Coordinate control type material box taking and placing device and control method thereof

Abstract

The invention discloses a coordinate control type material box taking and placing device and a control method thereof. The material box taking and placing device comprises a base, a conveying mechanism located on the lower side of the base and a hooking mechanism located above the conveying mechanism, and the hooking mechanism is connected with the base through a lifting driving mechanism and a longitudinal translation mechanism; the hooking mechanism comprises a transverse seat plate, a telescopic mechanism and a hook body; the telescopic mechanism can rotate relative to the transverse seat plate; according to the control method, through a step-by-step execution mechanism driven by a coordinate control table, a multi-axis pose target, an I / O criterion and tolerance / timeout are solidified into standardized steps, and a deterministic closed loop of stepping after in-place + matching is formed. According to the method, the positioning precision and repeatability in the pick-and-place process are remarkably improved, time sequence coupling and false triggering are reduced, working conditions such as single / double depth expansion and same / opposite side expansion are convenient to adjust, safety redundancy and action cascade connection are considered, and therefore the reliability and the beat level of the whole machine are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of warehouse bin taking and placing, in particular to a coordinate control type bin taking and placing device and a control method thereof. BACKGROUND

[0002] With the development of automated warehousing and logistics systems, especially the wide application of scenarios such as vertical warehouses and intelligent sorting centers, higher and higher requirements are put forward for the efficiency, precision and space utilization rate of material storage and retrieval equipment. Among the many storage and retrieval methods, the storage system based on bins is widely used due to its high flexibility and strong adaptability. Among them, the taking and placing device for realizing automatic taking and placing of bins is one of the core execution units of the whole system, and its performance directly determines the operation cycle, stability and overall layout compactness of the system.

[0003] In the existing disclosed technology, patent CN118239430A proposes a lifting type bin hooking fork assembly, stacker and bin taking and placing method. The first driving mechanism and transmission mechanism are arranged on the support frame, the mounting frame is driven to lift along the vertical direction through chain transmission, the hooking fork is arranged to be horizontally slidable at the lower part of the mounting frame, the first baffle is arranged at one end of the hooking fork, and the second baffle is arranged to limit and stabilize when necessary; a transmission mechanism (such as a parallel conveyor belt) is further arranged below, and the conveyor belt and the hooking fork can be withdrawn at the same speed by the second driving mechanism to avoid sudden change of the posture of the bin. The matching method focuses on a "five-step" sequence: positioning - lifting to close - hooking fork forward extension - lifting again to abut - hooking back to the support frame, to realize the transfer of the bin from the shelf to the loading platform. This technology emphasizes the need to reserve a fork space above the bin and a safety gap on both sides, which can improve the space utilization rate and avoid the dependence on the "large opening below or laterally" of traditional plate forks / clamping. However, the patent scheme has the following defects:

[0004] (1) The mechanism degree of freedom combination mainly includes vertical lifting + hooking fork horizontal linear sliding, which limits the ability of taking bins on the opposite side (reverse taking and placing across the center line of the lane) and double deep position (second depth), and it is difficult to realize the rapid switching of bidirectional and double deep position in the same set of execution mechanism.

[0005] (2) The downward hooking method adopted by the structure of the patent needs to reserve a fork space above the bin, which will reduce the storage density of the bins on the shelf. The method of applying force to the top edge of the bin may cause the bin to tilt on one side and is not conducive to the movement of the bin.

[0006] (3) The structure in the patent still has low compactness and large structure, resulting in large overall volume. SUMMARY

[0007] The application aims to provide a coordinate control type material box taking and placing device and a control method thereof, which are compact in structure, capable of taking goods in two directions and two deep positions, and reasonable in control, and can improve the taking and placing efficiency.

[0008] Technical scheme: To achieve the above-mentioned purpose, the coordinate control type material box taking and placing device comprises a base, a conveying mechanism located at the lower side of the base, and a hooking mechanism located above the conveying mechanism, the hooking mechanism is connected to the base through a lifting driving mechanism and a longitudinal translation mechanism; the hooking mechanism comprises a transverse seat plate, an extension mechanism, and a hook body, the hook body is connected to the transverse seat plate through the extension mechanism;

[0009] The extension mechanism can rotate relative to the transverse seat plate, and when the extension mechanism is in a retracted state, it can be rotated to a zero position in which the extension direction of the extension mechanism is transverse, in the zero position, the extension mechanism is located above or below the transverse seat plate, so that the extension mechanism and the hook body as a whole do not exceed the length range of the transverse seat plate.

[0010] Further, the hooking mechanism is connected to the transverse seat plate through a first rotating shaft, and the hooking mechanism is driven to rotate by a second rotating shaft coaxially arranged with the first rotating shaft; the hooking mechanism comprises a first motor and a second motor, which are arranged in a straight line along the transverse direction of the transverse seat plate, and are respectively installed on the transverse seat plate through a first corner reducer and a second corner reducer;

[0011] The output shafts of the first corner reducer and the second corner reducer drive the first rotating shaft and the second rotating shaft to rotate, respectively. Specifically, the output shaft of the first corner reducer is connected to the first rotating shaft through a gear set, the output shaft of the second corner reducer is coaxially arranged with the second rotating shaft and is drivingly connected to the second rotating shaft, and the first motor and the second motor are oppositely installed.

