CN111847004A - An intelligent loading and unloading system based on visual servo - Google Patents

Abstract

The invention discloses an intelligent loading and unloading vehicle system based on visual servo, which belongs to the technical field of intelligent loading and unloading vehicle robots and comprises a unstacking and stacking mechanism, a conveying mechanism and an AGV loading and unloading mechanism; two ends of the conveying mechanism are respectively connected to the unstacking and stacking mechanism and the AGV loading and unloading mechanism; the AGV loading and unloading mechanism comprises an AGV trolley capable of realizing front-back, left-right and rotary displacement, a pose adjusting device arranged on the AGV trolley, a flexible grabbing device arranged on the pose adjusting device, and a first image acquisition mechanism arranged on the flexible grabbing device; the unstacking and stacking mechanism comprises a movable carrying platform, a three-coordinate machine arranged on the carrying platform and a second image acquisition mechanism arranged on the three-coordinate machine; the invention solves the problems that the unstacking and stacking machine is not suitable for narrow space and space needing to be moved, realizes full-automatic loading and unloading of goods in limited space such as van and the like, and realizes manpower substitution.

Description

An intelligent loading and unloading system based on visual servo

technical field

The invention relates to the technical field of intelligent loading and unloading robots, in particular to an intelligent loading and unloading system based on visual servoing.

Background technique

In the prior art, the loading and unloading process is completed by manpower, the loading and unloading labor intensity is high, and the loading and unloading efficiency is low. In order to improve the existing situation, some enterprises have added telescopic conveyor belts that can penetrate deep into the interior of the carriage. The telescopic conveyor belt completes the transportation process of the goods in the carriage, but the input end cannot complete the dismantling of the material and the transfer of the material to the conveyor belt; the output end cannot complete the transfer and stacking of the material from the conveyor to the carriage. Both ends of the telescopic conveyor belt are still completed by manpower. This solution reduces labor intensity but does not reduce manpower consumption.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide an intelligent loading and unloading vehicle system based on visual servo, solve the problem that the demolition stacker is not suitable for narrow spaces and spaces that need to be moved, and realize fully automatic loading and unloading of goods in limited spaces such as vans, etc. Realize human replacement.

In order to achieve the above object, the technical scheme adopted in the present invention is:

An intelligent loading and unloading vehicle system based on visual servo, comprising a depalletizing mechanism, a conveying mechanism, and an AGV loading and unloading mechanism; the two ends of the conveying mechanism are respectively connected to the depalletizing and stacking mechanism and the AGV loading and unloading mechanism;

And the AGV loading and unloading mechanism includes an AGV trolley that can realize front-to-back, left-right, and rotational displacement, a posture adjustment device arranged on the AGV trolley, a flexible grasping device arranged on the posture adjustment device, and arranged on the flexible grasping device. The first image acquisition mechanism of ;

The depalletizing mechanism includes a movable loading platform, a three-coordinate machine set on the loading platform, and a second image acquisition mechanism set on the three-coordinate machine.

Further, the conveying mechanism includes a roller conveyor and a height difference compensation device, and the height difference compensation device includes a height compensation vehicle arranged under the roller conveyor, and a height compensation vehicle arranged under the roller conveyor and the disassembler. Climbing conveyor between palletizers.

Further, the three-coordinate machine includes a coordinate frame, a displacement mechanism for controlling the movement of the coordinate frame on the loading platform, and a grabbing mechanism installed on the frame; Take the drive system of the organization's activities;

The drive system includes a lifting mechanism for controlling the height position of the grasping mechanism, a translation mechanism for controlling the lateral movement of the grasping mechanism, and a rotation mechanism for controlling the rotation of the grasping mechanism; the translation mechanism is connected to the lifting mechanism, and The rotation mechanism is connected to the translation mechanism.

Further, the lift mechanism includes a lift motor, a reducer connected to the lift motor, a drive shaft connected to the reducer, and an installation bearing seat of the drive shaft; the installation bearing seat is arranged on two sides of the top of the coordinate rack. On the side, the drive shaft extends out of the mounting bearing seat and is connected with a first belt transmission structure at both ends of the drive shaft.

The reducer applies the output power of the motor to the drive shaft, and the drive shaft drives the belt transmission structure to move, thereby driving the belt transmission structure to control the lifting.

Further, the first belt transmission structure includes a first synchronous pulley and a second synchronous pulley, the first synchronous pulley is connected to both ends of the drive shaft, and the second synchronous pulley is fixed on the coordinate machine. On the frame, a first synchronous belt is connected between the first synchronous pulley and the second synchronous pulley. The two synchronous pulleys cooperate with each other, and the transmission is stable.

Further, the translation mechanism includes a beam, a translation motor arranged on the beam, and a second belt drive structure; a first toothed belt is provided on both sides of the beam, and the first toothed belt and the first synchronous belt meshing; both ends of the beam are connected with lifting guide sliding blocks, and the lifting guide sliding blocks are adapted to the lifting guide rails arranged on the inner side of the coordinate frame to form a lifting guide moving pair.

Through the first toothed belt meshing with the first synchronous belt, when the first belt transmission structure is used as a belt drive, the beam is driven to move up or down as a whole, and is guided by the lifting guide moving pair, which is more stable and reliable during the lifting process.

Further, the second belt drive structure includes a third synchronous pulley and a fourth synchronous pulley, and a second synchronous belt is connected between the third synchronous pulley and the fourth synchronous pulley; so The third synchronous pulley or the fourth pulley is connected to the output shaft of the translation motor, and the other synchronous pulley is fixed on the beam.

Under the action of the translation motor, the second belt transmission mechanism forms a reciprocating translation movement mode, which can drive the rotating mechanism connected to the translation mechanism to perform lateral displacement.

Further, the rotating mechanism includes a rotating platform, a connecting bracket arranged on the rotating platform, a rotating motor arranged on one side of the rotating platform, and a grab mechanism is connected to the bottom of the rotating platform; a second connecting bracket is arranged on the top of the rotating platform. a toothed belt, and the second toothed belt is engaged with the second synchronous belt; a translation guide slider is arranged at the bottom of the connecting bracket, and the translation guide slider is adapted to the translation guide rail arranged on the beam, And form a translation-oriented moving pair.

The second toothed belt fixes the rotary platform on the second belt transmission structure, and the translational guiding and moving pair plays the role of guiding and orienting. When the second synchronous belt moves, the rotating platform is driven to the designated position.

Further, the rotating platform is provided with a rotating shaft, and the rotating shaft is connected to the rotating motor; the grasping mechanism includes a plurality of vacuum suction cups, and the plurality of vacuum suction cups are evenly distributed on the bottom of the rotating platform and rotate around the rotating shaft.

Further, the movable loading platform includes a mobile trolley; the mobile trolley includes a chassis, a plurality of universal wheels arranged at the bottom of the chassis, and displacement guide rails arranged on both sides of the chassis, and the displacement guide rails are connected with displacement slides. The block group and the displacement slider group are fixed to the bottom of the coordinate support; the chassis is provided with a plurality of roller assemblies for carrying and transmitting goods, and a roller motor for controlling the driving of the roller assemblies.

Further, the displacement mechanism includes a displacement motor, a gear connected to the output end of the displacement motor, and a rack adapted to the gear; the rack is arranged on the movable object platform.

Further, the second image acquisition mechanism includes a second camera and a camera mounting bracket, and the camera mounting bracket is fixed on the top of the coordinate rack; the second imaging system includes a camera and a multi-station camera viewing angle adjustment device, and the camera passes through the camera. The multi-position camera viewing angle adjusting device is arranged on the flexible grabbing device.

Further, the position and attitude adjustment device includes a rotary lifting device arranged on the AGV trolley, a first conveying device arranged on the rotary lifting device, controlled by the rotary lifting device and used for conveying goods, and a first conveying device arranged on the first rotating lifting device. On the conveying device, the attitude adjustment device used to adjust the plane work of the flexible grasping device;

The flexible grasping device includes a frame arranged on the attitude adjustment device, and a pick and place device arranged on the frame and used for picking and placing the palletized and de-stacked goods, which cooperates with the attitude adjustment device and is used for picking and placing. The second conveying device for conveying the palletized and de-stacked goods. During the process of conveying the goods by the second conveying device, the picking and placing device is hidden between the frame and the second conveying device. The device extends out of the second conveyor.

