Transport device and method of transporting the same

Abstract

The application provides a transfer device and a transfer method thereof, and relates to the technical field of unmanned loading and unloading equipment; the transfer device comprises a conveying mechanism, a mechanical hand, an adjusting drum line and a moving platform; the mechanical hand is provided with a visual recognition part, and the height of the adjusting drum line is adjusted according to the information of the to-be-taken goods collected by the visual recognition part; the mechanical hand and the conveying mechanism are installed on the moving platform, and the mechanical hand is used for transferring the to-be-taken goods to the adjusting drum line; and the to-be-taken goods move along the adjusting drum line to the conveying mechanism; the end of the conveying mechanism towards the to-be-taken goods abuts against the adjusting drum line, and the to-be-taken goods are transferred along the conveying mechanism to a target area, thereby relieving the technical problem that the time spent in the transfer process of goods directly performed by robots in the prior art is long, and improving the work efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned loading and unloading equipment, and in particular to a transfer device and a transfer method thereof. Background Art

[0002] With the disappearance of the demographic dividend and the development of automation and intelligent technologies, traditional logistics has begun to shift from labor-intensive to technology-intensive; more and more companies have begun to use automated and intelligent equipment to replace the increasingly costly labor; unmanned loading and unloading and unmanned picking systems are intelligent logistics equipment systems that replace manual picking and loading and unloading, using 3D machine vision to identify and measure unstructured goods in three dimensions, thereby guiding mechanical equipment to perform automated picking and automated loading and unloading; they can be widely used in logistics industries such as home appliances, beverages, food, and e-commerce.

[0003] In the existing technology, unmanned loading and unloading usually uses robots that use 3D machine vision recognition technology to intelligently identify loading and unloading vehicles, cargo, working environment, etc., calculate loading and unloading positions and transportation paths, and realize visual recognition, positioning and other functions; however, due to the limitations of the robot's own mechanical structure such as arm length and component coordination, and the fact that the robot needs multiple algorithm systems to perform complex calculations to complete various actions such as picking up, transferring, and storing goods, the time spent on directly using robots to transfer goods is long and the work efficiency is low, which affects the overall progress. Summary of the Invention

[0004] The purpose of the present invention is to provide a transfer device and a transfer method thereof to solve the technical problems in the prior art that the time taken to directly transfer goods using robots is long, the work efficiency is low, and the overall progress is affected.

[0005] In a first aspect, the present invention provides a transfer device and a transfer method thereof, comprising a conveying mechanism, a manipulator, an adjustment roller line, and a mobile platform, wherein the manipulator is provided with a visual recognition element, and the height of the adjustment roller line is adjusted according to information of the goods to be picked up collected by the visual recognition element;

[0006] The manipulator and the conveying mechanism are installed on the mobile platform, and the manipulator is used to transfer the goods to be picked up to the adjusting roller line; and the goods to be picked up are moved along the adjusting roller line to the conveying mechanism;

[0007] The end of the conveying mechanism facing the goods to be picked up abuts against the adjusting roller line, and the goods to be picked up are transferred to the target area along the conveying mechanism.

[0008] In combination with the implementation of the first aspect, the present invention provides a first possible implementation of the first aspect, wherein the adjustment roller line includes a height adjustment assembly and a transmission body, and the transmission body is arranged on the top of the height adjustment assembly;

[0009] The transmission body is provided with a plurality of guide cylinders and guide openings arranged opposite to each other, the guide cylinders are used to transfer the goods to be picked up to the guide openings, and the guide openings are in contact with the transmission mechanism;

[0010] The height adjustment assembly includes a lifting frame and a base plate, wherein the lifting frame is installed between the base plate and the transmission body;

[0011] The bottom plate is provided with a sliding rod, and one end of the lifting frame facing the sliding rod is slidably connected to the sliding rod through a movable block.