[0012] In the scheme, the first motor, the second motor, and the corresponding reducers are all installed above the transverse seat plate, and the extension mechanism is located below the transverse seat plate.

[0013] A coordinate control type material box taking and placing method based on the above-mentioned coordinate control type material box taking and placing device, the method comprises:

[0014] Step S101: Establish a coordinate vector C = (X1, Z, Θ, X2, D) along five axes and load the coordinate control table corresponding to the target action. The coordinate vector C includes four position axes and one speed axis, which are, in order: the first-level extension / retraction amount corresponding to the longitudinal translation mechanism, the lifting / retraction amount of the lifting drive mechanism, the rotation amount of the extension / retraction mechanism relative to the transverse seat plate, the second-level extension / retraction amount of the extension / retraction mechanism, and the parameters of the conveying mechanism, which can be speed or speed limit. The target action includes mechanical return to zero, pre-fetching, pre-placement, box retrieval, and box placement. The coordinate control table is organized according to the decomposed actions, and each decomposed action includes at least the target stop coordinate C. * With the target I / O state;

[0015] Step S102: Execute each decomposition action of the coordinate control table sequentially, and issue C to the position axis based on the executed decomposition action. * (X1) * Z * ,Θ * X2 * ), and sends a speed or speed limit to the speed axis; wherein, X1 * Z * Θ * X2 * These are the target positions for the corresponding position axes;

[0016] Step S103: Real-time acquisition of current position C and current I / O status, comparison of C with C * And compare the current I / O state with the target I / O state;

[0017] Step S104, when C and C * If the current I / O state matches the target I / O state, the step is considered complete, and the next decomposition action is initiated if there is still a next decomposition action to be performed. If any axis deviates significantly, or if I / O is inconsistent or a timeout occurs, an abnormal transition is generated. The above judgments C and C... * Whether they are consistent can be determined based on the following formula |CC * The system determines whether the tolerance condition is met.

[0018] Each of the above decomposition actions is controlled by a state machine to realize the flow of steps. The state machine includes several states such as initialization, execution, waiting, and fault. Among them, initialization is the assignment of initial values. Execution is the setting of parameters such as the position and speed of the target motor shaft when the step just begins. Waiting is the comparison between the current position and the target position to see if they match. If they match, the current step ends and the next step is switched.

[0019] Furthermore, the same-side single-depth box retrieval action and the opposite-side single-depth box retrieval action are implemented as follows:

[0020] Step S201, enter the coordinate control table of the same side single deep picking or the opposite side single deep picking and complete initialization to the pre-picking coordinate C 11 ; from the zero position to the pre-picking coordinate is achieved by changing the rotation amount, wherein the rotation amount corresponding to the same side picking action is-90°, and the rotation amount corresponding to the opposite side picking action is 90°. The X1 in the pre-picking coordinate corresponding to the same side single deep picking and the opposite side single deep picking is different.

[0021] Step S202, issue C 12 , change Z and X1 in sequence or synchronously, so that the hook body is lowered and moved forward;

[0022] Step S203, issue C 13 , change Z and D, so that the hook body is raised and the conveying mechanism is operated, at this time the hook body is docked with the target container;

[0023] Step S204, issue C 14 , change X1 and D, so that the hook body is moved backward and the conveying mechanism moves at the same speed as the hook body;

[0024] Step S205, issue C 15 , change at least the first two of X1, Z and D, so that the hook body is lowered to the tripping position and the distance between the hook body and the container is increased;

[0025] Step S206, issue C 16 , change at least the first two of X1, Θ and D, so that the hook body is moved backward while the telescopic mechanism is rotated to the zero position, so as to ensure a safe distance between the hook body and the container and realize the recovery of the telescopic mechanism;

[0026] Step S207, issue C 17 , change at least the first two of X1, Z and D, so that the hook body is raised to a position above the container and a safe distance between the telescopic mechanism and the container is ensured; in steps S205 to S207, the conveying mechanism can be kept operating or stopped, as long as a safe distance with the hook body is maintained.

[0027] Step S208, issue C 18 , change X1 and D, so that the container is moved into position, after the container is moved into position, the container in position sensor is triggered;

[0028] Step S209, issue C 19 , change X1, so that the telescopic mechanism returns to the initial position.

[0029] Further, the same side double deep picking action and the opposite side double deep picking action are implemented according to the following decomposition actions:

[0030] Step S301, enter the coordinate control table of the same side double deep box or the opposite side double deep box and complete initialization to the pre-take box coordinate C 21 ; from the zero position to the pre-take box coordinate is achieved by changing the rotation amount, wherein the rotation amount corresponding to the same side box taking action is-90°, and the rotation amount corresponding to the opposite side box taking action is 90°.

