Intelligent sorting device for mixed unpalletizing and palletizing of multi-specification products based on 3D vision guidance

Abstract

The present invention relates to the field of palletizing and sorting, and in particular to an intelligent sorting device for mixed palletizing of products of multiple specifications based on three-dimensional vision guidance, comprising a sorting robot, wherein the sorting robot has a mounting frame arranged on a driving end thereof, and an adsorption component arranged on the mounting frame, wherein each of the mounting frames is provided with an identification camera and an anti-interference mechanism, wherein the anti-interference mechanism comprises a curtain assembly capable of shielding the palletizing, and a spacing adjustment component for adjusting the distance between the curtain assembly and the palletizing, wherein the curtain assembly comprises a fixed part and a movable part, and a curtain fixedly connected between the fixed part and the movable part, wherein the present invention surrounds the absorbed palletizing by four curtains, thereby forming a space shielding the palletizing therein, effectively isolating external light and other factors that may interfere with the identification process, and then photographing the palletizing by the identification cameras around the palletizing, and accurately judging the specific specifications of the palletizing.

Description

Technical Field

[0001] The present invention relates to the field of palletizing and sorting, and in particular to an intelligent sorting device for mixed palletizing and depalletizing of products of multiple specifications based on three-dimensional vision guidance. Background Art

[0002] At present, robots have been widely used in the field of depalletizing. However, the depalletizing robots are unable to sort and identify the products being depalletized during the depalletizing operation, resulting in chaotic stacking and transportation of products during the depalletizing process, making it inconvenient for the depalletizing robots to depalletize the products.

[0003] The currently published Chinese patent application CN115321198A discloses an intelligent sorting device for depalletizing and stacking based on robot vision, comprising a robot and a pallet arranged on a bottom plate, the pallet being provided with products to be processed, the bottom plate being provided with a conveying component for conveying the products to be processed after sorting, a U-shaped plate being fixed to the driving end of the robot, a mounting plate being provided on the U-shaped plate, a lifting component for lifting the mounting plate and a guiding component for guiding during the lifting process being provided on the U-shaped plate, an adsorption component for facilitating the depalletizing and stacking operation of the products to be processed being provided on the mounting plate, an identification component for sorting and identifying the products to be processed and a limit component for limiting the position during the identification process being provided on the U-shaped plate.

[0004] According to the above patent application, the above patent application uses an adsorption component and a limiting component to limit and fix the product to be processed on the U-shaped plate. After the limiting is completed, the specific specifications and types of the product to be processed are confirmed through the identification component, which is convenient for stacking the same products to be processed on the same pallet, making the depalletizing robot more intelligent in the depalletizing process. However, when the above patent application identifies the product, the interference of debris in the external environment may cause the identification component to mistake other objects for part of the product, which is easy to produce erroneous identification results. Therefore, there is a need for a multi-specification product mixed depalletizing intelligent sorting device that can prevent interference during three-dimensional visual recognition. Summary of the invention

[0005] In view of the problems existing in the existing technology, an intelligent sorting device for mixed depalletizing and palletizing of multi-specification products based on three-dimensional vision guidance is provided. The present invention surrounds the absorbed pallets by four curtains, thereby forming a space in which the pallets are shielded, effectively isolating external light and other factors that may interfere with the recognition process. Subsequently, the pallets are photographed by recognition cameras around the pallets to accurately determine the specific specifications of the pallets.

[0006] In order to solve the problems of the prior art, the present invention provides an intelligent sorting device for mixed depalletizing and stacking of multi-specification products based on three-dimensional vision guidance, including a sorting robot, wherein the sorting robot has a mounting frame arranged on its driving end, and an adsorption component arranged on the mounting frame, a recognition camera is arranged around the mounting frame, and an anti-interference mechanism for preventing inaccurate recognition data of the recognition camera, the anti-interference mechanism includes a curtain assembly capable of blocking the palletizing, and a spacing adjustment assembly for adjusting the distance between the curtain assembly and the palletizing, the curtain assembly includes a fixed part and a movable part, and a curtain fixedly connected between the fixed part and the movable part, the fixed part is transmission-connected to the spacing adjustment assembly, the movable part is located directly below the fixed part, the recognition camera is fixedly connected to the movable part, and when the spacing adjustment assembly drives the fixed part to move, the movable part is in a moving state together, thereby being able to adjust the position of the recognition camera relative to the adsorbed palletizing, so that the recognition camera can be within the effective shooting range of the palletizing.

