CN211812364U - Destacking system based on robot vision snatchs - Google Patents
Destacking system based on robot vision snatchs Download PDFInfo
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- CN211812364U CN211812364U CN202020441296.1U CN202020441296U CN211812364U CN 211812364 U CN211812364 U CN 211812364U CN 202020441296 U CN202020441296 U CN 202020441296U CN 211812364 U CN211812364 U CN 211812364U
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Abstract
The utility model discloses a destacking system based on robot vision snatchs, through installing the robot at the mount table top near the feed inlet and lifting the braided bag of waiting to destack through the elevator and supplying the robot to snatch, the elevator only needs to overcome the braided bag gravity that is equipped with the product and does work, the energy consumption is less, and the robot mounted position is fixed simultaneously, is favorable to keeping snatch the precision, through push mechanism with empty charging tray on the elevator drop to on the first conveyer belt and carry empty charging tray to charging tray storage area by first conveyer belt and keep in, the transportation mode automation degree of carrying empty charging tray to charging tray storage area is relatively higher, through setting up the lens cap, is favorable to avoiding the camera lens to be infected with the dust, the doctor-bar is driven by first motor can swing the surface of cleanness lid body portion, keeps lid body portion clean, and then keeps the precision that vision recognition mechanism obtained each braided bag coordinate, the bag breaking operation is carried out by arranging the bag breaking mechanism, and the automation degree is high.
Description
Technical Field
The utility model relates to an intelligence commodity circulation technical field, concretely relates to system of breaking a jam based on robot vision snatchs.
Background
In industries such as feed and chemical production, granular or powdery products (hereinafter referred to as products) are often provided, the products are usually loaded in woven bags in the transportation process, a plurality of woven bags filled with the products are stacked into a stack for transportation, the stack is disassembled and the package is broken after the products are transported to a warehouse, and the products are stored in a storage bin.
The most original operations of unstacking and bag breaking are all completed manually, and the defects are that the weight of the woven bag filled with the product is large, manual carrying is labor-consuming, and a large amount of dust is generated in the process of unstacking and bag breaking of the product, so that the operation is not good for the health of workers.
More advanced, have the mode of breaking a jam through the system of breaking a jam automatically, current system of breaking a jam includes visual identification mechanism, robot, and visual identification mechanism shoots the braided bag image of piling up into the buttress to through the coordinate of image processing each braided bag of discernment, the robot snatchs the braided bag in proper order through the coordinate and accomplishes the breaking a jam.
However, the prior unstacking systems also generally have the following disadvantages:
1. the bin of the large warehouse is high, a feed inlet of the bin is formed in the top of the bin, the robot grabs the woven bags and then lifts the robot and the woven bags to the height of the feed inlet by a hoisting mechanism for throwing, the robot descends after throwing to grab the next woven bag, the hoisting mechanism needs to overcome the gravity of the robot and the woven bags filled with products to do work, the energy consumption is high, meanwhile, the robot is not beneficial to positioning of the robot in the repeated lifting process, and grabbing deviation is easy to occur;
2. woven bags stacked into a stack are usually placed on a material tray and conveyed to a unstacking area which can be grabbed by a robot through a forklift, empty material trays are manually conveyed one by one after the unstacking is finished, a material tray storage area placed on one side of the unstacking area is temporarily stored, and the manual conveying mode of the empty material trays is low in automation degree;
3. due to the fact that large dust is generated in the working environment, the lens of the camera of the visual recognition mechanism is easily stained with dust, and the visual recognition mechanism is influenced to accurately acquire the coordinates of each woven bag;
4. the bag breaking process is carried out by scratching the woven bag by a hand-held art designing knife of a worker, and the automation degree is low.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a system of breaking a jam based on robot vision snatchs.
In order to realize the purpose of the utility model, the utility model adopts the following technical scheme:
the unstacking system based on robot vision grabbing comprises a storage bin, a vision recognition mechanism and a robot, wherein a feeding hole is formed in the top of the storage bin, the robot is installed on the top of an installation table, and the top of the installation table is arranged close to the feeding hole;
the lifting machine is arranged close to the mounting table to lift the woven bag to be unstacked for the robot to grab;
the device comprises a first conveying belt and a pushing mechanism, wherein the starting end of the first conveying belt is arranged close to the lifter, the tail end of the first conveying belt extends to a storage area of the material tray, and the pushing mechanism and the first conveying belt are oppositely arranged on the other side of the lifter so as to push an empty material tray on the lifter down onto the first conveying belt;
the visual identification mechanism comprises a camera, a lens cover is arranged on the camera, the lens cover comprises a cover body part made of transparent materials, the cover body part is hemispherical, a connecting part is arranged at the edge of the cover body part and is fixedly connected with the lens of the camera, the visual identification mechanism also comprises an arc-shaped scraping blade, the inner side of the scraping blade is arranged in a manner of abutting against and contacting with the outer surface of the cover body part, two ends of the scraping blade are hinged with the connecting part, and the scraping blade is in transmission connection with a first motor so as to swing under the drive of the first motor and clean the outer surface of the cover body part;
the bag breaking mechanism comprises a rotary rod arranged at the feed inlet in a penetrating mode, a plurality of saw blades are arranged on the rotary rod at intervals, and the end portion of the rotary rod is in transmission connection with a second motor to transmit torque so that the saw blades can rotate.