[0031] Step S302, issue C 22 , change Z, X1 and X2 in sequence or synchronously to make the hook body descend and move forward;

[0032] Step S303, issue C 23 , change Z and D to make the hook body ascend and make the conveying mechanism operate, at this time the hook body is docked with the target box;

[0033] Step S304, issue C 24 , change X1, X2 and D to make the hook body retreat and make the conveying mechanism move at the same speed as the hook body;

[0034] Step S305, issue C 25 , change at least the first two of X1, Z and D to make the hook body descend to the tripping position and increase the distance between the hook body and the box;

[0035] Step S306, issue C 26 , change at least the first two of X1, Θ and D to make the hook body retreat while the telescopic mechanism rotates to the zero position, so as to ensure that the hook body and the box maintain a safe distance to realize the recovery of the telescopic mechanism;

[0036] Step S307, issue C 27 , change at least the first two of X1, Z and D to make the hook body ascend to a position higher than the box and ensure a safe distance between the telescopic mechanism and the box; in steps S305 to S307, the conveying mechanism can be kept operating or stopped, as long as it maintains a safe distance from the hook body.

[0037] Step S308, issue C 28 , change X1 and D to make the box move into position, after the box moves into position, the box in position sensor is triggered;

[0038] Step S309, issue C 29 , change X1 to make the telescopic mechanism return to the initial position.

[0039] Further, the same side single deep box placing action and the opposite side single deep box placing action are implemented according to the following decomposition actions:

[0040] Step S401, enter the same side single deep box placing coordinate control table and initialize to the pre-box placing coordinate C 31; pre-put coordinate C 31 In the same side single deep put box action, Θ is -90°, and in the opposite side single deep put box action, Θ is 90°; Z = 0, that is, the hook body is in the highest position, X2 = 0, and D = 0.

[0041] Step S402, issuing C 32 , changing D, so that the conveying mechanism operates to output the box outward, and the coordinate comparison is correct and the target I / O state is triggered by the goods location sensor;

[0042] Step S403, issuing C 33 , changing X1 and Z, so that the hook body is lowered and moved forward, and the box is pushed into the goods location; in this step, the coordinate comparison is correct as the target I / O state, and the conveying mechanism is stopped after the coordinate comparison is correct;

[0043] Step S404, issuing C 34 , changing X1, so that the hook body is retracted; in this step, the target comparison is correct as the target I / O state;

[0044] Step S405, issuing C 35 , changing Z and Θ, so that the hook body is raised to the highest position and rotated to the zero position; in this step, the target coordinate comparison is correct and the goods location sensor is normal as the target I / O state.

[0045] Further, the same side double deep put box action and the opposite side double deep put box action are implemented according to the following decomposition actions:

[0046] Step S501, entering the coordinate control table of the same side single deep put goods and initializing to the pre-put coordinate C 41 ; pre-put coordinate C 31 In the same side single deep put box action, Θ is -90°, and in the opposite side single deep put box action, Θ is 90°; Z = 0, that is, the hook body is in the highest position, X2 = 0, and D = 0.

[0047] Step S502, issuing C 42 , changing D, so that the conveying mechanism operates to output the box outward, and the coordinate comparison is correct and the target I / O state is triggered by the goods location sensor;

[0048] Step S503, issuing C 43 , changing X1, Z and X2, so that the hook body is lowered and moved forward, and the box is pushed into the goods location; in this step, the coordinate comparison is correct as the target I / O state, and the conveying mechanism is stopped after the coordinate comparison is correct;

[0049] Step S504, issuing C 44 , changing X1 and X2, so that the hook body is retracted; in this step, the target comparison is correct as the target I / O state;

[0050] Step S505, issuing C45 , change Z and Θ, make the hook body rise to the highest position and rotate to the zero position; in this step, the target coordinates are compared correctly and the position sensor is normal as the target I / O state.

[0051] Beneficial effects: the coordinate control type material box taking and placing device and the control method thereof have the following beneficial effects:

[0052] (1) The material box taking and placing device adopts the following advantages: on the one hand, the telescopic mechanism can be in a hidden state at the zero position and does not occupy the longitudinal space; on the other hand, the telescopic mechanism can be bidirectionally extended relative to the transverse seat plate to realize bidirectional acquisition of the material box into the base, and the longitudinal translation mechanism can expand the longitudinal taking range of the hooking mechanism, so that the material box taking and placing device can acquire material boxes in multiple deep positions.

[0053] (2) In the hooking mechanism, the structure layout of the two motors and the telescopic mechanism is reasonable, which greatly improves the compactness of the structure, so that the space occupied by the hooking mechanism itself is very small, which is beneficial to the compactness of the whole material box taking and placing device.

[0054] (3) The coordinate control type material box taking and placing method of the present application forms a deterministic closed loop through a step-by-step execution mechanism driven by a coordinate control table, which solidifies multi-axis pose targets, I / O criteria and tolerances / timeout as standardized steps, and only steps in when in place + matching. This method significantly improves the positioning accuracy and repeatability of the taking and placing process, reduces timing coupling and false triggering, facilitates tuning and expansion of single / double deep, same / opposite side and other working conditions, and takes into account safety redundancy and action cascading, thereby improving the reliability and beat level of the whole machine.

