2368 results about "Palletizer" patented technology

Vertical palletizing device for film reels, characterized in that it has two symmetrically arranged uprights, a cross slide arranged above the two uprights and slidably on the two uprights, a front and rear drive assembly for driving the reciprocating movements of the cross slide, a longitudinal slide slidably arranged on the cross slide, a left and right drive assembly for driving the left and right movements of the cross slide, a lift arranged below the longitudinal slide and a palletizing gripper driven up and down by the lift, wherein a palletizing area is formed between the two uprights, wherein the pallet placement areas and passages all extend in the transverse direction, wherein a plurality of transversely spaced pallets are placed in each row of pallet placement areas, wherein a first safety light barrier detects the presence of objects in the immediate vicinity within the passage;wherein the palletizing gripper is used to grip the film coil and to vertically place the film coil on the pallet; wherein a warning indicator is provided on the stand, wherein the warning indicator, the first safety light curtain, the front and rear drive assembly, the left and right drive assembly, the lift and the palletizing gripper are all controlled by the control system of the film coil packaging.

The invention provides a full-automatic stacking method and system.The method is completed on the basis of a stacking robot, physical parameter information of goods to be stacked is obtained, a single-layer stacking reference scheme is generated on the basis of the physical parameter information and stacking environment parameters, and a final stacking scheme is generated on the basis of the single-layer stacking reference scheme; based on the area where the goods are located and the target stacking area, an optimal operation path is planned for the stacking robot, and automatic stacking operation is executed according to the final stacking scheme; the optimal stacking scheme can be automatically generated according to the physical characteristics of different cargos, and the method is suitable for stacking operation of cargos of various specifications and has wide application prospects.

A palletizing robot relates to the technical field of palletizing robots and is used for palletizing bagged goods conveyed by a roller type conveying line, the roller type conveying line comprises a plurality of conveying rollers arranged side by side, the palletizing robot comprises a mechanical arm and a mechanical claw, the mechanical claw comprises two paws arranged oppositely, each paw is provided with a plurality of claw fingers at intervals, and the claw fingers are arranged on the mechanical arm. Each claw finger is provided with two contact plates and a reset torsion spring, the two contact plates are symmetrically arranged on the two sides of each claw finger and can rotate so that the contact plates can be vertically folded and transversely unfolded, the reset torsion springs are connected with the contact plates so as to drive the contact plates to be vertically folded, each contact plate is provided with an inclined plane, and each inclined plane is provided with an inclined plane. After the claw fingers make contact with the goods, the contact plates are pressed to be transversely opened so as to fill the gaps between the claw fingers, and therefore the bottom face of the goods can be kept flat and cannot be extruded by the claw fingers to form grooves.

The invention discloses a mountain gravity energy storage system and method for continuous operation of multiple weight blocks. The mountain gravity energy storage system comprises an inclined rail, a cableway support, a truck, standardized weight blocks, a high-altitude automatic loading and unloading platform, a low-altitude automatic loading and unloading platform, a motor generator set, a transmission mechanism and a control system. Standardized weight blocks serve as weight carriers, charging and discharging of the energy storage system are achieved through mutual conversion of gravitational potential energy and electric energy of the standardized weight blocks, rail transportation and cable transportation modes are combined, an automatic weight loading and unloading platform is arranged, and the carrying capacity of the weight carriers can be increased on the basis that the system operation continuity is guaranteed; the power and the capacity of the energy storage system are improved, manual establishment of a sand warehouse or a complex transferring and stacking mechanism is avoided, the cost is reduced, and the energy circulation efficiency of the system is further improved.

