Automatic conveying device for caterpillar track set

Abstract

The invention discloses an automatic conveying device for a caterpillar track set, and belongs to the crossing field of robot control and logistics automation. The device comprises a conveyor base, a conveyor supporting plate, a caterpillar track set, a jacking device, a propelling device and a DDPG control module. The base supports the caterpillar track set, the supporting plate bears the caterpillar track set, the jacking drives the supporting plate to ascend, descend and advance to achieve horizontal movement, and non-interference accurate conveying is achieved by means of staged execution of the DDPG, data acquisition of the sensor and signal output of the DDPG control module. The DDPG firstly collects propelling and jacking motor data and stores the data in different pools, propelling is stored in a four-dimensional state to a propelling sub-pool, jacking is stored in a six-dimensional state to a lifting sub-pool, and the capacity is 500,000. And constructing a parallel MLP network, sampling and updating parameters during training, and determining a model by reaching the standard. The device can autonomously learn working condition characteristics, is adaptive to objects with different weights and mechanical wear scenes, does not need to manually adjust parameters, and realizes full-flow autonomous control.

Description

TECHNICAL FIELD

[0001] The patent application relates to the cross field of robot control and logistics automation, and particularly relates to a chain track group automatic conveying device. BACKGROUND

[0002] With the in-depth development of intelligent manufacturing, the precision requirements for material handling and assembly in industrial production are increasingly strict, but for materials with different shapes and large size span, to realize efficient automatic transfer, a dedicated grabbing tool or conveying track often needs to be configured. The chain track conveying is difficult for manual work and consumes a lot of energy and cost, so an automatic mechanism capable of conveying chain tracks is needed. SUMMARY

[0003] The patent application provides a chain track group automatic conveying device, which has the function of automatically conveying chain tracks, is highly versatile, powerful, simple in structure and convenient to operate.

[0004] The technical scheme of the patent application is: a chain track group automatic conveying device, which comprises a conveyor base 1, a conveyor support plate 2, a chain track group 3, a jacking device 4, a pushing device 5 and a sensor group. The conveyor support plate 2 is slidably connected with the fixed plate I 1-1 and the fixed plate II 1-2 guide rail through the linear guide groove 4-4, and is drivingly connected with the screw rod connection hole block 2-2 through the jacking screw 4-3, so as to realize stable lifting movement. The conveyor base 1 is slidably connected with the sliding guide rail 5-4 of the pushing device through the bottom sliding groove, and is precisely matched with the pushing screw 5-2 through the bottom threaded hole block 1-6, so as to realize the fixing and displacement adjustment of the front and rear positions of the conveyor base 1. The conveyor base 1 is linked with the sliding base 5-1 through the bottom groove structure to realize the movement in the front and rear directions. The weight sensor 4-6 is fixed on the middle position of the bottom of the conveyor support plate 2 through high-strength bolts, and is used for accurately detecting the load weight of the support plate.

[0005] Specifically, the conveyor base 1 comprises a fixed plate I 1-1, a fixed plate II 1-2, a fixed plate III 1-3, a fixed plate IV 1-4, a sliding groove 1-5 and a threaded hole block 1-6. The fixed plate IV 1-4 is a horizontally arranged rectangular steel plate, which is used for corresponding installation and fixing of the bottom connecting end of the fixed plate I 1-1, the fixed plate II 1-2 and the fixed plate III 1-3. The bottom connecting threaded hole block 1-6 of the conveyor base 1 is precisely matched with the outer thread of the pushing sliding screw 5-2, and the conveyor base 1 is driven to move horizontally forward and backward along the sliding groove 1-5 through the forward and reverse rotation of the pushing motor 5-3.