[0055] (4) The implementation steps of various actions are reproducible, the beat is stable, the reversing and positioning errors are reduced, the collision and mis-taking risks are reduced, the same / opposite side unified process is convenient for calibration and maintenance and improves the reliability and universality. BRIEF DESCRIPTION OF DRAWINGS

[0056] Figure 1 is a structural diagram of the coordinate control type material box taking and placing device;

[0057] Figure 2 is a structural diagram of the hooking mechanism;

[0058] Figure 3 is a sectional view of the hooking mechanism;

[0059] Figure 4 is a flowchart of the coordinate control type material box taking and placing method;

[0060] Figure 5 is a front view coordinate definition diagram of the material box taking and placing device;

[0061] Figure 6 is a top view coordinate definition diagram of the material box taking and placing device;

[0062] Figure 7 Layout size chart of the magazine taking and placing device and the magazine.

[0063] In the figure: 1-base; 2-conveying mechanism; 3-hooking mechanism; 31-cross seat plate; 32-telescopic mechanism; 33-hook body; 34-first rotation shaft; 35-second rotation shaft; 36-first motor; 37-second motor; 38-first corner speed reducer; 39-second corner speed reducer; 310-gear set; 311-first gear; 312-second gear; 313-synchronous belt mechanism; 4-lifting driving mechanism; 5-longitudinal translation mechanism. DETAILED DESCRIPTION

[0064] The application will be further described below in combination with the accompanying drawings.

[0065] As Figure 1 shown in the coordinate control type magazine taking and placing device, it comprises a base 1, a conveying mechanism 2 located at the lower side of the base 1, and a hooking mechanism 3 located above the conveying mechanism 2, the hooking mechanism 3 is connected to the base 1 through a lifting driving mechanism 4 and a longitudinal translation mechanism 5. In this embodiment, the conveying mechanism 2 is a belt machine.

[0066] As Figure 2 shown, the hooking mechanism 3 comprises a cross seat plate 31, a telescopic mechanism 32, and a hook body 33, the hook body 33 is connected to the cross seat plate 31 through the telescopic mechanism 32.

[0067] The telescopic mechanism 32 can rotate relative to the cross seat plate 31, and when the telescopic mechanism 32 is in the retracted state, it can be rotated to a zero position in which the telescopic direction is transverse. In the zero position, the telescopic mechanism 32 is located above or below the cross seat plate 31, so that the telescopic mechanism 32 and the hook body 33 as a whole do not exceed the length range of the cross seat plate 31.

[0068] With the above structure, on the one hand, the telescopic mechanism 32 can be in a hidden state in the zero position, without occupying longitudinal space; on the other hand, the telescopic mechanism 32 can be extended bidirectionally relative to the cross seat plate 31 to realize bidirectional acquisition of the magazine into the base 1, and the longitudinal translation mechanism 5 can expand the longitudinal taking range of the hooking mechanism 3, so that the magazine taking and placing device can acquire magazines in multiple depths.

[0069] Preferably, the hooking mechanism 3 is connected with the horizontal seat plate 31 through a first rotating shaft 34, and the hooking mechanism 3 is driven to rotate by a second rotating shaft 35 coaxially arranged with the first rotating shaft 34; the hooking mechanism 3 comprises a first motor 36 and a second motor 37, which are linearly arranged along the transverse direction of the horizontal seat plate 31 and are respectively installed on the horizontal seat plate 31 through a first corner reducer 38 and a second corner reducer 39;

[0070] The output shafts of the first corner reducer 38 and the second corner reducer 39 drive the first rotating shaft 34 and the second rotating shaft 35 to rotate, respectively. Specifically, the output shaft of the first corner reducer 38 is connected with the first rotating shaft 34 through a gear set 310, the output shaft of the second corner reducer 39 is coaxially arranged with and driven to connect with the second rotating shaft 35, and the first motor 36 and the second motor 37 are oppositely installed.

[0071] In the embodiment, the first motor 36, the second motor 37 and the corresponding reducers are all installed above the horizontal seat plate 31, and the telescopic mechanism 32 is located below the horizontal seat plate 31.

[0072] In the hooking mechanism 3, the structures of the two motors and the telescopic mechanism 32 are reasonable, which greatly improves the compactness of the structure, so that the hooking mechanism 3 itself occupies very little space, which is beneficial to the compactness of the whole material box taking and placing device. When the whole rotation of the telescopic mechanism 32 needs to be controlled, the second motor 37 is controlled to rotate, and the first motor 36 is controlled to rotate cooperatively to keep the telescopic amount of the telescopic mechanism 32 unchanged. When the telescopic motion of the telescopic mechanism 32 needs to be controlled, the first motor 36 is controlled to rotate.

