Material delivery method, control device, transfer robot, and medium

Abstract

The invention discloses a material handover method and a control device for a transfer robot, and the material handover method comprises the following steps: controlling a material detection device to detect the position of a material coil so as to determine the current position of the material coil; and under the condition that the deviation between the current position and the set standard position corresponding to the material coil exceeds a first safety threshold value, a corresponding mechanism of the carrying robot is controlled to execute remedial action. The invention further provides a control device, a transfer robot and a computer readable medium.

Description

Technical Field

[0001] This invention relates to the field of material transportation, and more specifically, to a material transfer method, a control device for performing the material transfer method, a handling robot including the control device, and a computer-readable medium. Background Technology

[0002] During the process of transporting materials by a handling robot, the material position may easily shift. When the shift is significant, the material may even fall off the handling robot.

[0003] Because rolled materials (or rolls) have a long axial length and are cylindrical, they are more prone to displacement during transport by handling robots. If the displacement is significant, the roll is also more likely to roll off the handling robot.

[0004] How to prevent materials from falling off the handling robot has become a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0005] This invention aims to address, to a certain extent, one of the technical problems in related technologies. To this end, this invention provides a material transfer method, a control device for performing the material transfer method, a handling robot including the control device, and a computer-readable medium. The material transfer method effectively prevents materials from falling off the handling robot.

[0006] As a first aspect of the present invention, a material transfer method is provided for a control device of a handling robot, wherein the material transfer method includes:

[0007] The control material detection device detects the position of the material roll to determine its current position;

[0008] If the deviation between the current position and the set standard position corresponding to the material roll exceeds a first safety threshold, the corresponding mechanism of the handling robot is controlled to perform a remedial action.

[0009] Optionally, the roll includes a roll body and two shaft ends located on the two end faces of the roll body, the diameter of the roll body is larger than the diameter of the shaft ends, and the central axis of the roll body and the shaft ends coincides.

[0010] The handling robot includes at least one compartment group for accommodating the shaft end of the material roll, the compartment group including two compartments respectively corresponding to the two shaft ends; the material detection device includes multiple material sensors, each compartment is equipped with a corresponding material sensor, the material sensor is used to emit a ranging signal through a signal emitting surface, and the signal emitting surfaces of two material sensors in the same compartment group are opposite to each other; in the set standard position, the two shaft ends of the material roll are supported in the two compartments and are symmetrical about the center of the interval between the two compartments;

[0011] The control material detection device detects the position of the material roll to determine its current position, including:

[0012] The material sensors are controlled to detect the distance between the two compartments and the end face of their respective adjacent roll bodies.

[0013] If the difference between the two intervals exceeds a set deviation threshold, it is determined that the deviation between the current position and the set standard position corresponding to the material roll exceeds a first safety threshold.

[0014] Optionally, before the material detection device detects the position of the roll, the material handover method further includes:

[0015] Receive material retrieval instructions;

[0016] Control the handling robot to move to the material handling station carrying the material to be handed over, and position it below the material roll to be handed over;

[0017] The material roll actuator on the handling robot, corresponding to the material picking command, is controlled to rise until the distance between the bottom surface of the compartment and the corresponding shaft end reaches the measurement distance, so that the distance measurement signal emitted by the material sensor reaches the end face of the material roll body.

[0018] Optionally, the corresponding mechanism controlling the transport robot performs a remedial action, including:

[0019] Based on the difference between the intervals, the translation mechanism on the mobile chassis of the handling robot is controlled to drive the material roll execution mechanism to move until the interval between the two compartments and the end face of their respective adjacent material roll bodies does not exceed the set deviation threshold.

[0020] Optionally, after the corresponding mechanism controlling the handling robot performs a remedial action, the material transfer method further includes:

[0021] The material roll actuator on the handling robot corresponding to the material picking command is controlled to rise until the material roll actuator lifts the material roll to the set picking height.

[0022] Optionally, the material transfer method further includes:

[0023] If the deviation between the current position and the set standard position corresponding to the material roll exceeds a second safety threshold, the handling robot is controlled to stop moving, wherein the second safety threshold is greater than the first safety threshold.

[0024] Optionally, when the coil is transported by the handling robot, the corresponding mechanism controlling the handling robot performs a remedial action, including:

[0025] Control the moving chassis of the transport robot to stop moving.

[0026] As a second aspect of the present invention, a control device is provided, the control device comprising:

[0027] One or more processors;

[0028] The storage module stores an executable program that, when invoked by the one or more processors, enables the material transfer method described in the first aspect of the present invention.

[0029] As a third aspect of the invention, a computer-readable medium is provided having one or more computer programs stored thereon, which, when invoked, enable the material transfer method described in the first aspect of the invention.