The invention discloses a path planning method for a palletizing robot based on a multi-path convolutional neural network, and relates to the technical field of convolutional neural networks, and the method comprises the steps: employing the three-source data of a quality inspection report image, a damaged video and a microscopic image, extracting features through a parallel convolutional neural network, generating a dynamic maximum curvature constraint value after the fusion, and obtaining the path planning of the palletizing robot. And self-adaptive path planning of material characteristics is realized. And nodes conforming to curvature constraint are screened based on a probability route map (PRM) to generate a track, and the vibration spectrum energy of the mechanical arm is monitored in real time. When vibration exceeds a dynamic safety threshold value, subsequent path constraint is tightened in real time through a curvature penalty factor, and the damage risk is reduced by 90%; a closed loop of material analysis, path generation, vibration feedback and parameter correction is established, and balance of safety and efficiency is achieved in a high-speed stacking scene.

The present invention relates to a computer-implemented method of for operating a palletizer, comprising: receiving image data, using at least one camera, of at least one item intended to be handled by the palletizer in a handling process; analyzing, using a machine-learning model, the received image data; determining, using the machine-learning model, that an obstacle may cause a malfunction of the handling process; and generating a control signal for instructing the palletizer to stop the handling process.

The invention relates to a magnesium alloy ingot stacking robot, and belongs to the field of ingot stacking robots, the magnesium alloy ingot stacking robot comprises a mechanical arm, a supporting plate is connected to the end of the mechanical arm, and transverse clamping plates used for clamping magnesium ingots are connected to the two opposite side walls of the supporting plate; the side, close to the supporting plate, of each transverse clamping plate is connected with an air cylinder used for driving the transverse clamping plate to clamp the magnesium ingot, one side of each air cylinder is connected with a linkage assembly, and the linkage assemblies are used for driving piston rods of the air cylinders to move. The magnesium ingot stacking device has the effect of improving the magnesium ingot stacking efficiency.

The unmanned material transportation system comprises an intelligent equipment cluster and a remote centralized dispatching system, and the intelligent equipment cluster is connected with the remote centralized dispatching system; the intelligent equipment cluster comprises horizontal transportation intelligent equipment used for same-layer transportation of materials, an intelligent construction elevator used for cross-layer transportation of the materials and a stacking robot used for sorting, taking and placing of the materials. The remote centralized control system comprises a front-end interface and a rear-end server, wherein the front-end interface is used for issuing tasks and monitoring material processes and equipment states, the rear-end server is used for task scheduling, task path planning, task conflict monitoring and management and transmitting collected information to the front-end interface for display, and the front-end interface is connected with the rear-end server. And the intelligent equipment cluster and the back-end server are in two-way communication through the real-time communication module. Material sorting and transporting can be automatically completed, manual operation on a construction site can be reduced, the equipment efficiency is improved, and the transporting cost is reduced.

The stacking clamp comprises a bottom drawing mechanism, the bottom drawing mechanism has a grabbing state and a discharging state, and when the bottom drawing mechanism is in the grabbing state, the upper surface of the bottom drawing mechanism can bear a single row of products; at least one group of suction cup mechanisms are arranged, and the at least one group of suction cup mechanisms can suck a single-layer stack partition plate, so that the single-layer stack partition plate is placed on the single-row products stacked on the stacking position; the bottom drawing mechanism comprises a fourth power device; and the upper surface of the bearing part carries the single-row products in a limited manner, and the bearing part is driven by the fourth power device to move linearly. The stacking device is suitable for a robot stacking system, stacking of a single row of products and stacking partition plate placement are achieved under the condition that a clamp does not need to be switched or another independent robot does not need to be arranged, complex stack type application is met, and the working efficiency of the stacking system is improved.

