84 results about "Stack machine" patented technology

The invention discloses a cup lid stacking machine. The cup lid stacking machine comprises support feet, a base, a motor, a drive shaft, a limiting mechanism A, a cup taking mechanism, a rotary platform assembly A, a limiting mechanism B and a rotary platform assembly B. The support feet are arranged on four feet of the base. The motor is arranged on the base. One end of the drive shaft is connected to the motor. The limiting mechanism A and the limiting mechanism B are arranged on the base in parallel. The cup taking mechanism is arranged between the limiting mechanism A and the limiting mechanism B. The cup taking mechanism is connected to the drive shaft. The rotary platform assembly A and the rotary platform assembly B are arranged on the base. By the adoption of the cup lid stacking machine, the automatic multi-layer stacking of cup lids can be achieved, traditional manual stacking is replaced, and the machining efficiency of the cup lids is improved.

The invention provides a stacker high-precision motion control method and system based on a fuzzy immune algorithm, belongs to the field of stacker control, and solves the problems that an existing stacker is low in operation precision, poor in control efficiency and the like. The system comprises a multi-axis motion control module, a double-closed-loop feedback module, a parameter self-learning module, a safety protection and diagnosis module, a positioning detection module, a path planning module, an environment and maintenance management module and a stacking machine. The method comprises the following steps: constructing a three-level control architecture; adjusting an integral coefficient and a differential coefficient; establishing a feedback quantity calculation model; constructing machine learning parameters; and optimizing a parameter input system. The system is based on a fuzzy immune algorithm, high precision, strong adaptability and high reliability of motion control of the stacker are realized, and the failure rate is reduced. The stacker adopts a modular design, integrates an intelligent control system, and is efficient and stable. According to the method, fuzzy logic and an immune algorithm are combined, the stacker is endowed with intelligent decision ability, and the method adapts to different warehouses.

The invention relates to the technical field of industrial control, in particular to an industrial stacker intelligent control system based on machine vision, and the system comprises a state resolving module which is used for carrying out the feature region decoupling of original observation data, and resolving a position deviation matrix and a deformation state variable for a rigid subspace and a flexible subspace respectively; the dynamic modeling module is used for identifying the first-order inherent frequency and the damping ratio of the mechanical structure on line and establishing a second-order impedance contact model; the impedance control module is used for generating an expected speed based on the position deviation and adaptively adjusting an impedance parameter according to a deformation state so as to carry out compliant modulation on a speed vector; and the estimation shaping module is used for correcting system time lag by using a Kalman observer and inhibiting residual vibration in combination with a zero-vibration input shaper. Through multi-dimensional physical field fusion and dynamic modeling, the problem that a rigid control model is mismatched with a flexible operation object is solved, and self-adaptive compliant control and vibration-free accurate operation of the stacking machine in the unstructured environment are achieved.

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 discloses a three-dimensional geological implicit modeling method based on global constraint features, a medium and equipment, and relates to the technical field of geological modelling, the three-dimensional geological implicit modeling method based on global constraint features mainly comprises the following steps: carrying out vertical dimension sampling and horizontal dimension sampling on original geological data; a profile data set and a drilling data set are obtained, global feature extraction is carried out on the profile data set and the drilling data set to obtain global vertical features and global horizontal features, global feature fusion and coordinate matching are carried out on the global vertical features and the global horizontal features to obtain a machine learning data set, and a Stacking machine learning model is trained to obtain a trained Stacking machine learning model; and predicting a research area by using the trained Stacking machine learning model to obtain a three-dimensional geologic model. According to the three-dimensional geological implicit modeling method based on the global constraint features, the medium and the equipment provided by the invention, the global expression of the underground space in the three-dimensional geological modeling process can be enhanced.

