Automated palletizing system based on visual recognition

Abstract

The present invention discloses an automated palletizing system based on visual recognition, which relates to the technical field of palletizing devices and includes a visual robot, a grabbing frame, and a boom. The grabbing frame includes a turntable connected to the output end of the visual robot, a hanging frame installed at the lower end of the turntable, a cylinder installed at the center of the hanging frame, a suction cup installed at the lower end of the cylinder, a cross-distributed moving mechanism installed on the hanging frame, two moving mechanisms in the same straight line are respectively installed with a flat plate 1, a slide 1 is installed on flat plate 1, and the remaining two moving mechanisms in the same straight line are respectively installed with a flat plate 2, a slide 2 is installed on flat plate 2, and the boom is installed at the stacking of slides 1 and 2, a right-angle rod is installed at the lower end of the boom, and side clamps are installed at both ends of the right-angle rod. This prevents the side collapse of the soft cargo box due to the pulling force of the suction cup, makes the cargo box posture more stable during the lifting process, and further improves the uniformity of the stacking gap.

Description

Technical Field

[0001] The present invention relates to the technical field of palletizing devices, in particular to an automated palletizing system based on visual recognition. Background Art

[0002] In the fields of logistics, warehousing, and industrial automation, palletizing systems are key equipment for efficient cargo stacking. Traditional palletizing systems often use fixed-size mechanical grippers or vacuum cups. When stacking soft cartons, such as cartons, they are easily affected by gravity during the lifting and transfer process. This can cause soft cartons (such as cartons) to deform due to adsorption, leading to positional deviations, affecting stacking accuracy and resulting in uneven gaps between stacked cartons. Furthermore, these systems also suffer from the following drawbacks:

[0003] (1) Hard grippers are difficult to adapt to different sizes of cargo boxes.

[0004] (2) When the center of gravity of the cargo box deviates from the clamping center, an eccentric force is easily generated during the lifting process, causing the cargo box to shake, tilt or even fall off, resulting in poor stacking stability.

[0005] (3) Existing equipment lacks a real-time detection and compensation mechanism for cargo box deformation and surface flatness. Soft cargo boxes are easily squeezed toward the center by tension during lifting, resulting in uneven stacking gaps.

[0006] Therefore, it is necessary to provide an automated palletizing system based on visual recognition to solve the problems raised in the above background technology. Summary of the Invention

[0007] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an automated palletizing system based on visual recognition, comprising a visual robot, a grabbing frame and a boom, the grabbing frame comprising a turntable connected to the output end of the visual robot, a hanging frame being installed at the lower end of the turntable, a cylinder being installed at the center of the hanging frame, a suction cup being installed at the lower end of the cylinder, a cross-distributed moving mechanism being installed on the hanging frame, two moving mechanisms in a straight line being respectively installed with a plate 1, a slide 1 being installed on the plate 1, and the remaining two moving mechanisms in a straight line being respectively installed with a plate 2, a slide 2 being installed on the plate 2, the boom being installed through the stacking of the slide 1 and the slide 2, a right-angle rod being installed at the lower end of the boom, and side clamping strips being installed at both ends of the right-angle rod;

[0008] The side clamping strip includes a side shell strip connected to the end of the right-angle rod, and the upper and lower ends of the clamping surface in the side shell strip are respectively installed with rotating shafts, and the two rotating shafts are covered with rough belts. The side shell strip is also installed with a second motor, and the output end of the second motor is connected to the upper rotating shaft through a transmission belt;

[0009] The rough belt is provided with ventilation holes, and the space in the middle of the rough belt is provided with a support box connected to the side shell strips. The box surface of the support box in the same direction as the clamping surface is provided with uniform air guide holes, and the side shell strips are provided with an air pump, and the output end of the air pump is connected to the box cavity of the support box.

[0010] Preferably, the edges on both sides of the rough belt are respectively covered with sealing strips.

[0011] Preferably, the moving mechanism includes a screw, a guide rod and a motor 1 respectively installed on the hanging frame. The screw and the guide rod are arranged in parallel. The output end of the motor 1 is connected to one end of the screw. A screw sleeve is engaged on the screw, and the screw sleeve is also slidably sleeved on the guide rod. The screw sleeve is used to connect the middle part of the plate 1 or the middle part of the plate 2.

