CN117163681A - Visual robot for mixing and stacking bulk bins and loading - Google Patents

Abstract

The invention discloses a vision robot for mixing and stacking bulk bins and loading, which comprises a fixed frame, wherein an electric sliding rail is arranged in the fixed frame, a sliding block is arranged in the electric sliding rail, the upper end of the sliding block is fixedly provided with a bearing seat, a motor I is arranged in the bearing seat, a rotary table is arranged on an output shaft of the motor I, a motor II is fixedly arranged at the upper end of the rotary table, a lower arm is connected to an output shaft of the motor II, a motor III is arranged at one end of the lower arm, and an upper arm is arranged on an output shaft of the motor III. The beneficial effects are that: according to the invention, the electric sliding rail and the sliding block are arranged, so that the six-axis robot has moving performance in the stacking process, the position of the six-axis robot can be changed through the sliding block, the stacking area of the bulk box loading truck is further increased, the direction of a bulk truck body is not required to be changed, and the stacking efficiency of the device is effectively improved.

Description

A vision robot for bulk container loading and mixed palletizing

Technical field

The invention relates to the technical field of palletizing robots, and in particular to a vision robot used for bulk container loading and mixed palletizing.

Background technique

The palletizing robot is an organic combination of machinery and computer programs. Provides higher production efficiency for modern production. Palletizing machines are widely used in the palletizing industry. Palletizing robots greatly save labor and space. The palletizing robot operates flexibly and accurately, is fast and efficient, has high stability and high operating efficiency.

The existing vision robots used for bulk container loading and mixed palletizing use a six-axis robotic arm to stack bulk cargo on the transport vehicle. During the palletizing process, due to the relatively small size of the vehicle body, It is large, and the six-axis robotic arm is fixed and has a limited rotation radius. In addition, the orientation of the vehicle body needs to be changed midway for subsequent palletizing, resulting in low palletizing efficiency and the inability to pre-palletize bulk goods. Calculation of the quantity results in palletizing interruptions due to insufficient cargo preparation. At the same time, there are situations where the space in the vehicle cannot be reasonably divided due to mixed loading of different goods, resulting in poor performance of the device.

Contents of the invention

The purpose of the present invention is to provide a vision robot for bulk container loading and mixed palletizing in order to solve the above problems.

The present invention achieves the above objects through the following technical solutions:

A vision robot used for bulk container loading and mixed palletizing, including a fixed frame, the fixed frame is a U-shaped structure, and an electric slide rail is installed in the fixed frame, and the electric slide rail is a U-shaped structure, A slide block is provided in the electric slide rail, a bearing seat is fixed on the upper end of the slide block, a motor is installed in the bearing seat, a turntable is installed on the output shaft of the motor one, and a motor is fixed on the upper end of the turntable. 2. A lower arm is connected to the output shaft of motor two, and motor three is installed on one end of the lower arm. An upper arm is provided on the output shaft of motor three, and a support is fixed on the upper end of the upper arm. The support There is a motor four installed inside. A hydraulic rod is fixed on the output shaft of the motor four. A connecting seat is fixed on the movable end of the hydraulic rod. The connecting seat is a U-shaped structure. An electric rotating shaft is installed in the connecting seat. , a connecting shaft is fixed on one side wall of the electric rotating shaft, a shell is fixed on one end of the connecting shaft, a motor five is installed in the shell, an electric suction cup is provided on the output shaft of the motor five, and the connecting seat one A mounting plate is fixed on the side wall, a projector is fixed in the middle of the bottom end of the mounting plate, and cameras are provided on both sides of the projector.

Further, the electric slide rail is embedded in the fixed frame, the slide block is slidingly connected to the electric slide rail, the fixed frame is a U-shaped structure, and the electric slide rail is a U-shaped structure.

By adopting the above technical solution, during the palletizing process, the electric slide rail can change the position of the six-axis robot through the slider, thereby increasing its bulk container loading and palletizing area without the need for the vehicle body to change its orientation, effectively improving The palletizing efficiency of the device.

Further, the bearing seat is welded to the slider, the motor one is fixed inside the bearing seat through bolts, and the output shaft of the motor one is connected to the turntable key.

By adopting the above technical solution, the motor can drive the electric suction cup to rotate through the turntable, thereby changing its orientation.

