CN212502972U - Intelligent loading and unloading robot based on visual servo - Google Patents

Abstract

The utility model discloses an intelligence loading and unloading car robot based on visual servoing belongs to intelligence loading and unloading car robotechnology field, solves the problem that the hacking machine of unstacking is not suitable for narrow and small space and the space that needs to remove. The utility model comprises an AGV chassis which can realize the front-back, left-right and rotation displacement, a pose adjusting device arranged on the AGV chassis, a flexible gripping device arranged on the pose adjusting device, and a camera arranged on the flexible gripping device; the utility model is used for stamp and pile up neatly open.

Description

Intelligent loading and unloading robot based on visual servo

Technical Field

The utility model provides an intelligence loading and unloading car robot based on visual servo for stamp and pile up neatly open, belong to intelligence loading and unloading car robot technical field.

Background

The existing unstacking and stacking machine has realized efficient and full-automatic stacking and unstacking work. But the working range is large, the weight is heavy, and the mounting point is fixed. The stacking machine can not be used for unstacking and stacking in narrow space, particularly in semi-closed space similar to a carriage. Once deployed, movement is very inconvenient.

The invention aims to provide a movable vision loading and unloading robot suitable for narrow space to complete the operation of unstacking and stacking semi-closed spaces such as carriages.

Disclosure of Invention

An object of the utility model is to provide an intelligence loading and unloading car robot based on visual servoing solves and unpicks and piles up neatly machine and be not suitable for the problem in narrow and small space and the space that needs to remove.

In order to realize the purpose, the utility model discloses a technical scheme be:

an intelligent loading and unloading robot based on visual servo comprises an AGV chassis capable of realizing front-back, left-right and rotary displacement, a flexible grabbing device and a camera, wherein a pose adjusting device arranged on the AGV chassis is arranged on the position adjusting device;

the pose adjusting device comprises a rotary lifting device which is arranged on an AGV chassis and can pitch and rotate, a first conveying device which is arranged on the rotary lifting device, is controlled by the rotary lifting device to pitch and rotate and is used for conveying goods, and a pose adjusting device which is arranged on the first conveying device and is used for ensuring that the flexible grabbing device works in a YZ plane after the first conveying device pitches and rotates;

the flexible grabbing device comprises a frame arranged on the posture adjusting device, a grabbing and placing device arranged on the frame and used for grabbing and placing stacked and unstacked cargos, and a second conveying device matched with the posture adjusting device and used for conveying the stacked and unstacked cargos of the grabbing and placing device, wherein the grabbing and placing device is hidden between the frame and the second conveying device in the process of conveying the cargos by the second conveying device, and the grabbing and placing device stretches out of the second conveying device when grabbing and placing the cargos by the grabbing and placing device.

Further, the AGV chassis includes the support, sets up on the support, can realize around, control, rotary displacement's mecanum wheel and be used for the mounting panel of fixed bolster, rotatory lifting devices sets up on the mounting panel.

Furthermore, the rotary lifting device comprises a rotary chassis, a first bottom plate, a support column, a connecting plate and a push rod, wherein the rotary chassis is arranged on the mounting plate and used for rotating, the first bottom plate is arranged on the rotary chassis, the support column is arranged on the first bottom plate, the connecting plate is arranged on the support column and connected with a support column revolute pair, and the push rod is respectively connected with the first bottom plate and the connecting plate revolute pair and used for pushing the connecting plate to pitch;

the first conveying device comprises a supporting frame arranged on the connecting plate, and a synchronous belt component arranged on the supporting frame and used for conveying goods;

the attitude adjusting device comprises a telescopic compensation device, a pitching adjusting device and a course adjusting device, wherein the telescopic compensation device is used for compensating the distance difference of the flexible grabbing device on a YZ plane caused by the pitching and rotating of the first conveying device, and the pitching adjusting device and the course adjusting device are used for compensating the head angle change of the flexible grabbing device caused by the pitching and rotating of the first conveying device.

Furthermore, the telescopic compensation device comprises a first rack arranged on a support frame of the first conveying device, a guide rail which is in sliding fit with the first rack and is connected with the flexible grabbing device, a motor connecting plate arranged on the guide rail, a first speed reducing motor which is arranged on the motor connecting plate and is provided with a gear and matched with the first rack to drive the guide rail to move, and a sliding block which is arranged on the support frame and forms a moving pair with the guide rail; the first rack is arranged on an opposite side wall in the supporting frame, and at least one first rack is arranged on each side wall.

Further, the pitching adjusting device comprises a supporting plate arranged on the guide rail, a pitching rotating shaft connected with a rotating pair of the supporting plate, and a second speed reducing motor arranged on the supporting plate and used for driving the pitching rotating shaft to rotate in a pitching mode;

the course adjusting device comprises a course rotating shaft support arranged on the pitching rotating shaft, a course rotating shaft arranged on the course rotating shaft support and connected with a course rotating shaft support revolute pair, an execution head connecting support arranged on the course rotating shaft and used for connecting the flexible grabbing device, and a third speed reducing motor arranged on the course rotating shaft support and used for driving the course rotating shaft to rotate in the course.

Further, the frame comprises a second bottom plate, side plates arranged on the opposite sides of the second bottom plate, and a connecting frame which is connected with the second bottom plate and the two side plates and is used for connecting the execution head connecting frame;

the grabbing and releasing device comprises a second rack arranged on the frame, a front-back guide rail with limiting blocks at two ends, a gear matched with the second rack, a first motor arranged on the gear and matched with the driving gear and the second rack, and a vacuum chuck connected with the first motor and used for grabbing and releasing goods;

the second conveying device comprises a conveying plate arranged on the frame, a sliding groove for accommodating the vacuum chuck to be slidingly hidden between the frame and the second conveying device or to be slidingly extended out of the second conveying device and a conveying mechanism which is arranged on the conveying plate, matched with external equipment and used for conveying goods which are piled and unstacked by the grabbing and placing device are arranged on the conveying plate.

