Automatic unstacking and stacking system for warehouse AGV (Automatic Guided Vehicle)

Abstract

The warehouse AGV automatic unstacking and stacking system comprises a heavy-load AGV and a tray conveyor, the heavy-load AGV is arranged on a stacking table, a lifting platform is installed on one side of the top of the heavy-load AGV, an industrial robot is installed on the top of the lifting platform, and a visual camera assembly is arranged on the industrial robot; the tray conveyor is arranged on one side of the tray conveying and positioning mechanism, and a stacking station is arranged at the top of the tray conveying and positioning mechanism. According to the warehouse AGV automatic unstacking and stacking system, the heavy-load AGV automatically moves without rails, and the operation range is wide; the height of the industrial robot can be automatically adjusted according to stack type height; the heavy-load AGV and the industrial robot are identified, positioned and automatically guided to work through the visual camera assembly; continuous operation is achieved, the operation efficiency is high, and warehouse unstacking, stacking and transferring operation is completed instead of manual work; full automation of goods shelf-free warehouse management is realized; meanwhile, the ex-warehouse number can be automatically counted, and the task state is monitored in real time.

Description

Technical Field

[0001] The present invention relates to the technical field of warehouse AGV automatic depalletizing and stacking systems, and in particular to a warehouse AGV automatic depalletizing and stacking system. Background Art

[0002] For goods packed in woven bags or boxes without shelf storage, the current depalletizing, stacking and transportation method mainly adopts manual work, and the goods are manually stacked on pallets for subsequent transportation. After searching, it is found that the depalletizing and stacking devices in the prior art are typically such as a pallet depalletizing and stacking machine with publication number CN106743686A; Technical problems to be solved: The existing pallet depalletizing and stacking machines mentioned in the background technology mostly adopt a mechanical transmission structure and are driven by a motor, which are characterized by a large structure, complex transmission and inconvenient maintenance. The technical solution adopted: A pallet depalletizing and stacking machine includes a "door"-shaped rigid bracket placed on the ground, the front and rear of the rigid bracket are the inlet and outlet of the pallet, and pneumatic patting mechanisms are respectively arranged on the left side and rear side of the rigid bracket, and the two pneumatic patting mechanisms are symmetrically arranged; a pallet fork mechanism is arranged above the two pneumatic patting mechanisms; a hanging plate is slidably arranged on the rigid bracket and the hanging plate is perpendicular to the side of the rigid bracket. Its main feature is that it uses the cylinder as the motion execution component, replaces the transmission method, and uses pneumatic components to execute the movement. The structure is simple, compact and uncomplicated, and neater than traditional machinery.

[0003] In summary, the existing depalletizing and stacking devices have the disadvantages of high labor intensity, low operating efficiency, high risk of high-altitude operations, etc., and the existing depalletizing and stacking devices cannot monitor the outbound status in real time, and cannot realize automated warehouse management. In view of the above problems, the existing equipment needs to be improved. Summary of the invention

[0004] The purpose of the present invention is to provide a warehouse AGV automatic depalletizing and stacking system to solve the shortcomings of the existing depalletizing and stacking devices mentioned in the above background technology, such as high labor intensity, low working efficiency, high risk of high-altitude operations, and the problem that the outbound status of the existing depalletizing and stacking devices cannot be monitored in real time and the automated management of the warehouse cannot be realized.

[0005] To achieve the above object, the present invention provides the following technical solution: a warehouse AGV automatic palletizing and stacking system, comprising a heavy-load AGV and a pallet conveyor, The heavy-load AGV is arranged on the palletizing platform, and a lifting platform is installed on one side of the top of the heavy-load AGV, an industrial robot is installed on the top of the lifting platform, and a visual camera assembly is arranged on the industrial robot, and a pallet conveying and positioning mechanism is arranged on one side of the industrial robot, the pallet conveyor is arranged on one side of the pallet conveying and positioning mechanism, and a palletizing station is arranged on the top of the pallet conveying and positioning mechanism, and a pallet storage bin is arranged on the top of the pallet conveyor.

[0006] Preferably, the heavy-load AGV includes a vehicle body, a steering wheel, balancing legs, a battery, an air compressor, a transformer, a laser radar, an automatic navigation system and an automatic charging mechanism, and the steering wheels are symmetrically arranged in three groups, the balancing legs are symmetrically arranged on both sides of the vehicle body, and the balancing legs and the steering wheels are alternately distributed.

[0007] Preferably, the lifting platform includes a bracket, a motor, a cylinder and a lifting plate, and the top of the lifting plate is connected to a pallet conveying and positioning mechanism.

[0008] Preferably, the industrial robot comprises a mechanical arm, a buffer component and a vacuum suction cup, and the mechanical arm is connected to the vacuum suction cup through the buffer component, and the vacuum suction cup is adsorbed by negative pressure.

