Material arranging and conveying method

Abstract

The invention provides a material arranging and conveying method which comprises the steps that a push plate is controlled to move in the direction away from one side edge of a material arranging line body so as to move to the other side edge of the material arranging line body; the telescopic conveyor is controlled to continuously convey the target box bodies to the material arranging line main body and close to the other side edge of the material arranging line main body; a push plate is controlled to move from the other side edge of the material arranging line main body to one side edge of the material arranging line main body, so that one target box body is pushed to be close to an edge folding baffle on one side edge of the material arranging line main body; and the control module is used for controlling the push plate to return to the other side edge of the material arranging line main body, and moving from the other side edge of the material arranging line main body to one side edge of the material arranging line main body again, so that the other target box body is pushed to be close to the previous target box body to form a box assembly for a robot to grab at a time. The robot can be controlled to grab a plurality of target box bodies which are arranged in order at the same time, and the grabbing efficiency is improved.

Description

Technical Field

[0001] The present invention relates to intelligent manufacturing, and more particularly, to a material sorting and conveying method. Background Art

[0002] An industrial robot is an intelligent device equipped with sensors, objective lenses, and electro-optical systems, which can quickly perform goods sorting and handling.

[0003] More and more visual sensors and force sensors are used on industrial robots, and industrial robots will become more and more intelligent. With the progress of technologies such as sensing and recognition systems and artificial intelligence, robots are developing from being unidirectionally controlled to storing and applying data by themselves, and gradually becoming informatized.

[0004] In order to expand the application scenarios and scope of industrial robots, in the prior art, mobile robots are manufactured by installing industrial robots on mobile bases, so as to realize the movement of industrial robots to achieve functions such as mobile palletizing and depalletizing and mobile picking. When loading and unloading materials by robots in the prior art, often only a single box can be grabbed and placed each time, which not only results in low loading and unloading efficiency, but also often causes the phenomenon of dropped parts when the running speed of the robot is increased to improve efficiency, and the upper limit of handling efficiency cannot be broken through. Existing combined material sorting mechanisms are all of a single-specification box design and cannot handle boxes of different sizes, with low flexibility. Summary of the Invention

[0005] Aiming at the defects in the prior art, the purpose of the present invention is to provide a material sorting and conveying method.

[0006] The material sorting and conveying method provided by the present invention includes:

[0007] A material sorting line main body for conveying a target box body;

[0008] A side baffle, which is arranged on one side edge of the material sorting line main body and is used to prevent the target box body from slipping;

[0009] A push plate, which is arranged on the material sorting line main body and is arranged opposite to the side baffle, and is used to push the target box body close to the side baffle;

[0010] A push plate driving mechanism for driving the push plate to move relative to the side baffle so as to push the target box body close to the side baffle.

[0011] Preferably, it further includes a front baffle lifting mechanism; the front baffle lifting mechanism is arranged at the discharge port of the material sorting line main body;

[0012] The front baffle lifting mechanism is used to block the target box body from passing through the discharge port of the sorting line main body when lifting, and allow the target box body to pass through the discharge port of the sorting line main body when retracting.

[0013] Preferably, the push plate driving mechanism includes a lead screw, a lead screw nut, a lead screw output block, and a first driving motor;

[0014] The first driving motor is used to drive the lead screw to rotate;

[0015] The lead screw nut is arranged on the lead screw and can move along the lead screw as the lead screw rotates;

[0016] The lead screw output block is arranged on the lead screw nut and moves under the drive of the lead screw nut; the push plate is connected to the lead screw output block.

[0017] Preferably, a plurality of push plate support rods arranged in sequence are arranged on the lead screw output block;

[0018] The sorting line main body includes a plurality of rollers arranged in sequence;

[0019] Each push plate support rod is arranged between two adjacent rollers and can move along the length extension direction of the roller;

[0020] The push plate is arranged on the push plate support rod.

[0021] Preferably, the front baffle lifting mechanism includes: a second driving motor, a reducer, a lifting arm, a mounting base plate, and a front baffle lifting plate;

[0022] The mounting base plate is arranged at the discharge port of the sorting line main body;

[0023] The reducer is arranged on the mounting base plate, and the second driving motor drives the lifting arm through the reducer;

[0024] One end of the lifting arm is connected to the output shaft of the reducer, and the other end is connected to the front baffle lifting plate;

[0025] The second driving motor is used to drive the front baffle lifting plate to rise to block the target box body from passing through the discharge port of the sorting line main body, and drive the front baffle lifting plate to retract to allow the target box body to pass through the discharge port of the sorting line main body.

