Control method of paper roll loading system

Abstract

The invention relates to a control method of a paper roll loading system, which is based on the paper roll loading system, and the paper roll loading system comprises a truss mechanism; a transverse moving platform assembly; the top end of one lifting support of the lifting assembly is hinged to the connecting support, and the top end of the other lifting support is fixedly connected with the connecting support; a rotating assembly; the clamping assembly is arranged on the rotating assembly; the control method comprises the steps that S1, the transverse moving platform assembly is controlled to drive the holding and clamping assembly to a paper roll input area, the lifting assembly is controlled to descend, and the holding and clamping assembly is controlled to hold and clamp a paper roll; s2, the lifting assembly is controlled to ascend, the rotating assembly is controlled to rotate the opening direction of the clamping assembly to the direction from one lifting support to the other lifting support, and the pitch angle of the clamping assembly for clamping the paper roll is changed by controlling the lifting amount of the two lifting supports to be different; and S3, the transverse moving platform assembly is controlled to drive the clamping assembly to the position above the freight vehicle, the lifting assembly is controlled to descend, and the clamping assembly is controlled to release the paper roll.

Description

Technical Field

[0001] The invention relates to the field of paper roll loading, and in particular to a control method for a paper roll loading system. Background Art

[0002] In the automated loading and unloading of materials, materials are loaded into transport vehicles from the supply site and unloaded from the transport vehicle to the destination. The basic functions of handling and loading are required to achieve the transportation requirements. In the logistics process, loading and unloading are very important links. With the rapid development of modern cargo loading and transportation technology, more and more automatic loading systems are needed to achieve rapid loading and transportation of materials. In the prior art, for example, the existing application with application number CN202311364016.6 and the name of an automatic loading device for palletizing goods and its control method, drives the rotating mechanism through the transverse platform assembly, and then drives the lifting mechanism through the rotating mechanism to achieve the lifting and rotation of the clamping assembly, and then the pitching assembly is provided between the fork frame and the fork to achieve the pitching action of the fork.

[0003] Paper rolls are one of the commonly used raw materials in industry. They are columnar, heavy, and soft. Paper rolls are generally not carried by pallets, but are placed directly on the ground. The existing loading system does not implement a special control method based on the characteristics of paper rolls. During the loading process, on the one hand, after the paper rolls are lifted, the existing clamping assembly will have a certain inclination angle under the action of the gravity of the paper rolls. Therefore, when the paper rolls are lowered, the downward-inclined end of the paper roll will first touch the ground, thereby deforming the corners of the paper rolls; on the other hand, after the paper rolls are placed on the freight car, the distance between the paper rolls becomes smaller, and it is difficult for the existing clamping assembly to release the paper rolls and exit.

[0004] The purpose of the present invention is to design a control method for a paper roll loading system in view of the above-mentioned problems in the prior art. Summary of the invention

[0005] In view of the problems existing in the above-mentioned prior art, the present invention provides a control method for a paper roll loading system, which can effectively solve at least one problem existing in the above-mentioned prior art.

[0006] The technical solution of the present invention is: a control method of a paper roll loading system, based on the paper roll loading system, the paper roll loading system comprises: Truss mechanism; The transverse platform assembly is arranged on the truss mechanism; The lifting assembly is driven by the transverse platform assembly to move transversely. The lifting assembly includes a connecting bracket and lifting brackets arranged opposite to each other on the left and right. The connecting bracket is connected to the transverse platform assembly. The lifting brackets are driven by corresponding lifting mechanisms respectively. The top of one lifting bracket is hinged to the connecting bracket, and the top of the other lifting bracket is fixedly connected to the connecting bracket. A rotating assembly, the top end of which is hinged to the bottom ends of two lifting brackets, and the lifting action is performed by the lifting assembly; The clamping assembly is arranged on the rotating assembly, and the rotating action of the clamping assembly is realized by driving the rotating assembly; Control methods include: S1, control the traverse platform assembly to drive the clamping assembly to the paper roll input area, control the lifting assembly to descend and control the clamping assembly to clamp the paper roll; S2, control the lifting assembly to rise, control the rotating assembly to rotate the opening direction of the clamping assembly so that one lifting bracket faces the other lifting bracket, and control the lifting amount of the two lifting brackets to be different to change the pitch angle of the clamping assembly clamping the paper roll, so that the paper roll is kept in the vertical direction; S3, controls the transverse platform assembly to drive the clamping assembly to the top of the freight car, controls the lifting assembly to descend, and controls the clamping assembly to release the paper roll.

[0007] Furthermore, the lifting bracket includes a fixed linear slide, an intermediate linear slide, and a lifting linear slide. The top end of the fixed linear slide is fixedly connected or hinged to the connecting bracket. The fixed linear slide is connected to the intermediate linear slide. The shell of the lifting mechanism is fixedly arranged on the connecting bracket. The piston rod of the lifting mechanism drives the intermediate linear slide to rise and fall. A sprocket is arranged on the top end of the lifting linear slide. A chain is wound around the sprocket. One end of the chain is connected to the bottom end of the lifting linear slide. The other end of the chain is connected to the fixed linear slide. The bottom end of the lifting linear slide is connected to the rotating assembly. In step S2, controlling the lifting amounts of the two lifting brackets to be different to change the pitch angle of the clamping assembly clamping the paper roll includes: The pitch angle of the clamping assembly clamping the paper roll is changed by controlling the lifting amount of the lifting mechanism.

