CN214399033U - Intelligent loading and unloading vehicle system based on visual servo - Google Patents

Abstract

The utility model discloses an intelligent loading and unloading vehicle system based on visual servo, belonging to the technical field of intelligent loading and unloading vehicle robots, comprising 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 utility model provides a unstacking hacking machine not be applicable to the problem in narrow and small space and the space that needs to remove, realize the full auto-control handling of goods in finite spaces such as van, realize that the manpower replaces.

Description

Intelligent loading and unloading vehicle system based on visual servo

Technical Field

The utility model relates to an intelligence loading and unloading car robotechnology field, concretely relates to intelligence loading and unloading car system based on visual servoing.

Background

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 increase telescopic conveyor belts which can go deep into the carriage. The telescopic conveyor belt completes the transportation process of goods in the carriage, but the input end cannot complete the unstacking of materials and the transfer of the materials to the conveyor belt; the output end can not finish the transferring and stacking of materials carried to the carriage by the conveying belt. The two ends of the telescopic conveying belt are still completed by manpower, and the scheme reduces the labor intensity but does not reduce the consumption of manpower.

Disclosure of Invention

An object of the utility model is to provide an intelligence loading and unloading car system based on visual servoing solves the problem that the hacking machine of stamping is not suitable for narrow and small space and the space that needs to remove, realizes the full auto-control handling of goods in finite spaces such as van, realizes the manpower and replaces.

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

an intelligent loading and unloading vehicle system based on visual servo comprises a pile removing mechanism, a conveying mechanism and an AGV loading and unloading mechanism; two ends of the conveying mechanism are respectively connected to the pile removing 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.

Further, the conveying mechanism comprises a roller conveyor and a height difference compensation device, wherein the height difference compensation device comprises a height compensation vehicle arranged below the roller conveyor and a climbing conveyor arranged between the roller conveyor and the pile removing mechanism.

Furthermore, the three-coordinate measuring machine comprises a coordinate frame, a displacement mechanism for controlling the coordinate frame to move on the object carrying platform, and a grabbing mechanism arranged on the frame; a driving system for controlling the grabbing mechanism to move is arranged on the rack;

the driving system comprises a lifting mechanism for controlling the height position of the grabbing mechanism, a translation mechanism for controlling the grabbing mechanism to move transversely, and a rotating mechanism for controlling the grabbing mechanism to rotate; the translation mechanism is connected to the lifting mechanism, and the rotation mechanism is connected to the translation mechanism.

Further, the lifting mechanism comprises a lifting motor, a speed reducer connected with the lifting motor, a driving shaft connected with the speed reducer and a mounting bearing seat of the driving shaft; the mounting bearing seats are arranged on two sides of the top of the coordinate frame, and the driving shaft extends out of the mounting bearing seats and is connected with first belt transmission structures at two ends of the driving shaft.

The reducer acts the output power of the motor on the driving shaft, and the driving shaft drives the belt transmission structure to move, so that the belt transmission structure is driven to control the lifting.

Further, the first belt transmission structure comprises a first synchronous belt wheel and a second synchronous belt wheel, the first synchronous belt wheel is connected to two ends of the driving shaft, the second synchronous belt wheel is fixed on the coordinate machine frame, and a first synchronous belt is connected between the first synchronous belt wheel and the second synchronous belt wheel. Two synchronous pulleys mutually support, and the transmission is stable.

Further, the translation mechanism comprises a cross beam, a translation motor arranged on the cross beam and a second belt transmission structure; first toothed belts are arranged on two sides of the cross beam and meshed with the first synchronous belt; and the two ends of the cross beam are connected with lifting guide sliding blocks, and the lifting guide sliding blocks are matched with lifting guide rails arranged on the inner side of the coordinate frame to form a lifting guide sliding pair.

The first toothed belt is meshed with the first synchronous belt, the first belt transmission structure drives the beam to integrally move upwards or downwards when belt transmission is carried out, and the lifting guide moving pair is used for lifting guide, so that the lifting process is more stable and reliable.

Further, the second belt transmission structure comprises a third synchronous belt pulley and a fourth synchronous belt pulley, and a second synchronous belt is connected between the third synchronous belt pulley and the fourth synchronous belt pulley; the third synchronous pulley or the fourth synchronous pulley is connected to an output shaft of the translation motor, and the other synchronous pulley is fixed on the cross beam.