The invention discloses a stereoscopic warehouse task scheduling method, device and equipment and a medium. The stereoscopic warehouse task scheduling method comprises the steps of obtaining goods allocation information of a plurality of goods allocations, stacking machine information of a plurality of stacking machines and a plurality of preset working modes of the stacking machines in a stereoscopic warehouse; based on the goods allocation information, the stacker information and a plurality of preset working modes, establishing a multi-target optimization model with the operation time of the stacker executing the plurality of tasks and the delay time of the stacker executing the at least one warehouse-out task as targets; obtaining task information of a plurality of to-be-allocated tasks, goods allocation state information of a plurality of goods allocations and stacker state information of a plurality of stackers; and the task information, the goods allocation state information and the stacker state information are input into a multi-objective optimization model for solving, and an optimal task scheduling scheme is obtained. Three decision-making processes of warehouse-in and warehouse-out task combination, stacker scheduling and warehouse-in goods allocation distribution are described in a mathematical model mode, a high-quality solution is found, and the multi-target requirements of enterprises are met.

The invention discloses a bottom module type stacking machine and an assembling method thereof.The bottom module type stacking machine comprises a bottom module, the bottom module comprises a fixed-height stand column (2) and a variable-height stand column (10), the fixed-height stand column (2) is perpendicularly connected with a bottom frame (1), and a lifting table (3) which ascends and descends along the fixed-height stand column (2) is arranged on the fixed-height stand column (2); a pallet fork (4) for storing and taking materials is arranged on the lifting platform (3), and the lifting platform (3) is driven by a lifting driving device (5); a top beam (6) is arranged at the top of the bottom module; an electric control system device (7) is further arranged on the bottom frame (1). Main components of the stacking machine are integrated into a bottom module, in-plant integral installation, adjustment and on-site integral hoisting are achieved, the lifting quality is controllable, and the on-site implementation quality and efficiency are improved.

The invention discloses a stacker fault diagnosis method based on lightweight MobileViT, and relates to the field of stacker fault diagnosis, and the method comprises the steps: S1, deploying a sensor group based on a stacker work site, and obtaining original sensing data of eight modes; s2, preprocessing the obtained original sensing data based on a multi-sensor data fusion preprocessing process of noise reduction reconstruction-fusion-two-dimensional coding to obtain corresponding two-dimensional image data; s3, dividing the obtained two-dimensional image data, and training a MobileViT model based on the training set and the verification set; s4, inputting the test set into the trained MobileViT model to perform fault diagnosis, and performing visual analysis on the result, the lightweight MobileViT model designed by the application can greatly reduce the parameter quantity of a traditional deep learning model; the method has good classification performance, and especially has good practicability in the field of fault diagnosis of the stacker.

The utility model discloses a stacking shaping device used for being matched with a robot for stacking, belongs to the technical field of stacking machines, and aims to solve the problem that the stacking shape of a stacking robot is not compact. Comprising a stacked tray conveying mechanism, a lifting mechanism, a shaping mechanism and a layering mechanism, the lifting mechanism comprises a lifting machine frame and a fork rod assembly, the fork rod assembly is vertically arranged on the lifting machine frame in a sliding mode, the stacked tray conveying mechanism penetrates through the bottom of the lifting machine frame, the shaping mechanism and the layering mechanism are arranged on the top of the lifting machine frame in an up-down mode, the layering mechanism comprises a layering machine frame and a layering plate, and the layering plate is horizontally arranged on the layering machine frame in a sliding mode; the shaping mechanism comprises four shaping plates which slide horizontally, the shaping plates are connected with the shaping support through shaping air cylinders, and a shaping area is formed among the four shaping plates; according to the material bag shaping device, adaptive shaping is carried out on the material bag according to the size and the position of a tray, the shaping pertinence is high, the cost is low, and the occupied area is small.

The invention relates to the technical field of logistics warehousing, in particular to a stacker, a control method and device of the stacker and computer device.The control method of the stacker comprises the steps that task types and target positions issued by a scheduling system are obtained, and the target positions comprise the row position, the column position and the layer position; the target action needing to be executed by the stacker is determined according to the task type, the stacker is controlled to complete the issued task according to the target position and the target action, and therefore cooperation of the stacker and a dispatching system can be achieved, and three-dimensional automation is achieved; and meanwhile, the target positions issued by the scheduling system comprise the row position, the column position and the layer position, so that the stacking machine can be positioned more accurately when completing the task issued by the scheduling system, and the working efficiency of the automatic three-dimensional warehouse is improved.