[0008] Further, controlling the lifting amount of the lifting mechanism to change the pitch angle of the clamping assembly clamping the paper roll includes: Calculate or obtain the pitch angle change after the clamp assembly clamps the paper roll; The difference in the lifting amount of the lifting bracket is converted into the lifting amount difference according to the pitch angle change; The lifting amount difference of the lifting mechanism is controlled to be half of the lifting amount difference of the lifting bracket to change the pitch angle of the clamping assembly clamping the paper roll.

[0009] Furthermore, a plurality of distance sensors are arranged at the top of the rotating assembly, and the distance sensors rotate with the rotating assembly, wherein the distance between a pair of distance sensors is the same as the diameter of the corresponding paper roll and is arranged on the center line of the corresponding paper roll when the clamping assembly clamps the paper roll; After controlling the traverse platform assembly to drive the clamping assembly to the paper roll input area, and before controlling the lifting assembly to descend and controlling the clamping assembly to clamp the paper roll, execute: Calculate the relative distance h between the top of the rotating assembly and the top of the paper roll; After the clamping assembly is driven to approach the paper roll by the transverse platform assembly, the position of the clamping assembly is adjusted so that the distance data detected by the two distance sensors are both h.

[0010] Further, at least one distance sensor is arranged on the edge of the top of the rotating assembly and is arranged on the center line of the corresponding paper roll when the clamping assembly clamps the paper roll; When controlling the traverse platform assembly to drive the clamp assembly to the top of the freight vehicle, execute: The jump position from the ground to the freight vehicle is generated based on the distance information obtained by the distance sensor and is determined to be the edge of the freight vehicle.

[0011] Further, it includes a visual sensor, which is arranged on the truss mechanism; Before step S1, the following is performed: collecting an image of the freight vehicle under the truss mechanism by a visual sensor, and obtaining the position coordinates and placement angle of the freight vehicle by image analysis. Furthermore, the clamp assembly includes a clamp base, a fixed arm and a movable arm, the fixed arm is fixedly connected to the clamp base, one end of the movable arm is hinged to the clamp base, the inner surfaces of the fixed arm and the movable arm are arranged in an arc shape, and the length of the movable arm is greater than that of the fixed arm, and the movable arm is driven by a driving member to open and close; In S1, after the traverse platform assembly is controlled to drive the clamping assembly to the paper roll input area, the lifting assembly is controlled to descend and before the clamping assembly is controlled to clamp the paper roll, including: If the paper roll to be loaded is placed on the freight vehicle and there is already a paper roll on the side where the movable arm is opened, the rotating assembly is controlled to rotate so that the fixed arm is inserted into the space adjacent to the two paper rolls.

[0012] Furthermore, the clamping base is provided with a rotating disk, the movable arm and the fixed arm are provided on the rotating disk, the rotating disk is provided with a gear ring, and the gear ring is driven by a rotating motor to drive the movable arm and the fixed arm to rotate together in the horizontal direction; In S3, controlling the transverse platform assembly to drive the clamp assembly to the top of the freight vehicle includes: Obtain the position of the paper roll to be loaded on the truck, control the rotation of the rotating disk, and make the clamping assembly reach the position where the paper roll is placed on the truck, and the movable arm approaches the side where no paper roll is placed.

[0013] Further, a weight sensor is included to obtain the weight of the paper roll; Controlling the lifting amount of the two lifting brackets to change the pitch angle of the clamping assembly clamping the paper roll includes: The lifting amount of the two lifting brackets is controlled to be different according to the weight of the paper roll to change the pitch angle of the clamping assembly clamping the paper roll.

[0014] Therefore, the present invention provides the following effects and / or advantages: The present application drives the rotating assembly through the lifting assembly, and the two lifting brackets of the lifting assembly are set to be driven separately, and the pitch angle control of the rotating assembly is achieved through different driving amounts. The top end of one of the lifting brackets of the present application is hinged, so that it can adapt to the shape changes caused by the different lifting amounts of the two lifting brackets, ensuring that the structure and function of the present application can be realized. Therefore, after clamping the paper roll, the present application rotates the paper roll so that the opening of the clamping assembly faces a specific direction, so that the lifting amount change of the two lifting brackets can adjust the pitch angle of the clamping assembly.

[0015] The present application is provided with a distance sensor, and through the setting position of the distance sensor and the distance between them, it is possible to detect whether the clamp assembly is facing the paper roll, and accurately clamp the paper roll to prevent the clamp assembly from damaging the paper roll. Therefore, the present application realizes accurate identification of the position of the paper roll through the control method, and finds the position of the paper roll.

[0016] The clamping assembly provided in the present application has the function of being able to rotate horizontally, so that the fixed arm and the movable arm direction of the clamping assembly can adapt to the paper rolls at different loading positions, and the clamping assembly can normally withdraw the paper roll without damaging the paper roll after putting it down.

