Bag type material loading robot, control system and control method thereof

Abstract

The invention provides a bag type material loading robot, a control system and a control method thereof. The robot comprises a walking track, a scraper conveying line, a walking mechanism, a rotary support, a rotating assembly, a first conveying line, a z-axis driving unit and a hopper assembly. The walking mechanism can drive the rotary support, the rotating assembly, the first conveying line and the hopper assembly to move along the walking track. The rotary support can drive the rotating assembly, the first conveying line and the hopper assembly to rotate relative to the walking mechanism. The z-axis driving unit can drive the hopper assembly to move up and down in the vertical direction; one end of the first conveying line is arranged on the rotating assembly, and the hopper assembly is fixedly connected with the other end of the first conveying line; the hopper assembly comprises a first gripper, a second gripper and an A-axis driving unit, and the A-axis driving unit is used for driving the first gripper and the second gripper to rotate. In this way, the first gripper and the second gripper can be accurately matched with the loading working condition, the loading position of the bag type materials is adjusted, and accurate loading of the bag type materials is achieved.

Description

Technical Field

[0001] This application relates to the technical field of intelligent loading of bagged materials, and particularly relates to a bagged material loading robot, a control system and a control method thereof. Background Art

[0002] In the prior art, when loading bagged materials such as those in the grain and oil industry, chemical industry, feed industry, cement industry, etc., manual loading is usually used. Manual loading not only has a high labor intensity, but also a large amount of powder will be generated when loading powdered materials such as flour bags and cement bags. Inhaling the powder for a long time will cause certain harm to the human body. At the same time, the loading efficiency is low.

[0003] In the existing loading equipment, when loading bagged materials, the bagged materials are usually just thrown into the freight car, resulting in problems such as unneat loading, inability to accurately match the loading position of the bagged materials according to the situation of the freight car to be loaded and the bagged materials, and inability to perform precise loading of the bagged materials. Summary of the Invention

[0004] In order to solve the above technical problems, this application provides a bagged material loading robot, a control system and a control method thereof.

[0005] In the first aspect of this application, a bagged material loading robot is provided, including a walking track, a scraper conveyor line, a walking mechanism, a slewing support, a rotating assembly, a first conveyor line, a z-axis driving unit and a hopper assembly; the scraper conveyor line is arranged on the walking track; the walking mechanism is arranged on the walking track and can move along the walking track; the slewing support is arranged below the walking mechanism; the rotating assembly is arranged below the slewing support; the Z-axis driving unit is arranged on the rotating assembly, and its extending end is connected to the first conveyor line; one end of the first conveyor line is arranged on the rotating assembly, and the hopper assembly is fixedly connected to the other end of the first conveyor line; the hopper assembly includes a first gripper, a second gripper and an A-axis driving unit, and the A-axis driving unit is used to drive the first gripper and the second gripper to rotate.

[0006] In some embodiments of this application, the hopper assembly further includes a hopper frame body, a camera, a first gripper driving unit and a second gripper driving unit. The hopper frame body is fixedly connected to the first conveyor line. The A-axis driving unit and the camera are arranged on the hopper frame body. The first gripper and the second gripper are arranged on the gripper frame body. The A-axis driving unit is in transmission connection with the gripper frame body. The first gripper driving unit and the second gripper driving unit are arranged on the gripper frame body. The extending end of the first gripper driving unit is connected to the first gripper, and the extending end of the second gripper driving unit is connected to the second gripper.

[0007] In some embodiments of the present application, a positioning mechanism and a scanning system are provided inside both the first gripper and the second gripper; the positioning mechanism is used to position the conveyed bagged materials; the scanning system is used to scan the conveyed bagged materials.

[0008] In some embodiments of the present application, both the first gripper and the second gripper include a gripper side wall and a gripper bottom wall connected to each other. The positioning mechanism includes a first positioning component and a second positioning component. The first positioning component is arranged on the gripper bottom wall, and the second positioning component is arranged on the gripper side wall.

[0009] In some embodiments of the present application, the first positioning component includes a first positioning driving unit, a first bottom plate, a first side plate, a second side plate, a second positioning driving unit, and a rotating positioning plate; the first positioning driving unit is arranged on the gripper bottom wall; the first bottom plate is arranged on the first positioning driving unit; the first side plate and the second side plate are arranged at intervals on the first bottom plate; a second positioning driving unit is arranged on one side of the first side plate; the rotating positioning plate is arranged between the first side plate and the second side plate and is in transmission connection with the second positioning driving unit.

[0010] In some embodiments of the present application, the second positioning component includes a third positioning driving unit, a sliding rod, a connecting rod, and a push plate. The third positioning driving unit is arranged on the gripper side wall of the gripper. The piston rod of the third positioning driving unit is connected to one end of the sliding rod and is simultaneously hinged to one end of the connecting rod. The other end of the connecting rod is hinged to the push plate. A slideway is arranged on the gripper side wall of the gripper, and the other end of the sliding rod is slidably arranged in the slideway.

[0011] In the second aspect of the present application, a control system for a bagged material loading robot is provided. The control system includes a host computer, a vision scanning unit, and a loading robot controller; the host computer is used to receive and store data, analyze and process the data, and send corresponding control instructions; the vision scanning unit is connected to the host computer, and the vision scanning unit is used to scan the truck to be loaded and the bagged materials and transmit the scanning data to the host computer; the loading robot controller is respectively connected to the host computer and the loading robot, and the loading robot controller is used to receive the bagged material loading planning data issued by the host computer and convert it into a motion instruction of the loading robot and issue it to the loading robot.

[0012] In the third aspect of the present application, a control method for bagged material loading is provided. The control method uses a bagged material loading robot and a control system and includes the following steps: S1, using the vision scanning unit to scan the truck to be loaded, the parking area of the truck to be loaded, and the bagged materials to be loaded, and transmitting the data to the host computer; S2. The host computer integrates a 3D modeling system. The 3D modeling system processes the data to generate a 3D model of the truck to be loaded and a 3D model of the bagged material. The host computer analyzes and processes the 3D model of the truck to be loaded and the 3D model of the bagged material to generate bagged material loading planning data, and sends the bagged material loading planning data to the loading robot controller. The loading robot controller generates corresponding motion instructions. S3. The loading robot executes the corresponding motion instructions and drives the hopper assembly to move to the first bagged material loading point of the first section. The silo feeds the first bagged material to the loading robot. The first bagged material is conveyed to the hopper assembly through the scraper conveyor line and the second conveying unit of the loading robot. S4. The vision scanning unit scans the first bagged material in the hopper assembly and transmits the data to the host computer. The 3D modeling system of the host computer processes the data and generates a 3D model of the first bagged material. S5. The host computer analyzes and processes the 3D model of the first bagged material and the bagged material loading planning data to generate first bagged material position adjustment data, and sends the first bagged material position adjustment data to the loading robot controller. The loading robot controller generates corresponding motion instructions. S6. The loading robot executes the corresponding motion instructions and drives the hopper assembly to rotate and / or adjust the inclination angle of the hopper, and then stacks the first bagged material at the first bagged material loading point. S7. Repeat the above steps S3 to S6 until the loading of all bagged materials is completed.