The second belt transmission mechanism forms a reciprocating translational movement mode under the action of the translation motor, and can drive the rotating mechanism connected to the translation mechanism to perform transverse displacement.

Furthermore, the rotating mechanism comprises a rotating platform, a connecting bracket arranged on the rotating platform and a rotating motor arranged on one side of the rotating platform, and the bottom of the rotating platform is connected with a grabbing mechanism; a second toothed belt is arranged on the top of the connecting support and meshed to a second synchronous belt; the bottom of the connecting support is provided with a translation guide sliding block, and the translation guide sliding block is matched with a translation guide rail arranged on the cross beam to form a translation guide sliding pair.

The second toothed belt enables the rotary platform to be fixed on the second belt transmission structure, and the translation guide moving pair plays a role in guiding orientation. And the second synchronous belt moves and drives the rotating platform to a specified position.

Further, a rotating shaft is arranged in the rotating platform and connected to a rotating motor; the grabbing mechanism comprises a plurality of vacuum suckers which are uniformly distributed at the bottom of the rotating platform and rotate around the rotating shaft.

Further, the movable carrier platform comprises a movable trolley; the movable trolley comprises a chassis, a plurality of universal wheels arranged at the bottom of the chassis and displacement guide rails arranged at two sides of the chassis, wherein a displacement slider group is connected in the displacement guide rails and is fixed at the bottom of the coordinate support; the chassis is internally provided with a plurality of roller assemblies for carrying and transferring goods and a roller motor for controlling the driving of the roller assemblies.

Further, the displacement mechanism comprises a displacement motor, a gear connected to the output end of the displacement motor, and a rack matched with the gear; the rack is arranged on the movable carrying platform.

Furthermore, the second image acquisition mechanism comprises a second camera and a camera mounting bracket, and the camera mounting bracket is fixed at the top of the coordinate frame; the second image system comprises a camera and a multi-station camera visual angle adjusting device, and the camera is arranged on the flexible grabbing device through the multi-station camera visual angle adjusting device.

Furthermore, the pose adjusting device comprises a rotary lifting device arranged on the AGV trolley, a first conveying device which is arranged on the rotary lifting device, controlled by the rotary lifting device and used for conveying goods, and a pose adjusting device which is arranged on the first conveying device and used for adjusting the plane work of the flexible grabbing device;

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Seventhly, a movable carrying platform is adopted, the unstacking and stacking mechanism is integrally installed on the movable carrying platform, and the flexible change of the deployment position of the unstacking and stacking mechanism is realized. The unstacking mechanism can be pushed to a designated position as required. Secondly, the utility model discloses a three machines have realized that four dimensions of freedom are variable, and in comparison with prior art, the utility model provides a displacement mechanism can drive and control three-coordinate machine and carry out the displacement. The goods to be unstacked are carried and moved by the roller assembly, and the displacement mechanism displaces the three-coordinate machine to a required position according to on-site requirements, wherein the required position is a first free dimension. A driving system on the three-coordinate machine frame provides a lifting direction free dimension, a transverse translation free dimension and a rotation free dimension. Thereby make the utility model discloses can realize the arbitrary change of operation position, the degree of freedom is high, uses in a flexible way.

Eight, in a whole, the utility model discloses collect the pile up neatly sign indicating number of breaking a jam, shift, stack as an organic wholely, the pile up neatly material is placed in pile up neatly mechanism of tearing open, can snatch the pile up neatly material through the pile up neatly mechanism of breaking a jam to transmit AGV loading and unloading mechanism through the material after conveying mechanism will break a jam, AV loading and unloading mechanism is again through position appearance adjusting device and is the position adjustment, snatchs the mechanism through the flexibility and piles up the material in the transportation carriage again, and the whole process is whole to be accomplished through the automation, need not the manual work and operates, has effectively reduced artificial operating strength.