Further, the AGV trolley includes a bracket, a Mecanum wheel that is arranged on the bracket and can realize front and rear, left and right, and rotational displacements, and a mounting plate for fixing the bracket, and the rotating lifting device is arranged on the mounting plate.

Further, the rotating lifting device includes a rotating chassis arranged on the mounting plate for rotation, a first bottom plate disposed on the rotating chassis, a column disposed on the first bottom plate, a column disposed on the column, and a rotating pair of the column. The connected connecting plates are respectively connected with the first bottom plate and the connecting plate rotating pair, and are used to push the push rods of the connecting plate pitching;

The first conveying device includes a support frame arranged on the connecting plate, and a synchronous belt assembly arranged on the support frame for conveying goods;

The attitude adjustment device includes a telescopic compensation device for compensating the distance difference between the flexible grabbing device caused by the pitch and rotation of the first conveying device, and used for compensating the head of the flexible grabbing device caused by the pitch and rotation of the first conveying device. Angular-variable pitch adjustment device and heading adjustment device.

Further, the telescopic compensating device includes a rack provided on the support frame of the first conveying device, a guide rail that is slidingly matched with the rack and connected to the flexible grabbing device, and a motor connecting plate provided on the guide rail, which is provided on the A first geared motor on the motor connecting plate, which cooperates with the rack to drive the guide rail to move, and the telescopic compensation device also includes a sliding block arranged on the support frame and forming a moving pair with the guide rail; the rack is arranged on the support frame. At least one rack is arranged on one opposite side wall in the frame, and each side wall is provided with at least one rack.

Further, the pitch adjustment device includes a support plate arranged on the guide rail, a pitch rotation shaft connected to the rotation pair of the support plate, and a second reduction motor arranged on the support plate for driving the pitch rotation shaft to perform pitch rotation;

The course adjustment device includes a course rotation axis bracket arranged on the pitch rotation axis, a course rotation axis arranged on the course rotation axis bracket and connected with the rotation pair of the course rotation axis bracket, and arranged on the course rotation axis for connecting flexible The connecting frame of the execution head of the grabbing device, and the third reduction motor arranged on the bracket of the yaw rotation shaft and used for driving the yaw rotation shaft to rotate in the yaw direction.

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

The pick-and-place device includes a rack set on the frame, front and rear guide rails with limiting blocks at both ends, a gear matched with the rack, and a first motor mounted on the gear and matched with the drive gear and the rack. , a vacuum suction cup connected to the first motor for picking up and placing goods;

The second conveying device includes a conveying plate arranged on the frame, the conveying plate is provided with a sliding slot for the vacuum suction cup to be slidably hidden between the frame and the second conveying device, or sliding out of the second conveying device, and a sliding groove arranged on the conveying plate It is a conveying mechanism that cooperates with external equipment to convey the goods that are palletized and de-stacked by the pick-and-place device.

Further, the side plate is a trapezoid structure, the side plate is connected with one end of the connecting frame and the second bottom plate, and the end connected with the connecting frame and the second bottom plate, the included angle of the side plate is 90°, and the connecting frame is 90°. The angle between the other end and the side plate connected to the second bottom plate is 15°-25°;

The side plate and the connecting frame are frame structures.

Further, the first motor and the vacuum suction cup are connected by a longitudinal connecting mechanism;

The longitudinal connection mechanism includes a connecting piece arranged on the first motor, a semicircular guide rail slider assembly arranged on the connecting piece, and a connecting flange arranged on the semicircular guide rail slider assembly, which is in phase with the connecting flange. A connected hinge, the hinge is connected with the vacuum suction cup, wherein the semicircular guide rail slider assembly drives the vacuum suction cup to perform longitudinal adjustment and fine adjustment of the heading attitude, and the hinge drives the vacuum suction cup to perform fine adjustment of the pitch attitude;

The rack and the front and rear guide rails are arranged on the second bottom plate.

Further, the multi-position camera viewing angle adjustment device includes a base with an inclined upper surface arranged on the frame, a rotating platform arranged on the upper surface of the base, a second motor arranged on the rotating platform and controlling the rotation of the rotating platform , and a camera bracket set on the rotating platform, driven by the rotating platform to rotate, and adjusting the camera to the top-down mode, top-down mode and side-shot mode;

The angle between the upper surface and the lower surface of the base is 15°-45°, wherein the lower surface is the device support surface, and the upper surface is the rotating platform installation surface;

The lower surface of the base is perpendicular to the side;

The camera bracket includes a bracket installation surface installed on the rotating platform and parallel to the installation surface of the rotating platform, and a camera installation surface arranged on the bracket installation surface and at 135°-165° to the bracket installation surface, and the camera installation surface is provided with A center hole for installing the camera, the axis of the center hole is perpendicular to the camera installation surface;

When the second motor drives the camera bracket to rotate to the 0° station, the camera installation surface is parallel to the device support surface, the axis of the central hole is vertically downward, and the camera works in the top view mode;

When the second motor drives the camera bracket to rotate to a 180° station, the camera works in an overhead shooting mode;

When the second motor drives the camera support to rotate to a position between greater than 0° and less than 180°, greater than 180° and less than 360°, the camera works in the side shooting mode.

Compared with the prior art, the advantages of the present invention are:

1. The present invention cooperates with the first transmission device, the rotating lifting device and the attitude adjusting device, wherein the rotating lifting device realizes the point position adjustment, and the three degrees of freedom of the attitude adjusting device realize the attitude adjustment, even with the The loading and unloading robot of the pose adjustment device has a compact structure and can achieve precise positioning. Then, the vacuum suction cup can be moved through the pick-and-place device set in the grasping device, so as to realize hidden grasping, that is, when the second conveying device transfers the goods , The vacuum suction cup is hidden between the frame and the second conveying device to prevent the vacuum suction cup from blocking the conveyance of the goods. When it needs to be picked and placed, the vacuum suction cup slides out of the conveying plate, grabs the goods, and passively slides up to grab the goods onto the synchronous belt. When the suction cup is hidden downward, the hidden grabbing is adopted, and the lower layer of goods will not be damaged during the process of unpacking and stamping, and the present invention is suitable for small spaces or scenes that need to be moved at any time, that is, the requirements for the width and height of the action space are low. , the width of the minimum applicable space is 1.5m and the height is 1.5m;

2. The position and posture adjustment device in the present invention adopts a modular setting, which is easy to install and easy to maintain or replace; the setting of the slider is to limit and stabilize the sliding of the guide rail; the first transmission device adopts a synchronous belt The components can avoid slippage, adopt the embedded structure, and have a small width; the rotary lifting device has a simple structure and high rigidity; the posture adjustment device has a compact structure and can be passively fine-tuned;

3. In the present invention, the angle of the side plate at one end of the grab and place cargo is 15°-25°. The purpose is to adapt to different cargo heights and ensure the posture of the vacuum suction cup during the unstacking process. The vacuum suction cup can easily The goods are sucked onto the second conveyor, and during the stacking process, the vacuum suction cups can easily place the goods in the corresponding position;

4. When the pick-and-place device in the present invention is simultaneously provided with front and rear guide rails, longitudinal connection mechanisms and hinges, the vacuum suction cup has four degrees of freedom, and only one motor is required to drive the vacuum suction cup to move on the front and rear guide rails. In the process of stacking and depalletizing, passive lifting within a certain range of movement can be achieved based on the longitudinal connection mechanism, that is, longitudinal adjustment, which helps to drag the goods to the conveyor belt more stably. Based on the longitudinal connection mechanism, the heading attitude of the vacuum suction cup Small-scale fine-tuning can also be performed. Based on the hinge, the pitching attitude of the vacuum suction cup can be fine-tuned in a small range, which is conducive to the fit between the suction cup and the goods and grasps the goods more firmly;

5. The side plate and the connecting frame in the present invention are frame structures, the purpose of which is to reduce the weight and reduce the invalid load, and is beneficial to reduce the wind load in the outdoor environment;

6. The present invention realizes rapid and precise adjustment of the position and attitude of the camera by driving the rotating platform through the second motor, and realizes the real-time conversion of the field of view of the camera; while ensuring the real-time performance of image data acquisition, it can provide multi-view images for the robot image processing system Data, thereby improving the environmental adaptability of the loading and unloading robot; after the camera position is changed, no hand-eye annotation is required, which can greatly reduce the maintenance cost of the vision-servo depalletizing robot.