[0017] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description and the drawings.

[0018] It is to be understood that both the foregoing general description and the following detailed description of the present invention are exemplary and explanatory and are intended to provide further explanation of the invention as claimed. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic structural diagram of an embodiment of the present invention.

[0020] Figure 2It is a schematic diagram of the structure of the clamping assembly, lifting assembly and rotating assembly.

[0021] Figure 3 for Figure 2 A partial enlarged schematic diagram of part A.

[0022] Figure 4 It is a structural schematic diagram of the lifting assembly.

[0023] Figure 5 This is a schematic diagram of the distance sensor's location.

[0024] Figure 6 It is a structural schematic diagram of the clamp assembly.

[0025] Figure 7 It is a structural schematic diagram of the rotating disk.

[0026] Figure 8 Schematic diagram of paper rolls being placed on a freight truck.

[0027] Fig. 9 It is a schematic diagram of the working status of the existing clamp assembly.

[0028] Fig.10 This is a schematic diagram of the working status of the clamping assembly of this application.

[0029] Fig.11 It is a schematic diagram of the working state when the clamp assembly does not rotate laterally.

[0030] Fig.12 It is a schematic diagram of the working status of the clamp assembly after lateral rotation.

[0031] Description of reference numerals: Truss mechanism 1, transverse platform assembly 2, lifting assembly 3, connecting bracket 31, lifting bracket 32, fixed linear slide 321, intermediate linear slide 322, lifting linear slide 323, sprocket 324, chain 325, rotating column 326, lifting mechanism 33, rotating assembly 4, mounting frame 41, hydraulic station 42, distance sensor 43, clamping assembly 5, clamping base 51, fixed arm 52, movable arm 53, driving member 54, rotating disk 55, rotating motor 56. DETAILED DESCRIPTION

[0032] In order to facilitate understanding by those skilled in the art, the present invention is now described in further detail by way of examples: refer to Figure 1-7 , a control method for a paper roll loading system, based on the paper roll loading system, the paper roll loading system comprises: Truss mechanism 1; A transverse platform assembly 2 is arranged on the truss mechanism 1; In this embodiment, the truss mechanism 1 and the transverse platform assembly 2 can refer to the existing application with application number CN202311364016.6, entitled Automatic loading equipment for palletizing goods and control method thereof. The truss mechanism 1 is used to support various components, and the transverse platform assembly 2 is used to move in the front, back, left, and right directions.

[0033] The lifting assembly 3 is driven by the transverse platform assembly 2 to move transversely. The lifting assembly 3 includes a connecting bracket 31 and lifting brackets 32 arranged opposite to each other on the left and right sides. The connecting bracket 31 is connected to the transverse platform assembly 2. The lifting brackets 32 are driven by corresponding lifting mechanisms 33 respectively. The top of one of the lifting brackets 32 is hinged to the connecting bracket 31, and the top of the other lifting bracket 32 ​​is fixedly connected to the connecting bracket 31. A rotating assembly 4, the top end of which is hinged to the bottom ends of the two lifting brackets 32, and is lifted and lowered by the lifting assembly 3; The structure of the lifting assembly 3 and the rotating assembly 4 and the connection method thereof are one of the core improvements of this application. In the prior art, the rotating assembly 4 is generally connected to the transverse platform assembly 2, and then the lifting assembly 3 is driven to rotate by the rotating assembly 4, and the lifting assembly 3 then drives the fork and other structures to lift. This application improves it to connect the lifting assembly 3 to the transverse platform assembly 2, and the lifting brackets 32 disposed opposite to each other on the left and right included in the lifting assembly 3 can be driven by separate lifting mechanisms 33 respectively, that is, the lifting amounts of the two lifting brackets 32 can be different, so as to achieve a tilted state in which one side of the rotating assembly 4 is high and the other side is low.

[0034] Furthermore, when the lifting amounts of the two lifting brackets 32 are different, the bottom ends of the lifting brackets 32 are higher on one side and lower on the other side. In this case, the distance between the bottom ends of the two lifting brackets 32 will change. Specifically, the distance between the bottom ends of the two lifting brackets 32 in this case will be larger than the distance between the bottom ends when the lifting amounts of the two lifting brackets 32 are the same. In order to adapt to this change, in this embodiment, the top end of one of the lifting brackets 32 is hinged to the connecting bracket 31, and the top end of the other lifting bracket 32 ​​is fixedly connected to the connecting bracket 31. Therefore, when the lifting amounts are different, the lifting bracket 32 ​​whose top end is fixedly connected to the connecting bracket 31 maintains the vertical direction unchanged, while the lifting bracket 32 ​​whose top end is hinged to the connecting bracket 31 swings outward at a certain angle, thereby adapting the rotating assembly 4 to produce a tilted state with one side higher and one side lower.

[0035] The lifting mechanism 33 may be an electric cylinder.

[0036] The clamping assembly 5 is arranged on the rotating assembly 4, and the rotating movement of the clamping assembly 5 is realized by driving the rotating assembly 4. The different lifting amounts of the two lifting brackets 32 drive the rotating assembly 4 to realize the pitching movement of the clamping assembly 5.