[0030] As a fourth aspect of the present invention, a handling robot is provided, wherein the handling robot comprises:

[0031] A control device, wherein the control device is the control device provided in the second aspect of the present invention;

[0032] A mobile chassis, the mobile chassis being used to move under the control of the control device;

[0033] A coil actuator is used to carry a coil, and the coil actuator is mounted on the mobile chassis;

[0034] A material detection device, which is used to detect the position of the material roll under the control of the control device.

[0035] Optionally, the material roll actuator has at least one compartment group for accommodating the shaft end of the material roll, the compartment group including two compartments respectively corresponding to the two shaft ends of the material roll; the material detection device includes multiple material sensors, and each compartment is provided with a corresponding material sensor, the material sensor being used to emit a ranging signal through a signal emitting surface, and the signal emitting surfaces of two material sensors in the same compartment group being opposite to each other.

[0036] Optionally, the compartment includes a first inclined sidewall, a bottom wall, and a second inclined sidewall. The bottom wall is connected to a first end of the first inclined sidewall and a first end of the second inclined sidewall. The distance between the second end of the first inclined sidewall and the second end of the second inclined sidewall is greater than the distance between the first end of the first inclined sidewall and the first end of the second inclined sidewall. The material sensor is disposed on the bottom wall.

[0037] Optionally, the material roll execution mechanism includes a full-roll execution mechanism, which includes two full-roll lifting sub-mechanisms spaced apart on the mobile chassis. Each full-roll lifting sub-mechanism includes a full-roll lifting fork arm and a full-roll drive assembly. The full-roll drive assembly is used to drive the full-roll lifting fork arm to rise and fall under the control of the control device.

[0038] The compartment of the full-load coil actuator is formed on the full-load coil lifting fork arm and is located at the end of the full-load coil lifting fork arm away from the mobile chassis.

[0039] The corresponding material sensor is installed in the compartment on the full-load lifting fork arm.

[0040] Optionally, the material roll execution mechanism includes an empty material roll execution mechanism and an empty material roll drive assembly. The empty material roll execution mechanism includes an empty material roll lifting sub-mechanism. Both the empty material roll lifting sub-mechanism and the empty material roll drive assembly are mounted on the mobile chassis. Two compartments of the empty material roll execution mechanism are formed on the side of the empty material roll lifting sub-mechanism away from the mobile chassis. The material detection device includes multiple material sensors, and corresponding material sensors are provided in the compartments of the empty material roll lifting sub-mechanism.

[0041] Optionally, the mobile chassis includes a chassis body and a translation mechanism disposed on the chassis body. The chassis body is used to move under the control of the control device. The material roll actuator is disposed on the translation mechanism. The translation mechanism is used to drive the material roll actuator to move horizontally in a set direction under the control of the control device.

[0042] In this embodiment of the invention, the position of the material roll can be detected to determine whether it deviates from a set standard position when it is on the handling robot. Once the material roll deviates from the set standard position, the handling robot is controlled to perform corresponding remedial actions to reduce the probability of the material roll falling off the handling robot, or even to prevent the material roll from falling off the handling robot. Attached Figure Description

[0043] The present invention will be further described below with reference to the accompanying drawings:

[0044] Figure 1 This is a flowchart of one embodiment of the material transfer method provided by the present invention;

[0045] Figure 2a This is a schematic diagram illustrating one implementation method of the material roll;

[0046] Figure 2b This is a schematic diagram of another implementation method of the material roll;

[0047] Figure 3 This is a structural schematic diagram of one embodiment of the handling robot provided by the present invention;

[0048] Figure 4 yes Figure 3 Enlarged view of point I in the middle;

[0049] Figure 5 yes Figure 3 Enlarged view at point II;

[0050] Figure 6 This is a schematic diagram of the lifting sub-mechanism;

[0051] Figure 7a This is a schematic diagram of a handling robot carrying a roll of material.

[0052] Figure 7b yes Figure 7a Enlarged view of section III;

[0053] Figure 8 This is a schematic diagram showing the end face of the material roll body detected by the material sensor;

[0054] Figure 9 This is a flowchart of one embodiment of the material transfer method provided by the present invention;

[0055] Figure 10 This is a schematic diagram showing the fully loaded coil actuator rising to a position where it is no longer in contact with the material.

[0056] Figure 11 yes Figure 10 Enlarged diagram of point IV in the middle;

[0057] Figure 12This is a schematic diagram of the control device modules;

[0058] Figure 13 This is a schematic diagram of a computer-readable medium module.

