Keel stacking device

Abstract

The utility model belongs to the technical field of keel stacking equipment, and provides a keel stacking device which comprises a rack. The conveying assembly is used for conveying keels; the recognition assembly is used for recognizing the keels conveyed by the conveying assembly so as to judge whether the face, facing the preset direction, of the target keel is the face A or the face B, and the face A and the face B are the two opposite faces of the target keel; the grabbing assembly is used for grabbing a target keel; the first driving assembly is used for driving the grabbing assembly to do reciprocating rectilinear motion in the Z-axis direction; the second driving assembly is used for driving the grabbing assembly to do reciprocating rectilinear motion in the X-axis direction; and the third driving assembly is used for driving the grabbing assembly to swing in a reciprocating mode in the preset angle range around the Y-axis direction, and the preset angle is 180 degrees. The keel stacking device is simple in structure, reasonable in design, capable of automatically recognizing keels, high in stacking efficiency and capable of saving labor cost.

Description

Technical Field

[0001] This utility model relates to the technical field of keel palletizing equipment, and specifically to a keel palletizing device. Background Technology

[0002] After processing, the keel frames need to be packaged for subsequent storage and transportation. Palletizing, a crucial step in the keel packaging process, significantly impacts overall packaging efficiency. However, currently, palletizing of the processed keel frames relies on manual labor, increasing labor costs and resulting in low efficiency. Utility Model Content

[0003] In view of the deficiencies in the prior art, the purpose of this utility model is to provide a keel stacking device to solve or alleviate the above-mentioned technical problems existing in the prior art.

[0004] To achieve the above objectives, this utility model provides a keel stacking device, comprising:

[0005] frame;

[0006] A conveying assembly, mounted on the frame, is used to convey the keel;

[0007] An identification component is mounted on the frame and is used to identify the keel conveyed by the conveying component to determine whether the side of the target keel facing the preset direction is side A or side B, wherein side A and side B are two opposite sides of the target keel.

[0008] A gripping component, mounted on the frame, is used to grip the target keel;

[0009] A first drive assembly is mounted on the frame and is used to drive the gripping assembly to perform reciprocating linear motion along the Z-axis.

[0010] A second drive assembly, mounted on the frame, drives the gripping assembly to perform reciprocating linear motion along the X-axis; and

[0011] The third drive component, which is mounted on the frame, is used to drive the gripping component to reciprocate within a preset angle range around the Y-axis, wherein the preset angle is 180°.

[0012] Furthermore, the conveying assembly includes:

[0013] Conveyor rollers, mounted on the frame and rotatably connected to it, are arranged in a plurality of positions spaced apart along the Y-axis. Any two adjacent conveyor rollers are interconnected, and all conveyor rollers rotate in the same direction.

[0014] A conveyor motor is mounted on the frame and fixedly connected to the frame, and its power output shaft is drivenly connected to one of the conveyor rollers.

[0015] Further, the first driving component includes:

[0016] A first lead screw is mounted on the frame and rotatably connected to the frame, and the axis of the first lead screw is set along the Z-axis direction;

[0017] The first nut is sleeved on the first lead screw and is connected to the first lead screw in a transmission manner.

[0018] A lifting seat, which is slidably connected to the frame and drively connected to the first nut, so that the first nut can drive the lifting seat to move; and

[0019] The first motor is fixedly mounted on the frame, and its power output shaft is connected to the first lead screw.

[0020] Furthermore, the second driving component includes:

[0021] The second lead screw is mounted on the lifting seat and rotatably connected to the lifting seat, and its axis is set along the X-axis direction;

[0022] The second nut is sleeved on the second lead screw and is connected to the second lead screw in a transmission manner.

[0023] A sliding seat, slidably connected to the lifting seat, and throttle-connected to the second nut, so that the second nut can drive the sliding seat to move; and

[0024] The second motor is fixedly mounted on the lifting base, and its power output shaft is connected to the second lead screw drive.