The invention relates to a stacking machine track optimization method based on particle swarm optimization and Kepler optimization algorithms, and belongs to the technical field related to industrial robot control. The method comprises the following steps: iteratively searching optimal parameters of time and energy consumption by adopting an improved particle swarm algorithm, and storing the optimal parameters; in the trajectory optimization process, the speed, the acceleration, the maximum speed and the maximum acceleration of the stacker crane joint are considered; initializing parameters; establishing a trajectory interpolation function based on the path point coordinates; time optimization, energy consumption optimization and motion limitation of the mechanical arm are comprehensively considered, and the inertia weight is determined; an improved particle swarm algorithm is adopted to optimize time and energy consumption; updating the speed of each particle according to a particle swarm algorithm speed updating formula, and updating the position of each particle according to a particle swarm algorithm position updating formula; local optimization is performed in combination with a Kepler optimization algorithm, the convergence speed of the optimization process is increased, and the calculation efficiency is improved.

The invention discloses a stacking machine anti-swing method and system based on double closed-loop control, and relates to the technical field of automatic warehousing, and the method comprises the following steps: obtaining a disturbance signal in the operation process of a stacking machine, and evaluating the speed deviation change of a motor based on the disturbance signal to obtain a disturbance response feature; recognizing an inner ring speed deviation section based on the disturbance response characteristics, and correcting the inner ring speed based on the inner ring speed deviation section to obtain a speed control signal; based on the speed control signal, carrying out segmented constraint on the speed output by a preset sliding mode variable structure to obtain a speed constraint set; according to the method, the current stacking machine moving trajectory is replanned based on the speed constraint set, the planned stacking machine moving trajectory is obtained, feedback displacement errors of the inner ring and the outer ring are analyzed, and the stacking machine is prevented from swinging according to the analysis result. And the problem of swinging overshoot caused by motor speed fluctuation and external disturbance is solved.

The utility model discloses a double-station stacking machine which comprises a top rail, a bottom rail, a rack and a rack driving device. The top rail and the bottom rail are arranged at the top and the bottom of the rack respectively, the top rail and the bottom rail are parallel to each other, the rack is slidably connected with the top rail and the bottom rail, and the rack driving device is connected with the rack and used for driving the rack to slide along the top rail and the bottom rail; two cargo carrying tables and two cargo carrying table driving devices are arranged on the rack, and the two cargo carrying table driving devices are connected with the two cargo carrying tables correspondingly and used for driving the two cargo carrying tables to move in the vertical direction correspondingly. According to the utility model, the working efficiency of the stacker can be improved.

The invention provides an intelligent warehousing system, a stacking machine and a control method of the stacking machine, and relates to the technical field of intelligent warehousing. The stacking machine is suitable for moving goods among the multiple goods grids; the stacker adopts frequency conversion control; the control method comprises the steps of obtaining an operation instruction and analyzing a target position; planning a motion path according to the current position and the target position of the stacker; wherein the path planning is based on a three-axis coupling dynamic model, the shortest total operation time is taken as a target function, and the dynamic parameter difference of each axis is comprehensively considered to optimize the speed curve matching relationship of each axis; generating a smooth speed curve for each motion axis according to the motion path, wherein the speed curve adopts a segmented continuous S-shaped acceleration and deceleration model; wherein if yes, it is judged that the stroke is a long stroke, and a standard seven-section S-shaped speed curve is adopted; if not, the stroke is short, and five or three sections of simplified S-shaped curves are adopted; and the stacking machine is moved to the target position according to the movement path and the speed curve.

