Cargo identification device of cargo carrying platform

Abstract

The utility model discloses a cargo identification device of a cargo carrying platform, which relates to the technical field of cargo sorting, and is characterized in that the cargo carrying platform can bear at least two pallets, and each pallet is used for independently bearing cargoes; the recognition mechanism is used for erecting a visual camera through a supporting frame, the visual camera is erected above the cargo carrying platform so that the visual camera can detect cargoes borne on the pallet from top to bottom, and the visual camera sends detection data to the controller to serve as a position basis for the mechanical arm to unstack from the pallet; after the mechanical arm unstacks and takes out all the goods on one pallet, the mechanical arm unstacks and takes out the goods on the other pallet, new goods can be placed on the pallets which are not taken out while the goods are taken out, and therefore alternate and cyclic unstacking is achieved. According to the automatic unstacking device, accurate positioning of the positions of goods on the pallets is achieved in a camera recognition mode, the accurate positioning serves as the basis for accurately grabbing the goods, automatic unstacking can be alternately achieved among different pallets, and the unstacking efficiency of the goods on the multiple pallets is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of cargo sorting, and more specifically to a cargo identification device on a cargo loading platform. Background Art

[0002] Stacking and destacking are action terms in the logistics industry. Stacking operation refers to the operation of moving or lifting items to the designated location of shipping equipment or fixed equipment, and then placing them in the required state; while destacking (unloading, unloading) operation is the reverse operation of stacking operation.

[0003] In the field of logistics, a pallet is a movable cargo tray that transforms static cargo into dynamic cargo, making it easier to transport stacked cargo. Currently, after a forklift transports multiple pallets to the cargo platform, it is necessary to manually operate a robotic arm to perform depalletizing operations on multiple pallets one by one. During the depalletizing operation of each pallet, manual visual inspection is used to locate the position of the cargo on the pallet, resulting in inaccurate positioning of the cargo on each pallet, affecting the robotic arm's accurate grasping of the cargo on the pallet, and thus affecting the depalletizing efficiency.

[0004] In summary, how to improve the efficiency of depalletizing goods on multiple pallets is a problem that needs to be solved urgently by those skilled in the art. Utility Model Content

[0005] The core of the utility model is to provide a cargo identification device for a cargo loading platform, which realizes detection and identification through a visual camera, thereby automatically completing the destacking operation alternately between two pallets, thereby improving the destacking efficiency. The specific scheme is as follows:

[0006] A cargo identification device for a cargo platform, comprising a cargo platform and an identification mechanism, wherein the cargo platform can support at least two pallets, each of which is used to independently carry cargo;

[0007] The identification mechanism includes a support frame and a visual camera. The support frame is used to set up the visual camera above the cargo platform. The visual camera is used to detect the cargo carried on the pallet and send the detection data to the controller as a basis for the position of the robot arm to depalletize the cargo from the pallet.

[0008] Optionally, the support frame includes a support column and a supporting portion, and at least two support columns are provided, and the bottoms of the support columns are fixed to the ground;

[0009] The supporting part is arranged horizontally and fixed to the supporting column, and a part of the supporting part is located directly above the pallet; the visual camera is installed on the supporting part;

[0010] A reinforcing column is obliquely arranged at a corner between the supporting portion and the supporting column.

[0011] Optionally, the identification mechanism includes a driving assembly installed on the supporting part, and the visual camera is installed on the output part of the driving assembly. The driving assembly drives the visual camera to move so that the visual camera is located directly above one of the pallets when identifying the pallet.

[0012] Optionally, the driving assembly includes a guide beam, a synchronous belt and a driver, the guide beam is mounted on the supporting portion, the driver is assembled on the guide beam, the visual camera is slidably mounted on the guide beam, and the guide beam is used to guide the visual camera to move horizontally;

[0013] The driver is used to drive the synchronous belt to rotate, and the synchronous belt is used to drive the visual camera to reciprocate along the guide beam.

[0014] Optionally, a driving wheel is installed on the output shaft of the driver, a passive wheel is installed on the guide beam, and the synchronous belt is installed on the driving wheel and the passive wheel and is tensioned;

[0015] A drag chain groove for supporting the drag chain is arranged on the side of the guide beam.

