CN114408501B - 3D intelligent vision unloading robot - Google Patents

3D intelligent vision unloading robot Download PDF

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Publication number
CN114408501B
CN114408501B CN202210128953.0A CN202210128953A CN114408501B CN 114408501 B CN114408501 B CN 114408501B CN 202210128953 A CN202210128953 A CN 202210128953A CN 114408501 B CN114408501 B CN 114408501B
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China
Prior art keywords
vehicle body
conveying
conveying mechanism
fixed
plate
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Active
Application number
CN202210128953.0A
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Chinese (zh)
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CN114408501A (en
Inventor
李华
张光鑫
胡添
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Sainade Technology Co ltd
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Sainade Technology Co ltd
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Priority to CN202210128953.0A priority Critical patent/CN114408501B/en
Publication of CN114408501A publication Critical patent/CN114408501A/en
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Publication of CN114408501B publication Critical patent/CN114408501B/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G37/00—Combinations of mechanical conveyors of the same kind, or of different kinds, of interest apart from their application in particular machines or use in particular manufacturing processes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B65G47/917—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers control arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G59/00—De-stacking of articles
    • B65G59/02—De-stacking from the top of the stack
    • B65G59/04—De-stacking from the top of the stack by suction or magnetic devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0208—Control or detection relating to the transported articles
    • B65G2203/0258—Weight of the article
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • B65G2203/041—Camera
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The invention provides a 3D intelligent visual unloading robot, and relates to the technical field of unstacking, wherein the 3D intelligent visual unloading robot comprises a control device and a vehicle body provided with a first driving mechanism; the first driving mechanism drives the vehicle body to move forwards, backwards and turn; the front end of the vehicle body is provided with an end plate which is rotationally connected; the end plate is driven by a second driving mechanism and rotates; the upper ends of the vehicle body and the end plate are provided with conveying mechanisms for unloading; the front end of the vehicle body is provided with a mechanical arm assembly; the front end of the mechanical arm assembly is provided with a sucker assembly; the sucking disc subassembly front end is equipped with vision 3D camera. The 3D intelligent visual unloading robot has flexible maneuverability; the flexible operation of multiple sites is satisfied; the mechanical arm is provided with a multi-angle adjustment; the goods can be more firmly grabbed; the unstacking and conveying are carried out while the travelling is carried out, and single piece separation and weighing, body measurement and code scanning can be carried out in the conveying process, so that the working efficiency is high.

