Suspension type material conveying equipment and control method thereof

Abstract

The invention relates to the technical field of material transportation, and discloses suspension type material conveying equipment and a control method thereof.According to the suspension type material conveying equipment, a three-dimensional conveying path is constructed through a fixed first rail and a movable second rail which are perpendicular to each other; a fixing assembly in the material conveying box is provided with a limiting structure combining air bag clamping and negative pressure adsorption, and the limiting structure is matched with an airflow driving device to achieve limiting mode switching in different operation directions. In this way, the fixed limiting strategy is flexibly switched according to the running direction of the conveying box, and the anti-deviation stability of the materials during horizontal running and the limiting efficiency during vertical running are ensured. And through cooperative or independent control of air bag clamping and negative pressure adsorption, the limiting reliability under different working conditions is guaranteed, through the design of stopping of the air bag during vertical operation, the loss of parts is reduced, the working rhythm is improved, the stability of material conveying is further improved, and the service life of the fixing assembly is further prolonged.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of material transportation, in particular to a suspension type material conveying equipment and a control method thereof. BACKGROUND

[0002] In the core fields of intelligent manufacturing, warehouse logistics, automobile parts processing, etc., the material conveying system as the key hub connecting each production link directly determines the overall production efficiency and market response speed of the enterprise. Among them, the suspension type material conveying equipment has become the mainstream conveying solution for high-density production workshops and multi-category transfer warehouses due to its core advantages of fully tapping the potential of the upper space of the workshop and avoiding the interference of ground conveying on the production operation line. It is widely used in precise parts transfer, semi-finished product process transfer and finished product intelligent warehouse, etc.

[0003] In related technologies, the suspension conveying equipment completes the switching of the material conveying carrier between different plane tracks through the track lifting mechanism. However, the dynamic fixing and limiting problem of the material bearing structure during track switching start-stop and different plane operation has not been effectively solved. For example, the mechanical locking structure is used to fix and limit the material tray, which has the following disadvantages: first, the mechanical locking structure has poor adaptability and cannot be compatible with different sizes and specifications of the material tray. When the material type is changed, the locking assembly needs to be disassembled and adjusted, which seriously affects the transfer efficiency. Second, the mechanical contact type locking is easy to cause extrusion scratches on the precise material tray. SUMMARY

[0004] The main purpose of the present application is to provide a suspension type material conveying equipment and a control method thereof, which aims to solve the technical problems of poor adaptability of the mechanical locking structure and low conveying efficiency in the prior art.

[0005] To achieve the above-mentioned purpose, in a first aspect, a suspension type material conveying equipment is provided in the embodiments of the present application, which comprises:

[0006] A first track is fixedly arranged and has a first running plane;

[0007] A second track is movably arranged and has a second running plane, and the first running plane is perpendicular to the second running plane;

[0008] A material conveying box comprises a box body, a fixing assembly arranged in the box body, and a tray arranged on the fixing assembly. When the material conveying box runs on the first track, the fixing assembly is configured to fix and limit the tray in the horizontal direction and the vertical direction. When the material conveying box runs on the second track, the fixing assembly is configured to fix and limit the tray in the vertical direction.

[0009] The fixed assembly comprises a fixed support, a steering drive module arranged on the fixed support, and a fixed table in transmission connection with the steering drive module. The fixed table comprises oppositely arranged first and second surfaces. The first surface is provided with a first air bag and a second air bag on both sides thereof. A clamping space of the tray is formed between the first and second air bags. The bottom of the clamping space is provided with first and second suction holes. The second surface is fixedly provided with an airflow driving device configured to provide clamping positive pressure for the first and second air bags and / or suction negative pressure for the first and second suction holes.

[0010] In a possible implementation, the second track is fixedly arranged on a lifting mechanism. The second track has a first state and a second state under the lifting action of the lifting mechanism. When the second track is in the first state, the second track is in butt joint with the first track. When the second track is in the second state, the second track is separated from the first track.

[0011] In a possible implementation, the fixed assembly further comprises an air duct switching valve. The air duct switching valve comprises a housing and a valve core rotatably connected in the housing. The housing forms a first air duct, a second air duct and a third air duct. The airflow driving device comprises an air outlet and an air inlet. The first air duct is in communication with the air outlet. The second air duct is in communication with the first and second air bags. The air inlet is in communication with the first and second suction holes.

[0012] In a possible implementation, a driving motor is fixedly arranged on the housing. An output shaft of the driving motor is in transmission connection with the valve core, for driving the valve core to rotate about its own axis to switch the communication state of the air ducts.

[0013] In a possible implementation, a flow guide portion is arranged on the inner wall of the side of the first air duct close to the second air duct. The flow guide portion has an inclined structure, and the inclined direction thereof extends away from the side of the second air duct.

[0014] In a possible implementation, when the valve core is driven to a switching position between the first air duct and the third air duct, the airflow from the air outlet into the first air duct directly flows into the third air duct under the guidance of the flow guide portion, so as to realize the communication between the first air duct and the third air duct.