[0026] Preferably, the sorting line main body includes a left mounting plate, a right mounting plate, rollers, and a roller driving mechanism;

[0027] The left mounting plate and the right mounting plate are arranged opposite to each other;

[0028] A plurality of the rollers are sequentially arranged on the left mounting plate and the right mounting plate, and are rotationally connected to the left mounting plate and the right mounting plate;

[0029] The roller driving mechanism is used to drive the rollers to rotate so as to drive the movement of the target box.

[0030] Preferably, a first guide rail is further included;

[0031] One end of the first guide rail is arranged on the left mounting plate, and the other end is arranged on the right mounting plate;

[0032] One end of the lead screw is fixed to the left mounting plate through the lead screw support fixed side assembly, and the other end is supported on the right mounting plate through the lead screw support assembly;

[0033] The lead screw output block is connected to the first guide rail through a first slider and can slide along the first guide rail.

[0034] Preferably, a second guide rail and a third guide rail are arranged on the mounting bottom plate;

[0035] The front baffle lifting plate is connected to the second guide rail through a second slider and connected to the third guide rail through a third slider;

[0036] The front baffle lifting plate is used to slide along the height direction of the mounting bottom plate through the second guide rail and the third guide rail.

[0037] Preferably, the first driving motor is arranged on the left mounting plate or the right mounting plate through a synchronous pulley tensioning plate;

[0038] A first synchronous pulley is arranged on the output shaft of the first driving motor; a second synchronous pulley is arranged at the end of the lead screw;

[0039] The first synchronous pulley and the second synchronous pulley are connected by a synchronous belt.

[0040] The loading and unloading vehicle system provided by the present invention includes: the material sorting and conveying method described above, and further includes: a telescopic conveyor, a first robot, and a second robot;

[0041] The first robot is used to load the target box on the telescopic conveyor so that the telescopic conveyor conveys the target box to the working range of the blanking robot;

[0042] The second robot includes a mobile base, and the material sorting and conveying method is arranged on the mobile base; the feeding port of the material sorting and conveying method is docked with the telescopic conveyor; the second robot is used to move into a designated compartment according to a first control instruction remotely sent and / or a second control instruction generated by its own processor, and move and operate inside the compartment according to the operation progress.

[0043] Compared with the prior art, the present invention has the following beneficial effects:

[0044] In the present invention, the main body of the material sorting line sequentially conveys a plurality of target boxes on one side, controls the front baffle lifting mechanism to rise to block the target boxes from passing through the discharge port of the material sorting line main body, and then sequentially pushes the target boxes to be close to the edge baffle, that is, the other side close to the material sorting line main body. When a plurality of consecutive target boxes are pushed to be close to the edge baffle and neatly arranged, at this time, the front baffle lifting mechanism can be controlled to retract to allow the target boxes to pass through the discharge port of the material sorting line main body, and the robot is controlled to simultaneously grab a plurality of neatly arranged target boxes, improving the grabbing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained according to the provided drawings without creative efforts. By reading the detailed description of the non-limiting embodiments with reference to the following drawings, other features, objects and advantages of the present invention will become more obvious:

[0046] Figure 1 It is a step flow chart of the material sorting and conveying method in the embodiment of the present invention;

[0047] Figure 2 It is a structural schematic diagram of the material sorting and conveying line in one direction in the embodiment of the present invention;

[0048] Figure 3 It is a structural schematic diagram of the material sorting and conveying method in another direction in the embodiment of the present invention;

[0049] Figure 4 It is a step flow chart of the material sorting and conveying method in the variant embodiment of the present invention;

[0050] Figure 5 It is a step diagram of transporting the target box in the embodiment of the present invention;

[0051] Figure 6 It is a step flow chart for initializing the material sorting and conveying method in the embodiment of the present invention;

[0052] Figure 7 The flowchart of the steps for the push plate to continuously push the box body in the embodiment of the present invention;

[0053] Figure 8 The flowchart of the steps for the robot to carry the box body in the embodiment of the present invention;

[0054] Figure 9 The upward view structural diagram of the material sorting and conveying method in the embodiment of the present invention;

[0055] Figure 10 The structural diagram of the front baffle lifting mechanism in the variant of the present invention;

[0056] Figure 11 The movement diagram of the push plate in the embodiment of the present invention;

[0057] Figure 12 The working principle structural diagram of the material sorting and conveying line in the embodiment of the present invention;

[0058] Figure 13 The schematic diagram of the cooperation relationship between the material sorting and conveying line and the telescopic conveyor in the embodiment of the present invention;

[0059] Figure 14 The structural diagram of the material sorting and conveying line in the variant of the present invention;

[0060] Figure 15 The working principle structural diagram of the loading and unloading vehicle system in the embodiment of the present invention; and

[0061] Figure 16 The working process schematic diagram of the loading and unloading vehicle system in the embodiment of the present invention.