[0025] Furthermore, the third driving component includes:

[0026] A swing frame, mounted on the sliding seat and hinged to it, with the hinge centerline aligned along the Y-axis, and a gripping assembly mounted on the swing frame and movable together with it; and

[0027] The third motor is fixedly mounted on the sliding seat, and its power output shaft is connected to the power input shaft of the swing frame.

[0028] Furthermore, the gripping assembly includes a vacuum gripper, which is fixedly connected to the swing frame. Multiple vacuum grippers are provided, and the multiple vacuum grippers are arranged at intervals along the Y-axis.

[0029] Furthermore, the recognition component includes an image acquisition module and an image recognition module;

[0030] The image acquisition module is mounted on the rack, and is electrically connected to the image recognition module. The image recognition module is electrically connected to the controller, and the controller is electrically connected to the third drive component.

[0031] The image acquisition module is used to capture images of the target keel and transmit the acquired image information to the image recognition module. The image recognition module is used to recognize the acquired image information and convert it into a corresponding electrical signal, which is then transmitted to the controller. The controller converts the acquired electrical signal into a corresponding control signal to control the driving state of the third driving component.

[0032] The beneficial effects of this utility model are:

[0033] The keel palletizing device provided by this utility model, by setting up a conveying component, an identification component, a gripping component, a first driving component, a second driving component, and a third driving component, and through the coordinated operation of the conveying component, identification component, gripping component, first driving component, second driving component, and third driving component, achieves the purpose of automatically palletizing keels, thereby reducing labor costs and improving efficiency. Attached Figure Description

[0034] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale.

[0035] Figure 1 A perspective view of a keel stacking device provided in an embodiment of the present invention in a first direction;

[0036] Figure 2 for Figure 1 The keel stacking device shown is a perspective view in the second direction;

[0037] Figure 3 for Figure 1 The keel stacking device shown is viewed from a third-party perspective.

[0038] Figure 4 for Figure 1 The circuit diagram of the keel stacking device is shown.

[0039] Figure label:

[0040] 100, Frame; 210, Conveyor Roller; 220, Conveyor Motor; 310, First Lead Screw; 320, Lifting Seat; 330, First Motor; 410, Second Lead Screw; 420, Sliding Seat; 430, Second Motor; 510, Swing Frame; 520, Third Motor; 610, Vacuum Gripper; 710, Image Acquisition Module; 711, Camera; 720, Image Recognition Module; 730, Controller. Detailed Implementation

[0041] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings. These embodiments are merely illustrative of the present invention and should not be construed as limiting the scope of protection of the present invention.

[0042] It should be noted that, unless otherwise stated, the technical or scientific terms used in this application shall have the ordinary meaning as understood by one of ordinary skill in the art to which this utility model pertains.

[0043] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0044] Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly defined.

[0045] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0046] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0047] like Figure 1-4 As shown, this utility model provides a keel palletizing device, including a frame 100, a controller 730, and a conveying component, a gripping component, a first driving component, a second driving component, a third driving component, and an identification component disposed on the frame 100.

[0048] The conveying component is used to transport the keel. The identification component is used to identify the keel transported by the conveying component to determine whether the side of the target keel facing a preset direction is side A or side B. Side A and side B are two opposite sides of the target keel. Specifically, side A refers to the side of the target keel with the groove, and side B is the side of the keel opposite to side A.

[0049] The gripping component is used to grip the target keel. A first drive component is connected to the gripping component and drives the gripping component to reciprocate linearly along the Z-axis. A second drive component is connected to the gripping component and drives the gripping component to reciprocate linearly along the X-axis. A third drive component is connected to the gripping component and drives the gripping component to oscillate reciprocally around the Y-axis within a preset angle range, wherein the preset angle is 180°.

[0050] The identification component, conveying component, first drive component, second drive component, and third drive component are electrically connected to the controller 730. The controller 730 is used to control the identification component, conveying component, first drive component, second drive component, and third drive component to work together to achieve the purpose of stacking the keel.

