CN212421308U - Intelligent lifting device for material grabbing system and material grabbing system - Google Patents
Intelligent lifting device for material grabbing system and material grabbing system Download PDFInfo
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- CN212421308U CN212421308U CN202021221596.5U CN202021221596U CN212421308U CN 212421308 U CN212421308 U CN 212421308U CN 202021221596 U CN202021221596 U CN 202021221596U CN 212421308 U CN212421308 U CN 212421308U
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Abstract
The utility model discloses an intelligence elevating gear and material grasping system for material grasping system's intelligence elevating gear includes elevating system, controller and image acquisition equipment, and this material grasping system still includes intelligent machine tongs. The lifting mechanism comprises a driving mechanism, a cross bracket and a lifting platform; the controller is electrically connected with the lifting mechanism and used for sending a control command to the lifting mechanism so as to drive the cross support to control the lifting platform to move up and down. The image acquisition equipment is positioned right above the lifting mechanism and used for acquiring height information corresponding to the material on the lifting platform and sending the height information to the controller; the controller is also used for moving the lifting platform to a preset height range according to the height information so that the intelligent machine gripper can grip the material at the target height. The problem of when the goods buttress altitude variation, the robot snatchs the inaccuracy is solved, work efficiency has been improved.
Description
Technical Field
The utility model relates to an intelligence lift platform technical field especially relates to an intelligent lifting device and material grasping system for material grasping system.
Background
In recent years, in order to reduce the labor cost, various industrial robots gradually come into the public field of vision, and it will be a future development trend to replace manual transportation with a transportation robot. The bagged goods are usually manually removed from the stack and then manually unsealed to pour the goods into the container.
At present, professional machines are used for replacing manual operation in the process of disassembling and connecting bags of articles, but most of the existing cargo disassembling methods are that a camera identifies and positions the position where the cargo is placed, and then a robot is guided to drive a clamp to the position of the cargo for grabbing. Along with the bagged goods are disassembled one by one, the height of the goods stack is gradually reduced, and the position grabbed by the robot next time is reduced to different positions. FIG. 1a is a schematic view of an original stack of material; FIG. 1b is a schematic diagram showing a state of a material stack after the intelligent robot finishes grabbing for the first time; FIG. 1c is a schematic view showing a state of a material stack after the intelligent robot grips for the second time; FIG. 1d is a schematic diagram showing the state of the material stack after the third intelligent robot grabs the material stack.
When the height of the goods stack changes, the robot is inaccurate in grabbing, and finally the situation of grabbing failure occurs, so that the working efficiency is affected.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is in order to overcome among the prior art goods buttress altitude variation, cause the robot to snatch inaccurate, influence work efficiency's defect, provide an intelligent elevating gear and material grasping system for material grasping system.
The utility model discloses an above-mentioned technical problem is solved through following technical scheme:
according to the utility model discloses an aspect provides an intelligent lifting device for material grasping system, intelligent lifting device includes: the material grabbing system comprises a lifting mechanism, a controller and image acquisition equipment, and further comprises an intelligent machine gripper;
the lifting mechanism comprises a driving mechanism, a cross bracket and a lifting platform; the driving mechanism is used for conveying materials to the lifting platform, and the lifting platform is arranged on the cross bracket;
the controller is electrically connected with the lifting mechanism and used for sending a control instruction to the lifting mechanism so as to drive the cross bracket to control the lifting platform to move up and down;
the image acquisition equipment is positioned right above the lifting mechanism and used for acquiring height information corresponding to the material on the lifting platform and sending the height information to the controller;
the controller is further used for moving the lifting platform to a preset height range according to the height information, so that the intelligent machine gripper can grip the material at a target height.
Preferably, the intelligent lifting device further comprises a photoelectric sensor;
the photoelectric sensor is positioned right above the lifting mechanism and used for collecting photoelectric sensing signals; the photoelectric sensing signal is used for representing position information of the material relative to the photoelectric sensor.
