Automatic loading control system for high-purity crystalline silicon

Abstract

The utility model discloses an automatic loading control system for high-purity crystalline silicon, which comprises a truss manipulator, a holder scanning assembly, a 3D visual assembly, an industrial computer and a controller are arranged on the truss manipulator, and a driving assembly I, a driving assembly II, a driving assembly III, the holder scanning assembly and the 3D visual assembly are respectively in signal connection with the controller. And the controller is in signal connection with the industrial computer. The system has the beneficial effects of improving the loading efficiency, reducing the labor cost, improving the operation safety, improving the loading precision, enhancing the flexibility and adaptability, realizing data management and optimization and the like, and provides powerful support for the development of modern logistics and the manufacturing industry.

Description

Technical Field

[0001] The utility model relates to the technical field of automated logistics, in particular to an automatic loading control system for high-purity silicon. Background Art

[0002] High-purity crystalline silicon, also known as polysilicon or silicon material, is made from industrial silicon with a purity of approximately 99% (commonly referred to as 99% silicon). After undergoing a series of physical or chemical purification processes, the purity of the silicon reaches over 99.9999%. This material has a gray metallic luster, a high melting point, and moderate hardness, and is widely used in photovoltaics, semiconductors, and other fields.

[0003] During transportation and storage, high-purity silicon usually needs to be packed in boxes for transportation. The box size is 1.1x1.1x1m, because it is necessary to protect the product, facilitate handling and standardize the loading process. After the products are packed, a stacker is used to overlap two boxes to form a pallet, and a stacking machine is used to shuttle in the three-dimensional warehouse to store and retrieve the pallets of high-purity silicon products.

[0004] At present, the loading method of palletized high-purity silicon products is manually driven by 3T electric forklifts, and the pallet assembly method is to use a stacking machine to stack two boxes up and down to form a pallet.

[0005] While forklifts and other loading and unloading equipment have improved loading efficiency to a certain extent, they may still be subject to technical limitations when handling large, heavy, high-purity silicon crystals. For example, the forklift's load capacity and stability, as well as the operator's skill level, can affect loading results.

[0006] In addition, the application of automation and intelligent technologies in the loading process of high-purity silicon is still relatively limited, which limits the further improvement of loading efficiency and accuracy. Utility Model Content

[0007] The utility model aims to provide an automatic loading and control system for high-purity silicon, which has the advantages of improving the loading efficiency of high-purity silicon, reducing labor costs, and ensuring safety and accuracy during the loading process. By integrating automated loading and unloading equipment, intelligent identification and positioning technology, intelligent loading algorithms, safety protection and monitoring systems, automated control systems, and environmental protection and energy-saving designs, the automation, intelligence, and efficiency of high-purity silicon loading are achieved.

[0008] In order to achieve the above-mentioned purpose of the invention, the technical solution of the present utility model is as follows:

[0009] A high-purity silicon automatic loading control system includes a truss manipulator, which includes a plurality of columns arranged in two parallel rows, with a Y-axis crossbeam fixedly connected to the top of each row of columns, and an X-axis crossbeam connected to the two Y-axis crossbeams via a sliding connection component I. The X-axis crossbeam is connected to a Z-axis vertical beam via a sliding connection component II that can move horizontally and a sliding connection component III that can move vertically. An L-shaped gripper for grabbing a pallet is provided at the bottom of the Z-axis vertical beam; the truss manipulator is provided with a pan-tilt scanning component, a 3D vision component, an industrial computer and a controller, the sliding connection component I, sliding connection component II, sliding connection component III, pan-tilt scanning component, and 3D vision component are respectively connected to the controller signal, and the controller is connected to the industrial computer signal.

[0010] The sliding connection assembly I includes a guide rail, a guide wheel and a driving device I. The top of the Y-axis beam is respectively provided with a guide rail arranged along the length direction of the Y-axis beam. The guide wheels are arranged at both ends of the X-axis beam. The guide rails and the guide wheels are slidably matched. The driving device I includes a servo motor I and a reducer I. The servo motor I is connected to the guide wheel through the reducer I.