[0051] It should be noted that the vertical direction is the Z-axis, the conveying direction of the conveying component is the Y-axis, and the direction perpendicular to the YOZ plane is the X-axis.

[0052] Specifically, in use, a layer of keel with side A facing up is first laid on the shelf. The conveying component sequentially transports the keel to a preset position. During this process, the identification component identifies the keel. If side A of the keel is facing up, the first and second driving components drive the gripping component to move it to a position above and capable of gripping the keel. After the gripping component grasps the keel, the first and second driving components drive the gripping component to move it to the target position on the shelf and place the keel on the shelf.

[0053] If side B of the keel is facing upwards, the first and second drive components drive the gripping component to move. Simultaneously, the third drive component drives the gripping component to rotate 180°, moving it to a position below and capable of gripping the keel. After the gripping component grasps the keel, the first and second drive components drive it to move to the target position on the shelf and place the keel there. During this process, the third drive component drives the gripping component to rotate 180° to flip the keel so that side A is facing upwards. These steps are repeated until a layer of keels with side A facing upwards is laid on the shelf.

[0054] Next, a keel with its B side facing upwards is attached to the keel with its A side facing upwards. Specifically, the conveying component sequentially conveys the keels to preset positions. During this process, the identification component identifies the keels. If the B side of the keel is facing upwards, the first and second driving components drive the gripping component to move, positioning it above and able to grip the keel. After the gripping component grasps the keel, the first and second driving components drive it to move to the target position on the shelf and attach the keel to the corresponding keel.

[0055] If side A of the keel is facing upwards, the first and second drive components drive the gripping component to move. Simultaneously, the third drive component drives the gripping component to rotate 180°, moving it to a position below the keel where it can grip it. After the gripping component grips the keel, the first and second drive components drive it to move to the target position on the shelf and place the keel on it. During this process, the third drive component drives the gripping component to rotate 180° to flip the keel so that side B faces upwards. The above steps are repeated until all keels are secured.

[0056] Repeat the above steps to stack the keel on the shelf.

[0057] The keel palletizing device provided by this utility model, by setting up a conveying component, an identification component, a gripping component, a first driving component, a second driving component, and a third driving component, and through the coordinated operation of the conveying component, identification component, gripping component, first driving component, second driving component, and third driving component, achieves the purpose of automatically palletizing keels, thereby reducing labor costs and improving efficiency.

[0058] like Figure 1 , 2 As shown, in this embodiment, the conveying assembly includes a conveying roller 210 and a conveying motor 220.

[0059] Conveyor rollers 210 are mounted on the frame 100 and are rotatably connected to the frame 100. Multiple conveyor rollers 210 are arranged at intervals along the Y-axis. Any two adjacent conveyor rollers 210 are connected by a transmission, and all conveyor rollers 210 rotate in the same direction. It should be noted that the connection between any two adjacent conveyor rollers 210 can be achieved through either a synchronous belt or a gear transmission; further details will not be elaborated upon here.

[0060] The conveyor motor 220 is fixedly connected to the frame 100, and its power output shaft is driven by one of the conveyor rollers 210 to drive the roller 210 to rotate. The connection between the conveyor motor 220's power output shaft and the conveyor roller 210 can be either a fixed connection or a transmission structure, such as a gear set, coupling, or belt structure, which will not be elaborated further here. In use, the conveyor motor 220 drives the conveyor roller 210 to rotate, thereby achieving the purpose of conveying the keel.

[0061] The conveying assembly provided in this embodiment has a simple structure and is convenient for conveying the keel.

[0062] Of course, in other embodiments, the conveying component can also be a conveyor belt component, etc., which will not be elaborated on here.

[0063] like Figure 1 , 2 As shown in Figures 3 and 4, in this embodiment, the first drive assembly includes a first lead screw 310, a first nut (not shown in the figure), a lifting seat 320, and a first motor 330.