Drawings

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

FIG. 1 is a schematic diagram of an AGV handling mechanism according to the present invention;

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

fig. 3 is a schematic view of the improved pose adjusting apparatus of the present invention;

fig. 4 is a schematic view of a rotary lifting device provided by the present invention;

fig. 5 is a schematic view of an attitude adjusting device provided by the present invention;

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

fig. 7 is a schematic diagram of a pitch adjusting device and a course adjusting device provided by the present invention;

fig. 8 is a schematic view of a first conveying device provided by the present invention;

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

fig. 10 is a schematic structural diagram of a frame provided by the present invention;

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

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

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

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

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

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

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

Fig. 18 is a first schematic structural diagram of an intelligent loading and unloading vehicle system based on visual servoing provided by the present invention;

fig. 19 is a schematic structural diagram of an intelligent loading and unloading vehicle system based on visual servoing according to the present invention;

fig. 20 is a first schematic structural diagram of an unstacking and stacking mechanism provided by the present invention;

fig. 21 is a second schematic structural diagram of the palletizing mechanism provided by the present invention;

fig. 22 is a schematic structural view of a movable loading platform of the unstacking mechanism provided by the present invention;

fig. 23 is a schematic structural view of a three-coordinate machine of the unstacking and stacking mechanism provided by the present invention;

FIG. 24 is an enlarged partial view of FIG. 23;

FIG. 25 is a second enlarged partial schematic view of FIG. 23;

fig. 26 is a third schematic structural diagram of the unstacking mechanism provided by the present invention;

in the figure: 1-an AGV trolley, 1-1-Mecanum wheels, 1-2-brackets and 1-3-mounting plates;

2-pose adjusting device, 2-1-rotary lifting device, 2-1-1-rotary chassis, 2-1-2-first bottom plate, 2-1-3-push rod, 2-1-4-connecting plate, 2-1-5-strut, 2-2-first conveying device, 2-2-18-supporting frame, 2-2-19-synchronous belt component, 2-3-pose adjusting device, 2-3-1-telescopic compensating device, 2-3-2-pitching adjusting device, 2-3-3-course adjusting device, 2-3-6-rack, 2-3-7-guide rail, 2-3-8-sliding block, 2-3-9-first speed reducing motor, 2-3-10-motor connecting plate, 2-3-11-pitching rotating shaft, 2-3-12-supporting plate, 2-3-13-second speed reducing motor, 2-3-14-course rotating shaft bracket, 2-3-15-course rotating shaft, 2-3-16-third speed reducing motor and 2-3-17-execution head connecting bracket;

3-a flexible grabbing device, 3-1-a frame, 3-1-1-a second bottom plate, 3-1-2-a side plate, 3-1-3-a connecting frame, 3-3-a second conveying device, 3-4-a grabbing and releasing device, 3-4-1-a first motor, 3-4-2-a gear, 3-4-3-a rack, 3-4-4-a connecting piece, 3-4-5-a hinge, 3-4-6-a vacuum chuck, 3-4-7-a front and rear guide rail, 3-4-8-a connecting flange and 3-4-9-a semicircular guide rail sliding block assembly;

4-camera, 4-1-base, 4-1-1-device supporting surface, 4-1-2-rotating platform mounting surface, 4-2-rotating platform, 4-3-second motor, 4-4-camera support, 4-4-1-support mounting surface, 4-4-2-camera mounting surface and 4-4-3-center hole.

5-pile-up removing mechanism, 5-1-carrying platform, 5-1-1-chassis, 5-1-2-displacement guide rail, 5-1-3-displacement slide block group, 5-1-4-rack, 5-1-5-universal wheel, 5-1-6-roller component, 5-1-7-roller motor, 5-1-8-material code disc, 5-2-three-coordinate machine, 5-2-1-coordinate machine frame, 5-2-2-displacement motor, 5-2-3-gear, 5-2-4-speed reducer, 5-2-5-lifting motor, 5-2-6-driving shaft, 5-2-7-mounting bearing seat, 5-2-8-height adjusting block, 5-2-9-first synchronous pulley, 5-2-10-second synchronous pulley, 5-2-11-lifting guide rail, 5-2-12-lifting guide slide block, 5-2-13-first synchronous belt, 5-2-14-first toothed belt, 5-2-15-cross beam, 5-2-16-cushion block, 5-2-17-translation guide rail, 5-2-18-motor mounting plate, 5-2-19-third synchronous pulley, 5-2-20-translation guide slide block, 5-2-21-translation motor, 5-2-22-a fourth synchronous pulley, 5-2-23-a second synchronous belt, 5-2-24-a second toothed belt, 5-2-25-a connecting support, 5-3-a camera mounting support, 5-4-a second camera, 5-5-a rotating mechanism, 5-6-a rotating motor and 5-7-a vacuum chuck;

6-climbing conveyor, 7-height compensation vehicle, 8-roller conveyor, 10-van and 11-goods.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the drawings in the embodiments of the present invention are combined below to clearly and completely describe the technical solutions in the embodiments of the present invention.

