CN114873250A

CN114873250A - Unloading manipulator and control method thereof

Info

Publication number: CN114873250A
Application number: CN202210594337.4A
Authority: CN
Inventors: 李华; 胡添; 张光鑫; 姚超捷; 刘向; 谭丕强
Original assignee: Sinad Digital Technology Shanghai Co ltd
Current assignee: Sinad Digital Technology Shanghai Co ltd
Priority date: 2022-05-27
Filing date: 2022-05-27
Publication date: 2022-08-09
Anticipated expiration: 2042-05-27
Also published as: CN114873250B

Abstract

The invention relates to an unloading manipulator and a control method thereof, wherein the manipulator comprises a safety protective cover, a rubber guide block, a conical motion block, a guide bracket, a main connecting shaft and a plurality of sliding limiting blocks; the one end of safty shield is located to the rubber guide block, the stopper slides, toper motion piece and guide bracket are arranged in safty shield and are arranged in proper order, the one end of guide bracket is connected to the bottom of toper motion piece, and along safty shield's axial motion under the guide of guide bracket, the main connecting axle is connected in the other end of guide bracket, be equipped with a plurality of sharp slides on the conical surface of toper motion piece, be equipped with the slider that matches with sharp slide on the stopper that slides, be equipped with the through-hole that is used for the stopper that slides to pass through on the side of safty shield, the stopper that slides is connected with toper motion piece, and the radial motion along safty shield under the drawing of toper motion piece and the spacing of through-hole. Compared with the prior art, the unloading device has the advantages of improving unloading efficiency and the like.

Description

Unloading manipulator and control method thereof

Technical Field

The invention relates to the field of intelligent vision and cargo handling, in particular to an unloading manipulator and a control method thereof.

Background

Along with the development of the emerging industry of the internet of things, a plurality of logistics companies carry out long-time loading, unloading and scanning work on goods in the goods unloading and sorting process, and the work efficiency is low. There are many problems in complete manual unloading and sorting operation, such as unloading time, limited workload for one person to unload and sort in one day, and human being in fatigue state, error rate can be repeated, which brings unnecessary trouble to follow-up work.

In contrast, some prior arts provide an unloading robot, and then the existing robot has the disadvantages of heavy weight, failure to work for a long time, poor system stability, low precision, etc. especially, if the manipulator needs to perform reliable and stable grabbing, the manipulator has high requirements on the grabbing part of the goods, and the application range is narrow.

Disclosure of Invention

The invention aims to provide a discharging manipulator and a control method thereof.

The purpose of the invention can be realized by the following technical scheme:

an unloading manipulator comprises a safety protection cover, a rubber guide block, a conical motion block, a guide support, a main connecting shaft and a plurality of sliding limiting blocks;

the safety protection cover is columnar, the rubber guide block is arranged at one end of the safety protection cover, the sliding limiting block, the conical motion block and the guide bracket are arranged in the safety protection cover and are sequentially arranged from one end close to the rubber guide block to the other end,

the one end of guide bracket is connected to the bottom of toper motion piece to along safety protection casing's axial motion under the guide of guide bracket, the main joint axle is connected in the other end of guide bracket, be equipped with a plurality of sharp slides on the conical surface of toper motion piece, be equipped with on the slip stopper with the slider that the sharp slide matches, be equipped with the through-hole that is used for sliding the stopper and passes through on safety protection casing's the side, the slip stopper is connected with toper motion piece to at the pull of toper motion piece and the radial motion of safety protection casing is followed to the spacing of through-hole down.

The manipulator is characterized in that a metal coil is arranged on the conical motion block, the manipulator further comprises a lead, the lead is inserted into the safety protection cover, the distance between the deepest part and the axis of the safety protection cover is smaller than the radius of the metal coil, and the insertion position is within the stroke of the conical motion block.

And a guide block for supporting the side surface of the conical moving block is also arranged in the safety protection cover.

The sliding limiting block is triangular.

And the sliding block is provided with a limiting ball.

Each sliding limiting block is arranged along the circumferential direction of the safety protection cover in a rotational symmetry mode.

The safety protection cover is cylindrical.

A control method of the manipulator comprises the following steps:

step S1: identifying a void between the goods;

step S2: from the slots, a plurality of target slots are selected.

Step S3: each mechanical arm extends into a target gap, and the main connecting shaft is pushed to drive the conical moving block to be close to the rubber guide block.

The step S2 specifically includes:

step S21: acquiring stacked front pictures;

step S22: dividing goods regions and goods types through an image segmentation model and an expert model;

step S23: obtaining different gaps and sizes of the gaps according to the divided goods region model;

step S24: judging the usability of each gap based on the size of the passing gap, and screening out the available gaps;

step S25: and obtaining the optimal gap corresponding to the number of operators by an optimal gap algorithm according to the available gap, the position of the goods and the type of the goods.

The cargo region model is obtained by deep learning/neural network + expert system training, input as cargo region image information and output as different gap positions and gap sizes of the cargo region; the optimal gap algorithm is obtained by fusing experiments and mechanics principles, and is input into different gap positions, gap sizes and distribution and sizes of surrounding goods and output into an optimal gap position.