7. A movable loading platform is adopted, and the depalletizing and stacking mechanism is installed on the movable loading platform as a whole, so as to realize the flexible and variable deployment position of the destacking and stacking mechanism. The depalletizing mechanism can be pushed to the designated position as needed. Secondly, the three-seat machine of the present invention realizes that four free dimensions are variable. Compared with the prior art, the displacement mechanism provided by the present invention can drive and control the three-coordinate machine to displace. The goods to be unstacked and palletized are carried and moved by the roller assembly. According to the on-site requirements, the displacement mechanism moves the three-coordinate machine to the required position, which is the first free dimension. The drive system on the frame of the CMM provides the free dimension of the lifting direction, the free dimension of lateral translation and the free dimension of rotation. Therefore, the present invention can realize any change of the working position, has a high degree of freedom, and is flexible in use.

8. On the whole, the present invention integrates depalletizing, transferring and stacking. The stacking material is placed in the depalletizing mechanism, and the stacking material can be grasped by the depalletizing mechanism, and depalletized by the conveying mechanism. The final material is transferred to the AGV loading and unloading mechanism, and the AV loading and unloading mechanism adjusts the position through the posture adjustment device, and re-stacks the materials in the transport carriage through the flexible grasping mechanism. The whole process is completed automatically without manual operation, which is effective Reduce manual operation intensity.

Description of drawings

In order to illustrate the technical solutions of the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings used in the embodiments. It should be understood that the following drawings only show some embodiments of the present invention, and therefore do not It should be regarded as a limitation of the scope. For those of ordinary skill in the art, other related drawings can also be obtained from these drawings without any creative effort.

1 is a schematic structural diagram of an AGV loading and unloading mechanism provided by the present invention;

2 is a schematic diagram of an AGV trolley provided by the present invention;

FIG. 3 is a schematic diagram of the improved posture adjustment device of the present invention;

4 is a schematic diagram of a rotary lifting device provided by the present invention;

5 is a schematic diagram of an attitude adjustment device provided by the present invention;

6 is a schematic diagram of a telescopic compensation device provided by the present invention;

7 is a schematic diagram of a pitch adjustment device and a heading adjustment device provided by the present invention;

8 is a schematic diagram of a first conveying device provided by the present invention;

FIG. 9 is a schematic three-dimensional structure diagram of the flexible grabbing device provided by the present invention;

10 is a schematic structural diagram of a framework provided by the present invention;

11 is a schematic structural diagram of a pick-and-place device provided by the present invention;

12 is a three-dimensional schematic diagram of a multi-station camera viewing angle adjustment device when the angle between the upper surface and the lower surface of the base provided by the present invention is 17.5°;

Figure 13 is a three-dimensional schematic diagram of the base in Figure 12;

Figure 14 is a three-dimensional schematic diagram of the camera support in Figure 12;

15 is a three-dimensional schematic diagram of the camera bracket in a top view mode when the angle between the upper surface and the lower surface of the base is 17.5° in the present invention;

16 is a three-dimensional schematic diagram of the camera bracket in an overhead shooting mode when the angle between the upper surface and the lower surface of the base provided by the present invention is 17.5°;

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

18 is a schematic structural diagram 1 of a visual servo-based intelligent loading and unloading truck system provided by the present invention;

FIG. 19 is a second structural schematic diagram of a visual servo-based intelligent loading and unloading truck system provided by the present invention;

Figure 20 is a schematic structural diagram one of the depalletizing mechanism provided by the present invention;

Fig. 21 is the second structural schematic diagram of the depalletizing mechanism provided by the present invention;

22 is a schematic structural diagram of a movable loading platform of the depalletizing mechanism provided by the present invention;

23 is a schematic structural diagram of a three-coordinate machine of the depalletizing mechanism provided by the present invention;

Fig. 24 is a partial enlarged schematic diagram one of Fig. 23;

Fig. 25 is a partial enlarged schematic diagram 2 of Fig. 23;

Figure 26 is a schematic structural diagram three of the depalletizing mechanism provided by the present invention;

In the picture: 1-AGV trolley, 1-1-Mecanum wheel, 1-2-bracket, 1-3-installation plate;

2-Position adjustment device, 2-1-Rotary lifting device, 2-1-1-Rotary chassis, 2-1-2-First base plate, 2-1-3-Push rod, 2-1-4- connecting plate, 2-1-5-pillar, 2-2-first conveying device, 2-2-18-supporting frame, 2-2-19-synchronous belt assembly, 2-3-attitude adjusting device, 2-3 -1- telescopic compensation device, 2-3-2- pitch adjustment device, 2-3-3- heading adjustment device, 2-3-6- rack, 2-3-7- guide rail, 2-3-8- Slider, 2-3-9-first gear motor, 2-3-10-motor connecting plate, 2-3-11-pitch rotation axis, 2-3-12-support plate, 2-3-13-first Second gear motor, 2-3-14-course rotating shaft bracket, 2-3-15-course rotating shaft, 2-3-16-third gear motor, 2-3-17-executive head connecting frame;

3-flexible grasping 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-Pick and place device, 3-4-1-First motor, 3-4-2-Gear, 3-4-3-Rack, 3-4-4-Connector, 3-4-5- Hinge, 3-4-6-vacuum suction cup, 3-4-7-front and rear guide rail, 3-4-8-connecting flange, 3-4-9-semi-circular guide rail slider assembly;

4-camera, 4-1-base, 4-1-1-device support surface, 4-1-2-rotating platform mounting surface, 4-2-rotating platform, 4-3-second motor, 4-4- Camera Bracket, 4-4-1-Bracket Mounting Surface, 4-4-2-Camera Mounting Surface, 4-4-3-Center Hole.

5-Palletizing mechanism, 5-1-Load platform, 5-1-1-Chassis, 5-1-2-Displacement guide rail, 5-1-3-Displacement slider group, 5-1-4-Tooth Strip, 5-1-5-Universal Wheel, 5-1-6-Roller Assembly, 5-1-7-Roller Motor, 5-1-8-Material Code Plate, 5-2-Three Coordinate Machine, 5- 2-1-coordinate rack, 5-2-2-displacement motor, 5-2-3-gear, 5-2-4-reducer, 5-2-5-lifting motor, 5-2-6-drive Shaft, 5-2-7-installation bearing seat, 5-2-8-height adjustment block, 5-2-9-first synchronous pulley, 5-2-10-second synchronous pulley, 5-2- 11-Lifting guide rail, 5-2-12-Lifting guide slider, 5-2-13-First synchronous belt, 5-2-14-First toothed belt, 5-2-15-Beam, 5-2 -16-Pad, 5-2-17-Translation guide rail, 5-2-18-Motor mounting plate, 5-2-19-Third synchronous pulley, 5-2-20-Translation guide slider, 5- 2-21-Translation motor, 5-2-22- Fourth synchronous pulley, 5-2-23-Second synchronous belt, 5-2-24-Second toothed belt, 5-2-25-Connecting bracket , 5-3-camera mounting bracket, 5-4-second camera, 5-5-rotating mechanism, 5-6-rotating motor, 5-7-vacuum suction cup;

6-climbing conveyor, 7-height compensation vehicle, 8-roller conveyor, 10-van truck, 11-cargo.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present invention.