Further, the second motor is fixed on the turntable through bolts, and the output shaft of the second motor is fixedly connected to the lower arm. The lower arm is made of high-strength metal material.

By adopting the above technical solution, the second motor drives the lower arm to swing and change its inclination angle.

Further, the motor three is fixed to one end of the lower arm through bolts, and the output shaft of the motor three is fixedly connected to the upper arm. The upper arm is made of high-strength metal material.

By adopting the above technical solution, the motor three drives the upper arm to swing and change its inclination angle.

Further, the support is welded to one end of the upper arm, the motor 4 is connected to the support through bolts, the output shaft of the motor 4 is fixedly connected to the fixed part of the hydraulic rod, and the hydraulic rod has Multi-level telescopic structure.

By adopting the above technical solution, the motor 4 drives the hydraulic rod to rotate, and the hydraulic rod can drive the electric suction cup to move and adjust its position.

Further, the telescopic end of the hydraulic rod is connected to the connecting seat through bolts, and the electric rotating shaft is rotationally connected to the connecting seat.

By adopting the above technical solution, the electric rotating shaft can drive the electric suction cup to flip through the connecting shaft and change its angle.

Further, the connecting shaft is welded to one side wall of the electric rotating shaft, the housing and the connecting shaft are connected with screws, and the motor 5 is fixed inside the housing with bolts.

By adopting the above technical solution, the motor 5 can drive the electric suction cup to rotate.

Further, the output shaft of the fifth motor is fixedly connected to the electric suction cup.

By adopting the above technical solution, the electric suction cup can adsorb and fix bulk items that need to be palletized.

Further, the projector and the camera are connected to the mounting plate through screws, the projector is electrically connected to the camera, and the two groups of cameras are arranged at an angle.

By adopting the above technical solution, the projector and the camera form a 3D structured light, which projects active structural information on the surface of the object to be measured, such as laser stripes, Gray codes, sinusoidal stripes, etc., through the projector, and then The structured light image is obtained by taking the measured surface with the two sets of cameras. Finally, three-dimensional reconstruction is achieved through three-dimensional image analysis and calculation based on the principle of triangulation. The size of the object can be obtained, and the 3D structured light can be pre-aligned with the vehicle body. Calculate the size of the palletized items, and then calculate the size of the palletized items. Through background processing, the quantity required for bulk container loading and palletizing can be obtained to avoid interruptions in bulk container loading and palletizing and to ensure that the trucks can be aligned during mixed loading. The space inside the car is divided reasonably to make full use of the space inside the car, which is highly practical.

The specific working principle is: firstly, the device is fixed and connected to the background control equipment, and then the bulk car body is poured into the fixed frame. Since the projector and the camera combine to form a 3D structured light, it can then pass through the 3D The structured light calculates the size of the transfer vehicle body in advance, and then calculates the size of the palletized items. Through background processing, the quantity required for bulk container loading and palletizing can be obtained to avoid interruptions in bulk container loading and palletizing. And when mixing, the space in the car body can be reasonably divided to make full use of the space in the car body. During the palletizing process, the motor can drive the electric suction cup to rotate through the turntable, thereby changing its orientation. The second motor drives the lower arm to swing and change its inclination angle, the motor three drives the upper arm to swing and changes its inclination angle, the motor four drives the hydraulic rod to rotate, and the hydraulic rod can drive the electric suction cup. Move and adjust its position. The electric rotating shaft can drive the electric suction cup to flip through the connecting shaft and change its angle. The motor 5 can drive the electric suction cup to rotate, and finally adjust the electric suction cup to the object. , the electric suction cup absorbs the items and transfers them to the car body for palletizing, which can realize the palletizing of bulk trucks. During the palletizing process, the electric slide rail can change the position of the six-axis robot through the slider, and then the position of the six-axis robot can be changed. The bulk container loading and palletizing area is increased without the need for the vehicle body to change its orientation, effectively improving the palletizing efficiency of the device.