[0012] Preferably, a distance sensor is provided at the upper end of the boom for detecting the distance between two side clamps facing each other.

[0013] Preferably, the right-angle rod is provided with a tension sensor for detecting the tension exerted by the side shell strip on the right-angle rod.

[0014] Preferably, cameras are provided at the lower ends of the four corners of the hanging frame for detecting whether the upper end surface of the cargo box clamped by the side clamps is horizontal.

[0015] Compared with the existing technology, the present invention provides an automated palletizing system based on visual recognition, which has the following beneficial effects:

[0016] The present invention can drive the boom to adjust the clamping distance through a moving mechanism, and combine with the rolling friction clamping of the rough belt to ensure that the rigid cargo box is firmly grasped without surface damage, the clamping force is evenly distributed, and the overload error is greatly reduced. By activating the air pump to evacuate the support box, uniform negative pressure adsorption is formed through the air guide holes to avoid side collapse of soft cargo boxes such as cargo boxes due to the pull of the suction cup, the deformation rate is greatly reduced, and the uniformity of the stacking gap is further improved.

[0017] The present invention adopts dynamic center of gravity calibration and anti-offset design, and uses the data from the tension sensor and distance sensor to calculate the coordinates of the horizontal plane of the center of gravity of the cargo box in real time, driving the center of the suction cup to align with the center of gravity, greatly eliminating the off-axis torque, making the cargo box posture more stable during the lifting process, and greatly reducing the surface flatness error.

[0018] The present invention uses intelligent visual leveling and posture correction, scans the horizontality of the upper end surface of the cargo box in real time through four-corner cameras, and combines the coordinated fine-tuning of the moving mechanism and motor 2 to achieve automatic correction of the cargo box tilt angle, greatly reducing the risk of stacking misalignment. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a structural diagram of the grabbing frame in the present invention;

[0020] Figure 2 It is a schematic diagram of the overall structure of the present invention;

[0021] Figure 3 Schematic diagram of the structure of the mobile mechanism of the present invention;

[0022] Figure 4 Schematic diagram of the structure of the camera in the present invention;

[0023] Figure 5 Schematic diagram of the structure of the right-angle rod in the present invention;

[0024] Figure 6 Schematic diagram of the structure of the side clamping strip in the present invention;

[0025] Figure 7 Schematic diagram of the cross-sectional structure of the side clamping strip in the present invention;

[0026] Figure 8 Schematic diagram of the air guide hole structure in the present invention;

[0027] In the figure: 1. Visual robot; 2. Grabbing frame; 3. Cylinder; 4. Suction cup; 5. Moving mechanism; 6. Plate 1; 7. Plate 2; 8. Hanging rod; 9. Side clamp; 10. Camera; 11. Distance sensor; 12. Tension sensor; 21. Turntable; 22. Hanging frame; 51. Screw; 52. Motor 1; 53. Guide rod; 54. Screw sleeve; 61. Slide 1; 71. Slide 2; 81. Right-angle rod; 91. Side shell strip; 92. Rough belt; 93. Rotating shaft; 94. Drive belt; 95. Motor 2; 96. Support box; 97. Air pump; 98. Sealing sleeve; 921. Air vent; 961. Air guide hole. DETAILED DESCRIPTION

[0028] Reference Figures 1-8 The present invention provides a technical solution: an automated palletizing system based on visual recognition, comprising a visual robot 1, a grabbing frame 2 and a boom 8, wherein the grabbing frame 2 comprises a turntable 21 connected to the output end of the visual robot 1, a hanging frame 22 is installed at the lower end of the turntable 21, a cylinder 3 is installed at the center of the hanging frame 22, a suction cup 4 is installed at the lower end of the cylinder 3, a cross-distributed moving mechanism 5 is installed on the hanging frame 22, two moving mechanisms 5 in a straight line are respectively installed with a flat plate 1 6, a slide 1 61 is installed on the flat plate 1 6, and a flat plate 2 7 is respectively installed on the remaining two moving mechanisms 5 in a straight line, a slide 2 71 is installed on the flat plate 2 7, the boom 8 is installed through the stacking of the slide 1 61 and the slide 2 71, a right-angle rod 81 is installed at the lower end of the boom 8, and side clamps 9 are respectively installed at both ends of the right-angle rod 8.