[0006] Specifically, the conveyor pallet 2 includes a jacking sliding groove 2-1 and a screw rod connecting hole block 2-2, which are overall rectangular plate structures horizontally arranged, arranged in the internal space of the conveyor base 1, and located in the rectangular region enclosed by the fixed plate I 1-1, the fixed plate II 1-2, and the fixed plate III 1-3; the top of the pallet is loaded with a chain track group 3 composed of 2x10 independent chain tracks through the strip-shaped clamping grooves on both sides, and the bottom of the pallet is provided with a weight sensor 4-6. The rear side of the conveyor pallet 2 is connected to the fixed plate III through the jacking sliding groove 2-1, so that the pallet can make stable linear motion; the rear end of the pallet is connected to the jacking screw rod 4-3 through the screw rod connecting hole block 2-2 to form a screw transmission cooperation, and under the driving of the jacking rotating motor 4-1, the rotation of the jacking screw rod 4-3 drives the pallet to realize the lifting action in the vertical direction.

[0007] Specifically, the chain track group 3 is composed of 2x10 chain track units of the same structure, wherein 2 rows of chain tracks are arranged in parallel along the conveying direction, and each row contains 10 independently driven chain track units; the conveyor pallet 2 realizes the vertical conveying function of the chain track group 3 through the upward jacking motion of the jacking device 4, and ensures that the chain track group 3 can be accurately connected to the receiving surface of the subsequent conveying mechanism.

[0008] Specifically, the jacking device 4 includes a jacking rotating motor 4-1, a motor support 4-2, a jacking screw rod 4-3, a linear guide groove 4-4, and a bearing 4-5; the jacking rotating motor 4-1 is fixed on the top of the motor support 4-2; the output shaft of the jacking rotating motor 4-1 is coaxially and rigidly connected to the lower end of the jacking screw rod 4-4, and the linear guide groove 4-4 is matched with the guide rails on the fixed plate I 1-1 and the fixed plate II 1-2; when the jacking rotating motor 4-1 rotates, the screw rod 4-4 rotates synchronously, and the conveyor pallet 2 moves linearly in the vertical direction; the weight sensor 4-6 is a pressure sensing type, and its sensing surface is upwardly installed on the bottom center area of the conveyor pallet 2, and is used for real-time detection of the weight change of the chain track group 3; when a group of chain track groups 3 is removed and the weight changes by a preset threshold, the weight sensor 4-6 transmits the weight signal to the control system, and the control system drives the jacking rotating motor 4-1 to rotate forward, thereby driving the conveyor pallet 2 to lift upward; the jacking displacement sensor 4-7 is a linear displacement sensing device, which is installed on the protruding part of the fixed plate 1-3, and is used for real-time acquisition and feedback of the lifting height data of the pallet.

[0009] Specifically, the propelling device 5 includes a sliding base 5-1, a propelling sliding lead screw 5-2, a propelling motor 5-3, a sliding guide rail 5-4, a sliding motor support 5-5, and a pulley block 5-7. The sliding base 5-1 is a horizontally placed rectangular frame structure, which is arranged at the bottom of the conveyor base 1. The top of the sliding base 5-1 is connected to the threaded hole block 1-6 through the propelling sliding lead screw 5-2, forming a transmission connection. The propelling sliding lead screw 5-2 is horizontally installed above the sliding base 5-1 along the front-rear direction and parallel to the length direction of the conveyor base 1. The propelling motor 5-3 is fixed to the sliding motor support 5-5. The sliding guide rail 5-4 is a pair of parallel rectangular guide rails, which are symmetrically installed on the two side edges of the sliding base 5-1 along the direction parallel to the propelling sliding lead screw 5-2. The sliding guide rail 5-4 is connected to the sliding groove 1-5 at the bottom of the conveyor base to realize stable forward and backward sliding. The sliding displacement sensor is a high-precision position detection device, which is installed on the rear end side of the sliding guide rail 5-4. The detection end of the sliding displacement sensor is arranged corresponding to the side surface of the sliding block, which is used to collect and feedback the horizontal sliding position data of the conveyor base 1 in real time.

