Intelligent unstacking and stacking robot system based on machine vision

Abstract

The invention provides an intelligent palletizing and unstacking robot system based on machine vision. The intelligent palletizing and unstacking robot system comprises a rack, a first driver and a fixing assembly. The first driver is installed on the rack. The fixing assembly comprises a fixing rod and a plurality of fixing arms, the fixing rod is installed on the machine frame, and the multiple fixing arms are all installed between the first driver and the fixing rod and are driven by the first driver to be gathered in the opposite directions or unfolded in the opposite directions. According to the intelligent palletizing and unstacking robot system based on machine vision, under the action of the first driver, the multiple fixing arms can be driven to gather together in the opposite direction or unfold in the opposite direction, cable coils of different specifications and sizes can be tightly jacked through hollow through holes of the cable coils, the application range is wide, and the fixing effect is good.

Description

Technical Field

[0001] This application relates to the field of auxiliary production equipment technology, and in particular to an intelligent depalletizing and palletizing robot system based on machine vision. Background Technology

[0002] During cable production, cables are typically wound into coils with a hollow center for easy transport. Similarly, to improve efficiency and avoid wasting time and making mistakes when searching for and handling cable coils, they are usually stacked. Currently, automated equipment is commonly used to improve destacking and stacking efficiency. However, in practical applications, automated equipment cannot adjust to the specifications and dimensions of the cable coils, leading to decreased destacking and stacking efficiency. Summary of the Invention

[0003] The purpose of this application is to provide an intelligent depalletizing and palletizing robot system based on machine vision to solve the technical problem of poor depalletizing and palletizing efficiency of existing automated equipment.

[0004] To achieve the above objectives, the technical solution adopted in this application is: to provide an intelligent depalletizing and palletizing robot system based on machine vision, comprising: frame; A first driver, the first driver being mounted on the rack; The fixing assembly includes a fixing rod and multiple fixing arms. The fixing rod is installed on the frame, and the multiple fixing arms are installed between the first driver and the fixing rod, and converge towards each other or unfold away from each other under the drive of the first driver.

[0005] Optionally, the fixed arm includes an arm body, a first hinge rod, and at least one second hinge rod, wherein the first hinge rod is hinged between the output end of the first driver and the fixed rod, and at least one second hinge rod is hinged between the fixed rod and the arm body.

[0006] Optionally, the intelligent depalletizing robot system based on machine vision further includes a fall protection component, which is installed on the fixing component.

[0007] Optionally, the fall arrestor assembly includes a carrier, a second driver, a transmission component, and multiple fall arrestor bars. The carrier is suspended from the fixed rod, the second driver is installed on the carrier and located inside the fixed rod, the transmission component is installed on the carrier, and the multiple fall arrestor bars are all installed on the transmission component and converge or expand under the action of the second driver and the transmission component.

[0008] Optionally, the fixing rod includes a rod body, an installation space, and an end cap. The rod body is mounted on the frame, the installation space is located at the end of the rod body away from the frame, and the end cap is mounted on the end of the rod body away from the frame and covers the installation space. The support member includes multiple support rods, an inner support plate, and an outer support plate. The multiple support rods are all inserted through the end cover. The inner support plate is installed on one end of the multiple support rods near the frame and is located within the installation space. The outer support plate is installed on one end of the multiple support rods away from the inner support plate.

[0009] Optionally, the carrier further includes a plurality of elastic structures, which are sleeved on a plurality of the carrier rods and abut against the end cap and the inner carrier plate.

[0010] Optionally, the transmission component includes a transmission shaft sleeve, a pinion, multiple transmission gears, and multiple large gears. One end of the transmission shaft sleeve is mounted on the output end of the second driver. The pinion is rotatably mounted on the external support plate and rotates under the drive of the transmission shaft sleeve. The multiple transmission gears are all rotatably mounted on the external support plate and mesh with the pinion. The multiple large gears are all rotatably mounted on the external support plate and mesh with the multiple transmission gears. They are also arranged in a one-to-one correspondence with the multiple transmission gears and the multiple anti-fall bars.

[0011] Optionally, the fall arrestor includes a mounting arm, a first rod portion, and a second rod portion. The mounting arm is mounted on the large gear and rotates with the large gear. The first rod portion is connected to the mounting arm, and the second rod portion is connected to the first rod portion and is bent away from the mounting arm relative to the first rod portion. It is also bent away from the fixed rod relative to the first rod portion.

[0012] Optionally, the fixing rod has a wire-passing hole, which communicates with the installation space.