The invention provides a full-automatic high-speed stacking machine which comprises a base plate feeding module, a first carrying manipulator, a tray feeding module, a stacking and placing module, a bottle body stacking and feeding module and a bottle body feeding module, the first carrying manipulator is arranged on the right side of the base plate feeding module, and the tray feeding module is arranged on the front side of the first carrying manipulator. A base plate and a tray are taken and carried into the stacking and placing module through the first carrying manipulator, the stacking and placing module is arranged between the first carrying manipulator and the bottle stacking and feeding module, the bottle feeding module is arranged on the right side of the bottle stacking and feeding module, and the bottle feeding module comprises a first feeding channel and a second feeding channel. According to the full-automatic high-speed stacking machine, the layout structure is compact, parallel operation logic is adopted for all the modules, the base plate feeding process, the tray feeding process and the bottle body arrangement process are synchronously carried out, waiting time does not exist between procedures, and high-speed stacking operation can be achieved.

The invention discloses a control method, device and equipment of a stacking machine and a medium. The method comprises the steps of determining a current operation mode according to mode information selected by a user, and obtaining a to-be-executed task issued by a corresponding task issuing object according to the current operation mode; performing analysis processing on the to-be-executed task to obtain corresponding control parameters and movement information; and according to the control parameters and the movement information, the stacker is controlled to run until the to-be-executed task is completed. By means of the method, the problem that in the prior art, a stacking machine cannot operate efficiently can be solved.

The application relates to a stacking machine task scheduling method and device, computer equipment, a storage medium and a computer program product. The method comprises the following steps: when there is a target stacking machine satisfying a scheduling condition, the target number of the target stacking machine is obtained, and the target number is at least one; based on the target number, at least one initial task satisfying a screening condition is obtained, and the number of the initial tasks is consistent with the target number; the equipment identifiers of the target stacking machines are added to each initial task respectively, so that each target stacking machine corresponds to a target task; and when there is no position conflict between the picking positions of the target tasks corresponding to the target stacking machines respectively, the target tasks are respectively sent to the corresponding target stacking machines. The method can improve the material supply efficiency.

The embodiment of the invention relates to a tension control method and device and a cutting and stacking all-in-one machine, through combination of a PID (Proportion Integration Differentiation) feedforward control algorithm and an acceleration tracking feedforward control algorithm, compared with an existing constant torque control algorithm, the tension control method has the characteristics of small static error, small hysteresis quality and high tension stability, and is suitable for large-scale production. And the yield of battery cell manufacturing is greatly improved.

The invention belongs to the technical field of automation equipment, and discloses a novel stacking machine capable of rapidly stacking and caching, which comprises a mounting frame, a conveying mechanism is mounted in the mounting frame, the right side of the conveying mechanism is fixedly connected with a guide limiting part, and a transfer mechanism and an auxiliary conveying mechanism are fixedly arranged below the right side of the mounting frame. And an assembling component is fixedly mounted at the top of the transferring mechanism. The material stacking area is directly arranged above the transferring mechanism, physical integration of stacking and transferring functions is achieved, after materials are stacked, no extra grabbing or pushing equipment is needed, the transferring mechanism can directionally output finished product stacks to the auxiliary conveying mechanism, the stacking process and the output process can be linked in real time, and the stacking efficiency is improved. Compared with the prior art, a continuous and efficient operation flow is formed, the stacking task can be completed, finished product stacks can be sent out in time, the efficiency problem caused by split type operation is avoided, and the overall efficiency and the process compactness of a production line are greatly improved.

1. The name of this design product: stacking machine. 2. Application of this design product: used for automated operations of stacking and conveying books. 3. The key point of the design of this product lies in its shape. 4. The picture or photo that best illustrates the design points: Stereoscopic drawing 1.

The three-axis stacker crane for the simulation experiment comprises a fixed bottom plate, a portal frame is fixedly connected to the top of the fixed bottom plate, a first electric sliding rail is fixedly connected to the top of the portal frame, and the first electric sliding rail is slidably connected with a sliding frame through a sliding block; the inner wall of the sliding frame is fixedly connected with a second electric sliding rail. The invention relates to the technical field of three-axis stacking machines. Through cooperative operation of a high-pressure air pump, an air spraying pipe, an oil sludge storage box, a multi-stage filter, a miniature centrifugal machine, an activated carbon filter cylinder, a miniature rotary evaporator, an oil conveying hose and an oil storage bin, the equipment can refine cleaned oil sludge into lubricating oil, and the loss rate of the lubricating oil of the equipment is reduced; and by means of mutual cooperation of a multi-stage filter, a fourth electric sliding rail, a sliding cleaning brush, a connecting box and a chipping storage bin, chippings can be collected and stored, so that the chippings can be prevented from blocking the multi-stage filter, and a worker can recover the chippings more conveniently.