[0012] In combination with the first possible implementation manner of the first aspect, the present invention provides a second possible implementation manner of the first aspect, wherein the manipulator includes an adjustment frame, the adjustment frame is mounted on an end of the manipulator facing the cargo to be picked up; and the adjustment frame supports the visual identification component;

[0013] The visual identification component is telescopically connected to the adjustment frame.

[0014] In combination with the second possible implementation manner of the first aspect, the present invention provides a third possible implementation manner of the first aspect, wherein the manipulator further includes a gripping assembly, the gripping assembly including a control member and a suction cup, the suction cup being provided at an end of the manipulator facing the cargo to be picked up;

[0015] The control component is used to control the suction force of the suction cup according to the information collected by the visual recognition component.

[0016] In combination with the third possible implementation of the first aspect, the present invention provides a fourth possible implementation of the first aspect, wherein the manipulator further includes a check valve, the check valve is provided on the suction cup, and the check valve is used to control the air consumption of the suction cup.

[0017] In combination with the third possible implementation manner of the first aspect, the present invention provides a fifth possible implementation manner of the first aspect, wherein the conveying mechanism includes a conveyor belt and a support member, the support member is mounted on the mobile platform, and the conveyor belt is arranged between the support member and the adjustment roller line;

[0018] The end of the conveyor belt facing the support member is hinged to the support member;

[0019] The end of the conveyor belt facing the goods to be picked up is detachably connected to the adjusting roller line.

[0020] In combination with the fifth possible implementation of the first aspect, the present invention provides a sixth possible implementation of the first aspect, wherein the mobile platform includes a mobile body, a support plate and a transverse movement control component, the support plate is installed on the top of the mobile body, and the transverse movement control component is used to control the support plate to move in the horizontal direction of the mobile body.

[0021] In combination with the second possible implementation of the first aspect, the present invention provides a seventh possible implementation of the first aspect, wherein the mobile platform further includes a plurality of telescopic rods, and the plurality of telescopic rods are relatively arranged along the ends of the mobile body.

[0022] In a second aspect, the present invention further provides a transport method for use with the transport device described above, comprising the following steps:

[0023] S1: The conveying mechanism, the manipulator, and the adjusting roller line are moved to the storage area of ​​the goods to be picked up via the mobile platform. The visual recognition component on the manipulator identifies the height information of the goods, and the adjusting roller line adjusts the height according to the information collected by the visual recognition component.

[0024] S2: The manipulator transfers the goods to be picked up to the adjusting roller line, and the goods to be picked up are conveyed along the adjusting roller line to the conveying mechanism;

[0025] S3: The conveying mechanism conveys the goods to be picked up to the target area.

[0026] In combination with the second aspect, the present invention provides a first possible implementation of the second aspect, wherein the height of the adjustment roller line is adjusted according to the height of the lower surface of the goods to be picked up.

[0027] The embodiments of the present invention bring the following beneficial effects: a method including a conveying mechanism, a manipulator, an adjustment roller line and a mobile platform is adopted, wherein a visual recognition component is provided on the manipulator, and when the staff needs to transfer the goods, the height of the adjustment roller line is adjusted to an appropriate height according to the information of the goods to be picked up collected by the visual recognition component, and the manipulator directly transfers the goods to be picked up to the adjustment roller line. Since the end of the conveying mechanism facing the goods to be picked up abuts against the adjustment roller line, the goods are transferred to the target area along the path of the adjustment roller line and the conveying mechanism. During the whole process, the manipulator only needs to complete the task of grabbing the goods and placing them on the adjustment roller line with a matching height, which greatly reduces the time the manipulator takes to transfer the goods and alleviates the existing technology due to the limitations of the robot's own mechanical structure such as arm length and component matching. At the same time, the robot needs to perform complex calculations on multiple algorithm systems to complete various actions such as picking up, transferring, and storing goods, and the technical problem of a long time spent on the direct transfer process of the goods by the robot is achieved, thereby achieving the technical effect of improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0029] Figure 1 A schematic diagram of the overall external structure of a transfer device provided in an embodiment of the present invention;

[0030] Figure 2 A schematic diagram of the explosion structure of the adjusting roller line in the transfer device provided in an embodiment of the present invention;

[0031] Figure 3 A schematic diagram of the exploded structure of the mobile platform in the transfer device provided in an embodiment of the present invention.