[0062] In the figure:

[0063] 1 is the main body of the material sorting line; 2 is the edge-returning baffle; 3 is the push plate; 4 is the push plate driving mechanism; 5 is the front baffle lifting mechanism; 101 is the left mounting plate; 102 is the right mounting plate; 103 is the roller; 401 is the first driving motor; 402 is the lead screw; 403 is the lead screw output block; 404 is the first guide rail; 405 is the first synchronous pulley; 406 is the second synchronous pulley; 501 is the second driving motor; 502 is the lifting arm; 503 is the front baffle lifting plate; 504 is the second guide rail; 505 is the third guide rail; 506 is the mounting base plate; 507 is the driven lifting arm; 508 is the connecting rod; 509 is the first chute guide groove; 510 is the second chute guide groove; 6 is the edge-pushing mechanism; 7 is the rear baffle lifting mechanism; 8 is the first sensor; 9 is the third sensor; 10 is the second sensor; 100 is the material sorting and conveying line; 200 is the second robot; 300 is the telescopic conveyor. Detailed implementation manners

[0064] The present invention will be described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made. These all belong to the protection scope of the present invention.

[0065] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element. In addition, the connection can be for a fixing function or for a circuit connection function.

[0066] It should be understood that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the embodiments of the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0067] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the embodiments of the present invention, the meaning of "a plurality" is two or more, unless otherwise specifically defined.

[0068] Figure 1 is a flowchart of the steps of the material sorting and conveying method in the embodiments of the present invention. As Figure 1 described, the material sorting and conveying method provided by the present invention includes the following steps:

[0069] Step S1: Control the telescopic conveyor to continuously transport the target box body onto the main body of the material sorting line and close to the other side of the main body of the material sorting line;

[0070] Step S2: Control the push plate to move in the direction away from the side of the main body of the material sorting line so as to move to the other side of the main body of the material sorting line;

[0071] Step S3: Control the edge-returning baffle to move in the direction of the push plate, and at the same time control the baffle to push the target box body to be in close contact with the edge-returning baffle;

[0072] In the embodiment of the present invention, control the edge-return baffle to move towards the direction of the push plate until it is at a position two box widths away from the other side of the material handling line body.

[0073] Step S4: Control the push plate to return to the other side of the material handling line body, and then move from the other side of the material handling line body towards one side of the material handling line body again, so as to push the other target box body close to the previous target box body to form a box combination for the robot to grasp at one time.

[0074] Figure 2 It is a schematic structural diagram of a material handling and conveying line in one direction in the embodiment of the present invention. Figure 3 It is a schematic structural diagram of the material handling and conveying line in another direction in the embodiment of the present invention. As Figure 2 、 Figure 3 shown, the material handling and conveying line provided by the present invention includes:

[0075] A material handling line body 1 for conveying the target box body;

[0076] An edge-return baffle 2, which is arranged on one side of the material handling line body 1 and is used to prevent the target box body from slipping;

[0077] A push plate 3, which is arranged on the material handling line body 1 and is arranged opposite to the edge-return baffle 2, and is used to push the target box body close to the edge-return baffle 2;

[0078] A push plate driving mechanism 4, which is used to drive the push plate 3 to move relative to the edge-return baffle 2, so as to push the target box body close to the edge-return baffle 2 and enable the target box body to eliminate the horizontal angle error through the restraint of the baffle and the push plate;

[0079] A front baffle lifting mechanism 5; the front baffle lifting mechanism 5 is arranged at the discharge port of the material handling line body 1; the front baffle lifting mechanism 5 is used to block the target box body from passing through the discharge port of the material handling line body 1 when it rises, so that the target box body is placed closely aligned with the front baffle lifting mechanism 5; when it retracts, it allows the target box body to pass through the discharge port of the material handling line body 1 and enables the target box body to eliminate the position error in the horizontal direction through the material handling line body 1 and the front baffle lifting mechanism 5 to achieve alignment.

[0080] A baffle driving mechanism for driving the edge-return baffle 2 to move relative to the push plate 3, thereby accelerating the relative movement between the push plate 3 and the edge-return baffle 2.

[0081] In the embodiment of the present invention, the push plate 3 and the edge-return baffle 2 are arranged relatively parallel.