Preferably, the controller comprises a height information acquisition module and a lifting instruction sending module, and the height information acquisition module is electrically connected with the lifting instruction control module;
the height information acquisition module is used for receiving the photoelectric sensing signals acquired by the photoelectric sensor, generating height information of an object on the lifting platform according to the photoelectric sensing signals and sending the height information to the lifting instruction control module;
and the lifting instruction control module is used for receiving the height information and sending a lifting or descending height control instruction to the lifting mechanism.
Preferably, the image acquisition device comprises a visual camera.
Preferably, the vision camera is configured to generate height information corresponding to the material on the lifting platform according to the acquired material image on the lifting platform.
Preferably, the cross bracket comprises an inner fork frame and an outer fork frame which are hinged through a rotating shaft, and the inner fork frame is used for matching and driving the outer fork frame to move up and down.
Preferably, the intelligent lifting device further comprises an alarm module;
the alarm module is used for outputting an alarm signal when receiving a bag falling risk signal from the intelligent machine gripper.
Preferably, the image acquisition equipment is further configured to acquire material placement position information corresponding to the material on the lifting platform and send the material placement position information to the material grabbing system.
The second aspect of the utility model also provides a material grabbing system, which comprises an intelligent machine gripper and the intelligent lifting device for the material grabbing system;
the intelligent machine gripper is used for detaching materials on the lifting platform.
Preferably, the material grabbing system is used for generating grabbing control instructions according to the material placement position information output by the intelligent lifting device so as to drive the intelligent machine gripper to move left and right.
The utility model discloses an actively advance the effect and lie in: the utility model provides an intelligent lifting device for material grasping system, through controller control elevating system, the high information that the material corresponds among the image acquisition equipment control elevating system on the lift platform, intelligent machine tongs are ensured to dismantle the material on the lift platform according to this high information. The problem of goods buttress altitude variation, cause the robot to snatch unsafe is solved, work efficiency has been improved.
Drawings
Fig. 1a is a schematic view of a first state of the material gripping device of the present invention.
Fig. 1b is a schematic diagram of a second state of the material gripping device of the present invention.
Fig. 1c is a third schematic state diagram of the material gripping device of the present invention.
Fig. 1d is a fourth state diagram of the material grabbing device of the present invention.
Fig. 2 is a schematic module diagram of an intelligent lifting device for a material grabbing system according to embodiment 1 of the present invention.
Fig. 3 is a schematic structural diagram of a material grasping system according to embodiment 1 of the present invention.
Fig. 4 is a schematic diagram of a first state of the material grasping system according to embodiment 1 of the present invention.
Fig. 5 is a schematic diagram of a second state of the material grasping system according to embodiment 1 of the present invention.
Detailed Description
The present invention will be more clearly and completely described below by way of examples and with reference to the accompanying drawings.
Example 1
Referring to fig. 2, the present embodiment provides an intelligent lifting device 100 for a material grabbing system, which includes: elevating system 110, controller 120, image acquisition device 130. Referring to fig. 3, the material handling system 200 further includes an intelligent machine gripper 210.
The lifting mechanism 110 comprises a driving mechanism 111, a cross bracket 112 and a lifting platform 113; wherein, actuating mechanism 111 is used for to lifting platform 113 transport material, and lifting platform 113 sets up on cross brace 112.
In this embodiment, the driving mechanism 111 may be a motor-driven belt, and the structure thereof may be similar to a winding machine. The material is transferred from the truck or the remaining stack to the lifting platform of the lifting mechanism 110 by using the rotational motion of the motor. The material can be sugar bag, chemical fertilizer bag and feedbag, and it can be understood that this application is not limited to with, can carry out corresponding selection and adjustment to bagged material according to actual demand scene.
The controller 120 is electrically connected to the lifting mechanism 110 and is configured to send a control command to the lifting mechanism 110 to drive the cross bracket 112 to control the lifting platform 113 to move up and down.
The intelligent lifting device 100 further comprises a photoelectric sensor 140.