[0064] In this embodiment, a first lead screw 310 is mounted on and rotatably connected to the frame 100, with its axis aligned along the Z-axis. A first nut is fitted onto the first lead screw 310 and is drivenly connected to it, so that when the first lead screw 310 rotates, it drives the first nut to move along its axis. A lifting seat 320 is slidably connected to the frame 100, allowing it to move only along the Z-axis. The lifting seat 320 is drivenly connected to the first nut, enabling it to move. In this embodiment, the lifting seat 320 is fixedly connected to the first nut.

[0065] The first motor 330 is fixedly mounted on the frame 100. The power output shaft of the first motor 330 is connected to the first lead screw 310 for transmission, so that the first motor 330 can drive the first lead screw 310 to rotate. It should be noted that the power output shaft of the first motor 330 is connected to the first lead screw 310 for transmission in two ways: either the power output shaft of the first motor 330 is fixedly connected to the first lead screw 310, or the power output shaft of the first motor 330 is connected to the first lead screw 310 through a transmission structure. This transmission structure includes at least one of the following: a gear set, a coupling, a transmission belt structure, etc., which will not be described in detail here.

[0066] In use, the first motor 330 drives the first lead screw 310 to rotate, the first lead screw 310 drives the first nut to move along the Z-axis, and the first nut drives the lifting seat 320 to move along the Z-axis. Specifically, when the first motor 330 drives the first lead screw 310 to rotate in the positive direction, the first nut moves in the positive direction of the Z-axis, thereby driving the lifting seat 320 to move in the positive direction of the Z-axis; when the first motor 330 drives the first lead screw 310 to rotate in the reverse direction, the first nut moves in the negative direction of the Z-axis, thereby driving the lifting seat 320 to move in the negative direction of the Z-axis.

[0067] The first drive component of this structure is simple and compact, and the screw and nut have high matching precision.

[0068] Of course, in other embodiments, the first drive assembly includes one of a linear module, a telescopic rod, or a drive belt structure, wherein the telescopic rod may be an electric actuator, an electro-hydraulic actuator, a hydraulic rod, or a cylinder, which will not be described in detail here.

[0069] like Figure 1 , 2 As shown in Figures 1 and 3, in this embodiment, the second drive assembly includes a second lead screw 410, a second nut (not shown in the figure), a sliding seat 420, and a second motor 430.

[0070] The second lead screw 410 is mounted on and rotatably connected to the lifting seat 320, and its axis is aligned along the X-axis. A second nut is fitted onto the second lead screw 410 and is driven by the lead screw 410, allowing the second nut to move along its axis when the lead screw 410 rotates. A sliding seat 420 is slidably connected to the lifting seat 320, allowing it to move only along the X-axis. The sliding seat 420 is driven by the second nut, enabling the second nut to drive the sliding seat 420. In this embodiment, the sliding seat 420 is fixedly connected to the second nut.

[0071] The second motor 430 is fixedly mounted on the lifting base 320. The power output shaft of the second motor 430 is connected to the second lead screw 410 for transmission, so that the second motor 430 can drive the second lead screw 410 to rotate. It should be noted that the transmission connection between the power output shaft of the second motor 430 and the second lead screw 410 can be either a fixed connection or a transmission connection via a transmission structure. This transmission structure includes at least one of the following: a gear set, a coupling, or a transmission belt structure, which will not be elaborated further here.

[0072] In use, the second motor 430 drives the second lead screw 410 to rotate, the second lead screw 410 drives the second nut to move along the X-axis, and the second nut drives the sliding seat 420 to move along the X-axis. Specifically, when the second motor 430 drives the second lead screw 410 to rotate in the positive direction, the second nut moves in the positive direction of the X-axis, thereby driving the sliding seat 420 to move in the positive direction of the X-axis; when the second motor 430 drives the second lead screw 410 to rotate in the reverse direction, the second nut moves in the negative direction of the X-axis, thereby driving the sliding seat 420 to move in the negative direction of the X-axis.