The present application relates to the technical field of stacking machine, in particular to an intelligent stereoscopic warehousing system based on data driving.The intelligent stereoscopic warehousing system based on data driving includes a protection assembly arranged in the receiving cavity of the upper fork body, the shade cloth is arranged in the shape of Z on the upper fork body to form a tension type flexible cloth belt structure; the upper fork body and the corresponding hook tail assembly are matched to release the shade cloth in the opposite direction of the extension direction of the upper fork body and shield outside the receiving cavity, or the shade cloth is rewound to reset in the receiving cavity. The present application overcomes the defects of the existing double extension position fork mechanism without automatic protection and easy to cause frequent faults due to foreign matter, provides an intelligent stereoscopic warehousing system based on data driving, through the follow-up type protection structure, the shade cloth is automatically unfolded when the double extension position fork mechanism is extended and is automatically received when it is reset, the upper part of the transmission area of the middle fork body and the lower fork body is fully closed and protected, foreign matter is prevented from entering, and the failure rate of the intelligent stereoscopic warehousing system is reduced.

This application provides a method, device, and storage medium for automatic pallet stacking and recycling scheduling. In one example, the method includes: when it is determined that there are pallets to be recycled and there are available storage spaces at the stacking point, storing the pallets to be recycled in a target virtual storage space using a forklift; and when it is determined that preset recycling conditions are met, recycling the pallets stored in the virtual rack. This method can achieve automatic stacking and recycling of pallets to be recycled without the need for a dedicated stacking machine.

The invention relates to the technical field of stacking, and provides a stacking machine which comprises a stacking adjusting mechanism and a conveying assembly arranged on a base. The conveying assembly is used for pushing books to the bearing assembly. The bearing assembly is arranged at the output end of the conveying assembly and used for bearing books. The downward pressing assembly is arranged above the bearing assembly and used for preventing the books from being overturned. The width of the conveying assembly, the width of the bearing assembly and the width of the pressing assembly can be independently adjusted. According to the stacking machine provided by the invention, the stacking adjusting mechanism of the stacking machine solves the technical problem that an existing stacking machine cannot adapt to books with different sizes and specifications due to the fact that the widths of all the assemblies are fixed through the design that the widths of the conveying assembly and the supporting assembly can be adjusted, and the stacking adjusting mechanism can flexibly adjust the widths of all the assemblies according to the widths of the books; the books of different specifications are guaranteed to be stable and not deviated in the conveying process and to be accurately received in the stacking process, the problems of book side turning, edge staggering and the like are effectively avoided, and the adaptability to the books of multiple specifications is improved.

The embodiment of the invention provides a data processing method and system, the data processing method is applied to a controller, the controller is used for controlling a stacking machine, and the stacking machine comprises a walking assembly and a lifting assembly. When the stacker is controlled to execute the target task, task data associated with the target task needs to be determined, the running time of the walking assembly is calculated based on the task data and walking assembly data preset for the walking assembly, and the running time of the lifting assembly is calculated based on the task data and lifting assembly data preset for the lifting assembly. And comparing the running time of the walking assembly with the running time of the lifting assembly according to the running direction of the lifting assembly, and selecting target assembly data from the walking assembly data and the lifting assembly data for updating under the condition that the stacking machine is determined to meet assembly control conditions according to a comparison result, and driving the stacker to execute the target task based on the updated target component data.