The unstacker comprises a feeding assembly, a lifting assembly, a positioning assembly and a discharging assembly, the feeding assembly is composed of a plurality of feeding supports distributed side by side, the lifting assembly is fixedly installed on one side of the feeding assembly, a motor frame is fixedly installed on one side of the top of the lifting assembly, the positioning assembly is fixedly installed on the top of the lifting assembly, and the discharging assembly is fixedly installed on the motor frame. The discharging assembly is fixedly installed on one side of the top of the lifting assembly. Stacked bagged materials can be driven to achieve feeding through lifting and stable traction of the supporting plate, conveying of each layer of materials during unstacking is facilitated, movement in the horizontal direction is achieved through the positioning assembly, accurate positioning can be achieved when the bagged materials are grabbed, bagged material suction is achieved through a negative pressure suction mode of a suction cup, and the bagged materials can be conveniently conveyed. The bagged materials are grabbed through the feeding assembly, heavy materials are lifted through the rotatable suction cup, meanwhile, the grabbed bagged materials are conveyed through the discharging assembly, meanwhile, it can be ensured that the conveying direction of the bagged materials is adjusted, and continuous unstacking of the bagged materials can be achieved.

The invention relates to the technical field of stackers, in particular to a fastener finished product packaging line shuttle type tray stacker which comprises a horizontal rail and a lifting mechanism, a horizontal sliding seat is arranged on the horizontal rail in a sliding mode, a vertical rail is vertically arranged on the horizontal sliding seat, a vertical sliding seat is arranged on the vertical rail in a sliding mode, and the lifting mechanism is arranged on the vertical sliding seat. A telescopic objective table and a balancing weight are arranged on the vertical sliding seat, and the telescopic objective table can slide in the extending direction perpendicular to the vertical rail and is used for bearing goods; the balancing weight can slide in the direction perpendicular to the extending direction of the vertical rail and is opposite to the moving direction of the telescopic objective table so as to balance the torque generated by goods on the telescopic objective table. The lifting mechanism is configured to be capable of driving the telescopic objective table to incline downwards when the telescopic objective table drives the goods to be switched from a static state to a moving state, so that the goods tend to move forwards, then the backward moving trend of the goods due to inertia can be counteracted, and the accuracy of the stacking position of the goods is guaranteed.

The invention discloses a robot palletizer with an adjustable grabbing angle, and relates to the technical field of automatic equipment, the robot palletizer comprises a base and a mechanical arm fixedly mounted on the base, and a clamping mechanism is arranged at the tail end of the mechanical arm; the clamping mechanism comprises a V-shaped clamping frame, sliding channels are formed in the two sides of the clamping frame, sliding plates are arranged in the sliding channels in a sliding mode, first rotating channels are formed in the sliding plates, clamping plates are rotationally arranged in the first rotating channels, and the clamping plates and the sliding plates are crossed in an X shape; the inclination angle of the clamping plate is adjusted through the first control assembly. According to the robot palletizer with the adjustable grabbing angle, by arranging the clamping frame, the clamping plates, the reinforcing plates and other structures, the robot palletizer is suitable for cylindrical cargoes of various sizes, six linear contact positions can be always kept to clamp and lock the cargoes at most, the cargoes are distributed in a major arc shape, the grabbing stability is guaranteed, the robot palletizer can be conveniently pulled out, and the use efficiency of the robot palletizer is improved.

The invention discloses a multi-specification robot palletizer autonomous palletizing method and system based on digital twinning, and the method comprises the steps: building a robot palletizer twinning model, and building a digital twinning scene according to products, obstacles and surrounding environments in a robot palletizing operation production line; real space data are collected in real time, and a data real-time transmission channel is constructed; constructing a data storage layer for storing real space data and virtual space data; self-adaptive adjustment of stacking task points is carried out according to the planning requirements of the multi-specification products; training in a twin platform by using a deep reinforcement learning algorithm to obtain more training experience; and a planning result is transmitted to the entity palletizing robot to complete teaching point updating, and operation monitoring is conducted on the entity robot based on the virtual entity data two-way transmission technology and the virtual-real synchronization technology. By means of the method, autonomous planning of the palletizing robot for complex and diversified palletizing tasks can be achieved, and the method is suitable for continuously-changing production requirements.