[0037] After the paper roll clamp is raised, the paper roll's own gravity will cause the clamp assembly 5 to tilt downward at a certain angle. In the process of lowering the paper roll, the downward tilted end of the paper roll will first touch the ground, causing damage, deformation, etc. at that position. Therefore, after the paper roll clamp is raised, it is necessary to adjust the pitch angle of the clamp assembly 5, and adjust the paper roll so that its bottom surface is parallel to the ground. When the opening of the clamp of the clamp assembly 5 is rotated toward the rotating assembly 4 to the same relative direction as the two lifting brackets 32, the pitch angle control of the clamp assembly 5 can be achieved when the driving amount of the lifting bracket 32 ​​is different. Therefore, there is no need to set a pitch angle driving member 54 or the like at the clamp position of the clamp assembly 5 to drive the clamp assembly 5 to pitch, and no redundant components will be generated on the side or back of the clamp assembly 5, and the clamp assembly 5 will not touch the paper rolls around it when it rotates.

[0038] The control method comprises: S1, control the transverse platform assembly 2 to drive the clamping assembly 5 to the paper roll input area, control the lifting assembly 3 to descend and control the clamping assembly 5 to clamp the paper roll; S2, controlling the lifting assembly 3 to rise, controlling the rotating assembly 4 to rotate the opening direction of the clamping assembly 5 so that one of the lifting brackets 32 faces the other lifting bracket 32, controlling the lifting amounts of the two lifting brackets 32 to be different to change the pitch angle of the clamping assembly 5 clamping the paper roll, so that the paper roll is kept in the vertical direction; S3, control the transverse platform assembly 2 to drive the clamping assembly 5 to the top of the freight vehicle, control the lifting assembly 3 to descend, and control the clamping assembly 5 to release the paper roll.

[0039] Therefore, after the clamping assembly 5 clamps the paper roll, the paper roll needs to be rotated to rotate the opening direction of the clamping assembly 5 so that one of the lifting brackets 32 faces the other lifting bracket 32. At this time, the lifting amount of the two lifting brackets 32 can make the clamping assembly 5 tilt upward or downward. If the opening direction of the clamping assembly 5 is not rotated so that one of the lifting brackets 32 faces the other lifting bracket 32, the lifting amount of the two lifting brackets 32 may adjust the left and right tilt of the clamping assembly 5, and the pitch angle of the paper roll cannot be adjusted.

[0040] Furthermore, the lifting bracket 32 ​​includes a fixed linear slide 321, an intermediate linear slide 322, and a lifting linear slide 323. The top end of the fixed linear slide 321 is fixedly connected or hinged to the connecting bracket 31, the fixed linear slide 321 is connected to the intermediate linear slide 322, the shell of the lifting mechanism 33 is fixedly set on the connecting bracket 31, the piston rod of the lifting mechanism 33 drives the intermediate linear slide 322 to rise and fall, and the top end of the lifting linear slide 323 is provided with a sprocket 324, the sprocket 324 is wound with a chain 325, one end of the chain 325 is connected to the bottom end of the lifting linear slide 323, the other end of the chain 325 is connected to the fixed linear slide 321, and the bottom end of the lifting linear slide 323 is connected to the rotating assembly 4.

[0041] The existing lifting assembly 3 is generally directly installed with the lifting linear slide 323 through the fixed linear slide 321, and the lifting linear slide 323 is driven by the electric cylinder or the oil cylinder to control the lifting or lowering of the lifting assembly 3. Due to the long length of the paper roll, the existing lifting assembly 3 may not be able to meet the lifting changes required by the clamping assembly 5. Therefore, in this embodiment, the lifting bracket 32 ​​is set as a fixed linear slide 321, an intermediate linear slide 322, and a lifting linear slide 323. One end of the chain 325 is connected to the bottom end of the lifting frame body, and the other end is connected to the fixed linear slide 321. At the same time, a sprocket 324 is set at the top of the lifting linear slide 323. When the driving cylinder is extended downward, the fixed linear slide 321 does not move, and the middle linear slide 322 is driven by the driving cylinder to move downward by N meters. The extension amount of the chain 325 is 2N meters. Therefore, the lifting linear slide 323 drives the clamping assembly 5 to be lowered by 2N meters, realizing double-speed lifting, which can greatly reduce the overall height of the lifting bracket 32 ​​in the non-lowering state and increase the lowering distance, thereby adapting to higher paper rolls.

[0042] A rotating column 326 is provided at the top of one of the lifting brackets 32, and the connecting bracket 31 is provided with a mounting groove matched with the rotating column 326. The rotating column 326 is installed in the mounting groove. The lifting amounts of the two lifting brackets 32 are different. The lifting bracket 32 ​​provided with the rotating column 326 swings around the rotating column 326 to adapt to the change in the distance between the bottom ends of the two lifting brackets 32.

[0043] The present application realizes that the top end of one of the lifting brackets 32 can swing through the connection of the rotating column 326, thereby realizing the pitch angle control of the clamping assembly 5, and at the same time ensuring that the lifting bracket 32 ​​cannot be separated from the connecting bracket 31 and will not be offset.