[0007] Preferably, the movable part can move relative to the fixed part along the sagging direction of the curtain, and the fixed part is provided with a displacement component for driving the movable part to move so that the curtain can be folded or unfolded. When the displacement component drives the movable part to move in a direction close to the fixed part, the curtain is in a gradually folded state, so that the process of the adsorption component adsorbing the palletizing is not hindered; conversely, when the displacement component drives the movable part to move in a direction away from the fixed part, the curtain is in a gradually unfolded state, so that the process of the recognition camera photographing the palletizing is not disturbed.

[0008] Preferably, the fixed part and the movable part are both plate-like structures, a guide shaft is provided on both sides between the fixed part and the movable part, the axial direction of the guide shaft is perpendicular to the length direction of the fixed part and the movable part, the movable part has a shaft seat for fixing the lower end of each guide shaft, the fixed part has a shaft sleeve for the upper end of each guide shaft to pass through, and each shaft sleeve is provided with the displacement component that is transmission-connected to the corresponding guide shaft.

[0009] Preferably, the movable part of each curtain blocking assembly is fixedly provided with a support plate extending inwardly in a horizontal state on each shaft seat, and all the support plates together constitute a support platform for stacking support.

[0010] Preferably, each support plate is rotatably provided with a roller capable of rolling contact with the bottom of the pallet.

[0011] Preferably, each support plate is provided with a distance sensor for detecting the distance between the movable part and the pallet, and the distance sensor is electrically connected to the spacing adjustment component. When the distance detected by all the distance sensors reaches the specified value, the support plate is in a state where it can move downward directly through the pallet, thereby making all the curtains in an effectively unfolded state.

[0012] Preferably, each support plate is provided with a pressure sensor capable of contacting the side of the pallet, and the pressure sensor is electrically connected to the spacing adjustment component. When the pressure detected by all the pressure sensors reaches a specified value, the pallet is in a state of being stably supported on the support platform, so that all recognition cameras are within the effective shooting range of the pallet.

[0013] Preferably, the adsorption assembly is composed of multiple groups of suction cups, and a lifting plate for fixing each group of suction cups is movably provided on the mounting frame. A lifting cylinder for driving each lifting plate to move up and down is also fixed on the mounting frame. When the pallet is lowered by the lifting cylinder and supported on the supporting platform, the suction cups are in a state of releasing negative pressure, and the lifting cylinders are in a reset state, so that the process of identifying the pallet will not be interfered by the suction cups.

[0014] Preferably, the displacement assembly includes a hydraulic pipe fixedly connected to the sleeve and having a guide shaft sleeve therein, the hydraulic pipe having an upper oil port and a lower oil port, the diameter of the guide shaft is smaller than the inner diameter of the hydraulic pipe, and the upper end of the guide shaft is provided with a piston that fits with the inside of the hydraulic pipe.

[0015] Preferably, the spacing adjustment assembly includes an adjustment slider fixedly connected to two hydraulic pipes, and a slide rail on which the adjustment slider is slidably connected, one end of the slide rail is fixedly connected to the mounting frame, and the other end extends outward in the horizontal direction of the mounting frame, and the mounting frame is fixedly provided with a push-pull cylinder for driving the adjustment slider to move along the direction of the slide rail.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. The present invention surrounds the absorbed pallet by four curtains, thereby forming a space in which the pallet is shielded, effectively isolating external light and other factors that may interfere with the recognition process, and then photographing the pallet through the recognition cameras around the pallet. At the same time, the shooting range of the recognition camera is adjusted by the spacing adjustment component to ensure that the recognition camera is always within the optimal shooting range. The pallet image is quickly captured by using three-dimensional vision technology, and the specific specifications of the pallet are accurately determined by analyzing the collected image information, thereby realizing accurate sorting of the pallet and improving sorting efficiency and accuracy;

[0018] 2. The present invention flexibly controls the relative movement between the movable part and the fixed part through the displacement component, thereby realizing the automatic folding and unfolding of the curtain. Before adsorption and stacking, the curtain is folded to provide sufficient space for the adsorption component. After the stacking is lifted, the curtain is unfolded again to form a closed space to isolate external interference and ensure that the recognition camera can obtain high-quality images. By using three-dimensional vision technology to quickly analyze the stacking characteristics and plan the optimal path to guide the sorting robot to complete the handling and placement tasks, the whole process is efficient, accurate and stable, which significantly improves the sorting efficiency and accuracy of mixed unstacking and stacking of multi-specification products;