[0013] Optionally, the intelligent depalletizing and palletizing robot system based on machine vision further includes a visual locator, which is mounted on the frame. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1A perspective view of an intelligent depalletizing and palletizing robot system based on machine vision provided for this application; Figure 2 A perspective view of a machine vision-based intelligent depalletizing and palletizing robot system provided in this application, excluding the frame; Figure 3 A perspective view of the fixing components and anti-fall components of a machine vision-based intelligent depalletizing and palletizing robot system provided in this application; Figure 4 An internal perspective view of an intelligent depalletizing and palletizing robot system based on machine vision provided in this application; Figure 5 for Figure 4 A magnified view of a portion of point A in the middle.

[0016] The following are the labeling elements in the figure: 1. Rack; 2. First driver; 3. Fixing component; 31. Fixing rod; 311. Rod body; 312. Installation space; 313. End cap; 314. Wire hole; 32. Fixing arm; 321. Arm body; 322. First hinge rod; 323. Second hinge rod; 4. Fall arrestor assembly; 41. Bearing component; 411. Bearing rod; 412. Internal bearing plate; 413. External bearing plate; 414. Elastic structure; 42. Second actuator; 43. Transmission component; 431. Transmission shaft sleeve; 432. Pinion; 433. Transmission gear; 434. Large gear; 44. Fall arrestor rod; 441. Mounting arm; 442. First rod section; 443. Second rod section. Detailed Implementation

[0017] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0018] It should be noted that when a component is referred to as being "mounted to," "fixed to," or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0019] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0020] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0021] like Figures 1 to 5 As shown, this application provides an intelligent depalletizing and palletizing robot system based on machine vision, including a frame 1, a first driver 2, and a fixing component 3. The first driver 2 is mounted on the frame 1. The fixing component 3 includes a fixing rod 31 and multiple fixing arms 32. The fixing rod 31 is mounted on the frame 1, and the multiple fixing arms 32 are all mounted between the first driver 2 and the fixing rod 31, and converge towards each other or unfold away from each other under the drive of the first driver 2.

[0022] It should be noted that in this embodiment, the workpiece is described as a cable roll with hollow through holes. Of course, in other embodiments, depending on the actual application requirements, the workpiece can also be a steel wire roll with hollow through holes, etc., and this is not the only limitation.

[0023] It should also be noted that in this embodiment, the example is set to five fixed arms 32. Of course, in other embodiments, the number of fixed arms 32 can be two, three, four, six, etc., and is not limited here.

[0024] This application provides an intelligent depalletizing and palletizing robot system based on machine vision. Under the action of the first driver 2, it can drive multiple fixed arms 32 to converge towards each other or unfold in opposite directions. Through the hollow through holes of the cable roll itself, it can tighten cable rolls of different specifications and sizes. It has a wide range of applications and good fixing effect.

[0025] Optionally, a machine vision-based intelligent depalletizing and palletizing robot system also includes a robotic arm (not shown in the figure), with the frame 1 mounted on the robotic arm.

[0026] Optionally, the first actuator 2 is configured as an electric cylinder or a hydraulic cylinder.

[0027] With this configuration, the robotic arm can drive the frame 1 and the fixed component 3 to move, thereby enabling the cable reel to move after the fixed component 3 fixes it, thus achieving stacking and unstacking.

[0028] In one embodiment of this application, please refer to Figures 1 to 5 The fixed arm 32 includes an arm body 321, a first hinge rod 322 and at least one second hinge rod 323. The first hinge rod 322 is hinged between the output end of the first driver 2 and the fixed rod 31, and at least one second hinge rod 323 is hinged between the fixed rod 31 and the arm body 321.

[0029] With this configuration, under the action of the first driver 2, the first hinge rod 322 and the second hinge rod 323 can rotate towards each other or away from each other. Through the combined action of the first hinge rod 322 and the second hinge rod 323, multiple arms 321 can be driven to converge towards each other or unfold away from each other. This can be adjusted according to the diameter of the hollow through hole of the cable roll, thereby fixing cable rolls of different specifications and sizes. It has a wide range of applications and a good fixing effect.

[0030] In one embodiment of this application, please refer to the following: Figures 1 to 5 A machine vision-based intelligent depalletizing robot system also includes a fall protection component 4, which is installed on the fixing component 3.

[0031] It should be noted that as the fixing component 3 is used for a longer period of time and is affected by the external environment, the fixing arm 32 is prone to loosening. During the unpacking and stacking process, the cable roll may fall off, posing a safety hazard.

