CN210757692U - Intelligent robot for loading and unloading box wrapping - Google Patents
Intelligent robot for loading and unloading box wrapping Download PDFInfo
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- CN210757692U CN210757692U CN201921250069.4U CN201921250069U CN210757692U CN 210757692 U CN210757692 U CN 210757692U CN 201921250069 U CN201921250069 U CN 201921250069U CN 210757692 U CN210757692 U CN 210757692U
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Abstract
The utility model provides a box parcel loading and unloading intelligent robot, includes removal walking dolly system, the flexible conveying system of lifting, telescopic manipulator arm system, manipulator system, perception image recognition system, computer control and look screen operating system, chargeable call system and turns to joint sensor, the automobile body of removal walking dolly system and computer control and look screen operating system fastening connection, computer control and look screen operating system and telescopic manipulator arm system swing joint, telescopic manipulator arm system is connected with manipulator system through turning to joint sensor, perception image recognition system and computer control system swing joint install the flexible conveying system of lifting on the automobile body of removal walking dolly system, install chargeable call system in the automobile body of removal walking dolly system. The utility model provides an effectively be applicable to various operational environment, the better, the higher case class parcel loading and unloading intelligent robot of precision of suitability.
Description
Technical Field
The utility model relates to a loading and unloading robot, especially a loading and unloading intelligent robot are wrapped up in to case.
Background
The problem that the logistics industry needs to solve is to stack and unstack box type packaged articles in the dynamic process and to replace manual carrying with a robot. The robot is used for stacking and unstacking box-type packaged goods and bagged wrapped goods, or loading and unloading the box-type packaged goods or the wrapped goods in the logistics car box body, and the intelligent industrial robot can be completed by the aid of intelligent image recognition technology, an accurate mechanical arm, a walking positioning storage battery trolley and other equipment. The technology relates to image recognition and analysis technology, dynamic calibration technology of a force sensor, perception equipment system technology, accurate measurement and control of high-end equipment, positioning and navigation and other key technologies. The intelligent robot is an important research direction for the logistics industry to realize the automatic sensing, loading and unloading of the intelligent robot at the front end of object carrying after packaging, is a specific application of robot manufacturing, research and development and functionalization, and is increasingly emphasized by the scientific and technological field. At present, in the logistics industry, mechanical equipment is used for stacking, loading and unloading articles of packaged objects, but the mechanical equipment capable of automatically walking, loading, unloading and carrying is absent and is usually finished manually.
Modern logistics requires that the vehicle-mounted transportation of freight goods vehicles must be packaged, the loading, unloading and stacking mode of the current vehicle-mounted packaged goods is mainly based on the direct loading and unloading of mobile workers, and the phenomenon of illegal operation of throwing and losing sometimes occurs due to the large labor intensity of manual carrying in the loading or unloading process; some enterprises use mechanical equipment in the process of warehousing and carrying packaged objects, but when the packaged objects are stacked, the goods are conveyed to a designated place through conveying equipment and then manually stacked according to the specified rules. And vice versa, the packed goods are manually moved to the conveying equipment by the disassembled goods, and the packed goods are conveyed out by the conveying equipment to finish the operation. All the moving loading and unloading are basically carried and unloaded manually (for example, the loading and unloading of the packaged articles arranged in the carriage body). The node for processing human-computer interaction is a key for replacing manual loading and unloading conversion by a machine, namely a foremost end starting point for moving articles away in the moving, loading and unloading and carrying process or an end position for conveying the articles to the rearmost end and needing to be orderly stacked is always a technical problem of manual and machine butt joint, and what is more, the problem needs to be solved in the moving process is very prominent.
Disclosure of Invention
In order to overcome prior art loading and unloading robot's unable being applicable to various operational environment, the relatively poor, the lower not enough of precision of suitability, the utility model provides an intelligent robot is loaded and unloaded to box class parcel that is effectively applicable to various operational environment, the better, the precision of suitability.