Furthermore, the side plates are of a trapezoidal structure, the side plates are connected with the connecting frame and one end of the second bottom plate, the included angle between the side plates and the end, connected with the connecting frame and the second bottom plate, of the side plates is 90 degrees, and the included angle between the side plates and the other end, connected with the connecting frame and the second bottom plate, of the side plates is 15-25 degrees;

the side plates and the connecting frame are of frame structures.

Further, the first motor is connected with the vacuum chuck through a longitudinal connecting mechanism;

the longitudinal connecting mechanism comprises a connecting piece arranged on the first motor, a semicircular guide rail sliding block assembly arranged on the connecting piece, a connecting flange arranged on the semicircular guide rail sliding block assembly, and a hinge connected with the connecting flange, wherein the hinge is connected with the vacuum chuck, the semicircular guide rail sliding block assembly drives the vacuum chuck to perform longitudinal adjustment and course attitude fine adjustment, and the hinge drives the vacuum chuck to perform pitching attitude fine adjustment;

the second rack and the front-to-back guide rail are arranged on the second bottom plate.

Further, the camera is arranged on the flexible grabbing device through the multi-station camera visual angle adjusting device.

Furthermore, the multi-station camera visual angle adjusting device comprises a base, a rotating platform, a second motor and a camera support, wherein the base is arranged on the frame, the upper surface of the base is inclined, the rotating platform is arranged on the upper surface of the base, the second motor is arranged on the rotating platform and controls the rotating platform to rotate, and the camera support is arranged on the rotating platform, is driven by the rotating platform to rotate and adjusts the camera into a top view mode, a top down shooting mode and a side shooting mode;

the angle between the upper surface and the lower surface of the base is 15-45 degrees, wherein the lower surface is a device supporting surface, and the upper surface is a rotating platform mounting surface;

the lower surface of the base is vertical to the side edge;

the camera support comprises a support mounting surface which is arranged on the rotary platform and is parallel to the rotary platform mounting surface, and a camera mounting surface which is arranged on the support mounting surface and forms an angle of 135-165 degrees with the support mounting surface, wherein a center hole for mounting a camera is arranged on the camera mounting surface, and the axis of the center hole is vertical to the camera mounting surface;

when the second motor drives the camera support to rotate to a 0-degree station, the camera mounting surface is parallel to the device supporting surface, the axis of the central hole is vertically downward, and the camera works in a overlook mode;

when the second motor drives the camera support to rotate to a station of 180 degrees, the camera works in a downward shooting mode;

when the second motor drives the camera support to rotate to a station between 0 degrees and 180 degrees, the station is between 180 degrees and 360 degrees, and the camera works in a side shooting mode.

Compared with the prior art, the utility model has the advantages of:

the utility model discloses a cooperate through first conveyer, rotatory lifting device and gesture adjusting device, wherein, rotatory lifting device realizes the position location regulation, gesture adjusting device's three degree of freedom realizes the gesture regulation, even the loading and unloading robot that has the posture adjusting device of the utility model is compact, and can realize accurate location, and then realize vacuum chuck removes through the pick-and-place device that sets up in the grabbing device, realized hidden snatching, namely when second conveyer conveys the goods, vacuum chuck hides and is located between frame and the second conveyer, prevent vacuum chuck from blockking the conveying of goods, when needing to pick and place, vacuum chuck slides out of the conveying board, snatch the goods, passive upwards slides, when grabbing the goods to the synchronizing band, the sucking disc hides downwards, adopts hidden snatching, in the process of tearing open the yard and stamping, can not destroy lower floor's goods, the utility model is suitable for narrow space or scene that need move at any time, namely the requirement to the space width and height of action is low, the applicable minimum space width is 1.5m, the height is 1.5 m;

secondly, the pose adjusting device in the utility model adopts a modularized arrangement, which is convenient for installation and maintenance or replacement; the slide block is arranged to limit and stabilize the sliding of the guide rail; the first conveying device adopts a synchronous belt component, can avoid slipping, adopts an embedded structure and has small width; the rotary lifting device has simple structure and high rigidity; the posture adjusting device has a compact structure and can be passively finely adjusted;

thirdly, the angle of the side plate at one end for grabbing and placing the goods is 15-25 degrees, so that the side plate can adapt to different goods heights in the unstacking process, the posture of a vacuum chuck is guaranteed, the vacuum chuck can easily suck the goods onto a second conveying device, and the vacuum chuck can easily place the goods to the corresponding position in the stacking process;

fourthly, when the grabbing and releasing device of the utility model is simultaneously provided with the front and rear guide rails, the longitudinal connecting mechanism and the hinge, the vacuum chuck has four degrees of freedom, and only one motor is needed to drive the vacuum chuck to move on the front and rear guide rails, the vacuum chuck can realize passive lifting within a certain moving range based on the longitudinal connecting mechanism in the stacking and unstacking processes, namely longitudinal adjustment, which is beneficial to dragging goods onto a conveyor belt more stably, and the course attitude of the vacuum chuck can also be finely adjusted within a small range based on the longitudinal connecting mechanism;

fifthly, the side plates and the connecting frame in the utility model are of a frame structure, so as to reduce the invalid load for reducing the weight and facilitate the reduction of wind load in the outdoor environment;

sixth, the utility model realizes the rapid and accurate adjustment of the position and the posture of the camera through the second motor driving the rotating platform, and realizes the real-time conversion of the camera view field; the real-time image data acquisition is ensured, and meanwhile, multi-view image data can be provided for the robot image processing system, so that the environmental adaptability of the loading and unloading robot is improved; after the position of the camera is changed, hand-eye labeling is not needed, and the maintenance cost of the visual servo unstacking robot can be greatly reduced.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a schematic structural view of the present invention without a multi-station camera viewing angle adjusting device;