[0029] In this embodiment, the hanging frame 22 has a square structure, the flat plate 1 6 is parallel to one side of the hanging frame 22, the flat plate 2 7 is parallel to the other side of the hanging frame 22, and the hanging rod 8 has a square structure so that the hanging rod 8 can slide stably on the slide 1 61 and the slide 2 71. During the sliding process of the hanging rod 8, by adjusting the movement of the flat plate 1 6 and / or the flat plate 2 7, the hanging rod 8 can be driven to move and the position of the hanging rod 8 can be changed, so as to facilitate the flexible clamping of cargo boxes of different sizes. Through the setting of the right-angle rod 81, the two side surfaces of the vertical edge ends of the cargo box are respectively contacted by the side clamping strips 9. Combined with the setting of the suction cup 4, the method of clamping and placing the cargo box is more flexible.

[0030] In this embodiment, the side clamping strip 9 includes a side shell strip 91 connected to the end of the right-angle rod 81. The upper and lower ends of the clamping surface in the side shell strip 91 are respectively installed with rotating shafts 93. The two rotating shafts 93 are covered with rough belts 92. Motor 2 95 is also installed on the side shell strip 91. The output end of motor 2 95 is connected to the upper rotating shaft 93 through a transmission belt 94. The transmission belt 94 is controlled by motor 2 95 to drive the rough belt 92 to roll, so as to cooperate with the cylinder 3 to control the suction cup 4 to pick up and place the cargo box, making the picking and placing of the cargo box more accurate and stable.

[0031] In this embodiment, the rough belt 92 is provided with air holes 921, and the space in the middle of the rough belt 92 is provided with a support box 96 connected to the side shell strip 91. The box surface of the support box 96 in the same direction as the clamping surface is provided with uniform air guide holes 961, and the side shell strip 91 is provided with an air pump 97. The output end of the air pump 97 is connected to the box cavity of the support box 96. That is to say, for a cargo box body with a hard structure that is not easily deformed by its own gravity, the rough belt 92 can be adjusted by the moving mechanism 5 to clamp the side of the cargo box. The cargo box body with a soft structure that is slightly deformed by its own gravity can use the air pump 97 to regulate the air pressure in the box cavity of the support box 96 to perform negative pressure suction on the side of the cargo box to ensure the accuracy of the box placement. That is to say, during the stacking process, the upper end of the cargo box body with a soft structure that is slightly deformed by its own gravity is subjected to tension, and the side of the cargo box body will be squeezed and tilted toward the center, resulting in the position positioning of the cargo box body being difficult to adjust when stacked, and the gaps between the stacked cargo boxes are uneven, resulting in poor stability in the stacking of the cargo boxes.

[0032] In this embodiment, the edges on both sides of the rough belt 92 are respectively covered with sealing strips 98 to enhance the negative pressure adsorption strength between the rough belt 92 and the cargo box surface.

[0033] In this embodiment, the moving mechanism 5 includes a screw 51, a guide rod 53 and a motor 52 respectively installed on the hanging frame 22. The screw 51 and the guide rod 53 are arranged in parallel. The output end of the motor 52 is connected to one end of the screw 51. The screw 51 is engaged with a screw sleeve 54, and the screw sleeve 54 is also slidably sleeved on the guide rod 53. The screw sleeve 54 is used to connect the middle part of the plate 1 6 or the middle part of the plate 2 7.

[0034] In this embodiment, the upper end of the boom 8 is provided with a distance sensor 11 for detecting the distance between the two side clamps 9 facing each other, which is used to detect the position coordinates of the boom 8, wherein the center of the hanging frame 22 is set as the origin coordinate .

