CN115609620A - Robot system of unloading - Google Patents
Robot system of unloading Download PDFInfo
- Publication number
- CN115609620A CN115609620A CN202211307582.9A CN202211307582A CN115609620A CN 115609620 A CN115609620 A CN 115609620A CN 202211307582 A CN202211307582 A CN 202211307582A CN 115609620 A CN115609620 A CN 115609620A
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- Prior art keywords
- clamping jaw
- ground rail
- guide rail
- mechanical arm
- driving motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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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
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a robot unloading system which comprises a mechanical arm, a sucker anti-falling clamping jaw, a 3D vision system, a ground rail and a system controller, wherein the mechanical arm is arranged on the ground rail and can move back and forth along the ground rail, the sucker anti-falling clamping jaw is arranged at the tail end of the mechanical arm, the 3D vision system is arranged above the mechanical arm and the ground rail, a material unstacking field and a material stacking field are respectively arranged at two sides of the mechanical arm, and the system controller is respectively connected with the mechanical arm, the sucker anti-falling clamping jaw, the 3D vision system and the ground rail. The invention realizes the unordered sorting and intelligent stacking of building construction materials, and the whole process is automatic, and the operation has high efficiency; the all-weather operation can be carried out, and the whole occupied area is small; the working range is large.
Description
Technical Field
The invention relates to the technical field of construction robots, in particular to a robot unloading system.
Background
At present, with the development of the building line towards the direction of automation, no humanization and intellectualization, the application of the building robot is gradually increased. A plurality of materials such as building blocks, bagged putty, floor tiles, sandbags and the like exist in a building construction site, the carrying and unloading of the materials are basically completed by manpower, and the problems of low carrying efficiency, high loss rate, low safety and the like exist.
This patent invents a robot system of unordered letter sorting of construction material and intelligent pile up neatly, and this robot system has following several advantages: 1. the invention can realize the unordered sorting and intelligent stacking of building construction materials, realizes the automatic operation in the whole process and has high operation efficiency. 2. The sucker type anti-falling clamping jaw used by the invention can be adaptive to the shape and size of building construction materials, is stable in grabbing, is not easy to fall off, and has large grabbing weight. 3. The disordered sorting and intelligent stacking robot provided by the invention has a large operation range, can move back and forth on a ground rail, and in addition, the 3D vision system can move in the length and height directions at the same time, so that the detection visual field is wide, and the whole operation area is large.
The disordered sorting and intelligent stacking robot system provided by the invention can work in all weather, the material storage yard and the material rack are respectively positioned at two sides of the robot, the grabbing and stacking speed is high, and the whole occupied area is small.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a robot unloading system aiming at the defects in the prior art, so that the unordered sorting and intelligent stacking of building construction materials are realized, the whole process is automatic, and the operation efficiency is high; the all-weather operation can be realized, and the whole floor area is small; the working range is large.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the utility model provides a robot system of unloading, prevent falling clamping jaw, 3D visual system, ground rail and system controller including arm, sucking disc, the arm sets up on the ground rail, can follow ground rail round trip movement, the sucking disc prevents falling the clamping jaw and sets up in the end of arm, 3D visual system arranges in the top of arm and ground rail, the both sides of arm are material pile up neatly place and material pile up neatly place respectively, the system controller prevents falling clamping jaw, 3D visual system and ground rail with arm, sucking disc respectively and is connected.
According to the technical scheme, the 3D vision system comprises two movable 3D vision detection systems which are respectively arranged above the material unstacking field and the material stacking field.
According to the technical scheme, the clamping jaw is prevented falling by the sucking disc includes the clamping jaw frame, and set up telescopic cylinder and revolving cylinder in the clamping jaw frame, vacuum chuck has been arranged in the clamping jaw frame, clamping jaw frame both ends are equipped with left side baffle and right side baffle respectively, the upper end of left side baffle is connected fixedly with the left end of clamping jaw frame, the lower extreme of left side baffle articulates there is the left side board of colluding, telescopic cylinder's flexible end is connected with the lateral surface of left side board of colluding, telescopic cylinder drives the left side board of colluding and rotates around the pin joint, be connected with the arc pole between revolving cylinder and the right side baffle.
According to the technical scheme, the clamping jaw frame comprises a connecting flange, a sucker mounting plate and a profile framework, the mounting plate and the connecting flange are sequentially and fixedly arranged on the upper surface of the sucker mounting plate, the profile framework is integrally and fixedly arranged on the lower surface of the sucker mounting plate, and the vacuum sucker is arranged on the profile framework.