[0011] The sliding connection component II includes a traveling rack, a traveling gear, a connecting frame and a driving device II. The traveling rack is arranged at the top of the X-axis along the length direction of the X-axis. The traveling gear is rotatably connected to the bottom of the connecting frame. The connecting frame is connected to the Z-axis vertical beam through the sliding connection component III. The teeth of the traveling gear and the traveling rack are engaged with each other. The driving device II includes a servo motor II and a reducer II. The servo motor II is connected to the traveling gear through the reducer II.

[0012] The sliding connection assembly III includes a Z-axis connecting plate, a Z-axis gear, a Z-axis rack and a driving device III. The Z-axis connecting plate is sleeved on the outside of the Z-axis vertical beam, and the Z-axis connecting plate is fixedly connected to the connecting frame. The Z-axis rack is arranged on the inner surface of the Z-axis connecting plate in the vertical direction. The Z-axis gear is rotatably connected to the outer surface of the Z-axis vertical beam. The teeth of the Z-axis gear and the Z-axis rack are engaged with each other. The driving device III includes a servo motor III and a reducer III. The servo motor III is connected to the Z-axis gear through the reducer III.

[0013] The automatic loading control system also includes a parking guidance component, which includes hard limit devices installed on both sides and laser guidance sensors installed on the hard limit devices. The laser guidance sensors are connected to the controller signal. When the truck is moving, the laser guidance sensors monitor the position of the two side boundaries of the truck body in real time and calculate the distance between the truck boundary and the hard limit device through an industrial computer. When the distance between the truck boundary and the hard limit device is less than a set value, an alarm is issued to the driver to prevent accidents. If there is an error, the driver can re-enter and repeat the above measurement action.

[0014] The pan-tilt scanning assembly includes a pan-tilt and a laser scanner arranged on the pan-tilt. The laser scanner is connected to the controller signal. The laser scanner is installed on the top of the X-axis beam through the pan-tilt. After the vehicle completes reversing, the polar coordinates of the vehicle body contour scanned by the laser scanner are interpreted by the industrial computer as X and Y axis information. Combined with the angle information of the rotating pan-tilt, the three-dimensional contour of the loading area to be measured can be obtained to guide subsequent robot loading.

[0015] The 3D vision component includes a 3D camera, which is installed at the bottom of the Y-axis beam. The 3D vision component is used to confirm the position of the L-shaped gripper to grab the tray and the position of the high-purity silicon placed on the vehicle.

[0016] Beneficial effects of the utility model:

[0017] This utility model can improve loading efficiency, reduce labor costs, enhance operational safety, improve loading accuracy, enhance flexibility and adaptability, and realize data-based management and optimization, and other beneficial effects, providing strong support for the development of modern logistics and manufacturing industries. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is the main view of the high-purity silicon automatic loading control system of the utility model.

[0019] Figure 2 This is a top view of the high-purity silicon automatic loading control system of the utility model.

[0020] Figure 3 This is a schematic diagram of the L-shaped gripper structure of the present utility model.

[0021] Figure 4 This is a schematic structural diagram of the parking guide assembly of the present utility model.

[0022] Figure 5 This is a photo of the loading application scenario of the automatic loading control system of the utility model.

[0023] Among them, 1. Truss robot; 2. Column; 3. Y-axis beam; 4. X-axis beam; 5. Z-axis vertical beam; 6. L-shaped gripper; 7. Pan-tilt scanning component; 8. 3D vision component; 9. Controller; 10. Hard limit device; 11. Laser guidance sensor. DETAILED DESCRIPTION

[0024] The present invention will be further described in detail below with reference to the embodiments, but the embodiments of the present invention are not limited thereto.

