Automated material transfer system

Abstract

The present invention relates to the technical field of material transfer, and specifically to an automated material transfer system, comprising a transmission device corresponding to each processing station and a transfer device for receiving materials to be transferred on the transmission device; the transfer device comprises a main control mechanism, a moving mechanism and a transfer mechanism; the moving mechanism comprises a walking wheel, a driving motor and a steering motor, and the driving motor and the steering motor are both connected to the walking wheel power; the transfer mechanism comprises a collection platform and a transmission module arranged on the collection platform; the transmission module is used to receive materials to be transferred on the transmission device corresponding to each processing station; the main control mechanism comprises a controller and a wireless communication module; the controller is electrically connected to the wireless communication module, the driving motor, the steering motor and the transmission module; the controller is used to receive control instructions issued by a host computer through the wireless communication module, and the controller is used to control the opening and closing of the transmission module, the driving motor and the steering motor according to the received control instructions.

Description

Technical Field

[0001] The present invention relates to the technical field of material transfer, and in particular to an automatic material transfer system. Background Art

[0002] With the rapid development of modern manufacturing, automation and intelligence have become key means to improve production efficiency and reduce operating costs. Especially in the material transfer process, traditional manual handling methods can no longer meet the needs of efficiency, accuracy and safety.

[0003] Traditional manual handling relies on manpower, which is not only slow but also prone to human errors, leading to interruptions in the production process. Manual operations are highly uncertain and are easily affected by factors such as fatigue and distraction, resulting in inaccurate placement or damage of materials. In complex factory environments, manual handling increases the risk of safety accidents.

[0004] Based on this, there is an urgent need for an automated material transfer system that can realize the automated transfer of products at processing stations, greatly improving transfer efficiency and transfer safety. Summary of the invention

[0005] One of the purposes of the present invention is to provide an automated material transfer system that can realize the automated transfer of products at processing stations, thereby greatly improving transfer efficiency and transfer safety.

[0006] In order to achieve the above-mentioned object, an automated material transfer system is provided, comprising a transmission device corresponding to each processing station and a transfer device for receiving materials to be transferred on the transmission device;

[0007] The transfer device comprises a main control mechanism, a moving mechanism and a transfer mechanism arranged above the moving mechanism;

[0008] The mobile mechanism includes a walking wheel, a driving motor and a steering motor, wherein the driving motor and the steering motor are both connected to the walking wheel power, the driving motor is used to drive the walking wheel to rotate, and the steering motor drives the walking wheel to turn;

[0009] The transfer mechanism includes a collection platform and a transmission module arranged on the collection platform;

[0010] The transmission module is used to receive the materials to be transferred on the transmission device corresponding to each processing station;

[0011] The main control mechanism includes a controller and a wireless communication module; the controller is electrically connected to the wireless communication module, the drive motor, the steering motor, and the transmission module; the controller is used to receive control instructions issued by the host computer through the wireless communication module, and the controller is used to control the transmission module, the drive motor, and the steering motor to start and close according to the received control instructions.

[0012] Technical principles and effects of this solution: In this solution, various processing stations are arranged on the production line, and corresponding transmission devices are arranged on corresponding processing stations for transferring products processed at corresponding processing stations. At this time, the controller is used to receive control instructions from the upper computer through the wireless communication module. After receiving the control instructions, the controller is used to control the driving motor and the steering motor according to the control instructions to control the moving direction and speed of the transfer device, so that the transfer device can safely arrive at the corresponding delivery port of the transmission device to receive the corresponding products, and according to the control instructions, after receiving the corresponding products, the controller controls the driving motor and the rotating motor to transfer the received products to the delivery port of the transmission device corresponding to other processing stations, and realizes the transfer of the transferred products through the cooperation of the transmission device and the transfer device.

[0013] Through the coordination of transmission devices and transfer devices, automatic control is achieved, thus realizing the rapid and accurate flow of materials between different processing stations, reducing waiting time and manual intervention, and greatly improving the overall efficiency of the production line. The automation system eliminates safety hazards caused by human negligence and ensures the work safety of employees, especially in dangerous or complex environments. This advantage is particularly important. That is, it can realize the automatic transfer of products at the processing station, greatly improving the transfer efficiency and safety.

[0014] Furthermore, the collection platform includes a mounting platform and a first rotating motor, the mounting platform is arranged on the motor shaft of the first rotating motor, the first rotating motor is electrically connected to a controller, and the controller is used to control the opening and closing of the first rotating motor.