According to the technical scheme, the lower surface of the clamping jaw frame is provided with the pressing plate, and the vacuum suction cups are arranged on two sides of the pressing plate.
According to the technical scheme, the displacement sensor is arranged on the left baffle or the clamping jaw rack.
According to the technical scheme, one end of the ground rail is connected with a ground rail driving motor, the ground rail is provided with an installation base, the mechanical arm is arranged on the installation base, and the ground rail driving motor drives the installation base to move back and forth;
the ground rail driving motor is connected with the mounting base through a screw rod or a synchronous belt.
According to the technical scheme, the mobile 3D vision detection system comprises a transverse moving mechanism, a vertical moving mechanism and a 3D camera, wherein the vertical moving mechanism is arranged on the transverse moving mechanism, and the 3D camera is arranged on the vertical moving mechanism.
According to the technical scheme, the transverse moving mechanism comprises a driving motor, a first guide rail and a second sliding seat, the second sliding seat is arranged on the first guide rail, the driving motor is arranged at one end of the first guide rail and is connected with the second sliding seat through a synchronous belt, the driving motor drives the second sliding seat to move back and forth along the first guide rail through the synchronous belt, and the vertical moving mechanism is arranged on the second sliding seat;
the vertical moving mechanism comprises a second guide rail and a first sliding seat, the second guide rail is vertically arranged on the second sliding seat, the first sliding seat is arranged on the second guide rail, a screw rod is arranged on the second guide rail, the first sliding seat is connected with the screw rod through a nut, the screw rod is connected with a vertical driving motor, the 3D camera is arranged on the first sliding seat, and the vertical driving motor drives the first sliding seat and the 3D camera on the first sliding seat to move up and down along the second guide rail through the screw rod.
A discharging method adopting the robot discharging system comprises the following steps:
s1, after the building construction materials are transported to a material unstacking field, a system controller simultaneously sends instructions to a movable 3D visual detection system at the unstacking side and a movable 3D visual detection system at the stacking side;
s2, the movable 3D visual detection systems on the two sides move along the guide rail in the length direction and the height direction, material information of the unstacking field and material rack information of the stacking field are continuously scanned, and then the obtained characteristics and positions of the materials on the whole field are sent to a system controller;
s3, the system controller sends an instruction to the six mechanical arms, and all joints of the mechanical arms and the ground rail synchronously move to enable the tail end sucking disc anti-falling clamping jaws of the mechanical arms to be positioned above the materials on the unstacking site side;
s4, the sucker anti-falling clamping jaw begins to grab materials, after grabbing is completed, all joints of the mechanical arm and the ground rail begin to move, the grabbed materials are sent to corresponding positions on the stacking field material rack, and the sucker anti-falling clamping jaw places the materials on the material rack.
S5, repeating the circulation of the step 3 to the step 4 until the whole layer of workpieces is completely grabbed, scanning the whole body after the single-layer grabbing is finished, and carrying out next layer of building block identification grabbing until the whole stack of materials is completely sorted;
and S6, starting the unstacking and stacking circulation of the next whole stack of materials.
The invention has the following beneficial effects:
1. the invention can realize the unordered sorting and intelligent stacking of building construction materials, realizes the automatic operation in the whole process and has high operation efficiency; the unordered sorting and intelligent stacking robot system can work in all weather, the material storage yard and the material rack are respectively positioned on two sides of the robot, the grabbing and stacking speed is high, and the overall occupied area is small; the disordered sorting and intelligent stacking robot provided by the invention has a large operation range, can move back and forth on a ground rail, and in addition, the 3D vision system can move in the length and height directions simultaneously, so that the detection visual field is wide, and the whole operation area is large.
2. The sucker type anti-falling clamping jaw used by the invention can be adaptive to the shape and size of building construction materials, is stable in grabbing, is not easy to fall off, and has large grabbing weight.
