CN115027962A - 3D vision guidance-based unstacking system and unstacking method thereof - Google Patents
3D vision guidance-based unstacking system and unstacking method thereof Download PDFInfo
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- CN115027962A CN115027962A CN202210489155.0A CN202210489155A CN115027962A CN 115027962 A CN115027962 A CN 115027962A CN 202210489155 A CN202210489155 A CN 202210489155A CN 115027962 A CN115027962 A CN 115027962A
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- unstacking
- image acquisition
- electric telescopic
- telescopic rod
- circular orbit
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- 238000000034 method Methods 0.000 title claims abstract description 9
- 230000007246 mechanism Effects 0.000 claims abstract description 67
- 239000000463 material Substances 0.000 claims description 61
- 230000000694 effects Effects 0.000 claims description 5
- 230000000007 visual effect Effects 0.000 claims description 5
- 210000000078 claw Anatomy 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000004568 cement Substances 0.000 description 1
- 239000003337 fertilizer Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
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Classifications
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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
- B65G59/00—De-stacking of articles
- B65G59/02—De-stacking from the top of the stack
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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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
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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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/0238—Bags
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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
- 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
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Abstract
The invention discloses a 3D vision-guided unstacking system and a unstacking method thereof, wherein the unstacking system comprises an annular track, wherein four corners of the annular track are respectively provided with a supporting leg, the annular track is fixedly connected with the ground through the supporting legs, a plurality of unstacking mechanisms are mounted on the annular track, each unstacking mechanism consists of a track trolley, an electric telescopic rod and a mechanical claw, and the track trolley is mounted on the annular track and can move along the annular track; according to the invention, the annular rail is constructed, and the plurality of unstacking mechanisms are arranged on the annular rail, so that the problem of reduction of the working efficiency caused by the fact that the plurality of unstacking mechanisms need to wait for running each other due to a non-closed rail can be avoided while the unstacking efficiency is increased.
Description
Technical Field
The invention relates to the technical field of unstacking devices, in particular to a 3D vision guidance-based unstacking system and a unstacking method thereof.
Background
In the production fields of grains, chemical fertilizers, cement and the like, bagged goods are commonly adopted as packaging forms. Bagged goods are typically stacked in stacks on pallets for convenient storage and transport. When the bagged goods are transported to the circulation or outside, the manual unstacking operation is generally adopted. The mode has the advantages of high labor intensity, low efficiency and high labor cost.
Disclosure of Invention
The invention aims to provide a 3D vision guidance-based unstacking system and a unstacking method thereof, which aim to solve the problems in the prior art.
In order to achieve the purpose, the invention provides the following technical scheme: a destacking system based on 3D visual guidance comprises an annular track, wherein each of four corners of the annular track is provided with a supporting leg, the annular track is fixedly connected with the ground through the supporting legs, a plurality of destacking mechanisms are mounted on the annular track and consist of a small rail car, an electric telescopic rod and a mechanical claw, the small rail car is mounted on the annular track and can move along the annular track, an electric push rod is fixed at the bottom of the small rail car, the telescopic end of the electric push rod is downward vertically arranged, the mechanical claw is mounted at the bottom of the electric push rod, a first image acquisition mechanism is further mounted on the destacking mechanism, a plurality of conveying belts are arranged on one side of the bottom of the annular track side by side, a material table is arranged at the bottom of the other side of the destacking mechanism, a second image acquisition mechanism is mounted on the other side of the destacking mechanism, the unstacking mechanism, the first image acquisition mechanism and the second image acquisition mechanism are all electrically connected with the control host.
Preferably, the material platform comprises material platform main part, linking arm and revolving stage, material platform main part sets up to three and uses the revolving stage to distribute as the equidistant circumference in center, and material platform main part passes through linking arm and revolving stage fixed connection.
Preferably, the inside of revolving stage is provided with the servo motor who is used for driving material platform main part around the revolving stage is rotatory.
Preferably, the material platform main part comprises bottom plate, electric telescopic handle and material backup pad, universal gyro wheel is evenly installed to the bottom of bottom plate, electric telescopic handle vertical fixation is on the top surface of bottom plate, the material backup pad is fixed in electric telescopic handle's top.
Preferably, the second image acquisition mechanism comprises a camera mounting rack and a camera, one end of the camera mounting rack is fixedly connected with the annular track, and the other end of the camera mounting rack is used for fixing the camera.
A3D vision guidance-based unstacking system and a unstacking method thereof comprise the following steps:
s1: the material table main body consists of a bottom plate, an electric telescopic rod and a material supporting plate, the electric telescopic rod has a lifting effect on the material supporting plate, and after the upper layer of materials are conveyed by the unstacking mechanism, the goods can be lifted by lifting the material supporting plate;
s2: the vision of a working site is acquired through a first image acquisition mechanism arranged on the unstacking mechanism and a second image acquisition mechanism arranged on the annular track;
s3: through a plurality of mechanisms of breaking a jam that set up on the circular orbit, realize breaking a jam, the goods snatchs and put in the goods and provide accurate guidance.