[0016] Optionally, the visual camera is provided with a clamping block for clamping the synchronous belt;

[0017] The visual camera is provided with a cable bracket for fixing the cable.

[0018] Optionally, the driver is a servo motor with an absolute encoder, and the driver controls the stop position of the visual camera by a rotation angle, and determines whether it is facing the pallet according to visual detection data of the visual camera.

[0019] Optionally, the support column is a telescopic rod, which can adjust the height of the identification mechanism and position and fix it.

[0020] Optionally, the robotic arm is disposed on a driving ground rail so that the robotic arm moves between different pallets to depalletize the pallets at corresponding positions.

[0021] Optionally, the visual camera remains fixed, and the cargo platform can drive the pallets to move horizontally so that different pallets are located directly below the visual camera for identification.

[0022] The utility model provides a cargo identification device for a cargo platform, wherein the cargo platform can support at least two pallets, each pallet is used to independently carry cargo; the identification mechanism sets up a visual camera through a support frame, and sets up the visual camera above the cargo platform, so that the visual camera detects the cargo carried on the pallet from top to bottom, and the visual camera sends the detection data to the controller as a position basis for the robot arm to depalletize from the pallet; after the robot arm depallets all the cargo on one pallet, it depallets and takes out the cargo on another pallet, and while taking the cargo, it can re-place new cargo on the pallet that has not been taken, thereby realizing alternating cycle depalletizing. The utility model realizes accurate positioning of the cargo position on the pallet through camera recognition, and as a basis for accurately grabbing cargo, it can realize automatic depalletizing alternately between different pallets, thereby improving the depalletizing efficiency of cargo on multiple pallets. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0024] Figure 1 This is an axonometric diagram of a specific embodiment of the cargo identification device for a cargo loading platform provided by the utility model;

[0025] Figure 2 for Figure 1 A partial enlarged view of the portion A in the middle dotted circle frame;

[0026] Figure 3 for Figure 1 A partial enlarged view of the portion B in the middle dotted circle frame;

[0027] Figure 4 A front view of a specific embodiment of the cargo identification device for a cargo loading platform provided by the utility model;

[0028] Figure 5 A side view of a specific embodiment of the cargo identification device for a cargo loading platform provided by the utility model;

[0029] Figure 6 A top view of a specific embodiment of the cargo identification device for a cargo loading platform provided by the utility model.

[0030] The figure includes:

[0031] Cargo platform 1, pallet 11, identification mechanism 2, support frame 21, support column 211, supporting part 212, reinforcement column 213, visual camera 22, clamping block 221, cable bracket 222, driving assembly 23, guide beam 231, synchronous belt 232, driver 233, driving wheel 234, driven wheel 235, drag chain groove 236. DETAILED DESCRIPTION

[0032] In order to enable those skilled in the art to better understand the technical solution of the present invention, the cargo identification device for a cargo loading platform of the present invention will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0033] Combination Figure 1 As shown, the utility model provides a cargo identification device for a cargo platform, including a cargo platform 1 and an identification mechanism 2. The cargo platform 1 is used as a bearing structure for carrying goods to be destackered, wherein the cargo platform 1 can be set at a position such as the ground, and can conveniently put the goods to be destackered in and take out the destackered goods. The cargo platform 1 can support at least two pallets 11, and the pallet 11 is a platform for carrying goods. Each pallet 11 is used to independently carry goods. The goods are divided into more than two areas by more than two pallets 11, and each destacking process is performed on one of the pallets 11. It should be noted that the cargo platform 1 is used to carry each pallet 11, and the pallet 11 can be a structure independent of the cargo platform 1, or a structure integrally arranged with the cargo platform 1; usually, the pallet 11 is set independently of the cargo platform 1, and when taking and placing goods, the goods can be taken and placed together with the pallet 11. It is possible to set a cargo platform 1 to place more than two pallets 11, or to set a cargo platform 1 independently for each pallet 11.