The invention relates to the technical field of material stacking and conveying equipment, in particular to a universal high-position stacking system all-in-one machine which solves the problems that an existing traditional stacking machine is high in energy consumption, low in operation efficiency and the like in the operation process, and particularly, during high-position operation, the energy consumption is low. And energy consumption and equipment loss are further increased because challenges of gravity and stability need to be overcome. A universal high-position stacking system all-in-one machine comprises a stacking rack, a tray lifting mechanism and a material bag positioning and discharging mechanism, a steering mechanism is installed on the rear end face of the stacking rack, a material bag leveling mechanism is installed at the rear end of the steering mechanism, and the tray lifting mechanism is installed on the inner side of the bottom end of the stacking rack. According to the automatic stacking device, material bags are subjected to flattening, steering and position adjusting and positioning in the conveying and transferring process, automatic stacking operation of the material bags on trays can be effectively achieved, the trays can be output at different heights, the manual labor amount is effectively reduced, and the stacking efficiency and quality are improved.

The invention discloses a stacking robot based on material transportation, and relates to the technical field of material stacking. The device comprises a mounting frame, a transverse plate is slidably connected to the inner side of the top of the mounting frame in a limiting mode, a hydraulic rod is fixedly mounted in the middle of the top of the mounting frame, the bottom end of the hydraulic rod is fixedly mounted to the center of the top end of the transverse plate, and first rotating shafts are rotatably connected to the interior of the transverse plate in a front-back symmetrical limiting mode; and gears are fixedly mounted on the peripheries of the middle parts of the front and rear rotating shafts. According to the stacking device, materials can be elastically clamped, the clamping force can be mastered more easily, the materials can be effectively clamped under the condition that the materials are not damaged, the materials clamped between the clamping plates can be horizontally moved up and down, the stacking stability and precision are improved, the clamping friction force between the stacking device and the materials can be adjusted according to the distribution of the weight of the materials, and the stacking efficiency is improved. Inclined movement of the materials due to uneven weight distribution is avoided, and normal proceeding of subsequent material clamping and stacking is facilitated.

The invention relates to the field of stacker crane equipment, and discloses mining stacker crane equipment with an adsorption type feeding mechanism, the mining stacker crane equipment comprises a mounting frame serving as a supporting carrier of the whole device, a placing frame is fixedly mounted on the outer side of the mounting frame, and a plurality of workpieces are arranged at the top of the placing frame; the automatic adsorption feeding assembly is mounted on one side of the mounting frame and used for automatically feeding the workpieces; the conveying assembly is mounted on the outer side of the mounting frame and used for being matched with the automatic adsorption feeding assembly, and the first conveying assembly is mounted in the middle of the top end of the mounting frame and used for conveying workpieces conveyed by the automatic adsorption feeding assembly to the second conveying assembly. According to the automatic feeding system, the automatic adsorption feeding assembly is additionally arranged, so that the workpieces can be accurately positioned and placed, the dependence on manpower is reduced, the labor cost is reduced, meanwhile, compared with traditional manual feeding, the automatic feeding system can complete feeding of the multiple workpieces within shorter time, and the operation efficiency of the whole production line is improved.

A palletizing system includes one or more palletizers. A database is configured to maintain a stacking pattern library containing multiple stacking patterns for the palletizers. A computer is operatively connected to the database. The computer is configured to automatically select a stacking pattern for a selected one of the palletizers. In other words, the computer is configured to change the stacking pattern of one of the palletizers without changing the other palletizers. The database is configured to maintain unique palletizer identifiers used for identifying individual palletizers to promote expandability.