[0009] Preferably, the types of the robotic arm include a four-axis robot and a six-axis robot, and the bottom of the robotic arm is installed on a lifting plate.

[0010] Preferably, the pallet conveyor includes a support frame, a reduction motor, a guide mechanism and a transmission mechanism, and the support frame is symmetrically arranged on the top of one side of the heavy-load AGV, and the reduction motor is arranged below the pallet storage bin.

[0011] Preferably, the pallet storage bin includes a bracket, a pallet lifting mechanism, and a pallet positioning mechanism, and the pallet storage bin is connected to the heavy-load AGV via the bracket.

[0012] Preferably, the visual camera assembly includes a visual camera body and a camera bracket, and the visual camera body is equipped with an automatic control system, a visual control element and an algorithm system.

[0013] Preferably, the automatic control system includes a control cabinet, an AGV dispatching system, an operation box and an HMI.

[0014] Preferably, a control process of a warehouse AGV automatic depalletizing and palletizing system includes the following steps: S1. First, the system starts self-checking. Then, the heavy-duty AGV automatically moves to the designated storage area on the palletizing platform according to the operation instructions and the operation area identification. Then, the visual camera in the visual camera assembly scans and identifies the pallet type. Then, the visual processing system software calculates the position and height of the pallet type, and guides the heavy-duty AGV to the final position. S2. The balancing legs on the heavy-load AGV extend; the lifting platform starts, and the industrial robot installed on the top is lifted to the corresponding depalletizing height; the industrial robot is equipped with a visual camera in the visual camera assembly to take a picture and scan the bag; the visual processing system in the visual camera assembly calculates the exact position of the goods and guides the industrial robot to grab them through the vacuum suction cup; S3. The industrial robot stacks the goods onto the pallet on the pallet conveyor; when the pallet is full, the lifting platform descends to the lowest point; the full pallet is taken away by the AGV forklift or other mechanism and transported to the placement point; an empty pallet is released from the pallet storage bin; S4. The pallet conveyor transports the empty pallet to the palletizing station on the top of the lifting platform; the industrial robot continues to depalletize until the depalletizing is completed here; the system equipment returns to its initial state; the heavy-load AGV moves to the next depalletizing point until the task is completed.

[0015] Compared with the prior art, the beneficial effects of the present invention are: the warehouse AGV automatic palletizing and stacking system, The present invention can effectively solve the shortcomings of existing depalletizing and stacking devices, such as high labor intensity, low operating efficiency, and high risk of high-altitude operations, through the coordinated use of industrial robots and visual camera components. At the same time, the outbound status cannot be monitored in real time, and the problem of inability to realize automated warehouse management can be solved. The heavy-loaded AGV can move without tracks on its own, and has a wide operating range. The height of the industrial robot can be automatically adjusted according to the height of the stack through the lifting platform. The heavy-loaded AGV and the industrial robot can be automatically guided to operate through identification and positioning by the visual camera component. Continuous operation with high operating efficiency can be achieved, and depalletizing, stacking, and transportation operations in the warehouse can be completed instead of manual work. Full automation of warehouse management without shelves can be realized. At the same time, the outbound quantity can be automatically counted, and the task status can be monitored in real time. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is an isometric view of a warehouse AGV automatic palletizing and stacking system of the present invention; Figure 2 This is a schematic diagram of the overall structure of the positional relationship between a heavy-duty AGV and a palletizing platform in a warehouse AGV automatic depalletizing and palletizing system of the present invention; Figure 3 This invention is a warehouse AGV automatic palletizing and stacking system Figure 1 The enlarged structural diagram at A in the middle; Figure 4 It is an isometric view of a warehouse AGV automatic palletizing and stacking system of the present invention; Figure 5 This is an isometric view of a warehouse AGV automatic palletizing and depalletizing system according to the present invention.

[0017] In the figure: 1. Heavy-load AGV; 2. Palletizing platform; 3. Lifting platform; 4. Industrial robot; 401. Robotic arm; 402. Buffer assembly; 403. Vacuum suction cup; 5. Pallet conveying positioning mechanism; 6. Pallet conveyor; 7. Palletizing station; 8. Pallet storage bin; 9. Visual camera assembly. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] See also Figure 1-5 The present invention provides a technical solution: a warehouse AGV automatic palletizing and stacking system. Embodiment 1 The heavy-load AGV 1 is arranged on the palletizing platform 2, and a lifting platform 3 is installed on one side of the top of the heavy-load AGV 1, an industrial robot 4 is installed on the top of the lifting platform 3, and a visual camera assembly 9 is arranged on the industrial robot 4, and a pallet conveying and positioning mechanism 5 is arranged on one side of the industrial robot 4, a pallet conveyor 6 is arranged on one side of the pallet conveying and positioning mechanism 5, and a palletizing station 7 is arranged on the top of the pallet conveying and positioning mechanism 5, and a pallet storage bin 8 is arranged on the top of the pallet conveyor 6.