[0019] 3. The present invention can automatically adjust the position of the screen and the support plate through the coordinated work of the distance sensor and the pressure sensor, ensuring that the stack is stably supported after being placed, which not only avoids image blur or distortion caused by vibration or movement, and improves the clarity and accuracy of the image taken by the recognition camera, but also enables the screen and the support plate to adapt to stacks of different sizes and shapes. Finally, all the support plates together constitute a stable support platform, which provides a reliable guarantee for accurately identifying the specifications, shapes, sizes and other characteristics of the stack. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a three-dimensional structural schematic diagram of the curtain-folded state of the intelligent sorting device for mixed palletizing and unpalletizing of multi-specification products based on three-dimensional vision guidance;

[0021] Figure 2 This is a partial three-dimensional structural cross-sectional view of the intelligent sorting device for mixed palletizing and unpalletizing of multi-specification products guided by three-dimensional vision with the curtain retracted;

[0022] Figure 3 It is a three-dimensional structural schematic diagram of the curtain unfolding state of the intelligent sorting device for mixed palletizing and unpalletizing of multi-specification products based on three-dimensional vision guidance;

[0023] Figure 4 It is a partial three-dimensional structural cross-sectional view of the curtain unfolding state of the intelligent sorting device for mixed palletizing and unpalletizing of multi-specification products based on three-dimensional vision guidance;

[0024] Figure 5 It is a schematic diagram of the three-dimensional structure of a support platform for stacking support composed of all support plates of a multi-specification product mixed depalletizing and stacking intelligent sorting device guided by three-dimensional vision;

[0025] Figure 6 It is a schematic diagram of the three-dimensional structure of the adsorption components and palletizing of the intelligent sorting device for mixed depalletizing and palletizing of multi-specification products based on three-dimensional vision guidance;

[0026] Figure 7 It is a plan view of the vertical section of the intelligent sorting device for mixed palletizing and unpalletizing of multi-specification products based on 3D vision guidance;

[0027] Figure 8 It is a planar cross-sectional view of the transverse section of the intelligent sorting device for mixed palletizing and unpalletizing of multi-specification products based on 3D vision guidance;

[0028] Fig. 9 It is a three-dimensional structural schematic diagram of the curtain assembly of the intelligent sorting device for mixed palletizing and unpalletizing of multi-specification products based on three-dimensional vision guidance;

[0029] Fig.10 It is a partial three-dimensional structural cross-sectional view of the curtain assembly of the intelligent sorting device for mixed depalletizing and stacking of multi-specification products based on three-dimensional vision guidance.

[0030] The numbers in the figure are: 1. Mounting frame; 2. Adsorption assembly; 21. Suction cup; 22. Lifting plate; 23. Lifting cylinder; 3. Recognition camera; 4. Curtain assembly; 41. Fixed part; 42. Movable part; 421. Support plate; 4211. Distance sensor; 4212. Pressure sensor; 422. Roller; 43. Curtain; 5. Spacing adjustment assembly; 51. Guide shaft; 511. Shaft seat; 512. Shaft sleeve; 52. Adjustment slider; 521. Slide rail; 53. Push-pull cylinder; 6. Displacement assembly; 61. Hydraulic pipe; 611. Upper oil port; 612. Lower oil port; 62. Piston; 7. Palletizing. DETAILED DESCRIPTION

[0031] In order to further understand the features, technical means, specific objectives and functions of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0032] See also Figure 1-Figure 8 As shown, a multi-specification product mixed depalletizing and stacking intelligent sorting device based on three-dimensional vision guidance includes a sorting robot, the sorting robot has a mounting frame 1 arranged on its driving end, and an adsorption component 2 arranged on the mounting frame 1, a recognition camera 3 is arranged around the mounting frame 1, and an anti-interference mechanism for preventing inaccurate recognition data of the recognition camera 3, the anti-interference mechanism includes a curtain component 4 capable of shielding the pallet 7, and a spacing adjustment component 5 for adjusting the distance between the curtain component 4 and the pallet 7, the curtain component 4 includes a fixed part 41 and a movable part 42, and a curtain 43 fixedly connected between the fixed part 41 and the movable part 42, the fixed part 41 is transmission-connected to the spacing adjustment component 5, the movable part 42 is located directly below the fixed part 41, the recognition camera 3 is fixedly connected to the movable part 42, when the spacing adjustment component 5 drives the fixed part 41 to move, the movable part 42 is in a moving state together, and then the position of the recognition camera 3 relative to the adsorbed pallet 7 can be adjusted, so that the recognition camera 3 can be within the effective shooting range of the pallet 7.