[0035] In this embodiment, the right-angle rod 81 is provided with a tension sensor 12 for detecting the tension generated by the side shell bar 91 on the right-angle rod 81. The stacked cargo box is a square structure. The tension sensor 12 is set to calculate the tension on the boom 8, which is set as , obtain the corresponding dynamic coordinates through the distance sensor 11 , so that when the center of the cargo box is inconsistent with the center of gravity of the cargo box, the coordinates of the horizontal plane of the center of gravity of the cargo box are calculated, and then the center of the suction cup 4 and the center of gravity of the cargo box are adjusted to be in the same vertical direction. At the same time, the eccentric force between the cargo box and the suction cup 4 is greatly reduced, so that the cargo box is more stable during the lifting and transportation process and the flatness of each surface of the cargo box is maintained. The coordinates of the center of gravity of the cargo box are calculated, and data collection and calculation are performed instantly when the cargo box is stationary. The total weight of the cargo box , with the origin coordinates As a reference point, horizontal The directional moment balance formula is the tension of each boom 8 The sum of the moments on the axles is equal to the weight of the container on The moment of the shaft, , vertical The directional moment balance formula is the tension of each boom 8 The sum of the moments on the axles is equal to the weight of the container on The moment of the shaft, , so we can know , , thereby obtaining the coordinates of the center of gravity of the cargo box on the horizontal plane .

[0036] In this embodiment, the lower ends of the four corners of the hanging frame 22 are respectively provided with cameras 10 for detecting whether the upper end surface of the cargo box clamped by the side clamps 9 is horizontal. Through visual detection by the cameras 10, it is determined whether the upper end surface of the clamped cargo box is horizontal. If not, the upper end surface of the clamped cargo box can be kept in a horizontal state by coordinating and controlling the moving mechanism 5 and the motor 2 95.

[0037] In specific implementation, it includes the following steps:

[0038] Step 1: The cylinder 3 adjusts the suction cup 4 to be at the bottom, and the motor 1 52 in the moving mechanism 5 adjusts the screw 51 to drive the screw sleeve 54 to move, so that the suspension rod 8 drives the side clamping bar 9 to move outward;

[0039] Step 2: The vision robot 1 controls the gripping frame 2 to move to the stacked container to be gripped, and aligns the center of the hanging frame 22 with the center of the upper end surface of one of the stacked containers to be gripped on the same vertical line;

[0040] Step 3: The box to be clamped is adsorbed by the suction cup 4, and the motor 1 52 in the moving mechanism 5 regulates the screw 51 to drive the screw sleeve 54 to move, so that the boom 8 drives the side clamping strips 9 to move inward, so that the two side clamping strips 9 at the lower end of each boom 8 correspond to the two side surfaces of the vertical edge end of the box to be clamped, and the cylinder 3 regulates the suction cup 4 to lift the box to be clamped. During the process of the box to be clamped rising, the side surface of the box to be clamped touches the corresponding side clamping strips 9, and the motor 2 95 in the side clamping strips 9 regulates the rough belt 92 to transmit upward, cooperating with the box to be clamped to move upward, so that during the process of the box to be clamped being lifted up by the suction cup 4, the box to be clamped is stabilized by the side clamping strips 9 to prevent the box shell of the box to be clamped from being deformed until it is separated from the stacked box;

[0041] Step 4: Scan and detect whether the upper end surface of the cargo box to be clamped is horizontal through the camera 10. If not, start the air pump 97 to make the side clamping bar 9 produce negative pressure adsorption on the side of the cargo box to be clamped. At the same time, fine-tune the rough belt 92 transmission and the moving mechanism 5 fine-tune the displacement of the screw sleeve 54 through the corresponding motor 2 95 in the side clamping bar 9 until the upper end surface of the cargo box to be clamped is horizontal;

[0042] Step 5: Calculate the position coordinates of the center of gravity of the cargo box to be clamped on the horizontal plane. After obtaining the coordinates of the center of gravity on the horizontal plane, adjust the suction cup 4 to separate from the center of the initial upper end surface of the cargo box to be clamped. At this time, the clamping force of the cargo box to be clamped is provided by the adsorption force generated by the side clamping strips 9 on the side of the cargo box to be clamped. Then adjust the displacement of the cargo box to be clamped by the moving mechanism 5 so that the obtained coordinates of the center of gravity on the horizontal plane and the center of the suction cup 4 are on the same vertical line. Then adjust the suction cup 4 by the cylinder 3 to adsorb the upper end surface of the cargo box to be clamped at this position, so that the cargo box to be clamped adsorbs the cargo box to be clamped from top to bottom during the movement. The center of the suction cup 4 of the cargo box can be in the same vertical direction as the center of gravity of the cargo box to be clamped, so that the eccentric force between the cargo box to be clamped and the suction cup 4 is greatly reduced, which is beneficial to improving the stability of the cargo box to be clamped during movement, and is beneficial to reducing the deformation of the box shell of the cargo box to be clamped due to the eccentric force. At the same time, it makes the overall distribution of the force between the cargo box to be clamped and the gripping frame 2 more balanced, which is beneficial to improving the stability of the cargo box to be clamped during the placement process when the cargo box to be clamped is transferred to the placement position, and is beneficial to making the shape of the box shell of the cargo box to be clamped flat, so that the cargo box to be clamped can be accurately placed and stacked;