[0032] Icons: 10 - Goods to be picked up; 100 - Conveying mechanism; 110 - Conveyor belt; 120 - Support; 200 - Robot; 210 - Suction cup; 300 - Adjusting roller line; 310 - Height adjustment assembly; 311 - Lifting frame; 312 - Bottom plate; 313 - Sliding rod; 314 - Movable block; 320 - Transmission body; 400 - Mobile platform; 410 - Mobile body; 420 - Support plate; 430 - Telescopic rod. DETAILED DESCRIPTION

[0033] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0034] In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0035] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0036] like Figure 1 、 Figure 2 and Figure 3 As shown, the present invention provides a transfer device, including a conveying mechanism 100, a manipulator 200, an adjustment roller line 300 and a mobile platform 400. The manipulator 200 is provided with a visual recognition component, and the height of the adjustment roller line 300 is adjusted according to the information of the goods to be picked up 10 collected by the visual recognition component;

[0037] The manipulator 200 and the conveying mechanism 100 are installed on the mobile platform 400. The manipulator 200 is used to transfer the goods 10 to be picked up to the adjustment roller line 300; and the goods 10 to be picked up are moved along the adjustment roller line 300 to the conveying mechanism 100;

[0038] The end of the conveying mechanism 100 facing the goods 10 to be picked up abuts against the adjustment roller line 300 , and the goods 10 to be picked up are transferred to the target area along the conveying mechanism 100 .

[0039] The method includes a conveying mechanism 100, a manipulator 200, an adjustment roller line 300 and a mobile platform 400, wherein the visual recognition component is provided on the manipulator 200. When the staff needs to transfer the goods, the height of the adjustment roller line 300 is adjusted to a suitable height according to the information of the goods to be picked up 10 collected by the visual recognition component. The manipulator 200 directly transfers the goods to be picked up 10 to the adjustment roller line 300. Since the end of the conveying mechanism 100 facing the goods to be picked up 10 abuts against the adjustment roller line 300, the goods are moved along the adjustment roller line 300 and the conveying mechanism. 100 is transmitted to the target area. During the whole process, the manipulator 200 only needs to grab the goods and place them on the height-matched adjustment roller line 300, which greatly reduces the time for the manipulator 200 to transfer the goods, and alleviates the limitations of the robot's own mechanical structure in the prior art, such as arm length and component matching. At the same time, the robot needs multiple algorithm systems to perform complex calculations to complete various actions such as picking up, transferring, and storing goods, and the technical problem of a long time spent on the direct transfer process of the goods by the robot is achieved, thereby achieving the technical effect of improving work efficiency.

[0040] Furthermore, the adjustment roller line 300 includes a height adjustment component 310 and a transmission body 320 , and the transmission body 320 is disposed on the top of the height adjustment component 310 ;

[0041] The transmission body 320 is provided with a plurality of guide cylinders and guide openings arranged opposite to each other. The guide cylinders are used to transfer the goods 10 to be picked up to the guide openings, and the guide openings are in contact with the transmission mechanism 100.

[0042] The height adjustment assembly 310 includes a lifting frame 311 and a base plate 312. The lifting frame 311 is installed between the base plate 312 and the transmission body 320. The base plate 312 is provided with a slide bar 313. One end of the lifting frame 311 facing the slide bar 313 is slidably connected to the slide bar 313 through a movable block 314.

