Intelligent truss transfer system and transfer method for lead stack loading

Abstract

The invention relates to an intelligent truss transfer system and transfer method for lead stack loading, and belongs to the technical field of intelligent equipment.The intelligent truss transfer system comprises an ex-warehouse conveying line, a labeling machine system, a loading truss, a license plate recognition system and a laser radar scanning system; the warehouse-out conveying line is arranged from the inside of the warehouse to the area where the loading truss is located; the labeling machine system is arranged beside the warehouse-out conveying line; the loading truss comprises a supporting structure with a rail at the top, a cart capable of moving along the x axis on the rail, a trolley capable of moving along the y axis and a lead stack clamp arranged at the bottom of the trolley. A camera of the license plate recognition system directly faces a workshop doorway; the laser radar scanning system is mounted below a truck loading truss cart cross beam; according to the invention, the lead stacks can be automatically selected and matched for delivery according to a delivery order, after labeling is automatically carried out on an output conveying line, the functions of license plate recognition confirmation, coordinate confirmation through laser radar scanning and automatic lead stack grabbing and loading are realized, the labor intensity of workers is reduced, and the delivery efficiency is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent equipment, and in particular relates to an intelligent truss transfer system and a transfer method for loading lead stacks onto trucks. Background Art

[0002] Traditionally, lead stacks are transported off the production line using manual forklifts or cranes. Since each shift requires 6-8 hours of continuous production, manual forklifts and cranes are required to pick up the lead stacks, requiring multiple people to assist, and the stacks must be transported back and forth from the production line to the inventory area, repeating routes and manual work. During the process of storing the lead stacks off the production line, manual quantity recording and inventory are required. Ground storage is generally used, and both manual lifting and forklifts require reserved personnel or forklift lanes, resulting in low ground storage capacity. During shipment, manual assistance is required to lift the stacks from the warehouse, first transport them to the weighing platform for weighing, and then manually apply the labels printed by the labeling machine to both sides of the stack. The stacks are then lifted from the weighing platform and transported to the truck for loading and placement. Manual unloading is also required. Before loading the truck, manual verification of truck information, printing of loading orders, and manual inventory of loading status are required.

[0003] Furthermore, the traditional process of loading and unloading lead stacks requires manual recording and inventorying, which is prone to errors. Furthermore, manual processing of inventory and loading data is complex and requires multiple verifications and comparisons. For shipment labeling, the stack must first be manually lifted onto a scale using a forklift or overhead crane. The scale's weight information is then transmitted to a labeling machine for label printing. Labels are then manually affixed to both sides of the stack before the stack is forked or hoisted from the scale and loaded onto a truck. Each step, from weighing, label printing, labeling, to loading, requires manual assistance and verification. Summary of the Invention

[0004] In order to overcome the problems existing in the background technology, the present invention provides an intelligent truss transfer system and transfer method for loading lead stacks into trucks. The system automatically selects lead stacks for delivery according to the delivery order, automatically labels them on the output conveyor line, and then automatically grabs the lead stacks for loading into trucks after license plate recognition and laser radar scanning to confirm the coordinates. This reduces manual labor intensity and improves delivery efficiency.

[0005] To achieve the above object, the present invention is implemented through the following technical solutions: The intelligent truss transfer system for loading lead stacks includes a delivery conveyor line, a labeling machine system, a loading truss, a license plate recognition system and a laser radar scanning system; The outbound conveyor line is provided with two, respectively provided on both sides of the loading area, one end of the outbound conveyor line extends into the warehouse, and the other end extends to the area where the loading truss is located; The labeling machine system is arranged beside the outbound conveyor line; The loading truss is set up in the factory building, near the factory building exit, and includes two rows of support structures with tracks on the top, a large car that can move along the x-axis on the tracks, a small car installed on the inner track of the large car and moving along the y-axis, and a lead stack clamp set at the bottom of the small car; The license plate recognition system is installed at the factory door. It uses a camera to identify whether the vehicle is the correct one for loading. The camera is facing the factory door. The laser radar scanning system is installed under the loading truss trolley beam and is connected to the loading truss PLC signal.