[0013] In some embodiments of the present application, the method for generating the bagged material loading planning data in step S2 is as follows: S21. Configure the bagged material loading plan as packages, sections, layers, and trucks. Multiple packages form a section, multiple sections form a layer, and multiple layers form a truck. S22. According to the orientation of the bag head, configure the orientation of the package as the first direction, the second direction, the third direction, and the fourth direction. S23. The host computer selects the center point at the front end of the truck carriage to be loaded as the origin of the coordinate system according to the scanning data of the truck to be loaded and the bagged material. At this time, the direction from the head to the tail of the truck is the positive direction of the X axis. S24. The section is configured as horizontal or vertical. Among them, the horizontal row is configured with the packages arranged along the Y axis direction. At this time, the orientation of the package is the first direction or the second direction. The vertical row is configured with the packages arranged along the X axis direction. At this time, the orientation of the package is the third direction or the fourth direction. S25. The layer is configured to include a first section, a second section, a third section, a fourth section, and a fifth section. The first section and the second section are configured to be arranged horizontally, with each row including N packages. The third section, the fourth section, and the fifth section are configured to be arranged vertically, with each row including n packages. The vehicle is configured to have a first layer, a second layer, a third layer, and an r-th layer from the bottom to the top of the vehicle compartment. Here, N, n, and r are all positive integers greater than or equal to 1. S26. Select the center of the end of the truck parking area as the origin of the new coordinate system, and obtain the center point coordinates of the front end of the truck compartment to be loaded as , the center point coordinates of the rear end of the compartment are ( ), the coordinates of the right side of the rear end of the compartment are , and the left coordinates of the left side of the rear end of the compartment are ; Then, the longitudinal inclination rate of the vehicle can be calculated as ; The transverse slope rate of the vehicle is ; S27. Calculate the coordinates of each package in the first section of the r-th layer ; ; ; ; Calculate the coordinates of each package in the second section of the r-th layer ; ; ; ; Calculate the coordinates of each package in the third section of the r-th layer ; ; ; ; Calculate the coordinates of each package in the fourth section of the r-th layer ; ; ; ; Calculate the coordinates of each package in the fifth section of the r-th layer ; ; ; ; Where is the length of the carriage, is the width of the carriage, is the width of the package, is the length of the package, is the height of the package.

[0014] In some embodiments of the present application, the method for the loading robot controller to generate corresponding motion instructions in step S2 is as follows: S28. When the loading robot is in the initial state, select the center point of the hopper assembly as the initial point of the loading robot, and the coordinates of the initial point are ; the length of the first conveying drive is , and the length from the end of the extended end of the first conveying drive to the center point of the hopper assembly is . Assume that the coordinate point of any package is ; S29. Calculate the distance from the initial point to the coordinate point of this arbitrary package; ; ; Calculate the compensation amount in the x direction when the initial point moves in the z-axis direction: ; Calculate the compensation amount in the x direction when the initial point moves in the y-axis direction: ; .

[0015] Compared with the prior art, the present invention has the following advantages and beneficial effects: In the bagged material loading robot of the present application, there are a walking track, a scraper conveying line, a walking mechanism, a slewing support, a rotating assembly, a first conveying line, a z-axis drive unit, and a hopper assembly; the walking mechanism can drive the slewing support, the rotating assembly, the first conveying line, and the hopper assembly to move along the walking track, the slewing support can drive the rotating assembly, the first conveying line, and the hopper assembly to rotate relative to the walking mechanism, the z-axis drive unit can drive the hopper assembly to move up and down in the vertical direction, and the A-axis drive unit can drive the first gripper and the second gripper to rotate; thus, the first gripper and the second gripper can accurately match the loading conditions, adjust the loading position of the bagged material, and achieve the precise loading of the bagged material.

[0016] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit this article. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings, which form a part of this specification, are used to provide a further understanding of this specification. The schematic embodiments and descriptions thereof of this application are used to explain this specification and shall not unduly limit this specification. In the accompanying drawings: Figure 1 is a schematic structural diagram of a bag-type material loading robot provided by an exemplary embodiment of this application; Figure 2 is a schematic structural diagram of a bag-type material loading robot (hiding the walking track and the scraper conveyor line) provided by an exemplary embodiment of this application; Figure 3 is a front view of the walking track and the walking mechanism provided by an exemplary embodiment of this application; Figure 4 is Figure 3 a cross-sectional view taken along line A-A in Figure 5 is Figure 4 an enlarged view at position I in Figure 6 is a front view of a bag-type material loading robot (hiding the walking track and the scraper conveyor line) provided by an exemplary embodiment of this application; Figure 7 is a schematic structural diagram of a slewing bearing provided by an exemplary embodiment of this application; Figure 8 is Figure 7 an enlarged view at position A in Figure 9 is a schematic structural diagram of a driving gear and a slewing bearing gear provided by an exemplary embodiment of this application; Figure 10 is Figure 9 an enlarged view at position B in Figure 11 is a schematic structural diagram of a hopper assembly provided by an exemplary embodiment of this application; Figure 12 is a schematic structural diagram of a first positioning assembly provided by an exemplary embodiment of this application; Figure 13 is a left view of the first positioning assembly provided by an exemplary embodiment of this application; Figure 14 is a schematic structural diagram of a second positioning assembly provided by an exemplary embodiment of this application; Figure 15 is a schematic structural diagram of a slideway provided by an exemplary embodiment of this application; Figure 16 is a schematic diagram of the morphological position of a bag-type material entering the gripper (before positioning); Figure 17 is a schematic diagram of the morphological position of a bag-type material entering the gripper (after positioning); Figure 18 is a flowchart of a control method for loading bagged materials onto a vehicle provided by an exemplary embodiment of the present application; Figure 19 is a schematic diagram of the coordinate system of a truck to be loaded with goods provided by an exemplary embodiment of the present application; Figure 20 is a schematic diagram of the loading plan configuration of bagged materials provided by an exemplary embodiment of the present application; Figure 21 is a schematic diagram of a layer in the loading plan configuration of bagged materials provided by an exemplary embodiment of the present application; Figure 22 is a schematic diagram of a new coordinate system and the coordinates of a truck for loading bags provided by an exemplary embodiment of the present application; Figure 23 is a schematic diagram of simulating the actual loading process provided by an exemplary embodiment of the present application.