[0015] In a possible implementation, the fixed assembly further comprises a pressure sensor. The pressure sensor is embeddedly arranged in the first air bag and / or the second air bag, for detecting the air pressure in the air bag in real time.

[0016] In a possible implementation, the steering drive module comprises a steering motor and a rotating disc in transmission connection with the steering motor, and the fixed table is fixedly connected to the rotating disc.

[0017] In a second aspect, the embodiments of the present application provide a control method of a material conveying device, applied to the material conveying device of the first aspect, and the method comprises:

[0018] obtaining a target running direction of the material conveying box, the target running direction being horizontal running along the first track or vertical running along the second track;

[0019] If it is determined that the target running direction is horizontal running, the air duct switching valve is controlled to switch to a state of closing the third air duct, and the airflow driving device is started to output positive pressure from the air outlet to the first air duct and the second air duct, so as to inflate the first air bag and the second air bag to provide clamping force, and meanwhile, the airflow driving device is started to extract airflow from the air inlet to provide suction negative pressure for the first suction exhaust hole and the second suction exhaust hole;

[0020] During the running of the airflow driving device, the air pressure in the first air bag and / or the second air bag is collected in real time by the pressure sensor to obtain a target air pressure;

[0021] When the target air pressure is greater than a preset pressure threshold, the air duct switching valve is controlled to switch to a pressure maintaining state of closing the second air duct, so as to maintain the clamping force of the first air bag and the second air bag on the tray, and meanwhile, the airflow driving device is controlled to continuously provide suction negative pressure for the first suction exhaust hole and the second suction exhaust hole through the air inlet.

[0022] In a possible implementation, after the step of obtaining the target running direction of the material conveying box, the method further comprises:

[0023] If it is determined that the target running direction is vertical running, the valve core of the air duct switching valve is controlled to rotate to a position between the first air duct and the third air duct, so that the airflow output by the airflow driving device flows into the third air duct after being guided through the first air duct and the flow guide part, forming high-speed airflow, and the air in the first air bag and / or the second air bag flows to the third air duct under the entraining action of the high-speed airflow, so that the first air bag and / or the second air bag are in a deflated state.

[0024] Different from the prior art, the suspension type material conveying device provided by the embodiment of the application establishes a three-dimensional conveying path through the fixed first track and the movable second track which are perpendicular to each other, the fixed assembly in the material conveying box is provided with a limiting structure combined with air bag clamping and negative pressure adsorption, and the limiting mode switching under different running directions is realized in cooperation with the airflow driving device. In this way, the fixed limiting strategy is flexibly switched according to the running direction of the conveying box, so as to ensure the material anti-deviation stability during horizontal running and the limiting efficiency during vertical running. And through the collaborative or independent control of the air bag clamping and the negative pressure adsorption, the limiting reliability under different working conditions is ensured, and through the air bag disabling design during vertical running, the component loss is reduced and the operation tempo is improved, not only the stability and efficiency of the material conveying are further improved, but also the service life of the fixed assembly is prolonged. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description only show some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained according to the structures shown in these drawings without creative labor.

[0026] Figure 1 Fig. 1 is a schematic diagram of the three-dimensional structure of the suspension type material conveying device in some embodiments of the present application;

[0027] Figure 2 Fig. 2 is a schematic diagram of the three-dimensional structure of the fixed assembly in some embodiments of the present application;

[0028] Figure 3 Fig. 3 is a schematic diagram of the fixing structure of the fixed assembly to the tray in some embodiments of the present application;

[0029] Figure 4 Fig. 4 is a schematic diagram of the fixing structure of the fixed assembly to the tray in another embodiment of the present application;

[0030] Figure 5 Fig. 5 is a schematic diagram of the fixing structure of the fixed assembly to the tray in another embodiment of the present application;

[0031] Figure 6 Fig. 6 is a schematic diagram of the control method of the material conveying device in some embodiments of the present application;

[0032] Figure 7 Fig. 7 is a schematic diagram of the hardware structure of the electronic device in some embodiments of the present application.

[0033] The implementation of the present application, functional features and advantages will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0034] With reference to the accompanying drawings, the technical solutions in the embodiments of the present application will be clearly and completely described below. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort belong to the scope of protection of the present application.

[0035] It should be noted that all the direction indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present application are only used to explain the relative position relationship, movement condition and the like between components in a certain specific posture (as shown in the drawings), and if the specific posture changes, the direction indications also change accordingly.

[0036] In addition, the description of “first”, “second” and the like in the present application is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features defined as “first” and “second” can explicitly or implicitly include at least one of the features. In addition, “and / or” throughout the text includes three solutions, for example, A and / or B includes A technical solution, B technical solution, and A and B simultaneously meet the technical solution; in addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of ordinary skill in the art, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, nor is it within the scope of protection claimed by the present application.

