A handling device based on visual control

Abstract

The present invention discloses a handling device based on visual control, including a scanning component, the scanning component including a conveying belt and a shape recognition sensor, a lifting frame installed at the outlet end of the conveying belt, the lifting frame including a lifting plate, and also including a carrying platform, the carrying platform is an AGV transporter, the carrying platform including a vehicle body, the lifting frame is used to lift the carrying platform to the outlet end of the conveying belt, alignment blocks are installed on the adjacent two sides of the vehicle body, an alignment groove is provided on the side of the vehicle body adjacent to the alignment block, a locking pin is slidably installed in the alignment block, a pin hole is provided at the corresponding position of the alignment groove, the locking pin is fixedly connected with a driving member, and an expansion guide is provided on the lifting plate. The present invention arranges a shape recognition sensor and a composable carrying platform, and guides the carrying platform to assemble through the expansion guide. When the shape of the goods exceeds the carrying size of a single carrying platform, multiple carrying platforms are guided to assemble, so as to facilitate the handling of goods with a larger volume.

Description

Technical Field

[0001] The invention belongs to the technical field of AGV transport vehicles and relates to a transport device based on visual control. Background Art

[0002] In intelligent logistics warehouses, cargo information and arrival location information are obtained through visual scanning, and the AGV transporter can transport the cargo to the designated location through route planning.

[0003] In logistics transportation, especially express parcels, there are parcels of different sizes. During the transportation process of AGV transport vehicles, there may be situations where larger parcels cannot be transported, or smaller parcels waste transportation capacity. Summary of the invention

[0004] In view of the above problems, the present invention proposes a handling device based on vision control, which well solves the problems in the prior art.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0006] A handling device based on visual control, comprising:

[0007] A scanning component, the scanning component comprising a conveying belt and a shape recognition sensor;

[0008] A lifting frame, the lifting frame is installed at the outlet end of the conveying belt, and the lifting frame includes a lifting plate;

[0009] A transport platform, the transport platform is an AGV transport vehicle, and the transport platform includes a vehicle body;

[0010] Alignment blocks, two alignment blocks are fixedly mounted on two adjacent sides of the vehicle body;

[0011] Alignment grooves, two alignment grooves are respectively installed on one side of the vehicle body adjacent to the alignment block;

[0012] A locking pin, the locking pin is slidably installed in the alignment block, and a pin hole is provided at a corresponding position of the alignment slot;

[0013] A driving member, wherein an output end of the driving member is fixedly connected to the locking pin;

[0014] An expansion guide is installed on the lifting plate, and the carrier platform navigates through the expansion guide after entering the lifting plate.

[0015] Optionally, the scanning assembly also includes a scanning chamber, the shape recognition sensor is installed at the upper inner end of the scanning chamber, the scanning chamber is fixedly installed on the conveying belt, and calibration push plates are slidably installed on both sides of the scanning chamber, and the calibration push plates are connected to a calibration drive.

[0016] Optionally, the alignment block is in a prism shape, a signal plug terminal is fixedly installed at the end of the alignment block, and a signal terminal is fixedly installed at a corresponding position of the alignment groove.

[0017] Optionally, a travel switch is fixedly installed in the vehicle body, and the travel switch is directly opposite to the pin hole.

[0018] Optionally, a universal support wheel is installed at the top corner of the bottom of the vehicle body, a steering wheel is rotatably installed at the center of the bottom of the vehicle body, a driving wheel is installed at the bottom of the steering wheel, and the steering wheel and the driving wheel are respectively connected to the steering drive and the travel drive.

[0019] Optionally, an unloading belt is installed at the upper end of the vehicle body.

[0020] Optionally, the lifting frame is rotatably mounted on a rotating frame at its side, the lifting plates are rotatably mounted on both ends of the rotating frame, and the rotating frame is connected to a rotating drive.

[0021] Optionally, a gyroscope is fixedly mounted on the lifting plate, a leveling motor whose signal is connected to the gyroscope is fixedly mounted on the rotating frame, and an output end of the leveling motor is fixedly connected to the lifting plate.