[0020] In a further embodiment, the heavy-loaded AGV1 includes a vehicle body, a steering wheel, a balancing leg, a battery, an air compressor, a transformer, a laser radar, an automatic navigation system and an automatic charging mechanism, and the steering wheels are symmetrically arranged in three groups, the balancing legs are symmetrically arranged on both sides of the vehicle body, and the balancing legs and the steering wheels are alternately distributed. The heavy-loaded AGV1 is an integrated device, which can automatically walk to the working area according to the working task, has functions such as automatic navigation and automatic charging, and is mainly used to carry related equipment and provide compressed air and power.

[0021] In a further embodiment, the lifting platform 3 includes a bracket, a motor, a cylinder and a lifting plate, and the top of the lifting plate and the pallet conveying and positioning mechanism 5 can carry the industrial robot 4 and a full stack of pallets for lifting, and the positioning accuracy is less than 10mm. The pallet conveying and positioning mechanism 5 adopts a chain or roller conveying structure, which can complete the pallet conveying and positioning, and is convenient for the industrial robot 4 to stack.

[0022] In a further embodiment, the industrial robot 4 includes a robotic arm 401, a buffer component 402 and a vacuum suction cup 403, and the robotic arm 401 is connected to the vacuum suction cup 403 through the buffer component 402, and the vacuum suction cup 403 is adsorbed by negative pressure, and the buffer component 402 and the vacuum suction cup 403 are both installed at the end of the industrial robot 4.

[0023] In a further embodiment, the types of the robot arm 401 include a four-axis robot and a six-axis robot, and the bottom of the robot arm 401 is installed on a lifting plate.

[0024] In a further embodiment, the pallet conveyor 6 includes a support frame, a reduction motor, a guide mechanism and a transmission mechanism. The pallet conveyor 6 adopts a chain or roller method for conveying and transferring empty pallets, and transports the empty pallets from the pallet storage bin 8 to the pallet conveying positioning mechanism 5 on the lifting platform 3. The support frame is symmetrically arranged on the top of one side of the heavy-load AGV 1, and the reduction motor is arranged below the pallet storage bin 8. The pallet storage bin 8 stores less than 10 pallets.

[0025] In a further embodiment, the pallet storage bin 8 includes a bracket, a pallet lifting mechanism, and a pallet positioning mechanism, and the pallet storage bin 8 is connected to the heavy-load AGV 1 through the bracket.

[0026] In a further embodiment, the visual camera assembly 9 includes a visual camera body and a camera bracket, and the visual camera body is equipped with an automatic control system, a visual control element and an algorithm system.

[0027] In a further embodiment, the automatic control system includes a control cabinet, an AGV dispatching system, an operation box and an HMI.

[0028] Specifically, HMI is used for interaction and information exchange. The AGV dispatching system is a prior art and its specific process will not be described in detail here. Embodiment 2 This embodiment is a further description of the above embodiment. It should be understood that this embodiment includes all the aforementioned technical features and is further described in detail.

[0029] In a further embodiment, a control process of a warehouse AGV automatic depalletizing and palletizing system includes the following steps: S1, first the system starts self-checking; secondly, the heavy-duty AGV1 automatically moves to the designated storage area on the palletizing platform 2 according to the operation instructions and the operation area identification; then the visual camera in the visual camera assembly 9 scans and identifies the pallet type; then the visual processing system software calculates the position and height of the pallet type, and guides the heavy-duty AGV1 to the final position; S2, the balancing legs on the heavy-load AGV 1 extend to contact the top of the palletizing platform 2, thereby ensuring the stability of the device during operation; then, the lifting platform 3 is started with the cooperation of the motor and the oil cylinder, and the industrial robot 4 installed on the top is lifted to the corresponding depalletizing height; at the same time, the industrial robot 4 is equipped with a visual camera in the visual camera assembly 9 to take pictures and scan the palletized bags; then the visual processing system in the visual camera assembly 9 calculates the exact position of the goods and guides the industrial robot 4 to grasp them under negative pressure through the vacuum suction cup 403; S3, the industrial robot 4 stacks the goods onto the pallet on the pallet conveyor 6; when the pallet is full, the lifting platform 3 descends to the lowest point; the full pallet is taken away by the AGV forklift or other mechanism and transferred to the placement point; the pallet storage bin 8 releases an empty pallet, and the AGV forklift adopts finished standard equipment, which can automatically travel and navigate, and is used to complete the transfer of full pallets and the loading of empty pallets to the pallet storage bin 8; S4, the pallet conveyor 6 transports the empty pallet to the palletizing station 7 on the top of the lifting platform 3; the industrial robot 4 continues to depalletize until the depalletizing is completed here; then the system equipment returns to the initial state; the heavy-load AGV 1 moves to the next depalletizing point and repeats the above operations until the task is completed.