[0059] Explanation of reference numerals in the attached figures

[0060] 101: Processor; 102: Memory

[0061] 103: I / O Interface 104: Bus

[0062] 100: Full-load coil actuator; 110: Full-load coil lifting fork arm

[0063] 200: Empty coil actuator; 210: Empty coil lifting sub-mechanism

[0064] 220: Empty roll buffer assembly; 211: Roll support plate

[0065] 212: Lifting Component; 300: Mobile Chassis

[0066] 500: Material sensor; 600: Material roll

[0067] 610: Main body of the coil; 620: Shaft end

[0068] 401: First inclined sidewall; 402: Second inclined sidewall

[0069] 403: Bottom wall Detailed Implementation

[0070] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described are intended to explain the present invention and should not be construed as limiting the invention.

[0071] The terms "an embodiment," "example," or "trademark" used in this specification refer to a particular feature, structure, or characteristic described in connection with the embodiment itself that may be included in at least one embodiment disclosed in this invention. The phrase "in an embodiment" appearing in various places throughout the specification does not necessarily refer to the same embodiment.

[0072] As a first aspect of the present invention, a material transfer method is provided, which is used in the control device of a handling robot, wherein, as Figure 1 As shown, the material transfer method includes:

[0073] In step S110, the control material detection device detects the position of the material roll to determine the current position of the material roll;

[0074] In step S120, if the deviation between the current position and the set standard position corresponding to the material roll exceeds a first safety threshold, the corresponding mechanism of the handling robot is controlled to perform a remedial action.

[0075] It should be noted that the set standard position is located on the transport robot. When the material roll is located at this standard position, the probability of it falling off the transport robot is relatively small. In this embodiment of the invention, the position of the material roll can be detected to determine whether it deviates from the set standard position when it is on the transport robot. Once the material roll deviates from the set standard position, the transport robot is controlled to perform corresponding remedial actions to reduce the probability of the material roll falling off the transport robot, or even to prevent the material roll from falling off the transport robot.

[0076] It should be noted that the handling robot has a roll-mounting mechanism for carrying the roll. When the handling robot transports the roll, the roll is positioned on the roll-mounting mechanism. During step S110, the roll may or may not be located on the roll-mounting mechanism of the handling robot. These two situations will be described in detail below, and will not be elaborated here.

[0077] In this embodiment of the invention, no special limitation is made on how the position of the material roll is detected. For example, the material absence detection device can be an image acquisition module, which can determine the position of the material roll by acquiring an image of the material roll in the environment.

[0078] In this embodiment of the invention, the specific structure of the material roll is not specifically limited; the material roll can be a full roll or an empty roll. Specifically, the full roll includes an empty roll and material wound on the empty roll. To facilitate positioning of the material during winding, the empty roll may optionally also be a columnar member with shoulders. Correspondingly, the full roll is also a columnar member with shoulders. That is, as... Figure 2a As shown, the material roll 600 includes a material roll body 610 and two shaft end faces 620 located on the two end faces of the material roll body 610 respectively. The diameter of the material roll body 610 is larger than the diameter of the shaft end faces 620, and the central axes of the material roll body 610 and the shaft end faces 620 coincide. Of course, the present invention is not limited to this, such as... Figure 2b As shown, coil 600 can also be a pure cylindrical shape.

[0079] The following description uses a material roll 600, including a material roll body 610 and a shaft end 620, as an example. As an optional implementation, the handling robot includes at least one bin group for the material roll, the bin group including two bins respectively corresponding to the two shaft ends. To reduce costs and simplify the algorithm, optionally, as... Figures 3 to 7aAs shown, the material detection device includes multiple material sensors 500, and a corresponding material sensor 500 is installed in the silo. The signal transmission surfaces of two material sensors 500 in the same silo group are opposite each other.

[0080] In the designated standard position, the two axial ends of the coil 600 are supported in the two compartments and are symmetrical about the center of the interval between the two compartments. That is, as... Figure 8 As shown, the distance L1 detected by the material sensor 500 on the left to the material roll body 610 on the left is equal to the distance L2 detected by the material sensor 500 on the right to the material roll body 610 on the right.

[0081] Accordingly, such as Figure 9 As shown, the control material detection device detects the position of the material roll to determine its current position, including:

[0082] In step S111, the material sensors are controlled to detect the distance between the two compartments and the end face of their respective adjacent roll bodies.

[0083] In step S112, if the difference between the two interval distances exceeds a set deviation threshold, it is determined that the deviation between the current position and the set standard position corresponding to the material roll exceeds a first safety threshold.

[0084] The two compartments in the same compartment group are symmetrically positioned, and the positions of the two material sensors are also symmetrical. If the intervals detected by the two material sensors are inconsistent, it indicates that the two ends of the material roll are not in the same position in the two compartments. When the difference between the two intervals exceeds a set deviation threshold, it indicates that the supported portion of one end of the material roll is small and unstable, making it more likely to slip out of the compartment during transportation, ultimately causing the material roll to fall.