As shown in fig. 18-19, an intelligent loading and unloading vehicle system based on visual servo comprises a pile removing mechanism 5, a conveying mechanism and an AGV loading and unloading mechanism; two ends of the conveying mechanism are respectively connected to the pile removing mechanism and the AGV loading and unloading mechanism;

the AGV loading and unloading mechanism comprises an AGV trolley 1 capable of realizing front-back, left-right and rotary displacement, a pose adjusting device arranged on the AGV trolley 1, 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 5-1, a three-coordinate machine 5-2 arranged on the carrying platform, and a second image acquisition mechanism arranged on the three-coordinate machine 5-2.

Compared with the prior art, the utility model provides an intelligence loading and unloading car system based on visual servoing, the pile up neatly sign indicating number is torn open in the collection, shift, stack as an organic whole, the pile up neatly material is placed in tearing pile up neatly mechanism open, can snatch the pile up neatly material through tearing pile up neatly mechanism 5, and transmit AGV loading and unloading mechanism through the material after conveying mechanism will tear the pile up neatly, AV loading and unloading mechanism is again through position appearance adjusting device and is the position adjustment, snatch the mechanism through the flexibility and pile up the material in the transportation carriage again, the whole process is whole to be accomplished through the automation, need not the manual work and operates, artificial manipulation strength has effectively been reduced. In the working process of the system, the AGV loading and unloading images are acquired through the first image mechanism, the working images of the pile disassembling and stacking mechanism are acquired through the second image mechanism, and accurate pile disassembling and positioning is acquired through image analysis of the images acquired by the first image mechanism and the second image mechanism, so that the automation precision is improved.

As shown in fig. 18, the conveying mechanism includes a roller conveyor 8 and a height difference compensation device, and the height difference compensation device includes a height compensation vehicle 7 disposed below the roller conveyor 8 and a climbing conveyor 6 disposed between the roller conveyor 8 and the unstacking mechanism.

As shown in fig. 23, the three-coordinate measuring machine 5-2 includes a coordinate frame 5-2-1, a displacement mechanism for controlling the coordinate frame 5-2-1 to move on the object platform, and a grabbing mechanism mounted on the frame; the frame is provided with a driving system for controlling the grabbing mechanism to move. The driving system comprises a lifting mechanism for controlling the height position of the grabbing mechanism, a translation mechanism for controlling the grabbing mechanism to move transversely, and a rotating mechanism 5-5 for controlling the grabbing mechanism to rotate; the translation mechanism is connected to the lifting mechanism and the rotation mechanism 5-5 is connected to the translation mechanism.

The driving system controls the height position through the lifting mechanism, the horizontal position is controlled through the translation mechanism, and the direction position of the grabbed goods is controlled through the rotating mechanism 5, so that the goods can be finally conveyed to any range in the operation space range of the robot.

As shown in fig. 1-2, an AGV cart 1 includes a frame 1-2, mecanum wheels 1-1 mounted on the frame 1-2 for performing front-back, left-right, and rotational displacements, and a mounting plate 1-3 for fixing the frame 1-2, wherein a rotary lifting device 2-1 is mounted on the mounting plate 1-3. It is not excluded that the AGV trolley 1 could also be of other construction.

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

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

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

As shown in FIG. 5, the attitude adjusting means 2-3 includes a telescopic compensating means 2-3-1 for compensating for a difference in distance of the first transfer means pitch and rotation causing the flexible gripping means 3 in YZ plane, a pitch adjusting means 2-3-2 for compensating for a change in pitch and rotation of the first transfer means 2-2 causing the head angle of the flexible gripping means 3 to change, and a heading adjusting means 2-3-3.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