As shown in Figures 18-19, an intelligent loading and unloading vehicle system based on visual servoing includes a depalletizing mechanism 5, a conveying mechanism, and an AGV loading and unloading mechanism; both ends of the conveying mechanism are respectively connected to the depalletizing and stacking mechanism and the AGV loading and unloading mechanism;

And the AGV loading and unloading mechanism includes an AGV trolley 1 that can realize front-to-back, left-right, and rotational displacement, a posture adjustment device arranged on the AGV trolley 1, a flexible grasping device arranged on the posture adjustment device, and arranged on the flexible grasping device. The first image acquisition mechanism of ;

The depalletizing mechanism includes a movable loading platform 5-1, a three-coordinate machine 5-2 set on the loading platform, and a second image acquisition mechanism set on the three-coordinate machine 5-2.

Compared with the prior art, the intelligent loading and unloading vehicle system based on visual servo provided by the present invention integrates depalletizing, transferring and stacking. Grab the palletized materials, and transfer the depalletized materials to the AGV loading and unloading mechanism through the conveying mechanism. The AV loading and unloading mechanism adjusts the position through the posture adjustment device, and re-stacks the materials on the transport carriage through the flexible grasping mechanism. Inside, the whole process is completed automatically without manual operation, which effectively reduces the manual operation intensity. And during the working process of the system, the AGV loading and unloading images are obtained through the first image mechanism, the working images of the depalletizing mechanism are obtained through the second image mechanism, and the images obtained by the first image mechanism and the second image mechanism are analyzed. Acquire accurate depalletizing positioning and improve automation accuracy.

As shown in FIG. 18 , the conveying mechanism includes a roller conveyor 8, a height difference compensation device, and the height difference compensation device includes a height compensation vehicle 7 arranged under the roller conveyor 8, a roller conveyor 8 and a depalletizing stacking mechanism. Between the climbing conveyors 6.

As shown in Figure 23, the three-coordinate machine 5-2 includes a coordinate frame 5-2-1, a displacement mechanism for controlling the movement of the coordinate frame 5-2-1 on the loading platform, and a grabbing mechanism installed on the frame ; The frame is provided with a drive system that controls the movement of the grabbing mechanism. The driving system includes a lifting mechanism that controls the height position of the grasping mechanism, a translation mechanism that controls the lateral movement of the grasping mechanism, and a rotating mechanism 5-5 that controls the rotation of the grasping mechanism; the translation mechanism is connected to the lifting mechanism, and the rotating mechanism 5-5 is connected to the on the translation mechanism.

The driving system controls the height position through the lifting mechanism, the lateral position is controlled by the translation mechanism, and the direction position of the grabbed goods is controlled by the rotation mechanism 5, and finally the goods can be transported to any range within the working space of the robot.

As shown in Fig. 1-Fig. 2, the AGV trolley 1 includes a bracket 1-2, a Mecanum wheel 1-1 which is arranged on the bracket 1-2 and can realize front and rear, left and right, and rotational displacement, and a mecanum wheel 1-2 for fixing the bracket 1-2 The mounting plate 1-3, the rotary lifting device 2-1 is arranged on the mounting plate 1-3. It is not excluded that the AGV trolley 1 may also have other structures.

As shown in FIG. 3 , the posture adjustment device 2 includes a pitching and rotating rotary lifting device 2-1, which is provided on the AGV trolley 1, and is provided on the rotary lifting device 2-1 and is controlled by the rotary lifting device 2-1. 1. A first conveying device 2-2 for controlling pitch, rotation, and for conveying goods, and a first conveying device 2-2 for pitching and rotating the first conveying device 2-2 to ensure a flexible gripping device 3. Attitude adjustment device 2-3 working in YZ plane;

The rotary lifting device 2-1 includes a rotating chassis 2-1-1 arranged on the mounting plate 1-3 and used for rotation, and a first base plate 2-1-2 arranged on the rotating chassis 2-1-1. The pillars 2-1-5 on the first base plate 2-1-2 are arranged on the pillars 2-1-5, and the connecting plates 2-1-4 connected with the rotation pair of the pillars 2-1-5 are respectively connected with the first A bottom plate 2-1-2 is connected with the connecting plate 2-1-4 in rotation and is used to push the connecting plate 2-1-4 to pitch a push rod 2-1-3; the rotating chassis 2-1-1 is an existing , which includes arc-shaped tooth staggered gears, etc.; as shown in Figure 4, the holes on the bottom plate are countersunk holes for bolts, which are used to connect the bottom plate and the rotating chassis; the pillars 1-5 are fixed on the first bottom plate, and the main function is to use The connecting plate 2-1-4 is fixed. Of course, the pillars 2-1-5 can also be set on the first base plate in other movable and fixed ways; the push rods 2-1-3 are existing ones, and the core structure included is balls lead screw.

As shown in FIG. 8 , the first conveying device 2-2 includes a supporting frame 2-2-18 arranged on the connecting plate 2-1-4, and is arranged on the supporting frame 2-2-18 for synchronization of conveying goods The belt assembly 2-2-19; the synchronous belt assembly 2-2-19 is an existing one, and includes multiple sets of synchronizing wheels, a synchronous belt arranged on each set of synchronizing wheels, and a drive motor for driving the action of the multiple sets of synchronizing wheels.

As shown in FIG. 5 , the posture adjustment device 2-3 includes a telescopic compensation device 2-3-1 for compensating the distance difference between the flexible grabbing device 3 in the YZ plane caused by the pitch and rotation of the first conveying device, and is used for compensating for the first conveying device. The conveying device 2-2 pitches and rotates a pitch adjusting device 2-3-2 and a heading adjusting device 2-3-3 that cause the head angle of the flexible grasping device 3 to change.

As shown in FIG. 6, the telescopic compensation device 2-3-1 includes a rack 2-3-6 arranged on the support frame 2-2-18 of the first conveying device 2-2, and the rack 2-3-6 is connected to the rack 2-3-6. The guide rail 2-3-7 which is slidingly fitted and connected with the flexible grabbing device 3, the motor connecting plate 2-3-10 arranged on the guide rail 2-3-7 is arranged on the motor connecting plate 2-3-10 , a first geared motor 2-3-9 with a gear that cooperates with the rack 2-3-6 to drive the guide rail 2-3-7 to move, and the telescopic compensation device 2-3-1 also includes a support frame 2-2- 18, and the guide rail 2-3-7 to form the sliding block 2-3-8 of the moving pair; the rack 2-3-6 is arranged on an opposite side wall in the support frame 2-2-18, and each side wall is There are two racks 2-3-6 on it. The first reduction motor 2-3-9 drives the gear to rotate, and the gear is matched with the rack 2-3-6, so that the guide rail 2-3-7 slides on the rack 2-3-6, and the guide rail 2-3-7 slides , that will drive the pitch adjustment device 2-3-2 and the heading adjustment device 2-3-3 to move, while the guide rail 2-3-7 slides, it will drive the motor connecting plate 2-3-10 and the first reduction motor 2- 3-9 moves. During the sliding process of the guide rail 2-3-7, the slider 2-8 plays the role of limit and stability. The racks 2-3-6 are arranged on an opposite side wall in the 2-2-18, and at least one rack 2-3-6 is arranged on each side wall. That is to say, two or three racks can be arranged on the opposite side walls. Of course, only one rack can be arranged on one side wall. Considering the stability of the telescopic compensation device 2-3-1 when it operates, and the installation space It is better to set one or two racks on the opposite side walls.

As shown in FIG. 7 , the pitch adjustment device 2-3-2 includes a support plate 2-3-12 arranged on the guide rail 2-3-7, and a pitch rotation shaft 2- 3-11, the second deceleration motor 2-3-13 arranged on the support plate 2-3-12 for driving the pitch rotation shaft 2-3-11 for pitch rotation; the second deceleration motor 2-3-13 drives the pitch The rotation axis 2-3-11 is rotated and matched with the support plate 2-3-12, and the rotation of the pitch rotation axis 2-3-11 will drive the course adjustment device 2-3-3 to rotate in pitch.