The photoelectric sensor 140 is located right above the lifting mechanism 110 and is used for collecting photoelectric sensing signals. The photoelectric sensing signal is used for representing the position information of the material relative to the photoelectric sensor 140.
In this embodiment, the photoelectric sensor 140 is located at a fixed position directly above the lifting mechanism 110, and the position information of the material stack is determined by collecting photoelectric sensing signals. The position of the lifting platform 113 can be controlled by photoelectric sensing signals to achieve the effect of performing flat-layer unstacking by using the intelligent robot gripper 210.
In one possible implementation, the photoelectric sensor 140 may also detect whether the top of the material has reached a target height by sending infrared light. The infrared light of sending that lasts on the target height, if the material top has reached the target height, then infrared light can be because of the sheltering from of the place ahead barrier, generates corresponding touch signal, promptly, the place ahead barrier is the material. Whether the top of the material reaches the target height may be determined according to the time at which the touch signal is generated.
The controller 120 includes a height information collecting module 121 and a lifting instruction sending module 122, and the height information collecting module 121 is electrically connected to the lifting instruction control module 122.
The height information collecting module 121 is configured to receive the photoelectric sensing signal collected by the photoelectric sensor 140, generate height information of an object on the lifting platform 113 according to the photoelectric sensing signal, and send the height information to the lifting instruction control module 122.
The elevation command control module 122 is configured to receive the height information and send an elevation control command to the elevation mechanism 110.
In this embodiment, the controller 120 is configured to send a lifting control command to the lifting mechanism 110, and drive the lifting platform 113 to move to a preset height range through the lifting control command. That is, the material is placed on the lifting platform 113, and a target height is set, which is the height at which the intelligent machine gripper 210 unstacks. After the image acquisition equipment 130 and the photoelectric sensor 140 acquire the height and position information corresponding to the material stack, the intelligent machine gripper 210 grabs the material at the target height, and after once grabbing is completed, the top end of the material stack at the next layer is lifted to the position of the target height, and the next time of recognizing the height and position of the material stack by the image acquisition equipment 130 and the photoelectric sensor 140 and the grabbing process of the intelligent machine gripper 210 are performed.
The image collecting device 130 is located right above the lifting mechanism 110, and is configured to obtain height information corresponding to the material on the lifting platform 113 and send the height information to the controller 120.
The controller 120 is further configured to move the lifting platform 113 to a preset height range according to the height information, so that the intelligent machine gripper 210 grips the material at the target height.
Referring to fig. 3, in this embodiment, the image acquisition device 130 is electrically connected to the controller 120, acquires height information corresponding to the material on the lifting platform, and after sending the height information to the controller 120, the controller 120 drives the lifting platform 113 to move to a position within a range from 0.5 m to 1 m below the target height. For example, if the target height is 3 meters from the ground and the height of the stack of materials is 0.8 meters, the height of the lifting platform 113 from the ground is 2.2 meters, and the controller 120 needs to control the lifting platform 113 to move to a position 0.8 meters below the target height. Since the stack height of the material may vary with the disassembly of the material by the intelligent machine gripper 210, those skilled in the art will understand that the predetermined height range is determined according to the target height and the stack height of the material, and will not be described herein.
Wherein the image capture device 130 comprises a visual camera.
The vision camera is used for generating height information corresponding to the material on the lifting platform 113 according to the collected material image on the lifting platform 113.
In this embodiment, the vision camera is located right above the lifting platform 113, and the sight area of the vision camera and the cross-sectional shape of the whole material are matched with each other. Namely, the rectangular frame of the visual line area corresponds to the rectangular length and width directions of the materials. The vision camera is different from a common camera in that the common camera only processes objects on the same plane, and cannot process the objects if the information of the height of the materials exists. And the visual camera can process the height information of the materials on the lifting platform 113 and can acquire the position and placement information of the materials. According to the acquired material image on the lifting platform 113, the visual camera analyzes the material image to generate corresponding height information.