Description

3D intelligent vision unloading robot
Technical Field
The invention relates to the technical field of unstacking, in particular to a 3D intelligent visual unloading robot.
Background
In the logistics industry, manual unstacking and mechanical unstacking are mainly carried out on box-type package unstacking in a large logistics vehicle container; the manual unstacking efficiency is low, and the cost is high; the physical strength requirement for the unstacker is high.
The existing mechanical unstacking has the following defects: (1) The robot has no mobility, is very inflexible and cannot meet flexible operation; (2) The mechanical arm is limited in adjusting angle, so that insufficient suction force of the suction disc is caused, and the cargo is at risk of falling; (3) the continuous operation capability is poor because the conveyor function is not provided.
Disclosure of Invention
The invention aims to provide a 3D intelligent visual unloading robot so as to solve the technical problems.
In order to achieve the above purpose, the 3D intelligent vision unloading robot comprises a control device and a vehicle body provided with a first driving mechanism; the first driving mechanism drives the vehicle body to move forwards, backwards and turn;
the front end of the vehicle body is provided with an end plate which is rotationally connected; the end plate is driven by a second driving mechanism and rotates; the upper ends of the vehicle body and the end plate are provided with conveying mechanisms for unloading; the front end of the vehicle body is provided with a mechanical arm assembly; the front end of the mechanical arm assembly is provided with a sucker assembly; the front end of the sucker assembly is provided with a visual 3D camera; the first driving mechanism, the second driving mechanism, the conveying mechanism, the mechanical arm assembly, the sucker assembly and the visual 3D camera are all connected with the control device.
Further, the first driving mechanism is a driving wheel arranged at the bottom of the vehicle body; the driving wheel is provided with a servo motor for driving the driving wheel to move.
Further, a first fixed shaft is arranged at the front end of the vehicle body; the first fixed shaft is rotationally connected with the end plate; the second driving mechanism comprises a second fixed shaft arranged at the bottom of the end plate and a third fixed shaft arranged at the bottom of the vehicle body; a first cylinder is arranged between the second fixed shaft and the third fixed shaft; the fixed end of the first cylinder is rotationally connected to the third fixed shaft; the movable end of the first cylinder is rotationally connected to the second fixed shaft;
further, the conveying mechanism comprises a first conveying mechanism, a second conveying mechanism and a centering conveying mechanism; the first conveying mechanism is arranged at the upper end of the end plate; the second conveying mechanism and the centering conveying mechanism are arranged at the upper end of the vehicle body; the second conveying mechanism is positioned between the first conveying mechanism and the centering conveying mechanism; the first conveying mechanism comprises a plurality of first conveying belts which are arranged on the end plate in parallel; the second conveying mechanism comprises a plurality of second conveying belts which are arranged at the upper end of the vehicle body in parallel; the centering conveying mechanism comprises a plurality of conveying rollers arranged at the upper end of the vehicle body; the first conveying belt, the second conveying belt and the conveying rollers are driven by corresponding driving devices; the driving device is connected with the control device.
Further, the mechanical arm assembly comprises two supporting arms symmetrically arranged on two sides of the vehicle body; the two support arms are rotatably connected to the vehicle body; the middle position of the supporting arm is rotationally connected with the movable end of the second cylinder; the fixed end of the second cylinder is rotationally connected to the vehicle body; the upper end of the supporting arm is connected with the supporting plate through a harmonic reducer; a connecting plate is fixed between the two supporting plates; the front end of the connecting plate is fixed with a guide rail plate; two parallel linear guide rails are arranged on the guide rail plate; the linear guide rail is provided with a sliding block; the side surface of the sliding block is provided with a linear driving mechanism; the front end of the sliding block is connected with a fixed plate; the front end of the fixed plate is provided with a first rotating shaft; the first rotating shaft is driven to rotate by a driver; the first rotating shaft is fixedly connected with two swing arms;