[0073] The second drive component of this structure is simple and compact, and the screw and nut have high matching precision.

[0074] Of course, in other embodiments, the second drive assembly includes one of a linear module, a telescopic rod, or a drive belt structure, wherein the telescopic rod may be an electric actuator, an electro-hydraulic actuator, a hydraulic rod, or a cylinder, which will not be described in detail here.

[0075] like Figure 1 , 2 As shown in Figures 3 and 4, in this embodiment, the third drive component includes a swing frame 510 and a third motor 520.

[0076] The swing frame 510 is mounted on the sliding seat 420 and hinged to it, with the hinge center line set along the Y-axis, allowing the swing frame 510 to rotate around the Y-axis within a preset angle. The gripping component is mounted on the swing frame 510 and can move with it. The third motor 520 is fixedly mounted on the sliding seat 420, and its power output shaft is driven by the power input shaft of the swing frame 510, enabling the third motor 520 to drive the swing frame 510 to rotate. It should be noted that the drive connection between the power output shaft of the third motor 520 and the power input shaft of the swing frame 510 can be either a fixed connection or a transmission structure, such as a gear set, coupling, or belt structure, which will not be elaborated further here.

[0077] In use, the third motor 520 drives the swing frame 510 to swing 180°, and the swing frame 510, along with the gripping component, swings 180°, thereby changing the orientation of the gripping component. Specifically, when it is necessary to grip the target keel from above, the third motor 520 drives the swing frame 510 to swing so that the gripping component faces downward; when it is necessary to grip the target keel from below, the third motor 520 drives the swing frame 510 to swing so that the gripping component faces upward.

[0078] The third drive component of this structure is simple in structure, reasonable in design, and easy to change the orientation of the gripping component.

[0079] like Figure 1 , 2 As shown in Figure 3, the gripping component includes a vacuum gripper 610.

[0080] Multiple vacuum grippers 610 are provided, arranged at intervals along the Y-axis, and fixedly connected to the swing frame 510. In use, a negative pressure is generated at the bottom of the vacuum gripper 610 by the vacuum system, thereby adsorbing the target keel and achieving the purpose of gripping the keel.

[0081] like Figure 1 , 2 As shown in Figures 3 and 4, the recognition component includes an image acquisition module 710 and an image recognition module 720.

[0082] An image acquisition module 710 is mounted on the rack 100 and is electrically connected to an image recognition module 720, which in turn is electrically connected to a controller 730. The image acquisition module 710 captures images of the target keel and transmits the acquired image information to the image recognition module 720. The image recognition module 720 identifies the acquired image information (i.e., determines whether the side of the target keel facing a preset direction is side A or side B) and converts it into a corresponding electrical signal, which is then transmitted to the controller 730. The controller 730 converts the acquired electrical signal into a corresponding control signal to control the driving state of the third drive component.

[0083] Specifically, during the process of laying the keel on the shelf with side A facing up, when the identification component identifies that the target keel is side A facing up, the controller 730 controls the third drive component to drive the gripping component to move so that the gripping component faces down; when the identification component identifies that the target keel is side A facing down, the controller 730 controls the third drive component to drive the gripping component to move so that the gripping component faces up.

[0084] Similarly, during the process of laying the keel on the shelf with its B side facing up, when the recognition component identifies that the B side of the target keel is facing up, the controller 730 controls the third drive component to drive the gripping component to move so that the gripping component faces down; when the recognition component identifies that the B side of the target keel is facing down, the controller 730 controls the third drive component to drive the gripping component to move so that the gripping component faces up.

[0085] The image acquisition module 710 can be any device capable of acquiring image information, such as a camera 711.

[0086] Numerous specific details are set forth in this specification. However, it will be understood that embodiments of this invention may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0087] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model, and they should all be covered within the scope of the claims and specification of this utility model.