[0034] A pallet 11 can carry multiple stacked goods, and multiple goods on a pallet 11 are taken out during depalletizing. In addition to carrying, the pallet 11 can also limit the range, that is, when visually identifying and detecting goods within the range of the pallet 11, the identification range is limited, and only the goods on one pallet 11 are depalletized at a time, until all the goods on the pallet 11 are depalletized, and then the goods on the next pallet 11 are depalletized.

[0035] The identification mechanism 2 includes a support frame 21 and a visual camera 22 . The visual camera 22 is mounted on the support frame 21 , and the support frame 21 provides support and position limiting for the visual camera 22 .

[0036] The support frame 21 is used to set up the visual camera 22 above the cargo platform 1 so that the visual camera 22 detects the goods carried on the pallet 11 from top to bottom. When depalletizing, the visual camera 22 takes an image of the goods from above and is used to send the detection data to the controller as a position basis for the robot arm (not shown in the figure) to depalletize from the pallet 11; the controller can identify the actual position of each cargo based on the received data, and the controller sends a control signal based on the actual position to enable the robot arm to grab the cargo from the identified position.

[0037] It should be noted that the visual camera 22 uses a 3D camera that can recognize three-dimensional data. The biggest difference between a 3D camera and a 2D camera is that a 3D camera can obtain 3D information at the scale of the real world, while a 2D camera can only obtain 2D plane image information at the pixel scale. Figure 1 As shown, the three-dimensional data collected by the visual camera 22 includes information in three dimensions: X, Y, and Z. It can not only identify the horizontal position of the goods in the XY plane, but also obtain the height information in the Z-axis direction, so that the robotic arm can accurately grasp the goods.

[0038] The robot arm in the utility model is configured to: after all the goods on one pallet 11 are unstackered and taken out, the goods on another pallet 11 are unstackered and taken out, and the unstackering is performed alternately and cyclically. Since more than two pallets 11 are provided, when the first pallet 11 is unstackered, there is no unstackering operation on the second pallet 11, and the goods to be unstackered can be placed on the second pallet 11 while the first pallet 11 is unstackered. After the unstackering of the first pallet 11 is completed, the empty pallet 11 can be taken out, and the unstackering operation can be performed on the second pallet 11 instead. In this process, the pallet with goods can be placed again at the position where the first pallet 11 is located. If the empty pallet 11 does not need to be taken out, the stacked goods can be placed on the pallet 11 again. In other words, while unstacking one pallet 11, new goods to be unstackered are placed on another pallet 11, and the unstackering operation can be performed alternately and reciprocatingly, so that the unstackering operation can be realized uninterruptedly.

[0039] Combination Figure 1 As shown, in the embodiment shown in the drawings of the utility model, two pallets 11 are provided as an example, but more pallets 11 can be provided. When in use, destacking can be realized cyclically between all the pallets 11 in sequence, or destacking can be realized only between some pallets 11, and other pallets 11 are used as spares. Once an abnormality occurs and the pallets cannot be used normally, the spare pallets can be used for destacking.

[0040] The utility model adopts a vision camera 22 to realize automatic detection of the position of goods, and is equipped with at least two pallets 11 to realize alternate palletizing, which can avoid the downtime required to re-place new goods after palletizing when only one pallet is set, realize continuous and uninterrupted palletizing operation, and improve the palletizing efficiency.

[0041] Combined with Figure 1 As shown, the utility model provides a specific setting structure of a support frame 21. The support frame 21 includes support columns 211 and a supporting portion 212. At least two support columns 211 are provided, and the bottom of each support column 211 is fixed to the ground, and the top of the support column 211 extends vertically upward.

[0042] The supporting portion 212 is horizontally arranged, and the supporting portion 212 is fixed to the support column 211. As Figure 1 shown, in the embodiment, the supporting portion 212 is a "C"-shaped frame structure with three side edges, including a long side and two parallel short sides. The long side is fixed between the two support columns 211 to prevent the support column 211 from bending laterally; the two short sides extend toward the side of the pallet 11, and the two short sides of the supporting portion 212 form a cantilever structure; a part of the supporting portion 212 is located directly above the pallet 11, and the support column 211 is located on the side of the pallet 11, and the support column 211 forms an avoidance for the goods carried on the pallet 11. The vision camera 22 is installed on the supporting portion 212, and the vision camera 22 is located directly above the pallet 11 during detection and recognition.