[0025] Example 1

[0026] like Figure 1-3As shown, this embodiment provides a high-purity silicon automatic loading control system, including a truss manipulator 1, the truss manipulator 1 includes a plurality of columns 2 arranged in two parallel rows, each row of columns 2 is fixedly connected to a Y-axis crossbeam 3 on the top, the two Y-axis crossbeams 3 are connected to an X-axis crossbeam 4 through a sliding connection component I, the X-axis crossbeam 4 is connected to a Z-axis vertical beam 5 through a sliding connection component II that can move horizontally and a sliding connection component III that can move vertically, and an L-shaped gripper 6 for grabbing a pallet is provided at the bottom of the Z-axis vertical beam 5; the truss manipulator 1 is provided with a pan-tilt scanning component 7, a 3D vision component 8, an industrial computer and a controller 9, the sliding connection component I, the sliding connection component II, the sliding connection component III, the pan-tilt scanning component 7, and the 3D vision component 8 are respectively connected to the controller 9 for signal connection, and the controller 9 is connected to the industrial computer for signal connection;

[0027] The sliding connection assembly I includes a guide rail, a guide wheel and a driving device I. The top of the Y-axis beam 3 is respectively provided with a guide rail arranged along the length direction of the Y-axis beam 3. The guide wheels are arranged at both ends of the X-axis beam 4. The guide rails and the guide wheels are slidably matched. The driving device I includes a servo motor I and a reducer I. The servo motor I is connected to the guide wheel through the reducer I.

[0028] The sliding connection assembly II includes a travel rack, a travel gear, a connecting frame and a driving device II. The travel rack is arranged at the top of the X-axis along the length direction of the X-axis. The travel gear is rotatably connected to the bottom of the connecting frame. The connecting frame is connected to the Z-axis vertical beam 5 through the sliding connection assembly III. The teeth of the travel gear and the travel rack are meshed with each other. The driving device II includes a servo motor II and a reducer II. The servo motor II is connected to the travel gear through the reducer II.

[0029] The sliding connection assembly III includes a Z-axis connecting plate, a Z-axis gear, a Z-axis rack and a driving device III. The Z-axis connecting plate is sleeved on the outside of the Z-axis vertical beam 5, and the Z-axis connecting plate is fixedly connected to the connecting frame. The Z-axis rack is arranged on the inner surface of the Z-axis connecting plate in the vertical direction. The Z-axis gear is rotatably connected to the outer surface of the Z-axis vertical beam 5. The teeth of the Z-axis gear and the Z-axis rack are engaged with each other. The driving device III includes a servo motor III and a reducer III. The servo motor III is connected to the Z-axis gear through the reducer III.

[0030] In this embodiment, controller 9 utilizes a PLC controller and a SIMENS S7-1500 industrial computer. Goods are transferred from the warehouse to the loading area, where they are delivered to the pick-up location by a forklift or AGV. Once the pallet arrives, the end-user servo drives it to a fixed pickup position. Before loading, personnel can manually compare the cargo specifications with vehicle information to ensure order accuracy. All on-site machine communications utilize wired communication. Industrial computer data is aggregated to a central server in the central control room via TCP / IP communication. In the overall network layout, the communication links of all computing units are aggregated to the central control room's network interface, further enabling integration with the user's production management system.

[0031] In this embodiment, the guide rail in the sliding connection assembly I adopts a V-shaped guide rail, which is arranged at the top of the Y-axis beam, and the guide wheel adopts a V-shaped roller that cooperates with the V-shaped guide rail. Bearings are respectively provided at the bottom of both ends of the X-axis beam, and the servo motor I and the reducer I are arranged at the bottom of the X-axis beam. The output shaft of the servo motor I is connected to the reducer I, and the output shaft of the reducer I passes through the bearing and is fixedly connected to the V-shaped roller. The servo motor I drives the V-shaped roller to rotate through the reducer I, thereby realizing the sliding cooperation between the guide wheel and the guide rail, realizing the horizontal movement of the X-axis beam on the two Y-axis beams along the length direction of the Y-axis beam, and adjusting the position of the L-shaped gripper in the Y-axis direction.