[0085] like Figure 8 As shown, the distance detected by the material sensor 500 on the left to the material roll body 610 on the left is L1, and the distance detected by the material sensor 500 on the right to the material roll body 610 on the right is L2. When |L1-L2|>ΔL, it is determined that the deviation between the current position and the set standard position corresponding to the material roll exceeds the first safety threshold. Here, ΔL is the set deviation threshold.

[0086] In this embodiment of the invention, the specific value of ΔL is not specifically limited, and the specific value of ΔL can be determined according to the type of material roll, the size of the material roll, and the carrying capacity of the handling robot.

[0087] For example, the mobile chassis of the handling robot is equipped with a translation mechanism, which, under the control of the control device, drives the material roll execution mechanism to move horizontally in a set direction. The horizontal movement range of the translation mechanism is ±Y, then the first safety threshold is Y. If |L1-L2|<Y, it indicates that the two compartments can be moved to the set standard position corresponding to the material roll by the movement of the translation mechanism.

[0088] In this embodiment of the invention, the specific type of the material sensor 500 is not specifically limited. As an optional implementation, the material sensor 500 can be a photoelectric sensor, which has a light emitting surface (i.e., a signal emitting surface) and a light receiving surface. The light emitting surface can emit a light signal, which is the ranging signal. After the ranging signal reaches the surface of the object being measured, it is reflected back to the light receiving surface by the object. The photoelectric sensor generates a response signal accordingly, and the control device determines the distance between the photoelectric sensor and the object being measured based on the response signal.

[0089] In this embodiment of the invention, there is no special limitation on the timing of executing step S110. For example, the position of the material roll can be measured in real time during the transportation of the material roll (as mentioned above, the material roll is located on the handling robot), or the position of the material roll can be measured before picking up the material roll (as mentioned above, the material roll is not located on the handling robot).

[0090] First, the specific execution process of the handling robot picking up the material roll from the material handling machine is described.

[0091] like Figure 9 As shown, before the material detection device detects the position of the material roll, the material handover method further includes:

[0092] In step S100, a material retrieval instruction is received;

[0093] In step S102, the mobile chassis of the handling robot is controlled to move to the material handling platform carrying the material to be handed over, and is positioned below the material roll to be handed over;

[0094] In step S104, the material roll actuator on the handling robot corresponding to the material picking command is controlled to rise until the distance between the bottom surface of the compartment and the corresponding shaft end reaches the measurement distance, so that the distance measurement signal emitted by the material sensor reaches the end face of the material roll body.

[0095] like Figure 10 As shown, the material roll to be handed over is placed on the material handling platform 400. After receiving the material picking instruction, the handling robot moves to below the material handling platform 400, and the robot's bin is raised. Through step S104, the handling robot's bin does not contact the shaft end 620 of the material roll (e.g., Figure 11 As shown, there is a gap d between the shaft end 620 of the material roll and the surface of the storage compartment. Since the diameter of the main body 610 of the material roll is larger than the diameter of the shaft end 620, the ranging signal of the material sensor 500 can reach the end face of the main body 610 of the material roll, thereby determining the position of the material roll 600.

[0096] Similarly, since the compartment of the handling robot has not yet come into contact with the shaft end 620 of the material roll 600, the compartment on the handling robot can be adjusted to a state of symmetry about the width center of the material roll 600 without moving the material roll 600, thus avoiding damage to the material roll 600.

[0097] Accordingly, in the case that the hopper of the transport robot does not contact the shaft end 620 of the material roll, as an optional implementation, the corresponding mechanism controlling the transport robot to perform a remedial action (i.e., step S120) may include:

[0098] Based on the difference between the intervals, the translation mechanism on the mobile chassis of the handling robot is controlled to drive the material roll execution mechanism to move until the interval between the two compartments and the end face of their respective adjacent material roll bodies does not exceed the set deviation threshold.

[0099] By adjusting the above-mentioned adjustment in step S120, the position of the material roll actuator on the handling robot can be changed, and the position of the material roll actuator can be adjusted to a position that can stably support the material roll.

[0100] After adjusting the hopper to a position that can stably support the material coil, the material retrieval operation can continue. In other words, if... Figure 9 As shown, after step S120, the material transfer method may further include:

[0101] In step S130, the material roll actuator on the handling robot corresponding to the material picking command is controlled to rise until the material roll actuator lifts the material roll to the set picking height.

[0102] When the material roll actuator lifts the material roll to the set material picking height, such as Figure 7a and Figure 7b The image shows the contact between the coil and the inner surface of the storage compartment.

[0103] Step S130 can be used to remove the material roll from the material handling machine.

[0104] For material handling robots, the movement range of the storage compartment is limited. When the deviation exceeds the movement range of the storage compartment, the material transfer method may further include:

[0105] In step S140, if the deviation between the current position and the set standard position corresponding to the material roll exceeds a second safety threshold, the handling robot is controlled to stop moving, wherein the second safety threshold is greater than the first safety threshold.