[0010] The beneficial effects of the present application are:

[0011] The present application has the advantages of novel idea, simple structure, convenient operation, strong adaptability, no too many requirements for the shape of the chain track, repeated operation, automatic conveying of the chain track, large saving of manpower and money cost, horizontal movement function of the sliding lead screw device, multi-station conveying, strict stage-by-stage forward and backward sliding and lifting movement, avoidance of movement interference, improvement of running safety and stability, intelligent control of the DDPG algorithm through the Actor-Critic double network structure, collection of the chain track weight, current lifting height and sliding position and other states through the weight sensor, lifting displacement sensor and sliding displacement sensor, output of the control amount of the rotating motor and the sliding motor by the Actor network, ensuring of single lifting or sliding movement at the same time, evaluation and optimization of the strategy according to the position deviation and movement stability by the Critic network, self-adaptation of the device to different chain track weights and dynamic working conditions such as mechanical wear, no manual adjustment of parameters, further improvement of conveying precision and universality, and meeting of the efficient and accurate material transfer requirements in intelligent manufacturing. BRIEF DESCRIPTION OF DRAWINGS

[0012] Figure 1 is the front view of the present application;

[0013] Figure 2 is the isometric view of the present application;

[0014] Figure 3 is the front view of the conveyor base of the present application;

[0015] Figure 4 is the isometric view of the conveyor base of the present application;

[0016] Figure 5 is an isometric view of the conveyor pallet of the present application;

[0017] Figure 6 is a bottom view of the conveyor pallet of the present application;

[0018] Figure 7 is an isometric view of the weight sensor of the present application;

[0019] Figure 8 is a front view of the propulsion mechanism of the present application;

[0020] Figure 9 is an isometric view of the propulsion mechanism of the present application;

[0021] Figure 10 is an isometric view of the propulsion screw rod of the present application;

[0022] Figure 11 is an isometric view of the pulley of the present application;

[0023] Figure 12 is a workflow of the DDPG control module of the present application;

[0024] The various reference numbers in the figure are: 1 conveyor base, 2 conveyor pallet, 3 chain track group, 4 jacking device, 5 propulsion device, 1-1 fixed plate I, 1-2 fixed plate II, 1-3 fixed plate III, 1-4 fixed plate IV, 1-5 sliding groove, 1-6 threaded hole block, 2-1 jacking sliding groove, 2-2 jacking screw rod connecting hole block, 4-1 jacking rotating motor, 4-2 motor support, 4-3 jacking screw rod, 4-4 straight line guide groove, 4-5 bearing, 4-6 weight sensor, 4-7 jacking displacement sensor, 5-1 sliding base, 5-2 propulsion sliding screw rod, 5-3 propulsion motor, 5-4 sliding guide rail, 5-5 sliding motor support, 5-6 sliding displacement sensor, 5-7 pulley group. DETAILED DESCRIPTION

[0025] The present application is further described below in conjunction with the accompanying drawings and examples, but the content of the present application is not limited to the scope described.

[0026] Example 1: As Figures 1-12As shown, the present application provides a chain track group automatic conveying device, which comprises a conveyor base 1, a conveyor support plate 2, a chain track group 3, a jacking device 4, a pushing device 5, and a sensor group; the conveyor support plate 2 is slidably connected with the fixed plate I 1-1 and the fixed plate II 1-2 guide rail through the linear guide groove 4-4, and is drivingly connected with the jacking screw 4-3 and the screw rod connecting hole block 2-2, so as to realize stable lifting movement; the conveyor base 1 is slidably connected with the sliding guide rail 5-4 of the pushing device through the bottom sliding groove, and is precisely matched with the pushing screw rod 5-2 through the bottom threaded hole block 1-6, so as to realize the fixing and displacement adjustment of the front and rear positions of the conveyor base 1, which is linked with the sliding base 5-1 through the bottom structure to complete the movement in the front and rear directions; the sensor group comprises a weight sensor 4-6, a jacking displacement sensor 4-7, and a sliding displacement sensor 5-6; the weight sensor 4-6 is fixed on the middle position of the bottom of the conveyor support plate 2 through high-strength bolts, and is used for accurately detecting the load weight of the support plate; the jacking displacement sensor 4-7 in the sensor group is installed on a protruding part of the fixed plate III 1-3; and the sliding displacement sensor 5-6 is installed at the rear end of the sliding guide rail 5-4.