[0044] Furthermore, the rotating assembly 4 is provided with a hydraulic station 42 mounting frame 41 in the middle thereof, and the hydraulic station 42 mounting frame 41 is provided with a hydraulic station 42 for driving the clamping assembly 5 .

[0045] In this embodiment, by setting the hydraulic station 42 mounting frame 41 in the middle of the rotating assembly 4, the distance between the hydraulic station 42 and the clamping assembly 5 can be reduced, and at the same time, the structure of the rotating assembly 4 and the clamping assembly 5 can be made more compact, preventing the distance between the hydraulic station 42 and the clamping assembly 5 from being too long, thereby preventing problems such as oil circuit damage and difficulty in arranging the oil circuit.

[0046] In step S2, controlling the lifting amounts of the two lifting brackets 32 to be different to change the pitch angle of the clamping assembly 5 clamping the paper roll includes: The pitch angle of the clamping assembly 5 clamping the paper roll is changed by controlling the lifting amount of the lifting mechanism 33 to be different.

[0047] Controlling the lifting amount of the lifting mechanism 33 to change the pitch angle of the clamping assembly 5 clamping the paper roll includes: Calculate or obtain the pitch angle change amount after the clamping assembly 5 clamps the paper roll; Converting the pitch angle variation into a lifting amount difference of the lifting bracket 32; The lifting amount difference of the lifting mechanism 33 is controlled to be half of the lifting amount difference of the lifting bracket 32 ​​to change the pitch angle of the clamping assembly 5 clamping the paper roll.

[0048] As mentioned above, in this embodiment, the lifting mechanism 33 drives the lifting linear guide rail 323 to achieve a 2-fold speed lifting, so in this step, it is only necessary to control the lifting mechanism 33 to produce half of the required lifting amount. For example, the distance between the two lifting brackets 32 is 1100mm, and a 2.5° tilt angle is generated after clamping the paper roll. At this time, the difference in the lifting amount of the two lifting brackets 32 that needs to be adjusted is 48.03mm, and at this time, the difference in the lifting amount of the lifting mechanism 33 that needs to be adjusted is 24.015mm.

[0049] Furthermore, a plurality of distance sensors 43 are arranged at the top of the rotating assembly 4, and the distance sensors 43 rotate along with the rotating assembly 4, wherein the distance between a pair of the distance sensors 43 is the same as the diameter of the corresponding paper roll and is arranged on the center line of the corresponding paper roll when the clamping assembly 5 clamps the paper roll; After controlling the transverse platform assembly 2 to drive the clamping assembly 5 to the paper roll input area, and before controlling the lifting assembly 3 to descend and controlling the clamping assembly 5 to clamp the paper roll, execute: Calculate the relative distance h between the top of the rotating assembly 4 and the top of the paper roll; After the clamping assembly 5 is driven to approach the paper roll by the transverse platform assembly 2, the position of the clamping assembly 5 is adjusted so that the distance data detected by the two distance sensors 43 are both h.

[0050] In this embodiment, the distance sensor 43, which is the same as the diameter of the corresponding paper roll and is arranged on the center line of the corresponding paper roll when the clamping assembly 5 clamps the paper roll, is used to obtain the distance between the top of the rotating assembly 4 and the paper roll. This is because the transverse platform assembly 2 can drive the clamping assembly 5 to approach the paper roll through vision, radar, horizontal and vertical coordinates, etc. At this time, the relative position between the clamping assembly 5 and the paper roll is preliminary, and the relative position between the clamping assembly 5 and the paper roll needs to be further accurately adjusted. When the clamping assembly 5 is close to the paper roll, the lifting height of the clamping of the lifting assembly 3 can be calculated by the lifting amount of the lifting bracket 32. At this time, the height between the top of the rotating assembly 4 and the ground can be calculated. The distance between the distance sensor 43 and the object below it is detected by the pair of distance sensors 43. When any distance sensor 43 detects that its distance is the distance from the top of the rotating assembly 4 to the top surface of the paper roll, it means that the distance sensor 43 is located above the paper roll. At this time, the position of the clamping assembly 5 can be fine-tuned forward, backward, left and right. Since the distance between the pair of distance sensors 43 is the same as the diameter of the corresponding paper roll, when the two distance sensors 43 are both located above the paper roll, it means that the two distance sensors 43 are located above the diameter of the paper roll. In addition, since the distance sensor 43 is on the center line of the corresponding paper roll when the clamping assembly 5 clamps the paper roll, the paper roll is at the middle position of the clamping assembly 5. After the clamping assembly 5 clamps, the force applied to both sides of the paper roll is uniform, which can better protect the paper roll and prevent the paper roll from being damaged by the clamping assembly 5.

[0051] Further, at least one of the distance sensors 43 is arranged on the edge of the top of the rotating assembly 4 and is arranged on the center line of the corresponding paper roll when the clamping assembly 5 clamps the paper roll; In the process of controlling the transverse platform assembly 2 to drive the clamp assembly 5 to the top of the freight vehicle, the following steps are performed: A jump position from the ground to the freight vehicle is generated based on the distance information acquired by the distance sensor 43 and is determined to be the edge of the freight vehicle.