[0106] In other words, if the deviation between the current position and the set standard position corresponding to the material roll exceeds the second safety threshold, and the moving compartment can no longer be moved to a position that can stably support the material roll, the handling robot may stop its operation after a while to avoid damage to the material and the robot. Furthermore, the material transfer method may also include:

[0107] An alarm is generated when the deviation between the current position and the set standard position corresponding to the material roll exceeds a second safety threshold. In this embodiment of the invention, the specific type of alarm information is not specifically limited. For example, the alarm information can be an audible signal, an optical signal, a display message, or other prompts. After detecting the alarm information, the operator or maintenance equipment can control the handling robot. The alarm information can also be information sent to the task platform. After receiving the alarm information, the task platform can send further control information to the handling robot to control it to exit the material handling machine.

[0108] In this embodiment of the invention, the value of the second safety threshold is not specifically limited, and can be determined based on the application scenario of the handling robot, as well as its load-bearing capacity, lateral movement capability, etc. The following is in conjunction with... Figure 8 An example is provided to illustrate the selection of the second security threshold. For example... Figure 8 As shown, the distance to the left-side material roll body 610 detected by the left-side material sensor 500 is L1, and the distance to the right-side material roll body 610 detected by the right-side material sensor 500 is L2. When |L1-L2|>A*ΔL, it is determined that the deviation between the current position and the set standard position corresponding to the material roll exceeds a second safety threshold. Here, A is a coefficient greater than 1, and ΔL is the set deviation threshold. In this embodiment of the invention, the value of A is not specifically limited; for example, A can be 2.

[0109] In this embodiment of the invention, after the handling robot stops moving, the position of the material roll on the material handling platform can be adjusted, and then step S110 and subsequent actions can be re-executed.

[0110] As an optional implementation, after step S140, the transport machine can be controlled to leave the material handling platform and its travel direction adjusted, and then step S110 and subsequent actions can be re-executed.

[0111] The above description pertains to measurements taken before material handling; however, the embodiments of the present invention are not limited to this. When using a material handling robot to transport materials, the position of the material roll on the material roll actuator can also be measured.

[0112] Accordingly, the mechanism controlling the transport robot to perform a remedial action (i.e., step S120 above) may include:

[0113] Control the moving chassis of the transport robot to stop moving.

[0114] In other words, if the material roll deviates during transportation, the handling robot will be stopped. Subsequently, the position of the material roll can be adjusted manually or using equipment until the material roll is moved to the set standard position, and then the mobile chassis will continue to move.

[0115] In an embodiment of the present invention, as an optional implementation, the material transfer method may further include:

[0116] Control the mobile chassis of the transport robot to move to the application point;

[0117] Receive material handover tasks issued by the platform.

[0118] As a second aspect of the present invention, a control device is provided, such as... Figure 12 As shown, the control device includes:

[0119] One or more processors 101;

[0120] The memory 102 stores one or more computer programs that, when executed by the one or more processors 101, cause the one or more processors 101 to implement the material transfer method described in the first aspect of the present invention.

[0121] The electronic device may also include one or more I / O interfaces 103 connected between the processor 101 and the memory 102, configured to enable information interaction between the processor 101 and the memory 102.

[0122] The processor 101 is a device with data processing capabilities, including but not limited to a central processing unit (CPU); the memory 102 is a device with data storage capabilities, including but not limited to random access memory (RAM, more specifically SDRAM, DDR, etc.), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), and flash memory (FLASH); the I / O interface (read-write interface) is connected between the processor and the memory, enabling information exchange between the processor and the memory, including but not limited to a data bus (Bus).

[0123] In some embodiments, the processor 101, memory 102, and I / O interface 103 are interconnected via bus 104, and thus connected to other components of the control device.

[0124] As a third aspect of the invention, such as Figure 13 As shown, embodiments of the present invention may also provide a computer-readable medium having stored one or more computer programs thereon, which, when invoked, can implement the material transfer method described in the first aspect of the present invention.

[0125] As a fourth aspect of the present invention, a handling robot is provided, wherein, as Figure 3 As shown, the transport robot includes:

[0126] A control device, wherein the control device is the control device provided in the second aspect of the present invention;

[0127] A movable chassis 300 is used to move under the control of the control device;

[0128] A coil actuator is used to carry a coil, and the coil actuator is mounted on the mobile chassis 300;

[0129] A material detection device, which is used to detect the position of the material roll under the control of the control device.

[0130] As described above, in this embodiment of the invention, the position of the material roll can be detected to determine whether it deviates from a set standard position when it is on the handling robot. Once the material roll deviates from the set standard position, the handling robot is controlled to perform corresponding remedial actions to reduce the probability of the material roll falling off the handling robot, or even to prevent the material roll from falling off the handling robot.