[0037] In the core fields of intelligent manufacturing, warehouse logistics, automobile parts processing, etc., the material conveying system as the key hub connecting each production link directly determines the overall production efficiency and market response speed of the enterprise. Among them, the suspended material conveying equipment has become the mainstream conveying solution for high-density production workshops and multi-category transfer warehouses due to its core advantages of fully tapping the potential of the upper space of the workshop and avoiding the interference of ground conveying on the production operation line. It is widely used in precise parts transfer, semi-finished product process transfer and finished product intelligent warehouse, etc.

[0038] In the related art, the suspended conveying equipment completes the switching of the material conveying carrier between different plane tracks through the track lifting mechanism, but the dynamic fixing and limiting problem of the material bearing structure during track switching start-stop and different plane operation has not been effectively solved. For example, the mechanical locking structure is used to fix and limit the material tray, which has the following disadvantages: first, the mechanical locking structure has poor adaptability and is difficult to be compatible with material trays of different sizes and specifications. When the material type is changed, the locking assembly needs to be disassembled and adjusted, which seriously affects the transfer efficiency; second, the mechanical contact type locking is easy to cause extrusion scratches on the precise material tray.

[0039] To solve the above-mentioned technical problems, this application provides a suspended material conveying device, such as... Figure 1 As shown, the material conveying equipment includes a first track 100, a second track 200, a material conveying box 300, and a lifting mechanism 400.

[0040] The first track 100 is a fixedly installed conveying track, such as one suspended from the ceiling. It has a first operating plane (e.g., a horizontal plane) and mainly undertakes the task of horizontal material conveying, providing a stable horizontal operating path for the material conveying box 300. It is the basic horizontal conveying carrier of the equipment. For example, the first track 100 can be a horizontal track arranged in a ring.

[0041] The second track 200 is a movable conveying track with a second operating plane (such as a vertical plane), which enables vertical material conveying. The second track 200 is fixedly installed at the execution end of the lifting mechanism 400 and has two working states under the drive of the lifting mechanism 400: In the first state, the second track 200 is precisely connected to the first track 100, and the material conveying box 300 can smoothly switch from the first track 100 to the second track 200; In the second state, the second track 200 is separated from the first track 100 and can independently perform vertical material conveying operations.

[0042] For example, such as Figure 1 As shown, plane M1 is a horizontal plane and plane M2 is a vertical plane. The lifting mechanism 400 can drive the second track 200 to move up and down.

[0043] It is understood that when the second track 200 is connected to the first track 100, the material conveying box 300 can operate continuously on the complete horizontal track formed by the second track 200 and the first track 100. When unloading is required, after the material conveying box 300 moves from the first track 100 to the second track 200, it can be driven by the lifting mechanism 400 to move the second track 200 and the material conveying box 300 on the second track 200 downwards. When the material conveying box 300 moves to the unloading position, the unloading operation is carried out.

[0044] For example, the lifting mechanism 400 can drive the second track 200 to move up and down through gear transmission, chain transmission or belt transmission, and there are no specific restrictions on the specific transmission structure.

[0045] like Figure 1 and Figure 2As shown, the material conveying box 300 in the present application is a component for carrying and conveying materials, which can move as a whole along the first track 100 and the second track 200, including a box body 310, a fixing assembly 320, and a tray 330. The box body 310 serves as an external carrying shell of the material conveying box 300, provides installation and protection space for the internal fixing assembly 320 and the tray 330, and can be adapted to the running mechanism of the track to realize the movement of the whole along the track. The tray 330 is used for carrying the materials to be conveyed and is placed on the fixing assembly 320, and its position can be fixed and limited by the fixing assembly 320. The fixing assembly 320 is installed inside the box body 310 and is a necessary component for limiting the position of the tray 330, and can switch the limiting mode according to the running track of the material conveying box 300.

[0046] Specifically, when the material conveying box 300 runs horizontally on the first track 100, the fixing assembly 320 can simultaneously fix and limit the tray 330 in the horizontal direction and the vertical direction to prevent the materials from deviating due to horizontal inertia. When the material conveying box 300 runs vertically on the second track 200, the fixing assembly 320 can only fix and limit the tray 330 in the vertical direction to avoid invalid wear of the horizontal limiting component.

[0047] In an embodiment, as shown in Figures 2-5 The fixing assembly 320 includes a fixing bracket 321, a steering drive module 322, a fixing table 323, a first air bag 324, a second air bag 325, an airflow driving device 329, and an air duct switching valve 340.

[0048] The fixing bracket 321 is the installation base of the fixing assembly 320, which provides stable installation support for the steering drive module 322, the fixing table 323, and other components, and ensures the structural stability of the whole fixing assembly 320.

[0049] For example, the steering drive module 322 includes a steering motor 3221 and a turntable 3222 in transmission connection with the steering motor 3221, and the fixing table 323 is fixedly connected to the turntable 3222. The steering motor 3221 drives the turntable 3222 to rotate, which can drive the fixing table 323 and the tray 330 above to adjust the angle, facilitating the subsequent loading and unloading of materials or adapting to different conveying and docking angles.