[0033] During the intelligent sorting process of mixed palletizing 7 of multi-specification products, the sorting robot starts and enters the working state, and the adsorption component 2 is ready to receive instructions to perform the adsorption action. After the adsorption component 2 contacts and adsorbs a pallet 7, the sorting robot lifts the pallet 7, and at this time, the pallet 7 is blocked between the four curtains 43. During this process, the movable part 42 is in a drooping state, so that the curtain 43 remains in an unfolded state to form a shielded space. Then the recognition cameras 3 in the four directions of the pallet 7 will be turned on immediately, and the image of the pallet 7 will be quickly captured and acquired using three-dimensional vision technology. By analyzing the acquired image, the specifications of the pallet 7 can be identified. In order to ensure the quality of data acquisition, the spacing adjustment component 5 will adjust the position of the recognition camera 3 according to factors such as the current ambient light conditions, ensure that the curtain 43 and the pallet 7 are kept at a suitable distance, so that the recognition camera 3 can obtain the clearest picture. And the recognition camera 3 has a lighting function to avoid the situation where the brightness between the four curtains 43 is too dark and the shooting is not clear. During the recognition process, the curtain 43 effectively blocks the surrounding stray light or other factors that may affect the recognition accuracy, ensuring that the recognition camera 3 obtains high-quality images. Based on the information obtained from the image analysis, an optimal path is calculated to guide the sorting robot to carry the pallet 7 to the corresponding position. During the transportation process, the anti-interference mechanism continues to play a role, ensuring that the recognition camera 3 always maintains a clear field of view for real-time monitoring and adjustment. Finally, the robot gently places the pallet 7 at the designated position to complete the sorting task.

[0034] See also Figure 1-Figure 4 As shown, the movable part 42 can move relative to the fixed part 41 along the downward direction of the curtain 43, and the fixed part 41 is provided with a displacement component 6 for driving the movable part 42 to move so that the curtain 43 can be folded or unfolded. When the displacement component 6 drives the movable part 42 to move in the direction close to the fixed part 41, the curtain 43 is in a gradually folded state, so that the process of the adsorption component 2 adsorbing the stack 7 is not hindered. On the contrary, when the displacement component 6 drives the movable part 42 to move in the direction away from the fixed part 41, the curtain 43 is in a gradually unfolded state, so that the process of the recognition camera 3 shooting the stack 7 is not disturbed.

[0035] Before the adsorption component 2 receives the adsorption command, the displacement component 6 drives the movable part 42 to move in the direction close to the fixed part 41, and the movable part 42 gradually moves upward, driving the curtain 43 to be retracted. In the process of retracting the curtain 43, sufficient space is provided for the adsorption component 2, so that it can smoothly approach and adsorb the pallet 7. After the adsorption component 2 contacts the pallet 7 and adsorbs it firmly, the sorting robot lifts the pallet 7. At this time, the pallet 7 is in an exposed state. If it is directly photographed by the recognition camera 3, the image will be unclear due to the clutter of the external environment. Therefore, once the pallet 7 is lifted to a predetermined height, the displacement component 6 is started again, driving the movable part 42 to move in the direction away from the fixed part 41, and the movable part 42 gradually moves downward, driving the curtain 43 to unfold, forming a space to cover the pallet 7. At the same time, the fixed part 41 and the spacing adjustment component 5 work together to adjust the position of the recognition camera 3 according to factors such as the current ambient light conditions, ensuring that the curtain 43 and the pallet 7 are kept at a suitable distance, so that the recognition camera 3 can obtain the clearest picture. The recognition cameras 3 in four directions of the pallet 7 are turned on, and the images of the pallet 7 are quickly captured and acquired using three-dimensional vision technology. The acquired images are transmitted to the central processing unit for analysis, and the specifications, shapes, sizes and other features of the pallet 7 are quickly identified. According to the recognition results, an optimal path is calculated to guide the sorting robot to move the pallet 7 to the corresponding position. The sorting robot smoothly transports the pallet 7 to the designated position according to the planned path. Finally, the robot gently places the pallet 7 at the designated position to complete the entire sorting task. After a sorting task is completed, the displacement component 6 drives the movable part 42 to move in the direction close to the fixed part 41 again, the curtain 43 is retracted and restored to the initial state, and the adsorption component 2 returns to the standby position to prepare for the next adsorption sorting operation.