the sucker assembly comprises a box body and a plurality of suckers; the sucking disc is arranged at the front end of the box body; the box body is provided with a second rotating shaft; the swing arm is rotationally connected with the second rotating shaft; a third rotating shaft is arranged between the two swing arms; the third rotating shaft is fixedly connected with the fixed end of the third cylinder; the movable end of the third cylinder is rotationally connected with a fourth rotating shaft; the fourth rotating shaft is fixed on the box body.
Preferably, a bracket is arranged at the rear of the mechanical arm assembly; the support is provided with a single separation module.
Preferably, a weighing measuring body code reading device is arranged at the rear of the single-piece separation module; two sides of the weighing measuring body code reading device are provided with side doors; the rear end of the weighing measuring body code reading device is a discharge outlet.
Preferably; both sides of the car body and both sides of the end plate are provided with baffle plates.
The beneficial effects are that:
the 3D intelligent visual unloading robot has flexible maneuverability; the flexible operation of multiple sites is satisfied; the mechanical arm is provided with a multi-angle adjustment; the goods can be more firmly grabbed; the unstacking and conveying are carried out while the travelling is carried out, and single piece separation and weighing, body measurement and code scanning can be carried out in the conveying process, so that the working efficiency is high.
Drawings
Fig. 1 is a perspective view of a 3D intelligent vision discharge robot of the present invention.
Fig. 2 is a front view of the 3D intelligent vision discharge robot of the present invention.
Fig. 3 is a right side view of the 3D intelligent vision discharge robot of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention. Unless otherwise defined, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. As used herein, the word "comprising" and the like means that elements or items preceding the word are included in the element or item listed after the word and equivalents thereof without precluding other elements or items.
Aiming at the problems existing in the prior art, the embodiment of the invention provides a 3D intelligent visual unloading robot.
Examples
As shown in fig. 1 to 3, a 3D intelligent vision unloading robot includes a control device (not shown in the drawings) and a vehicle body 1 provided with a first driving mechanism; the first driving mechanism drives the vehicle body 1 to advance, retreat and turn;
the front end of the vehicle body 1 is provided with an end plate 2 which is connected in a rotating way; the end plate 2 is driven by a second driving mechanism and rotates; the upper ends of the vehicle body 1 and the end plate 2 are provided with conveying mechanisms for unloading; the front end of the vehicle body 1 is provided with a mechanical arm component; the front end of the mechanical arm assembly is provided with a sucker assembly; the front end of the sucker assembly is provided with a visual 3D camera 3; the first driving mechanism, the second driving mechanism, the conveying mechanism, the mechanical arm assembly, the sucker assembly and the visual 3D camera 3 are all connected with the control device.
The first driving mechanism is four driving wheels 4 arranged at the bottom of the vehicle body; the driving wheel 4 is provided with a servo motor 5 for driving the driving wheel to move.
The front end of the vehicle body 1 is provided with a first fixed shaft 6; the first fixed shaft 6 is rotationally connected with the end plate 2; the second driving mechanism comprises a second fixed shaft 7 arranged at the bottom of the end plate 2 and a third fixed shaft 8 arranged at the bottom of the vehicle body 1; a first cylinder 9 is arranged between the second fixed shaft 7 and the third fixed shaft 8; the fixed end of the first air cylinder 9 is rotationally connected to the third fixed shaft 8; the movable end of the first air cylinder 9 is rotatably connected to the second fixed shaft 7;
the conveying mechanism comprises a first conveying mechanism, a second conveying mechanism and a centering conveying mechanism; the first conveying mechanism is arranged at the upper end of the end plate 2; the second conveying mechanism and the centering conveying mechanism are arranged at the upper end of the vehicle body 1; the second conveying mechanism is positioned between the first conveying mechanism and the centering conveying mechanism; the first conveyor mechanism comprises a plurality of first conveyor belts 10 arranged in parallel on the end plate 2; the second conveying mechanism comprises a plurality of second conveying belts 11 which are arranged at the upper end of the vehicle body 1 in parallel; the centering conveying mechanism comprises a plurality of conveying rollers 12 arranged at the upper end of the vehicle body 1; the placing direction of the conveying rollers 12 on the two sides is inclined to the middle by a certain angle so as to achieve the aim of centering the goods. The first conveyor belt 10, the second conveyor belt 11 and the conveyor rollers 12 are driven by corresponding driving means (not shown in the figures); the driving device is connected with the control device.