The beneficial effects of the present invention are:

1. By setting up electric slide rails and slide blocks, the electric slide rails can make the six-axis robot mobile during the palletizing process. The slide blocks can change the position of the six-axis robot, thereby increasing its bulk box loading capacity. The palletizing area eliminates the need to change the orientation of the bulk car body, effectively improving the palletizing efficiency of the device;

2. By setting up the projector and camera, since the projector and camera combine to form a 3D structured light, the size of the bulk car body can be calculated in advance through the 3D structured light, and then the size of the palletized items can be calculated. Through background processing, the quantity to be palletized can be obtained to avoid palletizing interruptions and the space in the bulk car body can be reasonably divided during mixed loading, making full use of the space in the bulk car body, which is highly practical.

Description of drawings

Figure 1 is a front view of a vision robot used for bulk container loading and mixed palletizing according to the present invention;

Figure 2 is a schematic diagram of the internal structure of the bearing seat in a vision robot used for bulk container loading and mixed palletizing according to the present invention;

Figure 3 is an internal view of the support in a vision robot used for bulk container loading and mixed palletizing according to the present invention;

Figure 4 is a left cross-sectional view of the outer shell of a vision robot used for bulk container loading and mixed palletizing according to the present invention.

Figure 5 is a bottom view of the mounting plate in a vision robot used for bulk container loading and mixed palletizing according to the present invention.

The reference symbols are explained as follows:

1. Fixed frame; 2. Lower arm; 3. Mounting plate; 4. Shell; 5. Electric suction cup; 6. Connecting shaft; 7. Connecting seat; 8. Hydraulic rod; 9. Support; 10. Upper arm; 11. Motor three; 12. Motor two; 13. Bearing seat; 14. Slider; 15. Electric slide rail; 16. Motor one; 17. Motor four; 18. Electric shaft; 19. Motor five; 20. Camera; 21 , projector.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings:

As shown in Figures 1 to 5, a vision robot used for bulk container loading and mixed palletizing includes a fixed frame 1. An electric slide rail 15 is installed in the fixed frame 1. The electric slide rail 15 can drive the slider 14 to move. , a slide block 14 is provided in the electric slide rail 15, a bearing seat 13 is fixed on the upper end of the slide block 14, a motor 16 is installed in the bearing seat 13, a turntable 22 is installed on the output shaft of the motor 16, and the motor 16 drives the turntable 22 Rotate, a motor two 12 is fixed on the upper end of the turntable 22, the motor two 12 can change the degree of freedom of the lower arm 2, the output shaft of the motor two 12 is connected to the lower arm 2, and one end of the lower arm 2 is installed with a motor three 11, and the motor three 11 An upper arm 10 is provided on the output shaft. The motor 3 11 can change the degree of freedom of the upper arm 10. A support 9 is fixed at the upper end of the upper arm 10. A motor 17 is installed in the support 9. A hydraulic rod 8 is fixed on the output shaft of the motor 4 17. , the hydraulic rod 8 can drive the electric suction cup 5 to move. A connecting seat 7 is fixed on the movable end of the hydraulic rod 8. The connecting seat 7 has a U-shaped structure. An electric rotating shaft 18 is installed in the connecting seat 7. The electric rotating shaft 18 is fixed on one side wall. There is a connecting shaft 6. The electric rotating shaft 18 can drive the electric suction cup 5 to flip through the connecting shaft 6. One end of the connecting shaft 6 is fixed with a housing 4. A motor 5 19 is installed in the housing 4. An electric suction cup 5 is provided on the output shaft of the motor 5 19. The electric suction cup 5 can fix objects. A mounting plate 3 is fixed on one side wall of the connecting seat 7. A projector 21 is fixed in the middle of the bottom end of the mounting plate 3. Cameras 20 are provided on both sides of the projector 21. The projector 21 and the camera 20 can form a 3D surface structured light.

In this embodiment, the electric slide rail 15 is embedded in the fixed frame 1, and the slide block 14 is slidingly connected with the electric slide rail 15. The fixed frame 1 has a U-shaped structure, and the electric slide rail 15 has a U-shaped structure. During the palletizing process , the electric slide rail 15 can change the position of the six-axis robot through the slider 14, thereby increasing its bulk container loading and palletizing area without the need for the vehicle body to change its orientation, effectively improving the palletizing efficiency of the device.