The invention relates to a fiberboard producing, processing and stacking device which comprises an auxiliary mechanism and a stacking mechanism, the auxiliary mechanism and the stacking mechanism are distributed left and right, the auxiliary mechanism comprises a machine box, vertical frames are arranged at the two ends of the top face of the machine box, a fixing rod is arranged between the two vertical frames, two transverse plates are arranged on the top face of the fixing rod, and cavities are formed in the top faces of the transverse plates; according to the fiberboard stacking device, fiberboards clamped between the two clamping plates can be driven to move upwards, reciprocating operation is carried out, the fiberboards are sequentially stacked together, a subsequent stacking mechanism can conveniently move and stack the fiberboards in batches, an electric sliding rail drives a vertical frame and the fiberboards to move in the direction away from an auxiliary mechanism, and the fiberboards can be conveniently stacked. And finally, the output end of a second motor drives a vertical frame to rotate, the fiberboards are stacked together, the output end of a first motor drives a second threaded rod to rotate, the rotation of the second threaded rod drives a moving sleeve and a fork plate to move in the vertical direction of a second sliding rail, and the practicability of the device is improved.

The invention relates to the technical field of magnesium ingot conveying, in particular to a discharging and conveying device and method for magnesium ingot conveying The discharging and conveying device comprises a rack, a continuous casting machine body and a conveying mechanism are vertically distributed on the rack, the continuous casting machine body is used for conveying produced magnesium ingots from left to right, and a limiting mechanism is arranged on the rack. A side scrap removing mechanism is arranged between the continuous casting machine body and the conveying mechanism, the magnesium ingot discharging angle, the optimal discharging position and the vertical sliding track can be accurately controlled, and the magnesium ingots are prevented from deviating in the conveying process; chippings and impurities on the surfaces of the magnesium ingots are brushed away, and the situation that normal conveying of the magnesium ingots is affected due to deviation of conveying of the magnesium ingots caused by blockage, blockage and clamping stagnation of chain seams of the conveying mechanism due to direct contact with the conveying mechanism after blanking is prevented; the arrangement action of a plurality of magnesium ingots required by stacking is preposed, and the situation that the magnesium ingots and a chain belt are scraped when the magnesium ingots are stacked at a processing point and wait for a stacking robot to grab the magnesium ingots is reduced.

The invention relates to a stacking path planning method, system and equipment based on multiple stackers and a medium, and relates to the technical field of workshop transportation, and the method comprises the steps that a dynamic risk hot area map is generated through the real-time personnel density, a two-dimensional map is updated in combination with the positions of idle stackers, and the shortest obstacle avoidance path is planned; and candidate stackers meeting a return electric quantity safety threshold value are screened based on a motion energy consumption model, the moving distance and time consumption of the candidate stackers are calculated, a weighted scoring model fusing the distance, time and path risk values is constructed, and the stacker with the optimal comprehensive score is selected to execute an emergency task. According to the method, the path planning of the stacker crane executing the emergency task and other stacker cranes can be optimized, and the continuity of executing multiple stacking tasks by the stacker cranes is improved.

The invention relates to the technical field of coating devices, and particularly discloses a circuit board surface coating device for circuit board production, which comprises a box body, conveying rollers and a stacking frame, the conveying rollers are arranged in the box body at intervals along the length direction, and the stacking frame is arranged at the left side end part of the box body; the device further comprises a first detection rod, a second detection rod, a rotating assembly, an overturning assembly, a guide plate and a second conveying roller. The rotating assembly is arranged in the box body, the overturning assembly is arranged in the box body, the first detection rod and the second detection rod are arranged in the box body, the second conveying rollers are arranged on the two sides of the overturning assembly, the guide plates are arranged on the second conveying rollers, and the guide plate close to one side of the rotating assembly has a first state and a second state; according to the circuit board surface coating device for circuit board production, the front face, the back face and the direction of a PCB can be judged, the conveying accuracy of the PCB is improved, therefore, the subsequent coating procedure is prevented from being affected, and the production efficiency is improved.