Compared with the prior art, the invention has the following beneficial effects:

1. the cylindrical mechanical arm is adopted, synchronous stretching of the sliding limiting blocks can be completed only through main connection, so that the object displacement can be limited, the reliability is high, the control is simple, and the unloading efficiency can be improved.

2. Through the design of the metal coil and the lead, when the sliding limiting block reaches a designated position, the copper sheet is connected with the copper lead, and after the controller senses the voltage/current change, whether the sliding limiting block is completely exposed outside the safety shield can be determined.

3. The existence of guide block can improve the antitorque performance of slip stopper, improves the stability of snatching, also more durable.

4. The sliding limiting block is triangular, and the sliding limiting block can move smoothly.

5. Be equipped with spacing ball on the slider, improve the cohesion of slip stopper and toper motion piece, stability when the slip stopper retracts is higher.

6. And determining the optimal gap as a target gap so as to realize cost reduction and efficiency improvement.

Drawings

FIG. 1 is a schematic view of the external structure of the present invention

FIG. 2 is a schematic view of the internal structure of the present invention;

FIG. 3 is a schematic structural diagram of a conical motion block;

FIG. 4 is a schematic structural view of a sliding stopper;

FIG. 5 is a schematic structural view of a guide bracket;

FIG. 6 is a schematic structural view of a sliding stopper assembly;

FIG. 7 is a schematic view of the arrangement of the guide blocks;

FIG. 8 is a view of the structure during the advancement of the conical motion block;

FIG. 9 is a structural view of the conical kinematic block pushed into place;

FIG. 10 is an external structural view of the conical motion block pushed into place;

FIG. 11 is a flow chart illustrating the main steps of the control method according to the present invention;

FIG. 12 is a flow chart illustrating the main steps of selecting a target gap;

wherein: 1. safety shield, 2, rubber guide block, 3, wire, 4, slip stopper, 5, toper motion piece, 6, guide bracket, 7, main connecting axle, 11, through-hole, 12, guide block, 41, slider, 42, spacing ball, 51, slide, 52, metal coil.

Detailed Description

The invention is described in detail below with reference to the figures and specific embodiments. The present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.

An unloading manipulator is shown in figures 1 and 2 and comprises a safety protection cover 1, a rubber guide block 2, a conical motion block 5, a guide bracket 6, a main connecting shaft 7 and a plurality of sliding limiting blocks 4;

the safety protection cover 1 is columnar, the rubber guide block 2 is arranged at one end of the safety protection cover 1, the sliding limiting block 4, the conical moving block 5 and the guide bracket 6 are arranged in the safety protection cover 1 and are sequentially arranged from one end close to the rubber guide block 2 to the other end,

the bottom of toper motion piece 5 is connected the one end of guide bracket 6 to along the axial motion of safety protection casing 1 under the guide of guide bracket 6, main connecting axle 7 is connected in the other end of guide bracket 6, as shown in fig. 3, be equipped with a plurality of sharp slides 51 on the conical surface of toper motion piece 5, as shown in fig. 4, be equipped with the slider 41 that matches with sharp slide 51 on the slip stopper 4, be equipped with the through-hole 11 that is used for slip stopper 4 to pass through on the side of safety protection casing 1, slip stopper 4 is connected with toper motion piece 5, and along the radial motion of safety protection casing 1 under the drawing of toper motion piece 5 and the spacing of through-hole 11.

Adopt the manipulator of column, only can accomplish the synchronous of a plurality of slip stoppers 4 through the owner is connected and stretch out to can realize restricting the object displacement, the reliability is high, and control is simple, can improve unloading efficiency.

Specifically, main connecting axle 7 is connected to 3D intelligent vision unloading robot's end, through promoting main connecting axle 7, conducts to the direction removal of toper motion piece 5 to the rubber direction, because at the effect of the inboard supporting shoe of safety protection casing 1, the axial removal along safety protection casing 1 can't be realized to slip stopper 4, consequently can only move toward the outside, stretches out through-hole 11.

As shown in fig. 3, the number of the linear slideways 51 on the conical moving block 5 is the same as that of the sliding limiting blocks 4, but may be slightly larger, so as to be suitable for more scenes.

As shown in fig. 3, the conical moving block 5 is provided with a metal coil 52, as shown in fig. 1, the manipulator further comprises a wire 3, the wire 3 is inserted into the safety protection shield 1, the distance between the deepest part and the axis of the safety protection shield 1 is less than the radius of the metal coil 52, and the inserted position is within the stroke of the conical moving block 5. Through the design of the metal coil 52 and the lead 3, when the sliding limit block 4 reaches a designated position, the copper sheet is connected with the copper lead 3, and after the controller senses the voltage/current change, whether the sliding limit block 4 is completely exposed outside the safety shield 1 can be determined.