[0030] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A warehouse AGV automatic palletizing and depalletizing system, comprising a heavy-load AGV (1) and a pallet conveyor (6), characterized in that: The heavy-load AGV (1) is arranged on a palletizing platform (2), and a lifting platform (3) is installed on one side of the top of the heavy-load AGV (1); an industrial robot (4) is installed on the top of the lifting platform (3), and a visual camera assembly (9) is arranged on the industrial robot (4); a pallet conveying and positioning mechanism (5) is arranged on one side of the industrial robot (4); the pallet conveyor (6) is arranged on one side of the pallet conveying and positioning mechanism (5), and a palletizing station (7) is arranged on the top of the pallet conveying and positioning mechanism (5); and a pallet storage bin (8) is arranged on the top of the pallet conveyor (6).

2. The warehouse AGV automatic palletizing and stacking system according to claim 1 is characterized by: The heavy-load AGV (1) comprises a vehicle body, a steering wheel, balancing legs, a battery, an air compressor, a transformer, a laser radar, an automatic navigation system and an automatic charging mechanism, wherein the steering wheels are symmetrically arranged in three groups, the balancing legs are symmetrically arranged on both sides of the vehicle body, and the balancing legs and the steering wheels are alternately distributed.

3. The warehouse AGV automatic palletizing and stacking system according to claim 1 is characterized by: The lifting platform (3) comprises a bracket, a motor, a cylinder and a lifting plate, and the top of the lifting plate is connected to a pallet conveying and positioning mechanism (5).

4. The warehouse AGV automatic palletizing and stacking system according to claim 1 is characterized by: The industrial robot (4) comprises a mechanical arm (401), a buffer component (402) and a vacuum suction cup (403), and the mechanical arm (401) is connected to the vacuum suction cup (403) via the buffer component (402), and the vacuum suction cup (403) is adsorbed by negative pressure.

5. The warehouse AGV automatic palletizing and stacking system according to claim 4 is characterized by: The types of the mechanical arm (401) include a four-axis robot and a six-axis robot, and the bottom of the mechanical arm (401) is installed on a lifting plate.

6. The warehouse AGV automatic palletizing and stacking system according to claim 1 is characterized by: The pallet conveyor (6) comprises a support frame, a reduction motor, a guide mechanism and a transmission mechanism, wherein the support frame is symmetrically arranged on the top of one side of the heavy-load AGV (1), and the reduction motor is arranged below the pallet storage bin (8).

7. The warehouse AGV automatic palletizing and stacking system according to claim 1 is characterized by: The pallet storage bin (8) comprises a bracket, a pallet lifting mechanism, and a pallet positioning mechanism, and the pallet storage bin (8) is connected to the heavy-load AGV (1) via the bracket.

8. The warehouse AGV automatic palletizing and stacking system according to claim 1 is characterized by: The visual camera assembly (9) comprises a visual camera body and a camera bracket, and the visual camera body is equipped with an automatic control system, a visual control element and an algorithm system.

9. The warehouse AGV automatic palletizing and stacking system according to claim 8, characterized in that: The automatic control system includes a control cabinet, an AGV dispatching system, an operation box and an HMI.

10. The warehouse AGV automatic palletizing and stacking system according to any one of claims 1 to 9, characterized in that: The control process of the warehouse AGV automatic depalletizing and palletizing system includes the following steps: S1. First, the system starts self-checking; second, the heavy-duty AGV (1) automatically moves to the designated storage area on the palletizing platform (2) according to the operation instructions and the operation area identification; then, the visual camera in the visual camera assembly (9) scans and identifies the pallet type; then, the visual processing system software calculates the position and height of the pallet type, and guides the heavy-duty AGV (1) to the final position; S2, the balancing legs on the heavy-load AGV (1) are extended; the lifting platform (3) is started, and the industrial robot (4) mounted on the top thereof is lifted to the corresponding depalletizing height; the industrial robot (4) is equipped with a visual camera in the visual camera assembly (9) to take a photo and scan the bag; the visual processing system in the visual camera assembly (9) calculates the exact position of the goods and guides the industrial robot (4) to grab the goods through the vacuum suction cup; S3, the industrial robot (4) stacks the goods onto the pallet on the pallet conveyor (6); when the pallet is full, the lifting platform (3) descends to the lowest point; the full pallet is taken away by an AGV forklift or other mechanism and transported to a placement point; the pallet storage bin (8) releases an empty pallet; S4, the pallet conveyor (6) transports the empty pallet to the palletizing station (7) on the top of the lifting platform (3); the industrial robot (4) continues to depalletize until the depalletizing is completed here; the system equipment returns to the initial state; the heavy-load AGV (1) moves to the next depalletizing point until the task is completed.

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