[0050] The fixing table 323 has a first surface 3231 and a second surface 3232 arranged oppositely, wherein the first surface 3231 is the carrying surface of the tray 330, and the second surface 3232 is used for installing the airflow driving device 329 and is the core carrier connecting the limiting component and the power control component.

[0051] The first air bag 324 and the second air bag 325 are arranged on both sides of the first surface 3231 of the fixed table 323 respectively, and a clamping space 326 capable of accommodating the tray 330 is formed therebetween. When the airflow driving device 329 provides clamping positive pressure to it, the two air bags will inflate and expand and clamp the tray 330 from both sides, achieving horizontal direction limiting of the tray 330. At the same time, in order to accurately monitor the clamping pressure of the air bag, a pressure sensor 360 can be embedded in the first air bag 324 and / or the second air bag 325, for real-time detection of the air pressure in the air bag, to ensure stable and controllable clamping force.

[0052] The first adsorption hole row 327 and the second adsorption hole row 328 are arranged on the bottom of the clamping space 326, that is, on the first surface 3231 of the fixed table 323. When the airflow driving device 329 provides adsorption negative pressure to it, a downward adsorption force can be generated to adsorb and fix the tray 330 on the fixed table 323, achieving vertical direction limiting of the tray 330.

[0053] The airflow driving device 329 is fixedly installed on the second surface 3232 of the fixed table 323, and has two interfaces of an air outlet 3291 and an air inlet 3292. The clamping positive pressure can be provided to the first air bag 324 and the second air bag 325 through the air outlet 3291, and the adsorption negative pressure can be provided to the first adsorption hole row 327 and the second adsorption hole row 328 through the air inlet 3292, which is the power source for switching the limiting mode.

[0054] For example, the airflow driving device 329 can be a gas pump, and the first adsorption hole row 327 and the second adsorption hole row 328 can be arranged on the front and back sides or the left and right sides of the first surface 3231 respectively, to achieve uniform adsorption force at both ends. The first adsorption hole row 327 and / or the second adsorption hole row 328 can be composed of a plurality of uniformly spaced air holes.

[0055] The air duct switching valve 340 is a switching component of the airflow path, which includes a housing 341 and a valve core 342 rotatably connected in the housing 341. The housing 341 forms a first air duct 3411, a second air duct 3412 and a third air duct 3413 which are independent of each other. The first air duct 3411 communicates with the air outlet 3291 of the airflow driving device 329, the second air duct 3412 communicates with the first air bag 324 and the second air bag 325, the air inlet 3292 of the airflow driving device 329 communicates with the first adsorption hole row 327 and the second adsorption hole row 328, and the third air duct 3413 communicates with the external environment. In order to drive the valve core 342 to switch the air duct state, a drive motor (not shown) can be fixedly installed on the housing 341, and the output shaft thereof is in transmission connection with the valve core 342, so as to drive the valve core 342 to rotate around its own axis.

[0056] For example, the airflow driving device 329 can be a gas pump, and the first adsorption hole row 327 and the second adsorption hole row 328 can be arranged on the front and back sides or the left and right sides of the first surface 3231 respectively, to achieve uniform adsorption force at both ends. The first adsorption hole row 327 and / or the second adsorption hole row 328 can be composed of a plurality of uniformly spaced air holes. Figures 3-5To realize the guidance of the outflow of the first air duct 3411, the embodiment of the application further provides a flow guide part 350, which is arranged on the inner wall of the side of the first air duct 3411 close to the second air duct 3412 and has an inclined structure extending away from the second air duct 3412. When the valve core 342 is driven to the switching position between the first air duct 3411 and the third air duct 3413, that is, the three air ducts are all open, the airflow entering the first air duct 3411 from the air outlet 3291 can flow directly into the third air duct 3413 under the guidance of the flow guide part 350, the first air duct 3411 and the third air duct 3413 are communicated, and a high-speed airflow from the first air duct 3411 to the third air duct 3413 is formed. At this time, the air in the first air bag 324 and the second air bag 325 flows to the third air duct 3413 and is discharged to the external environment under the injection action of the high-speed airflow, so that the first air bag 324 and the second air bag 325 are in a deflated state.

[0057] In an actual application scenario, when the material conveying box 300 runs horizontally on the first track 100, the acceleration and deceleration process will generate horizontal inertial force, which is easy to cause the box to deviate or sway in the horizontal direction; at the same time, the gravity of the box itself and the running bumping may cause the risk of vertical displacement. Therefore, it is necessary to simultaneously start the horizontal and vertical direction limiting to form a two-way fixing guarantee. At this time, the valve core 342 of the air duct switching valve 340 is in a state of closing the third air duct 3413 (as shown in Figure 3 The positive pressure airflow output by the air outlet 3291 of the airflow driving device 329 enters the first air bag 324 and the second air bag 325 through the first air duct 3411 and the second air duct 3412 respectively, so that the two air bags are inflated and expanded and clamp the tray 330, realizing the horizontal direction limiting; at the same time, the air inlet 3292 of the airflow driving device 329 continuously extracts airflow to provide adsorption negative pressure for the first adsorption exhaust hole 327 and the second adsorption exhaust hole 328, realizing the vertical direction limiting. In this process, the pressure sensor 360 monitors the pressure in the air bag in real time, and when the pressure exceeds the preset threshold value, the air duct switching valve 340 is controlled to close the second air duct 3412 (as shown in Figure 4 The pressure in the air bag is maintained, and the negative pressure adsorption continues to run.