FIG. 2 is a schematic view of a mid-AGV chassis of the present invention;

fig. 3 is a schematic view of the middle pose adjusting device of the present invention;

fig. 4 is a schematic view of a rotary lifting device according to the present invention;

fig. 5 is a schematic view of the posture adjusting device of the present invention;

fig. 6 is a schematic view of the telescopic compensation device of the present invention;

FIG. 7 is a schematic view of a pitch adjusting device and a course adjusting device according to the present invention;

fig. 8 is a schematic view of a first transfer device of the present invention;

fig. 9 is a schematic perspective view of the flexible gripping device of the present invention;

fig. 10 is a schematic structural view of the middle frame of the present invention;

fig. 11 is a schematic structural view of a grasping and releasing device of the present invention;

fig. 12 is a three-dimensional schematic view of the multi-station camera viewing angle adjusting device according to the present invention, when the angle between the upper surface and the lower surface of the base is 17.5 °;

FIG. 13 is a three-dimensional schematic view of the base of FIG. 12;

FIG. 14 is a three-dimensional schematic view of the camera carriage of FIG. 12;

fig. 15 is a three-dimensional schematic view of the camera stand in a top view mode when the angle between the upper surface and the lower surface of the base is 17.5 ° according to the present invention;

fig. 16 is a three-dimensional schematic view of the camera stand in a prone photographing mode when the angle between the upper surface and the lower surface of the base is 17.5 ° in the present invention;

fig. 17 is a three-dimensional schematic diagram of the camera stand in the side-shooting mode when the angle between the upper surface and the lower surface of the middle base of the present invention is 17.5 °.

In the figure: 1-AGV chassis, 1-1-Mecanum wheel, 1-2-bracket, 1-3-mounting plate, 2-pose adjusting device, 2-1-rotary lifting device, 2-1-1-rotary chassis, 2-1-2-first bottom plate, 2-1-3-push rod, 2-1-4-connecting plate, 2-1-5-support column, 2-2-first transmission device, 2-2-18-supporting frame, 2-2-19-synchronous belt component, 2-3-pose adjusting device, 2-3-1-telescopic compensating device, 2-3-2-pitch adjusting device, 2-3-3-course adjusting device, 2-3-6-first rack, 2-3-7-guide rail, 2-3-8-sliding block, 2-3-9-first speed reducing motor, 2-3-10-motor connecting plate, 2-3-11-pitching rotating shaft, 2-3-12-supporting plate, 2-3-13-second speed reducing motor, 2-3-14-course rotating shaft bracket, 2-3-15-course rotating shaft, 2-3-16-third speed reducing motor, 2-3-17-execution head connecting bracket, 3-flexible grabbing device, 3-1-frame, 3-1-1-second bottom plate, 3-1-2-side plate, 3-1-3-connecting frame, 3-3-second conveying device, 3-4-grabbing and placing device, 3-4-1-first motor, 3-4-2-gear, 3-4-3-second rack, 3-4-4-connecting piece, 3-4-5-hinge, 3-4-6-vacuum chuck, 3-4-7-front and rear guide rail, 3-4-8-connecting flange, 3-4-9-semicircular guide rail sliding block component, 4-camera, 4-1-base, 4-1-1-device supporting surface, 4-1-2-rotating platform mounting surface, 4-2-rotating platform, camera and camera, 4-3-second motor, 4-4-camera bracket, 4-4-1-bracket mounting surface, 4-4-2-camera mounting surface and 4-4-3-center hole.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present invention, it should be noted that, if the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the position or positional relationship based on the position or positional relationship shown in the drawings, or the position or positional relationship which is usually placed when the product of the present invention is used, the description is only for convenience of description and simplification, but the indication or suggestion that the device or element to be referred must have a specific position, be constructed and operated in a specific position, and thus, cannot be understood as a limitation of the present invention.

Furthermore, the appearances of the terms "first," "second," "third," and the like, if any, are only used to distinguish one description from another, and are not to be construed as indicating or implying relative importance.

Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not require that the components be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the present invention, it should be further noted that unless otherwise explicitly stated or limited, the terms "disposed," "mounted," "connected," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

It should be noted that the features of the embodiments of the present invention may be combined with each other without conflict.

As shown in fig. 1, an intelligent loading and unloading robot based on visual servo comprises an AGV chassis 1 capable of realizing front-back, left-right and rotational displacement, a pose adjusting device 2 arranged on the AGV chassis 1, a flexible gripping device 3 arranged on the pose adjusting device 2, and a camera 4 arranged on the flexible gripping device 3;

AGV chassis 1 includes support 1-2, sets up on support 1-2, can realize around, control, rotary displacement's mecanum wheel 1-1 and be used for the mounting panel 1-3 of fixed bolster 1-2, rotatory lifting device 2-1 sets up on mounting panel 1-3. It is not excluded that the AGV chassis 1 may also have other configurations.