[0036] See also Figure 1-Figure 4 , Figure 7 , Fig. 9 and Fig.10 As shown, the fixed portion 41 and the movable portion 42 are both plate-like structures, and a guide shaft 51 is provided on both sides between the fixed portion 41 and the movable portion 42. The axial direction of the guide shaft 51 is perpendicular to the length direction of the fixed portion 41 and the movable portion 42. The movable portion 42 has a shaft seat 511 for fixing the lower end of each guide shaft 51, and the fixed portion 41 has a shaft sleeve 512 for the upper end of each guide shaft 51 to pass through, and each shaft sleeve 512 is provided with the displacement component 6 that is transmission-connected to the corresponding guide shaft 51.

[0037] Before the stack 7 is adsorbed, the displacement component 6 drives the movable part 42 to move upward, and the movable part 42 gradually rises by using the guiding effect between the guide shaft 51 and the sleeve 512, driving the curtain 43 to be retracted. The guide shaft 51 ensures that the moving direction of the movable part 42 is always perpendicular to the length direction of the fixed part 41 and the movable part 42 to avoid any deflection or jamming. As the movable part 42 rises, the curtain 43 gradually retracts, providing sufficient space for the adsorption component 2. Once the stack 7 is lifted to a predetermined height, the displacement component 6 is started again, driving the movable part 42 to move downward, and the movable part 42 gradually descends along the guide shaft 51, driving the curtain 43 to unfold again. After the curtain 43 is fully unfolded, a closed space is formed to isolate the clutter of the external environment. In this process, the unfolding and folding of the curtain 43 remain stable. And because the fixed part 41 and the movable part 42 are both plate-like structures, the curtain 43 is prevented from wrinkling after unfolding. Thereby, the anti-interference effect is improved, and then the shooting effect of the recognition camera 3 is improved.

[0038] See also Figure 5 and Figure 7 As shown, the movable portion 42 of each curtain blocking assembly 4 is fixedly provided with a support plate 421 extending inwardly in a horizontal state on each shaft seat 511, and all the support plates 421 together form a support platform for supporting the stacking 7.

[0039] When all the curtains 43 are fully unfolded, the adsorption component 2 places the stack 7 on a support platform formed by all the support plates 421, ensuring that the stack 7 is stably supported during the recognition process. This avoids image blur or distortion caused by vibration or movement, reduces the probability of misrecognition, and improves the clarity and accuracy of the image taken by the recognition camera 3. This helps to more accurately identify the specifications, shapes, sizes and other features of the stack 7.

[0040] See also Figure 5 , Figure 7 , Fig. 9 and Fig.10 As shown, each support plate 421 is rotatably provided with a roller 422 capable of rolling contact with the bottom of the pallet 7 .

[0041] When it is necessary to process pallets 7 of different sizes or shapes, the spacing adjustment component 5 will adjust the curtain assembly 4 according to the specific specifications of the pallet 7, and the spacing adjustment component 5 changes the distance between the support plate 421 and the pallet 7 so that it can better match the size of the pallet 7. During the spacing adjustment process, the existence of the roller 422 makes the support plate 421 move more smoothly relative to the pallet 7 after the pallet 7 is placed, reduces the friction between the pallet 7 and the support plate 421, and ensures that all the support plates 421 together form a support platform for the pallet 7 to support stably.

[0042] See also Figure 1-Figure 5 and Figure 7 As shown, each support plate 421 is provided with a distance sensor 4211 for detecting the distance between the movable part 42 and the pallet 7. The distance sensor 4211 is electrically connected to the spacing adjustment component 5. When the distances detected by all the distance sensors 4211 reach the specified value, the support plate 421 is in a state where it can move directly downward through the pallet 7, thereby making all the curtains 43 in an effectively unfolded state.