[0131] As mentioned above, the material roll can be either a full roll or an empty roll. Specifically, a full roll includes an empty roll and material wound on the empty roll. To facilitate material positioning during winding, the empty roll may optionally also be a columnar member with shoulders. Correspondingly, a full roll is also a columnar member with shoulders. That is to say, as... Figure 2a As shown, the material roll includes a material roll body 610 and two shaft end portions 620 located on the two end faces of the material roll body 610 respectively. The diameter of the material roll body 610 is larger than the diameter of the shaft end portions 620, and the central axes of the material roll body 610 and the shaft end portions 620 coincide.

[0132] As an optional implementation, the handling robot includes at least one bin group for the material roll, the bin group comprising two bins respectively corresponding to the two shaft ends 620. To reduce costs and simplify the algorithm, the material detection device optionally includes a plurality of material sensors 500, with corresponding material sensors 500 disposed in each bin, and the signal transmitting surfaces of two material sensors 500 in the same bin group facing each other.

[0133] In the set standard position, the two shaft ends 620 of the material roll are supported in two compartments and are symmetrical about the center of the interval between the two compartments.

[0134] Even if the container of the handling robot does not contact the end of the material roll shaft, the distance measurement signal of the material sensor can still reach the end face of the material roll body 610 because the diameter of the material roll body 610 is larger than the diameter of the shaft end, thus determining the position of the material roll.

[0135] As an alternative implementation, the material sensor 500 may be a photoelectric sensor.

[0136] When the shaft end 620 is located in the compartment, the ranging signal emitted by the material sensor 500 can also reach the end face of the material roll body 610. Therefore, the width of the entrance of the compartment should be greater than the diameter of the shaft end 620, and the width of the bottom of the compartment should be less than the diameter of the shaft end 620. By placing the material sensor 500 at the bottom of the compartment, it can still emit a ranging signal toward the end face of the material roll body 610 even when the shaft end 620 is located in the compartment.

[0137] in, Figure 4 It is the compartment on the full-load coil lifting fork arm 110 of the full-load coil actuator (i.e., Figure 3 Enlarged view of (point I in the middle) Figure 5 This is an enlarged view of the compartment on the empty coil actuator 200 (i.e., Figure 3 (Middle II). For example Figure 4 and Figure 5 As shown, the storage compartment includes a first inclined sidewall 401, a bottom wall 403, and a second inclined sidewall 402. The bottom wall 403 is connected to the first end of the first inclined sidewall 401 and the first end of the second inclined sidewall 402. The distance between the second end of the first inclined sidewall 401 and the second end of the second inclined sidewall 402 is greater than the distance between the first end of the first inclined sidewall 401 and the first end of the second inclined sidewall 402. A material sensor 500 is disposed on the bottom wall 403.

[0138] In this embodiment of the invention, a full-load roll actuator can be used to carry a full-load roll. Accordingly, the roll actuator includes a full-load roll actuator 100, which includes two full-load roll lifting sub-mechanisms spaced apart on the mobile chassis 300. Further, the full-load roll lifting sub-mechanisms include a full-load roll lifting fork arm 110 and a full-load roll drive assembly, which is used to drive the full-load roll lifting fork arm 110 to rise and fall under the control of the control device.

[0139] like Figure 6 As shown, the compartment of the full-load roll actuator is formed on the full-load roll lifting fork arm 110 and is located at the end of the full-load roll lifting fork arm 110 away from the movable chassis 300. Furthermore, a corresponding material sensor 500 is installed in the compartment on the lifting fork arm 110.

[0140] During the material loading operation, the control unit moves the movable chassis 300 toward the material transfer position until the full-load roll actuator 100 enters the material handling platform, and the bin of the full-load roll lifting fork arm 110 is aligned with the shaft end of the roll. The control unit then raises the full-load roll lifting fork arm 110 until the distance between the bottom of the bin and the shaft end 620 reaches the measured distance, at which point the raising stops. The material sensors 500 on the two full-load roll lifting fork arms 110 detect the distance between the corresponding bin and the end face of the corresponding roll body 610, and the control device determines the subsequent operation based on the detection results.

[0141] As an optional implementation method, such as Figure 3 As shown, the material roll execution mechanism may further include an empty material roll execution mechanism 200 and an empty material roll drive assembly. The empty material roll execution mechanism 200 includes an empty material roll lifting sub-mechanism 210. Both the empty material roll lifting sub-mechanism 210 and the empty material roll drive assembly are mounted on the mobile chassis 300.

[0142] The compartment of the empty material roll actuator is formed on the side of the empty material roll lifting sub-mechanism 210 away from the mobile chassis 300, and the corresponding material sensor is provided in the compartment of the empty material roll lifting sub-mechanism 210.