The utility model provides a technical scheme that its technical problem adopted is:
the utility model provides a box parcel loading and unloading intelligent robot, includes removal walking dolly system, the flexible conveying system of lifting, telescopic manipulator arm system, manipulator system, perception image recognition system, computer control and look screen operating system, chargeable call system and turns to joint sensor, the automobile body of removal walking dolly system and computer control and look screen operating system fastening connection, computer control and look screen operating system and telescopic manipulator arm system swing joint, telescopic manipulator arm system is connected with manipulator system through turning to joint sensor, perception image recognition system and computer control system swing joint install the flexible conveying system of lifting on the automobile body of removal walking dolly system, install chargeable call system in the automobile body of removal walking dolly system.
Furthermore, a distance measuring and positioning sensor is arranged on an arm of the telescopic mechanical arm system, the steering joint sensor is connected with the mechanical arm system, and the mechanical arm system is a replaceable dynamic loading type force sensor mechanical arm or a sucker mechanical arm system.
Furthermore, when the telescopic manipulator arm system clamps box type articles and moves, the lifting telescopic conveying system synchronously extends to the bottom of the articles in the same direction, the lifting manipulator at the front end of the conveying system is connected with the lifting manipulator to lift and lift packaged articles, plane supporting force beneficial to the moving direction of the lifting manipulator is exerted, the lifting telescopic conveying system transmits the articles to the rear end position, the packaged articles are adaptive to the same direction, and the lifting telescopic conveying system has a sensing automatic adjusting function.
Furthermore, the article placed at the rear end of the conveying line is conveyed to the front end position by the lifting telescopic conveying system, the lifting telescopic conveying line is lifted or lowered to a position needing stacking, the front end lifting manipulator synchronously provides a homeotropic inclination angle, and the telescopic manipulator arm system synchronously clamps and stacks the article to a specified goods position for stacking; if the lifting device is a sucker manipulator system, when the lifting telescopic conveying system is used for lifting the lifting manipulator position end to which the article is conveyed, the sucker manipulator system synchronously pushes the suction packaged article to a specified goods position, and the sucker is released; the mechanical arm of the replaceable dynamic loading type force sensor can stack the soft package wrapped articles to a specified position.
The manipulator system is provided with a steering joint sensor, and can identify the size, shape, size, color and weight of an article through various image sensing sensor systems, control the manipulator to adjust the posture in time and complete the poking, clamping, overturning and sucking of the packaged article; the steering joint sensor coordinated manipulator realizes grabbing and placing of flexible package articles through the dynamic loading type force sensor, and the lifting telescopic conveying system is matched with lifting extension in a coordinated mode, so that the flexible package articles are loaded and unloaded or stacked according to rules.
The step steering body posture of the mobile walking trolley system is intelligently adjusted through the perception image recognition system in the loading and unloading process, the lifting telescopic conveying system is lifted to the optimal position by matching with the manipulator system, the mobile walking trolley system, the lifting telescopic conveying system, the telescopic mechanical arm and the manipulator can independently swing and adjust the angle, and the loading and unloading position can be automatically adjusted in the carrying carriage;
suspension tilting devices are arranged on two sides of the mobile travelling trolley system, so that spring force and damping force acting on two sides of a trolley body can be decomposed into vertical component force and horizontal component force, wherein the horizontal component force points to the center of the trolley body respectively and is used for correcting the posture and the gravity center position of the trolley body; by using the electric control damping-tension recombiner, the side-tipping vibration of the vehicle body can be effectively controlled, so that the transient side-tipping threshold value can be greatly reduced, and the vehicle body posture is intelligently and dynamically adjusted by a computer in the vehicle body.
In the loading and unloading process, the steering joint sensor and the mechanical arm sense and identify a loaded and unloaded article packaging body in real time through a sensing image identification system, collect operation data such as article packaging images, states, distances, sizes and object weights, and reserve an identification comparison database in a computer control and video screen operation system, the weight sensor is matched with the mechanical arm to grab, clamp, convey and stack the packaged articles, the operation of ultra-wide size, overweight objects and non-standard articles is refused, and the operation safety specification of the robot and the operation safety of peripheral people and objects are ensured.
The movable walking trolley system is provided with a wheel type or crawler type walking device, can climb the slope and drive into the transportation trolley body through a loading platform or a loading platform, the computer control and screen display operation system can be set and connected with other automatic control equipment in an operation environment, the lifting telescopic conveying system dispatches and commands the rear-end system equipment, synchronously butt-joints boxes or packages and transmits the operation of the packaged objects, intelligently adjusts the walking posture of the packaged objects on the lifting telescopic conveying system, has the functions of alarming, stopping and protecting, and achieves full-scene monitoring, shooting, recording the operation track and playback.