[0018] In the figure: 100A, bagged materials; 10, traveling track; 101, first track; 102, second track; 103, rack; 20, scraper conveyor line; 301, scraper; 302, first chute; 303, second chute; 40, traveling mechanism; 401, traveling frame; 402, main traveling drive wheel set; 4021, main traveling drive frame; 4022, main traveling drive unit; 4023, main traveling driving gear; 4024, traveling wheel; 403, traveling driven wheel set; 501, slewing bearing; 5011, driving gear; 5012, slewing bearing teeth; 5013, connecting cover plate; 5014, first retaining ring; 5015, second retaining ring; 5016, main driving gear assembly; 5017, first retaining groove; 5018, second retaining groove; 502, rotating assembly; 503, first conveyor line; 5031, first conveyor drive; 504, z-axis drive unit; 60. Hopper assembly; 601. Hopper frame; 602. A-axis drive unit; 603. Camera; 6041. First gripper; 6042. Second gripper; 6043. First gripper drive unit; 6044. Second gripper drive unit; 6045. Gripper frame; 6046. Gripper side wall; 6047. Gripper bottom wall; 605. First positioning component; 6051. First positioning drive unit; 6052. First bottom plate; 6053. First side plate; 6054. Second side plate; 6055. Second positioning drive unit; 6056. Rotating positioning plate; 6057. Arc-shaped chute; 6058. First roller assembly; 6059. Inductive switch; 6060. Inductive rod; 606. Second positioning component; 6061. Third positioning drive unit; 6062. Sliding rod; 6063. Link rod; 6064. Pushing plate; 6065. Slideway; 6066. Second roller assembly; 6067. Third roller assembly. Detailed implementation

[0019] To make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application. It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments may be combined with each other arbitrarily.

[0020] In the prior art, when loading bagged materials, such as bagged materials in the grain and oil industry, chemical industry, feed industry, cement industry, etc., onto trucks, manual loading is usually used. Manual loading not only has a high labor intensity, but also generates a large amount of powder when loading powdered materials such as flour bags and cement bags. Inhaling the powder for a long time will cause certain harm to the human body. At the same time, the loading efficiency is low.

[0021] In existing loading equipment, when loading bagged materials, the bagged materials are usually just thrown into the truck, resulting in problems such as uneven loading, inability to accurately match the loading position of the bagged materials according to the situation of the truck to be loaded and the bagged materials, and inability to perform precise loading of the bagged materials.

[0022] Based on this, an exemplary embodiment of the present application provides a bagged material loading robot. A walking track, a scraper conveyor line, a walking mechanism, a slewing bearing, a rotating assembly, a first conveyor line, a z-axis driving unit, and a hopper assembly are provided in the bagged material loading robot; the walking mechanism can drive the slewing bearing, the rotating assembly, the first conveyor line, and the hopper assembly to move along the walking track, the slewing bearing can drive the rotating assembly, the first conveyor line, and the hopper assembly to rotate relative to the walking mechanism, the z-axis driving unit can drive the hopper assembly to move up and down in the vertical direction, and the A-axis driving unit can drive the first gripper and the second gripper to rotate; thus, the first gripper and the second gripper can accurately match the loading conditions, adjust the loading position of the bagged material, and achieve the precise loading of the bagged material.

[0023] An exemplary embodiment of the present application provides a bagged material 100A loading robot, as Figure 1 and 2 shown, the bagged material 100A loading robot includes a walking track 10, a scraper conveyor line 20, a walking mechanism 40, a slewing bearing 501, a rotating assembly 502, a first conveyor line 503, a z-axis driving unit 504, and a hopper assembly 60; the scraper conveyor line 20 is fixedly arranged on the walking track 10; the walking mechanism 40 is arranged on the walking track 10 and can move along the walking track 10, so that the walking mechanism 40 can drive the slewing bearing 501, the rotating assembly 502, the first conveyor line 503, and the hopper assembly 60 to move along the walking track 10; the slewing bearing 501 is arranged below the walking mechanism 40, so that the slewing bearing 501 can drive the rotating assembly 502, the first conveyor line 503, and the hopper assembly 60 to rotate relative to the walking mechanism 40; the rotating assembly 502 is arranged below the slewing bearing 501; the z-axis driving unit 504 is arranged on the rotating assembly 502, and its extending end is connected to the first conveyor line 503, so that the z-axis driving unit 504 can drive the hopper assembly 60 to move in the vertical direction; one end of the first conveyor line 503 is arranged on the rotating assembly 502, and the hopper assembly 60 is fixedly connected to the other end of the first conveyor line 503; the hopper assembly 60 includes a first gripper 6041, a second gripper 6042, and an A-axis driving unit 602, and the A-axis driving unit 602 is used to drive the first gripper 6041 and the second gripper 6042 to rotate, so that the first gripper 6041 and the second gripper 6042 can accurately match the loading conditions, adjust the loading position of the bagged material 100A, and achieve the precise loading of the bagged material 100A.

[0024] In one embodiment, continue to refer to Figure 1 and 2, a scraper 301 is provided on the scraper conveyor line 20, a first chute 302 is provided on the traveling mechanism 40, and a second chute 303 is provided on the rotating assembly 502. The bagged material 100A enters the scraper conveyor line 20, and is conveyed by the scraper conveyor line 20 to the position of the scraper 301. Under the action of the scraper 301, the bagged material 100A falls from the scraper conveyor line 20 onto the first chute 302, slides down along the first chute 302 and enters the second chute 303, and continues to slide down along the second chute 303 to the first conveyor line 503, and enters the hopper assembly 60 under the conveyance of the first conveyor line 503.

[0025] In one embodiment, as Figure 3 and 4 shown, the traveling track 10 includes two track assemblies arranged in parallel. The track assembly includes a first track 101 and a second track 102 arranged symmetrically, and a rack 103 is provided below the first track 101 and the second track 102. Preferably, the track assembly is made of I-beam, and the rack 103 is provided below the I-beam.

[0026] Exemplarily, the length direction of the traveling track 10 is set as the x-axis direction of the loading robot, the width direction of the traveling track 10 is set as the y-axis direction, and the vertical direction is set as the z-axis direction.