Drawings
FIG. 1 is a perspective view of a robotic discharge system in an embodiment of the present invention;
FIG. 2 is a left side axial view of a drop-resistant jaw in an embodiment of the present invention;
FIG. 3 is a right side axial view of a drop-resistant jaw in an embodiment of the present invention;
FIG. 4 is a view from the direction A of FIG. 3;
FIG. 5 is a schematic diagram of a mobile 3D vision inspection system according to an embodiment of the present invention;
FIG. 6 is a schematic view of a robotic arm mounted on a ground rail in an embodiment of the invention;
FIG. 7 is a 3D camera based unstacking and palletizing schematic of a robotic discharge system in an embodiment of the present invention;
in the figure, 1-mobile 3D vision detection system, 2-mechanical arm, 3-drop-proof clamping jaw, 4-yard material, 5-AGV transport vehicle, 6-material rack, 7-ground rail, 9-film structure shed, 10-connecting flange, 11-vacuum generator, 12-left large baffle, 13-standard cylinder, 14-displacement sensor, 15-hinge, 16-left hook plate, 17-mounting plate, 18-right baffle, 19-rotating cylinder, 20-flange connecting plate, 21-sucking disc mounting plate, 22-section bar framework, 23-vacuum sucking disc, 24-pressing plate, 25-driving motor, 26-first guide rail, 27-3D camera, 28-second guide rail, 29-lead screw, 30-first slide carriage, 31-second slide carriage, 32-synchronous belt, 33-ground cable, 34-mounting base and 35-ground rail driving motor.
Detailed Description
The present invention will be described in detail below with reference to the drawings and examples.
Referring to fig. 1 to 7, the robot unloading system in one embodiment of the present invention includes a mechanical arm 2, a suction cup anti-drop clamping jaw, a 3D vision system, a ground rail 7 and a system controller, the mechanical arm 2 is disposed on the ground rail 7 and can move back and forth along the ground rail 7, the suction cup anti-drop clamping jaw is disposed at a tail end of the mechanical arm 2, the 3D vision system is disposed above the mechanical arm 2 and the ground rail 7, a material unstacking place and a material stacking place are respectively disposed on two sides of the mechanical arm 2, and the system controller is respectively connected to the mechanical arm 2, the suction cup anti-drop clamping jaw, the 3D vision system and the ground rail 7.
Further, the 3D vision system comprises two movable 3D vision detection systems 1 which are respectively arranged above the material unstacking field and the material stacking field; the 3D vision detection system of the material unstacking field is used for detecting the condition of the materials 4 in the storage yard, and facilitates the sorting and grabbing operation of the six-axis mechanical arm 2 and the sucker anti-falling type clamping jaw 3; the 3D visual inspection system in material pile up neatly place is used for detecting the condition of work or material rest, makes things convenient for six arms 2 and sucking disc to prevent falling formula clamping jaw 3 and carries out the pile up neatly operation.
Furthermore, the chuck anti-falling clamping jaw comprises a clamping jaw rack, and a telescopic cylinder and a rotary cylinder 19 which are arranged on the clamping jaw rack, wherein a vacuum chuck 23 is arranged on the clamping jaw rack, a left baffle and a right baffle 18 are respectively arranged at two ends of the clamping jaw rack, the upper end of the left baffle is fixedly connected with the left end of the clamping jaw rack, the lower end of the left baffle is hinged with a left hook plate 16, the telescopic cylinder is fixedly arranged on the left baffle, the telescopic end of the telescopic cylinder is connected with the outer side surface of the left hook plate 16, the telescopic cylinder drives the left hook plate 16 to rotate around a hinged point, and an arc-shaped rod is connected between the rotary cylinder 19 and the right baffle 18; when the material is prevented from falling off from the clamping jaw, the rotary cylinder 19 drives the right baffle 18 to vertically rotate inwards, the left baffle and the right baffle 18 clamp the material from two sides, and the telescopic cylinder drives the left hook plate 16 to hook the material from the bottom when the material is clamped, so that the material is prevented from falling off.
Further, the area of the left baffle is larger than the area of the right baffle 18.
Further, a left side hook plate 16 is hinged with the left side baffle plate through a hinge 15.
Further, the mechanical arm 2 is a six-axis mechanical arm; the vacuum chuck 23 is connected with a vacuum generator 11, and the vacuum generator 11 is arranged on the clamping jaw rack.
Further, the telescopic cylinder is a standard cylinder 13.
Further, the clamping jaw frame includes flange 10, sucking disc mounting panel 21, section bar skeleton 22, and mounting panel 17 and flange 10 have set firmly in proper order to the upper surface of sucking disc mounting panel 21, and section bar skeleton 22 wholly sets firmly in the lower surface of sucking disc mounting panel 21, and vacuum chuck 23 arranges on section bar skeleton 22.