[0052] The distance sensor 43 located at the edge of the top of the rotating assembly 4 can sense the distance between the edge of the rotating assembly 4 and the bottom thereof. Through this setting, on the one hand, it can adapt to paper rolls of different sizes. On the other hand, when putting down the paper roll, the distance sensor 43 located at the edge of the top of the rotating assembly 4 will first pass through the edge of the freight car during the lateral movement, thereby generating a distance jump from the ground to the car body of the freight car, which can be used to accurately determine the position of the clamping assembly 5 above the freight car.

[0053] In this step, after obtaining the edge of the freight car, the position to which the transverse platform assembly 2 needs to drive the clamping assembly 5 can be accurately calculated, and the lowering position of the paper roll is adjusted according to the skewness of the parking position of the freight car and other factors.

[0054] Further, it includes a visual sensor, which is arranged on the truss mechanism 1; Before step S1, the following is performed: collecting an image of the freight vehicle under the truss mechanism 1 by the visual sensor, and obtaining the position coordinates and placement angle of the freight vehicle by image analysis. In this embodiment, the visual sensor can be a camera, which obtains its image by photographing the area in the middle of the truss mechanism 1 from top to bottom on the truss mechanism 1. When the freight truck is parked in the area inside the truss mechanism 1, since the compartment of the freight truck is a square structure, it has straight edges and right-angled corners. After obtaining its image, image recognition is performed to analyze the straight lines and the angles between the straight lines in the image, and the coordinates of the four corners of the compartment of the freight truck can be obtained. The coordinates of the four corners can be connected to obtain the area of ​​the compartment, so as to quantify it to obtain the area of ​​the compartment in the established coordinate system. The position coordinates and the placement angle can be adapted to the subsequent lateral position of the lateral platform assembly 2.

[0055] Further, the clamp assembly 5 includes a clamp base 51, a fixed arm 52 and a movable arm 53, wherein the fixed arm 52 is fixedly connected to the clamp base 51, and one end of the movable arm 53 is hinged to the clamp base 51, and the inner surfaces of the fixed arm 52 and the movable arm 53 are arranged in an arc shape, and the length of the movable arm 53 is greater than that of the fixed arm 52, and the movable arm 53 is driven by a driving member 54 to open and close; In S1, after the traverse platform assembly 2 is controlled to drive the clamping assembly 5 to the paper roll input area, the lifting assembly 3 is controlled to descend and before the clamping assembly 5 is controlled to clamp the paper roll, including: If the paper roll to be loaded is placed on the truck and there is already a paper roll on the side where the movable arm 53 is opened, the rotating assembly 4 is controlled to rotate so that the fixed arm 52 is inserted into the space adjacent to the two paper rolls.

[0056] Paper rolls are usually arranged in an array, and when the paper rolls are transported to the loading system via a conveyor belt, the distance between the paper rolls is large. After the paper rolls are loaded onto the truck, the paper rolls need to be arranged compactly, such as Figure 8 Then, after the clamp assembly 5 has prevented the paper roll from being placed on the truck, the clamp assembly 5 needs to be opened and the paper roll is ejected, as shown in FIG. Fig. 9The dotted line in the figure is the opening path of the clamp arm. In the prior art, both clamp arms are generally movable. Since the clamp arms form a circular structure after closing, the clamp arms need to be opened when they are close to the paper roll. During the opening process, the clamp arms are easy to touch the paper roll and thus damage the paper roll.

[0057] In order to accommodate the compact arrangement of paper rolls, the clamp assembly 5 of this embodiment is configured as a structure of a fixed arm 52 and a movable arm 53, and the length of the movable arm 53 is greater than the length of the fixed arm 52. Fig.10 As shown, the dotted line in the figure is the opening path of the movable arm 53, so that in the process of clamping or releasing the paper roll, only the movable arm 53 can realize the opening and closing action, while the fixed arm 52 remains stationary. At the same time, the length of the movable arm 53 is greater than the length of the fixed arm 52. Therefore, when approaching the paper roll, the fixed arm 52 can be rotated to face the space between adjacent paper rolls and inserted into the space. At this time, the movable arm 53 faces the rear side of the freight car (the rear side is not loaded with paper rolls), thereby giving the movable arm 53 a larger movable space, so that it can avoid adjacent paper rolls, so that the movable arm 53 will not touch the surrounding paper rolls during the clamping process.

[0058] Furthermore, the clamping base 51 is provided with a rotating disk 55, the movable arm 53 and the fixed arm 52 are provided on the rotating disk 55, and the rotating disk 55 is provided with a gear ring, which is driven by a rotating motor 56 to drive the movable arm 53 and the fixed arm 52 to rotate together in the horizontal direction; In S3, controlling the transverse platform assembly 2 to drive the clamp assembly 5 to the top of the freight vehicle includes: The position of the paper roll to be loaded on the truck is obtained, and the rotating disk 55 is controlled to rotate so that when the clamping assembly 5 reaches the position where the paper roll is placed on the truck, the movable arm 53 is close to the side where no paper roll is placed.