As shown in fig. 3, the posture adjusting device 2 comprises a rotary lifting device 2-1 which is arranged on the chassis 1 of the AGV and can pitch and rotate, a first conveying device 2-2 which is arranged on the rotary lifting device 2-1 and is controlled by the rotary lifting device 2-1 to pitch, rotate and be used for conveying goods, and a posture adjusting device 2-3 which is arranged on the first conveying device 2-2 and is used for ensuring that the flexible gripping device 3 works in a YZ plane after the first conveying device 2-2 pitches and rotates;

the rotary lifting device 2-1 comprises a rotary chassis 2-1-1 arranged on a mounting plate 1-3 and used for rotating, a first bottom plate 2-1-2 arranged on the rotary chassis 2-1-1, a support column 2-1-5 arranged on the first bottom plate 2-1-2, a connecting plate 2-1-4 arranged on the support column 2-1-5 and connected with a rotating pair of the support column 2-1-5, and a push rod 2-1-3 which is respectively connected with the first bottom plate 2-1-2 and the connecting plate 2-1-4 and used for pushing the connecting plate 2-1-4 to pitch; the rotary chassis 2-1-1 is conventional and comprises arc-shaped tooth staggered gears and the like; as shown in fig. 4, the holes on the bottom plate are bolt counter bores for connecting the bottom plate and the rotary chassis; the pillars 2-1-5 are fixedly arranged on the first bottom plate and mainly used for fixing the connecting plates 2-1-4, and of course, the pillars 2-1-5 can also be arranged on the first bottom plate in other movable fixing modes; the push rods 2-1-3 are conventional and comprise a ball screw as a core structure.

As shown in fig. 8, the first transfer device 2-2 includes a support frame 2-2-18 provided on the link plate 2-1-4, a timing belt assembly 2-2-19 provided on the support frame 2-2-18 for transferring the goods; the synchronous belt assembly 2-2-19 is conventional and comprises a plurality of groups of synchronous wheels, synchronous belts arranged on the groups of synchronous wheels and driving motors for driving the groups of synchronous wheels to act.

As shown in FIG. 5, the attitude adjusting device 2-3 comprises a telescopic compensating device 2-3-1 for compensating the distance difference of the first conveying device pitching and rotating on the YZ plane of the flexible gripping device 3, a pitching adjusting device 2-3-2 for compensating the pitching and rotating of the first conveying device 2-2 to cause the head angle of the flexible gripping device 3 to change, and a heading adjusting device 2-3-3.

As shown in fig. 6, the telescopic compensating gear 2-3-1 includes a first rack 2-3-6 provided on a supporting frame 2-2-18 of a first transfer means 2-2, a guide rail 2-3-7 which is in sliding fit with the first rack 2-3-6 and is connected with the flexible gripping device 3, a motor connecting plate 2-3-10 which is arranged on the guide rail 2-3-7, a first speed reducing motor 2-3-9 which is arranged on the motor connecting plate 2-3-10 and is matched with the first rack 2-3-6 to drive the guide rail 2-3-7 to move and is provided with a gear, the telescopic compensation device 2-3-1 also comprises a sliding block 2-3-8 which is arranged on the supporting frame 2-2-18 and forms a moving pair with the guide rail 2-3-7; the first racks 2-3-6 are arranged on opposite side walls in the supporting frame 2-2-18, and two first racks 2-3-6 are arranged on each side wall. The first gear motor 2-3-9 drives the gear to rotate, the gear is matched with the first rack 2-3-6, so that the guide rail 2-3-7 slides on the first rack 2-3-6, the guide rail 2-3-7 slides to drive the pitching adjusting device 2-3-2 and the course adjusting device 2-3-3 to move, and the guide rail 2-3-7 slides to drive the motor connecting plate 2-3-10 and the first gear motor 2-3-9 to move. In the sliding process of the guide rails 2-3-7, the sliding blocks play a role in limiting and stabilizing. The first racks 2-3-6 are arranged on one opposite side wall in the second rack 2-2-18, and at least one first rack 2-3-6 is arranged on each side wall. That is, two or three first racks, etc. may be provided on the opposite side walls, respectively, and it is needless to say that one or two first racks may be provided on only one side wall, in consideration of the stability of the expansion and contraction compensating device 2-3-1 in operation and the size of the installation space, preferably on the opposite side wall.

As shown in fig. 7, the pitch adjusting means 2-3-2 includes a support plate 2-3-12 provided on the guide rail 2-3-7, a pitch rotating shaft 2-3-11 connected to the rotating pair of the support plate 2-3-12, and a second reduction motor 2-3-13 provided on the support plate 2-3-12 for driving the pitch rotating shaft 2-3-11 to rotate in pitch; the second speed reducing motor 2-3-13 drives the pitching rotating shaft 2-3-11 to be matched with the supporting plate 2-3-12 in a rotating mode, and the pitching rotating shaft 2-3-11 rotates to drive the course adjusting device 2-3-3 to rotate in a pitching mode.

The course adjusting device 2-3-3 comprises a course rotating shaft support 2-3-14 arranged on the pitching rotating shaft 2-3-11, a course rotating shaft 2-3-15 arranged on the course rotating shaft support 2-3-14 and connected with a rotating pair of the course rotating shaft support 2-3-14, an execution head connecting support 2-3-17 arranged on the course rotating shaft 2-3-15 and used for connecting the flexible grabbing device 3, and a third speed reducing motor 2-3-16 arranged on the course rotating shaft support 2-3-14 and used for driving the course rotating shaft 2-3-15 to rotate in a course direction. The third speed reducing motor 2-3-16 drives the course rotating shaft 2-3-15 to rotate, and the course rotating shaft 2-3-15 can drive the execution head connecting frame 2-3-17 to move in course.