[0006] Furthermore, the outbound conveyor line consists of two long conveyors and a short conveyor arranged on the same straight line. The short conveyor can only carry one lead stack and is used to adjust the distance between the two lead stacks transported from the outbound conveyor line so that the clamp can grab two lead stacks at the same time; along the direction from the warehouse to the outbound, the labeling machine system is arranged next to the second long conveyor.

[0007] Furthermore, a rack is installed on the inner side of the loading truss track; the trolley running wheel is provided with a gear meshing with the rack on the track, and the gear is driven to rotate by the motor to realize the X-axis operation of the trolley; the trolley realizes the Y-axis operation through the gear rack structure within the trolley frame; the middle part of the trolley is provided with a telescopic guide rod, and the telescopic rod is raised and lowered by a winch and runs in the Z-axis direction; the clamp is connected to the lower end of the telescopic rod and has a rotation function to realize the movement of the U-axis.

[0008] Furthermore, each trolley is equipped with a clamp, each clamp is provided with two sets of jaws, and each set of jaws realizes the opening and closing action by the extension and contraction of two cylinders installed oppositely at the tail.

[0009] Furthermore, the outbound conveyor line is lower than the inbound conveyor line.

[0010] The intelligent truss transfer method for loading lead stacks onto trucks is applicable to the intelligent truss transfer system for loading lead stacks onto trucks, and includes the following contents: (1) When loading the trucks out of the warehouse, the WMS host computer management system selects lead stacks in the warehouse area according to the weight that can be loaded on each truck in the loading order, combines the lead stack location information of each truck loading order, and then forms the outbound lead stacks in order to form outbound tasks and sends them to the WCS scheduling system; the WCS scheduling software dispatches the inbound and outbound trusses of the two warehouse areas to grab the lead stacks and place them on their respective outbound conveyor lines for outbound delivery; (2) The in-and-out truss receives the dispatching instruction, grabs the lead stack and sends it to the outbound conveyor line. The two outbound conveyor lines alternately transport the lead stacks outward. When two lead stacks on one conveyor line are in place and are grabbed and loaded by the loading truss, the other line is just preparing the goods. When the loading truss has placed the grabbed lead stacks into the carriage, it can just grab the lead stacks on the other output conveyor line. (3) The short conveyor of the outbound conveyor line adjusts its position with the lead stack on the second conveyor according to the in-position sensor, so that when the clamp grabs the lead stack, the center of each set of clamps coincides with the center of the lead stack, and one clamp grabs two lead stacks at the same time; the trolley runs to the lead stack position of the outbound conveyor line, grabs two lead stacks at the same time with the clamp, and then loads them onto the car.

[0011] Furthermore, when the truck reverses into the factory and stops, manually click the "Start Loading" button on the ground control cabinet to trigger the license plate recognition system camera to take a photo and identify the license plate. When the license plate number is consistent with the license plate number in the loading list, it means that the vehicle is the truck on this loading list and can be loaded normally. The laser radar scanning device of the loading truss starts scanning and loading begins; if the license plate number is inconsistent with the loading list, an alarm will be issued to prompt the truck to leave.

[0012] Furthermore, when the truck reverses into the loading area, if the license plate recognizes the vehicle correctly, the lidar scan is triggered by the button in the ground electrical cabinet, and the laser head is rotated by the pan-tilt device to model the parking position of the truck and the three-dimensional scale of the carriage to obtain the coordinate values ​​of each key point; according to the three-dimensional size of the lead stack, virtual modeling is performed, and the positioning coordinate values ​​of each row of lead stacks placed side by side in the carriage are calculated and sent to the truss PLC. The truss PLC converts the placement coordinate values ​​into the loading coordinate values ​​of the fixture in space, and then alternately picks up two lead stacks at a time from the two output conveyor lines in sequence, and places them row by row according to the target position until the carriage is filled according to the loading order.

[0013] Beneficial effects of the present invention: The loading truss of the present invention replaces manual forklift or overhead crane lifting, reduces the assistance of personnel, and improves safety and loading efficiency.

[0014] This system, based on outbound information from the WMS, directly removes lead stacks from the warehouse using an outbound truss, places them on the outbound conveyor line, and transports them to the loading area for loading. The warehouse is divided into two zones, allowing for simultaneous inbound and outbound operations, with one outbound and one inbound at a time, providing greater flexibility than traditional inbound and outbound operations. The inbound and outbound conveyors are arranged at different heights, eliminating cross-conveying within confined spaces.