As the utility model discloses further modified technical scheme still includes the second conveyer belt, the end of second conveyer belt extends to the machine of lifting.
As the utility model discloses further modified technical scheme, the robot is dustproof explosion-proof six robots.
As a further improved technical scheme of the utility model, vision identification mechanism is binocular stereovision identification mechanism.
As the utility model discloses further modified technical scheme, push mechanism includes fixing base, cylinder, the cylinder body of cylinder with fixing base fixed connection, the flexible direction of the piston rod of cylinder with the advancing direction of first conveyer belt is parallel.
As the utility model discloses further modified technical scheme, the doctor-bar includes the circular-arc transmission portion that hard material made to and the fixed brush that sets up in the transmission portion inboard, first motor is two, and two first motors are close to respectively transmission portion with two articulated departments of connecting portion set up, first motor pass through the gear pair with the transmission of transmission portion is connected, with the drive the doctor-bar swing is cleared up the surface of lid somatic part.
Compared with the prior art, the utility model discloses a technological effect lies in:
1. the utility model discloses an install the robot at the mount table top that is close to the feed inlet and lift through the lift and wait to unstack the braided bag and supply the robot to snatch, the lift only needs to overcome the braided bag gravity acting of being equipped with the product, and the energy consumption is less, and robot mounting position is fixed simultaneously, is favorable to keeping snatching the precision;
2. the empty charging tray on the lifting machine is pushed down onto the first conveying belt through the pushing mechanism, the empty charging tray is conveyed to the charging tray storage area through the first conveying belt for temporary storage, and the automation degree of the conveying mode for conveying the empty charging tray to the charging tray storage area is relatively high;
3. the lens cover is arranged, so that the lens is favorably prevented from being contaminated by dust, the scraping blade is driven by the first motor to swing to clean the outer surface of the cover body part, the cover body part is favorably kept clean, and the precision of the visual identification mechanism for acquiring the coordinates of each woven bag is further kept;
4. the bag breaking operation is carried out by arranging the bag breaking mechanism, and the automation degree is high.
Drawings
Fig. 1 is a schematic front view structure diagram of an unstacking system based on robot vision gripping according to an embodiment of the present invention;
fig. 2 is a schematic top view of a destacking system based on robot vision gripping according to an embodiment of the present invention;
fig. 3 is a schematic perspective view of a lens cover according to an embodiment of the present invention;
fig. 4 is a schematic structural view of a wiper blade according to an embodiment of the present invention.
Detailed Description
The present invention will be described in detail below with reference to specific embodiments shown in the drawings. However, these embodiments are not intended to limit the present invention, and structural, methodical, or functional changes that may be made by one of ordinary skill in the art based on these embodiments are all included in the scope of the present invention.
The following provides an embodiment of the present invention:
please refer to fig. 1 to 4, a destacking system based on robot vision snatchs, includes feed bin 1, vision recognition mechanism 2, robot 3, feed inlet 4 is equipped with at 1 top of feed bin, still includes mount table 5, robot 3 installs at 5 tops of mount table, 5 tops of mount table are close to feed inlet 4 sets up to accessible 3 self-movement of robot is with braided bag 6 input to feed inlet 4 after messenger robot 3 snatchs braided bag 6.
The robot 3 self-motion includes mechanical joint's rotating at least, and the swing of arm sets up robot 3 behind mount table 5 tops, need not adopt hoisting machine to construct and hoist robot 3 repeatedly and carry out throwing in of braided bag 6.
The visual recognition mechanism 2 is preferably also mounted on top of the mounting table 5.
The lifting machine 7 is close to the mounting table 5, so that the lifting woven bag 6 to be unstacked can be lifted for the robot 3 to grab. The lifting machine 7 is an existing device for lifting heavy objects.
It should be noted that the tray storage area 11 is an area defined on the ground for storing the empty tray 10, and may be defined by paint, a mark belt, or a rail partition.
The connecting portion 122 is preferably fixed to the lens by a screw connection.
The bag breaking mechanism 13 comprises a rotating rod 131 penetrating through the feed port 4, a plurality of saw blades 132 are arranged on the rotating rod 131 at intervals, and the end of the rotating rod 131 is in transmission connection with a second motor 133 to transmit torque so that the saw blades 132 rotate.