[0032] With this configuration, the anti-fall component 4 can prevent the cable reel from falling directly from the fixing rod 31 during the unpacking process, ensuring high safety performance.

[0033] In one embodiment of this application, see [reference] Figures 1 to 5 The fall arrestor assembly 4 includes a carrier 41, a second driver 42, a transmission component 43, and multiple fall arrestor bars 44. The carrier 41 is suspended from the fixed rod 31. The second driver 42 is installed on the carrier 41 and located inside the fixed rod 31. The transmission component 43 is installed on the carrier 41. The multiple fall arrestor bars 44 are all installed on the transmission component 43 and converge or unfold under the action of the second driver 42 and the transmission component 43.

[0034] It should be noted that in this embodiment, the number of fall arresting rods 44 is set to three as an example. Of course, in other embodiments, the number of fall arresting rods 44 can also be two, four, five, etc., and is not limited here.

[0035] With this configuration, under the action of the second drive 42, the transmission component 43 can drive the multiple anti-fall bars 44 to converge or unfold. After the multiple anti-fall bars 44 are converged, the anti-fall assembly 4 can pass through the cable reel. After the multiple anti-fall bars 44 are unfolded, they can be used to support the cable reel and prevent it from falling during the unpacking process.

[0036] Optionally, the second driver 42 is configured as a rotary motor.

[0037] In one embodiment of this application, please refer to Figures 1 to 5 The fixing rod 31 includes a rod body 311, an installation space 312, and an end cap 313. The rod body 311 is mounted on the frame 1. The installation space 312 is located at the end of the rod body 311 away from the frame 1. The end cap 313 is mounted at the end of the rod body 311 away from the frame 1 and covers the installation space 312. The bearing member 41 includes multiple bearing rods 411, an inner bearing plate 412, and an outer bearing plate 413. The multiple bearing rods 411 all pass through the end cap 313. The inner bearing plate 412 is mounted at the end of the multiple bearing rods 411 near the frame 1 and located within the installation space 312. The outer bearing plate 413 is mounted at the end of the multiple bearing rods 411 away from the inner bearing plate 412.

[0038] With this configuration, the outer support plate 413 can be suspended from the end cover 313 by the action of multiple support rods 411 and the inner support plate 412. The inner support plate 412 can be used to mount and support the second driver 42. Compared to existing technologies, this avoids the output end of the second driver 42 directly bearing the weight of the cable reel, effectively protecting the second driver 42 and providing better fall protection. The outer support plate 413 can be used to mount the support rods 411, and through the multiple support rods 411, the weight of the cable reel and the impact force generated when the cable reel falls are transferred to the inner support plate 412, and finally to the end cover 313 and the frame 1.

[0039] In one embodiment of this application, please refer to the following: Figures 1 to 5 The support member 41 also includes multiple elastic structures 414, which are sleeved on multiple support rods 411 and abut against the end cap 313 and the internal support plate 412.

[0040] With this design, when the cable reel falls, the multiple elastic structures 414 can prevent the internal bearing plate 412 from directly impacting the end cap 313, effectively buffering the impact force generated when the cable reel falls, thus effectively protecting the components and providing better anti-fall performance.

[0041] Optionally, the elastic structure 414 is configured as a high-strength spring or a high-strength sheet.

[0042] In one embodiment of this application, see [reference] Figures 1 to 5 The transmission component 43 includes a transmission shaft sleeve 431, a pinion 432, multiple transmission gears 433, and multiple large gears 434. One end of the transmission shaft sleeve 431 is installed at the output end of the second driver 42. The pinion 432 is rotatably mounted on the outer support plate 413 and rotates under the drive of the transmission shaft sleeve 431. Multiple transmission gears 433 are rotatably mounted on the outer support plate 413 and mesh with the pinion 432. Multiple large gears 434 are rotatably mounted on the outer support plate 413 and mesh with the multiple transmission gears 433. They are also arranged in a one-to-one correspondence with the multiple transmission gears 433 and with the multiple anti-fall bars 44.

[0043] With this configuration, under the action of the second driver 42, multiple transmission gears 433 can drive multiple large gears 434 to rotate synchronously on the outer support plate 413, thereby causing multiple anti-fall bars 44 to converge or expand. Under the action of the transmission shaft sleeve 431, the power of the second driver 42 can be transmitted to the small gear 432. Furthermore, under the combined action of the small gear 432 and the large gears 434, speed reduction and torque increase can be achieved, facilitating the convergence or expansion of the multiple anti-fall bars 44 and making operation convenient.