The course adjustment device 2-3-3 includes a course rotation axis bracket 2-3-14 arranged on the pitch rotation axis 2-3-11, and a course rotation axis bracket 2-3-14 arranged on the course rotation axis bracket 2-3-14, and the course rotation axis bracket 2 -3-14 Rotating vice-connected yaw rotation axis 2-3-15, set on yaw rotation axis 2-3-15, connecting frame 2-3-17 of the execution head for connecting the flexible grasping device 3, and set On the support 2-3-14 of the course rotation shaft, there is a third reduction motor 2-3-16 for driving the course rotation shaft 2-3-15 for course rotation. The third deceleration motor 2-3-16 drives the course rotation axis 2-3-15 to rotate in the course direction, and the course rotation axis 2-3-15 will drive the executive head connecting frame 2-3-17 to move in the course direction.

As shown in FIG. 9 , the flexible grasping device 3 includes a frame 3-1 arranged on the attitude adjusting device 2-3, and a grasping device arranged on the frame 3-1 for picking and placing the goods for stacking and de-stacking The placing device 3-4 is a second conveying device 3-3 that cooperates with the posture adjusting device 2 to convey the palletized and de-stacked goods of the pick-and-place device 3-4. The second conveying device 3-3 conveys the goods. During the process, the pick and place device 3-4 is hidden between the frame 3-1 and the second transfer device 3-3. When the pick and place device 3-4 picks and places the goods, the pick and place device 3-4 extends out of the second transfer device 3. -3.

In practice, when palletizing is required, the first conveying device 2-2 transfers the goods to the second conveying device 3-3, and the second conveying device 3-3 drives the goods to move forward in the stacking direction. When grabbing the goods, the second conveying device is extended through the pick-and-place device 3-4 to grab the goods, and placed in the corresponding position for stacking; The conveying device 3-3 grabs the corresponding goods and places them on the second conveying device 3-3, while the picking and placing device 3-4 recovers and hides it between the frame 3-1 and the second conveying device 3-3, The second conveying device 3-3 then conveys the goods to the first conveying device 2-2 for destacking.

The frame 3-1 includes a second bottom plate 3-1-1, and side plates 3-1-2 disposed on opposite sides of the second bottom plate 3-1-1, opposite to the second bottom plate 3-1-1 and the side plates Connection, connecting frame 3-1-3 for connecting the executive head connecting frame 2-3-17; side plate 3-1-2 is a trapezoidal structure, One end of the second bottom plate 3-1-1 is connected, and the included angle between one end of the connecting frame 3-1-3 and the second bottom plate 3-1-1, and the side plate 3-1-2 is 90°. The exclusion can also be other angles, and the angle between the other end connected with the connecting frame 3-1-3 and the second bottom plate 3-1-1, the side plate 3-1-2 is 15°-25°, such as 16° , 17°, 18°, 19°, 20°, 21°, 22°, 23°, 24°. or

The side plate 3-1-2 is a triangular structure, the side plate 3-1-2 is connected with the connecting frame 3-1-3 and one end of the second bottom plate 3-1-1, and is connected with the connecting frame 3-1-3 and the first end of the second bottom plate 3-1-1. The connected end of the two bottom plates 3-1-1 is located on one side of the bottom plate, and the included angle of the side plates 3-1-2 is 90°. The angle between the other end of the connection between the two bottom plates 3-1-1 and the side plate 3-1-2 is 15°-25°, such as 16°, 17°, 18°, 19°, 20°, 21°, 22° °, 23°, 24°. or

The side plate can also be a square structure. When it is set to a square structure, its height needs to be limited, in order to better stack or destack.

In practice, the optimal shape of the side plate is a trapezoidal structure, so that the second conveying device can be better installed later. The goods may be damaged due to the sharp edges of the triangular structure. The setting of the square structure is inconvenient to set other structures.

As shown in Figure 10, the side plate 3-1-2 and the connecting frame 3-1-3 are frame structures. It can reduce the weight and reduce the dead load, and it is beneficial to reduce the wind load in the outdoor environment.

The pick-and-place device 3-4 includes a rack 3-4-3 arranged on the frame 3-1 and front and rear guide rails 3-4-7 with limit blocks at both ends, which are matched with the rack 3-4-3 The gear 3-4-2 is arranged on the gear 3-4-2, and the first motor 3-4-1, which is matched with the driving gear 3-4-2 and the rack 3-4-3, is connected with the first motor 3-4-1. -4-1 connected vacuum suction cups 3-4-6 for picking up and placing goods;

In practice, the gear 3-4-2 is installed on the output shaft of the first motor 3-4-1, and the first motor 3-4-1 drives the gear 3-4-2 to cooperate with the rack 3-4-3. 3-4-2 drives the first motor 3-4-1 and the vacuum suction cup 3-6 to slide on the rack 3-3. When palletizing is required, the vacuum suction cup extends out of the second conveyor, and absorbs the goods transferred from the first conveyor to the second conveyor, and then drives the gear 3-4-2 through the first motor 3-4-1. The bar 3-4-3 slides up to move to the stacking position, that is, push the vacuum suction cup or the goods to the designated position to realize the stacking; when it needs to be unstacked, the vacuum suction cup extends out of the second conveying device and absorbs and destacks The goods in the position are then driven by the first motor 3-4-1 to drive the gear 3-4-2 to slide on the rack 3-4-3 to move in the direction of the second conveying device to realize destacking.

The second conveying device 3-3 includes a conveying plate arranged on the frame 3-1. The conveying plate is provided with a vacuum suction cup 3-4-6 slidably hidden between the frame 3-1 and the second conveying device 3-3, Or slide out of the sliding slot of the second conveying device 3-3, and a conveying mechanism arranged on the conveying plate and cooperating with external equipment to convey the palletized and de-stacked goods of the pick-and-place device 3-4. The conveying plates are respectively connected with the connecting frame 3-1-3 and the top side of the two side plates 3-1-2, in order to facilitate the conveying of goods.

The conveying mechanism includes a plurality of groups of conveying wheels arranged on the conveying plate, a conveying belt arranged on each group of conveying wheels, and a driving motor arranged on one side of the bottom plate for driving the rotation of the multiple groups of conveying wheels.

In order to make the goods more stably dragged to the second conveying device; the posture of the vacuum suction cup can be passively adjusted, which is more conducive to the adhesion between the suction cup and the goods, and grasps the goods more firmly, the first motor 3-4-1 It is connected with the vacuum suction cup 3-4-6 through the longitudinal connecting mechanism;

The longitudinal connection mechanism includes a connecting piece 3-4-4 arranged on the first motor 3-4-1, a semicircular guide rail slider assembly 3-4-9 arranged on the connecting piece 3-4-4, arranged on the The connecting flange 3-4-8 on the semicircular guide rail slider assembly 3-4-9, the hinge 3-4-5 connected with the connecting flange 3-4-8, the hinge 3-4-5 It is connected with the vacuum suction cup 3-4-6, in which the semicircular guide rail slider assembly drives the vacuum suction cup 3-4-6 to perform longitudinal adjustment and fine-tuning of the heading attitude, and the hinge 3-4-5 drives the vacuum suction cup 3-4- 6. Fine-tune the pitch attitude; among them, the semicircular guide rail slider assembly 3-4-9 is the existing structure.

The rack 3-4-3 and the front and rear guide rails 3-4-7 are provided on the second bottom plate 3-1-1. In some embodiments, it is not excluded to be provided on the side panels.

As shown in FIGS. 12-17 , the camera 4 is arranged on the flexible grasping device 3 through the multi-position camera viewing angle adjusting device.

The multi-position camera viewing angle adjustment device includes a base 4-1 with an inclined upper surface arranged on the frame 3-1, a rotating platform 4-2 arranged on the upper surface of the base 4-1, 2, the second motor 4-3 that controls the rotation of the rotating platform 4-2, and the second motor 4-3 that is arranged on the rotating platform 4-2 and is driven to rotate by the rotating platform 4-2 to adjust the camera 4 to be a top view mode, a top view mode and a side view mode. The camera bracket 4-4 in the shooting mode; the rotating platform 4-2 can only rotate around an axis, which is a single-degree-of-freedom mechanism and is an existing mechanism.

