during the process of being transported from the raw material point to the first target point exceeds the tolerance. If the offset distance exceeds the tolerance, the initial conveying rate of the device is adjusted. During the raw material transport process, the initial conveying rate is adjusted in a timely manner to improve the offset distance tolerance of the raw material, avoid the raw material falling off due to the continued transport at a high conveying rate when the offset distance exceeds the tolerance, avoid the economic losses caused by the delay in the construction period due to device failure, and improve construction efficiency.

[0115] Specifically, in this embodiment, the identification and determination component is equipped with a standard raw material model. The standard raw material model is identified to obtain the number of standard geometric surfaces H0 of the standard raw material. When the raw material reaches the first target point, the image monitor obtains the final image of the raw material at that location. The identification and determination component identifies the final image to determine the actual number of geometric surfaces H of the raw material, and determines the shape irregularity level of the raw material based on the number of standard geometric surfaces H0 and the number of actual geometric surfaces H.

[0116] The identification and determination component calculates the absolute value of the first difference S1 based on the number of standard geometric surfaces H0 and the actual number of geometric surfaces H, where S1 = |H0 - H|.

[0117] If S1 > S10 and H0 > H, then the identification and determination component determines that the irregularity level of the raw material shape is level one, and issues a third adjustment signal;

[0118] If S1≤S10, then the identification and determination component determines that the shape irregularity level of the raw material is level two;

[0119] If S1 > S10 and H0 < H, then the identification and determination component determines that the irregularity level of the raw material shape is level three and issues a fourth adjustment signal;

[0120] Wherein, S10 is the shape irregularity level evaluation value set within the identification and determination component;

[0121] In the specific implementation process, the number of standard geometric surfaces of the standard raw material model is set to H0=6, and the set shape irregularity level evaluation value is S10=2. When the identification and determination component determines the actual number of geometric surfaces of the raw material to be H=8, the absolute value of the first difference is calculated based on the number of standard geometric surfaces H0 and the number of actual geometric surfaces H=8: S1=|6-8|=2. The absolute value of the first difference S1=2 is equal to the shape irregularity level evaluation value S10=2. Therefore, the identification and determination component determines the shape irregularity level of the raw material to be level two.

[0122] Specifically, in this embodiment, the control assembly adjusts the initial gripping force of each robotic arm and the initial number of robotic arms used according to the acquired fourth adjustment signal, so as to obtain the actual gripping force and the actual number of robotic arms used.

[0123] The control assembly determines, based on the third adjustment signal, to use the secondary robotic arm when gripping the raw material with an irregular shape level of one.

[0124] In this embodiment, a standard raw material model is set within the identification and determination component. The irregularity level of the raw material shape is determined based on the number of standard geometric surfaces of the acquired standard raw material model and the actual number of geometric surfaces of the identified raw material. For different irregularity levels, the identification and determination module sends different adjustment signals. The control assembly determines the level of the robotic arm to be used and the actual gripping force and actual number of robotic arms to be used based on each adjustment signal. This avoids the difficulty in gripping smooth raw materials when using a robotic arm with fewer protrusions on the gripping surface. For extremely irregular raw materials, the initial gripping force and initial number of robotic arms are increased, so that the raw material can move stably and safely during the transportation from the first target point to the second target point, reducing human intervention and improving the conveying efficiency of the device.

[0125] Specifically, in this embodiment, the identification and determination component identifies the target grasping position of each robotic arm based on the final image acquired by the image monitor, and obtains the target grasping area of ​​each target grasping position. For any robotic arm, the identification and determination module calculates the grasping ratio M' of the robotic arm based on its corresponding target grasping area M1 and the standard grasping area M2 on the grasping surface of the robotic arm.

[0126] If Mmin'≤M'≤Mmax', then the identification and determination component determines that the robotic arm can grasp the raw material;

[0127] If M' < Mmin', the identification and determination component determines that the robot cannot grasp the raw material and issues a fifth adjustment signal to change the target grasping position corresponding to the robot and determine the actual grasping position;

[0128] If M' > Mmax', the identification and determination component determines that the robotic arm cannot hold the raw material firmly and issues a sixth adjustment signal to further adjust the actual number of robotic arms used to obtain the final actual number of robotic arms used.

[0129] The identification and determination module is equipped with a crawling ratio evaluation range [Mmin', Mmax'], where Mmin' is the lowest crawling ratio evaluation value and Mmax' is the highest crawling ratio evaluation value.

[0130] The calculation compensation parameters and calculation adjustment parameters described in this invention serve two purposes: first, to balance the left and right dimensions of the formula; and second, to adjust the numerical results. In this embodiment, no specific values ​​are assigned. Furthermore, in this embodiment, each calculation formula is used to intuitively reflect the adjustment relationship between the values, such as positive correlation or negative correlation. Unless otherwise specified, the values ​​of parameters that are not specifically limited are all taken as positive.

[0131] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the scope of protection of the present invention.