Further, the lower surface of the gripper frame is provided with a pressing plate 24, and the vacuum suction cups 23 are arranged on two sides of the pressing plate 24.
Furthermore, the number of the pressing plates 24 is two, and the pressing plates are symmetrically arranged on the section bar framework 22 on the lower surface of the clamping jaw frame.
Furthermore, the suction cup type anti-drop clamping jaw mainly comprises a connecting flange 10, a vacuum generator 11, a left large baffle 12, a standard cylinder 13, a displacement sensor 14, a hinge 15, a left hook plate 16, a mounting plate 17, a right baffle 18, a rotating cylinder 19, a flange connecting plate 20, a suction cup mounting plate 21, a profile framework 22, a vacuum suction cup 23, a pressing plate 24 and the like. Wherein vacuum generator 11 connects on sucking disc mounting panel 21, and the big baffle 12 upper end in left side links to each other with sucking disc mounting panel 21, and the lower extreme links to each other with the left side board of colluding through the hinge, and standard cylinder 13 is fixed on big baffle 12 in left side, and the drive end links to each other with the left side board of colluding. The rotary cylinder is fixed to a mounting plate, and the mounting plate and the connecting flange 10 are fixed to the upper surface of the suction cup mounting plate 21. The pressing plate 24 and the vacuum suction cups are fixed on the section bar framework which is uniformly distributed, and the section bar framework is integrally connected to the lower surface of the suction cup mounting plate 21.
Further, a displacement sensor 14 is arranged on the left baffle plate or the clamping jaw frame.
Further, the number of the displacement sensors 14 is 3; the 3 displacement sensors 14 are distributed in a 3-angle shape, and the surface of the grabbed material can be determined through the 3 displacement sensors 14.
After the suction disc type anti-falling clamping jaw is conveyed to a corresponding position of a building construction material in a material unstacking place by a six-axis mechanical arm, three displacement sensors 14 detect the distance between the building construction material and a left large baffle 12, a standard cylinder 13 pulls a hinge to open a left hook plate, a right rotary cylinder drives a right baffle 18 to open, under the assistance of the displacement sensors 14, the anti-falling clamping jaw 3 moves towards the direction of the building construction material, a pressing plate 24 can be used for placing the material to move, after the anti-falling clamping jaw 3 moves to a proper position, a vacuum generator drives the vacuum chuck to generate vacuum suction to suck the material, the standard cylinder 13 pulls the hinge to close the left hook plate, the hook material is prevented from falling in a transferring process, meanwhile, the right rotary cylinder drives the right baffle 18 to move to clamp the material, and the material grabbing in the unstacking process is completed.
Further, ground rail 7 one end is connected with ground rail driving motor 35, is equipped with installation base 34 on the ground rail 7, and arm 2 sets up on installation base 34, and ground rail driving motor 35 drives installation base 34 round trip movement.
Further, a ground rail driving motor 35 is connected to the mounting base 34 through a lead screw or a timing belt.
The screw rod is arranged along the length direction of the ground rail 7, one end of the screw rod is connected with a ground rail driving motor 35, a nut is sleeved on the screw rod, and the mounting base 34 is connected with the nut; the ground rail driving motor 35 drives the mounting base 34 to move back and forth along the ground rail through a screw rod.
Two ends of the ground rail are provided with synchronous belt wheels, the two synchronous belt wheels are connected through a synchronous belt, and one synchronous belt wheel is connected with a ground rail driving motor 35.
Further, a floor cable 33 is connected to the mounting base 34.
Further, the 3D vision system includes a lateral movement mechanism, a vertical movement mechanism, and a 3D camera 27, the vertical movement mechanism is disposed on the lateral movement mechanism, and the 3D camera 27 is disposed on the vertical movement mechanism.
Further, the transverse moving mechanism comprises a driving motor 25, a first guide rail 26 and a second sliding seat 31, the second sliding seat 31 is arranged on the first guide rail 26, the driving motor 25 is arranged at one end of the first guide rail 26 and is connected with the second sliding seat 31 through a synchronous belt, the driving motor drives the second sliding seat 31 to move back and forth along the first guide rail through the synchronous belt, and the vertical moving mechanism is arranged on the second sliding seat 31;
the vertical moving mechanism comprises a second guide rail 28 and a first sliding seat 30, the second guide rail 28 is vertically arranged on a second sliding seat 31, the first sliding seat 30 is arranged on the second guide rail 28, a screw rod is arranged on the second guide rail 28, the first sliding seat 30 is connected with the screw rod through a nut, the screw rod is connected with a vertical driving motor, the 3D camera 27 is arranged on the first sliding seat 30, and the vertical driving motor drives the first sliding seat 30 and the 3D camera 27 on the first sliding seat to move up and down along the second guide rail 28 through the screw rod.