Compared with the prior art, the invention has the beneficial effects that: the 3D vision of a working site is acquired through the first image acquisition mechanism arranged on the unstacking mechanism and the second image acquisition mechanism arranged on the annular track, so that accurate guidance is provided for unstacking, goods grabbing and goods throwing of the unstacking mechanism;
the material table consists of three material table main bodies which can be alternated, and the waiting time for transferring goods can be reduced in a mode that the material table main bodies alternately run, so that the working efficiency of unstacking is improved;
the material table main body comprises the bottom plate, the electric telescopic rod and the material supporting plate, the electric telescopic rod has a lifting effect on the material supporting plate, and after materials on the upper layer are conveyed by the unstacking mechanism, the goods can be lifted by lifting the material supporting plate, so that the stroke distance of the unstacking mechanism when the goods are grabbed is reduced, and the unstacking working efficiency is improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic view of the overall top view of the present invention;
fig. 2 is a schematic view of the overall front structure of the present invention.
In the figure: 1. an annular track; 2. supporting legs; 3. a destacking mechanism; 4. a first image acquisition mechanism; 5. a conveyor belt; 6. a second image acquisition mechanism; 7. a camera mounting bracket; 8. a camera; 9. a material table; 10. a material table main body; 11. a connecting arm; 12. a rotating table; 13. a rail trolley; 14. an electric telescopic rod; 15. a gripper; 16. a base plate; 17. an electric telescopic rod; 18. and a material supporting plate.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings of the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without inventive efforts based on the embodiments of the present invention, are within the scope of protection of the present invention.
Referring to fig. 1-2, in the embodiment of the present invention, a destacking system based on 3D visual guidance includes an annular track 1, each of four corners of the annular track 1 is provided with a support leg 2, the annular track 1 is fixedly connected to the ground through the support leg 2, the annular track 1 is provided with a plurality of destacking mechanisms 3, each destacking mechanism 3 is composed of a small rail car 13, an electric telescopic rod 14 and a gripper 15, the small rail car 13 is mounted on the annular track 1 and can move along the annular track 1, the electric push rod 14 is fixed at the bottom of the small rail car 13, the telescopic end of the electric push rod 14 is vertically downward, the gripper 15 is mounted at the bottom of the electric push rod 14, the destacking mechanism 3 is further provided with a first image acquiring mechanism 4, one side of the bottom of the annular track 1 is provided with a plurality of conveyor belts 5 side by side, the bottom at the other side of the destacking mechanism 3 is provided with a material table 9, and a second image acquisition mechanism 6 is installed on the other side of the unstacking mechanism 3, and the unstacking mechanism 3, the first image acquisition mechanism 4 and the second image acquisition mechanism 6 are all electrically connected with the control host.
The material platform 9 is composed of a material platform main body 10, a connecting arm 11 and a rotating platform 12, the material platform main body 10 is arranged to be three and distributed on the periphery with the rotating platform 12 as the center at equal intervals, and the material platform main body 10 is fixedly connected with the rotating platform 12 through the connecting arm 11.
The rotary table 12 is provided therein with a servo motor for driving the material table main body 10 to rotate around the rotary table 12.
The material table main body 10 comprises a bottom plate 16, an electric telescopic rod 17 and a material supporting plate 18, universal rollers are uniformly installed at the bottom of the bottom plate 16, the electric telescopic rod 17 is vertically fixed on the top surface of the bottom plate 16, and the material supporting plate 18 is fixed at the top of the electric telescopic rod 17.
The second image acquisition mechanism 6 comprises a camera mounting rack 7 and a camera 8, one end of the camera mounting rack 7 is fixedly connected with the annular track 1, and the other end of the camera mounting rack 7 is used for fixing the camera 8.
A3D vision guidance based unstacking system and a unstacking method thereof comprise the following steps:
s1: the material table main body 10 consists of a bottom plate 16, an electric telescopic rod 17 and a material supporting plate 18, the electric telescopic rod 17 has a lifting effect on the material supporting plate 18, and after the upper layer of materials are conveyed by the unstacking mechanism 3, the goods can be lifted by lifting the material supporting plate 18;
s2: acquiring 3D vision of a work site through a first image acquisition mechanism 4 arranged on the unstacking mechanism 3 and a second image acquisition mechanism 6 arranged on the circular track 1;
s3: through a plurality of mechanisms 3 of breaking a jam that set up on the circular orbit 1, realize breaking a jam, the goods snatchs and put in the goods and provide accurate guidance.