[0082] Figure 4The flowchart of the steps of the material sorting and conveying method in the variant embodiment of the present invention is as follows. Figure 4 As shown, the material sorting and conveying method provided by the present invention further includes the following steps:

[0083] Step S5: Control step S4 to be executed multiple times, and successively push multiple said target boxes to one side edge of the main body of the material sorting line, so as to increase the number of target boxes included in the box combination;

[0084] Step S6: Control the robot to grasp the box combination at one time, and then place the box combination on a discharging position of a cargo box or a stack.

[0085] Figure 5 The flowchart of the steps of transporting the target box in the embodiment of the present invention is as follows. Figure 5 As shown, step S101 includes the following steps:

[0086] Step S101: Control the telescopic conveyor to continuously flow the target box along the telescopic roller line into the edge-pushing section of the feeding port close to the main body of the material sorting line;

[0087] Step S102: Detect the target box through the first sensor, and when the first sensor detects the target box, trigger the edge-pushing mechanism;

[0088] Step S103: Control the edge-pushing mechanism to extend, and push the target box to the side edge of the telescopic conveyor away from the edge-pushing mechanism.

[0089] Figure 6 The flowchart of the steps of initializing the material sorting and conveying method in the embodiment of the present invention is as follows. Figure 6 As shown, step S2 includes the following steps:

[0090] Step S201: Control the front baffle lifting mechanism to rise to block the target box from passing through the discharging port of the main body of the material sorting line;

[0091] Step S202: Judge whether the position of the push plate is on the other side edge of the main body of the material sorting line;

[0092] Step S203: When the position of the push plate is not on the other side edge of the main body of the material sorting line, control the push plate to move to the other side edge of the main body of the material sorting line.

[0093] Step S204: The target box flows into the main body of the material sorting line, and at the same time, another target box flows along the telescopic roller line into the edge-pushing section of the feeding port close to the main body of the material sorting line.

[0094] In the embodiment of the present invention, it is detected and determined by the second sensor 10 whether the target box flows into the main body of the material sorting line, and the triggering of the material sorting action is performed.

[0095] Figure 7 This is the flowchart of the steps for the push plate to continuously push the box body in the embodiment of the present invention. As Figure 7 shown, the step S4 includes the following steps:

[0096] Step S401: Control the push plate to return to the other side of the material handling line main body. At this time, another target box body moves to the inner side of the push plate;

[0097] Step S402: Control the push plate to move towards one side of the material handling line main body to push another target box body to move towards the direction close to the previous target box body;

[0098] Step S403: When one side surface of another target box body is pushed to fit with one side surface of the previous target box body, control the push plate to return to the other side of the material handling line main body.

[0099] Figure 8 This is the flowchart of the steps for the robot to carry the box body in the embodiment of the present invention. As Figure 8 shown, the step S6 includes the following steps:

[0100] Step S601: Control the front baffle lifting mechanism to retract to allow the target box body to pass through the discharge port of the material handling line main body;

[0101] Step S602: Control the robot to move the fixture to the discharge port of the material handling line main body. Along with the rotation of the material handling line main body and the traction of the fixture, the box combination will be pushed to move onto the fixture;

[0102] Step S603: Control the fixture to grasp the box combination at one time, and then place the box combination on a feeding position of the cargo box or stack.

[0103] Figure 9 This is the schematic bottom view structure of the material handling conveyor line in the embodiment of the present invention. As Figure 9 shown, the push plate driving mechanism 4 includes a lead screw 402, a lead screw nut, a lead screw output block 403, and a first driving motor 401;

[0104] The first driving motor 401 is used to drive the lead screw 402 to rotate;

[0105] The lead screw nut is arranged on the lead screw 402 and can move along the lead screw 402 as the lead screw 402 rotates;

[0106] The lead screw output block 403 is arranged on the lead screw nut and moves under the drive of the lead screw nut; the push plate 3 is connected to the lead screw output block 403.

[0107] In an embodiment of the present invention, the baffle driving mechanism includes a baffle lead screw, a baffle lead screw nut, a baffle lead screw output block, and a baffle driving motor;

[0108] The baffle driving motor is used to drive the rotation of the baffle lead screw;

[0109] The baffle lead screw nut is arranged on the baffle lead screw and can move along the lead screw with the rotation of the baffle lead screw;

[0110] The baffle lead screw output block is arranged on the baffle lead screw nut and moves under the drive of the baffle lead screw nut; the edge-returning baffle is connected to the baffle lead screw output block.

[0111] One end of the lead screw is arranged on the left mounting plate 101 through a bearing lead screw support fixed side assembly, and the other end is arranged on the right mounting plate through a bearing lead screw support support assembly.