[0058] When the material conveying box 300 switches to the second track 200 for vertical running, the inertial force generated by the acceleration and deceleration process changes to the vertical direction, at this time, there is no running driving force in the horizontal direction, and no horizontal inertia is generated. If the air bag used for original horizontal limiting continues to clamp, invalid friction with the tray 330 will be generated, which increases the component wear and affects the running efficiency, and the tray needs to wait for the air bag to deflate when it is unloaded later, which further reduces the running efficiency. Therefore, the horizontal limiting is closed, and only the vertical limiting is retained. At this time, the valve core 342 is driven to rotate to the position where the first air duct 3411 and the third air duct 3413 are communicated (as shown inFigure 5 As shown in FIG. 6, when the material conveying box 300 is in the horizontal running state, the air flow driven device 329 outputs the air flow through the flow guide part 350 to the third air duct 3413 directly, and the first air bag 324 and the second air bag 325 are in the natural deflation state, and the horizontal direction limiting is stopped; and the air flow driven device 329 still provides the adsorption negative pressure for the first adsorption exhaust hole 327 and the second adsorption exhaust hole 328, only the vertical direction limiting is reserved, which not only guarantees the stability of the vertical conveying of the material, but also effectively avoids the invalid friction between the air bag and the tray.

[0059] It can be understood that, in the embodiment of the present application, when the material conveying box 300 switches to the second track 200 to run vertically, only the vertical adsorption fixing and limiting is reserved, and the deflation operation of the clamping air bag is performed in advance, which can effectively shorten the waiting time when the unloaded tray 330 is unloaded, and only the air flow driven device 329 needs to be closed to carry out the unloading and unloading of the tray 330.

[0060] Based on this, the suspension type material conveying device provided in the embodiment of the present application constructs a three-dimensional conveying path through the mutually vertical fixed first track and movable second track, the fixed assembly in the material conveying box is configured with the limiting structure combined with the air bag clamping and negative pressure adsorption, and the limiting mode switching under different running directions is realized in cooperation with the air flow driven device. In this way, the fixed limiting strategy is flexibly switched according to the running direction of the conveying box, which ensures the material anti-deviation stability during the horizontal running and the limiting efficiency during the vertical running. And through the cooperative or independent control of the air bag clamping and negative pressure adsorption, the limiting reliability and overall conveying efficiency under different working conditions are guaranteed, and through the air bag disabling design during the vertical running, the part wear is reduced and the operation tempo is improved, which not only further improves the stability and efficiency of the material conveying, but also prolongs the service life of the fixed assembly.

[0061] To achieve the same invention purpose as described above, in an embodiment, a control method of a material conveying device is also provided, which is applied to the material conveying device as described above, such as Figure 6 As shown in FIG. 6, the method comprises:

[0062] Step S100, acquiring a target running direction of a material conveying box, the target running direction being horizontal running along a first track or vertical running along a second track;

[0063] Step S200, if it is determined that the target running direction is the horizontal running, controlling the air duct switching valve to switch to a state of closing the third air duct, and starting the air flow driven device, so that the air flow driven device outputs the positive pressure through the air outlet to the first air duct and the second air duct, inflates the first air bag and the second air bag to provide the clamping force, and at the same time, extracts the air flow through the air inlet to provide the adsorption negative pressure for the first adsorption exhaust hole and the second adsorption exhaust hole;

[0064] Step S300, during the operation of the airflow driving device, the air pressure in the first air bag and / or the second air bag is collected in real time by the pressure sensor to obtain a target air pressure;

[0065] Step S400, when the target air pressure is greater than a preset pressure threshold, the air duct switching valve is controlled to switch to a pressure maintaining state of closing the second air duct, so as to maintain the clamping force of the first air bag and the second air bag on the tray, and the airflow driving device is controlled to continuously provide the first suction hole and the second suction hole with suction negative pressure through the air inlet.

[0066] Specifically, first, the target running direction of the material conveying box is obtained, that is, it is judged whether the current material conveying box is in a horizontal transportation working condition along the first track or a vertical transportation working condition along the second track. This step provides a core judgment basis for the subsequent switching of the limiting strategy, and the accurate identification of the running direction can be realized through the track position sensor or the running instruction signal, so as to ensure that the limiting logic matches the actual conveying working condition.