The working principle of the invention is as follows: the 3D vision of a working site is obtained through the first image acquisition mechanism 4 arranged on the unstacking mechanism 3 and the second image acquisition mechanism 6 arranged on the annular track 1, so that accurate guidance is provided for unstacking, goods grabbing and goods throwing of the unstacking mechanism 3;
the material table 9 consists of three material table main bodies 10 which can be alternated, and the waiting time for transferring goods can be reduced in a mode that the material table main bodies 10 alternately run, so that the working efficiency of unstacking is improved;
the material table main body 10 comprises a bottom plate 16, an electric telescopic rod 17 and a material supporting plate 18, wherein the electric telescopic rod 17 has a lifting effect on the material supporting plate 18, and after materials on the upper layer are conveyed by the unstacking mechanism 3, the goods can be lifted by lifting the material supporting plate 18, so that the stroke distance of the unstacking mechanism 3 when grabbing the goods is reduced, and the unstacking working efficiency is improved.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. A unstacking system based on 3D visual guidance comprises an annular track (1), and is characterized in that: the utility model discloses an image unstacking machine, including circular orbit (1), unstacking mechanism, electric push rod (14), gripper (15), ring rail (1), supporting leg (2) are respectively provided with at four corners of circular orbit (1), circular orbit (1) passes through supporting leg (2) and ground fixed connection, install a plurality of unstacking mechanisms (3) on circular orbit (1), unstacking mechanism (3) comprises trolley (13), electric telescopic rod (14) and gripper (15), trolley (13) is installed on circular orbit (1) and can be removed along circular orbit (1), electric push rod (14) are fixed in the bottom of trolley (13), and electric push rod's (14) flexible end is vertical downwards, gripper (15) are installed in the bottom of electric push rod (14), still install first image acquisition mechanism (4) on unstacking mechanism (3), bottom one side of circular orbit (1) is provided with a plurality of conveyer belts (5) side by side, the utility model discloses a control system, including mechanism for unstacking (3), the opposite side bottom of mechanism for unstacking (3) is provided with material platform (9), second image acquisition mechanism (6) are installed to the opposite side on the mechanism for unstacking (3), first image acquisition mechanism (4) and second image acquisition mechanism (6) all with main control system electric connection.
2. A 3D vision guidance based unstacking system according to claim 1 wherein: material platform (9) comprises material platform main part (10), linking arm (11) and revolving stage (12), material platform main part (10) set up to three and use revolving stage (12) to distribute as the equidistant circumference in center, and material platform main part (10) are through linking arm (11) and revolving stage (12) fixed connection.
3. A 3D vision guidance based unstacking system according to claim 2 wherein: the interior of the rotating platform (12) is provided with a servo motor for driving the material platform main body (10) to rotate around the rotating platform (12).
4. A 3D vision guidance based unstacking system according to claim 2 or 3 wherein: the material table main body (10) is composed of a bottom plate (16), an electric telescopic rod (17) and a material supporting plate (18), universal rollers are evenly installed at the bottom of the bottom plate (16), the electric telescopic rod (17) is vertically fixed on the top surface of the bottom plate (16), and the material supporting plate (18) is fixed at the top of the electric telescopic rod (17).
5. A 3D vision guidance based unstacking system according to claim 1 wherein: the second image acquisition mechanism (6) is composed of a camera mounting rack (7) and a camera (8).
6. A3D visual guidance-based unstacking system according to claim 5 wherein: one end of the camera mounting frame (7) is fixedly connected with the annular track (1), and the other end of the camera mounting frame (7) is used for fixing the camera (8).
7. The 3D vision guidance based unstacking system and the unstacking method thereof as recited in claim 1, wherein the unstacking system comprises: the method comprises the following steps:
s1: the material table main body (10) consists of a bottom plate (16), an electric telescopic rod (17) and a material supporting plate (18), the electric telescopic rod (17) has a lifting effect on the material supporting plate (18), and after the upper layer of materials are conveyed by the unstacking mechanism (3), the goods can be lifted by lifting the material supporting plate (18);
s2: acquiring 3D vision of a work site through a first image acquisition mechanism (4) arranged on the unstacking mechanism (3) and a second image acquisition mechanism (6) arranged on the circular track (1);
s3: through a plurality of mechanisms of breaking a jam (3) that set up on circular orbit (1), realize breaking a jam, the goods snatchs and put in the goods and provide accurate guidance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210489155.0A CN115027962A (en) | 2022-05-07 | 2022-05-07 | 3D vision guidance-based unstacking system and unstacking method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210489155.0A CN115027962A (en) | 2022-05-07 | 2022-05-07 | 3D vision guidance-based unstacking system and unstacking method thereof |
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| Publication Number | Publication Date |
|---|---|
| CN115027962A true CN115027962A (en) | 2022-09-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210489155.0A Withdrawn CN115027962A (en) | 2022-05-07 | 2022-05-07 | 3D vision guidance-based unstacking system and unstacking method thereof |
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| CN (1) | CN115027962A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117645162A (en) * | 2024-01-29 | 2024-03-05 | 山东澳兴绝缘材料有限公司 | Steel plate and material sheet separating device |
-
2022
- 2022-05-07 CN CN202210489155.0A patent/CN115027962A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117645162A (en) * | 2024-01-29 | 2024-03-05 | 山东澳兴绝缘材料有限公司 | Steel plate and material sheet separating device |
| CN117645162B (en) * | 2024-01-29 | 2024-04-12 | 山东澳兴绝缘材料有限公司 | Steel plate and material sheet separating device |
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Application publication date: 20220909 |