[0112] In an embodiment of the present invention, a plurality of push plate support rods arranged in sequence are provided on the lead screw output block 403;

[0113] The main body 1 of the material sorting line includes a plurality of rollers 103 arranged in sequence;

[0114] Each push plate support rod is arranged between two adjacent rollers 103 and can move along the length extension direction of the roller 103;

[0115] The push plate 3 is arranged on the push plate support rod.

[0116] The plurality of push plate support rods are parallel to each other.

[0117] The first driving motor 401 is arranged on the left mounting plate 101 or the right mounting plate 102 through a synchronous pulley tensioning plate;

[0118] A first synchronous pulley 405 is arranged on the output shaft of the first driving motor 401; a second synchronous pulley 406 is arranged at the end of the lead screw 402;

[0119] The first synchronous pulley 405 and the second synchronous pulley 406 are connected by a synchronous belt.

[0120] A waist-shaped hole is provided at the corner end of the synchronous pulley tensioning plate 405. The first driving motor 401 is installed on the left mounting plate 101 by inserting a bolt into the waist-shaped hole, and the distance between the first synchronous pulley 405 and the second synchronous pulley 406 is adjusted through the waist-shaped hole to tension the synchronous belt.

[0121] The front baffle lifting mechanism 5 includes: a second drive motor 501, a speed reducer, a lifting arm 502, a mounting base plate 506, and a front baffle lifting plate 503;

[0122] The mounting base plate 506 is arranged at the discharge port of the sorting line main body 1;

[0123] The speed reducer is arranged on the mounting base plate 506, and the second drive motor 501 drives the lifting arm 502 through the speed reducer;

[0124] One end of the lifting arm 502 is connected to the output shaft of the speed reducer, and the other end drives the front baffle lifting plate 503 to reciprocate in the guide groove;

[0125] The second drive motor 501 is used to drive the front baffle lifting plate 503 to rise to block the target box body from passing through the discharge port of the sorting line main body 1, and to drive the front baffle lifting plate 503 to retract to allow the target box body to pass through the discharge port of the sorting line main body 1.

[0126] Both ends of the mounting base plate 506 are fixed at the front ends of the left mounting plate 101 and the right mounting plate 102, and are perpendicularly connected to the left mounting plate 101 and the right mounting plate 102.

[0127] Figure 10 It is a schematic structural diagram of the sorting conveyor line in the modification example of the present invention, as Figure 10 shown, the front baffle lifting mechanism further includes: a driven lifting arm 507, a first guide groove 509, a second guide groove 510, and a connecting rod member 508;

[0128] The first end of the lifting arm 502 is connected to the output shaft of the speed reducer, the second end is connected to the first rolling bearing, and the third end is connected to one end of the connecting rod member 508;

[0129] The first end of the driven lifting arm 507 is rotatably connected to the mounting base plate 506, the second end is connected to the second rolling bearing, and the third end is connected to the other end of the connecting rod member 508;

[0130] The first guide groove 509 and the second guide groove 510 are arranged on the front baffle lifting plate; the first rolling bearing is arranged in the first guide groove 509, and the second rolling bearing is arranged in the second guide groove 510.

[0131] In this modification example of the present invention, the lifting arm 502 and the driven lifting arm 507 are arranged in parallel on the mounting base plate 506; the lifting arm 502 and the driven lifting arm 507 are in a T shape, including a horizontally extending arm and a vertically extending arm;

[0132] The first rolling bearing can slide in the first guide groove 509 , and the second rolling bearing can slide in the second guide groove 510 .

[0133] The front fender lifting plate 503 , the lifting arm 502 , the driven lifting arm 507 and the connecting rod 508 form a parallelogram-like structure, thereby ensuring parallel lifting of the front fender lifting plate 503 and avoiding the problem of inconsistent heights on both sides of the front fender lifting plate 503 .

[0134] In the embodiment of the present invention, the second guide rail 504 and the third guide rail 505 are provided on the mounting base plate 506;

[0135] The front fender lifting plate 503 is connected to the second guide rail 504 via a second slider, and is connected to the third guide rail 505 via a third slider;

[0136] The front fender lifting plate 503 can slide along the height direction of the mounting base plate 506 via the second guide rail 504 and the third guide rail 505 .

[0137] In the embodiment of the present invention, the material processing line body 1 includes a left mounting plate 101, a right mounting plate 102, a roller 103 and a roller driving mechanism;

[0138] The left mounting plate 101 and the right mounting plate 102 are arranged opposite to each other;

[0139] The plurality of rollers 103 are sequentially arranged on the left mounting plate 101 and the right mounting plate 102, and are rotatably connected to the left mounting plate 101 and the right mounting plate;

[0140] The roller driving mechanism is used to drive the roller 103 to rotate, so as to drive the movement of the target box.