[0027] As Figure 2 and 3 shown, the traveling mechanism includes a traveling frame body 401, a traveling main drive wheel set 402 and a traveling driven wheel set 403. The traveling main drive wheel set 402 and the traveling driven wheel set 403 are provided on the traveling frame body 401. Traveling wheels 4024 are provided on the traveling main drive wheel set 402 and the traveling driven wheels, and the traveling wheels 4024 can travel along the traveling track 10. Preferably, the traveling mechanism 40 includes two traveling main drive wheel sets 402 and four traveling driven wheel sets 403. One traveling main drive wheel set 402 and two traveling driven wheel sets 403 are respectively distributed on each track assembly.

[0028] As Figure 4 and 5As shown in the figure, the main driving wheel set 402 for walking includes a main driving frame 4021 for walking, a main driving unit 4022 for walking, a driving gear 4023 for walking, and a walking wheel 4024; the main driving unit 4022 for walking is fixedly arranged on the main driving frame 4021 for walking and is in transmission connection with the driving gear 4023 for walking; the driving gear 4023 for walking is in meshing transmission with the rack 103; two walking wheels 4024 are symmetrically arranged on the main driving frame 4021 for walking, and the two walking wheels 4024 are respectively arranged to roll on the first track 101 and the second track 102. In this way, the main driving unit 4022 for walking can transmit power to the driving gear 4023 for walking to drive the main driving wheel set 402 for walking to move along the walking track 10. This loading robot can achieve reciprocating motion in the x-axis direction.

[0029] Preferably, the walking wheel 4024 is a conical wheel. The conical walking wheel 4024 can automatically center itself to prevent the walking wheel 4024 from disengaging from the walking track 10.

[0030] The driven wheel set 403 for walking includes a driven frame for walking, a driven gear for walking, and a walking wheel 4024. The driven gear for walking is arranged on the driven frame for walking through a rotating shaft. The driven gear for walking is in meshing transmission with the rack 103. Two walking wheels 4024 are symmetrically arranged on the driven frame for walking, and the two walking wheels 4024 are respectively arranged to roll on the first track 101 and the second track 102. Driven by the main driving wheel set 402 for walking, the driven wheel set 403 for walking can move along the walking track 10.

[0031] As Figures 7 to 10As shown in the figure, the slewing bearing 501 includes a driving gear 5011, a slewing bearing tooth 5012, a connecting cover plate 5013, a first retaining ring 5014, a second retaining ring 5015, and a main drive gear assembly 5016; the main drive gear assembly 5016 includes a motor and the driving gear 5011, the driving gear 5011 is in transmission connection with the motor, and the driving gear 5011 meshes with the outer ring of the driving gear 5011. Therefore, the motor can drive the driving gear 5011 to rotate. The bottom of the driving gear 5011 is fixedly connected to the rotating assembly 502, the top of the connecting cover plate 5013 is fixedly connected to the traveling frame 401 of the traveling mechanism 40, and the slewing bearing tooth 5012 is fixedly connected to the connecting cover plate 5013. A first retaining groove 5017 is provided on the inner ring of the driving gear 5011, a second retaining groove 5018 is provided on the outer ring of the slewing bearing tooth 5012, a part of the first retaining ring 5014 is accommodated in the first retaining groove 5017, the part of the first retaining ring 5014 extending out of the first retaining groove 5017 contacts the bottom of the slewing bearing tooth 5012, a part of the second retaining ring 5015 is accommodated in the second retaining groove 5018, and the part of the second retaining ring 5015 extending out of the second retaining groove 5018 contacts the top of the driving gear 5011. In this way, driven by the motor, the driving gear 5011 can drive the rotating assembly 502, the first conveyor line 503, and the hopper assembly 60 to rotate. This loading robot can move left and right in the width direction, that is, realize reciprocating motion in the y-axis direction.

[0032] As Figure 2 and 6 shown in the figure, the rotating assembly 502 is arranged below the slewing bearing 501, the z-axis driving unit 504 is arranged on the rotating assembly 502, and its extending end is connected to the first conveyor line 503. In this way, the z-axis driving unit 504 can drive the hopper assembly 60 to move up and down in the vertical direction, that is, realize reciprocating motion of this loading robot in the z-axis direction. One end of the first conveyor line 503 is arranged on the rotating assembly 502, and the hopper assembly 60 is fixedly connected to the other end of the first conveyor line 503. The first conveyor line 503 includes a first conveyor drive 5031, and the first conveyor drive 5031 is fixedly arranged on the rotating assembly 502. The first conveyor drive 5031 is used to provide power for the first conveyor line 503.

[0033] As Figure 11As shown, the hopper assembly 60 also includes a hopper frame 601, a camera 603, a first gripper drive unit 6043, and a second gripper drive unit 6044. The hopper frame 601 is fixedly connected to the first conveyor line 503. The A-axis drive unit 602 and the camera 603 are arranged on the hopper frame 601. The camera 603 can scan the truck to generate the scanning data of the truck. The scanning data of the truck includes the parking position, the parking angle, the width and height of the loading compartment of the truck, and other information. The first gripper 6041 and the second gripper 6042 are arranged on the gripper frame 6045. The A-axis drive unit 602 is connected to the gripper frame 6045 for driving the first gripper 6041 and the second gripper 6042 to rotate along the A-axis.

[0034] The first gripper driving unit 6043 and the second gripper driving unit 6044 are arranged on the gripper frame 6045, the extended end of the first gripper driving unit 6043 is hinged to the first gripper 6041, and the extended end of the second gripper driving unit 6044 is hinged to the second gripper 6042. The first gripper driving unit 6043 can drive the first gripper 6041 to rotate relative to the gripper frame 6045, and the second gripper driving unit 6044 can drive the second gripper 6042 to rotate relative to the gripper frame 6045, so as to adjust the opening and closing angle between the first gripper 6041 and the second gripper 6042 according to different types of materials.

[0035] The first gripper 6041 and the second gripper 6042 are both provided with a positioning mechanism and a scanning system; the positioning mechanism is used to position the conveyed bag material 100A; the scanning system is used to scan the conveyed bag material 100A and generate scanning data of the bag material 100A.