The computer control and screen viewing operation system monitors the electric quantity of the battery of the mobile walking trolley system, has an alarm function when the electric quantity is insufficient, can automatically address and charge, and has an automatic contact type charging function.
The computer control and screen operation system is provided with a running display and voice control alarm function system for the mobile walking trolley system, the system has voice control command and remote man-machine conversation functions, and manual commands are superior to machine commands.
The technical conception of the utility model is as follows: an intelligent robot with specific functions is designed and assembled. The robot for loading and unloading goods is fixed on the intelligent robot moving trolley, the trolley travels to a specified position for positioning, stacked goods and package shapes are identified through the induction image sensor, the mechanical arm stretches in the direction, the robot force sensor senses and grabs (or a sucker manipulator), the transmission platform automatically receives and takes the packaged goods and conveys the packaged goods to the rear end, and the robot system simultaneously dispatches rear-end machine transmission equipment and performs cooperative relay conveying to finish unloading operation. And vice versa, the mechanical hand is used for stacking the luggage articles conveyed from the rear end according to the rule. The robot walks to a specified area or an appointed vehicle body according to a scheduling instruction, automatically steps forwards and backwards and moves leftwards and rightwards according to the on-site packaged object taking and placing progress when loading and unloading objects, and completes the whole process intelligently, continuously and fully automatically under the task instruction of a computer system.
The robot is accompanied by a lifting conveying system and a mechanical arm, has lifting and stretching functions, is provided with a bag clamping grabbing mechanical arm, a joint grabbing mechanical arm, a sucker mechanical arm, a lifting mechanical arm and the like, is connected with the mechanical arm through various sensors, can be changed according to scenes, and has sound control light prompting and alarming functions in the operation process.
The beneficial effects of the utility model are that: the utility model provides an adopt customization machine equipment, solve article at handling and internal at appointed carriage, can remove loading and unloading case class parcel in order and stack the scheme according to the regulation. The utility model discloses still compromise the dynamic calibration technique, overcome current dynamic calibration technique and had the defect that the force transducer was arranged in the vibration environment, accomplish to have more accurate nature to image recognition and calibration precision and operation range. From the published research results, no special machine equipment exists at home and abroad, and no intelligent loading and unloading robot can move into the box body of the transport vehicle to complete the box package carrying task. The utility model discloses this money is directly replaced artifical packing box or parcel loading and unloading operation of accomplishing by the robot, can adapt to all kinds of operational environment, reduce intensity of labour, reduce the cost of labor.
Drawings
Fig. 1 is a schematic structural diagram of a right-side device of the intelligent robot for loading and unloading box-type packages.
Fig. 2 is a schematic structural diagram of a front device of the intelligent box package loading and unloading robot.
Fig. 3 is a schematic structural diagram of a left device of the intelligent box package loading and unloading robot.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
Referring to fig. 1-3, a box wrapping, loading and unloading intelligent robot comprises a mobile walking trolley system 1, a lifting telescopic conveying system 2, a telescopic manipulator arm system 3, a replaceable dynamic loading type force sensor manipulator (or sucker manipulator system) 4, a perception image recognition system 5, a computer control and video screen operation system 6, a rechargeable battery system 7, a steering joint sensor 8, a lifting manipulator 9, a display and sound control alarm function system 10 and other functional devices, and is characterized in that: the mobile walking trolley comprises a mobile walking trolley body 1, a computer control and screen viewing operation system 6 and a telescopic mechanical arm system 3, wherein the telescopic mechanical arm system 3 is connected with a mechanical arm (or a sucker system) 4 through a steering joint sensor 8, a perception image recognition system 5 is movably connected with the computer control system 6, a lifting telescopic conveying system 2 is installed on the mobile walking trolley body 1, a rechargeable battery system 7 is installed in the lifting telescopic conveying system, and the mobile walking trolley body 1, the computer control and screen viewing operation system and the telescopic mechanical arm system are jointly assembled into an intelligent loading and unloading robot. In the six-degree-of-freedom space, the force sensor mechanical arm system 3 and the lifting telescopic conveying system 2 finish synchronous coordinated movement of degrees of freedom with the same stress direction for loading and unloading packaged articles.