[0067] If the system determines that the target running direction is horizontal running, at this time, due to the horizontal acceleration and deceleration, a transverse inertia force will be generated, and the bidirectional limiting of horizontal clamping and vertical suction needs to be started synchronously. At this time, the valve core of the air duct switching valve is first controlled to rotate to a state of closing the third air duct, and then the airflow driving device is started. The positive pressure airflow output from the air outlet of the airflow driving device will be introduced into the first air bag and the second air bag through the first air duct and the second air duct respectively, so that the air bags are inflated and expanded to form a stable clamping force on the tray, realizing displacement restriction in the horizontal direction. At the same time, the air inlet of the airflow driving device will synchronously extract airflow to establish suction negative pressure for the first suction hole and the second suction hole, realizing displacement limiting in the vertical direction through negative pressure suction, thereby forming bidirectional fixed safety protection.

[0068] During the whole process of continuous operation of the airflow driving device, the pressure sensor will collect the air pressure in the first air bag and / or the second air bag in real time to form continuous target air pressure data. This data can feedback the clamping state of the air bag in real time, provide data support for subsequent pressure regulation, and avoid clamping failure due to insufficient air bag pressure or component damage caused by excessive pressure.

[0069] Finally, when the collected target air pressure exceeds the preset pressure threshold, the system will trigger the pressure maintaining logic to control the air duct switching valve to switch to a state of closing the second air duct. At this time, the high-pressure gas filled in the air bag cannot flow back through the second air duct, realizing stable maintenance of the air bag pressure and guaranteeing the continuous clamping force on the tray. At the same time, the airflow driving device is controlled to keep the negative pressure extraction state of the air inlet, continuously providing suction negative pressure for the suction hole, ensuring that the vertical direction limiting is not interrupted, and realizing the coordinated control of horizontal clamping pressure maintaining and vertical suction continuous operation.

[0070] Therefore, the embodiment of the application can accurately switch the limiting strategy according to the target running direction of the material conveying box, and realize intelligent pressure maintenance of the air bag through pressure monitoring, which not only guarantees the stability of material conveying during horizontal running, but also avoids overpressure loss of the air bag, thereby improving the safety and reliability of the material conveying process.

[0071] In another embodiment, after the step of obtaining the target running direction of the material conveying box, the method further comprises:

[0072] In step S500, if it is determined that the target running direction is vertical running, the valve core of the air duct switching valve is rotated to a position between the first air duct and the third air duct, so that the airflow output by the airflow driving device flows into the third air duct through the first air duct and the flow guide part, forming a high-speed airflow, and the air in the first air bag and / or the second air bag is drawn to the third air duct by the entraining effect of the high-speed airflow, so that the first air bag and / or the second air bag are in a deflated state.

[0073] Specifically, after the target running direction of the material conveying box is obtained and determined in step S100, if the system identifies that the target running direction is vertical running along the second track, the air bag deflation control logic is triggered. Since in the vertical running condition, the inertial force direction of the material conveying box is vertical, there is no running driving force in the horizontal direction, and it is not necessary to maintain the horizontal clamping and limiting of the air bag, and continuous clamping will cause invalid friction between the air bag and the tray, increase the component wear, and also prolong the air bag deflation waiting time in the subsequent unloading stage, therefore, the air bag needs to be actively controlled to deflate quickly to release the horizontal limiting.

[0074] Firstly, the system sends a control instruction to drive the valve core of the air duct switching valve to rotate and accurately stop at a preset position where the first air duct and the third air duct are connected, completing the switching of the air duct passage. Then, the airflow output by the airflow driving device enters the first air duct first, and then flows into the third air duct through the directional guiding action of the flow guide part, and the airflow forms a high-speed airflow field in the channel path of the flow guide part and the third air duct. Based on the entraining effect of fluid mechanics, the static air in the first air bag and / or the second air bag is driven by the high-speed airflow in the third air duct and quickly flows to the third air duct to be discharged, so that the first air bag and / or the second air bag, which are originally in the inflated clamping state, quickly shrink and enter the deflated state, releasing the horizontal clamping force on the tray.

[0075] In this process, the guiding structure of the flow guide part can guarantee the stability of the airflow velocity and direction, ensure the efficient triggering of the entraining effect, and compared with the natural deflation mode, the deflation time of the air bag can be greatly shortened, which not only quickly releases the meaningless horizontal limiting and avoids component wear, but also saves the preparation time for the subsequent unloading process, realizing the accurate adaptation of the limiting strategy in the vertical running condition.

[0076] Therefore, the embodiment of the application can realize rapid deflation of the air bag through air duct switching and airflow injection according to the working condition characteristics of vertical operation, realize flexible switching of the limiting mode in different running directions, and balance the stability of material conveying and the economy of equipment operation.

[0077] As Figure 7 shown, Figure 7 Fig. 1 is a schematic diagram of a hardware structure of an electronic device in some embodiments of the application. The electronic device provided by the embodiment of the application further includes a memory 1000 and a processor 2000, wherein the memory 1000 is configured to store computer readable instructions, and the processor 2000 is configured to invoke the computer readable instructions to perform the control method of the material conveying device as described above.