[0043] Reinforcing columns 213 are inclined at the corners where the two short sides of the supporting portion 212 are connected to the support column 211. The two ends of the reinforcing column 213 are respectively fixed to the supporting portion 212 and the support column 211. The reinforcing column 213, a part of the supporting portion 212 and a part of the support column 211 form a triangular closed structure. The triangle has higher stability, making the supporting portion 212 not easily deformed when bearing, and having higher stability.

[0044] On the basis of the above solution, the recognition mechanism 2 provided by the utility model includes a driving component 23 installed on the supporting portion 212. Combined with Figure 1 、 Figure 4 、 Figure 5 、 Figure 6As shown, the length direction of the driving component 23 is parallel to the long side of the supporting part 212, and the driving component 23 is supported by the two short sides of the supporting part 212; the visual camera 22 is installed at the output part of the driving component 23, and the driving component 23 is used to drive the visual camera 22 to move, and the moving direction is parallel to the long side of the supporting part 212. Through the setting of the driving component 23, the visual camera 22 can be moved horizontally, and the visual camera 22 can be moved to the top of any pallet 11. When the visual camera 22 identifies a certain pallet 11, it is located directly above the pallet 11, so that the visual center of the visual camera 22 is facing the goods during detection, reducing the interference of edge deformation on the detection accuracy. In this embodiment, the detection is realized by driving the visual camera 22 to move by the driving component 23, and only one visual camera 22 needs to be set to realize the detection and identification of multiple different pallets 11, which simplifies the structure of the entire device.

[0045] Combination Figure 2 2, wherein a partial enlarged structure of the driving assembly 23 is shown. The driving assembly 23 includes a guide beam 231, a synchronous belt 232 and a driver 233. The guide beam 231 is arranged transversely. The guide beam 231 is installed on the two short sides of the supporting portion 212. The length direction of the guide beam 231 is along Figure 1 The X-axis is set, and a guide rail structure is set on the guide beam 231. The visual camera 22 is slidably set on the guide rail structure, so that the visual camera 22 can move along the guide beam 231. The driver 233 is assembled on the guide beam 231. The driver 223 can use a servo motor, and its housing is fixed to one end of the guide beam 231. The output shaft of the servo motor can output rotation. The output shaft of the driver 233 drives the synchronous belt 232 to rotate. The output shaft of the driver 233 can be driven only by friction, or a gear can be installed at the output shaft of the driver 233. The teeth are set on the inner surface of the synchronous belt 232 to cooperate with the gear installed on the driver to realize transmission. The visual camera 22 is provided with a slider structure, and the slider is slidably assembled on the guide rail of the guide beam 231. The visual camera 22 is fixed to the synchronous belt 232, and the synchronous belt 232 drives the visual camera 22 to reciprocate along the guide rail of the guide beam 231. By adjusting the rotation direction of the servo motor, the moving direction of the visual camera 22 can be controlled.

[0046] Combination Figure 2 , Figure 3As shown in the figure, the output shaft of the driver 233 is installed with a driving pulley 234, and the driving pulley 234 is driven by the output shaft of the driver 233 to rotate synchronously; a driven pulley 235 is installed on the guiding beam 231, and the support seat of the driven pulley 235 is fixed on the guiding beam 231. The driven pulley 235 can rotate around the rotating shaft, and the rotating shaft of the driving pulley 234 is parallel to the rotating shaft of the driven pulley 235. The driving pulley 234 and the driven pulley 235 are respectively arranged near both ends of the guiding beam 231, and the synchronous belt 232 is installed on the driving pulley 234 and the driven pulley 235 and is tensioned. The synchronous belt 232 is an annular belt, and the length direction after tensioning is along the length direction of the guiding beam 231. When the driving pulley 234 rotates, the synchronous belt 232 runs around the annular shape, and the driven pulley 235 rotates synchronously.

[0047] A drag chain groove 236 for supporting the drag chain is arranged on the side of the guiding beam 231. The length direction of the drag chain groove 236 is parallel to the length direction of the guiding beam 231. When the drag chain of the cable drops, it can fall onto the drag chain groove 236.