As shown in fig. 20 to 26, the lifting mechanism includes a lifting motor 5-2-5, a reducer 5-2-4 connected to the lifting motor 5-2-5, a driving shaft connected to the reducer 5-2-4, and a mounting bearing seat 5-2-7 for the driving shaft. Specifically, the mounting bearing blocks 5-2-7 are mounted on height adjusting blocks 5-2-8 on two sides of the top of the coordinate frame 5-2-1, the driving shaft extends out of the mounting bearing blocks 5-2-7, and two ends of the driving shaft are connected with first belt transmission structures. The first belt transmission structure comprises a first synchronous belt wheel 5-2-9 and a second synchronous belt wheel 5-2-10, the first synchronous belt wheel 5-2-9 is connected to two ends of a driving shaft, the second synchronous belt wheel 5-2-10 is fixed on a frame of the coordinate machine, and a first synchronous belt 5-2-13 is connected between the first synchronous belt wheel 5-2-9 and the second synchronous belt wheel 5-2-10. The reducer 5-2-4 applies the output power of the motor to the driving shaft, and the driving shaft drives the belt transmission structure to move, so that the belt transmission structure is driven to control lifting.

The translation mechanism comprises a cross beam 5-2-15, a translation motor 5-2-21 arranged on the cross beam 5-2-15 and a second belt transmission structure; the outer side of the beam 5-2-15 is connected with a motor mounting plate 5-2-18 for mounting a translation motor 5-2-21, and translation guide rails 5-2-17 are arranged on the same side. Two sides of the beam 5-2-15 are provided with first toothed belts 5-2-14, and the first toothed belts 5-2-14 are meshed with the first synchronous belts 5-2-13; the two ends of the cross beam 5-2-15 are connected with lifting guide sliding blocks 5-2-12, specifically, the lifting guide sliding blocks 5-2-12 are connected to the cushion blocks 5-2-16 at the two ends of the cross beam 5-2-15 through screws and other mechanical methods, and the lifting guide sliding blocks 5-2-12 are matched with lifting guide rails 5-2-11 arranged on the inner side of the coordinate frame 5-2-1 to form a lifting guide moving pair.

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

The first toothed belt 5-2-14 is meshed with the first synchronous belt 5-2-13, the beam 5-2-15 is driven to move upwards or downwards integrally when the first belt transmission structure performs belt transmission, and the lifting guide is performed through the lifting guide sliding pair, so that the lifting process is more stable and reliable. The second belt transmission mechanism forms a reciprocating translation moving mode under the action of the translation motor 5-2-21, and can drive the rotation mechanism 5-5 connected to the translation mechanism to perform transverse displacement.

The rotating mechanism 5-5 comprises a rotating platform, a connecting support 5-2-25 arranged on the rotating platform and a rotating motor 5-6 arranged on one side of the rotating platform, and the bottom of the rotating platform is connected with a grabbing mechanism; a second toothed belt 5-2-24 is arranged on the top of the connecting bracket 5-2-25, and the second toothed belt 5-2-24 is meshed to a second synchronous belt 5-2-23; the bottom of the connecting bracket 5-2-25 is provided with a translation guide sliding block 5-2-20, and the translation guide sliding block 5-2-20 is matched with a translation guide rail 5-2-17 arranged on the cross beam 5-2-15 to form a translation guide sliding pair. A rotating shaft is arranged in the rotating platform and is connected to the rotating motors 5-6; the grabbing mechanism comprises a plurality of vacuum chucks 5-7, and the vacuum chucks 5-7 are uniformly distributed at 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 a role in guiding orientation. And the second synchronous belt 5-2-23 moves and drives the rotating platform to a specified position. The vacuum chucks 5-7 are used for sucking the goods and can rotate around the rotating shaft to adjust the sucking position of the goods.

The movable carrying platform 5-1 comprises a movable trolley; the movable trolley comprises a chassis 5-1-1, a plurality of universal wheels 5-1-5 arranged at the bottom of the chassis 5-1-1 and displacement guide rails 5-1-2 arranged at two sides of the chassis 5-1-1, wherein a displacement sliding block set 5-1-3 is connected in the displacement guide rails 5-1-2, and the displacement sliding block set 5-1-3 is fixed at the bottom of the coordinate support; a plurality of roller assemblies 5-1-6 for carrying and transferring goods and roller motors 5-1-7 for controlling the driving of the roller assemblies 5-1-6 are arranged in the chassis 5-1-1.