[0015] Beneficial effect: By driving the mounting table to rotate through the first rotary motor, the collection platform can be adjusted at multiple angles in the horizontal direction. This flexibility enables the system to flexibly adjust the angle of receiving or delivering according to the actual station layout and changes in the material position to ensure the accuracy of material transfer. In a complex workshop environment, different processing stations may have different relative positions and angles. The rotation function of the mounting table enables the transfer device to better adapt to various scenarios, improving the applicability and reliability of the system.

[0016] Furthermore, the acquisition platform also includes a lifting motor, the first rotating motor is arranged on the piston rod of the lifting motor, the lifting motor is electrically connected to the controller, and the controller is used to control the opening and closing of the lifting motor.

[0017] Beneficial effect: By introducing the lifting motor, the collection platform can not only be adjusted in multiple angles in the horizontal direction (realized by the first rotating motor), but also in height in the vertical direction. This three-dimensional spatial adjustment capability enables the system to adapt to processing stations and material transmission devices at different heights, greatly improving the flexibility and applicability of the system.

[0018] Furthermore, the transmission module includes first shells arranged on the left and right sides of the mounting platform and a roller arranged between the two first shells, and a plurality of through holes for the rollers to extend into are opened on the opposite surfaces of the two first shells;

[0019] It also includes a transmission mechanism electrically connected to the controller, wherein the transmission mechanism is used to control the rotation of the roller, and the controller is used to control the opening and closing of the transmission mechanism.

[0020] Beneficial effects: The design of the roller allows the material to slide or roll smoothly on the transmission module, reducing friction, ensuring the stability of the material during transmission, and reducing the risk of jamming and damage. Through the electrical connection between the controller and the transmission mechanism, the rotation of the roller can be accurately controlled to ensure that the material can be transmitted at the preset speed and direction, improving the reliability and operating accuracy of the system.

[0021] Furthermore, the transmission mechanism is a second rotating motor, and the motor shaft of the second rotating motor is fixedly connected to one end of the roller.

[0022] Beneficial effects: Each roller is driven by a separate second rotary motor, so that the speed and direction of each roller can be independently controlled. This not only improves the flexibility of material transmission, but also ensures high precision and stability during the transmission process. Each roller is driven by an independent motor, which reduces the vibration and shaking that may be caused by mechanical linkage, enhances the stability of the system, and prolongs the service life of the equipment.

[0023] Furthermore, a second rotating motor is provided at both ends of the roller.

[0024] Beneficial effects: Each roller has a second rotating motor at each end, forming a bidirectional drive mechanism. This not only improves the torque output of the roller rotation, but also ensures the smooth operation of the roller under high load or complex working conditions, reducing the risk of slippage and deflection. Because both ends are driven by independent motors, the roller can bear the load more evenly, avoiding the imbalance problem caused by excessive force on one end, and further improving the stability and accuracy of material transmission.

[0025] Furthermore, the transmission mechanism includes two transmission components arranged on the first shell, and the transmission component includes a third rotating motor electrically connected to the controller, a first gear is sleeved on the motor shaft of the third rotating motor, and a second gear is sleeved on one end of the roller close to the third motor, and the first gear is meshed with a second gear; a chain is sleeved on the second gear.

[0026] Beneficial effects: Through the transmission mechanism of gears and chains, the power of the third rotating motor can be effectively transmitted to the roller, ensuring the synchronous rotation of the roller. This mechanical linkage method improves the efficiency of power transmission and reduces energy loss. The coordination of gears and chains makes power transmission more stable, avoids the vibration and impact that may be caused by direct transmission, ensures the stable operation of the roller under high load or complex working conditions, and reduces the risk of slippage and deflection.

[0027] Furthermore, it also includes a positioning module, the controller is electrically connected to the positioning module, and the controller is used for positioning through the positioning module.

[0028] Beneficial effects: The positioning module can provide the current position information of the transfer device in real time, ensuring that it reaches the target location accurately according to the preset path. This not only improves the accuracy of material transfer, but also reduces operational errors caused by position deviation.

[0029] Furthermore, the positioning module also includes a photoelectric detection module, and the photoelectric detection module is used to detect a position mark set on the ground.

[0030] Beneficial effects: The photoelectric detection module can accurately identify the preset position marks on the ground (such as QR codes, bar codes, reflective marks, etc.), ensuring that the transfer device can still accurately locate the target position in a complex workshop environment. Compared with other positioning methods, the photoelectric detection module can provide higher spatial resolution and positioning accuracy.