[0022] Optionally, the lifting frame is fixedly installed with a fixed gear at the position of the rotating axis of the rotating frame, and the rotating frame is rotatably installed with a leveling gear group that meshes with the fixed gear. The rotating frame is installed with a sprocket group, and the sprocket group includes sprockets respectively installed on the output end of the leveling gear group and the rotating axis of the lifting plate, and the sprockets are connected by chains.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] 1. By setting up shape recognition sensors and assembleable carrier platforms, and guiding the carrier platforms to assemble through expansion guidance. When the shape of the cargo exceeds the carrying size of a single carrier platform, multiple carrier platforms can be guided to assemble to facilitate the transportation of larger cargo;

[0025] 2. When multiple carrier platforms are assembled on a lifting plate, the space is limited. By setting a steering wheel steering structure for steering, it is convenient to reduce the activity space required for the carrier platforms to turn or change direction, making it easier to assemble. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1is a schematic diagram of the overall structure of an embodiment of the present invention;

[0027] Figure 2 is a schematic structural diagram of a carrier platform portion of an embodiment of the present invention;

[0028] Figure 3 It is a schematic structural diagram of a lifting frame part of an embodiment of the present invention.

[0029] Figure numerals: 1. Scanning assembly; 11. Transport belt; 12. Shape recognition sensor; 13. Scanning chamber; 14. Calibration push plate; 141. Calibration drive; 2. Lifting frame; 21. Lifting plate; 211. Fixed gear; 212. Leveling gear set; 213. Sprocket set; 222. Rotating frame; 22. Expansion guide; 221. Rotation drive; 3. Carrying platform; 31. Vehicle body; 32. Alignment block; 321. Travel switch; 33. Alignment groove; 34. Locking pin; 341. Drive member; 351. Unloading belt; 352. Steering wheel; 353. Drive wheel; 354. Steering drive; 355. Travel drive. DETAILED DESCRIPTION

[0030] 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.

[0031] See also Figure 1-Figure 3 , is a transport equipment based on visual control disclosed in an embodiment of the present invention, including a scanning component 1, the scanning component 1 includes a transport belt 11 and a shape recognition sensor 12, a lifting frame 2 is installed at the outlet end of the transport belt 11, the lifting frame 2 includes a lifting plate 21, and also includes a carrying platform 3, the carrying platform 3 is an AGV transport vehicle, the carrying platform 3 includes a vehicle body 31, the lifting frame 2 is used to lift the carrying platform 3 to the outlet end of the transport belt 11, and alignment blocks 32 are installed on the adjacent two sides of the vehicle body 31, and an alignment groove 33 is provided on the side of the vehicle body 31 adjacent to the alignment block 32, a locking pin 34 is slidably installed in the alignment block 32, a pin hole is provided at the corresponding position of the alignment groove 33, and the locking pin 34 is fixedly connected to a driving member 341, and an expansion guide 22 is provided on the lifting plate 21. After the carrying platform 3 enters the lifting plate 21, it is navigated by the expansion guide 22.

[0032] Specifically, a shape recognition sensor 12 is provided in the scanning component 1. When the goods are transported by the conveying belt 11, the shape recognition sensor 12 identifies the shape and size of the goods. After the shape of the goods exceeds the carrying size of a single carrying platform 3, multiple carrying platforms 3 are allowed to enter the lifting plate 21, and the carrying platforms 3 are moved and assembled by expanding the guide 22. When assembling, the alignment block 32 is aligned with the alignment groove 33, and the locking pin 34 is used to lock with the pin hole.

[0033] Thus, by providing the shape recognition sensor 12 and the assembleable carrying platform 3, and guiding the carrying platform 3 to assemble through the expansion guide 22, when the shape of the cargo exceeds the carrying size of a single carrying platform 3, guiding multiple carrying platforms 3 to assemble facilitates the transportation of larger cargo.

[0034] In some feasible ways, the transport belt 11 is a belt mechanism commonly used in logistics sorting, and the shape recognition sensor 12 can be selected as an image sensor to take pictures to identify the size of the goods. In this embodiment, a mounting frame is provided on the outside of the transport belt 11, and a laser ranging sensor array is provided on the top of the mounting frame. When the goods enter, the laser ranging sensor array is used to measure the distance of the goods. According to the position of the laser ranging sensor when the ranging distance is shorter than that when there is no goods, the horizontal cross-sectional size of the goods is judged, and then it is determined whether the carrying platform 3 needs to be spliced.

[0035] The lifting frame 2 is in the shape of a rectangular frame, and the lifting plate 21 is a rectangular plate. The lifting frame 2 includes a lifting drive for driving the lifting plate 21, which can be selected as a cylinder, a hydraulic rod, etc. The expansion guide 22 is a guide strip set according to the guiding method of the carrying platform 3, such as a magnetic strip, a ribbon or a magnetic nail, a QR code, and other AGV transport vehicle guiding methods. In this embodiment, a magnetic strip guide is selected. A magnetic strip is set on the lifting plate 21 at a position that may be passed during the splicing process of the carrying platform 3 as an expansion guide 22 to facilitate the splicing of the carrying platform 3.