The whole pile removing robot can be flexibly positioned to any position by the movable trolley, the roller motor 5-1-7 drives the roller component 5-1-6 to carry and transmit goods to a specified position, and the whole structure is flexible and changeable.

The displacement mechanism comprises a displacement motor 5-2-2, a gear 5-2-3 connected to the output end of the displacement motor 5-2-2, and a rack 5-1-4 matched with the gear 5-2-3; the rack 5-1-4 is arranged on the movable carrying platform 5-1.

The three-coordinate machine is driven by a displacement motor 5-2-2, a gear 5-2-3 is meshed with a rack 5-1-4 to provide moving power for the three-coordinate machine 5-2, and a moving pair consisting of a displacement guide rail 5-1-2 and a displacement sliding block group 5-1-3 is used as a driven part to drive the whole three-coordinate machine to move. The three-coordinate machine 5-2 can be fixed at any position of the trolley, and is more flexible.

The second image acquisition mechanism comprises a second camera 5-4 and a camera mounting bracket 5-3, wherein the camera mounting bracket 5-3 is fixed at the top of the coordinate frame 5-2-1. The second camera 5-4 is used for collecting and processing visual information of the pile removing mechanism and outputting position and posture information of the material tray and the goods.

As shown in fig. 18, when the unstacking mechanism is deployed at a low platform, the conveying mechanism needs to be provided with a height compensation vehicle, and the climbing conveyor needs to be used for height compensation.

At first, will install the utility model discloses a loading and unloading car robot is assembled into to AGV dolly 1, position appearance adjusting device 2, flexible grabbing device 3 and multistation camera visual angle adjusting device to place and realize the unstacking and the pile up neatly of goods at van.

Secondly, the unstacking and stacking mechanism 5 is dispatched to a specified position, and then the unstacking and stacking mechanism 5, the climbing conveyor 6, the roller conveyor 8 and the AGV trolley 1 are connected into a conveying chain in sequence. And the height compensating car 7 is disposed below the roller conveyor 8 as a height compensating mechanism.

As shown in fig. 19, the transport mechanism need not be provided with height compensation when the unstacking mechanism is deployed at a high station, or flush with the car 10. The pile removing mechanism 5, the roller conveyor 8 and the AGV trolley 1 are directly connected into a conveying chain in sequence.

Example one

Specifically, the method comprises the following steps: the goods 11 are unstacked from the van 10 and transported to the platform for stacking as follows:

after the loading and unloading robot enters a carriage and moves to a specified position through the AGV trolley 1, after the image information in the van is shot by the multi-station camera visual angle adjusting device in an overlook mode, a downward shooting mode or/and a side shooting mode, when the position and posture adjusting device receives an instruction based on the image information, firstly, the rotating chassis drives the position and posture adjusting device to rotate, and pushes the first conveying device on the connecting plate and the position and posture adjusting device on the first conveying device to pitch through the push rod; after pitching and rotating, the first speed reducing motor is matched with the rack, so that the guide rail drives the connecting plate and the first speed reducing motor to be matched with the rack and the sliding block in a sliding manner, and the pitching adjusting device and the course adjusting device are driven by the guide rail to perform distance difference compensation of a YZ plane. The YZ plane is set in fig. 3, and serves only for the purpose of illustration, but not limitation.

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

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

After the unstacking in the van body 10 is completed, the single goods 11 are finally conveyed to the unstacking mechanism 5 through the roller conveyor 8.

Then, the feeding/discharging direction of the goods to be unstacked is taken as the X 'axial direction, and the feeding direction is the same as the displacement direction of the three-coordinate machine 5-2, so that the X' axial direction of the three-coordinate machine 5-2 is established. And then establishing a Y 'axial direction and a Z' axial direction established by the working direction of the lifting mechanism according to the working direction of the translation mechanism to jointly form three working axial directions of the three-coordinate machine 5-2.

Secondly, according to the requirement of unstacking, the X 'axial position of the three-coordinate machine 5-2 is adjusted, the displacement motor 5-2-2 installed at the bottom of the three-coordinate support serves as an X' shaft motor, the output end of the displacement motor is connected with the gear 5-2-3, the gear 5-2-3 is meshed with the rack 5-1-4, and the three-coordinate machine 5-2 can translate on the chassis 1-1 along the X 'axial direction under the driving of the X' shaft motor.