As shown in fig. 9, the flexible gripping device 3 comprises a frame 3-1 arranged on the posture adjusting device 2-3, a grabbing and releasing device 3-4 arranged on the frame 3-1 and used for grabbing and releasing the piled and unstacked cargos, and a second conveying device 3-3 matched with the posture adjusting device 2 and used for conveying the cargos piled and unstacked cargos by the grabbing and releasing device 3-4, wherein the grabbing and releasing device 3-4 is hidden between the frame 3-1 and the second conveying device 3-3 in the process of conveying the cargos by the second conveying device 3-3, and when the grabbing and releasing device 3-4 grabs and releases the cargos, the grabbing and releasing device 3-4 extends out of the second conveying device 3-3.

In the practical process, when stacking is needed, goods are transmitted to the second transmission device 3-3 through the first transmission device 2-2, the second transmission device 3-3 drives the goods to move forwards in the stacking direction, and after the goods are moved forwards and need to be grabbed, the goods are grabbed by extending the second transmission device through the grabbing and releasing device 3-4 and are placed at the corresponding position for stacking; when unstacking is needed, the grabbing and placing device 3-4 extends out of the second conveying device 3-3 to grab corresponding goods to be placed on the second conveying device 3-3, meanwhile, the grabbing and placing device 3-4 is recovered and hidden between the frame 3-1 and the second conveying device 3-3, and the second conveying device 3-3 conveys the goods to the first conveying device 2-2 to achieve unstacking.

The frame 3-1 comprises a second bottom plate 3-1-1, a side plate 3-1-2 arranged at the opposite side of the second bottom plate 3-1-1, and a connecting frame 3-1-3 connected with the second bottom plate 3-1-1 and the two side plates and used for connecting the execution head connecting frame 2-3-17; the side plate 3-1-2 is in a trapezoidal structure, the side plate 3-1-2 is connected with one end of the connecting frame 3-1-3 and one end of the second bottom plate 3-1-1, the included angle between the end connected with the connecting frame 3-1-3 and the second bottom plate 3-1-1 and the side plate 3-1-2 is 90 degrees, other angles are not excluded, and the included angle between the other end connected with the connecting frame 3-1-3 and the second bottom plate 3-1-1 and the included angle between the side plate 3-1-2 is 15 degrees to 25 degrees, such as 16 degrees, 17 degrees, 18 degrees, 19 degrees, 20 degrees, 21 degrees, 22 degrees, 23 degrees and 24 degrees. Or

The side plate 3-1-2 is of a triangular structure, the side plate 3-1-2 is connected with one end of the connecting frame 3-1-3 and one end of the second bottom plate 3-1-1, one end connected with the connecting frame 3-1-3 and the second bottom plate 3-1-1 is positioned at one side of the bottom plate, the included angle of the side plate 3-1-2 is 90 degrees, other angles are not excluded, and the included angle of the other end connected with the connecting frame 3-1-3 and the second bottom plate 3-1-1 and the included angle of the side plate 3-1-2 is 15 degrees to 25 degrees, such as 16 degrees, 17 degrees, 18 degrees, 19 degrees, 20 degrees, 21 degrees, 22 degrees, 23 degrees and 24 degrees. Or

The side plates can also be of a square structure, and the height of the side plates needs to be limited when the side plates are of the square structure, so that the side plates can be better stacked or unstacked.

In practice, the side plates are preferably trapezoidal in shape for better subsequent mounting of the second conveyor. Damage to the goods may occur due to the sharp edges of the triangular structure. The square structure is inconvenient for arranging other structures.

As shown in fig. 10, the side plates 3-1-2 and the connecting frames 3-1-3 are frame structures. The weight can be reduced, the ineffective load can be reduced, and the wind load can be reduced in the outdoor environment.

The grabbing and releasing device 3-4 comprises a second rack 3-4-3 arranged on the frame 3-1, a front-back guide rail 3-4-7 with limiting blocks arranged at two ends, a gear 3-4-2 matched with the second rack 3-4-3, a first motor 3-4-1 arranged on the gear 3-4-2 and matched with the driving gear 3-4-2 and the second rack 3-4-3, and a vacuum sucker 3-4-6 connected with the first motor 3-4-1 and used for grabbing and releasing goods;

in practice, the gear 3-4-2 is arranged on an output shaft of the first motor 3-4-1, the first motor 3-4-1 drives the gear 3-4-2 to be matched with the second rack 3-4-3, and the gear 3-4-2 drives the first motor 3-4-1 and the vacuum chuck 3-4-6 to slide on the second rack 3-4-3. When stacking is needed, the vacuum chuck extends out of the second conveying device, adsorbs goods conveyed to the second conveying device by the first conveying device, and then drives the gear 3-4-2 to slide on the second rack 3-4-3 through the first motor 3-4-1 so as to move to a stacking position, namely the vacuum chuck or the goods are pushed to a specified position to realize stacking; when the stack is needed to be disassembled, the vacuum chuck extends out of the second conveying device, adsorbs goods on the position to be disassembled, and then the first motor 3-4-1 drives the gear 3-4-2 to slide on the second rack 3-4-3 so as to move towards the second conveying device, so that the stack is disassembled.

The second conveying device 3-3 comprises a conveying plate arranged on the frame 3-1, a sliding groove for accommodating the vacuum chuck 3-4-6 to be slidingly hidden between the frame 3-1 and the second conveying device 3-3 or to be slidingly extended out of the second conveying device 3-3 and a conveying mechanism which is arranged on the conveying plate, is matched with external equipment and is used for conveying goods which are piled and unstacked by the grabbing and placing device 3-4 are arranged on the conveying plate. The conveying plate is respectively connected with the connecting frame 3-1-3 and one side of the top end of the two side plates 3-1-2, so that the goods can be conveyed more conveniently.