[0027] Further, the fixed plate I 1-1, the fixed plate II 1-2, the fixed plate III 1-3, the fixed plate IV 1-4, the sliding groove 1-5, and the threaded hole block 1-6 are included; the fixed plate IV 1-4 is a horizontally arranged rectangular steel plate, and a plurality of holes are uniformly distributed on the fixed plate IV 1-4, which are used for corresponding installation and fixation of the bottom connecting ends of the fixed plate I 1-1, the fixed plate II 1-2, and the fixed plate III 1-3; the bottom connecting threaded hole block 1-6 of the conveyor base 1 is precisely matched with the external thread of the pushing sliding screw rod 5-2, and the conveyor base 1 is driven to move horizontally along the sliding guide rail 5-4 through the forward and reverse rotation of the pushing motor 5-3.

[0028] Further, the conveyor support plate 2 comprises a jacking sliding groove 2-1 and a screw rod connecting hole block 2-2, and is in the form of a horizontally arranged rectangular plate structure, which is arranged in the internal space of the conveyor base 1 and located in the rectangular region enclosed by the fixed plate II 1-2, the fixed plate III 1-3, and the fixed plate IV 1-4; the chain track group 3 composed of 2×10 independent chain tracks is carried by the strip-shaped clamping grooves on both sides of the top of the support plate, and the weight sensor 4-6 is arranged at the bottom of the support plate; the sliding groove 2-1 on both sides of the conveyor support plate 2 is slidably connected with the guide rail of the fixed plate III 1-3, so that the support plate can move stably in a straight line; the screw rod connecting hole block 2-2 at the rear end of the support plate is screwingly connected with the jacking screw 4-3, and the support plate is driven to move vertically through the rotation of the jacking screw 4-3 under the forward and reverse rotation of the jacking rotating motor 4-1.

[0029] Further, the chain track group 3 is composed of 2x10 chain track units with the same structure, wherein 2 rows of chain tracks are arranged in parallel along the conveying direction, and each row contains 10 independently driven chain track units; the vertical conveying function of the chain track group 3 is realized by the upward pushing movement of the jacking device 4, and the chain track group 3 can be accurately connected to the receiving surface of the subsequent conveying mechanism.

[0030] Further, the jacking device 4 includes a jacking rotating motor 4-1, a motor support 4-2, a jacking screw 4-3, a linear guide groove 4-4, and a bearing 4-5; the jacking rotating motor 4-1 is fixed on the top of the motor support 4-2; the output shaft of the jacking rotating motor 4-1 is coaxially and rigidly connected with the lower end of the screw 4-4, and the linear guide groove 4-4 is matched with the guide rails on the fixed plate I 1-1 and the fixed plate II 1-2; when the jacking rotating motor 4-1 rotates, it drives the screw 4-4 to rotate synchronously, and drives the conveyor pallet 2 to move linearly in the vertical direction; the weight sensor 4-6 is a pressure sensing type, which is installed on the bottom center area of the conveyor pallet 2 with the sensing surface upward, and is used to detect the weight change of the chain track group 3 in real time; when a group of chain track groups 3 is removed and the weight changes by a preset threshold, the weight sensor 4-6 transmits the weight signal to the control system, and the control system drives the jacking rotating motor 4-1 to rotate forward, thereby driving the conveyor pallet 2 to lift upward; the jacking displacement sensor 4-7 is a linear displacement sensing device, which is installed on the protruding part of the fixed plate 1-3, and is used to collect and feedback the lifting height data of the pallet in real time.