[0043] Before the pallet 7 is lifted by the adsorption component 2, the curtain 43 is in a retracted state. When the pallet 7 is lifted, the distance between the curtain 43 and the pallet 7 is adjusted by the spacing adjustment component 5 according to the distance sensor 4211 sensing. In the process of adjusting the position of the curtain 43, the spacing adjustment component 5 makes adjustments according to the received distance data. If the distance detected by a certain distance sensor 4211 does not reach the specified value, the spacing adjustment component 5 will continue to adjust until the distances detected by all distance sensors 4211 reach the specified value. When the distances detected by all distance sensors 4211 reach the specified value, it is confirmed that all support plates 421 are in a state where they can be directly moved downward by the pallet 7, and the curtain 43 can then be unfolded, preparing for the subsequent operation of all support plates 421 forming a support platform together.

[0044] See also Figure 1-Figure 5 , Figure 7 and Figure 8 As shown, each support plate 421 is provided with a pressure sensor 4212 that can contact the side of the pallet 7, and the pressure sensor 4212 is electrically connected to the spacing adjustment component 5. When the pressure detected by all pressure sensors 4212 reaches the specified value, the pallet 7 is in a state of being stably supported on the support platform, so that all recognition cameras 3 are within the effective shooting range of the pallet 7.

[0045] After the curtain 43 is initially adjusted to a good position by the guidance of the distance sensor 4211, the stack 7 is placed on all the support plates 421 by the adsorption component 2. At this time, the stack 7 has not reached a stable state on the support plate 421. As the spacing adjustment component 5 continues to adjust the position of the curtain 43, the pressure sensor 4212 starts to work. The specific working process is that the spacing adjustment component 5 drives the movement of the movable part 42 so that the pressure sensor 4212 contacts the side of the stack 7, and the stack 7 is squeezed by the pressure sensor 4212, so that the pressure signal can be fed back to the pressure sensor 4212 until the pressure values ​​sensed by all the pressure sensors 4212 reach the specified level, and then the movement of the movable part 42 is stopped. At this time, the stack 7 is stably supported on the support platform formed by all the support plates 421. The pressure sensor 4212 detects the pressure on the side of the stack 7 in real time, and transmits the detected pressure data to the spacing adjustment component 5 through electrical connection. The spacing adjustment component 5 adjusts the position of the movable part 42, that is, the position of the support plate 421, according to the received pressure data. If the pressure detected by a certain pressure sensor 4212 does not reach the specified value, the spacing adjustment component 5 will continue to adjust the position of the support plate 421 until the pressure detected by all pressure sensors 4212 reaches the specified value. When the pressure detected by all pressure sensors 4212 reaches the specified value, it is confirmed that the pallet 7 is stably supported on the support platform. At this time, the spacing between the support plates 421 has been adjusted to the right position, ensuring that the pallet 7 is firmly supported on the support platform.

[0046] See also Figure 1-Figure 4 and Figure 6 As shown, the adsorption assembly 2 is composed of a plurality of groups of suction cups 21, and a lifting plate 22 for fixing each group of suction cups 21 is movably provided on the mounting frame 1. A lifting cylinder 23 for driving each lifting plate 22 to move up and down is also fixed on the mounting frame 1. When the pallet 7 is lowered by the lifting cylinder 23 and supported on the supporting platform, the suction cup 21 is in a state of releasing the negative pressure, and the lifting cylinder 23 is in a reset state, so that the process of identifying the pallet 7 will not be interfered by the suction cup 21.

[0047] When the support platform is adjusted into place, the lifting cylinder 23 starts to drive the lifting plate 22 down and slowly places the pallet 7 on the support platform. After the pallet 7 contacts the support platform, the suction cup 21 gradually releases the negative pressure state and releases the adsorption force on the pallet 7. After the negative pressure is released, the suction cup 21 no longer applies any force to the pallet 7, ensuring that the pallet 7 is completely stable on the support platform. The lifting cylinder 23 continues to work and resets the lifting plate 22 to the initial position, away from the pallet 7, to avoid interference with the recognition process. Once the suction cup 21 and the lifting plate 22 are reset, the pallet 7 is completely free from the influence of the adsorption component 2 and is in a stable support state. The recognition camera 3 is started to shoot the pallet 7 to obtain a clear and accurate image.

[0048] See also Figure 1-Figure 4 , Fig. 9 and Fig.10 As shown, the displacement assembly 6 includes a hydraulic tube 61 fixedly connected to the shaft sleeve 512 and sleeved with the guide shaft 51 therein, the hydraulic tube 61 has an upper oil port 611 and a lower oil port 612, the diameter of the guide shaft 51 is smaller than the inner diameter of the hydraulic tube 61, and the upper end of the guide shaft 51 is provided with a piston 62 that fits with the inside of the hydraulic tube 61.