[0036] The alignment block 32 is a box-shaped protrusion of the vehicle body 31, and the alignment groove 33 is recessed into the inner side of the vehicle body 31. When assembled, the alignment block 32 is inserted into the alignment groove 33, and the locking pin 34 is slidably installed in the alignment block 32. The locking pins 34 are provided on both sides of the alignment block 32, and the locking pins 34 are provided with threaded holes. The two locking pins 34 are connected by a screw, and the threads at both ends of the screw have different rotation directions. The middle part of the screw is connected to a driving motor. When the driving motor rotates, the locking pins 34 move toward or away from each other under the action of the screw. The synchronization of the locking pins 34 is improved by the screw drive. The other parts of the transport platform 3 are all commonly used AGV transport vehicle structures, which will not be repeated here.

[0037] As a specific implementation of a visual control-based handling device provided in the application, please refer to Figure 1The scanning assembly 1 also includes a scanning chamber 13, a shape recognition sensor 12 is installed at the upper end of the inner side of the scanning chamber 13, the scanning chamber 13 is fixedly installed on the conveying belt 11, and a calibration push plate 14 is slidably installed on both sides of the scanning chamber 13, and the calibration push plate 14 is connected to a calibration drive 141.

[0038] In general, by setting up the scanning room 13, a darker environment is formed, which is convenient for the shape recognition sensor 12 to recognize. By setting up the calibration push plate 14, after the shape recognition sensor 12 scans, the calibration push plate 14 is used to push the goods from both sides to the middle, so that the goods are located in the middle of the belt, which is convenient for placing them on the upper end of the carrying platform 3.

[0039] In some feasible ways, the calibration push plate 14 is a rectangular plate, the calibration drive 141 is an electric push rod, and the calibration push plate 14 can determine the advancement distance by scanning data through the shape recognition sensor 12. In this embodiment, the laser ranging sensor array forms a rectangular dot matrix on the belt surface. When scanning the goods, the position of the goods on the belt is determined by connecting the positions that are identified to be blocked, and then the advancement distance of the calibration push plate 14 is calculated.

[0040] As another specific embodiment of a handling device based on visual control provided in the application, the alignment block 32 is prism-shaped, a signal plug terminal is fixedly installed at the end of the alignment block 32, and a signal terminal is fixedly installed at the corresponding position of the alignment slot 33.

[0041] In combination with specific usage scenarios, by setting signal plugs and signal terminals, data intercommunication is achieved after multiple transport platforms 3 are assembled, and control is performed through one of the transport platforms 3, reducing the possibility that the individual control of multiple transport platforms 3 is inconvenient for joint transportation.

[0042] In some feasible embodiments, the signal plug end and the signal connection end are commonly used signal line plug structures.

[0043] As a specific implementation of a visually controlled handling device provided in the application, a travel switch 321 is fixedly installed in the vehicle body 31, and the travel switch 321 is directly opposite to the pin hole.

[0044] It should be understood that by providing the travel switch 321, it is convenient to detect the insertion condition of the locking pin 34, thereby reducing the situation where the locking pin 34 is not locked or unlocked according to the procedure.

[0045] As a specific implementation of a visual control-based handling device provided in the application, please refer to Figure 2 A universal support wheel is installed at the top corner of the bottom of the vehicle body 31, a steering wheel 352 is rotatably installed at the center of the bottom of the vehicle body 31, a driving wheel 353 is installed at the bottom of the steering wheel 352, and the steering wheel 352 and the driving wheel 353 are respectively connected to a steering drive 354 and a travel drive 355.

[0046] It should be understood that when multiple carrier platforms 3 are assembled on the lifting plate 21, the space is limited. By providing a steering wheel 352 steering structure for steering, it is convenient to reduce the activity space required for the carrier platforms 3 to turn or change direction, so as to facilitate assembly.

[0047] In some feasible embodiments, a through hole is opened at the center of the bottom of the vehicle body 31, and the steering wheel 352 is rotatably installed in the through hole. A ring gear is arranged on the outer side of the upper end of the steering wheel 352, and the ring gear is meshed with a driving gear. The driving gear is connected to a driving motor, and the travel drive 355 is installed in the middle of the steering wheel 352, and the driving wheel 353 is installed at the output end of the travel drive 355.

[0048] As a specific implementation of a visually controlled handling device provided in the application, an unloading belt 351 is installed at the upper end of the vehicle body 31 .

[0049] It should be understood that by selecting the unloading belt 351 as the unloading structure, it is convenient to unload synchronously after assembly.

[0050] As a specific implementation of a visual control-based handling device provided in the application, please refer to Figure 3 The lifting frame 2 is rotatably mounted on the rotating frame 222 at its side, and the lifting plates 21 are rotatably mounted on both ends of the rotating frame 222 . The rotating frame 222 is connected to a rotating drive 221 .