[0143] When performing the empty material retrieval operation, control the movable chassis 300 to move towards the material handover position until the bin on the empty material roll lifting sub-mechanism 210 is aligned with the shaft end of the material roll, and control the empty material roll drive assembly to drive the empty material roll lifting sub-mechanism 210 to rise until the distance between the bottom of the bin and the shaft end reaches the measured distance, and then stop rising.

[0144] In this embodiment of the invention, the specific structure of the empty material lifting sub-mechanism 210 is not specifically limited. Optionally, as... Figure 3As shown, the empty coil lifting sub-mechanism 210 may include a lifting assembly 212 and a coil support plate 211. One end of the lifting assembly 212 is mounted on the movable chassis 300, and the coil support plate 211 is mounted on the other end of the lifting assembly 212. The lifting assembly 212 is used to drive the coil support plate 211 to rise and fall, and the coil support plate 211 is used to support the coil. Furthermore, the compartments of the empty coil lifting sub-mechanism 210 are located at both ends of the coil support plate 211.

[0145] To facilitate the centering and alignment of the material roll, the empty material roll actuator 200 may optionally include two empty material roll buffer components 220. These two buffer components 220 are respectively disposed at both ends of the empty material roll lifting sub-mechanism 210 and located on the outer side of the sub-mechanism 210. The empty material roll buffer components 220 are mounted on the chassis, and a guide plate is provided on the top of each buffer component 220. In the event of material roll misalignment, the guide plate can gradually guide the material roll to its correct position.

[0146] As described above, the control device can control the translation mechanism on the mobile chassis of the handling robot to move the material roll actuator according to the difference between the interval distances, until the interval distance between the two compartments and their respective adjacent material roll body end faces does not exceed the set deviation threshold. To achieve the above action, the mobile chassis includes a chassis body and a translation mechanism disposed on the chassis body. The chassis body is used to move under the control of the control device, and the material roll actuator is disposed on the translation mechanism. The translation mechanism is used to drive the material roll actuator to move horizontally in a set direction under the control of the control device.

[0147] As mentioned above, the stroke of the translation mechanism determines the value of the first safety threshold.

[0148] In this embodiment of the invention, the specific structure of the translation mechanism is not specifically limited. For example, the translation mechanism may include a mounting plate and a horizontal movement component, the coil actuator is disposed on the mounting plate, the mounting plate is disposed opposite to the base plate body, the horizontal movement component is disposed between the mounting plate and the chassis body, and the coil actuator is disposed on the side of the mounting plate away from the chassis body.

[0149] As an alternative implementation, the horizontal movement assembly may include any one of a lead screw assembly, an electric actuator assembly, or a piston cylinder assembly.

[0150] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. Accordingly, the computer program can be stored in a non-volatile computer-readable storage medium, and when executed, the computer program can implement the methods of any of the above embodiments. Any references to memory, storage, databases, or other media used in the embodiments provided by this invention can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0151] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Those skilled in the art should understand that the present invention includes, but is not limited to, the contents described in the accompanying drawings and the specific embodiments above. Any modifications that do not depart from the functional and structural principles of the present invention will be included within the scope of the claims.

Claims

1. A material transfer method, and a control device for a material handling robot, characterized in that, The material transfer method includes: The control material detection device detects the position of the material roll to determine its current position; If the deviation between the current position and the set standard position corresponding to the material roll exceeds a first safety threshold, the corresponding mechanism of the handling robot is controlled to perform a remedial action.

2. The material transfer method according to claim 1, characterized in that, The material roll includes a material roll body and two shaft ends located on the two end faces of the material roll body respectively. The diameter of the material roll body is larger than the diameter of the shaft ends, and the central axis of the material roll body and the shaft ends coincide. The handling robot includes at least one compartment group for accommodating the shaft end of the material roll, the compartment group including two compartments respectively corresponding to the two shaft ends; the material detection device includes multiple material sensors, each compartment is equipped with a corresponding material sensor, the material sensor is used to emit a ranging signal through a signal emitting surface, and the signal emitting surfaces of two material sensors in the same compartment group are opposite to each other; in the set standard position, the two shaft ends of the material roll are supported in the two compartments and are symmetrical about the center of the interval between the two compartments; The control material detection device detects the position of the material roll to determine its current position, including: The material sensors are controlled to detect the distance between the two compartments and the end face of their respective adjacent roll bodies. If the difference between the two intervals exceeds a set deviation threshold, it is determined that the deviation between the current position and the set standard position corresponding to the material roll exceeds a first safety threshold.