Furthermore, a distance measuring and positioning sensor is arranged on the telescopic mechanical arm, so that the telescopic stroke is accurate and quick; when the steering joint sensor 8 of the telescopic manipulator arm system 3 is connected with the clamping manipulator 4 provided with the force sensor, the sensing of clamped objects is controllable, and the mechanical holding force is moderate; if the clamping and grabbing manipulator 4 is replaced by a sucker manipulator, the box type sucking and lifting sensor system sucks and lifts articles by sensing the material of the packaged articles; if when the manipulator 4 is replaced by a joint grabbing manipulator, the flexible package wrapped articles can be sensed, grabbed and placed through the dynamic loading type force sensor, and the flexible package article loading and unloading operation is achieved.
Still further, when the telescopic manipulator arm system 3 clamps and takes the box type articles and moves, the lifting telescopic conveying system 2 synchronously extends to the bottom of the articles in the same direction, the lifting manipulator 9 at the front end of the conveying system is connected with the lifting manipulator to lift the packaged articles, a plane supporting force beneficial to the moving direction of the lifting manipulator is applied, meanwhile, the conveying system transmits the articles to the rear end position, the packaged articles are adapted to the same direction, and the lifting telescopic conveying system 2 has a sensing automatic adjusting function.
Furthermore, the article placed at the rear end of the conveying line is conveyed to the front end position by the lifting telescopic conveying system 2, the lifting telescopic conveying line is lifted or lowered to a position needing stacking, the front end lifting manipulator 9 synchronously provides a homeotropic inclination angle, and the telescopic manipulator arm system 3 synchronously clamps and clamps the article and stacks the article to a specified goods position for stacking; if the lifting device is a sucker manipulator, when the lifting telescopic conveying system 2 lifts the lifting manipulator 9 position end for conveying the articles, the sucker manipulator 4 synchronously pushes the suction packaged articles to a specified goods position, and the sucker is released; and the joint grabbing mechanical arm 4 can stack the soft package packaged articles to a specified position.
The manipulator 4 is provided with a steering joint sensor 8, and can identify the size, shape, size, color and weight of an article through various image sensing sensor systems, control the manipulator to adjust the posture in time, and complete the shifting, grabbing, clamping, overturning and sucking and releasing of the packaged article.
The steering joint sensor 8 coordinates the mechanical arm 4 to grab and release the flexible package articles through the dynamic loading type force sensor, and the lifting telescopic conveying system 2 coordinates with lifting extension matching to realize the loading and unloading or regular stacking operation functions of the flexible package articles.
The intelligent adjustment of the moving and walking trolley system 1 is realized by the perception image recognition system 5 in the loading and unloading process, the body posture is turned step by step, and the lifting and telescopic conveying system 2 is lifted to the optimal position by matching with the manipulator 4. The movable walking trolley system 1, the lifting telescopic conveying system 2, the telescopic mechanical arm 3 and the mechanical arm 4 can independently swing and adjust the angle, and the loading and unloading positions can be automatically adjusted in the carrying carriage.
The suspension tilting devices are arranged on two sides of the mobile walking trolley system 1, so that spring force and damping force acting on two sides of a trolley body (suspension mass) can be decomposed into vertical component force and horizontal component force, wherein the horizontal component force points to the center of the trolley body respectively and is used for correcting the posture and the gravity center position of the trolley body. By using the electric control damping-tension recombiner, the side-tipping vibration of the vehicle body can be effectively controlled, so that the transient side-tipping threshold value can be greatly reduced, and the vehicle body posture is intelligently and dynamically adjusted by a computer in the vehicle body.
The steering joint sensor 8 and the mechanical arm 4 sense and recognize a loaded and unloaded article packaging body in real time through the sensing image recognition system 5 in the loading and unloading process, collect operation data such as article packaging images, states, distances, sizes and object weights, and reserve a recognition comparison database in the computer control and video operation system 6, the weight sensor cooperates with the mechanical arm 4 to carry out whole-course operations such as gripping, conveying and stacking of the packaged articles, the operation of objects with super-wide volumes, super-heavy objects and non-standard objects (data is not input in advance) is refused, and the operation safety specifications of the robot and the operation safety of peripheral people and objects are guaranteed.