In one possible implementation, referring to fig. 4, 5, image capture device 130 is a visual camera located directly above the stack of items. The intelligent robotic gripper 210 is located at a single side position of the lifting mechanism 110 to remove the material at the target height. Fig. 4 is a schematic view of a first state of the material handling system when the raw material cargo is not disassembled. Fig. 5 is a second state diagram of the material gripping system after the first time of material gripping by the intelligent robot gripper 210 is completed, and the controller 120 drives the lifting mechanism 110 to complete lifting of the lifting platform 113. As can be seen from fig. 5, the height of the material stack is changed, but in order to meet the positioning and gripping of the intelligent machine gripper 210, the lifting platform 113 is lifted after one-time gripping is completed, so that the height of the material reaches the target height. Those skilled in the art will appreciate that the remaining structure of the material handling system is not fully depicted and will not be described in detail herein.
The cross frame 112 includes an inner fork frame and an outer fork frame, which are hinged together by a hinge, and the inner fork frame is used to cooperate to drive the outer fork frame to move up and down.
In this embodiment, the bottom of the outrigger may be hinged to the lower end of the lifting mechanism 110, and the top of the outrigger may be hinged to the bottom of the lifting platform 113 of the upgrading mechanism 110. The lifting platform 113 is located at the upper part of the cross frame 112, that is, when the lifting platform 113 moves up and down, the horizontal relative position of the connection part between the lifting platform 113 and the frame body of the cross frame 112 is kept unchanged, so that the lifting platform 113 can be kept stable in the process of ascending and descending, and meanwhile, the interference with other structures is avoided.
The intelligent lifting device 100 further comprises an alarm module 150;
the alarm module 150 is used for outputting an alarm signal when receiving the bag falling risk signal from the intelligent machine gripper 210.
In this embodiment, when the in-process of dismantling the material, intelligent lifting device 100 detects that the material has the bag risk, can send the bag risk signal that falls, and this risk signal sign material has the possibility of falling the bag and the positional information who falls the bag. When the alarm module 150 receives the bag falling risk signal, an alarm signal is output, and the alarm signal can be voice prompt information or light prompt information.
The utility model discloses in, an intelligent elevating gear for material grasping system includes elevating system, controller and image acquisition equipment, and this material grasping system still includes intelligent machine tongs. The intelligent robot gripper is used for positioning and gripping, the movement displacement and path of the robot can be optimized to the maximum extent, the movement distance is kept unchanged, the time for the intelligent robot gripper to grip materials is saved, and the efficiency of the system is improved. The image acquisition equipment shoots and identifies the material at a fixed height, so that the accuracy of identifying the height information of the material by the image acquisition equipment is improved, the identification precision is enhanced, and the grabbing stability of the intelligent lifting device for the material grabbing system is finally improved. The defect that the robot cannot accurately grab due to the height change of a goods stack in the prior art and the working efficiency is influenced is overcome.
Example 2
Referring to fig. 3, the present embodiment provides a material handling system 200 including an intelligent robotic gripper 210 as described above in embodiment 1 for the intelligent lifting device 100 of the material handling system.
This intelligent machine tongs is used for dismantling the material on the lift platform.
The material grabbing system is used for generating grabbing control instructions according to material placement position information output by the intelligent lifting device so as to drive the intelligent machine gripper 210 to move left and right.
In this embodiment, the material grabbing system 200 may be any grabbing system or grabbing equipment having the intelligent lifting device 100 for a material grabbing system. The smart machine gripper 210 may be a robot. Through plane positioning and grabbing, the movement displacement and the path of the robot can be optimized to the maximum extent, the movement distance is unchanged every time, the time for grabbing bags by materials is greatly saved, and the efficiency of a grabbing system is improved. In the material handling process, if the risk that the bag falls off in the material exists, the material can be grabbed again, manual handling is not needed, and the safety of the system is improved.
Although specific embodiments of the present invention have been described above, it will be understood by those skilled in the art that this is by way of example only and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and the principles of the present invention, and these changes and modifications are all within the scope of the present invention.