[0073] Specifically, as shown in Figure 3 The first rotating shaft 34 is a hollow structure, the second rotating shaft 35 is installed inside the first rotating shaft 34, the gear set 310 comprises a first gear 311 connected with the first corner reducer 38 and a second gear 312 sleeved on the outside of the first rotating shaft 34, and the first gear 311 is engaged with the second gear 312. The telescopic mechanism 32 is a multi-stage telescopic structure, and the structure is a prior art, which will not be described here. The second rotating shaft 35 drives the telescopic mechanism 32 to rotate through a synchronous belt mechanism 313, and the first rotating shaft 34 has a slot for the synchronous belt to pass through.

[0074] The application also provides a coordinate control type material box taking and placing method based on the above-mentioned coordinate control type material box taking and placing device, as shown in Figure 4 The method comprises the following steps S101-S104:

[0075] Step S101, establish a coordinate vector C=(X1, Z, Θ, X2, D) according to five axes, and load a coordinate control table corresponding to a target action; the coordinate vector C includes four position axes and one speed axis, in turn: a first-stage telescopic amount corresponding to the longitudinal translation mechanism 5, a lifting amount of the lifting drive mechanism 4, a rotation amount of the telescopic mechanism 32 relative to the transversely arranged seat plate 31, a second-stage telescopic amount of the telescopic mechanism 32, and a parameter of the conveying mechanism 2, which can be a speed or a speed limit; the target action includes mechanical zero return, pre-taking, pre-discharging, taking a box, and discharging a box; the coordinate control table is organized according to decomposed actions, and each step of the decomposed action includes at least a target stop coordinate C * and a target I / O state;

[0076] Step S102, execute each decomposed action of the coordinate control table in turn, and issue C * among (X1 * , Z * , Θ * , X2 * ) to the position axes and a speed or a speed limit to the speed axis based on the executed decomposed action; wherein X1 * , Z * , Θ * , X2 * are target positions of the corresponding position axes, respectively;

[0077] Step S103, collect the current position C and the current I / O state in real time, compare C with C * , and compare the current I / O state with the target I / O state;

[0078] Step S104, when C is consistent with C * and the current I / O state is consistent with the target I / O state, it is determined that the step is completed and the next decomposed action is promoted if there is a next decomposed action; if any axis is out of tolerance, or the I / O is inconsistent, or the time is out, an abnormal transition is generated. The consistency of C and C * can be determined based on whether the following formula |C-C * |≤tolerance is true.

[0079] The coordinate control type box taking and placing method of the application forms a deterministic closed loop of in-place matching and stepping through a step-by-step execution mechanism driven by a coordinate control table, which solidifies multi-axis pose targets, I / O criteria, and tolerances / over time into standardized steps, thereby significantly improving the positioning accuracy and repeatability of the taking and placing process, reducing time coupling and false triggering, facilitating tuning and expanding single / double deep, same / opposite side, and other working conditions, and taking into account safety redundancy and action cascading, thereby improving the reliability and beat level of the entire machine.

[0080] Figure 5 andFigure 6 Fig. 2 is a diagram defining the coordinates of the magazine taking and placing device in this embodiment, Figure 7 Fig. 3 is a diagram showing the dimensions of the magazine taking and placing device and the magazine in this embodiment after alignment.

[0081] Preferably, the same-side single-depth taking action and the opposite-side single-depth taking action are implemented by the following decomposed actions:

[0082] Step S201: Enter the coordinate control table of the same-side single-depth taking action or the opposite-side single-depth taking action and complete initialization to the pre-taking coordinate C 11 The change in the rotation amount is achieved by changing from the zero position to the pre-taking coordinate, wherein the rotation amount corresponding to the same-side taking action is -90°, and the rotation amount corresponding to the opposite-side taking action is 90°. The X1 in the pre-taking coordinate corresponding to the same-side single-depth taking action is different from the X1 in the pre-taking coordinate corresponding to the opposite-side single-depth taking action.

[0083] Step S202: Issue C 12 , change Z and X1 in sequence or synchronously to make the hook body 33 descend and move forward;

[0084] Step S203: Issue C 13 , change Z and D to make the hook body 33 ascend and make the conveying mechanism 2 operate, at which time the hook body 33 is in butt joint with the target magazine;

[0085] Step S204: Issue C 14 , change X1 and D to make the hook body 33 move backward and make the conveying mechanism 2 move at the same speed as the hook body 33;

[0086] Step S205: Issue C 15 , change at least the first two of X1, Z, and D to make the hook body 33 descend to the tripping position and increase the distance between the hook body 33 and the magazine;

[0087] Step S206: Issue C 16 , change at least the first two of X1, Θ, and D to make the hook body 33 move backward while the telescopic mechanism 32 rotates to the zero position, so as to ensure a safe distance between the hook body 33 and the magazine to realize the recovery of the telescopic mechanism 32;

[0088] Step S207: Issue C 17 , change at least the first two of X1, Z, and D to make the hook body 33 ascend to a position higher than the magazine and ensure a safe distance between the telescopic mechanism 32 and the magazine; in steps S205 to S207, the conveying mechanism 2 can be kept operating or stopped, as long as a safe distance is maintained with the hook body 33.