[0051] It should be understood that by providing two lifting plates 21 , while one of the carrying platforms 3 is loading, the other carrying platform 3 can complete the preparation action on the other lifting plate 21 , so as to improve the loading efficiency.

[0052] In some feasible embodiments, the lifting plate 21 is fixedly mounted with a gyroscope, the rotating frame 222 is fixedly mounted with a leveling motor whose signal is connected to the gyroscope, and the output end of the leveling motor is fixedly connected to the lifting plate 21. By setting the gyroscope, the horizontality of the lifting plate 21 during the rotation process is monitored, and the leveling motor is used to perform leveling so that the lifting plate 21 is always kept in a horizontal state.

[0053] In some feasible embodiments, the lifting frame 2 is fixedly installed with a fixed gear 211 at the position of the rotating shaft of the rotating frame 222, and the rotating frame 222 is rotatably installed with a leveling gear set 212 meshing with the fixed gear 211, and the rotating frame 222 is installed with a sprocket set 213, and the sprocket set 213 includes sprockets respectively installed at the output end of the leveling gear set 212 and the rotating shaft of the lifting plate 21, and the sprockets are connected by a chain. By setting the leveling gear set 212, when the rotating frame 222 rotates, the leveling gear set 212 rotates around the fixed gear 211 and drives the sprocket set 213 to rotate, and the leveling gear set 212 performs a 1:1 transmission, so that the lifting plate 21 rotates synchronously in the opposite direction, so that the lifting plate 21 always remains horizontal.

[0054] 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 handling device based on visual control, characterized in that: include: A scanning component, the scanning component comprising a conveying belt and a shape recognition sensor; A lifting frame, the lifting frame is installed at the outlet end of the conveying belt, and the lifting frame includes a lifting plate; A transport platform, the transport platform is an AGV transport vehicle, and the transport platform includes a vehicle body; Alignment blocks, two alignment blocks are fixedly mounted on two adjacent sides of the vehicle body; Alignment grooves, two alignment grooves are respectively installed on one side of the vehicle body adjacent to the alignment block; A locking pin, the locking pin is slidably installed in the alignment block, and a pin hole is provided at a corresponding position of the alignment slot; A driving member, wherein an output end of the driving member is fixedly connected to the locking pin; An expansion guide is installed on the lifting plate, and the carrier platform navigates through the expansion guide after entering the lifting plate.

2. A handling device based on visual control according to claim 1, characterized in that: The scanning assembly also includes a scanning chamber, the shape recognition sensor is installed at the upper inner end of the scanning chamber, the scanning chamber is fixedly installed on the transport belt, and alignment push plates are slidably installed on both sides of the scanning chamber, and the alignment push plates are connected to the alignment drive.

3. The visual control-based handling device according to claim 1, characterized in that: The alignment block is in a prism shape, a signal plug terminal is fixedly installed at the end of the alignment block, and a signal terminal is fixedly installed at the corresponding position of the alignment groove.

4. The visual control-based handling device according to claim 1, characterized in that: A travel switch is fixedly installed in the vehicle body, and the travel switch is directly opposite to the pin hole.

5. The visual control-based handling device according to claim 1, characterized in that: Universal support wheels are installed at the top corners of the bottom of the vehicle body, a steering wheel is rotatably installed at the center of the bottom of the vehicle body, a driving wheel is installed at the bottom of the steering wheel, and the steering wheel and the driving wheel are respectively connected with a steering drive and a travel drive.

6. The visual control-based handling device according to claim 1, characterized in that: An unloading belt is installed on the upper end of the vehicle body.

7. The visual control-based handling device according to claim 1, characterized in that: The side surface of the lifting frame is rotatably mounted on the rotating frame, the lifting plates are rotatably mounted on both ends of the rotating frame, and the rotating frame is connected to a rotating drive.

8. The visual control-based handling device according to claim 7, characterized in that: The lifting plate is fixedly mounted with a gyroscope, the rotating frame is fixedly mounted with a leveling motor whose signal is connected to the gyroscope, and the output end of the leveling motor is fixedly connected to the lifting plate.

9. The visual control-based handling device according to claim 7, characterized in that: The lifting frame is fixedly installed with a fixed gear at the position of the rotating shaft of the rotating frame, and the rotating frame is rotatably installed with a leveling gear group that meshes with the fixed gear. The rotating frame is installed with a sprocket group, and the sprocket group includes sprockets respectively installed on the output end of the leveling gear group and the rotating shaft of the lifting plate, and the sprockets are connected by chains.

Images