The invention discloses a finished cigarette tray stacking warehouse-in and warehouse-out method and system, and belongs to the technical field of tray warehousing in cigarette production, and the method comprises two steps of stacking warehouse-in and folding warehouse-out. During stacking and warehousing, the scheduling system directs the stacking robot to conduct stacking in sequence according to a task plan of the warehouse management system and arranges the latent AGV to carry trays to a target floor, so that the forking type AGV firstly transports 30 pieces / tray cargoes and then transports 20 pieces / tray cargoes to be stacked to complete warehousing; and in the folding and warehouse-out link, the warehouse management system generates a task to the scheduling system, and the forking type AGV takes 20 cargoes on the upper layer and 30 cargoes on the lower layer in sequence and conveys the cargoes to the target connection platform to be unloaded. And the space utilization rate and the warehousing efficiency are improved, and high automation, precision and ordering of the finished cigarette delivery and warehousing process are achieved.

The invention provides a visual positioning and grabbing force control method for a palletizing robot in the intelligent manufacturing industry, and relates to the technical field of intelligent manufacturing. The multispectral visual positioning module at least comprises a visible light imaging unit, a near-infrared imaging unit and a structured light imaging unit; s2, on the basis of the material three-dimensional information, fitting a material motion track through a motion trend prediction model, and calculating a target grabbing position in advance; through visible light + near infrared + structured light multispectral fusion, the problem of interference of dust and haze on visual positioning is solved, and the positioning error is reduced to be within 1mm in combination with an adaptive weight algorithm; and meanwhile, the grabbing position is calculated in advance through the motion trend prediction model, the dynamic positioning response speed is increased, compared with the prior art, the performance is higher, and the high-speed dynamic stacking requirement is met.

The invention relates to the technical field of stackers, in particular to a buffer structure for a special-shaped plate stacker, which comprises a mounting sleeve, the outer wall of the mounting sleeve is sleeved with a plurality of bearings, a rotating ring is fixedly mounted at the rotating end of each bearing, and grooves are formed in the surfaces of the opposite sides of every two rotating rings. After a special-shaped plate moves to the position above a tray, a worker starts a motor, an output shaft of the motor drives a second lead screw to rotate, a lifting plate drives a pressing plate to descend, then the worker controls a mounting sleeve to descend, a connecting plate moves along with a limiting rod, and the special-shaped plate is attached to the tray or other special-shaped plates on the tray; when the connecting plate moves, the ejector block can push the pressing plate, the second spring is stressed and compressed, the suction cup does not adsorb the special-shaped plates any more, the special-shaped plates are stacked on the tray or the upper ends of other special-shaped plates, the special-shaped plates are attached to the tray or other special-shaped plates in the stacking process, and damage to the special-shaped plates is prevented.

The invention relates to an automatic stacker crane, and belongs to the technical field of stackers, the automatic stacker crane comprises a frame body and a bearing plate, the frame body is provided with a driving assembly for driving the bearing plate to move, the bearing plate is provided with a rotating plate, the bottom of the bearing plate is provided with a dragging assembly for dragging the rotating plate to move, and the lower surface of the bearing plate is fixedly provided with a first motor; a first telescopic rod is fixedly arranged on an output shaft of the first motor, the end, away from the first motor, of the first telescopic rod is fixedly connected with the rotating plate, supporting plates are fixedly arranged on the two opposite sides of the upper surface of the rotating plate, first guide rails are fixedly arranged on the opposite sides of the two supporting plates, and the supporting plates are slidably connected with sliding rods in the first guide rails. A moving plate is connected to the side, facing the outside of the guide rail, of the sliding rod, a first moving assembly for driving the moving plate to move is arranged at the sliding rod, a clamping plate is connected to the side, deviating from the sliding rod, of the moving plate, and a second moving assembly for driving the clamping plate to move is arranged at the moving plate.