[0032] In this embodiment, the travel gear and travel rack in the sliding connection assembly II are driven by cylindrical gears. The servo motor II and the reducer II are arranged at the bottom of the connecting frame. A bearing is provided at the bottom of the connecting frame. The output end of the reducer rotates with the bearing. The output shaft of the reducer II passes through the bearing and is fixedly connected to the travel gear. The servo motor II drives the travel gear to move on the rack, thereby realizing the horizontal movement of the Z-axis vertical beam on the X-axis horizontal beam and adjusting the position of the L-shaped gripper in the X-axis direction.

[0033] In this embodiment, the Z-axis connecting plate in the sliding assembly III is a hollow rectangular structure. The Z-axis connecting plate is sleeved outside the Z-axis vertical beam, and there is a gap between the Z-axis connecting plate and the Z-axis vertical beam. One or several Z-axis racks are respectively provided on the four surfaces of the inner surface of the connecting plate. Z-axis gears are respectively provided at the upper, middle and lower positions corresponding to the racks on each surface of the Z-axis vertical beam. The Z-axis gears and the Z-axis racks are driven by herringbone gears. The servo motor III is connected to one or several of the Z-axis gears through the reducer III. The gears are driven to rotate by the servo motor III to realize the movement of the Z-axis vertical beam in the numerical direction and adjust the position of the L-shaped gripper in the Z-axis direction.

[0034] The sliding connection assembly I, sliding connection assembly II and sliding connection assembly III of this embodiment are all conventional technical means in this field. For those skilled in the art, they can be obtained according to conventional means in this field, so relevant drawings are not provided.

[0035] In this embodiment, the staff inputs the order task through the controller 9. When the high-purity silicon pallet arrives at the fixed grasping position, the staff verifies it and starts the truck scanning task. The pan-tilt scanning component 7 scans the polar coordinates of the vehicle body contour and interprets it as X and Y axis information to obtain the three-dimensional contour of the loading area to confirm the vehicle position and size. The 3D vision component 8 confirms the product packaging size and the grasping point stacking information. After confirming the information, the industrial computer calculates the grasping order and the vehicle cargo stacking type based on the vehicle information and cargo information, guiding the subsequent robot loading.

[0036] During the loading process, the 3D vision component 8 scans the grabbing position, confirms the material picking point, monitors the position of the L-shaped gripper 6, the cargo situation at the fixed grabbing position and the loading situation of the truck in real time, and guides the robot to grab; the controller 9 controls the sliding connection component I according to the data of the 3D vision component 8, thereby controlling the X-axis beam 4 to move on the Y-axis beam 3, controls the sliding connection component II to control the Z-axis beam to move on the X-axis beam 4, controls the sliding connection component III to control the up and down movement of the Z-axis vertical beam 5, and controls the position of the L-shaped gripper 6 by controlling the sliding connection component I, the sliding connection component II and the sliding connection component III.

[0037] The overall control process of the automatic loading system in this embodiment includes the following steps:

[0038] S1. System initialization and parameter setting:

[0039] System startup: First, turn on the power of the automatic loading system and initialize the system to ensure that all equipment is in normal working condition;

[0040] Parameter setting: According to the type, size, weight of the goods to be loaded and the size and shape of the carriage, the corresponding loading parameters are set through the controller 9. The parameters include gripping force, placement position, loading sequence and carriage size limit;

[0041] S2. Cargo identification and positioning:

[0042] Cargo identification: Figure 5 As shown, the 3D vision component 8 is used to collect three-dimensional images of the goods and pallets in real time, and identify the type, size and posture of the goods, as well as the specific position of the pallet;

[0043] Position confirmation: The 3D vision component 8 collects the relative distance information between the pallet and the carriage and the preset loading parameters to calculate the three-dimensional coordinates of the goods and the pallet. This information will serve as an important basis for subsequent grabbing and placing operations.