In this embodiment, the bearing base 13 is welded to the slider 14, and the motor 16 is fixed inside the bearing base 13 through bolts. The output shaft of the motor 16 is keyed to the turntable 22, and the motor 16 can drive the electric suction cup 5 through the turntable 22. rotate, thereby changing its orientation.

In this embodiment, the second motor 12 is fixed on the turntable 22 through bolts. The output shaft of the second motor 12 is fixedly connected to the lower arm 2. The lower arm 2 is made of high-strength metal material. The second motor 12 drives the lower arm 2 to swing and change its tilt angle.

In this embodiment, motor three 11 is fixed to one end of lower arm 2 through bolts. The output shaft of motor three 11 is fixedly connected to the upper arm 10. The upper arm 10 is made of high-strength metal material. Motor three 11 drives the upper arm 10 to swing and change its inclination angle. .

In this embodiment, the support 9 is welded to one end of the upper arm 10. The motor 17 is connected to the support 9 through bolts. The output shaft of the motor 17 is fixedly connected to the fixed part of the hydraulic rod 8. The hydraulic rod 8 has a multi-stage telescopic structure. The motor 417 drives the hydraulic rod 8 to rotate, and the hydraulic rod 8 can drive the electric suction cup 5 to move and adjust its position.

In this embodiment, the telescopic end of the hydraulic rod 8 is connected to the connecting seat 7 through bolts, and the electric rotating shaft 18 is rotationally connected to the connecting seat 7. The electric rotating shaft 18 can drive the electric suction cup 5 to flip through the connecting shaft 6 to change its angle.

In this embodiment, the connecting shaft 6 is welded to the side wall of the electric rotating shaft 18. The housing 4 and the connecting shaft 6 are connected by screws. The motor 519 is fixed inside the housing 4 through bolts. The motor 519 can drive the electric suction cup 5 to rotate.

In this embodiment, the output shaft of the motor 519 is fixedly connected to the electric suction cup 5, and the electric suction cup 5 can adsorb and fix bulk items that need to be palletized.

In this embodiment, the projector 21 and the camera 20 are connected to the mounting plate 3 through screws. The projector 21 and the camera 20 are electrically connected. The two sets of cameras 20 are arranged at an angle. The projector 21 and the camera 20 form a 3D structure. Light, which projects active structural information on the surface of the measured object through the projector 21, such as laser stripes, Gray codes, sinusoidal stripes, etc., then shoots the measured surface through two sets of cameras 20 to obtain a structured light image. Finally, based on triangle The measurement principle realizes three-dimensional reconstruction through three-dimensional image analysis and calculation, and the size of the object can be obtained. The 3D structured light can then calculate the size of the transfer vehicle body in advance, and then calculate the size of the palletized items. Through background processing, the size of the object can be obtained. Obtain the quantity required for bulk container loading and palletizing, avoid interruptions in bulk container loading and palletizing, and rationally divide the space inside the vehicle during mixed loading, making full use of the space inside the vehicle, which is highly practical.

The specific working principle is: firstly, the device is fixed and connected to the background control equipment, and then the bulk car body is poured into the fixed frame 1. Since the projector 21 and the camera 20 form a 3D structured light, the 3D structured light can be used to pre-set the vehicle body. Calculate the size of the transfer vehicle body, and then calculate the size of the palletized items. Through background processing, the quantity required for bulk container loading and palletizing can be obtained to avoid interruptions in bulk container loading and palletizing and mixed loading. The space in the car body can be reasonably divided to make full use of the space in the car body. During the palletizing process, the first motor 16 can drive the electric suction cup 5 to rotate through the turntable 22, thereby changing its orientation. The second motor 12 drives the lower arm 2 to swing. To change its inclination angle, motor three 11 drives the upper arm 10 to swing and change its inclination angle. Motor four 17 drives the hydraulic rod 8 to rotate. The hydraulic rod 8 can drive the electric suction cup 5 to move and adjust its position. The electric rotating shaft 18 can be connected by Axis 6 drives the electric suction cup 5 to flip and change its angle. Motor 5 19 can drive the electric suction cup 5 to rotate, and finally the electric suction cup 5 is adjusted to the object. The electric suction cup 5 adsorbs the object and transfers it to the car body for palletizing. Bulk truck palletizing can be realized. During the palletizing process, the electric slide rail 15 can change the position of the six-axis robot through the slider 14, thereby increasing its bulk truck palletizing area without the need for the car body to change its orientation, effectively improving The palletizing efficiency of the device.