[0132] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A fully automatic feeding and conveying device, characterized in that, include, A horizontal structure, used to transfer raw materials from the raw material point to the first target point, includes, The conveying assembly includes a lateral conveying unit and a raw material holding unit, wherein the raw material holding unit is used to hold the required raw material, and the lateral conveying unit is used to provide a conveying track for conveying the raw material from the raw material point to the first target point. A lifting structure for conveying the raw material from the first target point to the second target point; the lifting structure includes... The gripping and placing component includes several output units and several output execution units. The output units are used to grip the raw materials placed on the raw material holding unit, or to swing the position of the raw materials. The gripping friction level is divided according to the number of protrusions on the gripping surface. A transmission monitoring structure is used to monitor the process of the raw material being transferred from the raw material location to the second target location, and to obtain the appearance of the raw material, the placement position of the raw material, the weight of the raw material, and the actual distance when the raw material deviates. The transmission monitoring structure includes an image monitor, a gravity sensor, and a laser rangefinder. Identify the control structure, which includes identifying and determining components and control assemblies. The identification and determination component is used to identify the monitoring results obtained by the transmission monitoring structure, and to determine the irregularity level of the raw material shape based on the identified monitoring data and to issue various adjustment signals or alarm signals. The identification and determination component is equipped with a monitoring cycle and theoretically feasible points. The identification and determination component identifies the real-time position of the raw material at different monitoring times according to the monitoring cycle, and determines the offset level of the raw material at different monitoring times based on the theoretically feasible point and its fixed length of different multiples, and issues a first adjustment signal or a first alarm signal. The control assembly is connected to the horizontal structure, the lifting structure, the conveying monitoring structure, and the identification and determination component, respectively. The control assembly controls each component of the fully automatic feeding and conveying device according to the adjustment signals and alarm signals sent by the identification and determination component, thereby determining the conveying offset level of the raw material, the actual conveying rate of the raw material, the actual gripping force on the raw material, and the final actual number of components that grip the raw material during the fully automatic feeding and conveying process. Wherein, the first target point is the endpoint of the horizontal conveyance of the raw material; The second target point is the final target location reached by the raw material after being conveyed horizontally and transported vertically; The identification and determination component is equipped with an offset distance evaluation value; The identification and determination component determines the geometric center point of the raw material at different monitoring times; The laser rangefinder can measure the actual distance between the geometric center point and the theoretically feasible point. The identification and determination component determines the actual conveying rate of the raw material based on the actual distance and the offset distance evaluation value; The control assembly can control the output unit to swing the position of the raw material during the process of the raw material being transferred from the raw material point to the first target point according to the first adjustment signal; The control assembly can control the fully automatic feeding and conveying device to stop based on the first alarm signal; When the raw material is located at the first target point, the image monitor acquires the final image of the raw material; The identification and determination component is equipped with a standard raw material model. The identification and determination component can obtain the number of standard geometric surfaces based on the standard raw material model and the number of actual geometric surfaces based on the final image; The identification and determination component determines the shape irregularity level of the raw material based on the absolute value of the first difference, and determines the actual gripping force of the output unit and the actual number of output execution units used based on different shape irregularity levels, or determines the gripping friction level of the output unit. Wherein, the absolute value of the first difference is the absolute value of the difference between the number of standard geometric surfaces and the number of actual geometric surfaces.

2. The fully automatic feeding and conveying device according to claim 1, characterized in that, The horizontal structure also includes, A conveyor drive assembly is used to provide the power required to convey the raw material from the raw material point to the first target point.

3. The fully automatic feeding and conveying device according to claim 2, characterized in that, The output execution unit is used to transport the raw materials grabbed by the output unit from the first target location to the second target location; A lifting drive assembly is used to provide the power required to transport the raw materials from the first target location to the second target location.

4. The fully automatic feeding and conveying device according to claim 3, characterized in that, The image monitor is used to monitor the appearance and placement of the raw materials on the raw material holding unit in real time. The gravity sensor is used to obtain the weight of the raw material placed on the raw material holding unit; The laser rangefinder is used to measure the distance difference between the initial position and the offset position of the raw material.

5. The fully automatic feeding and conveying device according to claim 4, characterized in that, The image monitor acquires the initial raw material image at the initial moment of feeding; The identification and determination component identifies the initial raw material image and determines the actual volume-to-surface ratio of the raw material; The gravity sensor obtains the actual weight of the raw material; The control assembly determines the initial gripping force of the output unit and the initial number of output execution units to be used based on the actual body surface ratio and the actual weight.

6. The fully automatic feeding and conveying device according to claim 5, characterized in that, The identification and determination component is equipped with the standard grasping area and grasping ratio evaluation range of the output unit; The identification and determination component obtains the target grasping area of ​​the raw material based on the final image, calculates the grasping ratio by combining it with the standard grasping area, and determines the actual grasping position of the output unit or the final actual number of output execution units based on the grasping ratio and the grasping ratio evaluation range.

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