Further, in the present embodiment, a second conveying belt 14 is further included, and the end of the second conveying belt 14 extends to the lifting machine 7, so as to convey the woven bags 6 to be unstacked, which are fork-transported by the forklift, onto the lifting machine 7.
Further, in the present embodiment, the robot 3 is a dustproof and explosion-proof six-axis robot 3. For example: new loose SRPB80A robot 3.
Further, in the present embodiment, the visual recognition means 2 is a binocular stereoscopic visual recognition means 2. Binocular stereo vision is an existing method for acquiring three-dimensional geometric information of an object from a plurality of images based on the parallax principle.
The binocular vision recognition mechanism 2 obtains two digital images of the stacked woven bags 6 from different angles by the two cameras simultaneously, and can restore the three-dimensional geometric information of the stacked woven bags 6 based on the parallax principle to reconstruct the three-dimensional shapes and positions of the woven bags 6.
Further, the pushing mechanism 9 includes a fixing seat 91 and an air cylinder 92, a cylinder body of the air cylinder 92 is fixedly connected to the fixing seat 91, and a telescopic direction of a piston rod of the air cylinder 92 is parallel to a traveling direction of the first conveying belt 8.
Further, the scraping blade 123 includes an arc-shaped transmission part 1231 made of a hard material and a brush 1232 fixedly disposed on the inner side of the transmission part 1231, the number of the first motors 124 is two, the two first motors 124 are respectively disposed near two hinged positions of the transmission part 1231 and the connection part 122, and the first motors 124 are in transmission connection with the transmission part 1231 through a gear pair to drive the scraping blade 123 to swing and clean the outer surface of the cover body 121.
The transmission part 1231 is preferably made of stainless steel, a driving gear of the gear pair is fixedly arranged on a power output shaft of the first motor 124, and a driven gear is welded and fixed with the transmission part 1231.
The brushes 1232 are made of soft fiber, densely arranged, and adhered and fixed on the entire inner surface of the driving part 1231.
The two first motors 124 are synchronously activated at intervals to swing the wiper blade 123 to sweep away dust attached to the outer surface of the cover body 121.
In other embodiments, a silicone film may be fixed inside the transmission part 1231 instead of the brush 1232.
The working process of the utility model is as follows:
fork a material tray carrying stacked woven bags 6 by a forklift, placing the material tray at the starting end of a second conveying belt 14, conveying the woven bags 6 to be unstacked to a lifting machine 7 by the second conveying belt 14, lifting the woven bags 6 to be unstacked to the height capable of being grabbed by a robot 3 upwards by the lifting machine 7, shooting images of the stacked woven bags 6 by a visual recognition mechanism 2, recognizing the coordinates of each woven bag 6 through image processing, grabbing one woven bag 6 by the robot 3 through the coordinates and placing the woven bag 6 into a feed inlet 4, scratching the woven bag 6 at the feed inlet 4 by a saw blade 132 to complete a bag breaking operation, dropping a product into a bin 1 from the feed inlet 4 for storage, placing the empty woven bag 6 at one side of the feed inlet 4 by the robot 3, continuously grabbing the next woven bag 6 through the coordinates until all the woven bags 6 on the material tray are grabbed and placed completely, and lowering the lifting machine 7 with the empty material tray 10 after unstacking, the piston rod of the cylinder 92 of the pushing mechanism 9 extends out to push the empty tray 10 to the first conveying belt 8, the first conveying belt 8 conveys the empty tray 10 to the tray storage area 11, and the empty tray 10 in the tray storage area 11 is conveyed away by a forklift after being accumulated to a certain amount.
Compared with the prior art, the utility model discloses a technological effect lies in:
the utility model discloses a install robot 3 at the mount table 5 top that is close to feed inlet 4 and lift through lift 7 and wait to unstack braided bag 6 and supply robot 3 to snatch, lift 7 only need overcome the braided bag 6 gravity acting of being equipped with the product, the energy consumption is less, and robot 3 mounted position is fixed simultaneously, is favorable to keeping snatching the precision;
the empty tray 10 on the lifting machine 7 is pushed down onto the first conveying belt 8 through the pushing mechanism 9, the empty tray 10 is conveyed to the tray storage area 11 by the first conveying belt 8 for temporary storage, and the automation degree of the conveying mode for conveying the empty tray 10 to the tray storage area 11 is relatively high;
the lens cover 12 is arranged, so that the lens is beneficial to preventing the lens from being polluted by dust, the scraping blade 123 is driven by the first motor 124 to swing and clean the outer surface of the cover body part 121, the cover body part 121 is beneficial to being kept clean, and the precision of the visual identification mechanism 2 for acquiring the coordinates of each woven bag 6 is further kept;
the bag breaking operation is carried out by arranging the bag breaking mechanism 13, and the automation degree is high.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may be modified or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention in its corresponding aspects.