[0089] Step S208: Issue C 18, change X1 and D, so that the magazine moves to the position, after the magazine moves to the position, the magazine to the position sensor triggers;

[0090] Step S209, issue C 19 , change X1, so that the telescopic mechanism 32 returns to the initial position.

[0091] The above C 11 to C 19 are target coordinates corresponding to different decomposition actions. Among them, the target I / O state of steps S201-S205 is that the target coordinate comparison is correct; the target I / O state of steps S206-S208 is that the target coordinate comparison is correct, and the sensor on the goods location triggers; the target I / O state of step S209 is that the target coordinate comparison is correct, the sensor on the goods location triggers, and the to-position sensor on the magazine device triggers. Each of the above decomposition actions is controlled by a state machine to realize the flow of steps; the state machine includes initialization, execution, waiting, fault and several states; among them, the initialization and the corresponding initial value are assigned, in the execution, the corresponding motor shaft target position, speed and other parameters are set; in the waiting, whether the current position matches the target position is compared, and if it matches, the current step ends and switches to the next step.

[0092] In this embodiment, the coordinate control table of the same side single deep magazine taking action is as follows:

[0093]

[0094] In the above table, “++” and “+” corresponding to the movement of the belt machine represent two speed modes.

[0095] The above same side single deep magazine taking action and the opposite side single deep magazine taking action write the same side (-90°) and the opposite side (+90°) pre-taking posture into the coordinate table, and first orient and then take the magazine; then complete the docking, bringing in, tripping, withdrawing and resetting step by step according to Z, X1 and D. Each step takes the stop coordinate and / or sensor as the criterion, and maintains a safe distance from the belt in S205-S207 to avoid interference. The path of this scheme is reproducible, the beat is stable, the reversing and alignment errors are reduced, the collision and mis-taking risks are reduced, and the same / opposite side unified process is convenient for calibration and maintenance and improves the reliability and universality.

[0096] Preferably, the same side double deep magazine taking action and the opposite side double deep magazine taking action are implemented according to the following decomposition actions:

[0097] Step S301, enter the coordinate control table of the same side double deep magazine taking or the opposite side double deep magazine taking and complete initialization to the pre-taking coordinate C 21 ; from the zero position to the pre-taking coordinate is realized by changing the rotation amount, wherein the rotation amount corresponding to the same side magazine taking action is -90°, and the rotation amount corresponding to the opposite side magazine taking action is 90°.

[0098] Step S302, issue C 22 , change Z, X1 and X2 in sequence or synchronously to make the hook body 33 descend and move forward;

[0099] Step S303, issue C 23 , change Z and D to make the hook body 33 ascend and make the conveying mechanism 2 operate, at this time the hook body 33 is in butt joint with the target box;

[0100] Step S304, issue C 24 , change X1, X2 and D to make the hook body 33 retreat and make the conveying mechanism 2 move at the same speed with the hook body 33;

[0101] Step S305, issue C 25 , change at least the first two of X1, Z and D to make the hook body 33 descend to the tripping position and increase the distance between the hook body 33 and the box;

[0102] Step S306, issue C 26 , change at least the first two of X1, Θ and D to make the hook body 33 retreat while the telescopic mechanism 32 rotates to the zero position, thus ensuring the safe distance between the hook body 33 and the box to realize the recovery of the telescopic mechanism 32;

[0103] Step S307, issue C 27 , change at least the first two of X1, Z and D to make the hook body 33 ascend to a position higher than the box and ensure the safe distance between the telescopic mechanism 32 and the box; in steps S305 to S307, the conveying mechanism 2 can keep operating or stop, as long as it keeps a safe distance with the hook body 33.

[0104] Step S308, issue C 28 , change X1 and D to make the box move to the position, after the box moves to the position, the box-to-position sensor is triggered;

[0105] Step S309, issue C 29 , change X1 to make the telescopic mechanism 32 return to the initial position.

[0106] The above C 21 to C 29 are target coordinates corresponding to different decomposition actions. The target I / O states of steps S301-S305 are all correct target coordinate comparisons; the target I / O states of steps S306-S308 are all correct target coordinate comparisons and the sensors on the storage locations are triggered; the target I / O state of step S309 is correct target coordinate comparison, the sensors on the storage locations are triggered and the to-position sensor on the box taking device is triggered.

[0107] The same side double deep box taking action has two more extension and retraction movements than the same side single deep box taking action and the opposite side single deep box taking action, and is basically the same, which will not be described here.

[0108] Preferably, the same side single deep box putting action and the opposite side single deep box putting action are implemented by the following decomposition actions:

[0109] Step S401, enter the coordinate control table of the same side single deep box putting and initialize to the pre-putting coordinate C 31 ; the pre-putting coordinate C 31 In the same side single deep box putting action, Θ is -90°, and in the opposite side single deep box putting action, Θ is 90°; Z=0, that is, the hook body 33 is in the highest position, X2=0, and D=0.