[0043] The height adjustment assembly 310 ensures that the heights of the adjustment roller, the manipulator 200, and the object 10 to be picked up are aligned, reducing the movement of the manipulator 200. Specifically, the height adjustment assembly 310 includes a lifting frame 311 and a base plate 312. The lifting frame 311 is installed between the base plate 312 and the transmission body 320. The middle lifting frame 311 includes a first folding rod and a second folding rod. The first folding rod and the second folding rod form an X-shaped structure. When the first and second folding rods are extended, the height adjustment assembly 310 can drive the transmission body 320 to rise. When the first and second folding rods are retracted, the height adjustment assembly 310 drives the transmission body 320 to descend. The first folding rod is fixedly connected to the base plate 312, and the base plate 312 of the second folding rod is provided with a slide rod 313. The end of the lifting frame 311 facing the slide rod 313 is slidably connected to the slide rod 313 via a movable block 314. The structure is simple and easy to maintain.

[0044] In this embodiment, the height adjustment assembly 310 further includes a servo motor. The servo motor and the base plate 312 can be connected to the base plate 312 by means of a screw rod or the like, thereby driving the movable block 314 to move back and forth, thereby controlling the folding and unfolding of the lifting frame 311. Specifically,

[0045] When the movable block 314 moves toward the first folding rod, the second folding rod expands, driving the transmission body 320 to move upward. When the movable block 314 moves away from the first folding rod, the second folding rod contracts, driving the transmission body 320 to move downward.

[0046] The transmission body 320 is provided with a plurality of relatively arranged guide cylinders and guide ports. The guide cylinders are used to transfer the goods to be picked up 10 to the guide ports, and the guide ports are in contact with the conveying mechanism 100. The guide cylinders can be rolled in the same direction by power parts such as motors to ensure that the goods to be picked up 10 can be smoothly moved to the guide ports. The guide ports can be set at the end of the transmission body 320 according to actual needs.

[0047] It should be noted that a baffle is also included, which is detachably connected to the transmission body 320 and is used to adjust the position of the guide port at any time.

[0048] Furthermore, the manipulator 200 includes an adjustment frame, which is installed at the end of the manipulator 200 facing the goods 10 to be picked up; and the adjustment frame supports the visual recognition component; the visual recognition component is telescopically connected to the adjustment frame.

[0049] In this embodiment, the visual recognition component is a 3D camera. After the 3D camera takes a picture, the camera's dedicated software processes the 3D image to obtain the relevant length, width and corresponding depth data of the object. After calculation, the coordinates of the material picking point in the 3D camera are obtained. According to the coordinate conversion formula, the coordinates of the box picking point in the 3D camera are converted into the relative coordinates of the box in the robot coordinate system, thereby facilitating the robot to perform material picking operations; at the same time, the visual recognition component is telescopically connected to the adjustment frame to avoid the technical problem of inaccurate data collection by the visual recognition component due to field of view obstruction. In this embodiment, a cylinder connection method can be used to achieve a telescopic connection between the visual recognition component and the manipulator 200. The camera is installed on the cylinder. When taking a picture is required, the cylinder is extended, and the camera's field of view can be unobstructed. When taking a picture is not required, the cylinder is retracted, which can effectively reduce the size of the end of the manipulator 200 and facilitate the movement of the manipulator 200.

[0050] Furthermore, the manipulator 200 also includes a grasping component, which includes a control component and a suction cup 210. The suction cup 210 is arranged at the end of the manipulator 200 facing the goods 10 to be picked up; the control component is used to control the suction force of the suction cup 210 according to the information collected by the visual recognition component.

[0051] The control component can be set up with a multi-area distributed electromagnetic valve. After the visual recognition component calculates and feeds back the current position, the vacuum of the suction cup 210 is controlled to be opened or closed according to the result; the gas consumption is effectively saved and the suction effect can be greatly improved.

[0052] Furthermore, the manipulator 200 further includes a check valve, which is provided on the suction cup 210 and is used to control the air consumption of the suction cup 210 .