The invention discloses a whole-tray warehouse-out system and method, and belongs to the technical field of cigarette manufacturing, and the system comprises a stacking robot, a cigarette carton temporary storage channel, a cigarette carton backflow channel, a latent AGV, an elevator, a tray on-line device and a whole-tray warehouse-out line; wherein the latent AGV is used for moving to a designated goods location of an ex-warehouse cache region to carry finished cigarette trays and carrying the finished cigarette trays to the tray online device, moving to a designated goods location of a target floor to carry the finished cigarette trays, descending to an ex-warehouse floor through the elevator and then carrying the finished cigarette trays to a connection platform on the same floor; then the tray is carried from the connection platform to the tray on-line device; and the whole-tray delivery line provides a conveying channel for the finished cigarette trays, so that the finished cigarette trays can be conveyed to a delivery area for whole-tray loading and delivery. According to the invention, accurate tracking and management of goods are facilitated, and the accuracy and efficiency of delivery of the whole pallet are improved.

The invention relates to the technical field of packaging equipment, in particular to packaging equipment for an organic pigment production line, the packaging equipment comprises a base, a controller, a conveying track, a conveying mechanism, a discharging mechanism, a press sealing mechanism and a stacking mechanism, the controller is fixedly mounted on the front side of the base, the conveying track is fixedly mounted on the top of the base, and the conveying mechanism is fixedly mounted on the top of the base; and the conveying mechanism is arranged at the top of the conveying track. Transmission continuity and stability are guaranteed, local positioning precision is improved, the influence that a chain structure is prone to elongation and transmission stability is poor is overcome, automatic packaging is achieved, small packages can be separated, taking and using are convenient, an upper cover and a check ring are sealed, a sealing plug and a charging box are sealed, a two-layer sealing structure is adopted, the sealing performance is good, and the sealing effect is good. The check ring at the top of the feeding box is connected with the bottom of the feeding box above in an inserted mode, the bottom of the feeding box tightly presses the upper cover in an inner cavity of the check ring, the sealing performance is further improved, automatic stacking and placing are achieved, transportation is convenient, and the requirement for automatic production is met.

The invention belongs to the technical field of mechanical control, and particularly discloses and provides a gray fabric carrying and stacking manipulator intelligent control system which comprises a carrying information import module, a gray fabric state monitoring module, a gray fabric environment monitoring module, a carrying setting analysis module, a carrying control analysis module, a database and a gray fabric carrying execution terminal. By integrating a plurality of functional modules, efficient, safe and accurate control over gray fabric carrying is achieved, the carrying information import module collects basic attributes and planned carrying paths of gray fabric, the gray fabric state monitoring module collects gray fabric images, and the gray fabric environment monitoring module monitors the carrying environment; the three jointly provide data support for the carrying setting analysis module so as to judge whether a carrying strategy needs to be adjusted or not. And a new control index is generated through the carrying control analysis module, and finally, an accurate carrying instruction is executed by the gray fabric carrying execution terminal. The series of modules are tightly combined, so that the carrying quality and efficiency are improved.

The utility model discloses an annular part truss stacking device. The annular part truss stacking device comprises a feeding mechanism, a clamping mechanism and a stacking mechanism, wherein the clamping mechanism is arranged on one side of the feeding mechanism and used for centrally positioning and clamping fed annular parts, and the stacking mechanism is used for transferring and stacking the positioned and clamped annular parts. The feeding mechanism comprises a supporting frame and a plurality of gravity rollers arranged on the supporting frame, and the annular pieces are fed in a sliding mode along a gravity roller way formed by the gravity rollers. The clamping mechanism comprises a mounting frame arranged below the supporting frame, and a first sliding plate and a second sliding plate which are arranged on the mounting frame in a sliding manner and are driven by a power mechanism to move oppositely, suspension frames are mounted on the first sliding plate and the second sliding plate, and clamping blocks located above the gravity rollers are mounted on the suspension frames; the stacking mechanism comprises a stacking table, a moving assembly arranged above the stacking table through a supporting rod and an annular clamping piece driven by the moving assembly to move. According to the annular piece stacking device, the stacking efficiency of annular pieces is improved.