The invention relates to the technical field of logistics storage automation equipment, and discloses a stacker upper cross beam inclination monitoring and alarming method, device, equipment and medium, the method comprises the following steps: collecting an inclination reference data set of an upper cross beam horizontal attitude when a target stacker is in a normal horizontal state, and monitoring the inclination change of the target stacker in real time; performing correlation analysis on the inclination trend of the target stacker to obtain an abnormal inclination trend, identifying the inclination characteristics of the abnormal inclination trend, performing inclination severity level analysis on different areas of the upper cross beam of the target stacker according to the inclination characteristics to obtain a local inclination severity level, and identifying the local inclination severity level of the target stacker according to the local inclination severity level. And generating alarm information according to the local inclination severity level and the target local protection action, and sending the alarm information to a preset receiving end according to the target alarm priority. According to the invention, the capability of real-time monitoring of the posture of the upper cross beam and inclination alarm is effectively realized, inclination abnormity can be found and processed in time, and potential safety hazards are reduced.

The invention relates to a path calculation method, in particular to a shortest running path calculation method suitable for cooperative operation of a stacking machine and multiple conveying points, a computer storage medium and equipment. The invention aims to solve the problems that the operation path is too long, the workload is increased and the working efficiency is low when an existing stacking machine adopting a common sequence control logic mode is used for carrying out complex tasks. The method comprises the following steps: 1) establishing a rectangular plane coordinate system, and setting an initial position coordinate of a stacker; (2) a coordinate set Bi of all the goods allocation positions and a coordinate set Ai of all the conveying ports are obtained, the distance value d1i between each goods allocation and the stacking machine is calculated, and the distance value d2i between each conveying port and the corresponding goods allocation is calculated; (3) respectively calculating the time T1zi required by each total conveying route to obtain bmin1 and am1; (4) obtaining bmin2 and amin2 according to the same method as the step (2) and the step (3); 5) performing the same operation until all bmin and ammin are calculated; and 6) calculating the shortest operation path of the stacker.

Apparatus and method for peptide stack determination are disclosed. The apparatus includes a memory containing instructions configuring at least a processor to receive subject data, retrieve peptide data, convert the peptide data into a machine-readable input, generate a peptide stack datum as a function of the subject data and the machine-readable input and determining the peptide stack datum includes generating stack training data, wherein the stack training data includes exemplary subject data and exemplary machine-readable inputs correlated to exemplary peptide stack datums, training a stack machine-learning model trained with the stack training data and generating the peptide stack datum using the trained stack machine-learning model and generate a user interface displaying the peptide stack datum on a remote device.

The present invention relates to the field of warehousing and logistics technology, and specifically to a jacking type pallet unstacking machine with shaping, including two frame bodies and a conveyor installed between the two frame bodies, a jacking power assembly is provided between the two frame bodies, and a pallet unstacking frame assembly for assisting pallet shaping is installed on the two frame bodies. This device meets the different entry and exit directions of pallets through the linkage of the jacking power assembly, smoothly realizes pallet unstacking or stacking, and can realize direct passage of pallets in different directions. At the same time, it adopts a split assembly type, especially the side fork frame adopts a split type, which can adapt to pallets with different entry and exit channel widths, greatly increasing the scope of application of the device. At the same time, this device adopts an electric mechanical transmission structure, which runs stably and accurately, and the auxiliary positioning shaping achieves the stacking and unstacking of pallets with high accuracy and efficiency.

The present invention relates to the technical field of stackers, specifically to a method and a stacker for high-speed and precise control of the reciprocating motion of a stacker; comprising the following steps: establishing a servo system position coordinate system based on servo system encoder feedback; establishing a barcode position coordinate system based on barcode feedback; fusing the servo system position coordinate system and the barcode position coordinate system for consistent processing, setting the servo electronic gear ratio and correct configuration; updating the servo system position coordinates to the real position coordinates of the current barcode feedback, fusing the servo system position coordinate system and the barcode position coordinate system for consistent processing again, and triggering motion positioning. The traveling speed and positioning accuracy of the stacker can be significantly improved. First, the accuracy of the position information is ensured by the dual coordinate system fusion of the servo system encoder and the barcode feedback.