[0031] Further, the pushing device 5 includes a sliding base 5-1, a pushing sliding screw 5-2, a pushing motor 5-3, a sliding guide rail 5-4, a sliding motor support 5-5, and a pulley block 5-7. The sliding base 5-1 is a horizontally placed rectangular frame structure, which is arranged at the bottom of the conveyor base 1, and is connected with the threaded hole block 1-6 through the pushing sliding screw 5-2 to form a transmission connection; the pushing sliding screw 5-2 is horizontally installed above the sliding base 5-1 along the front-back direction and parallel to the length direction of the conveyor base 1; the pushing motor 5-3 is fixed with the sliding motor support 5-5; the sliding guide rail 5-4 is two parallel rectangular guide rails, which are symmetrically installed on the two side edges of the sliding base 5-1 along the direction parallel to the pushing sliding screw 5-2, and are matched with the sliding groove 1-5 at the bottom of the conveyor base to slide stably forward and backward. The sliding displacement sensor is a high-precision position detection device, which is installed on the rear end side of the sliding guide rail 5-4, and its detection end is correspondingly arranged on the side surface of the sliding block, which is used to collect and feedback the horizontal sliding position data of the conveyor base 1 in real time.

[0032] Further, based on the DDPG control module, the pushing motor and the jacking motor are first data collected and stored in a pool; the pushing motor is monitored by the sliding displacement sensor to detect the real-time position P, the deviation ΔP, and the rate vP and weight W, after normalization, form 4-dimensional state S p , experience tuple (s p , a p , r p , s' p , done p ) is stored in the propulsion sub-pool; the jacking motor monitors weight W, change ΔW, height H, deviation ΔH, rate V H , etc., after normalization, form 6-dimensional state S h , experience tuple (S h , a h , r h , S' h , done h ) is stored in the lifting sub-pool, and the capacity of the two sub-pools is 500,000. Then two sets of parallel MLP networks are constructed: the propulsion network and the lifting network both contain Actor and Critic, and each network has a corresponding target network. During training, the propulsion motor collects experience through exploration, calculates the target Q value after sampling 64 data, updates the Critic parameters and Actor parameters, and soft updates the target network; the jacking motor training process is symmetrical. When the ΔP compliance rate is greater than 95%, the loss is less than a certain value, and the parameters are stable, the final MLP model is determined. MLP is selected because it adapts to low-dimensional state, supports continuous action, meets real-time requirements and is compatible with phased control, and finally realizes autonomous control of the whole process of the device. The present application can autonomously learn the characteristics of the working condition, adapt to different weights of articles and mechanical wear scenes, and does not need manual parameter adjustment.

[0033] Further, in combination with the accompanying Figure 12 , the specific training process of the DDPG deep learning algorithm for training the MLP neural network model is as follows:

[0034] The propulsion phase starts, and the behaviour policy is the deterministic action μ p (s p ) output by the policy network, and the actual execution action a is obtained by adding Ornstein-Uhlenbeck (OU) noise.

[0035] In the formula:

[0036] : actual execution action of the propulsion motor;

[0037] : deterministic action output by the propulsion policy network;

[0038] : noise variance;

[0039] OU noise is random noise with a mean of 0 and a variance of 0.01, used to ensure the exploratory nature of the action.

[0040] After the mechanical device performs this action, the sliding displacement sensor collects the new state s' p And calculate the reward r p At the same time, mark the end of the phase as done. p .

[0041] in:

[0042] s' p : The new status of the data collection;

[0043] P: Real-time location;

[0044] r p Instant rewards during the advancement phase;

[0045] done p : Marker of the end of the advancement phase;

[0046] The state transition data of the advancement phase is stored in the advancement experience sub-pool (corresponding to the subdivision pool of image experience replaymemory), completing the process. Figure 12 The process is as follows: ① (Action execution) → ② (Status feedback) → ③ (Experience storage).

[0047] When the amount of data in the experience subpool is greater than or equal to batch size =64, following step ④ in the image, randomly sample N=64 experience points from the sub-pool. .