[0036] The first gripper 6041 and the second gripper 6042 both include a gripper side wall 6046 and a gripper bottom wall 6047 that are connected to each other. The length direction of the gripper bottom wall 6047 is the length direction of the first gripper 6041 and the second gripper 6042, and the width direction of the gripper bottom wall 6047 is the width direction of the first gripper 6041 and the second gripper 6042. The positioning mechanism includes a first positioning component 605 and a second positioning component 606. The first positioning component 605 is disposed on the gripper bottom wall 6047, and the second positioning component 606 is disposed on the gripper side wall 6046. The first positioning component 605 is used to position the bagged material 100A in the length direction of the first gripper 6041 and the second gripper 6042, and the second positioning component 606 is used to position the bagged material 100A in the width direction of the first gripper 6041 and the second gripper 6042. Both the first gripper 6041 and the second gripper 6042 are provided with the first positioning component 605 and the second positioning component 606. After the bagged material 100A enters the first gripper 6041 and the second gripper 6042, the first positioning component 605 and the second positioning component 606 respectively position the bagged material 100A. Preferably, the first positioning component 605 is started first to position the position of the bagged material 100A in the length direction of the first gripper 6041 and the second gripper 6042. After that, the second positioning component 606 is started to position the position of the bagged material 100A in the width direction of the first gripper 6041 and the second gripper 6042. After positioning the bagged material 100A, the scanning system is started, and the control system controls the loading robot to stack the bagged material 100A to the designated position according to the data scanned by the scanning system.

[0037] Such as Figure 12 And 13As shown, the first positioning assembly 605 includes a first positioning drive unit 6051, a first bottom plate 6052, a first side plate 6053, a second side plate 6054, a second positioning drive unit 6055 and a rotational positioning plate 6056. The first positioning drive unit 6051 is arranged on the bottom wall 6047 of the gripper. Exemplarily, the first positioning drive unit 6051 can be a cylinder slide. The first bottom plate 6052 is arranged on the first positioning drive unit 6051. The first side plate 6053 and the second side plate 6054 are arranged on the first bottom plate 6052 at intervals. The second positioning drive unit 6055 is arranged on one side of the first side plate 6053. The second positioning drive unit 6055 can be a motor, and its output end is transmission-connected to the rotational positioning plate 6056. The rotational positioning plate 6056 is arranged between the first side plate 6053 and the second side plate 6054. Preferably, an arc-shaped groove 6057 is provided on the first side plate 6053 and the second side plate 6054, and the arc-shaped groove 6057 is preferably a 1 / 4 arc groove. Connecting parts are provided on both side edges of the rotating positioning plate 6056, and a first roller assembly 6058 is provided on the connecting part. The first roller assembly 6058 is accommodated in the arc-shaped groove 6057. The first roller assembly 6058 can slide in the arc-shaped groove 6057, and can guide the rotational movement of the rotating positioning plate 6056.

[0038] Before the bag material 100A enters the first gripper 6041 and the second gripper 6042, the rotating positioning plate 6056 is tilted at a preset angle to the first bottom plate 6052. For example, the preset angle can be any angle between 0° and 90°, and the preferred preset angle is 45°. At this time, the rotating positioning plate 6056 is tilted in the direction of movement of the bag material 100A to provide more space for the bag material 100A. After the bag material 100A enters the first gripper 6041 and the second gripper 6042, the first positioning assembly 605 is started to position the bag material 100A.

[0039] The first gripper 6041 and the second gripper 6042 are both provided with a first positioning assembly 605. When positioning the bagged material 100A in the length direction of the first gripper 6041 and the second gripper 6042, the first positioning drive unit 6051 can drive the first base plate 6052 to move toward the bagged material 100A, thereby driving the rotating positioning plate 6056 to move toward the bagged material 100A. During this process, the second positioning drive unit 6055 can drive the rotating positioning plate 6056 to rotate, so that the rotating positioning plate 6056 rotates to be perpendicular to the first base plate 6052. At this time, the two rotating positioning plates 6056 in the first gripper 6041 and the second gripper 6042 can push against the edge of the bagged material 100A, so that the bagged material 100A is positioned in the length direction of the first gripper 6041 and the second gripper 6042.

[0040] In order to facilitate the detection of whether the rotation positioning plate 6056 rotates to a position perpendicular to the first bottom plate 6052, an inductive switch 6059 is provided on the side of the second side plate 6054. The inductive switch 6059 is arranged above the rotation axis of the rotation positioning plate 6056, and an inductive rod 6060 is arranged on the rotation axis of the rotation positioning plate 6056. When the rotation positioning plate 6056 rotates to a position perpendicular to the first bottom plate 6052, the inductive rod 6060 is located in the sensing part of the inductive switch 6059 to indicate that the rotation positioning plate 6056 has rotated in place.

[0041] After the rotation positioning plate 6056 rotates to a position perpendicular to the first bottom plate 6052, the first positioning driving unit 6051 can continue to drive the first bottom plate 6052 to move forward until a preset stroke is completed.

[0042] As Figure 14 shown, the second positioning assembly 606 includes a third positioning driving unit 6061, a sliding rod 6062, a connecting rod 6063 and a push plate 6064. The third positioning driving unit 6061 is arranged on the side wall 6046 of the gripper. Preferably, the third positioning driving unit 6061 can be a cylinder. The piston rod of the third positioning driving unit 6061 is connected to one end of the sliding rod 6062 and is simultaneously hinged to one end of the connecting rod 6063. The other end of the connecting rod 6063 is hinged to the push plate 6064. A slideway 6065 is arranged on the side wall 6046 of the gripper, and the extending direction of the slideway 6065 is parallel to the extending direction of the piston rod of the third positioning driving unit 6061. The other end of the sliding rod 6062 is slidably arranged in the slideway 6065.

[0043] Preferably, as Figure 15 shown, the cross-sectional shape of the slideway 6065 is "convex", including a first slideway close to the side wall 6046 of the gripper and a second slideway far from the side wall 6046 of the gripper. The first slideway and the second slideway are communicated with each other. A second roller assembly 6066 is arranged at the end of the sliding rod 6062, and the second roller assembly rolls in the first slideway. A third roller assembly 6067 is arranged at the bottom of the push plate 6064, and the third roller assembly 6067 can roll on the bottom wall 6047 of the gripper.

[0044] Before the bagged material 100A enters the first gripper 6041 and the second gripper 6042, the piston rod of the third positioning drive unit 6061 is in the retracted state. At this time, the push plate 6064 is close to the gripper side wall 6046. After the bagged material 100A enters the first gripper 6041 and the second gripper 6042, the piston rod of the third positioning drive unit 6061 extends, driving the sliding rod 6062 to move along the slideway 6065 towards the gripper bottom wall 6047. When the third roller assembly 6067 contacts the gripper bottom wall 6047, the piston rod of the third positioning drive unit 6061 continues to extend, driving the connecting rod 6063 to drive the push plate 6064 to approach the bagged material 100A, so as to position the bagged material 100A in the width direction of the first gripper 6041 and the second gripper 6042.