[0043] Step 6: The visual robot 1 controls the grabbing frame 2 to move the cargo box to be clamped to the position to be placed, controls the suction cup 4 to descend through the cylinder 3, and controls the rough belt 92 to drive downward through the motor 2 95 in the side clamp 9, so that the cargo box to be clamped falls accurately to the placement position.

[0044] The above description is only a preferred specific embodiment of the invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with this technical field, within the technical scope disclosed by the invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. An automated palletizing system based on visual recognition, comprising a visual robot (1), a grabbing frame (2) and a boom (8), characterized in that: The grabbing frame (2) includes a turntable (21) connected to the output end of the visual robot (1), a hanging frame (22) is installed at the lower end of the turntable (21), a cylinder (3) is installed at the center of the hanging frame (22), a suction cup (4) is installed at the lower end of the cylinder (3), a cross-distributed moving mechanism (5) is installed on the hanging frame (22), two moving mechanisms (5) in the same straight line are respectively installed with a plate one (6), a slideway one (61) is installed on the plate one (6), and the remaining two moving mechanisms (5) in the same straight line are respectively installed with a plate two (7), a slideway two (71) is installed on the plate two (7), the hanging rod (8) is installed through the stacking of the slideway one (61) and the slideway two (71), a right-angle rod (81) is installed at the lower end of the hanging rod (8), and side clamps (9) are respectively installed at both ends of the right-angle rod (81); The side clamping strip (9) includes a side shell strip (91) connected to the end of the right-angle rod (81), and the upper and lower ends of the clamping surface in the side shell strip (91) are respectively installed with rotating shafts (93), and the two rotating shafts (93) are covered with rough belts (92). The side shell strip (91) is also installed with a second motor (95), and the output end of the second motor (95) is connected to the upper rotating shaft (93) through a transmission belt (94); The rough belt (92) is provided with an air vent (921), the space in the middle of the rough belt (92) is provided with a support box (96) connected to the side shell strip (91), the box surface of the support box (96) in the same direction as the clamping surface is provided with uniform air guide holes (961), the side shell strip (91) is provided with an air pump (97), and the output end of the air pump (97) is connected to the box cavity of the support box (96); The upper end of the suspension rod (8) is provided with a distance sensor (11) for detecting the distance between two side clamps (9) facing each other, and the center of the suspension frame (22) is set as the origin coordinate ; The right-angle rod (81) is provided with a tension sensor (12) for detecting the tension generated by the side shell strip (91) on the right-angle rod (81), and the magnitude of the tension exerted on the suspension rod (8) is obtained and set as , the corresponding dynamic coordinates are obtained by detecting the distance sensor (11) , total weight of the container , with the origin coordinates As a reference point, ,Right now , get the coordinates of the center of gravity of the cargo box on the horizontal plane ; The lower ends of the four corners of the hanging frame (22) are respectively provided with cameras (10) for detecting whether the upper end surface of the cargo box clamped by the side clamping strips (9) is horizontal, and judging whether the upper end surface of the clamped cargo box is horizontal. If not, the upper end surface of the clamped cargo box is in a horizontal state through the coordinated regulation of the moving mechanism (5) and the second motor (95).

2. The automated palletizing system based on visual recognition according to claim 1, characterized in that: The edges on both sides of the rough belt (92) are respectively covered with sealing strips (98).

3. The automated palletizing system based on visual recognition according to claim 1, characterized in that: The moving mechanism (5) comprises a screw (51), a guide rod (53) and a motor (52) respectively mounted on the hanging frame (22). The screw (51) and the guide rod (53) are arranged in parallel. The output end of the motor (52) is connected to one end of the screw (51). A screw sleeve (54) is engaged with the screw (51). The screw sleeve (54) is also slidably sleeved on the guide rod (53). The screw sleeve (54) is used to connect the middle part of the plate (6) or the middle part of the plate (7).

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