[0048] In the formula:

[0049] : The initial state of the i-th advancement phase;

[0050] The actual action performed by the propulsion motor during the i-th propulsion cycle;

[0051] : Instant reward for the i-th advancement phase;

[0052] : The new state after the i-th propulsion motor performs its action;

[0053] The endpoint of the i-th advancement phase is marked. The target Q-value is calculated using the advancement target Q-network and the target policy network.

[0054] (1)

[0055] in:

[0056] : target Q value of the pushing stage;

[0057] : immediate reward of the pushing stage in the sampled experience tuple;

[0058] : discount factor;

[0059] : output value of the pushing target Q network;

[0060] : new state of the pushing stage in the sampled experience tuple;

[0061] : target action output by the pushing target policy network based on the new state.

[0062] online pushing Q network forward calculation of the Q value of the current experience , construct the loss function:

[0063] (2)

[0064] wherein:

[0065] : loss value of the pushing Critic network;

[0066] N: batch sampling number;

[0067] : Q value prediction of the i-th experience tuple "initial state-actual action pair" by the online pushing Q network;

[0068] : target Q value of the i-th experience tuple.

[0069] According to the step ⑥ in the figure, the derivative of the online pushing Q network is calculated and updated by using the Adam optimizer (learning rate of the pushing Q network = 1e-3):

[0070] (3)

[0071] wherein:

[0072] : parameter of the online pushing Q network;

[0073] : learning rate of the online pushing Q network;

[0074] : loss function ​​Gradient of the online propagation Q network parameter .

[0075] The parameter update of the Critic network is completed, and the gradient calculation and optimization process of the Critic part in the picture.

[0076] According to step ⑦ in the picture, the gradient of the action of the Q value of the online propagation Q network Figure 12 , combined with the gradient of the parameter of the policy network , the propagation policy gradient is calculated:

[0077] [ ∇ θ p μ J p = E s p ∼ ρ p [ ∇ θ p μ μ p ( s p , θ p μ ) ⋅ ∇ a p Q p ( s p , a p ) | a p = μ p ( s p , θ p μ ) ] (4)

[0078] Where:

[0079] : the gradient of the propagation policy objective function;

[0080] : the parameter of the propagation Actor network;

[0081] : the objective function of the propagation policy;

[0082] : the mathematical expectation based on the state distribution of the propagation stage;

[0083] : the gradient of the action of the online propagation Q network;

[0084] : the gradient of the output action of the propagation Actor network to its own parameter.

[0085] According to step ⑧ in the picture, the Actor (propagation) network parameter is updated by gradient ascent using the Adam optimizer Figure 12 , that is:

[0086] (5)

[0087] The policy network is updated in the direction of "maximizing the Q value", and the policy gradient optimization process of the actor in the picture is realized. According to the soft update logic in the picture ⑨, the target policy network and the target Q network lag behind the online network update, and the update formula is:

[0088] (6)

[0089] (7) ​​

[0090] wherein:

[0091] : soft update coefficient, 0.005 in the formula;

[0092] The remaining symbols are defined as in formula (5).

[0093] When the training of the propulsion motor and the jacking motor both meet the following conditions, the training is terminated, and the final MLP model is determined. The control accuracy meets the requirements, and the pass rate of the propulsion phase ΔP≤2mm is ≥95%. The result of the training needs to converge, and the propulsion Critic loss <1e - 3. When the update amplitude is less than a certain degree, it is in the stable stage, and the training is stopped. In the last 20 episodes, the propulsion and lifting strategy network parameter update amplitude < 1%.

[0094] The finally determined model is:

[0095] Actor: the parameters are fixed as the converged , the input propulsion phase state , and the output accurate propulsion motor speed.

[0096] The jacking motor training process is similar to the propulsion motor training process, and the corresponding steps are omitted.

[0097] The working principle of the present application is:

[0098] As a whole mechanical device, the device is provided with a pulley set at the bottom, the device is dragged to the work station, the pulley set is fixed, and then the machine starts to work.