[0044] S3, path planning and grasping control:

[0045] Path planning: Based on the location of the cargo and pallet, as well as the loading requirements of the carriage, the control system will plan the optimal movement path for the robotic arm (or L-shaped gripper 6). This path will ensure that the robotic arm can complete the grasping and placing tasks efficiently and accurately;

[0046] Grasping control: After the path planning is completed, the control system will control the robot arm (or L-shaped gripper 6) to move to the specified location according to the planned path. After arriving at the location, the robot arm will accurately grasp the goods and adjust its posture as needed to meet the loading requirements;

[0047] S4. Goods transportation and placement:

[0048] Cargo transportation: After grabbing the cargo, the robotic arm (or L-shaped gripper 6) will move the cargo through the conveyor line or directly onto the carriage. During the transportation process, the system will monitor the status of the cargo in real time to ensure that the cargo is stable and not shaking.

[0049] Precise placement: On top of the carriage, the control system will accurately control the robotic arm (or L-shaped gripper 6) to place the cargo at the designated location based on the preset placement position and posture requirements. After placement is completed, the system will reconfirm whether the cargo's position and posture meet the requirements.

[0050] S5. Real-time monitoring and exception handling:

[0051] Real-time monitoring: Throughout the loading process, the system uses the 3D vision component8 to monitor the status of the cargo and carriage in real time. This monitoring data is used to assess loading efficiency, accuracy, and safety.

[0052] Abnormal handling: Once an abnormal situation is detected (such as cargo position deviation, overloaded carriage, equipment failure, etc.), the system will immediately trigger the alarm mechanism and send an alert to the operator through the control interface. The operator can take appropriate measures based on the alarm information to ensure the smooth progress of the loading process;

[0053] S6. Data recording and statistical analysis:

[0054] Data recording: The system automatically records detailed data for each loading, including cargo type, quantity, loading time, operator, abnormal conditions, etc. This data will be used for subsequent statistical analysis and management decision-making;

[0055] Statistical analysis: By conducting statistical analysis on the collected data, companies can evaluate indicators such as loading efficiency, accuracy, and cost-effectiveness. These analysis results will provide strong support for companies to optimize loading processes and improve production efficiency;

[0056] S7. System shutdown and maintenance:

[0057] System Shutdown: After completing the loading task, the operator needs to shut down the power supply and various subsystems of the automatic loading system according to the prescribed procedures. During the shutdown process, the system will perform necessary cleanup and storage to ensure that it can quickly return to normal working state when it is started next time.

[0058] Example 2

[0059] The difference between this embodiment and embodiment 1 is that, in this embodiment, Figure 4 As shown, the automatic loading control system further includes a parking guidance component, which includes hard limit devices 10 installed on both sides and laser guidance sensors 11 installed on the hard limit devices 10. The laser guidance sensors 11 are connected to the controller 9 for signal transmission. The remaining structure is the same as that of Example 1.

[0060] In this embodiment, the laser guidance sensor 11 is a SICK LMS511-10100 / LMS511-11100. The hard limit devices 10 are typically installed at both ends of the mechanical system, namely, the forward limit and the reverse limit. These locations should be as close as possible to the farthest possible end of the mechanical system to ensure that the mechanical component stops immediately when reaching the extreme position.

[0061] The limiting devices are installed at the front and rear ends of the loading mobile frame, and the corresponding installation position is within 10 cm of the head and tail of the loading vehicle compartment.

[0062] In this embodiment, the laser guidance sensor 11 monitors the position of the boundaries on both sides of the truck body in real time during the movement, and calculates the distance between the truck boundary and the hard limit device 10 through an industrial computer. When the distance between the truck boundary and the hard limit device 10 is less than the set value, an alarm is issued to the driver to prevent accidents. If there is an error, the driver can re-enter and repeat the above measurement action.

[0063] Example 3

[0064] The difference between this embodiment and embodiment 1 is that, in this embodiment, the pan-tilt scanning assembly 7 includes a pan-tilt and a laser scanner disposed on the pan-tilt, and the laser scanner is signal-connected to the controller 9. The rest of the structure is the same as that of embodiment 1.