The conveying mechanism comprises a plurality of groups of conveying wheels arranged on the conveying plate, conveying belts arranged on the groups of conveying wheels, and a driving motor arranged on one side of the bottom plate and used for driving the groups of conveying wheels to rotate.

In order to make the goods more stably dragged onto the second conveying device; the posture of the vacuum chuck can be passively adjusted, so that the adhesion between the chuck and goods is facilitated, and the goods can be more firmly grabbed, wherein the first motor 3-4-1 is connected with the vacuum chuck 3-4-6 through a longitudinal connecting mechanism;

the longitudinal connecting mechanism comprises a connecting piece 3-4-4 arranged on the first motor 3-4-1, a semicircular guide rail sliding block component 3-4-9 arranged on the connecting piece 3-4-4, a connecting flange 3-4-8 arranged on the semicircular guide rail sliding block component 3-4-9, and a hinge 3-4-5 connected with the connecting flange 3-4-8, wherein the hinge 3-4-5 is connected with a vacuum sucker 3-4-6, the semicircular guide rail sliding block component drives the vacuum sucker 3-4-6 to perform longitudinal adjustment and course attitude fine adjustment, and the hinge 3-4-5 drives the vacuum sucker 3-4-6 to perform pitching attitude fine adjustment; wherein, the semicircular guide rail sliding block component 3-4-9 is of the existing structure.

The second rack 3-4-3 and the front-to-back guide rail 3-4-7 are disposed on the second base plate 3-1-1. In some embodiments, it is not excluded that it may be provided on the side plates.

As shown in fig. 12 to 17, the camera 4 is disposed on the flexible grasping apparatus 3 by a multi-station camera view angle adjusting apparatus.

The multi-station camera visual angle adjusting device comprises a base 4-1, a rotating platform 4-2, a second motor 4-3 and a camera support 4-4, wherein the base 4-1 is arranged on a frame 3-1, the upper surface of the base is inclined, the rotating platform 4-2 is arranged on the upper surface of the base 4-1, the second motor 4-3 is arranged on the rotating platform 4-2 and controls the rotating platform 4-2 to rotate, and the camera support 4-4 is arranged on the rotating platform 4-2, is driven to rotate by the rotating platform 4-2 and adjusts the camera 4 into a top view mode, a top down shooting mode and a side shooting mode; the rotating platform 4-2 can only rotate around a shaft, is a single-degree-of-freedom mechanism and is an existing mechanism.

In the implementation process, the rotating platform 4-2 is controlled to rotate on the base 4-1, when the rotating platform 4-2 rotates, the camera 4 arranged on the camera support 4-4 is driven to rotate, and in the process that the rotating platform 4-2 rotates from 0 degrees to 360 degrees, the camera 4 can realize the shooting in an overlook mode, a downward shooting mode and a side shooting mode.

The angle between the upper surface and the lower surface of the base 4-1 is 15 degrees to 45 degrees, such as 16 degrees, 17.5 degrees, 18 degrees, 20 degrees, 21 degrees, 25 degrees, 30 degrees, 31 degrees, 35 degrees, 40 degrees and the like, wherein the lower surface is a device supporting surface 4-1-1 and is vertical to four side surfaces of the base, and the upper surface is a rotating platform mounting surface 4-1-2. In some embodiments, the base may also be a trapezoidal structure.

The camera support 4-4 comprises a support mounting surface 4-4-1 which is arranged on the rotary platform 4-2 and is parallel to the rotary platform mounting surface 4-1-2, and a camera mounting surface 4-4-2 which is arranged on the support mounting surface 4-4-1 and forms an angle of 135 degrees to 165 degrees with the support mounting surface 4-4-1, wherein if the support mounting surface 4-1 forms an angle of 136 degrees, 140 degrees, 145 degrees, 150 degrees, 155 degrees, 160 degrees and the like with the camera mounting surface 4-2, a central hole 4-4-3 for mounting a camera is arranged on the camera mounting surface 4-4-2, and the axis of the central hole 4-4-3 is vertical to the camera mounting surface 4-4-2.

Examples

Will install AGV chassis 1, position appearance adjusting device 2, flexible grabbing device 3 and multistation camera visual angle adjusting device assemble into the loading and unloading car robot to place and realize the pile up neatly and the pile up neatly of goods at van.

In the unstacking process: after a loading and unloading robot enters a carriage and moves to a specified position through an AGV chassis 1, after image information in a van is shot by a multi-station camera visual angle adjusting device in an overlook mode, a downward shooting mode or/and a side shooting mode, when the position and posture adjusting device receives an instruction based on the image information, firstly, the chassis is rotated to drive the position and posture adjusting device to rotate, and a first conveying device on a connecting plate and a position and posture adjusting device on the first conveying device are pushed by a push rod to pitch; after pitching and rotating, the first speed reducing motor is matched with the rack, so that the guide rail drives the connecting plate and the first speed reducing motor to be matched with the rack and the sliding block in a sliding manner, and the pitching adjusting device and the course adjusting device are driven by the guide rail to perform distance difference compensation of a YZ plane;

after the distance difference compensation of a YZ plane is carried out on the pitching adjusting device and the course adjusting device through the telescopic compensating device, the second speed reducing motor drives the pitching rotating shaft to rotate in a pitching mode, namely the course adjusting device is driven to rotate in a pitching mode, after the pitching rotation, the course rotating shaft is driven to rotate in a course mode through the third speed reducing motor, namely the execution head connecting frame is driven to rotate in the course mode, and after the course is rotated, the flexible grabbing device on the execution head connecting frame is guaranteed to work in the YZ plane;

then, second motor drive gear and rack cooperate, the gear drives second motor and vacuum chuck roll-off second conveyer on the rack, the goods moves along the frame inclined plane after the goods is grabbed through vacuum chuck, vacuum chuck moves up along with the goods is passive, and by the fine setting of realization course gesture and every single move gesture, when the goods reachs the conveyer belt, when conveyer belt transportation goods, vacuum chuck pressure release, because the action of gravity vacuum chuck descends, hide inside the frame, between frame and the second conveyer, the goods continues to convey first conveyer backward, first conveyer conveys the goods again, realize unstacking promptly.