[0048] The utility model adopts a belt drive mode. Compared with the screw rod and gear rack drive modes, it can meet a longer moving range, has high moving precision, and is flexible and expandable.

[0049] Combined with Figure 2 As shown in the figure, the vision camera 22 is provided with a clamp block 221 for clamping and fixing the synchronous belt 232. The clamp block 221 is used to fix the synchronous belt 232, and the clamp block 221 can be relatively fixed to the synchronous belt 232 at any position. One setting method of the clamp block 221 is to set two L-shaped structures, one of which is fixed to the vision camera 22, and the two L-shaped structures are relatively fastened by bolts, so as to clamp or loosen the synchronous belt 232. By setting the clamp block 221, it can be conveniently fixed to the synchronous belt 232, which is convenient for maintenance. Only the vision camera 22 can be independently removed without removing the entire vision camera 22.

[0050] Combined with Figure 2 As shown in the figure, the vision camera 22 is provided with a cable support 222 for fixing the cable. The cable support 222 is fixed near the end of the cable connected to the vision camera 22, and the position of the cable near the vision camera 22 can be set overhead to avoid the synchronous belt 232 and prevent friction from interfering with the normal movement of the synchronous belt 232. The specific structure of the cable support 222 is not limited, and an "L"-shaped or "冂"-shaped frame can be adopted.

[0051] Specifically, in one embodiment, the driver 233 is a servo motor with an absolute encoder. The servo motor can control the speed and position accurately, and can convert the voltage signal into torque and speed to drive the control object. Compared with the single-machine asynchronous motor, the servo motor has three significant characteristics: large starting torque, wide operating range, and no self-rotation. The working process of the cargo identification device on the cargo platform is as follows: receiving the action instruction sent by the external control mechanism to the driver 233, so that the driver 233 rotates a specific angle, so that the visual camera 22 reaches the corresponding position, and the driver 233 controls the stop position of the visual camera 22 by rotating the angle; when the visual camera 22 stops, the visual camera 22 returns the visual detection data to the control mechanism, and the control mechanism determines whether it is facing the pallet 11 according to the visual detection data of the visual camera 22. When the visual camera 22 stops, it faces the pallet 11 and starts to identify directly; when the visual camera 22 stops, it does not face the pallet 11, and the control mechanism re-issues the action instruction to the driver 233 after calculating the visual detection data, and readjusts the position of the visual camera 22 until it faces it.

[0052] In one embodiment, the support column 211 of the support frame 21 is a telescopic rod, which can adjust the height of the identification mechanism 2 and position it. The height of the support column 211 determines the height of the position of the visual camera 22. When a telescopic structure is used, it can be adjusted according to the situation of the goods below, so that the visual camera 22 maintains a more appropriate distance from the goods. The telescopic rod structure adopted by the support column 211 of the support frame 21 can be manually adjusted or electrically or pneumatically driven. These specific implementation forms should be included in the protection scope of the present utility model.

[0053] In another embodiment provided by the present invention, the visual camera 22 is kept in a fixed setting, and a visual camera 22 is correspondingly arranged directly above each pallet 11; in the accompanying drawings not shown in this embodiment, in this embodiment, the visual camera 22 does not need to be provided with a driving structure, and a visual camera 22 is correspondingly arranged directly above each pallet 11. When a certain pallet 11 is to be depalletized, the visual camera 22 directly above the pallet 11 is started to perform the depalletizing operation on the pallet 11; when switching to other pallets 11, the corresponding visual camera 22 is switched at the same time.

[0054] In another embodiment provided by the present invention, the robot arm is provided with a driving ground rail, and the robot arm can move between different pallets 11 to depalletize the pallets 11 at the positions thereof; in the drawings not shown in this embodiment, in this embodiment, only one robot arm is required to be provided, and the position of the robot arm is switched, so as to realize depalletizing from different pallets 11 and take out the goods one by one from the pallets 11. Of course, the present invention does not exclude the structure of providing a robot arm for each position where the pallet 11 is located.