[0015] The present invention sets two outbound conveyor lines. When loading onto trucks, the lead stacks on one conveyor line are grabbed and loaded onto trucks by a loading truss, while the other conveyor line is kept stocked. In this way, lead stacks can be grabbed and loaded onto trucks alternately from the two outbound conveyor lines, thereby improving loading efficiency.

[0016] The loading truss, powered by license plate recognition, LiDAR, and interlocking signals from the outbound conveyor line, enables fully automated loading of lead stacks. Throughout the outbound process, equipment scheduling is performed through the WCS, and data and information management is managed through the WMS, enabling traceability throughout the entire lead stack process. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the loading truss transfer and shipping system of the present invention; Figure 2 A schematic diagram of a truss device for loading lead stacks according to the present invention; Figure 3 It is a front view of the loading truss device of the present invention; Figure 4 It is a side view of the loading truss device of the present invention; Figure 5 A top view of the loading truss device of the present invention; Figure 6 The three views of the double clamp for loading trusses of the present invention are as follows; Figure 7 It is a front view of the double clamp for loading trusses of the present invention; Figure 8 This is a flow chart of the laser radar scanning of the loading truss of the present invention; In the figure, 1-in and out truss, 2-out truss conveyor line, 3-loading truss, 4-warehouse, 5-cart, 6-trolley, 7-telescopic rod, 8-clamp, 9-track, 10-cart gear, 11-onboard electrical cabinet, 12-trolley track, 13-trolley rack, 14-support structure, 15-running wheel A, 16-clamp frame, 17-side track, 18-running wheel B, 19-cylinder, 20-lead stack production line, 21-gripper. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solution and beneficial effects of the present invention more clear, the technical solution of the present invention will be described in detail below. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, other embodiments obtained by those skilled in the art without making creative efforts shall fall within the scope of protection of the present invention.

[0019] In order to illustrate the present invention more clearly, the following examples are provided for detailed description. Example 1

[0020] The intelligent truss transfer system for lead stack loading includes an in-and-out truss, an out-and-out conveyor line, a labeling machine system, a loading truss, a license plate recognition system, and a laser radar scanning system. The layout of the in-and-out truss, the out-and-out conveyor line, and the loading truss is shown in the attached figure. Figure 1 There are two outbound conveyor lines, one on each side of the loading area. One end of the outbound conveyor line extends into the warehouse, and the other end extends to the area where the loading truss is located; the labeling machine system is set next to the outbound conveyor line; the loading truss is set in the factory building, close to the factory exit.

[0021] Loading truss Figure 2-5 As shown, it is supported by two rows of steel structure columns, with tracks on the top and racks on the inner sides. The two rows of steel structure supports are installed on both sides of the loading area; the trolley is provided with running wheels that run on the tracks, and the operation and positioning of the trolley in the X direction are achieved through gear rack transmission (the transmission structure of the trolley and the track is a known structure); the trolley is provided with running wheels that run on the tracks inside the trolley frame, and the side of the trolley frame is provided with racks, and the trolley is equipped with gears. The trolley achieves precise positioning in the Y direction through gear rack transmission (the structure in which the trolley moves along the truss track and the trolley moves within the trolley frame is a known structure and will not be described in detail in this embodiment); a telescopic rod is provided in the middle position of the trolley, and the telescopic rod is pulled by a winch motor to achieve lifting and lowering in the Z direction; the clamp structure is connected to the bottom of the telescopic rod through a slewing support to achieve rotation of the clamp in the U-axis direction (the structure for achieving clamp rotation is a known structure); the clamp is provided with two sets of jaws, and the two sets of jaws are respectively opened and closed by telescoping two cylinders installed opposite to each other at the tail.

[0022] The LiDAR scanning system is installed below the loading truss's crossbeam and is connected to the loading truss's PLC signal. The license plate recognition system is installed at the factory entrance and uses a camera facing the factory entrance to determine if the vehicle is the correct one for loading.

[0023] The outbound conveyor line, loading truss, trolley and carriage travel directions, and the clamp lift direction are precisely positioned using encoders installed on the drive motors. The opening and closing of the clamps is detected by proximity switches. The lead stack's arrival signal on the outbound conveyor line is also detected by proximity switches. The loading truss operates at high speed and precision using a servo-controlled motor.