At the moment, when the roller conveyor 6 is fed, the lifting motor 5-2-5 controls and drives the grabbing mechanism to ascend to a proper height position, the translation motor 5-2-21 and the displacement motor 5-2-2 are linked, the grabbing mechanism is controlled to be above the goods 11 on the roller conveyor 8, the vacuum chuck 5-5-7 on the grabbing mechanism is used for adsorbing and grabbing the goods, and the rotating motor 5-6 of the rotating mechanism 5-5 is used for adjusting the posture position of the goods.

And finally, the lifting motor 5-2-5, the translation motor 5-2-21 and the displacement motor 5-2-2 are linked to convey the goods position to the material code disc 5-1-8 for stacking, and one-time operation is completed. This process is cycled until the cargo in the van 10 is completely de-stacked.

Example two:

the cargo is disassembled from the platform and conveyed into the van body 10 for stacking the cargo 11, and the concrete process is as follows:

the unstacking and stacking processes of the unstacking and stacking mechanism 5 are similar,

after the three-coordinate machine 5-2 finishes the axial adjustment of the X', goods 11 to be unstacked are placed on the material code disc 5-1-8 and are fed through the roller assembly 5-1-6. At the moment, the second camera 5-4 at the top of the rack of the three-coordinate machine 5-2 acquires specific image data of the goods to be unstacked, outputs position and posture information of the goods to the control background, and controls the translation motor 5-2-21 in the Y' axis direction and the lifting motor 5-2-5 in the Z axis direction to adjust. The translation motor 5-2-21 controls the movement in the Y 'axis direction, the grabbing mechanism is adjusted to be right above the goods to be unstacked, the lifting motor 5-2-5 controls the movement in the Z' axis direction, and the height of the cross beam 5-2-15 is adjusted. How to process the image data and feedback control the motor motion is well-established in the prior art, and will not be explained in more detail here.

The lifting motor 5-2-5 is controlled repeatedly to adjust the height of the cross beam 5-2-15, and the vacuum chuck 5-7 of the grabbing mechanism on the cross beam 5-2-15 is used for absorbing and grabbing the goods. And finally, driving the vacuum chuck 5-7 to rotate around a rotating shaft of the rotating platform by using a rotating motor 5-6 of the rotating mechanism 5-5, thereby realizing the adjustment of the posture of the goods 11.

The conditioned goods 11 are placed on the climbing conveyor 6 (platform below the van, as shown in fig. 18) or directly on the roller conveyor 8 (platform above or flush with the van, as shown in fig. 19). Roller conveyor 8 carries the goods to AGV dolly 1 on, similar with the process of breaking a jam, loading and unloading car robot gets into the carriage, and arrive assigned position after, multistation camera visual angle adjusting device is after overlooking the mode, shoot the image information in the van under the mode of bowing or/and side shoot, based on image information, position appearance adjusting device receives the instruction and advances, guarantee to carry out actuating mechanism on the head link and work at YZ plane, place the goods on first conveyer again, convey the goods to flexible grabbing device through first conveyer and realize the pile up neatly, at the pile up neatly process, flexible grabbing device does not need the motion of four degrees of freedom, only need carry on successively propelling movement thing goods can.

The above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.

Claims (10)

1. The utility model provides an intelligence loading and unloading car system based on visual servo which characterized in that: the automatic loading and unloading device comprises a pile removing mechanism (5), a conveying mechanism and an AGV loading and unloading mechanism; two ends of the conveying mechanism are respectively connected to the pile removing mechanism and the AGV loading and unloading mechanism;

the AGV loading and unloading mechanism comprises an AGV trolley (1) capable of realizing front-back, left-right and rotary displacement, a pose adjusting device arranged on the AGV trolley (1), a flexible grabbing device arranged on the pose adjusting device, and a first image acquisition mechanism arranged on the flexible grabbing device;

the pile removing mechanism (5) comprises a movable carrying platform (5-1), a three-coordinate machine (5-2) arranged on the movable carrying platform (5-1), and a second image acquisition mechanism arranged on the three-coordinate machine (5-2).

2. A smart visual servo-based loader vehicle system according to claim 1 wherein the conveying mechanism comprises a roller conveyor (8), a height differential compensation device comprising a height compensation car (7) disposed below the roller conveyor (8), a climbing conveyor (6) disposed between the roller conveyor (8) and the unstacking mechanism (5).