[0053] The setting of the check valve can reduce the air consumption of the vacuum suction cup 210 when it is not in contact with an object. On the other hand, when a vacuum suction cup 210 leaks, the air consumption of the current vacuum suction cup 210 can also be reduced, reducing the suction effect on other vacuum suction cups 210, ensuring that when one vacuum suction cup 210 has a leak, the remaining vacuum suction cups 210 can also provide a large vacuum suction force.

[0054] Furthermore, the conveying mechanism 100 includes a conveyor belt 110 and a support member 120, the support member 120 is installed on the mobile platform 400, and the conveyor belt 110 is arranged between the support member 120 and the adjustment roller line 300; the end of the conveyor belt 110 facing the support member 120 is hinged to the support member 120; the end of the conveyor belt 110 facing the goods to be picked up 10 is detachably connected to the adjustment roller line.

[0055] The end of the conveyor belt 110 facing the support member 120 is hinged to the support member 120; the angle and length of the conveyor belt 110 relative to the adjustment roller line can be effectively adjusted to facilitate connection. At the same time, the end of the conveyor belt 110 facing the goods to be picked up 10 can be detachably connected to the adjustment roller line 300 by means of threaded connection, plug-in connection, etc.

[0056] Furthermore, the mobile platform 400 includes a mobile body 410 , a support plate 420 and a transverse movement control member. The support plate 420 is installed on the top of the mobile body 410 , and the transverse movement control member is used to control the support plate 420 to move horizontally along the mobile body 410 .

[0057] In this embodiment, the mobile body 410 can adopt AGV (automatic guided vehicle). At the same time, the support plate 420 is installed on the top of the mobile body 410, and the transverse movement control component is used to control the support plate 420 to move horizontally along the mobile body 410; in some wider carriages, the robot cannot coordinate with the left transverse movement control component due to the arm length limitation, and moves the robot to the left or right to ensure that the robot can pick up the goods on the far left or right.

[0058] Furthermore, the mobile platform 400 further includes a plurality of telescopic rods 430 , which are arranged opposite to each other along the ends of the mobile body 410 .

[0059] In order to ensure the stability of the manipulator 200, the mobile platform 400 also includes a plurality of telescopic rods 430, which are arranged relatively along the ends of the mobile body 410. When the mobile platform 400 reaches the target area, the plurality of telescopic rods 430 extend out of the mobile platform 400 and maintain good contact with the ground, thereby ensuring that the equipment does not shake during operation.

[0060] In a second aspect, this embodiment further provides a transfer method for use with the transfer device described above, comprising the following steps:

[0061] S1: The conveying mechanism 100, the manipulator 200, and the adjusting roller are moved to the storage area of ​​the goods 10 to be picked up via the mobile platform 400. The visual recognition component on the manipulator 200 identifies the height information of the goods, and the adjusting roller line 300 adjusts the height according to the information collected by the visual recognition component.

[0062] S2: The robot 200 transfers the goods 10 to be picked up onto the adjusting roller line 300, and the goods 10 to be picked up are conveyed along the adjusting roller line 300 to the conveying mechanism 100;

[0063] S3: The conveying mechanism 100 conveys the goods 10 to be picked up to the target area.

[0064] It should be noted that, in step S1, the steps of the visual recognition component identifying the information of the goods to be picked up 10 are as follows:

[0065] S11: Collecting a picture of the entire goods 10 to be picked up, and segmenting the picture of the entire goods 10 to be picked up, so as to generate a picking order for the robot 200;

[0066] S12: Calculate the width, height and other dimensions and relative coordinate position of the goods 10 to be picked up;

[0067] S13: The sequence information, size information and relative coordinate position of the goods to be picked up are transmitted to the manipulator 200 to guide the manipulator 200 to grab the goods 10 to be picked up.

[0068] Furthermore, the height of the roller line 300 is adjusted according to the height of the lower surface of the goods to be picked up 10, thereby improving the stability of the manipulator 200 in grabbing the goods.