In the implementation process, by controlling the rotating platform 4-2 to rotate on the base 4-1, when the rotating platform 4-2 rotates, it will drive the camera 4 set on the camera bracket 4-4 to rotate, and the rotating platform 4-2 rotates from In the process of rotating from 0° to 360°, the camera 4 can realize the shooting in top view mode, top view mode and side shot mode.

The angle between the upper surface and the lower surface of the base 4-1 is 15°-45°, such as 16°, 17.5°, 18°, 20°, 21°, 25°, 30°, 31°, 35°, 40°, etc. , wherein the lower surface is the device support surface 4-1-1, which is perpendicular to the four sides of the base, and the upper surface is the rotating platform mounting surface 4-1-2. In some embodiments, the base may also be a trapezoidal structure.

The camera bracket 4-4 includes a bracket mounting surface 4-4-1 mounted on the rotating platform 4-2 and parallel to the rotating platform mounting surface 4-1-2, which is arranged on the bracket mounting surface 4-4-1 and is parallel to the rotating platform mounting surface 4-1-2. Bracket mounting surface 4-4-1 is 135°-165° camera mounting surface 4-4-2, such as bracket mounting surface 4-1 and camera mounting surface 4-2 are at 136°, 140°, 145°, 150° , 155°, 160°, etc., the camera mounting surface 4-4-2 is provided with a center hole 4-4-3 for installing the camera, and the axis of the center hole 4-4-3 is perpendicular to the camera mounting surface 4-4-2 .

As shown in Figures 20-26, the lifting mechanism includes a lifting motor 5-2-5, a reducer 5-2-4 connected to the lifting motor 5-2-5, and a drive shaft connected to the reducer 5-2-4 And the mounting bearing seat 5-2-7 of the drive shaft. Specifically, the mounting bearing seat 5-2-7 is installed on the height adjustment blocks 5-2-8 on both sides of the top of the coordinate frame 5-2-1, and the drive shaft extends out of the mounting bearing seat 5-2-7 and is driven Both ends of the shaft are connected with a first belt transmission structure. The first belt transmission structure includes a first synchronous pulley 5-2-9, a second synchronous pulley 5-2-10, the first synchronous pulley 5-2-9 is connected to both ends of the drive shaft, and the second synchronous belt The wheel 5-2-10 is fixed on the frame of the coordinate machine, and a first synchronous belt 5-2-13 is connected between the first synchronous pulley 5-2-9 and the second synchronous pulley 5-2-10. The reducer 5-2-4 applies the output power of the motor to the drive shaft, and the drive shaft drives the belt transmission structure to move, thereby driving the belt transmission structure to control the lifting.

The translation mechanism includes a beam 5-2-15, a translation motor 5-2-21 arranged on the beam 5-2-15, and a second belt transmission structure; a motor mounting plate 5-2 is connected to the outside of the beam 5-2-15 -18 is used to install the translation motor 5-2-21, and a translation guide rail 5-2-17 is provided on the same side. A first toothed belt 5-2-14 is arranged on both sides of the beam 5-2-15, and the first toothed belt 5-2-14 meshes with the first synchronous belt 5-2-13; the beam 5-2-15 Both ends are connected with lifting guide sliders 5-2-12. Specifically, the lifting guide sliders 5-2-12 are mechanically connected to the pads 5-2-16 at both ends of the beam 5-2-15 by mechanical means such as screws. , and the lifting guide sliding block 5-2-12 is matched with the lifting guide rail 5-2-11 arranged on the inner side of the coordinate frame 5-2-1, and forms a lifting guide moving pair.

The second belt transmission structure includes a third synchronous pulley 5-2-19, a fourth synchronous pulley 5-2-22, and between the third synchronous pulley 5-2-19 and the fourth synchronous pulley 5-2- A second synchronous belt 5-2-23 is connected between 22; the third synchronous pulley 5-2-19 or the fourth pulley is connected to the output shaft of the translation motor 5-2-21, and the other synchronous pulley is fixed on the Beam 5-2-15 on.

The first toothed belt 5-2-14 is engaged with the first synchronous belt 5-2-13, and when the first belt transmission structure is used for belt transmission, the beam 5-2-15 is driven to move up or down as a whole, and through the lifting and lowering The guiding mobile pair is used for lifting and guiding, which is more stable and reliable during the lifting process. Under the action of the translation motor 5-2-21, the second belt transmission mechanism forms a reciprocating translation movement mode, which can drive the rotation mechanism 5-5 connected to the translation mechanism to perform lateral displacement.

The rotating mechanism 5-5 includes a rotating platform, a connecting bracket 5-2-25 arranged on the rotating platform, a rotating motor 5-6 arranged on one side of the rotating platform, and a grabbing mechanism is connected to the bottom of the rotating platform; the connecting bracket 5- The top of 2-25 is provided with a second toothed belt 5-2-24, and the second toothed belt 5-2-24 is engaged with the second timing belt 5-2-23; the bottom of the connecting bracket 5-2-25 A translation guide slider 5-2-20 is provided, and the translation guide slider 5-2-20 is adapted to the translation guide rail 5-2-17 arranged on the beam 5-2-15, and forms a translation guide moving pair. The rotating platform is provided with a rotating shaft, and the rotating shaft is connected to the rotating motor 5-6; the grasping mechanism includes a plurality of vacuum suction cups 5-7, and the plurality of vacuum suction cups 5-7 are evenly distributed on the bottom of the rotating platform and rotate around the rotating shaft.

The second toothed belt 5-2-24 fixes the rotary platform on the second belt transmission structure, and the translational guide moving pair plays the role of guiding and orienting. When the second synchronous belt 5-2-23 moves, the rotating platform is driven to the designated position. The vacuum suction cups 5-7 are used to suck the goods, and can rotate around the rotary shaft to adjust the suction position of the goods.

The movable loading platform 5-1 includes a mobile cart; the mobile cart includes a chassis 5-1-1, a plurality of universal wheels 5-1-5 arranged on the bottom of the chassis 5-1-1, and a plurality of universal wheels 5-1-5 arranged on the chassis 5-1-1 1. The displacement guide rails 5-1-2 on both sides, the displacement guide rail 5-1-2 is connected with the displacement slider group 5-1-3, and the displacement slider group 5-1-3 is fixed to the bottom of the coordinate bracket; the chassis 5- 1-1 is provided with a plurality of roller assemblies 5-1-6 for carrying and transferring goods, and a roller motor 5-1-7 for controlling the driving of the roller assemblies 5-1-6.

The mobile trolley can flexibly position the entire depalletizing robot to any position. The roller motor 5-1-7 drives the roller assembly 5-1-6 to carry and transport the goods to the designated position, and the overall structure is flexible and changeable.

The displacement mechanism includes a displacement motor 5-2-2, a gear 5-2-3 connected to the output end of the displacement motor 5-2-2, a rack 5-1-4 adapted to the gear 5-2-3; the rack 5 -1-4 is arranged on the movable loading platform 5-1.

Driven by the displacement motor 5-2-2, the gear 5-2-3 meshes with the rack 5-1-4 to provide moving power to the coordinate machine 5-2, and uses the displacement guide rail 5-1-2 and the displacement slider group The moving pair composed of 5-1-3 acts as a slave to drive the entire three-seat machine to move. The three-coordinate machine 5-2 can be fixed at any position of the trolley, which is more flexible.

The second image acquisition mechanism includes a second camera 5-4, a camera mounting bracket 5-3, and the camera mounting bracket 5-3 is fixed on the top of the coordinate rack 5-2-1. The second camera 5-4 is used to collect and process the visual information of the depalletizing mechanism, and output the position and attitude information of the material tray and the goods.

As shown in Figure 18, when the depalletizing mechanism is deployed on the low platform, the conveying mechanism needs to be equipped with a height compensation vehicle and a climbing conveyor for height compensation.

First, the AGV trolley 1, the pose adjustment device 2, the flexible grabbing device 3 and the multi-position camera viewing angle adjustment device of the present invention are assembled into a loading and unloading robot, and placed on a van to realize the unstacking and stacking of goods pile.