3. The material transfer method according to claim 2, characterized in that, Before the material detection device detects the position of the material roll, the material handover method further includes: Receive material retrieval instructions; Control the handling robot to move to the material handling station carrying the material to be handed over, and position it below the material roll to be handed over; The material roll actuator on the handling robot, corresponding to the material picking command, is controlled to rise until the distance between the bottom surface of the compartment and the corresponding shaft end reaches the measurement distance, so that the distance measurement signal emitted by the material sensor reaches the end face of the material roll body.

4. The material transfer method according to claim 3, characterized in that, The corresponding mechanism controlling the handling robot to perform remedial actions includes: Based on the difference between the intervals, the translation mechanism on the mobile chassis of the handling robot is controlled to drive the material roll execution mechanism to move until the interval between the two compartments and the end face of their respective adjacent material roll bodies does not exceed the set deviation threshold.

5. The material transfer method according to claim 4, characterized in that, After the corresponding mechanism controlling the handling robot performs a remedial action, the material transfer method further includes: The material roll actuator on the handling robot corresponding to the material picking command is controlled to rise until the material roll actuator lifts the material roll to the set picking height.

6. The material transfer method according to claim 4, characterized in that, The material transfer method also includes: If the deviation between the current position and the set standard position corresponding to the material roll exceeds a second safety threshold, the handling robot is controlled to stop moving, wherein the second safety threshold is greater than the first safety threshold.

7. The material transfer method according to any one of claims 1 to 6, characterized in that, When the coil is transported by the handling robot, the corresponding mechanism controlling the handling robot performs remedial actions, including: Control the moving chassis of the transport robot to stop moving.

8. A control device, the control device comprising: One or more processors; A storage module storing an executable program, which, when invoked by one or more processors, enables the material transfer method according to any one of claims 1 to 7.

9. A computer-readable medium having stored thereon one or more computer programs that, when invoked, implement the material transfer method according to any one of claims 1 to 7.

10. A transport robot, characterized in that, The transport robot includes: The control device is the control device according to claim 8; A mobile chassis (300) for moving under the control of the control device; A coil actuator is used to carry a coil, and the coil actuator is mounted on the mobile chassis (300); A material detection device, which is used to detect the position of the material roll under the control of the control device.

11. The handling robot according to claim 10, characterized in that, The material roll actuator has at least one compartment group for accommodating the shaft end of the material roll, the compartment group including two compartments respectively corresponding to the two shaft ends of the material roll; the material detection device includes a plurality of material sensors (500), the compartment is provided with a corresponding material sensor (500), the material sensor (500) is used to emit a ranging signal through a signal transmitting surface, and the signal transmitting surfaces of two material sensors (500) in the same compartment group are opposite to each other.

12. The handling robot according to claim 11, characterized in that, The storage compartment includes a first inclined sidewall (401), a bottom wall (403), and a second inclined sidewall (402). The bottom wall (403) is connected to the first end of the first inclined sidewall (401) and the first end of the second inclined sidewall (402). The distance between the second end of the first inclined sidewall (401) and the second end of the second inclined sidewall (402) is greater than the distance between the first end of the first inclined sidewall (401) and the first end of the second inclined sidewall (402). The material sensor (500) is disposed on the bottom wall (403).

13. The handling robot according to claim 11 or 12, characterized in that, The material roll actuator includes a full-roll actuator (100), which includes two full-roll lifting sub-mechanisms spaced apart on the mobile chassis. Each full-roll lifting sub-mechanism includes a full-roll lifting fork arm (110) and a full-roll drive assembly. The full-roll drive assembly is used to drive the full-roll lifting fork arm (110) to rise and fall under the control of the control device. The compartment of the full roll actuator is formed on the full roll lifting fork arm (110) and is located at the end of the full roll lifting fork arm (110) away from the mobile chassis. The corresponding material sensor (500) is installed in the compartment on the full-load lifting fork arm (110).

14. The handling robot according to claim 11 or 12, characterized in that, The material roll execution mechanism includes an empty material roll execution mechanism (200) and an empty material roll drive assembly. The empty material roll execution mechanism (200) includes an empty material roll lifting sub-mechanism (210). Both the empty material roll lifting sub-mechanism (210) and the empty material roll drive assembly are mounted on the mobile chassis (300). The two compartments of the empty material roll execution mechanism are formed on the side of the empty material roll lifting sub-mechanism (210) away from the mobile chassis (300). The material detection device includes multiple material sensors (500). The compartments on the empty material roll lifting sub-mechanism (210) are equipped with corresponding material sensors (500).

15. The handling robot according to any one of claims 10 to 12, characterized in that, The mobile chassis (300) includes a chassis body and a translation mechanism disposed on the chassis body. The chassis body is used to move under the control of the control device. The material roll actuator is disposed on the translation mechanism. The translation mechanism is used to drive the material roll actuator to move horizontally in a set direction under the control of the control device.

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