[0141] In an embodiment of the present invention, the material handling and conveying line provided by the present invention further includes a first guide rail and a crossbeam 404;

[0142] One end of the crossbeam 404 is disposed on the left mounting plate 101, and the other end is disposed on the right mounting plate; the first guide rail is disposed on the crossbeam 404;

[0143] One end of the screw rod 402 is arranged on the left mounting plate 101 through a screw rod support fixing side component, and the other end is arranged on the right mounting plate through a screw rod support supporting component;

[0144] The lead screw output block 403 is connected to the first guide rail 404 through a first slider and can slide along the first guide rail 404. The baffle lead screw output block is connected to the first guide rail through a baffle slider and can slide along the first guide rail.

[0145] Figure 13 It is a schematic diagram of the cooperation relationship between the sorting conveyor line and the telescopic conveyor in the embodiment of the present invention, as Figure 13 shown, a guiding mechanism 6 is arranged at the feeding port of the sorting line main body 1;

[0146] The guiding mechanism 6 is used to guide the target box flowing into the sorting line main body 1 so that the target box moves to the other side of the sorting line main body 1.

[0147] The guiding mechanism 6 includes a guiding plate, an inclined push mounting plate, an electric cylinder, a fourth guide rail and a fifth guide rail;

[0148] The guiding plate is arranged at the front end of the inclined push mounting plate; the output rod of the electric cylinder is connected to the inclined push mounting plate and is used to push the guiding plate to move back and forth, and the guiding plate is used for guiding the target box;

[0149] The bottom side of the inclined push mounting plate is also provided with a fourth guide rail and a fifth guide rail. The fourth guide rail is arranged in the first guide groove, and the fifth guide rail is arranged in the second guide groove; the first guide groove and the second guide groove are arranged on the bottom frame through a spacer block.

[0150] In addition, when it is not necessary to sort the target box, the electric cylinder drives the guiding plate away from the upper side of the telescopic conveyor 100 so that the target box can pass directly.

[0151] Figure 14 It is a schematic diagram of the structure of the sorting conveyor line in the modified example of the present invention, as Figure 14 shown, the pushing edge mechanism 6 includes a telescopic mechanism and a front pushing frame; the front pushing frame is arranged at the front end of the telescopic mechanism; the rear end of the telescopic mechanism is connected to the sorting line main body 1 through a fixed frame;

[0152] A first sensor 8 is arranged on the fixed frame. The first sensor 8 is used to trigger the pushing edge mechanism 6. When the first sensor 8 detects the target box, the pushing edge mechanism 6 performs the pushing edge operation on the target box.

[0153] A second sensor 10 is arranged at the discharging port end of the sorting line main body 1. The second sensor 10 is used to trigger the sorting action of the sorting conveyor line. When the second sensor 10 detects the target box, the push plate driving mechanism 4 drives the push plate to push the target box for sorting operation.

[0154] At the feeding port of the main body of the sorting line, the rear baffle lifting mechanism 8 is provided.

[0155] The rear baffle lifting mechanism 7 is used to block the target box body from passing through the feeding port of the main body of the sorting line when it rises, and allow the target box body to pass through the feeding port of the main body of the sorting line when it retracts.

[0156] Figure 15 It is a schematic structural diagram of the working principle of the loading and unloading vehicle system in the embodiment of the present invention. As Figure 15 shown, the loading and unloading vehicle system provided by the present invention includes: the sorting and conveying line 100, and also includes: a telescopic conveyor 100, a first robot, and a second robot 200.

[0157] The first robot is used to load the target box body onto the telescopic conveyor 100, so that the telescopic conveyor 100 conveys the target box body to the working range of the blanking robot.

[0158] The second robot 200 includes a mobile base, and the sorting and conveying line 100 is arranged on the mobile base; the feeding port of the sorting and conveying line 100 is docked with the telescopic conveyor 100; the second robot 200 is used to move into the specified compartment according to the first control instruction remotely sent and / or the second control instruction generated by its own processor, and move and work inside the compartment according to the operation progress.

[0159] The telescopic conveyor 100 adopts a telescopic roller line or a telescopic belt conveyor. A baffle for preventing the box body from falling when being pushed is arranged on the outer side of the pushing edge mechanism 6 relative to the telescopic conveyor 100.

[0160] A third sensor 9 is arranged on the baffle. The third sensor 9 is used to control the telescopic conveyor 100 to stop transmitting when the pushing plate driving mechanism 4 drives the pushing plate 3 to push the target box body for sorting operation and the target box body is detected, so as to prevent the target box body from contacting the pushing plate 3 during the sorting process and causing errors.