[0110] Step S402, issue C 32 , change D, so that the conveying mechanism 2 operates to output the material box outward, and the correct coordinate comparison with the goods location sensor is triggered as the target I / O state;

[0111] Step S403, issue C 33 , change X1 and Z, so that the hook body 33 descends and moves forward, and the material box is pushed into the goods location; this step takes the correct coordinate comparison as the target I / O state, and stops the conveying mechanism 2 after the correct coordinate comparison;

[0112] Step S404, issue C 34 , change X1, so that the hook body 33 retracts; this step takes the target comparison as the target I / O state;

[0113] Step S405, issue C 35 , change Z and Θ, so that the hook body 33 rises to the highest position and rotates to the zero position; in this step, the target coordinate comparison and the normal goods location sensor are taken as the target I / O state.

[0114] The aforementioned descriptions of "forward movement", "backward movement", "retraction", etc. are all based on the orientation of the hook body 33, and the relevant descriptions in the following are the same, which will not be described here.C 31 to C 35 are the target coordinates corresponding to different decomposition actions.

[0115] In this embodiment, the coordinate control table of the same side single deep box taking action is shown in the following table:

[0116]

[0117] In the above table, "--" and "-" corresponding to the belt machine movement represent two speed modes.

[0118] Preferably, the same side double deep box putting action and the opposite side double deep box putting action are implemented by the following decomposition actions:

[0119] Step S501, enter the coordinate control table of the same side single deep storage and initialize to the pre-storage coordinate C 41 ; the pre-storage coordinate C 31 In the process, Θ of the same side single deep storage action is -90°, and Θ of the opposite side single deep storage action is 90°; Z=0, that is, the hook body 33 is at the highest position, X2=0, and D=0;

[0120] Step S502, issue C 42 , change D, so that the conveying mechanism 2 operates to output the material box outward, and the coordinate comparison is correct and the target I / O state is the triggering of the storage sensor;

[0121] Step S503, issue C 43 , change X1, Z and X2, so that the hook body 33 is lowered and moved forward, and the material box is pushed into the storage; this step takes the correct coordinate comparison as the target I / O state, and stops the conveying mechanism 2 after the correct coordinate comparison;

[0122] Step S504, issue C 44 , change X1 and X2, so that the hook body 33 is retracted; this step takes the target comparison as the target I / O state;

[0123] Step S505, issue C 45 , change Z and Θ, so that the hook body 33 is raised to the highest position and rotated to the zero position; in this step, the target coordinate comparison and the normal storage sensor are taken as the target I / O state.

[0124] C 41 to C 45 are target coordinates corresponding to different decomposition actions.

[0125] The above only describes the preferred embodiments of the present application, and it should be noted that for ordinary skilled persons in the art, several improvements and refinements can be made without departing from the principles of the present application, and these improvements and refinements should also be considered within the protection scope of the present application.

Claims

1. A coordinate control type magazine taking and placing device, comprising a base (1), a conveying mechanism (2) located at the lower side of the base (1), and a hooking mechanism (3) located above the conveying mechanism (2), the hooking mechanism (3) being connected to the base (1) through a lifting driving mechanism (4) and a longitudinal translation mechanism (5); the hooking mechanism (3) comprising a transverse seat plate (31), an extension mechanism (32), and a hook body (33); characterized in that: the extension mechanism (32) is capable of rotating relative to the transverse seat plate (31), and when the extension mechanism (32) is in a retracted state, it is capable of rotating to a zero position in which the extension direction of the extension mechanism (32) is transverse, and in the zero position, the extension mechanism (32) is located above or below the transverse seat plate (31).

2. The coordinate controlled magazine handling device according to claim 1, characterized in that the hooking mechanism (3) is connected to the transverse seat plate (31) through a first rotating shaft (34), and the hooking mechanism (3) is driven to rotate by a second rotating shaft (35) coaxially arranged with the first rotating shaft (34); the hooking mechanism (3) comprises a first motor (36) and a second motor (37) arranged linearly in a direction transverse to the transverse seat plate (31), and the first motor (36) and the second motor (37) are respectively installed on the transverse seat plate (31) through a first corner reducer (38) and a second corner reducer (39); the output shafts of the first corner reducer (38) and the second corner reducer (39) respectively drive the first rotating shaft (34) and the second rotating shaft (35) to rotate.