Claims (6)
1. The destacking system based on robot vision grabbing comprises a storage bin, a vision recognition mechanism and a robot, wherein a feeding hole is formed in the top of the storage bin;
the lifting machine is arranged close to the mounting table to lift the woven bag to be unstacked for the robot to grab;
the device comprises a first conveying belt and a pushing mechanism, wherein the starting end of the first conveying belt is arranged close to the lifter, the tail end of the first conveying belt extends to a storage area of the material tray, and the pushing mechanism and the first conveying belt are oppositely arranged on the other side of the lifter so as to push an empty material tray on the lifter down onto the first conveying belt;
the visual identification mechanism comprises a camera, a lens cover is arranged on the camera, the lens cover comprises a cover body part made of transparent materials, the cover body part is hemispherical, a connecting part is arranged at the edge of the cover body part and is fixedly connected with the lens of the camera, the visual identification mechanism also comprises an arc-shaped scraping blade, the inner side of the scraping blade is arranged in a manner of abutting against and contacting with the outer surface of the cover body part, two ends of the scraping blade are hinged with the connecting part, and the scraping blade is in transmission connection with a first motor so as to swing under the drive of the first motor and clean the outer surface of the cover body part;
the bag breaking mechanism comprises a rotary rod arranged at the feed inlet in a penetrating mode, a plurality of saw blades are arranged on the rotary rod at intervals, and the end portion of the rotary rod is in transmission connection with a second motor to transmit torque so that the saw blades can rotate.
2. The destacking system based on robotic vision gripping as recited in claim 1 further comprising a second conveyor belt, an end of the second conveyor belt extending to the lift.
3. The unstacking system based on robot vision gripping as claimed in claim 1, characterized in that the robot is a dustproof and explosion-proof six-axis robot.
4. The destacking system based on robot vision gripping as recited in claim 1, wherein the vision recognition mechanism is a binocular stereo vision recognition mechanism.
5. The unstacking system based on robot vision is grabbed of claim 1, characterized in that push mechanism includes fixing base, cylinder, the cylinder body of cylinder with fixing base fixed connection, the flexible direction of the piston rod of cylinder is parallel with the advancing direction of first conveyer belt.
6. The unstacking system based on robot vision grabbing according to claim 1, wherein the scraping blade comprises an arc-shaped transmission part made of a hard material and a brush fixedly arranged on the inner side of the transmission part, the number of the first motors is two, the two first motors are respectively arranged close to two hinged positions of the transmission part and the connecting part, and the first motors are in transmission connection with the transmission part through gear pairs so as to drive the scraping blade to swing and clean the outer surface of the cover body part.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202020441296.1U CN211812364U (en) | 2020-03-31 | 2020-03-31 | Destacking system based on robot vision snatchs |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202020441296.1U CN211812364U (en) | 2020-03-31 | 2020-03-31 | Destacking system based on robot vision snatchs |
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| CN211812364U true CN211812364U (en) | 2020-10-30 |
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| CN202020441296.1U Active CN211812364U (en) | 2020-03-31 | 2020-03-31 | Destacking system based on robot vision snatchs |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113233214A (en) * | 2021-04-20 | 2021-08-10 | 上海电机学院 | Dustproof bale breaking ration of intelligence system of throwing |
| CN114346034A (en) * | 2021-11-29 | 2022-04-15 | 宁波开浦智能科技有限公司 | Full-automatic rolling processing equipment and material rolling method |
| CN114455159A (en) * | 2020-11-10 | 2022-05-10 | 泰科电子(上海)有限公司 | Stacking and unpacking system |
| CN114892355A (en) * | 2022-04-07 | 2022-08-12 | 山东康平纳集团有限公司 | Loose fiber dye vat discharging and grabbing mechanism for plant dyeing and operation method |
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2020
- 2020-03-31 CN CN202020441296.1U patent/CN211812364U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114455159A (en) * | 2020-11-10 | 2022-05-10 | 泰科电子(上海)有限公司 | Stacking and unpacking system |
| CN113233214A (en) * | 2021-04-20 | 2021-08-10 | 上海电机学院 | Dustproof bale breaking ration of intelligence system of throwing |
| CN114346034A (en) * | 2021-11-29 | 2022-04-15 | 宁波开浦智能科技有限公司 | Full-automatic rolling processing equipment and material rolling method |
| CN114892355A (en) * | 2022-04-07 | 2022-08-12 | 山东康平纳集团有限公司 | Loose fiber dye vat discharging and grabbing mechanism for plant dyeing and operation method |
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