Next, the depalletizing mechanism 5 is dispatched to the designated position, and then the depalletizing mechanism 5, the climbing conveyor 6, the roller conveyor 8, and the AGV trolley 1 are sequentially connected to form a conveyor chain. The height compensation vehicle 7 is arranged below the roller conveyor 8 as a height compensation mechanism.

As shown in FIG. 19 , when the depalletizing mechanism is deployed on a high platform, or when it is flush with the van 10 , the conveying mechanism does not need to be provided with height compensation. The depalletizing mechanism 5, the roller conveyor 8, and the AGV trolley 1 are directly connected in sequence to form a conveyor chain.

Example 1

Specifically, the process of unstacking the goods 11 from the van 10 and transferring the goods to the platform for stacking is as follows:

After the loading and unloading robot enters the carriage, and moves the loading and unloading robot to the designated position through the AGV trolley 1, the multi-station camera viewing angle adjustment device captures the image information in the van in the top view mode, top view mode or/and side shot mode. , based on the image information, when the posture adjustment device receives an instruction, it first rotates the chassis to drive the posture adjustment device to rotate, and pushes the first transmission device on the connecting plate and the attitude adjustment device on the first transmission device to pitch through the push rod; After pitching and rotating, the first deceleration motor is matched with the rack, so that the guide rail drives the connecting plate and the first deceleration motor to cooperate with the rack and the slider, and the pitch adjustment device and the heading adjustment device are driven by the guide rail for YZ plane adjustment. Distance difference compensation. The YZ plane here can be seen from the setting in FIG. 3 , and it only plays a role of auxiliary description, rather than a limiting role.

After the distance difference between the pitch adjustment device and the heading adjustment device is compensated for the YZ plane by the telescopic compensation device, the second deceleration motor drives the pitch rotation axis to pitch rotation, that is, drives the pitch adjustment device to pitch rotation. After the pitch rotation, the third deceleration The motor drives the heading rotation axis to rotate in the heading direction, that is, drives the connecting frame of the executive head to rotate in the heading direction. After the heading rotates, it ensures that the flexible grabbing device on the connecting frame of the executive head works in the YZ plane;

Then, the second motor drives the gear and the rack to cooperate, and the gear drives the second motor and the vacuum suction cup to slide out of the second conveying device on the rack. After the goods are caught by the vacuum suction cup, the goods move along the inclined plane of the frame, and the vacuum suction cup follows the rack. With the goods moving upward passively, the fine-tuning of the heading attitude and pitch attitude is realized. When the goods arrive at the conveyor belt and the conveyor belt transports the goods, the vacuum suction cup releases the pressure. Due to the action of gravity, the vacuum suction cup descends and hides inside the frame, that is, the frame and the second conveyor Between the devices, the goods continue to be conveyed backward to the first conveying device, and the first conveying device conveys the goods away, that is, destacking is realized.

After the depalletizing in the van 10 is completed, the single cargo 11 is finally transferred to the depalletizing mechanism 5 through the roller conveyor 8 .

Then, take the feeding/discharging direction of the goods to be de-palletized as the X' axis, and the feeding direction is the same as the displacement direction of the CMM 5-2, thereby establishing the X' axis of the CMM 5-2 Towards. Then, the Y' axis established by the working direction of the translation mechanism and the Z' axis established by the working direction of the lifting mechanism together form the three working axes of the three-coordinate machine 5-2.

Secondly, adjust the X' axial position of the three-coordinate machine 5-2 according to the needs of depalletizing. 3 is connected, the gear 5-2-3 meshes with the rack 5-1-4, and driven by the X' axis motor, the three-coordinate machine 5-2 can translate along the X' axial direction on the chassis 1-1.

At this time, when the roller conveyor 6 comes in, the lifting motor 5-2-5 controls and drives the grasping mechanism to rise to a suitable height position, and the translation motor 5-2-21 and the displacement motor 5-2-2 are linked together to The picking mechanism is controlled to the top of the goods 11 on the roller conveyor 8, and the vacuum suction cups 5-5-7 on the grasping mechanism are used to absorb and grasp the goods, and the rotating motor 5-6 of the rotating mechanism 5-5 is used to adjust the posture of the goods. Location.

Finally, the lifting motor 5-2-5, the translation motor 5-2-21, and the displacement motor 5-2-2 are linked to transport the cargo space to the material pallet 5-1-8 for stacking, completing one operation. This process is repeated until the unpacking of the goods in the van 10 is completed.

Embodiment 2:

The goods are unloaded from the platform and transported to the van 10 for stacking of the goods 11. The specific process is as follows:

The destacking and stacking processes of the depalletizing mechanism 5 are similar.

After the coordinate machine 5-2 is adjusted in the X' axis, the goods 11 to be de-stacked are placed on the pallet 5-1-8 and fed through the roller assembly 5-1-6. At this time, the second camera 5-4 on the top of the frame of the CMM 5-2 obtains the specific image data of the goods to be de-palletized, outputs the position and attitude information of the goods to the control background, and controls the translation in the Y' axis direction Adjust the motor 5-2-21 and the lift motor 5-2-5 in the Z-axis direction. The translation motor 5-2-21 controls the movement in the direction of the Y' axis, and adjusts the grabbing mechanism to be directly above the palletized goods to be unloaded. The lift motor 5-2-5 controls the movement in the direction of the Z' axis, and adjusts the beam 5-2- 15 height. How to process image data and feedback control of motor motion is very mature in the prior art, and will not be repeated and explained here.

Repeatedly control the lifting motor 5-2-5 to adjust the height of the beam 5-2-15, and use the vacuum suction cup 5-7 of the grasping mechanism on the beam 5-2-15 to absorb and grab the goods. Finally, the rotary motor 5-6 of the rotary mechanism 5-5 is used to drive the vacuum suction cup 5-7 to rotate around the rotary axis of the rotary platform, thereby realizing the adjustment of the posture of the cargo 11 .

The adjusted cargo 11 is placed on the climbing conveyor 6 (the platform is lower than the van, as shown in Figure 18), or directly on the roller conveyor 8 (the platform is higher than or flush with the van, as shown in Figure 18) 19). The roller conveyor 8 transports the goods to the AGV trolley 1. Similar to the depalletizing process, after the loading and unloading robot enters the carriage and reaches the designated position, the multi-station camera viewing angle adjustment device is in the top view mode, top view mode or/and side view mode. After shooting the image information in the van in the shooting mode, based on the image information, the pose adjustment device receives the command to ensure that the actuator on the actuator head connecting frame works on the YZ plane, and then places the goods on the first conveying device. , the first conveying device transfers the goods to the flexible grasping device to realize stacking. During the stacking process, the flexible grasping device does not need four degrees of freedom movement, and only needs to push the goods successively.

As mentioned above, the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand: The technical solutions described in the embodiments are modified, or some technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions in the embodiments of the present application.

Claims (10)