A discharging method adopting the robot discharging system comprises the following steps:
s1, after the building construction materials are transported to a material unstacking place, a system controller simultaneously sends instructions to a movable 3D vision detecting system 1 on the unstacking side and a movable 3D vision detecting system 1 on the stacking side;
s2, the mobile 3D visual detection systems 1 on the two sides start to move in the length direction and the height direction along the guide rails under the driving of respective motors, continuously scan material information of the unstacking field and material rack information of the stacking field, and then send the obtained characteristics and positions of the materials on the whole field to a central processing unit of a system controller;
s3, a central processing unit of the system controller sends an instruction to the six-axis mechanical arm 2, and all joints of the mechanical arm 2 and a ground rail move synchronously, so that the tail end sucking disc anti-falling clamping jaw 3 of the mechanical arm 2 is positioned above the material on the unstacking site side;
s4, the sucker anti-falling type clamping jaw 3 begins to grab materials, after grabbing is completed, all joints of the six mechanical arms and the ground rail begin to move, the grabbed materials are sent to corresponding positions on a stacking field material rack, and the sucker anti-falling type clamping jaw 3 places the materials on the material rack.
S5, repeating the circulation from the step 3 to the step 4 until the whole layer of workpieces is completely grabbed, scanning the whole body after single-layer grabbing is finished (see the step 2), and carrying out next layer of building block identification grabbing until the whole stack of materials is completely sorted;
and S6, starting the unstacking and stacking circulation of the next whole stack of materials.
The working principle of the invention is as follows: the utility model provides a unordered letter sorting and intelligent pile up neatly machine people system based on movable 3D visual system which characterized in that: the automatic material unstacking machine is composed of six mechanical arms, a sucker anti-falling clamping jaw, a 3D vision system, a ground rail, a material unstacking place, a material stacking place, a shielding shed and the like. The six-axis mechanical arm is connected with the mounting base 34 through screws, the mounting base 34 is connected with the ground rail, and the six-axis mechanical arm can move along the direction of the ground dragging cable 33 under the driving of a ground rail driving motor 35; the tail end of the six-axis mechanical arm is connected with a sucker anti-falling clamping jaw 3; the thin film structure shed 9 provides shielding for the whole system, and the movable 3D vision system is arranged on the thin film structure shed 9; the mobile 3D vision system consists of two parts, one part is a 3D vision detection system of a material unstacking field and is used for detecting the condition of materials 4 in a storage yard, and the six-axis robot and the sucker anti-falling clamping jaw 3 can conveniently perform sorting and grabbing operation; the other part is a 3D vision detection system of a material stacking field, and is used for detecting the condition of a material rack, so that the six-axis robot and the sucker anti-falling clamping jaw 3 can conveniently perform stacking operation. The ground rail is fixed subaerial, and one side of ground rail is the material yard of breaking a jam for deposit the construction material, and the opposite side is the material pile up neatly place, is used for depositing the work or material rest, makes things convenient for AGV transport vechicle 5 to advance and transport the material.
The suction cup type anti-falling clamping jaw mainly comprises a connecting flange 10, a vacuum generator, a left large baffle 12, a standard cylinder 13, a displacement sensor 14, a hinge, a left hook plate, a mounting plate, a right baffle 18, a rotary cylinder, a flange connecting plate 20, a suction cup mounting plate 21, a profile framework, a vacuum suction cup, a pressing plate 24 and the like. Wherein vacuum generator connects on sucking disc mounting panel 21, and the big baffle 12 upper end in left side is linked together with sucking disc mounting panel 21, and the lower extreme colludes the board through the hinge and links to each other with the left side, and standard cylinder 13 is fixed on big baffle 12 in left side, and the drive end colludes the board with the left side and links to each other. The rotary cylinder is fixed on a mounting plate, and the mounting plate and the connecting flange 10 are fixed on the upper surface of the suction cup mounting plate 21. The pressing plate 24 and the vacuum suction cups are fixed on the section bar framework which is uniformly distributed, and the section bar framework is integrally connected with the lower surface of the suction cup mounting plate 21.