In the stacking process: similar to the unstacking process, after the loading and unloading robot enters the carriage and reaches the designated position, the multi-station camera visual angle adjusting device shoots image information in the van under the overlooking mode, the overlooking mode or/and the side shooting mode, based on the image information, the position and pose adjusting device receives an instruction to ensure that an actuating mechanism on the actuating head connecting frame works on a YZ plane, then goods are placed on the first conveying device, the goods are conveyed to the flexible grabbing device through the first conveying device to realize stacking, and in the stacking process, the flexible grabbing device does not need the movement of four degrees of freedom, and only needs to push the goods successively.

Claims (10)

1. An intelligent loading and unloading robot based on visual servo is characterized by comprising an AGV chassis (1) capable of realizing front-back, left-right and rotary displacement, a pose adjusting device (2) arranged on the AGV chassis (1), a flexible grabbing device (3) arranged on the pose adjusting device (2), and a camera (4) arranged on the flexible grabbing device (3);

the pose adjusting device (2) comprises a rotary lifting device (2-1) which is arranged on an AGV chassis (1) and can pitch and rotate, a first conveying device (2-2) which is arranged on the rotary lifting device (2-1) and is controlled by the rotary lifting device (2-1) to pitch and rotate and is used for conveying goods, and a pose adjusting device (2-3) which is arranged on the first conveying device (2-2) and is used for ensuring that the flexible grabbing device (3) works in a YZ plane after the first conveying device (2-2) pitches and rotates;

the flexible grabbing device (3) comprises a frame (3-1) arranged on the posture adjusting device (2-3), a grabbing and releasing device (3-4) arranged on the frame (3-1) and used for grabbing and releasing stacked goods, and a second conveying device (3-3) matched with the posture adjusting device (2) and used for conveying the stacked and unstacked goods of the grabbing and releasing device (3-4), wherein in the process that the second conveying device (3-3) conveys the goods, the grabbing and releasing device (3-4) is hidden between the frame (3-1) and the second conveying device (3-3), and when the grabbing and releasing device (3-4) grabs and releases the goods, the grabbing and releasing device (3-4) extends out of the second conveying device (3-3).

2. A smart visual servo-based lift truck robot according to claim 1, characterised in that the AGV chassis (1) comprises carriages (1-2), Mecanum wheels (1-1) arranged on the carriages (1-2) for enabling forward, backward, left and right, rotational displacement and mounting plates (1-3) for fixing the carriages (1-2), the rotary lifting devices (2-1) being arranged on the mounting plates (1-3).

3. A smart loader robot based on visual servoing according to claim 2, the rotary lifting device (2-1) comprises a rotary chassis (2-1-1) arranged on the mounting plate and used for rotating, a first bottom plate (2-1-2) arranged on the rotary chassis (2-1-1), a strut (2-1-5) arranged on the first bottom plate (2-1-2), a connecting plate (2-1-4) arranged on the strut (2-1-5) and connected with a revolute pair of the strut (2-1-5), and a push rod (2-1-3) which is respectively connected with the first bottom plate (2-1-2) and the revolute pair of the connecting plate (2-1-4) and used for pushing the connecting plate (2-1-4) to pitch;

the first conveying device (2-2) comprises a supporting frame (2-2-18) arranged on a connecting plate (2-1-4), and a synchronous belt component (2-2-19) arranged on the supporting frame (2-2-18) and used for conveying goods;

the attitude adjusting device (2-3) comprises a telescopic compensating device (2-3-1) for compensating the distance difference of the flexible grabbing device (3) on the YZ plane caused by pitching and rotating of the first conveying device, a pitching adjusting device (2-3-2) for compensating the pitching and rotating of the first conveying device (2-2) to cause the head angle of the flexible grabbing device (3) to change, and a heading adjusting device (2-3-3).

4. An intelligent lift truck robot based on visual servoing, according to claim 3, characterized in that the telescopic compensation means (2-3-1) comprise a first rack (2-3-6) arranged on the support frame (2-2-18) of the first conveyor means (2-2), a guide rail (2-3-7) slidingly engaged with the first rack (2-3-6) and connected with the flexible gripping means (3), a motor connection plate (2-3-10) arranged on the guide rail (2-3-7), a first geared reduction motor (2-3-9) arranged on the motor connection plate (2-3-10) and cooperating with the first rack (2-3-6) to drive the guide rail (2-3-7) to move, the telescopic compensation device (2-3-1) also comprises a sliding block (2-3-8) which is arranged on the supporting frame (2-2-18) and forms a moving pair with the guide rail (2-3-7); the first racks (2-3-6) are arranged on opposite side walls in the supporting frame (2-2-18), and at least one first rack (2-3-6) is arranged on each side wall.