[0045] Second positioning components 606 are provided in both the first gripper 6041 and the second gripper 6042, and the two second positioning components 606 are symmetrically arranged. After the bagged material 100A enters the first gripper 6041 and the second gripper 6042, the two second positioning components 606 are started simultaneously, and the two push plates 6064 are simultaneously pushed against the bagged material 100A, so as to position the bagged material 100A in the width direction of the first gripper 6041 and the second gripper 6042.

[0046] The morphological positions of the bagged material 100A when it enters the first gripper 6041 and the second gripper 6042 can be various, such as Figure 16 As shown in the figure, four morphological positions a, b, c, and d of the bagged material 100A are shown in the figure. If no positioning mechanism is provided in the first gripper 6041 and the second gripper 6042, the morphological positions of the bagged material 100A will vary greatly. Even if a scanning system is provided to transmit the morphological position of the bagged material 100A to the control system, the control system performs calculations based on the morphological position of the bagged material 100A and controls the loading robot to match the morphological position of the bagged material 100A and stack the bagged material 100A into the truck. However, in this process, the control system needs to perform a large amount of data processing and calculations based on various morphological positions of the bagged material 100A, which is not only computationally complex, but also requires high requirements for the corresponding calculation methods and control systems.

[0047] However, if a positioning mechanism is provided in the first gripper 6041 and the second gripper 6042, after the positioning mechanism positions the bagged material 100A, the bagged material 100A is centered to the center of the hopper assembly 60. At this time, the bagged material 100A only has the four morphological positions as Figure 17 shown in the figure, Figure 17The direction of the arrow on the middle package indicates the orientation of the package head. At this time, after the scanning system scans the morphological position of the bagged material 100A, according to the orientation of the package head, it matches the morphological position of the bagged material 100A with the position of the bagged material 100A planned in the loading plan data of the bagged material 100A, and then adjusts the position of the hopper assembly 60 so that the position of the bagged material 100A in the hopper assembly 60 is consistent with the position of the bagged material 100A planned in the loading plan data of the bagged material 100A.

[0048] An exemplary embodiment of the present application provides a control system for a bagged material loading robot. The control system includes a host computer, a vision scanning unit, and a loading robot controller. The host computer is used to receive and store data, analyze and process data, and send corresponding control instructions; the host computer, as the center for instruction receiving / transmitting and data processing, can be a laptop computer, which is installed with the programming control software for the bagged material 100A loading robot. The vision scanning unit is connected to the host computer through a data cable. The vision scanning unit is used to scan the truck to be loaded and the bagged material 100A, and transmit the scanned data to the host computer through the data cable. The vision scanning unit includes a camera 603 and a scanning system. Both the camera 603 and the scanning system include a laser emission source and a camera 603, which can actively emit laser with encoded information to the object to be measured, and record the laser reflected diffusely at different angles through the camera 603, and upload it to the host computer. The host computer uses a reconstruction algorithm to generate the 3D structure of the object to be measured. A positioning module is also integrated in the scanning system, which can real-time locate the spatial coordinates of the execution end of the loading robot.

[0049] The loading robot controller is connected to the host computer through an interactive data cable to realize the issuance of the loading plan data of the bagged material 100A and the upload of the position information of the execution end of the loading robot; the loading robot controller is connected to the execution end of the loading robot through an interactive data cable. The loading robot controller converts the loading plan data of the bagged material 100A into the motion instructions of each axis of the loading robot and issues them to the loading robot. At the same time, the encoder signals representing the motion information of each axis of the loading robot are also uploaded to the loading robot controller in real time for calculating the spatial position coordinates of the execution end of the loading robot.

[0050] An exemplary embodiment of the present application provides a control method for loading bagged materials. The control method includes the above-mentioned bagged material loading robot and control system, and includes the following steps, specifically as Figure 18 shown: On one side of the ground of the loading robot, a parking area for the truck to be loaded is set. Before loading, park the truck to be loaded in the designated parking area for the bagged truck.

[0051] S1. Use a visual scanning unit to scan the truck to be loaded, the parking area of the truck to be loaded, and the bagged material 100A to be loaded, and transmit the data to the host computer.

[0052] In step S1, the length L1 of the truck compartment, the width W1 of the truck compartment, the length L2 of the bag, the width W2 of the bag, and the height H are calculated.

[0053] S2. The host computer integrates a 3D modeling system. The 3D modeling system processes the data to generate a 3D model of the truck to be loaded and a 3D model of the bagged material 100A. The host computer analyzes and processes the 3D model of the truck to be loaded and the 3D model of the bagged material 100A to generate loading planning data for the bagged material 100A, and sends the loading planning data for the bagged material 100A to the loading robot controller. The loading robot controller generates corresponding motion instructions.

[0054] Among them, the method for generating the loading planning data for the bagged material 100A in step S2 is as follows: S21. Configure the loading plan of the bagged material 100A as bags, segments, layers, and trucks; Multiple bags form a segment, multiple segments form a layer, and multiple layers form a truck; S22. According to the orientation of the bag head, configure the orientation of the bag as the first direction, the second direction, the third direction, and the fourth direction; as Figure 17 shown, the orientation of the bag in Figure (a) is the first direction; the orientation of the bag in Figure (c) is the second direction; the orientation of the bag in Figure (b) is the third direction; the orientation of the bag in Figure (d) is the fourth direction.

[0055] S23. The host computer selects the center point at the front end of the truck compartment to be loaded as the origin of the coordinate system according to the scanning data of the truck to be loaded and the bagged material 100A; as Figure 19 shown, at this time, the direction from the head to the tail of the truck is the positive direction of the X-axis, the direction extending from the width of the truck to the loading robot is the positive direction of the Y-axis, and the vertically upward direction is the positive direction of the Z-axis.

[0056] S24. As shown in the figure, the segment is configured as a horizontal row or a vertical row. Among them, the horizontal row is configured with the bags placed along the Y-axis direction. At this time, the orientation of the bag is the first direction or the second direction; the vertical row is configured with the bags placed along the X-axis direction. At this time, the orientation of the bag is the third direction or the fourth direction.