[0024] like Figure 6 、 Figure 7As shown, the clamps for the loading truss utilize a dual-set jaw structure, connected to a telescopic rod via a slewing support, enabling forward and reverse rotation of the clamp's U-axis. Specifically, a slewing support motor drives the dual clamps' forward and reverse rotation, with encoders providing rotational position and angle values. Each clamp has two sets of jaws, each constructed in an L-shaped configuration. Running wheels A are located at the top of the jaws, allowing them to traverse along the side tracks of the clamp frame assembly. The lower hooks of the jaws are designed to insert into the steps below the lead stack to secure it. Running wheels B are located on either side of the jaws, allowing for quick and effortless opening through the rolling friction of running wheels B when the lead stack is parked on the ground and the clamp becomes stuck. The opening and closing of the two sets of jaws is achieved by two sets of cylinders mounted below the clamp frame. The cylinders' tails are mounted facing each other, and the ends of the cylinders' telescopic rods are connected to the jaws. The cylinders' expansion and contraction drive running wheels A back and forth along the frame tracks, enabling the clamp to open and close. The top of the clamp is provided with a flange, which is connected to the bottom of the telescopic rod; wire rope pulleys are provided on both sides of the flange, and the movable pulley structure is realized by passing the winch wire rope through the pulley. The forward and reverse rotation of the winch drives the clamp to rise and fall. Each outbound conveyor line consists of two long conveyors and one short conveyor from left to right. The function of the short conveyor is to adjust the distance between the two piles of lead together with the second long conveyor.

[0025] A labeling system is installed on the side of the outbound conveyor. When the lead stack passes through the outbound conveyor line, it is first labeled at the labeling station and then conveyed to the end of the outbound conveyor. When two stacks are collected, they are loaded onto the truck through the loading truss.

[0026] The labeling system consists of a label printer, a robotic arm, a computer, an image positioning camera, and an in-position switch. When a lead stack is transported to the loading area via the output conveyor line and reaches the labeling station, a detection switch detects its in-position, causing the outbound conveyor line to stop. The image recognition camera then scans the stack's stopping position and labeling position, transmitting this data to the robotic arm control system. After the label printer prints the label based on the label information provided by the WMS software system, the robotic arm removes the label and applies it to two adjacent sides of the stack. Once the labels are applied, the stack continues to be transported to the loading truss pickup station.

[0027] The license plate recognition system uses a camera to take a picture of the vehicle's license plate and perform image recognition to obtain the license plate information. It is installed on the side of the factory door, with the license plate recognition camera facing the factory door. When the vehicle reverses into the factory and stops, the start loading button on the ground control cabinet is used to trigger the license plate recognition camera to take a picture of the vehicle's license plate to identify the license plate information. The identified license plate number is sent to the upper computer WCS management system and compared with the loading single license plate number of the WMS. Only vehicles with consistent license plate numbers are allowed to be loaded. If the license plate number is incorrect, an alarm will be issued to prompt the truck to leave.

[0028] The laser radar scanning device is a laser scanner equipped with a pan-tilt platform, which is installed at the bottom of the loading truss beam, with the scanning lens facing downwards towards the loading station. When the truck reverses into the loading station and stops, the laser radar pan-tilt platform rotates to scan and model the vehicle's stopping position and the size of the carriage, and places the lead stack virtually in the carriage according to its three-dimensional size. The upper computer processing software calculates the spatial position value of each key point based on the zero point position, converts it into spatial coordinate values, and sends it to the loading truss PLC. The loading truss converts these coordinate points into the target coordinate values ​​of the fixture stop position, and alternately clamps the lead stacks from the two outbound conveyor lines for loading.

[0029] The in-and-out truss and out-of-warehouse conveyor line, out-of-warehouse conveyor line and labeling machine system, labeling machine system and loading truss, loading truss and license plate recognition, license plate recognition and laser radar scanning device all have signal interlocking functions: when out-of-warehouse, the in-and-out truss can put the lead stack grabbed from the warehouse area on the out-of-warehouse conveyor line only when there is no lead stack at one end of the storage area of ​​the out-of-warehouse conveyor line; when the labeling station has transported the labeled lead stack to the loading and picking station, the conveyor line at the end of the storage area can put the lead stack The lead stacks are sent to the labeling station; in the loading area, the in-and-out trusses grab all the lead stacks, and the lead stacks at the labeling station can continue to be transported forward; after the lead stacks are completely in place and stop at the two loading and picking stations at the end of the outbound conveyor line in the loading area, the loading trusses can clamp the lead stacks and load them onto the trucks; after the vehicle reverses into the loading area and stops, the license plate recognition confirms that the vehicle is normal, and then the laser radar can scan the truck; after the laser radar scans the car body size, the loading trusses can grab the lead stacks from the outbound conveyor line and load them onto the trucks.