[0069] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A transfer device, characterized in that: It comprises a conveying mechanism (100), a manipulator (200), an adjusting roller line (300) and a mobile platform (400), wherein the manipulator (200) is provided with a visual recognition component, and the height of the adjusting roller line (300) is adjusted according to information of the goods (10) to be picked up collected by the visual recognition component; The manipulator (200) and the conveying mechanism (100) are installed on the mobile platform (400); the manipulator (200) is used to transfer the goods to be picked up (10) to the adjusting roller line (300); and the goods to be picked up (10) are moved along the adjusting roller line (300) to the conveying mechanism (100); The end of the conveying mechanism (100) facing the goods to be picked up (10) abuts against the adjusting roller line (300), and the goods to be picked up (10) are transferred to the target area along the conveying mechanism (100); The manipulator (200) further includes a gripping assembly, the gripping assembly including a control member and a suction cup (210), the suction cup (210) being provided at the end of the manipulator (200) facing the cargo (10) to be picked up; The control component is used to control the suction force of the suction cup (210) according to the information collected by the visual recognition component; The adjusting roller line (300) comprises a height adjustment component (310) and a transmission body (320), wherein the transmission body (320) is arranged on the top of the height adjustment component (310); The transmission body (320) is provided with a plurality of guide cylinders and guide openings arranged opposite to each other, the guide cylinders being used to transfer the goods (10) to be picked up to the guide openings, and the guide openings being in contact with the transmission mechanism (100); The height adjustment assembly (310) comprises a lifting frame (311) and a bottom plate (312), wherein the lifting frame (311) is installed between the bottom plate (312) and the transmission body (320); The bottom plate (312) is provided with a sliding rod (313), and one end of the lifting frame (311) facing the sliding rod (313) is slidably connected to the sliding rod (313) via a movable block (314); The manipulator (200) comprises an adjustment frame, the adjustment frame being mounted on the end of the manipulator (200) facing the cargo (10) to be picked up; and the adjustment frame supports the visual recognition component; The visual identification member is telescopically connected to the adjustment frame; The manipulator (200) further comprises a check valve, the check valve being provided on the suction cup (210), and the check valve being used to control the air consumption of the suction cup (210); The conveying mechanism (100) comprises a conveyor belt (110) and a support member (120), wherein the support member (120) is mounted on the mobile platform (400), and the conveyor belt (110) is arranged between the support member (120) and the adjustment roller line (300); The end of the conveyor belt (110) facing the support member (120) is hinged to the support member (120); The end of the conveyor belt (110) facing the goods (10) to be picked up is detachably connected to the adjustment roller line (300).

2. The transfer device according to claim 1, characterized in that The mobile platform (400) comprises a mobile body (410), a support plate (420) and a transverse movement control member, wherein the support plate (420) is mounted on the top of the mobile body (410), and the transverse movement control member is used to control the support plate (420) to move in the horizontal direction of the mobile body (410).

3. The transfer device according to claim 2, characterized in that The mobile platform (400) further comprises a plurality of telescopic rods (430), wherein the plurality of telescopic rods (430) are arranged opposite to each other along the ends of the mobile body (410).

4. A transport method, used for the transport device according to any one of claims 1 to 3, characterized in that: The steps include: S1: The conveying mechanism (100), the manipulator (200) and the adjusting roller line (300) are moved to a storage area of ​​the goods (10) to be picked up via the mobile platform (400), the visual recognition element on the manipulator (200) recognizes the height information of the goods, and the adjusting roller line (300) adjusts the height according to the information collected by the visual recognition element; S2: the manipulator (200) transfers the goods to be picked up (10) to the adjusting roller line (300), and the goods to be picked up (10) are conveyed along the adjusting roller line (300) to the conveying mechanism (100); S3: The conveying mechanism (100) conveys the goods to be picked up (10) to a target area.

5. The transport method according to claim 4, characterized in that: The height of the adjusting roller line (300) is adjusted according to the height of the lower surface of the goods to be picked up (10).

Images