The mechanical arm assembly comprises two supporting arms 13 symmetrically arranged on two sides of the vehicle body 1; two support arms 13 are rotatably connected to the vehicle body 1; the middle position of the supporting arm 13 is rotationally connected with the movable end of the second cylinder 14; the fixed end of the second cylinder 14 is rotatably connected to the vehicle body 1; the upper end of the supporting arm 13 is connected with a supporting plate 16 through a harmonic reducer 15; a connecting plate 17 is fixed between the two support plates 16; the front end of the connecting plate 17 is fixed with a guide rail plate 18; the guide rail plate 18 is provided with two parallel linear guide rails 19; the linear guide 19 is provided with a slider (not shown in the figure); the side of the slide block is provided with a linear driving mechanism (not shown in the figure); the front end of the sliding block is connected with a fixed plate 20; the front end of the fixed plate 20 is provided with a first rotation shaft (not shown in the drawings); the first rotation shaft is driven to rotate by a driver 21; the first rotating shaft is fixedly connected with two swing arms 22;
the suction cup assembly comprises a box 23 and a plurality of suction cups 24; the sucking disc 24 is arranged at the front end of the box body 23; the box 23 is provided with a second rotating shaft (not shown in the figure); the swing arm 22 is rotatably connected with the second rotating shaft; a third rotating shaft 25 is arranged between the two swing arms 22; the third rotating shaft 25 is fixedly connected with the fixed end of the third air cylinder 26; the movable end of the third cylinder 26 is rotatably connected with a fourth rotating shaft (not shown in the figure); the fourth shaft is fixed to the case 23. Through the above structure, the suction cup assembly can flexibly adjust the angle and the position in the horizontal direction, so that the suction cup 24 can be ensured to contact with goods at an optimal angle and be unstacked.
A bracket 29 is arranged at the rear of the mechanical arm assembly; the support 29 is provided with a single piece separation module 30. The single-piece separating module 30 separates the conveyed goods, such as cartons, one by one, and conveys them backward by a conveying mechanism. The single-piece separation module 30 is a single-piece separation device commonly used in the field of logistics express, and the structure thereof will not be described in detail herein.
A weighing body measuring and code reading device 27 is arranged at the rear of the single-piece separation module 30; the weighing measuring body code reading device is also called DWS equipment; the main function is weighing, measuring volume and scanning the identification code on the goods in the conveying state; two sides of the weighing measuring body code reading device 27 are provided with side door 28; the rear end of the weighing measuring body code reader 27 is a discharge outlet.
Baffles 31 are provided on both sides of the vehicle body and both sides of the end plate.
The 3D intelligent visual unloading robot is provided with a driving wheel 4 and can integrally move; the mechanical arm assembly is provided with a plurality of sites for adjusting angles; ensuring that the sucker 24 can be contacted with the goods at a proper angle, ensuring that the suction is firm, and unstacking the goods through the mechanical arm assembly, the visual 3D camera and the sucker assembly; the goods are unstacked and then are placed in a conveying mechanism for conveying, and an end plate at the front end of the forklift body is similar to a bucket of a forklift; when the 3D intelligent visual unloading robot is unstacked, the visual 3D camera and the control device control the mechanical arm assembly to adjust the angle of the sucker 24, so that cargoes such as cartons are scraped onto the first conveying belt 10 and conveyed by matching with the second conveying belt 11 and the conveying rollers 12; the whole vehicle is pushed forward by matching with the bucket-shaped end plate 2, so that the purposes of automatic unstacking and conveying are achieved. Single piece separation can be carried out in the conveying process; the single piece can be weighed, tested and scanned for further transportation to the next process, for example to a sorting center for sorting.
While embodiments of the present invention have been described in detail hereinabove, it will be apparent to those skilled in the art that various modifications and variations can be made to these embodiments. It is to be understood that such modifications and variations are within the scope and spirit of the present invention as set forth in the following claims. Moreover, the invention described herein is capable of other embodiments and of being practiced or of being carried out in various ways.