[0031] Furthermore, second shells are arranged on the left and right sides of the upper end surface of the mounting platform, and the two first shells are arranged between the two second shells.

[0032] Beneficial effect: The setting of the second shell can protect the product on the roller, prevent the product on the roller from falling left or right, and greatly improve the safety of the product on the roller. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 This is a logic block diagram of the automated material transfer system in Embodiment 1 of the present invention;

[0034] Figure 2 This is an overall structural diagram of a transfer device in an automated material transfer system in Embodiment 1 of the present invention;

[0035] Figure 3 This is a logic block diagram of an automated material transfer system in Embodiment 2 of the present invention;

[0036] Figure 4 This is a logic block diagram of the automated material transfer system in Embodiment 5 of the present invention. DETAILED DESCRIPTION

[0037] The following is further described in detail through specific implementation methods:

[0038] The symbols in the drawings of the specification include: a mounting frame 1 , a mounting platform 2 , a first shell 3 , a second shell 4 , and a roller 5 .

[0039] Embodiment 1

[0040] Automated material transfer system, basically Figure 1 and Figure 2 As shown, it includes a transmission device corresponding to each processing station and a transfer device for receiving the material to be transferred on the transmission device; in this embodiment, the transmission device is an existing conveyor belt.

[0041] The transfer device comprises a main control mechanism, a moving mechanism and a transfer mechanism arranged above the moving mechanism;

[0042] The mobile mechanism includes a walking wheel, a driving motor and a steering motor. The driving motor and the steering motor are both connected to the walking wheel power. The driving motor is used to drive the walking wheel to rotate, and the steering motor drives the walking wheel to turn. In this embodiment, the mobile mechanism adopts the walking structure of the existing sweeping robot. Specifically, two main wheels are used for driving and steering. Each main wheel is driven by an independent motor, which can realize differential steering, so that the device can move flexibly in a narrow space. One or more universal wheels are additionally provided to maintain the balance of the device to ensure that it can run smoothly on uneven ground. This structure is particularly suitable for application scenarios that require frequent turns or operations in complex environments, such as material handling in warehouses.

[0043] The transfer mechanism includes a collection platform and a transmission module arranged on the collection platform;

[0044] The main control mechanism includes a controller and a wireless communication module; the controller is electrically connected to the wireless communication module, the drive motor, the steering motor, and the transmission module; the controller is used to receive the control instructions issued by the host computer through the wireless communication module, and the controller is used to control the transmission module, the drive motor, and the steering motor to open and close according to the received control instructions. The controller is a single-chip microcomputer or a PLC. In this embodiment, the control is a single-chip microcomputer, preferably an STM32 series single-chip microcomputer, and the wireless communication module is one or more of a WiFi module, a Bluetooth module, a Zigbee module, a 4G module, and a 5G module. In this embodiment, the wireless communication module is preferably a WiFi module.

[0045] The mobile mechanism is fixed with a mounting frame 1 by bolts and nuts, and the collection platform is fixed on the mounting frame 1. The collection platform includes a mounting platform 2 and a first rotating motor, the mounting platform 2 is arranged on the motor shaft of the first rotating motor, the first rotating motor is electrically connected to the controller, and the controller is used to control the opening and closing of the first rotating motor.

[0046] The acquisition platform also includes a lifting motor. The first rotating motor is arranged on the piston rod of the lifting motor. The lifting motor is electrically connected to a controller. The controller is used to control the opening and closing of the lifting motor. The lifting motor is fixed to the mounting frame 1 by bolts and nuts.

[0047] The transmission module is used to receive the materials to be transferred on the transmission device corresponding to each processing station; the transmission module includes a first shell 3 arranged on the left and right sides of the mounting table 2 and a roller 5 arranged between the two first shells 3, and a plurality of through holes for the roller 5 to extend into are opened on the opposite surfaces of the two first shells 3; a second shell 4 is also arranged on the left and right sides of the upper end surface of the mounting table 2, and the two first shells 3 are arranged between the two second shells 4.

[0048] The roller 5 is also provided with a transmission mechanism electrically connected to the controller, the transmission mechanism is used to control the rotation of the roller 5, and the controller is used to control the opening and closing of the transmission mechanism. The transmission mechanism is a second rotating motor, and the motor shaft of the second rotating motor is fixedly connected to one end of the roller 5. The roller 5 is provided with a second rotating motor at both ends.