[0161] Figure 16 It is a schematic diagram of the working process of the loading and unloading vehicle system in the embodiment of the present invention. As Figure 16 (a) shown, the target box body A flows in along the telescopic roller line; as Figure 16 (b) shown, the first sensor receives the signal that the target box body A arrives at the position of the pushing edge mechanism; as Figure 16 (c) shown, the pushing edge mechanism 6 extends to push the target box body A to the right side of the telescopic roller line and lean against the side; as Figure 16 (d) shown, the front baffle lifting plate 503 rises, and the target box body A flows into the main body 1 of the sorting line in place. At the same time, the target box body B flows along the telescopic roller line.Figure 16 As shown in (e), the edge-return baffle 2 moves to a position two box widths away from the rightmost side of the material handling line main body 1. The pusher plate pushes the target box A to the position of the edge-return baffle 2 and presses it tightly. At this time, the first sensor senses that box B reaches the pushing edge position; as Figure 16 As shown in (f), the pusher plate 3 retracts to the rightmost side of the material handling line main body 1. At this time, the pushing edge mechanism 6 extends and pushes the target box B to the right side against the edge; as Figure 16 As shown in (g), the edge-return baffle 2 retracts to the leftmost side, and the target box B flows into the material handling line main body 1 in place. At this time, the target box C flows in along the telescopic roller line; as Figure 16 As shown in (h), the pusher plate 3 pushes the target box A and the target box B to the position of the edge-return baffle 2 and presses them tightly. At this time, the first sensor 8 senses that the target box C reaches the pushing edge position; as Figure 16 As shown in (i), the pusher plate 3 retracts to the rightmost side of the material handling line main body 1. At this time, the pushing edge mechanism 6 extends and pushes the target box C to the right side against the edge; as Figure 16 As shown in (j), the target box C flows into the material handling line main body 1 in place; as Figure 16 As shown in (k), the pusher plate 3 pushes the target boxes A, B, and C to the edge-return baffle position and presses them tightly to form a box combination for the robot to grasp at one time; as Figure 16 As shown in (l), the front baffle lifting mechanism 5 descends, and the rear baffle lifting mechanism 7 rises. The robot is controlled to grasp the box combination at one time and then place the box combination on a discharging position of a cargo box or a stack.

[0162] In the embodiment of the present invention, the material handling line main body sequentially conveys a plurality of target boxes on one side. The front baffle lifting mechanism is controlled to rise to block the target boxes from passing through the discharge port of the material handling line main body, and then the target boxes are sequentially pushed to be close to the edge-return baffle, that is, close to the other side of the material handling line main body, by the pusher plate. When a plurality of consecutive target boxes are pushed to be close to the edge-return baffle and neatly arranged, at this time, the front baffle lifting mechanism can be controlled to retract to allow the target boxes to pass through the discharge port of the material handling line main body, and the robot is controlled to grasp the neatly arranged plurality of target boxes at the same time, improving the grasping efficiency.

[0163] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. For the same or similar parts among the various embodiments, reference can be made to each other. The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be obvious to those skilled in the art. The general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to these embodiments shown herein, but rather to the broadest scope consistent with the principles and novel features disclosed herein.

[0164] The specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various deformations or modifications within the scope of the claims, which do not affect the essence of the present invention.

Claims

1. A material sorting and conveying method, characterized in that, It includes the following steps: Step S1: Control the telescopic conveyor to continuously transport the target box body onto the main body of the sorting line and close to the other side of the main body of the sorting line; Step S2: Control the push plate to move in the direction away from one side of the main body of the sorting line so as to move to the other side of the main body of the sorting line; Step S3: Control the edge-aligning baffle to move towards the push plate, and at the same time control the baffle to push the target box body against the edge-aligning baffle; Step S4: Control the push plate to return to the other side of the main body of the sorting line, and then move from the other side of the main body of the sorting line to one side of the main body of the sorting line to push another target box body close to the previous target box body to form a box combination for the robot to grab at one time.

2. The material sorting and conveying method according to claim 1, wherein It also includes the following steps: Step S5: Control Step S4 to be executed multiple times to successively push multiple target box bodies to one side of the main body of the sorting line to increase the number of target box bodies included in the box combination.

3. The material handling and conveying method according to claim 1 or 2, characterized in that, It also includes the following steps: Step S6: Control the robot to grab the box combination at one time and then place the box combination on a discharging position of a cargo box or a stack.