5. A smart lift truck robot based on visual servoing according to claim 4 characterized in that said pitch adjustment means (2-3-2) comprise a support plate (2-3-12) arranged on the guide rail (2-3-7), a pitch rotation shaft (2-3-11) connected to the revolute pair of the support plate (2-3-12), a second reduction motor (2-3-13) arranged on the support plate (2-3-12) for driving the pitch rotation shaft (2-3-11) to rotate in pitch;

the course adjusting device (2-3-3) comprises a course rotating shaft support (2-3-14) arranged on the pitching rotating shaft (2-3-11), a course rotating shaft (2-3-15) arranged on the heading rotating shaft support (2-3-14) and connected with a course rotating shaft support (2-3-14) revolute pair, an execution head connecting support (2-3-17) arranged on the heading rotating shaft (2-3-15) and used for connecting the flexible grabbing device (3), and a third speed reducing motor (2-3-16) arranged on the course rotating shaft support (2-3-14) and used for driving the course rotating shaft (2-3-15) to rotate in course.

6. A smart loader robot based on visual servoing according to claim 1 where the frame (3-1) comprises a second bottom plate (3-1-1), side plates (3-1-2) arranged on opposite sides of the second bottom plate (3-1-1), a link (3-1-3) connecting the second bottom plate (3-1-1) and the two side plates for connecting the actuator head links (2-3-17);

the grabbing and placing device (3-4) comprises a second rack (3-4-3) arranged on the frame (3-1), a front guide rail (3-4-7) and a rear guide rail (3-4-7) with limiting blocks at two ends, a gear (3-4-2) matched with the second rack (3-4-3), a first motor (3-4-1) arranged on the gear (3-4-2) and matched with the driving gear (3-4-2) and the second rack (3-4-3), and a vacuum sucker (3-4-6) connected with the first motor (3-4-1) and used for grabbing and placing goods;

the second conveying device (3-3) comprises a conveying plate arranged on the frame (3-1), a sliding groove for accommodating the vacuum chuck (3-4-6) to be slidingly hidden between the frame (3-1) and the second conveying device (3-3) or to be slidingly extended out of the second conveying device (3-3) and a conveying mechanism which is arranged on the conveying plate, is matched with external equipment and is used for conveying goods stacked and unstacked by the grabbing and placing device (3-4) are arranged on the conveying plate.

7. The intelligent loading and unloading robot based on the visual servo is characterized in that the side plate (3-1-2) is of a trapezoidal structure, the side plate (3-1-2) is connected with one end of the connecting frame (3-1-3) and one end of the second bottom plate (3-1-1), the included angle of the side plate (3-1-2) and the included angle of the other end of the side plate (3-1-3) and the second bottom plate (3-1-1) are 90 degrees, and the included angle of the side plate (3-1-2) and the included angle of the other end of the side plate (3-1-3) and the other end of the connecting frame (3-1-1) are 15-25 degrees;

the side plates (3-1-2) and the connecting frames (3-1-3) are of frame structures.

8. A smart loader robot based on visual servoing according to claim 6 or 7 where the first motor (3-4-1) and vacuum chuck (3-4-6) are connected by a longitudinal connection;

the longitudinal connecting mechanism comprises a connecting piece (3-4-4) arranged on the first motor (3-4-1), a semicircular guide rail sliding block component (3-4-9) arranged on the connecting piece (3-4-4), and a connecting flange (3-4-8) arranged on the semicircular guide rail sliding block component (3-4-9), a hinge (3-4-5) connected with the connecting flange (3-4-8), the hinge (3-4-5) is connected with the vacuum chuck (3-4-6), the semi-circular guide rail sliding block component drives a vacuum chuck (3-4-6) to carry out longitudinal adjustment and course attitude fine adjustment, and the hinge (3-4-5) drives the vacuum chuck (3-4-6) to carry out pitching attitude fine adjustment;

the second rack (3-4-3) and the front and rear guide rails (3-4-7) are arranged on the second bottom plate (3-1-1).

9. A smart loader robot based on visual servoing according to claim 1 where the camera (4) is placed on the flexible gripper (3) by means of a multi-station camera view angle adjustment.

10. The intelligent loading and unloading robot based on the visual servo as claimed in claim 9, wherein the multi-station camera view angle adjusting device comprises a base (4-1) arranged on the frame (3-1) and having an inclined upper surface, a rotating platform (4-2) arranged on the upper surface of the base (4-1), a second motor (4-3) arranged on the rotating platform (4-2) and controlling the rotating platform (4-2) to rotate, and a camera support (4-4) arranged on the rotating platform (4-2) and driven by the rotating platform (4-2) to rotate so as to adjust the camera (4) to be in a top view mode, a top view mode and a side view mode;

the angle between the upper surface and the lower surface of the base (4-1) is 15-45 degrees, wherein the lower surface is a device supporting surface (4-1-1), and the upper surface is a rotating platform mounting surface (4-1-2);

the lower surface of the base (4-1) is vertical to the side edge;

the camera support (4-4) comprises a support mounting surface (4-4-1) which is arranged on the rotary platform (4-2) and is parallel to the rotary platform mounting surface (4-1-2), and a camera mounting surface (4-4-2) which is arranged on the support mounting surface (4-4-1) and forms an angle of 135 degrees to 165 degrees with the support mounting surface (4-4-1), wherein a center hole (4-4-3) for mounting a camera is formed in the camera mounting surface (4-4-2), and the axis of the center hole (4-4-3) is vertical to the camera mounting surface (4-4-2);

when the second motor (4-3) drives the camera support (4-4) to rotate to a 0-degree station, the camera mounting surface (4-4-2) is parallel to the device supporting surface (4-1-1), the axis of the central hole (4-4-3) is vertically downward, and the camera (4) works in a top view mode;

when the second motor (4-3) drives the camera support (4-4) to rotate to a station of 180 degrees, the camera (4) works in a nodding mode;

when the second motor (4-3) drives the camera support (4-4) to rotate to a position between 0 degrees and 180 degrees, the position is smaller than 360 degrees, and the camera (4) works in a side shooting mode.

Images