[0059] like Fig.11 As shown in the figure, the dotted line in the figure represents the moving path of the movable arm 53. When loading the paper roll on the left side, the movable arm 53 will interfere with the paper roll in front of it during the opening process, thereby damaging the paper roll. At this time, the movable arm 53 cannot avoid the surrounding paper rolls by rotating the rotating assembly 4, or the rotating assembly 4 needs to exceed its rotation angle limit to achieve this. Therefore, in this embodiment, the clamping base 51 is provided with a rotating disk 55, so that the fixed arm 52 can be driven to rotate in the horizontal direction, thereby exchanging the positions of the movable arm 53 and the fixed arm 52, as shown in FIG. Fig.12 As shown, by exchanging the positions of the movable arm 53 and the fixed arm 52, the movable arm 53 is exchanged from the original position close to the front of the freight vehicle to the position close to the rear of the freight vehicle, so that the surrounding paper rolls will not be interfered with during the opening and closing process of the movable arm 53.

[0060] Further, a weight sensor is included to obtain the weight of the paper roll; Controlling the lifting amounts of the two lifting brackets 32 to be different to change the pitch angle of the clamping assembly 5 clamping the paper roll includes: The lifting amounts of the two lifting brackets 32 are controlled differently according to the weight of the paper roll to change the pitch angle of the clamping assembly 5 clamping the paper roll.

[0061] In this embodiment, the paper rolls to be loaded may have different specifications and thus different weights. Paper rolls of different weights cause the clamping assembly 5 to change in pitch angle under the action of its gravity at different angles. In order to accurately adjust the lifting amount of the two lifting brackets 32 and thus adjust the change in pitch angle of the clamping assembly 5 to the paper roll, the paper roll is accurately straightened in the vertical direction after being lifted. Specifically, linear quantification can be performed according to the weight of the paper roll and the change in the pitch angle caused by the paper roll to the clamping assembly 5. For example, if the weight of the paper roll is 3500 kg and the change in the pitch angle is 2.5°, the lifting amount of the two lifting brackets 32 needs to be adjusted to differ by 48 mm, and the difference in the electric cylinder is 24 mm. When clamping a 1500 kg paper roll, it is determined that the lifting amount of the two lifting brackets 32 needs to be adjusted to differ by 20 mm, and the difference in the electric cylinder is 10 mm. Alternatively, calibration can be performed according to multiple paper roll specifications. For example, if the weight of the paper roll is 3500 kg, 1500 kg, or 1000 kg, and the change in the pitch angle is 2.5°, 1°, or 0.5°, the lifting amount of the two lifting brackets 32 needs to be adjusted to differ by 48 mm, 20 mm, or 10 mm. When the weight of the next paper roll to be clamped is 1500 kg, the above historical data is directly queried to determine that the lifting amount of the two lifting brackets 32 needs to be adjusted to differ by 20 mm, and the difference in the electric cylinder is 10 mm. It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0062] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0063] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0064] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0065] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms should not be understood as necessarily referring to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

Claims

1. A control method for a paper roll loading system, characterized in that: Based on the paper roll loading system, the paper roll loading system includes: Truss mechanism (1); A transverse platform assembly (2) is arranged on the truss mechanism (1); A lifting assembly (3) is driven by the transverse platform assembly (2) to move transversely, the lifting assembly (3) comprising a connecting bracket (31) and lifting brackets (32) arranged opposite to each other on the left and right, the connecting bracket (31) being connected to the transverse platform assembly (2), the lifting brackets (32) being driven by corresponding lifting mechanisms (33), the top end of one of the lifting brackets (32) being hinged to the connecting bracket (31), and the top end of the other lifting bracket (32) being fixedly connected to the connecting bracket (31); A rotating assembly (4), the top end of the rotating assembly (4) being hinged to the bottom ends of the two lifting brackets (32), and performing a lifting action through the lifting assembly (3); A clamping assembly (5) is arranged on the rotating assembly (4), and the rotating assembly (4) is driven to realize the rotating action of the clamping assembly (5); The control method comprises: S1, controlling the transverse platform assembly (2) to drive the clamping assembly (5) to the paper roll input area, controlling the lifting assembly (3) to descend and controlling the clamping assembly (5) to clamp the paper roll; S2, controlling the lifting assembly (3) to rise, controlling the rotating assembly (4) to rotate the opening direction of the clamping assembly (5) so that one of the lifting brackets (32) faces the other lifting bracket (32), and controlling the lifting amounts of the two lifting brackets (32) to be different to change the pitch angle of the clamping assembly (5) clamping the paper roll, so that the paper roll is kept in the vertical direction; S3, controlling the transverse platform assembly (2) to drive the clamping assembly (5) to the top of the freight vehicle, controlling the lifting assembly (3) to descend, and controlling the clamping assembly (5) to release the paper roll.