The movable walking trolley system 1 is provided with a wheel type or crawler type walking device, can climb the slope and drive into a transport vehicle body through a loading platform or a lifting platform, the computer control and screen display operation system 6 can be set and connected with other automatic control equipment in an operation environment, the lifting telescopic conveying system 2 dispatches and commands rear-end system equipment, synchronously butt-joints boxes or packages and transmits the operation of the packaged articles, the walking posture of the packaged articles on the lifting telescopic conveying system 2 is intelligently adjusted, and the alarm shutdown protection function is realized. The full-scene monitoring shooting, the recording of the running track and the playback are realized.
The computer control and screen operation system 6 monitors the electric quantity of the battery of the mobile walking trolley system 1, has an alarm function when the electric quantity is insufficient, can automatically address and charge, and has an automatic contact type charging function.
The computer control and screen operation system 6 is provided with an operation display and sound control alarm function system 10 for the mobile walking trolley system 1, the system has sound control commands and remote man-machine conversation functions, and manual commands are superior to machine commands.
The basic working process of the embodiment: the intelligent robot for loading and unloading box packages can automatically position and walk along with the process of stacking and loading and unloading progress. The outer packing material according to article can dispose change splint, finger, sucking disc, joint and other kinds of manipulators, adapts to and snatchs the case class and the parcel packing article of different needs. The robot arm is coordinated and matched with the transmission system to realize the quick transmission of packaged articles, and the robot can synchronously and automatically position according to the scene distance change for disassembly or stacking according to the conveying speed of the loaded and unloaded articles.
The operation process of the intelligent box-type package loading and unloading robot is automatically controlled and can be repeatedly programmed, all movements run according to programs, and the intelligent box-type package loading and unloading robot can drive into a box-type vehicle body to carry out loading and unloading operation according to operation requirements.
The intelligent case handling robot can be used in severe environment and can work for a long time.
Claims (10)
1. The intelligent robot is characterized by comprising a mobile walking trolley system, a lifting telescopic conveying system, a telescopic mechanical arm system, a perception image recognition system, a computer control and screen operation system, a rechargeable battery system and a steering joint sensor.
2. The intelligent robot for loading and unloading box type packages according to claim 1, wherein a distance measuring and positioning sensor is mounted on an arm of the telescopic manipulator system, the steering joint sensor is connected with the manipulator system, and the manipulator system is a replaceable dynamic loading type force sensor manipulator or a sucker manipulator system.
3. The intelligent robot for loading and unloading box type packages according to claim 1 or 2, wherein when the telescopic manipulator arm system clamps and moves the box type articles, the lifting telescopic conveying system synchronously extends to the bottom of the articles in the same direction, the lifting manipulator at the front end of the conveying system is used for receiving and lifting the packaged articles along with the lifting manipulator, a plane supporting force beneficial to the moving direction of the packaged articles is exerted, meanwhile, the lifting telescopic conveying system conveys the articles to the rear end position, the packaged articles are also suitable, and the lifting telescopic conveying system has a sensing automatic adjusting function.
4. The intelligent case package handling robot of claim 2, wherein: the goods placed at the rear end of the conveying line are conveyed to the front end position by the lifting telescopic conveying system, the lifting telescopic conveying line is lifted or lowered to a position needing stacking, the front end lifting manipulator synchronously provides a homeotropic inclination angle, and the telescopic manipulator arm system synchronously clamps the goods and stacks the goods to a specified goods position for stacking; if the lifting device is a sucker manipulator system, when the lifting telescopic conveying system is used for lifting the lifting manipulator position end to which the article is conveyed, the sucker manipulator system synchronously pushes the suction packaged article to a specified goods position, and the sucker is released; the mechanical arm of the replaceable dynamic loading type force sensor can stack the soft package wrapped articles to a specified position.