3. A coordinate-controlled magazine taking and placing method based on the coordinate-controlled magazine taking and placing device according to claim 1, characterized in that the method comprising: Step S101, a coordinate vector C=(X1, Z, Θ, X2, D) is established, and a coordinate control table corresponding to the target action is loaded; the coordinate vector C includes four position axes and one speed axis, in sequence: a first-stage telescopic amount corresponding to the longitudinal translation mechanism (5), a lifting amount of the lifting drive mechanism (4), a rotation amount of the telescopic mechanism (32) relative to the transverse seat plate (31), a second-stage telescopic amount of the telescopic mechanism (32), and a parameter of the conveying mechanism (2); the coordinate control table is organized according to decomposed actions, and each step of the decomposed actions includes at least a target stop coordinate C * and a target I / O state; Step S102, sequentially execute each decomposition action of the coordinate control table, based on the decomposition action executed to the position axis C * (X1 * , Z * , Θ * , X2 * ), to the speed axis, issue a speed or speed limit; wherein X1 * , Z * , Θ * , X2 * are the target positions of the corresponding position axis respectively; Step S103, real-time collection of current position C and current I / O state, comparison of C and C * and comparison of current I / O state and target I / O state; Step S104, when C is consistent with C * Step S104, when C is consistent with C * Step S104, when C is consistent with C * Step S104, when C is consistent with C * Step S104, when C is consistent with C * Step S104, when C is consistent with C * Step S104, when C is consistent with C * Step S104, when C is consistent with C * Step S104, when C is consistent with C * Step S104, 4. The coordinate controlled magazine handling method according to claim 3, characterized in that the following decomposition actions are implemented for the same side single deep magazine taking action and the opposite side single deep magazine taking action: Step S201, enter the coordinate control table of the same side single deep picking or the opposite side single deep picking and complete initialization to the pre-picking coordinate C 11 ; Step S202, issuing C 12 by sequentially or synchronously changing Z and X1, the hook body (33) is lowered and moved forward. Step S203, issue C 13 , change Z and D, make the hook body (33) rise and make the conveying mechanism (2) run; Step S204, issue C 14 , change X1 and D, so that the hook body (33) retreats and the conveying mechanism (2) moves at the same speed as the hook body (33); Step S205, C 15 changing at least the first two of X1, Z, and D to lower the hook body (33) to a tripped position and increase the distance between the hook body (33) and the magazine. Step S206, issue C 16 changing at least the first two of X1, Θ, and D so that the hook body (33) retracts while the telescoping mechanism (32) rotates to a zero position. Step S207, C 17 changing at least the first two of X1, Z, and D to raise the hook body (33) to a position above the magazine; Step S208, issue C 18 , change X1 and D, so that the material box moves into position; Step S209, issue C 19 , change X1, so that the telescopic mechanism (32) returns to the initial position.

5. The coordinate controlled magazine handling method according to claim 3, wherein the following decomposition actions are implemented for the same side double deep magazine taking action and the opposite side double deep magazine taking action: Step S301, enter the coordinate control table of the same side double deep case or the opposite side double deep case and complete initialization to the pre-fetch coordinate C 21 ; Step S302, issuing C 22 sequentially or synchronously changing Z, X1 and X2 to make the hook body (33) descend and move forward; Step S303, issue C 23 , change Z and D, make the hook body (33) rise and make the conveying mechanism (2) run; Step S304, issue C 24 , change X1, X2 and D, so that the hook body (33) retreats and the conveying mechanism (2) moves at the same speed as the hook body (33); Step S305, C 25 changing at least the first two of X1, Z, and D, causing the hook body (33) to drop to a tripped position and increase the distance between the hook body (33) and the magazine. Step S306, C 26 changing at least the first two of X1, Θ, and D so that the hook body (33) retracts while the telescoping mechanism (32) rotates to a zero position. Step S307, issue C 27 , change at least the first two of X1, Z and D to raise the hook body (33) to a position above the magazine; Step S308, issue C 28 , change X1 and D, so that the material box moves into position; Step S309, issue C 29 , change X1, so that the telescopic mechanism (32) returns to the initial position.

6. The coordinate controlled magazine handling method according to claim 3, wherein the following decomposition actions are implemented for the same side single deep magazine placing action and the opposite side single deep magazine placing action: Step S401, enter the coordinate control table of the same side single deep put and initialize to the pre-put coordinate C 31 ; Step S402, issue C 32 , change D, so that the conveying mechanism (2) runs to the outside of the output box, and the coordinate comparison is correct with the location sensor trigger as the target I / O state; Step S403, issue C 33 , change X1 and Z, make the hook body (33) descend and move forward, and push the bin into the goods location; Step S404, issue C 34 , change X1, so that the hook body (33) is retracted; Step S405, issue C 35 , change Z and Θ, so that the hook body (33) rises to the highest position and rotates to the zero position.

7. The coordinate controlled magazine handling method according to claim 3, wherein the following decomposition actions are implemented for the same side double deep magazine placing action and the opposite side double deep magazine placing action: Step S501, enter the coordinate control table of the same side single deep put and initialize to the pre-put coordinate C 41 ; Step S502, issue C 42 , change D, so that the conveying mechanism (2) runs to the outside of the output box, and the coordinate comparison is correct with the location sensor trigger as the target I / O state; Step S503, issue C 43 , change X1, Z and X2, make the hook body (33) descend and move forward, push the bin into the goods location; Step S504, issue C 44 , change X1 and X2, so that the hook body (33) retracts; Step S505, issue C 45 , change Z and Θ, so that the hook body (33) rises to the highest position and rotates to the zero position.

Images