After the six-axis mechanical arm sends the sucking disc type anti-falling clamping jaw to the building construction material corresponding position of the material unstacking place, three displacement sensors 14 detect the distance between the building construction material and a left large baffle 12, a standard cylinder 13 pulls a hinge to open a left hook plate, a right rotary cylinder drives a right baffle 18 to open, under the assistance of the displacement sensors 14, the anti-falling clamping jaw 3 moves towards the building construction material, a pressing plate 24 can be used for placing the material to move, after the anti-falling clamping jaw 3 moves to a proper position, a vacuum generator drives a vacuum chuck to generate vacuum suction to suck the material, the standard cylinder 13 pulls the hinge to enable the left hook plate to be closed, the hook material is prevented from falling in the transferring process, meanwhile, the right rotary cylinder drives the right baffle 18 to move to clamp the material, and the material grabbing in the unstacking process is completed.
After the six-axis mechanical arm moves the building construction material to the material frame 6 top in material pile up neatly place, the revolving cylinder on right side drives right side baffle 18 and outwards moves, and meanwhile, left standard cylinder 13 pulling hinge makes left collude board and outwards moves, reduces the clamp force of both sides to the material. And then the vacuum tube generator unloads the vacuum environment in the vacuum sucker, so that the suction force on the materials disappears, the materials are loosened, and the grabbing of the materials in the unstacking process is completed.
The ground rail comprises a ground dragging cable 33, a mounting base 34, a ground rail driving motor 35 and the like, wherein the mounting base 34 is connected with the ground rail, the ground rail driving motor 35 can drive the ground rail and the mounting base 34 to move along the rail direction, and the mounting base 34 is connected with a six-axis mechanical arm to form a robot with seven degrees of freedom.
The mobile 3D visual detection system 1 is connected to a two-degree-of-freedom guide rail and comprises a driving motor, the guide rail 1, a 3D camera 27, a guide rail 2, a lead screw 29, a sliding seat 1, a sliding seat 2, a synchronous belt and the like. The device can move along the moving direction of the ground rail and can also move along the vertical direction, and the identification range of the 3D visual detection system can be effectively enlarged. Wherein slide 1 connects on guide rail 1, drives slide 1 through driving motor and hold-in range and moves along guide rail 1, and slide 2 is even on guide rail 2, and 3D camera 27 is even on slide 2, drives slide 2 and 3D camera 27 through lead screw 29 and moves on guide rail 2. By moving on the guide rail with two degrees of freedom, the 3D vision detection system can identify the real-time states of the material unstacking field and the material stacking field.
Acquiring 3D point cloud information of the entire battlefield by moving the 3D camera 27 on the guide rail; denoising and splicing the obtained 3D point cloud to obtain complete stack field 3D information; mapping the obtained 3D point cloud into a 2D point cloud to obtain a contour map of the top plane of the stack field; according to the 2D information, acquiring the shape characteristics of the materials in the stack yard, and identifying and initially determining the materials; converting the 2D point cloud into a 3D point cloud again, and accurately positioning the material; after the materials are identified and positioned, the mechanical arm and the tail end gripper are guided to realize gripping.
The above is only a preferred embodiment of the present invention, and certainly, the scope of the present invention should not be limited thereby, and therefore, the present invention is not limited by the scope of the claims.
Claims (10)
1. The utility model provides a robot system of unloading, a serial communication port, including arm, sucking disc anti-drop clamping jaw, 3D visual system, ground rail and system controller, the arm sets up on the ground rail, can follow ground rail round trip movement, the sucking disc anti-drop clamping jaw sets up in the end of arm, 3D visual system arranges in the top of arm and ground rail, the both sides of arm are material pile up neatly place and material pile up neatly place respectively, system controller respectively with arm, sucking disc anti-drop clamping jaw, 3D visual system and ground rail connection.
2. The robot unloading system according to claim 1, wherein the 3D vision system comprises two mobile 3D vision inspection systems, arranged above the material unstacking site and the material palletizing site, respectively.
3. The robot unloading system according to claim 1, wherein the chuck anti-falling clamping jaw comprises a clamping jaw frame, and a telescopic cylinder and a rotary cylinder which are arranged on the clamping jaw frame, a vacuum chuck is arranged on the clamping jaw frame, a left baffle and a right baffle are respectively arranged at two ends of the clamping jaw frame, the upper end of the left baffle is fixedly connected with the left end of the clamping jaw frame, a left hook plate is hinged to the lower end of the left baffle, the telescopic end of the telescopic cylinder is connected with the outer side surface of the left hook plate, the telescopic cylinder drives the left hook plate to rotate around a hinge point, and an arc-shaped rod is connected between the rotary cylinder and the right baffle.