5. The intelligent case package handling robot of claim 2, wherein: the manipulator system is provided with a steering joint sensor, and can identify the size, shape, size, color and weight of an article through various image sensing sensor systems, control the manipulator to adjust the posture in time and complete the poking, clamping, overturning and sucking of the packaged article; the steering joint sensor coordinated manipulator realizes grabbing and placing of flexible package articles through the dynamic loading type force sensor, and the lifting telescopic conveying system is matched with lifting extension in a coordinated mode, so that the flexible package articles are loaded and unloaded or stacked according to rules.
6. The intelligent robot for loading and unloading box-type packages according to claim 1 or 2, wherein the walking trolley system is intelligently adjusted to turn to the body position by steps by sensing the image recognition system in the loading and unloading process, the lifting telescopic conveying system is lifted to the optimal position by matching with the manipulator system, the walking trolley system, the lifting telescopic conveying system, the telescopic manipulator and the manipulator can independently swing and adjust the angle, and the loading and unloading position can be automatically adjusted in the carrying carriage;
suspension tilting devices are arranged on two sides of the mobile travelling trolley system, so that spring force and damping force acting on two sides of a trolley body can be decomposed into vertical component force and horizontal component force, wherein the horizontal component force points to the center of the trolley body respectively and is used for correcting the posture and the gravity center position of the trolley body; by using the electric control damping-tension recombiner, the side-tipping vibration of the vehicle body can be effectively controlled, so that the transient side-tipping threshold value can be greatly reduced, and the vehicle body posture is intelligently and dynamically adjusted by a computer in the vehicle body.
7. The intelligent box-type-wrapped loading and unloading robot according to claim 1 or 2, wherein during the loading and unloading process, the steering joint sensor and the manipulator sense and recognize the loaded and unloaded object package in real time through a sensing image recognition system, collect the operation data such as the object package image, state, distance, size and object weight, and reserve a recognition comparison database in a computer control and video operation system, the weight sensor cooperates with the manipulator to grab, clamp, convey and stack the packaged object in the whole process, and rejects the operations of ultra-wide volume, overweight objects and non-standard objects, thereby ensuring the operation safety standard of the robot and the operation safety of peripheral people and objects.
8. The intelligent box package loading and unloading robot as claimed in claim 1 or 2, wherein the mobile walking trolley system is provided with a wheel-type or crawler-type walking device, and can climb a slope and drive into the transportation vehicle body through a loading platform or a lifting platform, the computer control and screen display operation system can be set and connected with other automatic control equipment in an operation environment, the lifting telescopic conveying system dispatches and commands rear-end system equipment, synchronously butt joint operation transfer between boxes or package packaged articles, and intelligently adjusts the walking posture of the packaged articles on the lifting telescopic conveying system, so that the intelligent box package loading and unloading robot has an alarm shutdown protection function, and the whole scene monitoring shooting, recording operation tracks and playback are realized.
9. The intelligent robot for loading and unloading box-type packages according to claim 1 or 2, wherein the computer control and screen operation system monitors the electric quantity of the battery of the mobile walking trolley system, and when the electric quantity is insufficient, the intelligent robot has an alarm function, can automatically address and charge, and has an automatic contact type charging function.
10. The intelligent robot for loading and unloading box-type packages according to claim 1 or 2, wherein the computer control and video screen operation system is provided with a running display and voice control alarm function system for the mobile walking trolley system, the system has voice control command and remote man-machine conversation functions, and manual commands are superior to machine commands.
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| CN201921250069.4U CN210757692U (en) | 2019-08-02 | 2019-08-02 | Intelligent robot for loading and unloading box wrapping |
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| CN201921250069.4U CN210757692U (en) | 2019-08-02 | 2019-08-02 | Intelligent robot for loading and unloading box wrapping |
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| CN210757692U true CN210757692U (en) | 2020-06-16 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110421542A (en) * | 2019-08-02 | 2019-11-08 | 浙江创联信息技术股份有限公司 | One plants case class package handling intelligent robot |
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2019
- 2019-08-02 CN CN201921250069.4U patent/CN210757692U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110421542A (en) * | 2019-08-02 | 2019-11-08 | 浙江创联信息技术股份有限公司 | One plants case class package handling intelligent robot |
| CN110421542B (en) * | 2019-08-02 | 2024-04-05 | 浙江创联信息技术股份有限公司 | Intelligent robot for loading and unloading box packages |
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