[0078] The processor 2000 is configured to provide computing and control capabilities to control the electronic device to perform corresponding tasks, for example, to control the electronic device to perform the control method of the material conveying device in any of the method embodiments described above, and the method includes: obtaining a target running direction of a material conveying box, the target running direction being horizontal running along a first track or vertical running along a second track; if it is determined that the target running direction is horizontal running, controlling a wind duct switching valve to switch to a state of closing a third air duct, and starting an airflow driving device, so that the airflow driving device outputs positive pressure through an air outlet to a first air duct and a second air duct, inflates a first air bag and a second air bag to provide clamping force, and at the same time, extracts airflow through an air inlet to provide suction negative pressure for a first suction hole and a second suction hole; in the running process of the airflow driving device, the air pressure in the first air bag and / or the second air bag is collected in real time through a pressure sensor to obtain a target air pressure; when the target air pressure is greater than a preset pressure threshold, the wind duct switching valve is controlled to switch to a pressure maintaining state of closing the second air duct, so as to maintain the clamping force of the first air bag and the second air bag on the tray, and at the same time, the airflow driving device is controlled to continuously provide suction negative pressure for the first suction hole and the second suction hole through the air inlet.

[0079] The processor 2000 can be a general processor, including a central processing unit (CPU), a network processor (NP), a hardware chip, or any combination thereof; and can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The PLD can be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof.

[0080] The memory 1000, as a non-transitory computer readable storage medium, can be used to store non-transitory software programs, non-transitory computer executable programs and modules, such as program instructions / modules corresponding to the control method of the material conveying device in the embodiments of the present application. The processor 2000 can implement the control method of the material conveying device in any of the method embodiments by running the non-transitory software programs, instructions and modules stored in the memory 1000.

[0081] Specifically, the memory 1000 can include a volatile memory (VM), such as a random access memory (RAM); the memory 1000 can also include a non-volatile memory (NVM), such as a read-only memory (ROM), a flash memory, a hard disk drive (HDD) or a solid-state drive (SSD), or other non-transitory solid-state storage devices; and the memory 1000 can further include a combination of the above types of memories.

[0082] In summary, the electronic device of the present application adopts the technical solutions of any one of the control method embodiments of the material conveying device described above, and therefore at least has the beneficial effects brought by the technical solutions of the above embodiments, which will not be repeated here.

[0083] The embodiments of the present application further provide a computer readable storage medium, for example, a memory including program codes, which can be executed by a processor to complete the control method of the material conveying device in the above embodiments. For example, the computer readable storage medium can be a Read-Only Memory (ROM), a Random Access Memory (RAM), a Compact Disc Read-Only Memory (CDROM), a magnetic tape, a floppy disk and an optical data storage device, etc.

[0084] The embodiments of the present application further provide a computer program product including one or more program codes stored in a computer readable storage medium. The processor of the early warning system reads the program codes from the computer readable storage medium, and the processor executes the program codes to complete the control method steps of the material conveying device provided in the above embodiments.

[0085] Those skilled in the art can understand that all or part of the steps of the above embodiments can be completed by hardware, or by program codes related hardware, and the program can be stored in a computer readable storage medium. The storage medium mentioned above can be a Read-Only Memory, a magnetic disk or an optical disk, etc.

[0086] It should be noted that the above described device embodiments are only schematic, and the units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, i.e. they can be located in one place, or distributed on multiple network units. Part or all of the modules can be selected according to actual needs to achieve the purpose of the present embodiment.

[0087] From the above description of the embodiments, those skilled in the art can clearly understand that the embodiments can be implemented by means of software plus a general hardware platform, and of course, can also be implemented by hardware. Those skilled in the art can understand that all or part of the processes in the above embodiments can be completed by a computer program instructing related hardware, and the program can be stored in a computer readable storage medium. When the program is executed, it can include the processes of the above embodiments. The storage medium can be a magnetic disk, an optical disk, a Read-Only Memory (ROM) or a Random Access Memory (RAM), etc.

[0088] The above merely describes the preferred embodiments of the present application, and is not intended to limit the patent scope of the present application. Any equivalent structural changes made according to the content of the present application specification and drawings, or direct / indirect application in other related technical fields, are included in the patent protection scope of the present application.