[0055] In addition, it should be noted that when two pallets 11 are provided, generally, the destacking operation of the two pallets 11 can be completed by a fixedly arranged robot arm, and in this case, there is no need to provide a ground rail structure.

[0056] In another embodiment provided by the present invention, the visual camera 22 remains fixed. In this case, only one visual camera 22 is required. The cargo platform 1 below can drive the pallet 11 to move horizontally, thereby driving the cargo and the pallet 11 to move, so that different pallets 11 are located directly below the visual camera 22 for identification. This structure should also be included in the protection scope of the present invention.

[0057] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A cargo identification device for a cargo platform, characterized in that: It comprises a cargo platform (1) and an identification mechanism (2), wherein the cargo platform (1) is capable of supporting at least two pallets (11), and each of the pallets (11) is used to independently carry cargo; The identification mechanism (2) comprises a support frame (21) and a visual camera (22); the support frame (21) is used to set up the visual camera (22) above the cargo platform (1); the visual camera (22) is used to detect cargo carried on the pallet (11) and to send detection data to a controller as a basis for the position of the robot arm to remove the cargo from the pallet (11).

2. The cargo identification device for a cargo platform according to claim 1, characterized in that: The support frame (21) comprises a support column (211) and a supporting portion (212); at least two support columns (211) are provided, and the bottoms of the support columns (211) are fixed to the ground; The supporting portion (212) is arranged horizontally and fixed to the supporting column (211); a partial area of ​​the supporting portion (212) is located directly above the pallet (11); the visual camera (22) is installed on the supporting portion (212); A reinforcing column (213) is obliquely arranged at the corner between the supporting portion (212) and the supporting column (211).

3. The cargo identification device for a cargo platform according to claim 2, characterized in that: The identification mechanism (2) includes a driving component (23) installed on the supporting part (212), and the visual camera (22) is installed on the output part of the driving component (23). The driving component (23) drives the visual camera (22) to move so that the visual camera (22) is located directly above one of the pallets (11) when identifying the pallet (11).

4. The cargo identification device for a cargo platform according to claim 3, characterized in that: The driving assembly (23) comprises a guide beam (231), a synchronous belt (232) and a driver (233); the guide beam (231) is mounted on the supporting portion (212); the driver (233) is assembled on the guide beam (231); the visual camera (22) is slidably mounted on the guide beam (231); and the guide beam (231) is used to guide the visual camera (22) to move horizontally; The driver (233) is used to drive the synchronous belt (232) to rotate, and the synchronous belt (232) is used to drive the visual camera (22) to reciprocate along the guide beam (231).

5. The cargo identification device for a cargo platform according to claim 4, characterized in that: The output shaft of the driver (233) is mounted with a driving wheel (234), the guide beam (231) is mounted with a passive wheel (235), and the synchronous belt (232) is mounted on the driving wheel (234) and the passive wheel (235) and is tensioned; A drag chain groove (236) for supporting a drag chain is arranged on the side of the guide beam (231).

6. The cargo identification device for a cargo platform according to claim 4, characterized in that: The visual camera (22) is provided with a clamping block (221) for clamping the synchronous belt (232); The visual camera (22) is provided with a cable bracket (222) for fixing cables.

7. The cargo identification device for a cargo platform according to claim 4, characterized in that: The driver (233) is a servo motor with an absolute encoder. The driver (233) controls the stop position of the visual camera (22) by a rotation angle, and determines whether it is facing the pallet (11) based on visual detection data of the visual camera (22).

8. The cargo identification device for a cargo platform according to claim 2, characterized in that: The support column (211) is a telescopic rod capable of adjusting the height of the identification mechanism (2) and positioning and fixing it.

9. The cargo identification device for a cargo platform according to claim 3, characterized in that: The mechanical arm is arranged on a driving ground rail so that the mechanical arm moves between different pallets (11) to depalletize the pallets (11) at corresponding positions.

10. The cargo identification device for a cargo platform according to claim 1, characterized in that: The visual camera (22) remains fixed, and the cargo platform (1) is capable of driving the pallets (11) to move horizontally, so that different pallets (11) are located directly below the visual camera (22) for identification.

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