[0057] S25. As Figure 21 shown, the layer is configured to include the first segment, the second segment, the third segment, the fourth segment, and the fifth segment; among them, the first segment and the second segment are configured as horizontal rows, and each row includes N bags; the third segment, the fourth segment, and the fifth segment are configured as vertical rows, and each row includes n bags; the truck is configured as the first layer, the second layer, the third layer, and the rth layer from the bottom of the truck compartment upwards; where N, n, and r are all positive integers greater than or equal to 1.

[0058] S26, as Figure 22 shown, take the center of the end of the truck parking area as the origin of the new coordinate system, and the coordinates of the center point of the front end of the truck carriage to be loaded are , and the coordinates of the center point of the rear end of the carriage are ( ), the coordinates of the right side of the carriage tail are , and the left coordinates of the left side of the carriage tail are ; Then it can be calculated that the longitudinal inclination rate of the vehicle ; The transverse slope of the vehicle ; S27, calculate the coordinates of each package in the first section of the r-th layer ; ; ; ; Calculate the coordinates of each package in the second section of the r-th layer ; ; ; ; Calculate the coordinates of each package in the third section of the r-th layer ; ; ; ; Calculate the coordinates of each package in the fourth section of the r-th layer ; ; ; ; Calculate the coordinates of each package in the fifth section of the r-th layer ; ; ; ; Among them, is the length of the carriage, is the width of the carriage, is the width of the package, is the length of the package, is the height of the package.

[0059] The method for the loading robot controller to generate corresponding motion instructions in step S2 is as follows: S28. When the loading robot is in the initial state, select the center point of the hopper assembly 60 as the initial point of the loading robot, and the coordinates of the initial point are ; As Figure 23 shown, the length of the first conveying drive is , and the length from the end of the extended end of the first conveying drive to the center point of the hopper assembly is . Assume that the coordinate point of any bag is ; S29. Calculate the distance from the initial point to the coordinate point of this arbitrary bag; ; ; Calculate the compensation amount in the x direction when the initial point moves in the z-axis direction: ; Calculate the compensation amount in the x direction when the initial point moves in the y-axis direction: ; , and the distance from the initial point to the coordinate point (T, R, W) of this arbitrary bag can be obtained, , .

[0060] S3. The loading robot executes the corresponding motion instructions and drives the hopper assembly 60 to move to the loading point of the first bagged material 100A in the first section. The silo feeds the first bagged material 100A to the loading robot, and the first bagged material 100A is conveyed to the hopper assembly 60 through the scraper conveyor line 20 and the second conveying unit of the loading robot.

[0061] S4. After the first bagged material 100A entering the hopper assembly 60 is positioned by the first positioning assembly 605 and the second positioning assembly 606, the vision scanning unit scans the first bagged material 100A in the hopper assembly 60 and transmits the data to the upper computer. The 3D modeling system of the upper computer processes the data and generates a 3D model of the first bagged material 100A.

[0062] S5. The host computer analyzes and processes the 3D model of the first bagged material 100A and the loading plan data of the bagged material 100A. If the position and shape of the first bagged material 100A match the planned position and shape in the loading plan data of the bagged material 100A, there is no need to generate the position adjustment data for the first bagged material 100A. At this time, the loading robot directly stacks the first bagged material 100A at the loading point of the first bagged material 100A. If the position and shape of the first bagged material 100A do not match the planned position and shape in the loading plan data of the bagged material 100A, the position adjustment data for the first bagged material 100A is generated and sent to the loading robot controller, and the loading robot controller generates corresponding motion instructions.

[0063] S6. The loading robot executes the corresponding motion instructions and drives the hopper assembly 60 to rotate and / or adjust the tilt angles of the first gripper 6041 and the second gripper 6042, and then stacks the first bagged material 100A at the loading point of the first bagged material 100A.

[0064] S7. Repeat the above steps S3 to S6 until the loading of all bagged materials 100A is completed.

[0065] The bagged material 100A loading robot, control system and control method thereof of the present application can generate the loading plan data of the bagged material 100A according to the actual situation of the truck to be loaded and the bagged material 100A, can position the bagged material 100A during the loading process, and combine the loading plan data of the bagged material 100A to achieve the accurate stacking of the bagged material 100A.

[0066] In the present application, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that an article or device comprising a series of elements not only includes those elements but also includes other elements not expressly listed, or further includes elements inherent to such article or device. Without further limitation, the elements defined by the statement "comprising..." do not exclude the presence of additional identical elements in the article or device comprising the said elements.

[0067] Although the preferred embodiments of the present application have been described, those skilled in the art can make additional changes and modifications once they learn the basic creative concept. Therefore, the appended claims are intended to be construed to include the preferred embodiments as well as all changes and modifications falling within the scope of the present application.

[0068] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Thus, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalent technologies, the intention of this application also includes these modifications and variations.

Claims

1. A bag-type material loading robot, characterized in that It includes a walking track, a scraper conveyor line, a walking mechanism, a slewing support, a rotating component, a first conveyor line, a Z-axis drive unit and a hopper assembly; the scraper conveyor line is arranged on the walking track; the walking mechanism is arranged on the walking track and can move along the walking track; the slewing support is arranged below the walking mechanism; the rotating component is arranged below the slewing support; the Z-axis drive unit is arranged on the rotating component, and its protruding end is connected to the first conveyor line; one end of the first conveyor line is arranged on the rotating component, and the hopper assembly is fixedly connected to the other end of the first conveyor line; the hopper assembly includes a first gripper, a second gripper and an A-axis drive unit, and the A-axis drive unit is used to drive the first gripper and the second gripper to rotate.

2. The bag-type material loading robot according to claim 1, wherein The hopper assembly also includes a hopper frame, a camera, a first gripper drive unit, and a second gripper drive unit. The hopper frame is fixedly connected to the first conveyor line, the A-axis drive unit and the camera are arranged on the hopper frame, the first gripper and the second gripper are arranged on the gripper frame, the A-axis drive unit is transmission-connected to the gripper frame, the first gripper drive unit and the second gripper drive unit are arranged on the gripper frame, the protruding end of the first gripper drive unit is connected to the first gripper, and the protruding end of the second gripper drive unit is connected to the second gripper.

3. The bag-type material loading robot according to claim 1, wherein, The first gripper and the second gripper are both provided with a positioning mechanism and a scanning system; the positioning mechanism is used to position the conveyed bagged material; the scanning system is used to scan the conveyed bagged material.

4. The bag-type material loading robot according to claim 3, wherein, The first gripper and the second gripper both include a gripper side wall and a gripper bottom wall connected to each other, and the positioning mechanism includes a first positioning component and a second positioning component, wherein the first positioning component is arranged on the gripper bottom wall, and the second positioning component is arranged on the gripper side wall.