[0049] When the movable part 42 is controlled to move relative to the fixed part 41, when oil is injected from the upper oil port 611, the oil pushes the piston 62 to move downward, drives the guide shaft 51 to move downward, and thus drives the movable part 42 to move downward. When oil is injected from the lower oil port 612, the oil pushes the piston 62 to move upward, drives the guide shaft 51 to move upward, and thus drives the movable part 42 to move upward. By controlling the injection amount and speed of the oil, the unfolding and folding of the curtain 43 can be accurately controlled.

[0050] See also Figure 1-Figure 4 , Fig. 9 and Fig.10 As shown, the spacing adjustment component 5 includes an adjustment slider 52 fixedly connected to two hydraulic pipes 61, and a slide rail 521 on which the adjustment slider 52 is slidably connected. One end of the slide rail 521 is fixedly connected to the mounting frame 1, and the other end extends outward in the horizontal direction of the mounting frame 1. A push-pull cylinder 53 is fixedly provided on the mounting frame 1 for driving the adjustment slider 52 to move along the direction of the slide rail 521.

[0051] When adjusting the position of the curtain 43, the push-pull cylinder 53 provides a push-pull force, and the adjusting slider 52 moves along the slide rail 521 in a direction away from or close to the mounting frame 1, and the position of the adjusting slider 52 is accurately adjusted. The two hydraulic pipes 61 move together with the adjusting slider 52, thereby adjusting the position of the curtain 43 together, ensuring that the recognition camera 3 is in a suitable shooting range.

[0052] The present invention surrounds the sucked pallet 7 by four curtains 43, thereby forming a space in which the pallet 7 is shielded, effectively isolating external light and other factors that may interfere with the recognition process, and then photographing the pallet 7 through the recognition cameras 3 around the pallet 7. At the same time, the shooting range of the recognition camera 3 is adjusted by the spacing adjustment component 5 to ensure that the recognition camera 3 is always within the optimal shooting range, and the three-dimensional vision technology is used to quickly capture the image of the pallet 7. By analyzing the collected image information, the specific specifications of the pallet 7 are accurately determined, thereby realizing accurate sorting of the pallet 7 and improving sorting efficiency and accuracy.

[0053] The above embodiments only express one or several implementation modes of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the protection scope of the present invention. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the attached claims.

Claims

1. An intelligent sorting device for mixed palletizing and unpalletizing of products of multiple specifications based on three-dimensional vision guidance, comprising a sorting robot, wherein the sorting robot has a mounting frame (1) arranged on a driving end thereof, and an adsorption component (2) arranged on the mounting frame (1); characterized in that: The mounting frame (1) is provided with a recognition camera (3) on all sides thereof, and an anti-interference mechanism for preventing the recognition data of the recognition camera (3) from being inaccurate, the anti-interference mechanism comprising a curtain assembly (4) capable of shielding the pallet (7), and a spacing adjustment assembly (5) for adjusting the distance between the curtain assembly (4) and the pallet (7); the curtain assembly (4) comprises a fixed portion (41) and a movable portion (42), and a curtain (43) fixedly connected between the fixed portion (41) and the movable portion (42); the fixed portion (41) is transmission-connected to the spacing adjustment assembly (5), the movable portion (42) is located directly below the fixed portion (41), the recognition camera (3) is fixedly connected to the movable portion (42), and when the spacing adjustment assembly (5) drives the fixed portion (41) to move, the movable portion (42) is in a state of moving together, thereby being able to adjust the position of the recognition camera (3) relative to the adsorbed pallet (7), so that the recognition camera (3) can be within the effective shooting range of the pallet (7).

2. The intelligent sorting device for mixed unpalletizing and stacking of multi-specification products based on three-dimensional vision guidance according to claim 1 is characterized in that: The movable portion (42) can move relative to the fixed portion (41) along the downward direction of the curtain (43), and the fixed portion (41) is provided with a displacement component (6) for driving the movable portion (42) to move so that the curtain (43) can be folded or unfolded. When the displacement component (6) drives the movable portion (42) to move in a direction close to the fixed portion (41), the curtain (43) is in a gradually folded state, so that the process of the adsorption component (2) adsorbing the pallet (7) is not hindered; conversely, when the displacement component (6) drives the movable portion (42) to move in a direction away from the fixed portion (41), the curtain (43) is in a gradually unfolded state, so that the process of the recognition camera (3) photographing the pallet (7) is not disturbed.