Claims (5)

1. A 3D intelligent visual discharge robot, the 3D intelligent visual discharge robot comprising a control device and a vehicle body provided with a first driving mechanism; the first driving mechanism drives the vehicle body to move forwards, backwards and turn; it is characterized in that the method comprises the steps of,
the front end of the vehicle body is provided with an end plate which is rotationally connected; the end plate is driven by a second driving mechanism and rotates; the upper ends of the vehicle body and the end plate are provided with conveying mechanisms for unloading; the front end of the vehicle body is provided with a mechanical arm assembly; the front end of the mechanical arm assembly is provided with a sucker assembly; the front end of the sucker assembly is provided with a visual 3D camera; the first driving mechanism, the second driving mechanism, the conveying mechanism, the mechanical arm assembly, the sucker assembly and the visual 3D camera are all connected with the control device,
the conveying mechanism comprises a first conveying mechanism, a second conveying mechanism and a centering conveying mechanism; the first conveying mechanism is arranged at the upper end of the end plate; the second conveying mechanism and the centering conveying mechanism are arranged at the upper end of the vehicle body; the second conveying mechanism is positioned between the first conveying mechanism and the centering conveying mechanism; the first conveying mechanism comprises a plurality of first conveying belts which are arranged on the end plate in parallel; the second conveying mechanism comprises a plurality of second conveying belts which are arranged at the upper end of the vehicle body in parallel; the centering conveying mechanism comprises a plurality of conveying rollers arranged at the upper end of the vehicle body; the first conveying belt, the second conveying belt and the conveying rollers are driven by corresponding driving devices; the driving device is connected with the control device.
2. The 3D intelligent vision unloading robot of claim 1, wherein the first driving mechanism is a driving wheel arranged at the bottom of the vehicle body; the driving wheel is provided with a servo motor for driving the driving wheel to move.
3. The 3D intelligent vision unloading robot of claim 1, wherein a first fixed shaft is arranged at the front end of the vehicle body; the first fixed shaft is rotationally connected with the end plate; the second driving mechanism comprises a second fixed shaft arranged at the bottom of the end plate and a third fixed shaft arranged at the bottom of the vehicle body; a first cylinder is arranged between the second fixed shaft and the third fixed shaft; the fixed end of the first cylinder is rotationally connected to the third fixed shaft; the movable end of the first cylinder is rotatably connected to the second fixed shaft.
4. A 3D intelligent vision unloading robot according to claim 3, wherein the mechanical arm assembly comprises two supporting arms symmetrically arranged on two sides of the vehicle body; the two support arms are rotatably connected to the vehicle body; the middle position of the supporting arm is rotationally connected with the movable end of the second cylinder; the fixed end of the second cylinder is rotationally connected to the vehicle body; the upper end of the supporting arm is connected with the supporting plate through a harmonic reducer; a connecting plate is fixed between the two supporting plates; the front end of the connecting plate is fixed with a guide rail plate; two parallel linear guide rails are arranged on the guide rail plate; the linear guide rail is provided with a sliding block; the side surface of the sliding block is provided with a linear driving mechanism; the front end of the sliding block is connected with a fixed plate; the front end of the fixed plate is provided with a first rotating shaft; the first rotating shaft is driven to rotate by a driver; the first rotating shaft is fixedly connected with two swing arms;
the sucker assembly comprises a box body and a plurality of suckers; the sucking disc is arranged at the front end of the box body; the box body is provided with a second rotating shaft; the swing arm is rotationally connected with the second rotating shaft; a third rotating shaft is arranged between the two swing arms; the third rotating shaft is fixedly connected with the fixed end of the third cylinder; the movable end of the third cylinder is rotationally connected with a fourth rotating shaft; the fourth rotating shaft is fixed on the box body.
5. The 3D intelligent vision unloading robot of claim 4, wherein a weighing body-measuring code-reading device is arranged behind the single-piece separation module; two sides of the weighing measuring body code reading device are provided with side doors; the rear end of the weighing measuring body code reading device is a discharge outlet.
CN202210128953.0A 2022-02-11 2022-02-11 3D intelligent vision unloading robot Active CN114408501B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210128953.0A CN114408501B (en) 2022-02-11 2022-02-11 3D intelligent vision unloading robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210128953.0A CN114408501B (en) 2022-02-11 2022-02-11 3D intelligent vision unloading robot

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CN114408501B true CN114408501B (en) 2023-07-14

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Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116281014B (en) * 2023-05-24 2023-08-04 厦门艾科曼智能装备有限公司 Automatic loading and unloading system and method
CN116788873B (en) * 2023-06-28 2024-01-05 中储恒科物联网系统有限公司 Automatic unloader suitable for box freight bags

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3865254A1 (en) * 2014-08-27 2021-08-18 Intelligrated Headquarters LLC Robotic carton unloader
CN108750691A (en) * 2018-07-23 2018-11-06 合肥泰禾光电科技股份有限公司 Cargo de-stacking loading system and cargo de-stacking loading method
CN110482268A (en) * 2018-12-12 2019-11-22 广东天酿智能装备有限公司 Handling facilities and cargo handling system
JP7179680B2 (en) * 2019-05-27 2022-11-29 株式会社メイキコウ Unloading device
CN214732807U (en) * 2021-03-09 2021-11-16 厦门皓骏智能装备有限公司 Automatic unloading and stacking mobile robot
CN113320895B (en) * 2021-06-23 2022-09-09 齐鲁工业大学 Quick loading and unloading device and control method

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