3. A smart visual servo-based loader vehicle system according to claim 1 wherein the three coordinate machine (5-2) comprises a coordinate frame (5-2-1), a displacement mechanism controlling the movement of the coordinate frame (5-2-1) on the object platform (5-1), a gripping mechanism mounted on the frame; a driving system for controlling the grabbing mechanism to move is arranged on the coordinate frame (5-2-1);

the driving system comprises a lifting mechanism for controlling the height position of the grabbing mechanism, a translation mechanism for controlling the grabbing mechanism to move transversely, and a rotating mechanism for controlling the grabbing mechanism to rotate; the translation mechanism is connected to the lifting mechanism, and the rotation mechanism is connected to the translation mechanism.

4. A smart visual servo-based loader system according to claim 1 wherein the pose adjustment means (2) comprises a rotary lifting means (2-1) provided on the AGV cart (1) to be tiltable and rotatable, a first transfer means (2-2) provided on the rotary lifting means (2-1) to be tiltable and rotatable by the rotary lifting means (2-1) and for transferring the load, and a pose adjustment means (2-3) provided on the first transfer means (2-2) for the first transfer means (2-2) to be tiltable and rotatable and for ensuring the flexible gripping means (3) to operate in YZ plane;

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

5. A smart visual servo-based loader system as claimed in claim 4 wherein the AGV car (1) comprises a rack (1-2), Mecanum wheels (1-1) mounted on the rack (1-2) for forward, backward, left and right, and rotational displacement, and a mounting plate (1-3) for fixing the rack (1-2), the rotary lifting device (2-1) being mounted on the mounting plate (1-3);

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

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

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

6. Intelligent truck system based on visual servoing, according to claim 5, characterized in that said telescopic compensation means (2-3-1) comprise a rack (2-3-6) arranged on the supporting frame (2-2-18) of the first conveyor means (2-2), a guide (2-3-7) slidingly engaged with the rack (2-3-6) and connected with the flexible gripping means (3), a motor connection plate (2-3-10) arranged on the guide (2-3-7), a first geared motor (2-3-9) arranged on the motor connection plate (2-3-10) and cooperating with the rack (2-3-6) to drive the guide (2-3-7) to move, the telescopic compensation device (2-3-1) also comprises a sliding block (2-3-8) which is arranged on the supporting frame (2-2-18) and forms a moving pair with the guide rail (2-3-7); the racks (2-3-6) are arranged on opposite side walls in the supporting frame (2-2-18), and at least one rack (2-3-6) is arranged on each side wall.

7. An intelligent cargo handling vehicle system based on visual servoing according to claim 6, characterized in that said pitch adjustment means (2-3-2) comprise a support plate (2-3-12) arranged on the guide rail (2-3-7), a pitch rotation shaft (2-3-11) connected to the revolute pair of the support plate (2-3-12), a second reduction motor (2-3-13) arranged on the support plate (2-3-12) for driving the pitch rotation shaft (2-3-11) to rotate in pitch;

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

8. An intelligent truck system based on visual servoing according to claim 4, characterized in that said frame (3-1) comprises a second bottom plate (3-1-1), side plates (3-1-2) disposed on opposite sides of the second bottom plate (3-1-1), a link frame (3-1-3) connected to the second bottom plate (3-1-1) and to the two side plates for connecting the actuator head link frames (2-3-17);

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

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

9. The intelligent loading and unloading vehicle system based on the visual servo as recited in claim 8, wherein the side plate (3-1-2) is a trapezoid structure, the side plate (3-1-2) is connected with one end of the connecting frame (3-1-3) and one end of the second bottom plate (3-1-1), the included angle of the side plate (3-1-2) is 90 degrees at one end connected with the connecting frame (3-1-3) and the second bottom plate (3-1-1), the included angle of the side plate (3-1-2) is 15 degrees to 25 degrees at the other end connected with the connecting frame (3-1-3) and the second bottom plate (3-1-1), and the included angle of the side plate (3-1-2) is 15 degrees to 25 degrees;

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

10. An intelligent visual servo-based loader system according to any of the claims 8 or 9 wherein the first motor (3-4-1) and the vacuum chuck (3-4-6) are connected by a longitudinal connection;

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

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

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