Claims (10)
1. An intelligent lifting device for a material grasping system, the intelligent lifting device comprising: the material grabbing system comprises a lifting mechanism, a controller and image acquisition equipment, and further comprises an intelligent machine gripper;
the lifting mechanism comprises a driving mechanism, a cross bracket and a lifting platform; the driving mechanism is used for conveying materials to the lifting platform, and the lifting platform is arranged on the cross bracket;
the controller is electrically connected with the lifting mechanism and used for sending a control instruction to the lifting mechanism so as to drive the cross bracket to control the lifting platform to move up and down;
the image acquisition equipment is positioned right above the lifting mechanism and used for acquiring height information corresponding to the material on the lifting platform and sending the height information to the controller;
the controller is further used for moving the lifting platform to a preset height range according to the height information, so that the intelligent machine gripper can grip the material at a target height.
2. The intelligent lift device for a material handling system of claim 1, further comprising a photoelectric sensor;
the photoelectric sensor is positioned right above the lifting mechanism and used for collecting photoelectric sensing signals; the photoelectric sensing signal is used for representing position information of the material relative to the photoelectric sensor.
3. The intelligent lifting device for the material grabbing system of claim 2, wherein the controller comprises a height information acquisition module and a lifting instruction sending module, and the height information acquisition module is electrically connected with the lifting instruction control module;
the height information acquisition module is used for receiving the photoelectric sensing signals acquired by the photoelectric sensor, generating height information of an object on the lifting platform according to the photoelectric sensing signals and sending the height information to the lifting instruction control module;
and the lifting instruction control module is used for receiving the height information and sending a lifting or descending height control instruction to the lifting mechanism.
4. The intelligent lift apparatus for a material handling system of claim 1, wherein the image capture device comprises a visual camera.
5. The intelligent lifting device for a material grabbing system of claim 4, wherein the visual camera is used for generating height information corresponding to the material on the lifting platform according to the collected material image on the lifting platform.
6. The intelligent lifting device for a material handling system of claim 1, wherein the cross brace comprises an inner fork and an outer fork hinged together by a hinge, the inner fork is adapted to cooperatively drive the outer fork to move up and down.
7. The intelligent lift device for a material handling system of claim 1, further comprising an alarm module;
the alarm module is used for outputting an alarm signal when receiving a bag falling risk signal from the intelligent machine gripper.
8. The intelligent lifting device for the material grabbing system of claim 1, wherein the image acquisition equipment is further configured to obtain material placement position information corresponding to the material on the lifting platform and send the material placement position information to the material grabbing system.
9. A material handling system, comprising an intelligent robotic gripper and an intelligent lifting device for a material handling system according to any one of claims 1-8;
the intelligent machine gripper is used for detaching materials on the lifting platform.
10. The material handling system of claim 9, wherein the material handling system is configured to generate a handling control command according to the material placement information output by the intelligent lifting device, so as to drive the intelligent robot gripper to move left and right.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202021221596.5U CN212421308U (en) | 2020-06-28 | 2020-06-28 | Intelligent lifting device for material grabbing system and material grabbing system |
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| CN202021221596.5U CN212421308U (en) | 2020-06-28 | 2020-06-28 | Intelligent lifting device for material grabbing system and material grabbing system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114988097A (en) * | 2022-06-28 | 2022-09-02 | 魅杰光电科技(上海)有限公司 | Material transportation equipment and processing system |
| CN115241106A (en) * | 2022-08-03 | 2022-10-25 | 魅杰光电科技(上海)有限公司 | Wafer station lifting machine |
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2020
- 2020-06-28 CN CN202021221596.5U patent/CN212421308U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114988097A (en) * | 2022-06-28 | 2022-09-02 | 魅杰光电科技(上海)有限公司 | Material transportation equipment and processing system |
| CN115241106A (en) * | 2022-08-03 | 2022-10-25 | 魅杰光电科技(上海)有限公司 | Wafer station lifting machine |
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