[0099] In the initial state, the conveyor support plate 2 is in the initial low position, the weight sensor 4-6 detects the no weight signal and transmits it to the DDPG control module. Based on the initial position data fed back by the sliding displacement sensor 5-7, the DDPG control module outputs a control signal to drive the propulsion motor 5-3 to rotate forward, rotates the propulsion sliding screw 5-2, cooperates with the sliding guide rail 5-4 and the threaded hole block 1-6 to drive the conveyor base 1 and the upper structure as a whole to the workpiece loading station; when the sliding displacement sensor 5-7 detects that the conveyor reaches the preset loading position, the DDPG control module sends a stop signal, and the propulsion motor 5-3 stops rotating.

[0100] When the workpiece track group 3 is filled with the conveyor support plate 2, the weight sensor 4-6 detects the full load weight signal, and the DDPG control module receives the signal and drives the propulsion motor 5-3 to rotate reversely, and the conveyor is sent back to the mechanical hand grabbing station as a whole through the propulsion device 5, and the sliding displacement sensor 5-6 feeds back the reset signal to ensure that the conveyor is accurately returned.

[0101] When the manipulator starts to grab the workpiece, the weight sensors 4-6 monitor the reduction of the weight of the pallet in real time and transmit the data to the DDPG control module. The Actor network of the DDPG control module calculates the target lifting height according to the weight change, controls the lifting rotation motor 4-1 to rotate forward, drives the lead screw 4-3 to transmit, and makes the conveyor pallet 2 gradually rise along the linear guide groove 4-4; the lifting displacement sensor 4-7 collects the height of the pallet in real time and feeds back to the DDPG control module, the Critic network optimizes the control strategy according to the height deviation, ensures that the rising height matches the workpiece reduction each time, and facilitates continuous grabbing by the manipulator.

[0102] When the last workpiece is taken away, the weight sensor 4-6 detects the no weight signal again, the DDPG control module drives the lifting rotation motor 4-1 to rotate reversely, controls the lifting device 4 to drive the pallet 2 to descend to the initial low position, and after the lifting displacement sensor 4-7 confirms the reset, the device returns to the initial state and waits for the next cycle to start, realizing automatic continuous operation.

[0103] The matters not covered by the patent are known technologies.

[0104] The above examples are only for illustrating the technical concept and characteristics of the patent, the purpose is to enable people familiar with the technology to understand the content of the patent and implement it, and cannot limit the protection scope of the patent. Any equivalent changes or modifications made according to the spirit and essence of the patent should be covered within the protection scope of the patent.

Claims

1. A chain track group automated conveying device, characterized in that: It comprises a conveyor base (1), a conveyor support plate (2), a chain track group (3), a jacking device (4), a pushing device (5), and a sensor group; The jacking sliding groove (2-1) of the conveyor support plate (2) is slidably connected with the guide rail on the fixed plate III (1-3) in the conveyor base (1) and is driven by the jacking screw (4-3) in the jacking device (4) to realize the lifting movement; the conveyor base (1) is slidably connected with the sliding guide rail (5-4) on the sliding base (5-1) of the pushing device (5) through the bottom sliding groove (1-5) and is fixed and displaced in the front and back positions of the conveyor base (1) by cooperating with the pushing screw (5-2) in the pushing device (5) through the bottom threaded hole block (1-6); the sensor group collects weight, height, and position data and outputs phased control signals to realize the automatic and accurate conveying of the chain track group (3).

2. The chain track group automated conveying device according to claim 1, characterized in that: The conveyor base (1) comprises a fixed plate I (1-1), a fixed plate II (1-2), a fixed plate III (1-3), a fixed plate IV (1-4), a sliding groove (1-5), and a threaded hole block (1-6); the fixed plate IV (1-4) is punched with a plurality of same and uniformly distributed large holes to fix the fixed plate I (1-1), the fixed plate II (1-2), and the fixed plate III (1-3); the fixed plate IV (1-4) is combined with the fixed plate I (1-1), the fixed plate II (1-2), and the fixed plate III (1-3) to form a conveyor area with two open sides; the bottom of the conveyor base (1) is connected with the threaded hole block (1-6) through screws and bolts, the threaded hole block (1-6) is threadedly matched with the pushing sliding screw (5-2), and the sliding groove (1-5) is matched with the sliding guide rail (5-4) to realize the forward and backward movement of the conveyor base by the motor.