4. The robot unloading system of claim 3, wherein the gripper frame includes a connecting flange, a suction cup mounting plate, and a profile frame, the mounting plate and the connecting flange are sequentially fixed on the upper surface of the suction cup mounting plate, the profile frame is integrally fixed on the lower surface of the suction cup mounting plate, and the vacuum suction cup is disposed on the profile frame.
5. The robotic discharge system according to claim 4 wherein the lower surface of the gripper frame is provided with a pressure plate, the vacuum cups being arranged on both sides of the pressure plate.
6. The robotic discharge system of claim 3 wherein a displacement sensor is provided on the left side fence or the gripper frame.
7. The robot unloading system of claim 1, wherein one end of the ground rail is connected with a ground rail driving motor, the ground rail is provided with a mounting base, the mechanical arm is arranged on the mounting base, and the ground rail driving motor drives the mounting base to move back and forth;
the ground rail driving motor is connected with the mounting base through a screw rod or a synchronous belt.
8. The robotic discharge system of claim 2, wherein the mobile 3D vision inspection system comprises a lateral movement mechanism, a vertical movement mechanism, and a 3D camera, the vertical movement mechanism being disposed on the lateral movement mechanism, the 3D camera being disposed on the vertical movement mechanism.
9. The robot unloading system of claim 8, wherein the lateral movement mechanism comprises a driving motor, a first guide rail and a second slide carriage, the second slide carriage is arranged on the first guide rail, the driving motor is arranged at one end of the first guide rail and is connected with the second slide carriage through a synchronous belt, the driving motor drives the second slide carriage to move back and forth along the first guide rail through the synchronous belt, and the vertical movement mechanism is arranged on the second slide carriage;
the vertical moving mechanism comprises a second guide rail and a first sliding seat, the second guide rail is vertically arranged on the second sliding seat, the first sliding seat is arranged on the second guide rail, a screw rod is arranged on the second guide rail, the first sliding seat is connected with the screw rod through a nut, the screw rod is connected with a vertical driving motor, the 3D camera is arranged on the first sliding seat, and the vertical driving motor drives the first sliding seat and the 3D camera on the first sliding seat to move up and down along the second guide rail through the screw rod.
10. A discharging method using the robot discharging system of claim 1, comprising the steps of:
s1, after the building construction materials are transported to a material unstacking field, a system controller simultaneously sends instructions to a movable 3D visual detection system at the unstacking side and a movable 3D visual detection system at the stacking side;
s2, the movable 3D visual detection systems on the two sides move along the guide rail in the length direction and the height direction, material information of the unstacking field and material rack information of the stacking field are continuously scanned, and then the obtained characteristics and positions of the materials on the whole field are sent to a system controller;
s3, the system controller sends an instruction to the six-axis mechanical arm, and each joint of the mechanical arm and the ground rail move synchronously, so that the tail end sucking disc anti-falling clamping jaw of the mechanical arm is positioned above the material on the unstacking site side;
s4, the sucker anti-falling type clamping jaw begins to grab materials, after grabbing is completed, all joints of the mechanical arm and the ground rail begin to move, the grabbed materials are sent to corresponding positions on the stacking field material rack, and the sucker anti-falling type clamping jaw places the materials on the material rack.
S5, repeating the circulation from the step 3 to the step 4 until the whole layer of workpieces is completely grabbed, scanning the whole body after single-layer grabbing is finished, and carrying out next layer of building block identification grabbing until the whole stack of materials is completely sorted;
and S6, starting the unstacking and stacking circulation of the next whole stack of materials.
Priority Applications (1)
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117656027A (en) * | 2024-01-31 | 2024-03-08 | 中国建筑第四工程局有限公司 | Automatic template disassembly robot and disassembly method based on visual recognition |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117656027A (en) * | 2024-01-31 | 2024-03-08 | 中国建筑第四工程局有限公司 | Automatic template disassembly robot and disassembly method based on visual recognition |
| CN117656027B (en) * | 2024-01-31 | 2024-04-02 | 中国建筑第四工程局有限公司 | Automatic template disassembly robot and disassembly method based on visual recognition |
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