1. An intelligent loading and unloading vehicle system based on visual servoing is characterized in that: it comprises a depalletizing mechanism (5), a conveying mechanism, and an AGV loading and unloading mechanism; the two ends of the conveying mechanism are respectively connected to the depalletizing mechanism and the AGV loading and unloading mechanism. ; And the AGV loading and unloading mechanism includes an AGV trolley (1) capable of realizing front-to-back, left-right, and rotational displacement, a pose adjustment device arranged on the AGV trolley (1), a flexible grab device arranged on the pose adjustment device, and a first image acquisition mechanism on the flexible grasping device; The depalletizing mechanism (5) includes a movable loading platform (5-1), a three-coordinate machine (5-2) arranged on the movable loading platform (5-1), and a three-coordinate machine (5-2) arranged on the movable loading platform (5-1). 5-2) on the second image acquisition mechanism. 2 . The intelligent loading and unloading truck system based on visual servoing according to claim 1 , wherein the conveying mechanism comprises a roller conveyor (8) and a height difference compensation device, and the height difference compensation device comprises: 2 . A height compensation vehicle (7) below the roller conveyor (8), and a climbing conveyor (6) arranged between the roller conveyor (8) and the depalletizing stacking mechanism (5). 3. The intelligent loading and unloading system based on visual servoing according to claim 1, characterized in that, the three-coordinate machine (5-2) comprises a coordinate frame (5-2-1), a control coordinate frame (5-2) -2-1) A displacement mechanism that moves on the loading platform (5-1) and a grabbing mechanism installed on the frame; the coordinate frame (5-2-1) is provided with a control mechanism The drive system for the movement of the grasping mechanism; The drive system includes a lifting mechanism for controlling the height position of the grasping mechanism, a translation mechanism for controlling the lateral movement of the grasping mechanism, and a rotation mechanism for controlling the rotation of the grasping mechanism; the translation mechanism is connected to the lifting mechanism, and The rotation mechanism is connected to the translation mechanism. 4. The intelligent loading and unloading truck system based on visual servoing according to claim 1, characterized in that, the position and attitude adjusting device (2) comprises a rotary lifting device arranged on the AGV chassis (1), capable of pitching and rotating (2-1), a first conveying device (2-2) provided on the rotary lift device (2-1), the pitch and rotation controlled by the rotary lift device (2-1), and used for conveying goods, and An attitude adjusting device (2-3) arranged on the first conveying device (2-2) and used for pitching and rotating the first conveying device (2-2) to ensure that the flexible grabbing device (3) works on the YZ plane ; The flexible grabbing device (3) comprises a frame (3-1) arranged on the attitude adjustment device (2-3), and is arranged on the frame (3-1) and is used for stacking and destacking the goods. A pick-and-place device (3-4) for picking and placing, and a second conveying device (3-3) for conveying the palletized and depalletized goods of the pick-and-place device (3-4) in cooperation with the posture adjustment device (2). ), in the process of conveying the goods by the second conveyor (3-3), the pick-and-place device (3-4) is hidden between the frame (3-1) and the second conveyor (3-3), and the pick-and-place device ( 3-4) When picking and placing goods, the picking and placing device (3-4) extends out of the second conveying device (3-3). 5. The visual servo-based intelligent loading and unloading vehicle system according to claim 1, wherein the AGV trolley (1) comprises a bracket (1-2), which is arranged on the bracket (1-2), A Mecanum wheel (1-1) capable of realizing front-to-back, left-right, and rotational displacement, and a mounting plate (1-3) for fixing the bracket (1-2), the rotary lifting device (2-1) is arranged on the on the mounting plate (1-3); The rotary lifting device (2-1) comprises a rotary chassis (2-1-1) arranged on a mounting plate and used for rotation, and a first base plate (2) provided on the rotary chassis (2-1-1). -1-2), the pillars (2-1-5) arranged on the first bottom plate (2-1-2), the pillars (2-1-5) arranged on the pillars (2-1-5), and the pillars (2-1-5) The connecting plate (2-1-4) connected by the rotating pair is respectively connected with the first bottom plate (2-1-2) and the connecting plate (2-1-4) rotating pair, and is used to push the connecting plate (2-1-4) 4) Pitch push rod (2-1-3); The first conveying device (2-2) includes a support frame (2-2-18) arranged on the connecting plate (2-1-4), and is arranged on the support frame (2-2-18) for Timing belt assembly for conveying goods (2-2-19); The attitude adjustment device (2-3) includes a telescopic compensation device (2-3-1) for compensating for the distance difference between the flexible grabbing device (3) in the YZ plane caused by the pitch and rotation of the first conveying device, and for compensating The first conveying device (2-2) pitches and rotates a pitch adjusting device (2-3-2) and a heading adjusting device (2-3-3) that cause the head angle of the flexible grabbing device (3) to change. 6. The visual servo-based intelligent loading and unloading vehicle system according to claim 5, characterized in that, the telescopic compensation device (2-3-1) comprises a The rack (2-3-6) on the supporting frame (2-2-18), the guide rail (2- 3-7), the motor connecting plate (2-3-10) arranged on the guide rail (2-3-7), arranged on the motor connecting plate (2-3-10), and the rack (2-3- 6) A first geared motor (2-3-9) that moves in coordination with the driving guide rail (2-3-7), the telescopic compensation device (2-3-1) further includes a support frame (2- 2-18), the sliding block (2-3-8) that forms a moving pair with the guide rail (2-3-7); the rack (2-3-6) is arranged on the support frame (2-2-18) ), and at least one rack (2-3-6) is arranged on each side wall. 7. The visual servo-based intelligent loading and unloading vehicle system according to claim 6, characterized in that, the pitch adjustment device (2-3-2) comprises a guide rail (2-3-7) provided on the The support plate (2-3-12), the pitch rotation shaft (2-3-11) connected with the rotation pair of the support plate (2-3-12), is arranged on the support plate (2-3-12) for driving The pitch rotation axis (2-3-11) is used as the second gear motor (2-3-13) for pitch rotation; The course adjustment device (2-3-3) includes a course rotation axis bracket (2-3-14) arranged on the pitch rotation axis (2-3-11), and is arranged on the course rotation axis bracket (2-3- 14) On the upper, the course rotating shaft (2-3-15) connected with the rotating pair of the course rotating shaft bracket (2-3-14) is arranged on the course rotating shaft (2-3-15) and used to connect the flexible gripper Take the actuator head connecting frame (2-3-17) of the device (3), and the bracket (2-3-14) on the yaw rotation shaft for driving the yaw rotation shaft (2-3-15) for yaw rotation the third geared motor (2-3-16). 8. The visual servo-based intelligent loading and unloading vehicle system according to claim 1, wherein the frame (3-1) comprises a second bottom plate (3-1-1), which is arranged on the second bottom plate The side plate (3-1-2) on the opposite side of (3-1-1) is connected with the second bottom plate (3-1-1) and the two side plates, and is used for connecting the execution head connecting frame (2-3) -17) connecting frame (3-1-3); The pick-and-place device (3-4) comprises a rack (3-4-3) provided on the frame (3-1) and front and rear guide rails (3-4-7) provided with limit blocks at both ends, The gear (3-4-2) matched with the rack (3-4-3) is arranged on the gear (3-4-2), the driving gear (3-4-2) and the rack (3-4) -3) a matching first motor (3-4-1), a vacuum suction cup (3-4-6) connected to the first motor (3-4-1) for picking up and placing goods; The second conveying device (3-3) includes a conveying plate arranged on the frame (3-1), and the conveying plate is provided with a vacuum suction cup (3-4-6) slidably hidden in the frame (3-1) and the second conveying plate (3-4-6). A sliding slot between the conveying devices (3-3) or sliding out of the second conveying device (3-3), and a sliding slot provided on the conveying plate, matched with external equipment, and aligned with the pick-and-place device (3-4) Conveyor mechanism for conveying palletized and depalletized goods. 9. The intelligent loading and unloading truck system based on visual servoing according to claim 8, characterized in that, the side plate (3-1-2) is a trapezoidal structure, and the side plate (3-1-2) ) is connected with one end of the connecting frame (3-1-3) and the second base plate (3-1-1), and is connected with the connecting frame (3-1-3) and the second base plate (3-1-1) The angle between one end and the side plate (3-1-2) is 90°, and the other end, the side plate (3) connected with the connecting frame (3-1-3) and the second bottom plate (3-1-1) -1-2) The included angle is 15°-25°; The side plate (3-1-2) and the connecting frame (3-1-3) are frame structures. 10. The visual servo-based intelligent loading and unloading truck system according to any one of claims 8 or 9, wherein the first motor (3-4-1) and the vacuum suction cup (3-4-6) pass through Connected by longitudinal connecting mechanism; The longitudinal connection mechanism comprises a connecting piece (3-4-4) arranged on the first motor (3-4-1), a semicircular guide rail slider assembly arranged on the connecting piece (3-4-4) (3-4-9), the connecting flange (3-4-8) arranged on the semicircular guide rail slider assembly (3-4-9), is connected with the connecting flange (3-4-8) The hinge (3-4-5) of the 4-6) Perform longitudinal adjustment and fine-tuning of heading attitude, and the hinge (3-4-5) drives the vacuum suction cup (3-4-6) to fine-tune the pitch attitude; The rack (3-4-3) and the front and rear guide rails (3-4-7) are arranged on the second bottom plate (3-1-1).

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