3. A chain track group automated conveying device according to claim 1, characterized in that: The conveyor support plate (2) comprises a conveyor support plate body, a jacking sliding groove (2-1) and a screw rod connecting hole block (2-2) mounted on the side of the body, and the conveyor support plate (2) is located in the conveying area space enclosed by the fixed plate I (1-1), the fixed plate II (1-2), the fixed plate III (1-3), and the fixed plate IV (1-4) in the conveyor base (1); the top is loaded with the chain track group (3) composed of 2x10 chain tracks through the clamping groove, and the bottom is fixed with the weight sensor (4-6) in the sensor group through the bolts; the jacking sliding groove (2-1) is slidably matched with the guide rail of the fixed plate III (1-3), the jacking sliding groove (2-1) is installed on the rear side of the conveyor support plate body, and the conveyor support plate body can move linearly along the guide rail; the jacking sliding groove (2-1) and the screw rod connecting hole block (2-2) constitute a transmission connection through the jacking screw (4-3) in the jacking device (4), so that the conveyor support plate (2) is driven by the jacking rotating motor (4-1) in the jacking device (4) to lift the conveyor support plate body.

4. A chain track group automated conveying device according to claim 1, characterized in that: The chain track group (3) comprises 2x10 chain tracks; the conveyor support plate (2) moves upward to achieve the function of conveying the chain track group through the jacking device (4).

5. A chain track group automated conveying device according to claim 1, characterized in that: The jacking device (4) comprises a rotating motor (4-1), a motor support (4-2), a jacking screw (4-3), a linear guide groove (4-4), and a bearing (4-5); the jacking rotating motor (4-1) is fixed on the motor support (4-2) by screws, the linear guide groove (4-4) is in sliding fit with the guide rails protruding from the fixed plate I (1-1) and the fixed plate II (1-2) in the conveyor base (1), the jacking rotating motor (4-1) drives the jacking screw (4-3) to rotate, and further drives the conveyor support plate (2) to move linearly; the weight sensor (4-6) in the sensor group is installed at the bottom of the conveyor support plate (2) to detect the weight change of the chain track group, when a chain track group (3) is removed, the weight changes, and the weight sensor (4-6) drives the jacking rotating motor (4-1) to rotate and drives the conveyor support plate (2) to rise; the jacking displacement sensor (4-7) in the sensor group is installed on a protruding part of the fixed plate III (1-3).

6. A chain track group automated conveying device according to claim 1, characterized in that: The propelling device (5) comprises a sliding base (5-1), a propelling sliding screw (5-2), a propelling motor (5-3), a sliding guide rail (5-4), a sliding motor support (5-5), and a pulley set (5-7); the sliding base (5-1) is horizontally arranged at the bottom of the conveyor base (1), the sliding motor support (5-5) is installed on the front end of the sliding base (5-1) by bolts; the propelling sliding screw (5-2) is arranged on the sliding motor support (5-5) and the support seat in the middle part of the sliding base (5-1) in the front-rear direction and parallel to the length direction of the conveyor base (1); the propelling motor (5-3) is fixed on one side of the sliding motor support (5-5) by screws; the sliding guide rail (5-4) is symmetrically arranged on both sides of the sliding base (5-1) and parallel to the propelling sliding screw (5-2), the threaded hole block (1-6) is nested on the propelling sliding screw (5-2) and is bolted to the bottom of the conveyor base (1); the sliding displacement sensor (5-6) in the sensor group is installed at the rear end of the sliding guide rail (5-4), and the pulley set (5-7) is connected to the bottom of the sliding base (5-1) by bolts.

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