Claims

1. A suspended material conveying apparatus, characterized in that The utility model relates to a material conveying system, including: A first track (100) is fixedly arranged and has a first running plane; A second track (200) is movably arranged and has a second running plane, and the first running plane is perpendicular to the second running plane; A material conveying box (300) includes a box body (310), a fixed assembly (320) arranged in the box body (310), and a tray (330) arranged on the fixed assembly (320), when the material conveying box (300) runs on the first track (100), the fixed assembly (320) is configured to fix and limit the tray (330) in the horizontal direction and the vertical direction, when the material conveying box (300) runs on the second track (200), the fixed assembly (320) is configured to fix and limit the tray (330) in the vertical direction; The fixed assembly (320) includes a fixed support (321), a steering drive module (322) arranged on the fixed support (321), and a fixed table (323) in transmission connection with the steering drive module (322), the fixed table (323) is specifically oppositely arranged with a first surface (3231) and a second surface (3232), the first surface (3231) is respectively provided with a first air bag (324) and a second air bag (325) on both sides, the first air bag (324) and the second air bag (325) form a clamping space (326) of the tray (330) therebetween, the bottom of the clamping space (326) is provided with a first adsorption row hole (327) and a second adsorption row hole (328); The second surface (3232) is fixedly provided with an airflow driving device (329), the airflow driving device (329) is configured to provide clamping positive pressure for the first air bag (324) and the second air bag (325), and / or provide adsorption negative pressure for the first adsorption row hole (327) and the second adsorption row hole (328).

2. A suspended material conveying apparatus according to claim 1, characterised in that Further including a lifting mechanism (400), the second track (200) is fixedly arranged on the lifting mechanism (400), and the second track (200) has a first state and a second state under the lifting action of the lifting mechanism (400); when the second track (200) is in the first state, the second track (200) is connected with the first track (100); when the second track (200) is in the second state, the second track (200) is separated from the first track (100).

3. The suspended material conveying apparatus of claim 1, wherein, The fixed assembly (320) further comprises an air duct switching valve (340), the air duct switching valve (340) comprises a housing (341) and a valve core (342) rotationally connected in the housing (341), the housing (341) is formed with a first air duct (3411), a second air duct (3412) and a third air duct (3413), the airflow driving device (329) comprises an air outlet (3291) and an air inlet (3292), the first air duct (3411) is in communication with the air outlet (3291), the second air duct (3412) is in communication with the first air bag (324) and the second air bag (325), and the air inlet (3292) is in communication with the first adsorption exhaust hole (327) and the second adsorption exhaust hole (328).

4. A suspended material conveying apparatus according to claim 3, wherein A driving motor is fixedly installed on the housing (341), an output shaft of the driving motor is in transmission connection with the valve core (342), and the valve core (342) is driven to rotate around an axis thereof to switch the air duct communication state.

5. A suspended material conveying apparatus according to claim 3, wherein The first air duct (3411) is provided with a flow guide portion (350) on an inner wall of a side close to the second air duct (3412), the flow guide portion (350) is in an inclined structure, and an inclined direction thereof extends away from the second air duct (3412).

6. A suspended material conveying apparatus according to claim 5, characterised in that When the valve core (342) is driven to the switching position between the first air duct (3411) and the third air duct (3413), the airflow entering the first air duct (3411) from the air outlet (3291) directly flows into the third air duct (3413) under the guidance of the flow guide portion (350), and the communication between the first air duct and the third air duct is realized.

7. A suspended material conveying apparatus according to claim 3, wherein The fixed assembly (320) further comprises a pressure sensor (360), the pressure sensor (360) is embeddedly installed inside the first air bag (324) and / or inside the second air bag (325), and is used for detecting the air pressure in the air bag in real time.

8. The suspended material conveying apparatus of claim 1, wherein, The steering driving module (322) comprises a steering motor (3221) and a rotating disc (3222) in transmission connection with the steering motor (3221), and the fixed table (323) is fixedly connected to the rotating disc (3222).

9. A control method of a material conveying apparatus, applied to the material conveying apparatus according to any one of claims 1 to 8, characterized by, The method comprises: obtaining a target running direction of the material conveying box, the target running direction being horizontal running along a first track or vertical running along a second track; if it is determined that the target running direction is horizontal running, controlling the air duct switching valve to switch to a state of closing the third air duct, and starting the airflow driving device, so that the airflow driving device outputs positive pressure to the first air duct and the second air duct through the air outlet, inflates the first air bag and the second air bag to provide clamping force, and simultaneously extracts airflow through the air inlet to provide adsorption negative pressure for the first adsorption exhaust hole and the second adsorption exhaust hole; during the running of the airflow driving device, the air pressure in the first air bag and / or the second air bag is collected in real time by the pressure sensor to obtain a target air pressure; When the target air pressure is greater than a preset pressure threshold, the air duct switching valve is switched to a pressure maintaining state of closing the second air duct to maintain the clamping force of the first air bag and the second air bag on the tray, and the airflow driving device is controlled to continuously provide the first and second adsorption holes with adsorption negative pressure through the air inlet.

10. The control method of the material transport apparatus according to claim 9, characterized by, After the step of obtaining the target running direction of the material conveying box, further comprising: If it is determined that the target running direction is vertical running, the valve core of the air duct switching valve is rotated to a position between the first air duct and the third air duct, so that the airflow output by the airflow driving device flows into the third air duct through the first air duct and the flow guide part, forming high-speed airflow, and the air in the first air bag and / or the second air bag is drawn to the third air duct by the jet action of the high-speed airflow, so that the first air bag and / or the second air bag are in a deflated state.

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