[0030] The above-mentioned interlocking function is achieved by setting instruments such as proximity switches, in-position switches, encoders, and connecting the signals of these instruments with signals such as PLC or WMS or WCS. There is no technical obstacle for technical personnel in this field. This embodiment takes the interlocking of the outbound conveyor line and the labeling machine system as an example to illustrate the above-mentioned interlocking relationship. When the in-position switch detects that the lead stack arrives at the labeling station, the in-position switch transmits a signal to the outbound conveyor line, the outbound conveyor line stops, and the labeling machine system starts to label the lead stack.

[0031] Encoders are installed on the drive motor shafts of the gantry and trolleys used for loading and unloading, the hoist motor shaft of the telescopic boom, and the drive motor shaft of the outbound conveyor line. By precisely detecting the number of motor revolutions and angles, the encoders calculate the displacement and speed of the gantry, trolley, telescopic boom, RGV, and conveyor line. This provides the control unit with precise device position information, enabling the system to achieve precise positioning and speed control.

[0032] The loading process of the present invention: When loading and unloading, the WMS upper computer management system selects lead stacks in the warehouse area according to the weight that can be loaded on each truck as reserved in the loading order, combines the lead stack location information of each vehicle's loading order, and then forms an outbound task for the lead stacks to be shipped in sequence and sends it to the WCS scheduling system; the WCS scheduling software dispatches the inbound and outbound trusses in the two warehouse areas to grab the lead stacks and place them on their respective outbound conveyor lines for outbound delivery. The lead stacks first pass through the labeling station for labeling, and the weight, batch number and other information are printed on the labels; the labeled lead stacks continue to be transported outward along the outbound conveyor line to the small conveyor at the end of the outbound conveyor line, waiting for the second stack to be delivered to the small conveyor, forming a double cargo in place, and then dispatching the loading trusses to the two picking stations to grab two lead stacks at a time, and place them in the carriage in sequence for loading. Before the loading truss starts loading, the truck needs to reverse into the warehouse and enter the loading area of ​​the factory. The license plate recognition system installed at the factory door will identify the license plate on the front of the truck and compare whether it is the correct loading vehicle. Only with the correct vehicle will the loading truss start the laser radar to scan the vehicle position and carriage size. Otherwise, an alarm will be issued to prompt the truck to leave; the coordinate values ​​of the lead stacks placed in the carriage by the loading truss are the vehicle position information and carriage size scanned by the laser radar. The XYZ coordinate values ​​of each group of lead stacks placed in the virtual loading are sent to the PLC of the loading truss. The PLC converts the coordinate values ​​into the target position coordinate values ​​where the fixture is in place, and realizes fully automatic loading in sequence.

[0033] Finally, it should be noted that the above preferred embodiments are only used to illustrate the technical solutions of the present invention and are not limiting. Although the present invention has been described in detail through the above preferred embodiments, those skilled in the art should understand that various changes can be made in form and details without departing from the scope defined by the claims of the present invention.

Claims

1. An intelligent truss transfer system for loading lead stacks onto trucks, characterized in that: Including outbound conveyor line, labeling machine system, loading truss, license plate recognition system and lidar scanning system; The outbound conveyor line is provided with two, respectively provided on both sides of the loading area, one end of the outbound conveyor line extends into the warehouse, and the other end extends to the area where the loading truss is located; The labeling machine system is arranged beside the outbound conveyor line; The loading truss is set up in the factory building, near the factory building exit, and includes two rows of support structures with tracks on the top, a trolley that can move along the x-axis on the tracks, a trolley installed on the inner track of the trolley and moving along the y-axis, and a lead stack clamp set at the bottom of the trolley; The license plate recognition system is installed at the factory door. It uses a camera to identify whether the vehicle is the correct one for loading. The camera is facing the factory door. The laser radar scanning system is installed under the loading truss trolley beam and is connected to the loading truss PLC signal.