5. The bag-type material loading robot according to claim 4, wherein, The first positioning assembly includes a first positioning drive unit, a first base plate, a first side plate, a second side plate, a second positioning drive unit and a rotating positioning plate; the first positioning drive unit is arranged on the bottom wall of the gripper; the first positioning drive unit is provided with a first base plate; the first side plate and the second side plate are spaced apart on the first base plate; the second positioning drive unit is provided on one side of the first side plate; the rotating positioning plate is arranged between the first side plate and the second side plate, and is transmission-connected to the second positioning drive unit.

6. The bag-type material loading robot according to claim 4, wherein, The second positioning assembly includes a third positioning drive unit, a sliding rod, a connecting rod and a push plate. The third positioning drive unit is arranged on the gripper side wall of the gripper. The piston rod of the third positioning drive unit is connected to one end of the sliding rod and is hinged to one end of the connecting rod at the same time. The other end of the connecting rod is hinged to the push plate. A slide is arranged on the gripper side wall of the gripper, and the other end of the sliding rod is slidably arranged in the slide.

7. A control system for a bag-type material loading robot, characterized in that, It includes a host computer, a vision scanning unit, and a loading robot controller; the host computer is used to receive and store data, analyze and process the data, and send corresponding control instructions; the vision scanning unit is connected to the host computer, and the vision scanning unit is used to scan the trucks to be loaded and the bagged materials, and transmit the scanning data to the host computer; the loading robot controller is respectively connected to the host computer and the loading robot, and the loading robot controller is used to receive the bagged material loading planning data sent by the host computer and convert it into the motion instructions of the loading robot and send them to the loading robot.

8. A control method for loading bagged materials onto a vehicle, characterized in that, Adopt the bagged material loading robot as described in any one of claims 1 to 12 and the control system as described in claim 13, and include the following steps: S1. Use the vision scanning unit to scan the trucks to be loaded, the parking areas of the trucks to be loaded, and the bagged materials to be loaded, and transmit the data to the host computer; S2. The host computer is integrated with a 3D modeling system. The 3D modeling system processes the data to generate a 3D model of the truck to be loaded and a 3D model of the bagged materials. The host computer analyzes and processes the 3D model of the truck to be loaded and the 3D model of the bagged materials to generate bagged material loading planning data, and sends the bagged material loading planning data to the loading robot controller. The loading robot controller generates corresponding motion instructions; S3. The loading robot executes the corresponding motion instructions and drives the hopper assembly to move to the first bagged material loading point in the first section. The silo feeds the first bagged material to the loading robot, and the first bagged material is conveyed to the hopper assembly through the scraper conveyor line and the second conveying unit of the loading robot; S4. The vision scanning unit scans the first bagged material in the hopper assembly and transmits the data to the host computer. The 3D modeling system of the host computer processes the data and generates a 3D model of the first bagged material; S5. The host computer analyzes and processes the 3D model of the first bagged material and the bagged material loading planning data to generate the first bagged material position adjustment data, and sends the first bagged material position adjustment data to the loading robot controller. The loading robot controller generates corresponding motion instructions; S6. The loading robot executes the corresponding motion instructions and drives the hopper assembly to rotate and / or adjust the inclination angle of the hopper, and then stacks the first bagged material at the first bagged material loading point; S7. Repeat the above steps S3 to S6 until the loading of all bagged materials is completed.

9. The control method for loading bagged materials onto a vehicle according to claim 8, characterized in that, The method for generating the bagged material loading planning data in step S2 is as follows: S21. Configure the bagged material loading plan as packages, sections, layers, and trucks; Multiple packages form a section, multiple sections form a layer, and multiple layers form a truck; S22. According to the orientation of the bag head, configure the orientation of the package as the first direction, the second direction, the third direction, and the fourth direction; S23. The host computer selects the center point at the front end of the carriage of the truck to be loaded as the origin of the coordinate system according to the scanning data of the truck to be loaded and the bagged materials; at this time, the direction from the head to the tail of the vehicle is the positive direction of the X-axis; S24, the segments are configured to be arranged horizontally or vertically. Among them, the horizontal arrangement is configured to place the packages along the Y-axis direction. At this time, the orientation of the packages is the first direction or the second direction; the vertical arrangement is configured to place the packages along the X-axis direction. At this time, the orientation of the packages is the third direction or the fourth direction; S25, the layer is configured to include a first segment, a second segment, a third segment, a fourth segment, and a fifth segment; among them, the first segment and the second segment are configured to be arranged horizontally, and each row includes N packages; the third segment, the fourth segment, and the fifth segment are configured to be arranged vertically, and each row includes n packages; the vehicle is configured to be the first layer, the second layer, the third layer, and the r-th layer from the bottom to the top of the carriage; where N, n, and r are all positive integers greater than or equal to 1; S26. Select the center at the end of the truck parking area as the origin of the new coordinate system, and obtain the coordinates of the center point at the front end of the truck carriage to be loaded as , the coordinates of the center point at the rear end of the carriage are ( ), the coordinates on the right side of the carriage tail are , and the coordinates on the left side of the carriage tail are ; Then the longitudinal tilt rate of the vehicle can be calculated ; Lateral slope of the vehicle ; S27, calculate the coordinates of each packet in the first segment of the r-th layer ; ； ； ； Calculate the coordinates of each packet in the second segment of the r-th layer ; ； ； ; Calculate the coordinates of each packet in the third segment of the r-th layer ; ； ； ； Calculate the coordinates of each packet in the fourth segment of the r-th layer ; ； ； ； Calculate the coordinates of each packet in the fifth segment of the r-th layer ; ； ； ； Among them, is the length of the carriage, is the width of the carriage, is the width of the package, is the length of the package, is the height of the package.

10. The control method for loading bagged materials onto a vehicle according to claim 8, characterized in that The method for the loading robot controller to generate corresponding motion instructions in step S2 is as follows: S28. When the loading robot is in the initial state, the center point of the hopper assembly is selected as the initial point of the loading robot, and the coordinates of the initial point are ; The length of the first conveying drive is , and the length from the end of the extended end of the first conveying drive to the center point of the hopper assembly is . Assume that the coordinate point of any package is ; S29, calculate the distance from the initial point to this arbitrary packet coordinate point ; ； ； Calculate the compensation amount in the x direction when the initial point moves in the z-axis direction : ； Calculate the compensation amount in the x direction when the initial point moves in the y-axis direction : ； 。

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