The basic principles, main features and advantages of the present invention have been shown and described above. Those skilled in the industry should understand that the present invention is not limited by the above embodiments. The above embodiments and descriptions only illustrate the principles of the present invention. The present invention will also have other aspects without departing from the spirit and scope of the present invention. Various changes and modifications are possible, which fall within the scope of the claimed invention.

Claims (10)

1. A vision robot that is used for mixed pile up neatly of scattered case loading, its characterized in that: including fixed frame (1), install electronic slide rail (15) in fixed frame (1), be provided with slider (14) in electronic slide rail (15), slider (14) upper end is fixed with and bears seat (13), bear and install motor one (16) in seat (13), install carousel (22) on the output shaft of motor one (16), carousel (22) upper end is fixed with motor two (12), be connected with lower arm (2) on the output shaft of motor two (12), motor three (11) are installed to lower arm (2) one end, be provided with upper arm (10) on the output shaft of motor three (11), upper arm (10) upper end is fixed with support (9), install motor four (17) in support (9), be fixed with hydraulic rod (8) on the output shaft of motor four (17), be fixed with connecting seat (7) on the movable end of hydraulic rod (8), connecting seat (7) are U type structure, install motor three (11) in connecting seat (7), be provided with motor four (18) on the output shaft (6) of motor three (11), one end is connected with pivot (4) fixed housing (4), an electric sucking disc (5) is arranged on an output shaft of the motor five (19), a mounting plate (3) is fixed on one side wall of the connecting seat (7), a projector (21) is fixed in the middle of the bottom end of the mounting plate (3), cameras (20) are arranged on two sides of the projector (21), and the two groups of cameras (20) are obliquely arranged.

2. The vision robot for bulk truck mixing palletizing of claim 1, wherein: the electric sliding rail (15) is embedded on the fixed frame (1), the sliding block (14) is in sliding connection with the electric sliding rail (15), the fixed frame (1) is of a U-shaped structure, and the electric sliding rail (15) is of a U-shaped structure.

3. The vision robot for bulk truck mixing palletizing of claim 1, wherein: the bearing seat (13) is welded on the sliding block (14), the motor I (16) is fixed inside the bearing seat (13) through bolts, and an output shaft of the motor I (16) is in key connection with the rotary disc (22).

4. The vision robot for bulk truck mixing palletizing of claim 1, wherein: the second motor (12) is fixed on the rotary table (22) through bolts, an output shaft of the second motor (12) is fixedly connected with the lower arm (2), and the lower arm (2) is made of high-strength metal materials.

5. The vision robot for bulk truck mixing palletizing of claim 1, wherein: the motor III (11) is fixed at one end of the lower arm (2) through a bolt, an output shaft of the motor III (11) is fixedly connected with the upper arm (10), and the upper arm (10) is made of a high-strength metal material.

6. The vision robot for bulk truck mixing palletizing of claim 1, wherein: the support (9) is welded at one end of the upper arm (10), the motor IV (17) is connected with the support (9) through bolts, an output shaft of the motor IV (17) is fixedly connected with a fixing part of the hydraulic rod (8), and the hydraulic rod (8) is of a multistage telescopic structure.

7. The vision robot for bulk truck mixing palletizing of claim 1, wherein: the telescopic end of the hydraulic rod (8) is connected with the connecting seat (7) through a bolt, and the electric rotating shaft (18) is rotationally connected with the connecting seat (7).

8. The vision robot for bulk truck mixing palletizing of claim 1, wherein: the connecting shaft (6) is welded on one side wall of the electric rotating shaft (18), the shell (4) is connected with the connecting shaft (6) through screws, and the motor five (19) is fixed inside the shell (4) through bolts.

9. The vision robot for bulk truck mixing palletizing of claim 1, wherein: an output shaft of the fifth motor (19) is fixedly connected with the electric sucking disc (5).

10. The vision robot for bulk truck mixing palletizing of claim 1, wherein: the projector (21) and the cameras (20) are connected with the mounting plate (3) through screws, the projector (21) is electrically connected with the cameras (20), and the two groups of cameras (20) are obliquely arranged.