2. The intelligent truss transfer system for lead stack loading according to claim 1 is characterized in that: The outbound conveyor line consists of two long conveyors and a short conveyor arranged on the same straight line. The short conveyor can only carry one lead stack and is used to adjust the distance between the two lead stacks transported from the outbound conveyor line so that the clamp can grab two lead stacks at the same time; along the direction from the warehouse to the outbound, the labeling machine system is arranged next to the second long conveyor.

3. The intelligent truss transfer system for lead stack loading according to claim 1 is characterized in that: The inner side of the loading truss track is equipped with a rack; the trolley running wheel is equipped with a gear that meshes with the rack on the track, and the gear is driven by the motor to rotate to realize the X-axis operation of the trolley; the trolley realizes Y-axis operation through the gear rack structure within the trolley frame; the middle part of the trolley is equipped with a telescopic guide rod, which is lifted and lowered by the winch and runs in the Z-axis direction; the clamp is connected to the lower end of the telescopic rod and has a rotation function to realize the movement of the U-axis.

4. The intelligent truss transfer system for lead stack loading according to claim 1 is characterized in that: Each trolley is equipped with a clamp, and each clamp is provided with two sets of jaws. Each set of jaws can realize the opening and closing action by the extension and contraction of two cylinders installed oppositely at the tail.

5. The intelligent truss transfer system for lead stack loading according to claim 1 is characterized in that: The outbound conveyor line is lower than the inbound conveyor line.

6. An intelligent truss transfer method for loading lead stacks onto trucks, applicable to the system according to any one of claims 1 to 5, characterized in that: Includes the following: (1) When loading the trucks out of the warehouse, the WMS host computer management system selects lead stacks in the warehouse area according to the weight that can be loaded on each truck in the loading order, combines the lead stack location information of each truck loading order, and then forms the outbound lead stacks in order to form outbound tasks and sends them to the WCS scheduling system; the WCS scheduling software dispatches the inbound and outbound trusses of the two warehouse areas to grab the lead stacks and place them on their respective outbound conveyor lines for outbound delivery; (2) The in-and-out truss receives the dispatching instruction, grabs the lead stack and sends it to the outbound conveyor line. The two outbound conveyor lines alternately transport the lead stacks outward. When two lead stacks on one conveyor line are in place and are grabbed and loaded by the loading truss, the other line is just preparing the goods. When the loading truss has placed the grabbed lead stacks into the carriage, it can just grab the lead stacks on the other output conveyor line. (3) The short conveyor of the outbound conveyor line adjusts its position with the lead stack on the second conveyor according to the in-position sensor, so that when the clamp grabs the lead stack, the center of each set of clamps coincides with the center of the lead stack, and one clamp grabs two lead stacks at the same time; the trolley runs to the lead stack position of the outbound conveyor line, grabs two lead stacks at the same time with the clamp, and then loads them onto the car.

7. The method according to claim 6, characterized in that It also includes that when the truck reverses into the factory and stops, manually click the "Start Loading" button on the ground control cabinet to trigger the license plate recognition system camera to take a photo and identify the license plate. When the license plate number is consistent with the license plate number in the loading list, it means that the vehicle is the truck on this loading list and can be loaded normally. The laser radar scanning device of the loading truss starts scanning and loading begins; if the license plate number is inconsistent with the loading list, an alarm will be issued to prompt the truck to leave.

8. The method according to claim 6, characterized in that It also includes the following: when the truck reverses into the loading area, if the license plate recognizes the vehicle correctly, the lidar scan is triggered by the button in the ground electrical cabinet, and the laser head is rotated by the pan-tilt device to model the parking position of the truck and the three-dimensional scale of the carriage to obtain the coordinate values ​​of each key point; according to the three-dimensional size of the lead stack, virtual modeling is performed, and the positioning coordinate values ​​of each row of lead stacks placed side by side in the carriage are calculated and sent to the truss PLC. The truss PLC converts the placement coordinate values ​​into the loading coordinate values ​​of the fixture in space, and then alternately picks up two lead stacks at a time from the two output conveyor lines in sequence, and places them row by row according to the target position until the carriage is filled according to the loading order.

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