[0049] During specific implementation, the controller is used to receive control instructions issued by the host computer, determine the shipping point and the target transfer point by analyzing the control instructions, and then the controller is used to arrive at the shipping point and dock with the corresponding delivery port of the transmission device. During the docking process, the rotation of the second rotating motor is controlled to realize the rotation of the roller 5, thereby realizing the reception of the product at the delivery port of the transmission device, and then the controller is used to control the driving motor and the rotating motor to move the position. After arriving at the target transfer point, the angle adjustment and height adjustment are realized by controlling the first rotating motor and the lifting motor, and after the adjustment, the rotation of the second rotating motor is controlled to transmit the product on the roller 5, thereby realizing the transfer of the corresponding product.

[0050] Embodiment 2

[0051] like Figure 3 As shown, compared with the first embodiment, the difference is that: in this embodiment, a positioning module is also included, the controller is electrically connected to the positioning module, and the controller performs positioning through the positioning module. The positioning module includes an RFID signal transmitter, an RFID signal receiver or a UWB signal transmitter. In this embodiment, the positioning module uses an RFID signal transmitter, that is, an active RFID tag, and a corresponding RFID signal receiving device is set in the scene to achieve indoor precise positioning based on signal strength and a three-point positioning method.

[0052] Implementation Three

[0053] Compared with the second embodiment, the difference is that: in this embodiment, the positioning module includes a photoelectric detection module, and the photoelectric detection module is used to detect the position marks set on the ground. Various position marks are preset on the ground in the scene, such as barcode marks, etc. The information of the position mark can be read by the photoelectric detection module, thereby achieving positioning.

[0054] Implementation Four

[0055] Compared with the third embodiment, the difference of this embodiment is that: the controller is used to analyze the control instruction immediately after receiving the control instruction sent by the upper computer, determine the shipping point and the target transfer point, and based on the location information of the shipping point and the target transfer point, retrieve the overall image information corresponding to the entire processing site from the database, determine all the accessible paths from the shipping point to the target transfer point according to the overall image information, and the intersections passed by each accessible path, and count the number of intersections passed by each accessible path;

[0056] According to the number of accessible paths from the shipping point to the target transfer point and the number of intersections passed by each accessible path, the corresponding intersection threshold is determined; the intersection threshold is determined as follows:

[0057] According to the corresponding number of reachable paths, the corresponding basic threshold is determined, and then according to the number of intersections passed by each reachable path, the reachable path with the most intersections and the reachable path with the least intersections are identified, and the difference in the number of intersections corresponding to the two reachable paths is calculated; according to the difference in the number of intersections, the basic threshold is adjusted;

[0058] According to the determined intersection threshold, the reachable paths with the number of intersections greater than the intersection threshold are eliminated, and the reachable paths with the number of intersections less than or equal to the intersection threshold are retained;

[0059] According to the retained reachable paths, based on the preset path rationality calculation formula, the path rationality corresponding to each retained reachable path is calculated;

[0060] The preset path rationality calculation formula is:

[0061]

[0062] In the formula, H is the path rationality, L (i-1)i is the distance between intersection i-1 and intersection i in a certain path, Y i(i-1) is the road congestion between intersection i-1 and intersection i in a certain path; S is the number of intersections on the corresponding path;

[0063] Select the most accessible path with the highest path rationality as the optimal path from the loading point to the target transfer point;

[0064] The controller is used to control the driving motor and the steering motor to move the position according to the determined optimal path.

[0065] In this embodiment, based on the preset formula for calculating the rationality of the path, the controller can accurately evaluate each accessible path that remains, select the path with the highest rationality as the optimal path, and ensure the efficiency and stability of the material transfer process. By eliminating the path with too many intersections, the number of unnecessary turns is reduced, the energy consumption and wear are reduced, and the operating efficiency of the system is improved. In the process of calculating the rationality of the path, the three key factors of path length, road congestion and number of intersections are combined to ensure that the path selection not only focuses on the physical distance, but also fully considers the actual driving conditions. By multiplying the distance by the congestion, the formula can more accurately reflect the actual difficulty of each path. Even if the distance is shorter, a section with a high degree of congestion may cause delays, so this comprehensive evaluation method is more scientific and reasonable. Subtracting the number of intersections (S) from the formula means that the straighter the path and the fewer the number of turns, the higher the score. This helps to reduce unnecessary steering operations and improve the operating efficiency and stability of the system.