[0044] In one embodiment of this application, please refer to Figures 1 to 5 The fall arrestor bar 44 includes a mounting arm 441, a first bar portion 442, and a second bar portion 443. The mounting arm 441 is mounted on a large gear 434 and rotates with the large gear 434. The first bar portion 442 is connected to the mounting arm 441, and the second bar portion 443 is connected to the first bar portion 442 and is bent away from the mounting arm 441 relative to the first bar portion 442. It is also bent away from the fixed bar 31 relative to the first bar portion 442.

[0045] This configuration, under the action of the mounting arm 441, can drive the first rod 442 and the second rod 443 to rotate, allowing the first rod 442 and the second rod 443 to converge or unfold. The first rod 442 can support the cable reel, preventing it from falling. When unfolding the first rod 442, the second rod 443 can guide it to move axially along the fixing rod 31. This configuration can also be used to fix cable reels of different thicknesses, making it widely applicable.

[0046] Optionally, the plane containing the end face of the cable reel away from the frame 1 always passes through the second pole 443.

[0047] This configuration ensures that when multiple fall arresting rods 44 are deployed, the second rod 443 can always act on the cable reel, preventing the cable reel from interfering with the deployment of the first rod 442 and the second rod 443.

[0048] In one embodiment of this application, please refer to the following: Figures 1 to 5 A wire hole 314 is provided on the fixing rod 31, and the wire hole 314 is connected to the installation space 312.

[0049] This configuration, with the help of the wire hole 314, provides a wire passage for the wires in the installation space 312, making it easier to arrange the wires.

[0050] In one embodiment of this application, see [reference] Figures 1 to 5 A machine vision-based intelligent depalletizing and palletizing robot system also includes a visual locator (not shown in the figure), which is mounted on the frame 1.

[0051] With this setup, during unpacking, the visual locator ensures that the fixing component 3 is always aligned with the central through hole of the cable roll, making positioning convenient, unpacking efficiency high, and automation high.

[0052] The working principle of the intelligent depalletizing robot system based on machine vision provided in this application is as follows: During depalletizing, the robotic arm positions the fixing component 3 using a vision locator, aligning the fixing component 3 with the central through-hole of the cable reel. The robotic arm inserts the fixing component 3 and the anti-fall component 4 into the central through-hole of the cable reel until the plane containing the end face of the cable reel away from the frame 1 passes through the second rod portion 443. When the end face of the cable reel away from the frame 1 contacts the ground, the outer support plate 413 first contacts the ground. Under the action of the ground, the outer support plate 413 gradually moves towards the fixing rod 31 until the end of the second rod portion 443 away from the first rod portion 442 is flush with the end face of the cable reel away from the frame 1. After the cable reel separates from the ground, the outer support plate 413 gradually moves away from the fixing rod 31 under the action of gravity until the second rod portion 443 passes through the plane containing the end face of the cable reel away from the frame 1. Under the action of the first actuator 2, the first hinge rod 322 and the second hinge rod 323 rotate towards each other, and the multiple arms 321 unfold backwards until they press against the inner circumference of the cable reel. Under the action of the second actuator 42, the power of the second actuator 42 is transmitted to the pinion 432, multiple transmission gears 433, and multiple large gears 434 through the transmission shaft sleeve 431. Under the action of the multiple large gears 434, multiple mounting arms 441 can be driven to rotate synchronously. Under the action of the multiple mounting arms 441, multiple first rods 442 and multiple second rods 443 can be driven to rotate synchronously until the second rods 443 contact the end face of the cable reel away from the frame 1. Guided by the second rods 443, the first rods 442 gradually move away from the fixed rod 31 while rotating until the end of the second rod 443 near the first rod 442 contacts the end face of the cable reel away from the frame 1. The first rods 442 continue to rotate but no longer move. Conversely, under the action of the second actuator 42, multiple anti-fall bars 44 can be gathered together. Under the action of the first actuator 2, multiple arms 321 can be gathered together. After the multiple anti-fall bars 44 and multiple arms 321 are gathered together, the fixing component 3 can be pulled out from the middle through hole of the cable roll by the robotic arm. In summary, under the action of the frame 1, the first actuator 2, the fixing component 3, the anti-fall component 4, the robotic arm and the vision locator, the stacking and unpacking work can be performed. When the cable roll falls, the cable roll falls directly to the multiple first bars 442. Under the action of the multiple first bars 442, the weight and impact force of the cable roll can be transferred sequentially to the outer bearing plate 413, multiple bearing bars 411, inner bearing plate 412, multiple elastic structures 414, end cap 313, fixing bar 31 and frame 1.