2. The control method of a paper roll loading system according to claim 1, characterized in that: The lifting bracket (32) comprises a fixed linear slide rail (321), an intermediate linear slide rail (322), and a lifting linear slide rail (323); the top end of the fixed linear slide rail (321) is fixedly connected or hinged to the connecting bracket (31); the fixed linear slide rail (321) is connected to the intermediate linear slide rail (322); the shell of the lifting mechanism (33) is fixedly arranged on the connecting bracket (31); the piston rod of the lifting mechanism (33) drives the intermediate linear slide rail (322) to rise and fall; the top end of the lifting linear slide rail (323) is provided with a sprocket (324); the sprocket (324) is wound with a chain (325); one end of the chain (325) is connected to the bottom end of the lifting linear slide rail (323); the other end of the chain (325) is connected to the fixed linear slide rail (321); and the bottom end of the lifting linear slide rail (323) is connected to the rotating assembly (4); In step S2, controlling the lifting amounts of the two lifting brackets (32) to be different to change the pitch angle of the clamping assembly (5) clamping the paper roll comprises: The lifting amount of the lifting mechanism (33) is controlled to be different so as to change the pitch angle of the clamping assembly (5) clamping the paper roll.

3. The control method of a paper roll loading system according to claim 2, characterized in that: Controlling the lifting amount of the lifting mechanism (33) to change the pitch angle of the clamping assembly (5) clamping the paper roll comprises: Calculating or obtaining a change in the pitch angle after the clamping assembly (5) clamps the paper roll; Converting the pitch angle variation into a lifting amount difference of the lifting bracket (32); The lifting amount difference of the lifting mechanism (33) is controlled to be half of the lifting amount difference of the lifting bracket (32) so as to change the pitch angle of the clamping assembly (5) clamping the paper roll.

4. The control method of a paper roll loading system according to claim 1, characterized in that: A plurality of distance sensors (43) are arranged at the top of the rotating assembly (4), and the distance sensors (43) rotate along with the rotating assembly (4), wherein the distance between a pair of the distance sensors (43) is the same as the diameter of the corresponding paper roll and are arranged on the center line of the corresponding paper roll when the clamping assembly (5) clamps the paper roll; After controlling the transverse platform assembly (2) to drive the clamping assembly (5) to the paper roll input area, and before controlling the lifting assembly (3) to descend and controlling the clamping assembly (5) to clamp the paper roll, the following steps are performed: Calculate the relative distance h between the top of the rotating assembly (4) and the top of the paper roll; After the clamping assembly (5) is driven to approach the paper roll by the transverse platform assembly (2), the position of the clamping assembly (5) is adjusted so that the distance data detected by the two distance sensors (43) are both h.

5. The control method of a paper roll loading system according to claim 4, characterized in that: At least one distance sensor (43) is arranged on the edge of the top of the rotating assembly (4) and is arranged on the center line of the corresponding paper roll when the clamping assembly (5) clamps the paper roll; In the process of controlling the transverse platform assembly (2) to drive the clamp assembly (5) to the top of the freight vehicle, the following steps are performed: A jump position from the ground to the freight vehicle is generated based on the distance information acquired by the distance sensor (43), and is determined to be the edge of the freight vehicle.

6. The control method of a paper roll loading system according to claim 1, characterized in that: It comprises a visual sensor, which is arranged on the truss mechanism (1); Before step S1, the following is performed: using the visual sensor to collect an image of the freight vehicle below the truss mechanism (1), and obtaining the position coordinates and placement angle of the freight vehicle through image analysis.

7. The control method of a paper roll loading system according to claim 1, characterized in that: The clamping assembly (5) comprises a clamping base (51), a fixed arm (52) and a movable arm (53); the fixed arm (52) is fixedly connected to the clamping base (51); one end of the movable arm (53) is hinged to the clamping base (51); the inner surfaces of the fixed arm (52) and the movable arm (53) are arranged in an arc shape, and the length of the movable arm (53) is greater than that of the fixed arm (52); the movable arm (53) is driven to open and close by a driving member (54); In S1, after the lateral movement platform assembly (2) is controlled to drive the clamping assembly (5) to the paper roll input area, the lifting assembly (3) is controlled to descend and before the clamping assembly (5) is controlled to clamp the paper roll, including: If a paper roll to be loaded is placed on the freight vehicle and a paper roll is already present on the side of the open movable arm (53), the rotating assembly (4) is controlled to rotate so that the fixed arm (52) is inserted into the space adjacent to the two paper rolls.

8. The control method of a paper roll loading system according to claim 7, characterized in that: The clamping base (51) is provided with a rotating disk (55), the movable arm (53) and the fixed arm (52) are arranged on the rotating disk (55), the rotating disk (55) is provided with a gear ring, and the gear ring is driven by a rotating motor (56) to drive the movable arm (53) and the fixed arm (52) to rotate together in the horizontal direction; In S3, controlling the transverse platform assembly (2) to drive the clamping assembly (5) to the top of the freight vehicle comprises: The position of the paper roll to be loaded on the truck is obtained, and the rotating disk (55) is controlled to rotate so that when the clamping assembly (5) reaches the position where the paper roll is placed on the truck, the movable arm (53) approaches the side where no paper roll is placed.

9. The control method of a paper roll loading system according to claim 1, characterized in that: A weight sensor is included to obtain the weight of the paper roll; Controlling the lifting amounts of the two lifting brackets (32) to be different so as to change the pitch angle of the clamping assembly (5) clamping the paper roll comprises: The lifting amounts of the two lifting brackets (32) are controlled differently according to the weight of the paper roll to change the pitch angle of the clamping assembly (5) clamping the paper roll.

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