3. The intelligent sorting device for mixed unpalletizing and stacking of multi-specification products based on three-dimensional vision guidance according to claim 2 is characterized in that: The fixed portion (41) and the movable portion (42) are both plate-shaped structures. A guide shaft (51) is provided on both sides between the fixed portion (41) and the movable portion (42). The axial direction of the guide shaft (51) is perpendicular to the length direction of the fixed portion (41) and the movable portion (42). The movable portion (42) has a shaft seat (511) for fixing the lower end of each guide shaft (51) thereon. The fixed portion (41) has a shaft sleeve (512) for the upper end of each guide shaft (51) to pass through. Each shaft sleeve (512) is provided with the displacement assembly (6) drivingly connected to the corresponding guide shaft (51).

4. The intelligent sorting device for mixed palletizing and unpalletizing of multi-specification products based on three-dimensional vision guidance according to claim 3 is characterized in that: The movable portion (42) of each curtain blocking assembly (4) is fixedly provided with a support plate (421) extending inwardly in a horizontal state on each shaft seat (511), and all the support plates (421) together form a support platform for supporting the stacking (7).

5. The intelligent sorting device for mixed palletizing and unpalletizing of multi-specification products based on three-dimensional vision guidance according to claim 4 is characterized in that: Each support plate (421) is rotatably provided with a roller (422) capable of rolling contact with the bottom of the pallet (7).

6. The intelligent sorting device for mixed palletizing and unpalletizing of multi-specification products based on three-dimensional vision guidance according to claim 4 is characterized in that: Each support plate (421) is provided with a distance sensor (4211) for detecting the distance between the movable portion (42) and the pallet (7). The distance sensor (4211) is electrically connected to the spacing adjustment component (5). When the distances detected by all the distance sensors (4211) reach a specified value, the support plate (421) is in a state where it can directly move downward through the pallet (7), thereby enabling all the curtains (43) to be in an effectively unfolded state.

7. The intelligent sorting device for mixed palletizing and unpalletizing of multi-specification products based on three-dimensional vision guidance according to claim 4 is characterized in that: Each support plate (421) is provided with a pressure sensor (4212) capable of contacting the side of the pallet (7), and the pressure sensor (4212) is electrically connected to the spacing adjustment component (5). When the pressure detected by all the pressure sensors (4212) reaches a specified value, the pallet (7) is in a state of being stably supported on the support platform, thereby making all the recognition cameras (3) within the effective shooting range of the pallet (7).

8. The intelligent sorting device for mixed palletizing and unpalletizing of multi-specification products based on three-dimensional vision guidance according to claim 7 is characterized in that: The adsorption assembly (2) is composed of a plurality of groups of suction cups (21). A lifting plate (22) for fixing each group of suction cups (21) is movably provided on the mounting frame (1). A lifting cylinder (23) for driving each lifting plate (22) to move up and down is also fixedly provided on the mounting frame (1). When the pallet (7) is lowered by the lifting cylinder (23) and supported on the supporting platform, the suction cups (21) are in a state of releasing negative pressure, and the lifting cylinder (23) is in a reset state, so that the process of identifying the pallet (7) will not be disturbed by the suction cups (21).

9. The intelligent sorting device for mixed palletizing and unpalletizing of multi-specification products based on three-dimensional vision guidance according to claim 3 is characterized in that: The displacement assembly (6) comprises a hydraulic tube (61) fixedly connected to a shaft sleeve (512) and sleeved with a guide shaft (51); the hydraulic tube (61) has an upper oil port (611) and a lower oil port (612); the diameter of the guide shaft (51) is smaller than the inner diameter of the hydraulic tube (61); and a piston (62) is provided at the upper end of the guide shaft (51) and fits into the interior of the hydraulic tube (61).

10. The intelligent sorting device for mixed palletizing and unpalletizing of multi-specification products based on three-dimensional vision guidance according to claim 9 is characterized in that: The spacing adjustment assembly (5) comprises an adjustment slider (52) fixedly connected to two hydraulic pipes (61), and a slide rail (521) on which the adjustment slider (52) is slidably connected, one end of the slide rail (521) being fixedly connected to the mounting frame (1), and the other end extending outwardly in the horizontal direction of the mounting frame (1), and a push-pull cylinder (53) for driving the adjustment slider (52) to move along the slide rail (521) is fixedly provided on the mounting frame (1).

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