[0066] Embodiment 5

[0067] like Figure 4 As shown, compared with the fourth embodiment, the difference of this embodiment is that: the transmission mechanism includes two transmission components arranged on the first shell 3, the transmission component includes a third rotating motor electrically connected to the controller, the motor shaft of the third rotating motor is sleeved with a first gear, the roller 5 is sleeved with a second gear at one end close to the third motor, the first gear is meshed with a second gear; the second gear is sleeved with a chain.

[0068] The above is only an embodiment of the present invention. The common sense such as the known specific structure and characteristics in the scheme is described too much here. The ordinary technicians in the relevant field know all the common technical knowledge in the technical field of the invention before the application date or priority date, can know all the existing technologies in the field, and have the ability to apply the conventional experimental means before that date. The ordinary technicians in the relevant field can improve and implement this scheme in combination with their own abilities under the enlightenment given by this application. Some typical known structures or known methods should not become obstacles for ordinary technicians in the relevant field to implement this application. It should be pointed out that for those skilled in the art, without departing from the structure of the present invention, several deformations and improvements can be made, which should also be regarded as the protection scope of the present invention, which will not affect the effect of the implementation of the present invention and the practicality of the patent. The protection scope required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. Automated material transfer system, characterized by: It includes a transmission device corresponding to each processing station and a transfer device for receiving materials to be transferred from the transmission device; The transfer device comprises a main control mechanism, a moving mechanism and a transfer mechanism arranged above the moving mechanism; The mobile mechanism includes a walking wheel, a driving motor and a steering motor, wherein the driving motor and the steering motor are both connected to the walking wheel power, the driving motor is used to drive the walking wheel to rotate, and the steering motor drives the walking wheel to turn; The transfer mechanism includes a collection platform and a transmission module arranged on the collection platform; The transmission module is used to receive the materials to be transferred on the transmission device corresponding to each processing station; The main control mechanism includes a controller and a wireless communication module; the controller is electrically connected to the wireless communication module, the drive motor, the steering motor, and the transmission module; the controller is used to receive control instructions issued by the host computer through the wireless communication module, and the controller is used to control the transmission module, the drive motor, and the steering motor to start and close according to the received control instructions.

2. The automated material transfer system according to claim 1, characterized in that: The collection platform includes a mounting platform and a first rotating motor. The mounting platform is arranged on the motor shaft of the first rotating motor. The first rotating motor is electrically connected to a controller. The controller is used to control the opening and closing of the first rotating motor.

3. The automated material transfer system according to claim 2, characterized in that: The collection platform also includes a lifting motor, the first rotating motor is arranged on the piston rod of the lifting motor, the lifting motor is electrically connected to a controller, and the controller is used to control the opening and closing of the lifting motor.

4. The automated material transfer system according to claim 3, characterized in that: The transmission module includes first shells arranged on the left and right sides of the mounting platform and a roller arranged between the two first shells, and a plurality of through holes for the rollers to extend into are opened on the opposite surfaces of the two first shells; It also includes a transmission mechanism electrically connected to the controller, wherein the transmission mechanism is used to control the rotation of the roller, and the controller is used to control the opening and closing of the transmission mechanism.

5. The automated material transfer system according to claim 4, characterized in that: The transmission mechanism is a plurality of second rotating motors, and the motor shaft of the second rotating motor is fixedly connected to one end of the roller.

6. The automated material transfer system according to claim 3, characterized in that: The two ends of the roller are both provided with a second rotating motor.

7. The automated material transfer system according to claim 4, characterized in that: The transmission mechanism includes two transmission components arranged on the first shell, and the transmission component includes a third rotating motor electrically connected to the controller. The motor shaft of the third rotating motor is sleeved with a first gear, and the end of the roller close to the third motor is sleeved with a second gear, and the first gear is meshed with a second gear; the second gear is sleeved with a chain.

8. The automated material transfer system according to claim 6, characterized in that: It also includes a positioning module, the controller is electrically connected to the positioning module, and the controller is used for positioning through the positioning module.

9. The automated material transfer system according to claim 8, characterized in that: The positioning module also includes a photoelectric detection module, and the photoelectric detection module is used to detect a position mark set on the ground.

10. The automated material transfer system according to claim 9, characterized in that: Second shells are also arranged on the left and right sides of the upper end surface of the mounting platform, and the two first shells are arranged between the two second shells.

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