4. The sorting and conveying method according to claim 1, wherein the main body of the sorting line is used for transporting the target box body; the edge-aligning baffle is arranged on one side of the main body of the sorting line and is used to prevent the target box body from slipping; the push plate is arranged on the main body of the sorting line and is arranged opposite to the edge-aligning baffle and is used to push the target box body close to the edge-aligning baffle; the push plate driving mechanism for driving the push plate is used to drive the push plate to move relative to the edge-aligning baffle to push the target box body close to the edge-aligning baffle; the front baffle lifting mechanism arranged at the discharging port of the main body of the sorting line is used to block the target box body from passing through the discharging port of the main body of the sorting line when lifting, and allow the target box body to pass through the discharging port of the main body of the sorting line when retracting; the rear baffle lifting mechanism arranged at the feeding port of the main body of the sorting line is used to block the target box body from passing through the feeding port of the main body of the sorting line when lifting, and allow the target box body to pass through the feeding port of the main body of the sorting line when retracting.

5. The material handling and conveying method according to claim 4, wherein Step S2 includes the following steps: Step S201: Control the front baffle lifting mechanism to lift to block the target box body from passing through the discharging port of the main body of the sorting line; Step S202: Judge whether the position of the push plate is on the other side of the main body of the sorting line; Step S203: When the position of the push plate is not on the other side of the main body of the sorting line, control the push plate to move to the other side of the main body of the sorting line. Step S204: The target box body flows into the main body of the sorting line, and at the same time another target box body flows along the telescopic roller line into the pushing edge section near the feeding port of the main body of the sorting line.

6. The material handling and conveying method according to claim 4, characterized in that Step S4 includes the following steps: Step S401: Control the push plate to return to the other side of the main body of the sorting line, and at this time another target box body moves to the inner side of the push plate; Step S402: Control the push plate to move towards one side of the material handling line main body to push the other target box towards the direction close to the previous target box; Step S403: When one side surface of the other target box is pushed to be in contact with one side surface of the previous target box, control the push plate to return to the other side of the material handling line main body.

7. The material handling and conveying method according to claim 4, wherein The step S6 includes the following steps: Step S601: Control the front stop lifting mechanism to retract to allow the target box to pass through the discharge port of the material handling line main body; Step S602: Control the robot to move the fixture to the discharge port of the material handling line main body. As the material handling line main body rotates and the fixture pulls, push the box combination to the fixture; Step S603: Control the fixture to grab the box combination at one time, and then place the box combination on a loading position of the cargo box or stack.

8. The material handling and conveying method according to claim 4, wherein, The push plate drive mechanism includes a lead screw, a lead screw nut, a lead screw output block, and a first drive motor; The first drive motor is used to drive the lead screw to rotate; The lead screw nut is arranged on the lead screw and can move along the lead screw as the lead screw rotates; The lead screw output block is arranged on the lead screw nut and moves under the drive of the lead screw nut; The push plate is connected to the lead screw output block.

9. The material sorting and conveying method according to claim 4, characterized in that The front stop lifting mechanism includes: a second drive motor, a reducer, a lifting arm, a mounting base plate, and a front stop lifting plate; The mounting base plate is arranged at the discharge port of the material handling line main body; The reducer is arranged on the mounting base plate, and the second drive motor drives the lifting arm through the reducer; One end of the lifting arm is connected to the output shaft of the reducer, and the other end is connected to the front stop lifting plate; The second drive motor is used to drive the front stop lifting plate to rise to block the target box from passing through the discharge port of the material handling line main body, and to drive the front stop lifting plate to retract to allow the target box to pass through the discharge port of the material handling line main body.

10. The material arranging and conveying method according to claim 9, wherein The front stop lifting mechanism further includes: a driven lifting arm, a first guide groove, a second guide groove, and a connecting rod member; The first end of the lifting arm is connected to the output shaft of the reducer, the second end is connected to the first rolling bearing, and the third end is connected to one end of the connecting rod member; The first end of the driven lifting arm is rotatably connected to the mounting base plate, the second end is connected to the second rolling bearing, and the third end is connected to the other end of the connecting rod member; The first guide groove and the second guide groove are arranged on the front stop lifting plate; the first rolling bearing is arranged in the first guide groove, and the second rolling bearing is arranged in the second guide groove.

11. The material sorting and conveying method according to claim 1, wherein, The step S101 includes the following steps: Step S101: Control the telescopic conveyor to continuously flow the target box along the telescopic roller line into the pushing edge section of the inlet of the material handling line main body; Step S102: Detect the target box through the first sensor. When the first sensor detects the target box, trigger the edge pushing mechanism; Step S103: Control the edge pushing mechanism to extend and push the target box to the side of the telescopic conveyor away from the edge pushing mechanism.

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