[0065] In this embodiment, the Hikvision smart camera MV-SC7060M-12S-WBN integrates multiple functions such as image processing, machine learning, and visual inspection, and is suitable for complex industrial automatic loading and intelligent inspection scenarios.

[0066] In this embodiment, the laser scanner is installed on the top of the X-axis beam 4 through a pan-tilt platform. After the vehicle completes reversing, the polar coordinates of the vehicle body contour scanned by the laser scanner are parsed by the industrial computer into X- and Y-axis information. Combined with the angle information of the rotating pan-tilt platform, the three-dimensional contour of the loading area can be obtained to guide subsequent robot loading.

[0067] Example 4

[0068] The difference between this embodiment and embodiment 1 is that, in this embodiment, the 3D vision component 8 includes a 3D camera, an image processor, a computer processor, algorithm software and a controller 9, and the remaining structure is the same as that of embodiment 1.

[0069] In this embodiment, the 3D camera is Hikvision MV-DL2040-04B-H, and the 3D camera is connected to the truss bolts through a mounting bracket. The function and effect of the 3D camera are as follows: the 3D camera can capture the three-dimensional shape, size and position information of the high-purity silicon automatically loaded into the tray, and provide basic data for subsequent analysis, processing and application by generating a three-dimensional point cloud or a three-dimensional model.

[0070] In this embodiment, the 3D vision component 8 confirms the position of the L-shaped gripper 6 grabbing the tray and the position where the high-purity silicon is placed on the vehicle. The steps and strategies for accurately confirming the position of the L-shaped gripper 6 grabbing the tray and the position where the high-purity silicon is placed on the vehicle are as follows:

[0071] 1) Initial calibration and calibration:

[0072] Equipment installation: Ensure that the 3D camera is installed at the bottom of the Y-axis beam 3, the position is stable and the field of view covers the required area;

[0073] Calibration and calibration: Use a calibration object of known size and shape to calibrate the 3D camera's internal parameters (such as focal length, distortion coefficient, etc.) and external parameters (such as the camera's position and attitude in space). This step is crucial for subsequent 3D reconstruction and position confirmation.

[0074] 2) Real-time data collection and processing:

[0075] Depth image acquisition: 3D camera real-time acquisition such as Figure 5 Depth images of the scene shown, which contain the three-dimensional coordinate information of each point in the scene;

[0076] Image processing: Industrial computers pre-process the depth images collected by 3D cameras, including filtering, denoising, and edge detection, to improve image quality and extract useful feature information.

[0077] 3) Pallet and cargo identification:

[0078] Feature extraction: Identify the position and posture of the pallet in the depth image based on its shape, size, color and other features;

[0079] Position confirmation: Use a 3D camera to capture the relative distance between the pallet and the carriage, and accurately calculate the three-dimensional coordinates and deflection angle of the pallet in space;

[0080] Cargo positioning: Identify the specific location of high-purity silicon in the depth image and calculate its three-dimensional coordinates using depth information;

[0081] Posture analysis: Analyze the posture of the goods (such as whether they are tilted or offset) based on their shape and size to ensure the accuracy of grabbing and placing them;

[0082] 4) Path planning and grasping control:

[0083] Path planning: Based on the location information of the pallet and the goods, the movement path of the L-shaped gripper 6 from the current position to the target position is planned;

[0084] Grasping control: Controls the L-shaped gripper 6 to move to the designated position along the planned path and adjusts its posture to adapt to the shape and size of the pallet and goods to achieve precise grasping;

[0085] 5) Placement verification and feedback:

[0086] Placement Verification: When placing high-purity silicon on a vehicle, a 3D camera is used to confirm its correct positioning. Depth images before and after placement are compared to detect any deviations.

[0087] Feedback adjustment: If position deviation is detected, the L-shaped gripper 6 is fine-tuned through the control system to ensure the accuracy of cargo placement. At the same time, the detection results are fed back to the control system to optimize subsequent operations.