As shown in fig. 4, the sliding stoppers 4 are triangular, and in addition, as shown in fig. 6, in this embodiment, 4 sliding stoppers 4 are adopted, and each sliding stopper 4 is arranged along the circumferential direction of the safety shield 1 in a rotationally symmetric manner. In addition, the slider 41 is provided with the limiting ball 42, so that the binding force between the sliding limiting block 4 and the conical moving block 5 is improved, and the stability when the sliding limiting block 4 retracts is higher.

As shown in fig. 5, which is a schematic structural view of the guide bracket 6, it includes two circular plates and a connecting column connecting the two circular plates, in some embodiments, in order to avoid the rotation of the guide bracket 6, a manner of adding a limiting groove and a limiting column may be adopted, wherein the limiting groove and the limiting column are parallel to the axial direction of the safety shield 1.

As shown in fig. 7, a guide block 12 for supporting the side surface of the conical motion block 5 is further disposed in the safety protection cover 1, and the existence of the guide block 12 can improve the torsion resistance of the sliding limiting block 4, improve the grabbing stability, and be more durable.

In this embodiment, the safety shield 1 is cylindrical and forms a smooth transition with the rubber guide block 2.

In this embodiment, the rubber guide block 2 is used as a part which is firstly contacted with an article, the rubber material is used as a guide head in design, so as to prevent the article from being damaged due to external force, the rear section of the rubber guide block 2 is followed by the designed sliding limit block 4, a layer of sponge is attached to the contact surfaces of the four sliding limit blocks 4 and the article, the limit blocks are initially hidden in the condom, the sliding limit blocks 4 are simultaneously connected to the slide way 51 on the tapered motion block 5, it is worth explaining that the running directions of the tapered motion block 5 and the sliding limit blocks 4 are relatively opposite, as shown in fig. 8 to fig. 10, when an external force pushes the conical moving block 5 forward, on the contrary, the sliding limiting block 4 slides on the slideway 51 in the same direction as the opposite direction, and at this time, the sliding limiting block 4 is exposed out of the condom and limits the displacement of the object. The metal coil 52 is fixed at the rear end of the conical motion block 5, when the sliding limiting block 4 reaches a specified position, the metal coil 52 is connected with the lead 3, and after the controller senses the voltage/current change, whether the sliding limiting block 4 is completely exposed outside the condom can be determined, so that the function of determining the position state of the sliding limiting block 4 at a certain moment is achieved. The main connecting shaft 7 is connected next, the main connecting shaft 7 is fixedly connected with the tail end of the 3D intelligent vision unloading robot, and after the article is limited by the sliding limiting block 4 to move, the mechanism is pulled out integrally, so that the unloading purpose is achieved.

A method for controlling the robot as described above, as shown in fig. 11, includes:

step S1: identifying a void between the goods;

step S2: selecting a plurality of target slots from the slots, as shown in fig. 12, specifically includes:

step S21: acquiring stacked front pictures;

Step S3: each manipulator extends into a target gap, and the conical moving block 5 is driven to be close to the rubber guide block 2 by pushing the main connecting shaft 7.

The goods region model is obtained by deep learning/neural network + expert system training, input as goods region image information and output as different gap positions and gap sizes of the goods region; the optimal gap algorithm is obtained by fusing experiments and mechanics principles, and is input into different gap positions, gap sizes and distribution and sizes of surrounding goods and output into an optimal gap position.

The control method can help the manipulator to quickly find a proper gap for deconstructing the stacking of the goods, so that the manipulator is more efficient and safer in unloading.

The above functions, if implemented in the form of software functional units and sold or used as a separate product, may be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

Claims

1. The unloading manipulator is characterized by comprising a safety protection cover, a rubber guide block, a conical motion block, a guide support, a main connecting shaft and a plurality of sliding limiting blocks;

2. The unloading manipulator according to claim 1, wherein the conical motion block is provided with a metal coil, the manipulator further comprises a wire, the wire is inserted into the safety shield, the deepest distance from the axis of the safety shield is less than the radius of the metal coil, and the inserted position is within the stroke of the conical motion block.

3. An unloading manipulator according to claim 1, wherein the safety shield is further provided with a guide block for supporting the side of the tapered motion block.

4. The unloading manipulator according to claim 1, wherein the slide stoppers are triangular in shape.

5. The unloading manipulator according to claim 1, wherein the slide block is provided with a limit ball.

6. The unloading manipulator according to claim 1, wherein the slide stoppers are arranged in a rotationally symmetric manner along the circumference of the safety shield.

7. An unloading manipulator according to claim 1, wherein the safety shield is cylindrical.

8. A control method of a robot hand according to any one of claims 1 to 7, comprising:

step S1: identifying a void between the goods;

step S2: from the slots, a plurality of target slots are selected.

9. The control method according to claim 8, wherein the step S2 specifically includes:

step S21: acquiring stacked front pictures;

10. The control method according to claim 8, wherein the cargo region model is inputted as cargo region image information and outputted as different void positions and void sizes of the cargo region, and the optimal void algorithm is inputted as different void positions, void sizes and distribution and sizes of surrounding cargo and outputted as an optimal void position.