Claims

1. A keel stacking device, characterized in that, include: Rack (100); A conveying assembly, which is disposed on the frame (100), is used to convey the keel; An identification component is provided on the frame (100) and is used to identify the keel conveyed by the conveying component to determine whether the side of the target keel facing the preset direction is side A or side B, wherein side A and side B are two opposite sides of the target keel. A gripping component, which is disposed on the frame (100), is used to grip the target keel; A first drive assembly is disposed on the frame (100) and is used to drive the gripping assembly to perform reciprocating linear motion along the Z-axis. A second drive assembly, disposed on the frame (100), is used to drive the gripping assembly to perform reciprocating linear motion along the X-axis; and The third drive component is disposed on the frame (100) and is used to drive the gripping component to swing back and forth within a preset angle range around the Y-axis, wherein the preset angle is 180°.

2. The keel palletizing device according to claim 1, characterized in that, The conveying assembly includes: Conveyor rollers (210) are mounted on the frame (100) and rotatably connected to the frame (100). Multiple conveyor rollers (210) are arranged at intervals along the Y-axis. Any two adjacent conveyor rollers (210) are connected to each other via transmission, and all conveyor rollers (210) rotate in the same direction. A conveyor motor (220) is mounted on the frame (100) and fixedly connected to the frame (100), and its power output shaft is drivenly connected to one of the conveyor rollers (210).

3. The keel palletizing device according to claim 1 or 2, characterized in that, The first driving component includes: A first lead screw (310) is mounted on the frame (100) and rotatably connected to the frame (100), and the axis of the first lead screw (310) is arranged along the Z-axis direction; The first nut is sleeved on the first lead screw (310) and is connected to the first lead screw (310) in a transmission manner; A lifting seat (320) is slidably connected to the frame (100) and is drively connected to the first nut so that the first nut can drive the lifting seat (320) to move; and The first motor (330) is fixedly mounted on the frame (100), and its power output shaft is connected to the first lead screw (310) for transmission.

4. The keel palletizing device according to claim 3, characterized in that, The second driving component includes: The second lead screw (410) is mounted on the lifting seat (320) and rotatably connected to the lifting seat (320), and its axis is set along the X-axis direction; The second nut is sleeved on the second lead screw (410) and is connected to the second lead screw (410) in a transmission manner; A sliding seat (420), slidably connected to the lifting seat (320), and throttle connected to the second nut so that the second nut can drive the sliding seat (420) to move; and The second motor (430) is fixedly mounted on the lifting seat (320), and its power output shaft is connected to the second lead screw (410) for transmission.

5. The keel palletizing device according to claim 4, characterized in that, The third driving component includes: A swing frame (510) is mounted on the sliding seat (420) and hinged to the sliding seat (420), with the hinge center line arranged along the Y-axis. The gripping assembly is mounted on the swing frame (510) and can move with the swing frame (510). The third motor (520) is fixedly mounted on the sliding seat (420), and its power output shaft is connected to the power input shaft of the swing frame (510).

6. The keel palletizing device according to claim 5, characterized in that, The gripping assembly includes a vacuum gripper (610), which is fixedly connected to the swing frame (510). Multiple vacuum grippers (610) are provided, and the multiple vacuum grippers (610) are arranged at intervals along the Y-axis.

7. The keel palletizing device according to claim 1, 2, 4, 5 or 6, characterized in that, The recognition component includes an image acquisition module (710) and an image recognition module (720); The image acquisition module (710) is mounted on the rack (100). The image acquisition module (710) is electrically connected to the image recognition module (720). The image recognition module (720) is electrically connected to the controller (730). The controller (730) is electrically connected to the third drive component. The image acquisition module (710) is used to capture an image of the target keel and transmit the acquired image information to the image recognition module (720). The image recognition module (720) is used to recognize the acquired image information and convert it into a corresponding electrical signal and transmit it to the controller (730). The controller (730) converts the acquired electrical signal into a corresponding control signal to control the driving state of the third driving component.

Images