[0088] It is understood that the present invention is described by way of certain embodiments, and those skilled in the art will appreciate that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. Furthermore, under the guidance of the present invention, these features and embodiments may be modified to suit specific circumstances and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are intended to be protected by the present invention.

Claims

1. A high-purity silicon automatic loading control system, characterized by: The invention comprises a truss manipulator (1), wherein the truss manipulator (1) comprises a plurality of columns (2) arranged in two parallel rows, wherein a Y-axis crossbeam (3) is fixedly connected to the top of each row of columns (2), an X-axis crossbeam (4) is connected to the two Y-axis crossbeams (3) via a sliding connection component I, the X-axis crossbeam (4) is connected to a Z-axis vertical beam (5) via a sliding connection component II capable of moving in the horizontal direction and a sliding connection component III capable of moving in the vertical direction, and an L-shaped gripper (6) for grabbing a pallet is provided at the bottom of the Z-axis vertical beam (5); the truss manipulator (1) is provided with a pan-tilt scanning component (7), a 3D vision component (8), an industrial computer and a controller (9), wherein the sliding connection component I, the sliding connection component II, the sliding connection component III, the pan-tilt scanning component (7) and the 3D vision component (8) are respectively connected to the controller (9) for signal transmission, and the controller (9) is connected to the industrial computer for signal transmission.

2. The automatic loading control system according to claim 1, characterized in that: The sliding connection assembly I includes a guide rail, a guide wheel and a driving device I. The top of the Y-axis beam (3) is respectively provided with a guide rail arranged along the length direction of the Y-axis beam (3). The guide wheels are arranged at both ends of the X-axis beam (4). The guide rails and the guide wheels are slidably matched. The driving device I includes a servo motor I and a reducer I. The servo motor I is connected to the guide wheel through the reducer I.

3. The automatic loading control system according to claim 1, characterized in that: The sliding connection assembly II includes a travel rack, a travel gear, a connecting frame and a driving device II. The travel rack is arranged at the top of the X-axis along the length direction of the X-axis. The travel gear is rotatably connected to the bottom of the connecting frame. The connecting frame is connected to the Z-axis vertical beam (5) through the sliding connection assembly III. The teeth of the travel gear and the travel rack are meshed with each other. The driving device II includes a servo motor II and a reducer II. The servo motor II is connected to the travel gear through the reducer II.

4. The automatic loading control system according to claim 3, characterized in that: The sliding connection assembly III includes a Z-axis connecting plate, a Z-axis gear, a Z-axis rack and a driving device III. The Z-axis connecting plate is sleeved on the outside of the Z-axis vertical beam (5). The Z-axis connecting plate is fixedly connected to the connecting frame. The Z-axis rack is arranged on the inner surface of the Z-axis connecting plate in the vertical direction. The Z-axis gear is rotatably connected to the outer surface of the Z-axis vertical beam (5). The teeth of the Z-axis gear and the Z-axis rack are meshed with each other. The driving device III includes a servo motor III and a reducer III. The servo motor III is connected to the Z-axis gear through the reducer III.

5. The automatic loading control system according to claim 1, characterized in that: The automatic loading control system further comprises a parking guidance component, the parking guidance component comprising hard limit devices (10) installed on both sides and a laser guidance sensor (11) installed on the hard limit devices (10), wherein the laser guidance sensor (11) is connected to the controller (9) by signal.

6. The automatic loading control system according to claim 1, characterized in that: The pan-tilt scanning assembly (7) includes a pan-tilt and a laser scanner arranged on the pan-tilt, the laser scanner being connected to the controller (9) by signal, and the laser scanner being installed on the top of the X-axis beam (4) through the pan-tilt.

7. The automatic loading control system according to claim 1, characterized in that: The 3D vision component (8) is a 3D camera, and the 3D camera is arranged at the bottom of the Y-axis beam (3).

Images