[0053] One or more embodiments in this application are intended to cover all such substitutions, modifications, and variations that fall within the broad scope of this application. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of one or more embodiments in this application should be included within the protection scope of this application.

Claims

1. A machine vision-based intelligent depalletizing and palletizing robot system, characterized in that, include: Rack (1); First driver (2), the first driver (2) is mounted on the rack (1); The fixing component (3) includes a fixing rod (31) and multiple fixing arms (32). The fixing rod (31) is installed on the frame (1), and the multiple fixing arms (32) are installed between the first driver (2) and the fixing rod (31), and converge towards each other or unfold away from each other under the drive of the first driver (2).

2. The intelligent depalletizing and palletizing robot system based on machine vision as described in claim 1, characterized in that, The fixed arm (32) includes an arm body (321), a first hinge rod (322) and at least one second hinge rod (323). The first hinge rod (322) is hinged between the output end of the first driver (2) and the fixed rod (31), and at least one second hinge rod (323) is hinged between the fixed rod (31) and the arm body (321).

3. The intelligent depalletizing and palletizing robot system based on machine vision as described in claim 1, characterized in that, The intelligent depalletizing robot system based on machine vision also includes a fall protection component (4), which is installed on the fixing component (3).

4. The intelligent depalletizing and palletizing robot system based on machine vision as described in claim 3, characterized in that, The fall arrestor assembly (4) includes a carrier (41), a second driver (42), a transmission component (43), and multiple fall arrestor bars (44). The carrier (41) is suspended from the fixed rod (31). The second driver (42) is installed on the carrier (41) and located inside the fixed rod (31). The transmission component (43) is installed on the carrier (41). The multiple fall arrestor bars (44) are all installed on the transmission component (43) and converge or unfold under the action of the second driver (42) and the transmission component (43).

5. The intelligent depalletizing and palletizing robot system based on machine vision as described in claim 4, characterized in that, The fixing rod (31) includes a rod body (311), an installation space (312), and an end cap (313). The rod body (311) is installed on the frame (1). The installation space (312) is opened at the end of the rod body (311) away from the frame (1). The end cap (313) is installed at the end of the rod body (311) away from the frame (1) and covers the installation space (312). The support member (41) includes a plurality of support rods (411), an inner support plate (412) and an outer support plate (413). The plurality of support rods (411) are all inserted through the end cap (313). The inner support plate (412) is installed at one end of the plurality of support rods (411) near the frame (1) and is located in the installation space (312). The outer support plate (413) is installed at one end of the plurality of support rods (411) away from the inner support plate (412).

6. The intelligent depalletizing and palletizing robot system based on machine vision as described in claim 5, characterized in that, The support member (41) also includes a plurality of elastic structures (414), which are sleeved on a plurality of support rods (411) and abut against the end cap (313) and the internal support plate (412).

7. The intelligent depalletizing and palletizing robot system based on machine vision as described in claim 5, characterized in that, The transmission component (43) includes a transmission bushing (431), a pinion (432), multiple transmission gears (433), and multiple large gears (434). One end of the transmission bushing (431) is installed at the output end of the second driver (42). The pinion (432) is rotatably mounted on the outer support plate (413) and rotates under the drive of the transmission bushing (431). Multiple transmission gears (433) are rotatably mounted on the outer support plate (413) and mesh with the pinion (432). Multiple large gears (434) are rotatably mounted on the outer support plate (413) and mesh with the multiple transmission gears (433). They are also arranged in a one-to-one correspondence with the multiple transmission gears (433) and in a one-to-one correspondence with the multiple anti-fall bars (44).

8. The intelligent depalletizing and palletizing robot system based on machine vision as described in claim 7, characterized in that, The fall arrestor (44) includes a mounting arm (441), a first rod portion (442), and a second rod portion (443). The mounting arm (441) is mounted on the large gear (434) and rotates with the large gear (434). The first rod portion (442) is connected to the mounting arm (441), and the second rod portion (443) is connected to the first rod portion (442) and bent away from the mounting arm (441) relative to the first rod portion (442). It is also bent away from the fixed rod (31) relative to the first rod portion (442).

9. The intelligent depalletizing and palletizing robot system based on machine vision as described in claim 4, characterized in that, The fixing rod (31) has a wire hole (314) and the mounting space (312) are connected.

10. The intelligent depalletizing and palletizing robot system based on machine vision as described in claim 1, characterized in that, The intelligent depalletizing and palletizing robot system based on machine vision also includes a visual locator, which is installed on the frame (1).

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